CN112034893A

CN112034893A - T-shaped structure searching and turning platform

Info

Publication number: CN112034893A
Application number: CN201910415753.1A
Authority: CN
Inventors: 罗小兵; 钟明华; 江训协; 关福州
Original assignee: Jiujiang Precision Measuring Technology Research Institute
Current assignee: Jiujiang Precision Measuring Technology Research Institute
Priority date: 2019-05-18
Filing date: 2019-05-18
Publication date: 2020-12-04

Abstract

The invention relates to a searching and following turntable which consists of an outer ring azimuth axis and an inner ring pitching axis. The target searching device is fixed on the pitching shell, the searching heel continuously rotates to search surrounding targets, the target position is sent to the master control after the target is searched, the master control sends an instruction to turn the rotary table after resolving so that the high-definition imaging equipment can aim, identify and track the target, the high-definition imaging equipment is installed on the pitching axis system of the rotary table and symmetrically arranged with the target searching device about the azimuth axis, the high-definition imaging equipment and the target searching device all rotate together along with the azimuth axis system, and no dead angle exists in the searching heel. Two shafting of the tracking rotary table are supported by a turntable bearing, and the torque motor is directly driven and a high-precision angle encoder measures the angle. The 360-degree continuous rotation can be realized by arranging the conductive slip ring on the rotary table azimuth axis system, the pitch axis system rotates in a range of-10 to +90 degrees, and 360-degree omnibearing targets in the surrounding area are searched, identified and tracked. The invention has the advantages of response speed block, high tracking precision, integration of search and tracking and no dead angle of search and tracking.

Description

T-shaped structure searching and turning platform

Technical Field

The invention relates to a T-shaped structure search and follow turntable, in particular to a search and follow turntable which is directly driven by a shaft system and integrates search and follow.

Background

The tracking rotary table is usually designed into a structural form of outer ring azimuth and inner ring pitching, and the structural form can realize the tracking of any target in space. Currently, most tracking devices of the tracking rotary table are arranged on a horizontal table top of the tracking rotary table, and a pitching shaft system usually has unbalance loading, so that the driving mode of the shaft system is an indirect driving mode of a servo motor series speed reducer. However, the inter-drive shafting inevitably has a transmission return clearance, the tracking adjustment time is long, and the inter-drive shafting is usually used for tracking slowly moving ships and vehicles and cannot meet the requirement of tracking high-speed aircraft and other high-dynamic targets.

In addition, a radar or a search device for searching for a target by tracking a turntable is usually installed in a fixed place other than the turntable, and cannot search for a target blocked by the turntable from the direction of the turntable, or may block a target blocked by an antenna from the side of the antenna where the tracking turntable tracks, and there is a blind spot in searching.

Disclosure of Invention

The device aims to overcome the defects that the time for tracking and adjusting the indirect drive shaft system tracking rotary table is long, and the device cannot meet the requirements of tracking and fixing a high-dynamic target such as a high-speed aircraft and the like, and has a search dead angle or a tracking dead angle. The invention provides a tracking turntable of a direct-drive shafting, which can realize rapid tracking of a target; the searching and tracking device is fixed on the pitching shell of the tracking turntable and rotates along with the azimuth axis, so that dead angles of searching and tracking are avoided.

The purpose of the invention is realized by the following technical scheme: the high-definition imaging device is installed on a vertical installation plate rotating along a horizontal pitching axis through a side face, the gravity center of the high-definition imaging device is supported by a turntable bearing through a turning center of the pitching axis so as to meet the requirement that the axis is directly driven without unbalance loading, the pitching axis is directly driven by a direct-current torque motor, a high-precision angle encoder feeds back the rotation angle of a pitching main shaft, and the high-precision direct-drive pitching axis is formed by installing the above elements.

The direct-drive azimuth shaft system is formed by the following steps that a pitching shaft system is arranged on an azimuth main shaft through a pitching shell and rotates along with the azimuth main shaft to form azimuth rotation motion, the azimuth main shaft is arranged on the azimuth shell through a turntable bearing to form a rotary shaft system, a direct-current torque motor drives the main shaft to rotate, and a high-precision angle encoder arranged on the azimuth main shaft feeds back a rotation angle of the azimuth main shaft. The middle part of the hollow azimuth spindle is provided with a conductive slip ring to realize 360-degree continuous rotation of the azimuth shaft system.

The azimuth shell is arranged on the fixed base, the target searching device is arranged on the pitching shell through the adapter plate, and a searching head of the target searching device continuously rotates to search surrounding targets; the target searching device and the high-definition imaging equipment are located on two sides of the azimuth axis all constantly, rotate together with the azimuth axis of the rotary table along with searching, are not shielded, and have no searching and tracking dead angles. The target searching device, the high-definition imaging equipment and the turntable form a T-shaped structure in space.

The above-mentioned search-and-follow rotation platform can realize 360-degree continuous rotation in azimuth, and-10-90-degree rotation in pitch; the target at any position in space can be searched, identified and tracked.

The invention has the advantages that: the shafting adopts the mode that the torque motor directly drives to realize quick and high accuracy tracking. The target searching device and the high-definition imaging equipment are constantly positioned at two sides of the azimuth axis, rotate together with the azimuth axis of the tracking turntable, are not shielded, and have no searching and tracking dead angle

Drawings

The invention is further illustrated with reference to the following figures and examples.

FIG. 1 is a schematic diagram of the general structure of the present invention

FIG. 2 is a front view of the present invention

FIG. 3 is a cross-sectional view of an azimuth axis of the present invention

FIG. 4 is a cross-sectional view of the pitch shafting of the present invention

As shown in the figure:

1. high-definition imaging equipment 2, a target searching device 3, a searching and tracking rotary table 4, an adapter plate 5, an imaging equipment mounting plate 6, a base 7, an azimuth high-precision angle encoder 8, an azimuth shell 9, an azimuth torque motor 10, a conductive sliding ring 11, an azimuth turntable bearing 12, an azimuth spindle 13, a pitching shell 14, a pitching turntable bearing 15, a pitching spindle 16, a pitching torque motor 17 and a pitching high-precision angle encoder

Detailed description of the invention

As shown in the figure, the high-definition imaging device (1) is installed on an imaging device adapter plate (5) fixed on the end face of a pitching main shaft (15), and the target searching device (2) is fixed on a pitching shell (13) through an adapter plate (4).

Realizing the motion of an azimuth axis system: the azimuth spindle (12) is installed on the azimuth shell (8) through an azimuth turntable bearing (11), the azimuth high-precision angle encoder (7) is installed at the tail end of the azimuth spindle (12) and feeds back the rotation angle of the azimuth spindle (12) in real time, and the azimuth torque motor (9) drives the azimuth spindle (12) to rotate to form the rotation motion of an azimuth shaft system. The azimuth main shaft (12) is a hollow shaft, and the center of the azimuth main shaft is provided with a conductive slip ring (10) to realize signal transmission under the condition that the azimuth shaft system rotates continuously at 360 degrees. The whole shafting is fixed on the base (6) through the azimuth shell (8).

The realization of the movement of a pitching shafting: the pitching main shaft (15) is installed on the pitching shell (13) through a pitching turntable bearing (14), the pitching high-precision angle encoder (17) is installed at the tail end of the pitching main shaft (15) and feeds back the rotation angle of the pitching main shaft (15) in real time, and the pitching moment motor (16) drives the pitching main shaft (15) to rotate to form pitching shafting motion. The imaging device mounting plate (5) is connected with the pitching main shaft (15), and the high-definition imaging device (1) is mounted on the imaging device mounting plate (5) and rotates along with the rotation of the pitching main shaft (15) to form a pitching shaft system. The whole pitching axis system is fixed on the azimuth main shaft (12) through the pitching shell (8) and rotates along with the rotation of the azimuth main shaft (12).

The high-definition imaging device (1) is arranged on an imaging device adapter plate (5) and does two-dimensional tracking motion along with a rotary table, and the target searching device (2) is fixed on a pitching shell (13) and does one-dimensional rotation along with a rotary table azimuth axis.

The working mode is as follows: after the power-on self-check of the search follow-up rotation station is completed and initialization is completed, the target searching device is started, a searching head of the target searching device continuously rotates to search surrounding targets, the positions of the targets are sent to the master control after the targets are found, the master control calculates and sends a turning instruction to the rotary table to enable the high-definition imaging equipment to aim at the targets, and searching, identifying and tracking of the targets are completed.

Claims

1. The utility model provides a T type structure is searched with revolving stage which characterized in that:

(1) the search following rotary table shafting is directly started by a torque motor, the defects of return error caused by a mechanical transmission chain and long tracking adjustment time are overcome, and the high-speed aircraft high-dynamic target tracking and identification requirements are met.

(2) The target searching device is fixed on the pitching shell of the rotary table and rotates along with the azimuth axis of the rotary table, so that dead angles of searching and tracking are avoided.

(3) The azimuth shaft system is provided with the conductive slip ring, so that 360-degree continuous rotation of the azimuth shaft system and-10-90-degree rotation of the pitch shaft system can be realized; thereby realizing searching, identifying and tracking of the target with 360-degree all around surrounding areas.