CN112555617B - Three-dimensional stable platform of heavy load - Google Patents
Three-dimensional stable platform of heavy load Download PDFInfo
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- CN112555617B CN112555617B CN202011545086.8A CN202011545086A CN112555617B CN 112555617 B CN112555617 B CN 112555617B CN 202011545086 A CN202011545086 A CN 202011545086A CN 112555617 B CN112555617 B CN 112555617B
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- 238000005096 rolling process Methods 0.000 claims abstract description 57
- 238000007789 sealing Methods 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 8
- 230000006641 stabilisation Effects 0.000 claims description 6
- 238000011105 stabilization Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000013461 design Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 239000000498 cooling water Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000000087 stabilizing effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000053 physical method Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
- F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention relates to a high-load three-dimensional stable platform, which comprises a bottom plate, wherein two parallel supporting seats which are opposite to each other are arranged on the bottom plate in a protruding mode, a pitching ring is connected between the two supporting seats, and the pitching ring is rotatably connected with the supporting seats on the corresponding sides through two collinear horizontal longitudinal shafts; the pitching ring is connected with a rolling ring, and the rolling ring is rotatably connected with the pitching ring part at the corresponding side through two collinear horizontal rolling shafts, and the horizontal rolling shafts are perpendicular to the horizontal longitudinal shafts; the rolling ring is internally connected with a vertical azimuth shaft which can rotate along the axis of the rolling ring, and the bottom plate is connected with the pitching ring through a first ball screw driving unit and drives the pitching ring to rotate; the pitching ring is connected with the rolling ring through a second ball screw driving unit and drives the rolling ring to rotate. The platform optimizes the connection structure and the driving mode, adopts the alternating current servo motor to drive the ball screw to drive the pitching ring and the rolling ring, has high precision and large driving force, and can solve the problem that the stable platform has small loadable weight.
Description
Technical Field
The invention belongs to the technical field of stable platforms in physical measurement, and particularly relates to a high-load three-dimensional stable platform.
Background
For some instruments and meters which have orientation requirements and the installation plane needs to be kept horizontal, the instruments and meters are loaded on a carrier (a car, a ship and the like), and if the posture of the carrier is changed continuously, the normal use of the instruments and meters, such as an on-board nacelle, a car or ship-based orientation tracking device and the like, can be greatly influenced. In this case, a stable platform is needed, the instrument and meter to be stabilized is placed on the working surface of the stable platform, the stable platform is loaded on the carrier, and the influence of the posture change of the carrier on the instrument and meter is counteracted by means of the reverse movement of the stable platform.
The load of the existing triaxial stabilized platform is basically not too large, as disclosed in US20030014874A1 and CN200954872Y, CN205262489U, the platform is mainly driven by a stepping motor to directly drive each rotating ring to achieve the purpose of stabilization, and CN205262489U is also heavy in providing a small-size and light-weight platform structure, so that the stabilized platform can be loaded with small weight due to the current driving mode, and is not suitable for instruments with heavy weight, and needs to be optimized and improved; the water, electricity and gas supply connection of instruments with large weight and volume after being placed on the stable platform is also comprehensively considered so as to ensure the practicability.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide the high-load three-dimensional stable platform, so that the problem that the weight of the stable platform is small due to the existing structure and driving mode is solved, and the effects of improving the load capacity of the stable platform and effectively using the stable platform are achieved.
In order to solve the technical problems, the invention adopts the following technical scheme:
The large-load three-dimensional stable platform comprises a horizontal bottom plate, wherein two parallel supporting seats which are opposite to each other are arranged on the bottom plate in a protruding mode, a pitching ring is connected between the two supporting seats, and the outer side faces of the pitching ring are respectively and rotatably connected with the supporting seats on the corresponding sides through two collinear horizontal longitudinal rotating shafts; the outer side surface of the rolling ring is respectively and rotatably connected with the inner side surface of the corresponding side of the rolling ring through two collinear horizontal rolling shafts, and the horizontal rolling shafts are perpendicular to the horizontal longitudinal shafts; a vertical azimuth shaft capable of rotating along the axis of the base plate is connected with the pitching ring through a first ball screw driving unit and drives the pitching ring to rotate through the first ball screw driving unit; the pitching ring is connected with the rolling ring through a second ball screw driving unit and drives the rolling ring to rotate through the second ball screw driving unit.
Further perfecting the technical scheme, the driving end and the driven output end of the first ball screw driving unit are respectively hinged with the bottom plate and the pitching ring; the driving end and the driven output end of the second ball screw driving unit are respectively hinged with the pitching ring and the rolling ring.
Further, the lower end of the rolling ring is connected with a bottom sealing plate, and the vertical azimuth shaft is positioned above the bottom sealing plate; the lower surface of the bottom sealing plate is convexly provided with a hinge lug, the lower surface of the pitching ring is convexly provided with a hinge lug, and the driving end and the driven output end of the second ball screw driving unit are respectively hinged to the hinge lug and the hinge lug.
Further, the driving end of the second ball screw driving unit comprises a second servo motor, and the second servo motor is in driving connection with one end of the screw; the driven output end of the second ball screw driving unit comprises a nut sleeved on the screw rod, a sleeve is connected to the nut, and the sleeve is sleeved at the free end of the screw rod and can synchronously move along with the nut; the second servo motor is fixedly arranged in the outer shell, and the outer side of the outer shell and one end, far away from the nut, of the sleeve are respectively hinged to the hinge lug and the hinge lug.
Further, the outer shell comprises a motor shell, a connecting section shell and a screw shell which are sequentially connected, the second servo motor is fixedly arranged in the motor shell, an output shaft of the second servo motor stretches into the connecting section shell and is connected with one end of the screw rod in the connecting section shell, a rolling bearing is arranged between one end of the connecting section shell far away from the motor shell and the corresponding screw rod section to ensure rotation and effective support of the screw rod, the free end of the screw rod is positioned in the screw rod shell, the nut is also positioned in the screw rod shell, the sleeve penetrates out from one end of the screw rod shell far away from the connecting section shell, and the outer walls of the nut and the sleeve are in sliding clearance fit with the inner wall of the screw rod shell; the outer side of the connecting section shell is hinged with the hinge lugs; the end of the sleeve, which is far away from the nut, is sealed and hinged with the hinge lug.
Further, the horizontal longitudinal axis is coplanar with the horizontal transverse axis.
Further, the vertical azimuth shaft is rotatably supported and connected in the rolling ring through a rolling bearing, an azimuth motor is arranged on the rolling ring, and an azimuth gear pair fixedly connected to the vertical azimuth shaft is in transmission connection with the azimuth motor so as to drive the vertical azimuth shaft.
Further, the device also comprises a control box, wherein the control box is in control connection with the first ball screw driving unit, the second ball screw driving unit and the azimuth motor, the horizontal longitudinal shaft, the horizontal transverse shaft and the vertical azimuth shaft are respectively and synchronously rotated and connected with encoders, and signals of the encoders are connected with the control box to feed back the rotation angle.
Further, an external plug connector and an inertial navigation system installation part are arranged on the bottom plate or the supporting seat.
Further, the vertical azimuth shaft is provided with a hydroelectric slip ring, the hydroelectric slip ring is connected with the plug connector, the upper side of the vertical azimuth shaft is synchronously rotated and connected with a load box body so as to provide a mounting plane and a control system mounting position for a load, and the hydroelectric slip ring stretches into the load box body so as to be connected with the load in a switching way.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the high-load three-dimensional stable platform, the connecting structure and the driving mode are optimized, the alternating current servo motor is adopted to drive the ball screw to drive the pitching ring and the rolling ring, the precision is high, the driving force is high, the problem that the existing stable platform can bear small weight can be solved, by connecting the load box body which synchronously rotates on the vertical azimuth axis, instruments and meters with large weight and volume can be connected through the load box body, the load box body can provide a mounting plane and a control system mounting position for a load, and the effective use of the stable platform is ensured.
2. According to the high-load three-dimensional stable platform, the hydroelectric slip ring is arranged on the vertical azimuth shaft and is connected with the load box body in a synchronous rotation mode, an installation plane and a control system installation position can be provided for a load, the hydroelectric slip ring is connected with the plug connector to be connected into the load box body in a switching mode, connection of the load is facilitated, connection is facilitated, and the use effect is guaranteed.
Drawings
FIG. 1 is a schematic structural view of a three-dimensional stabilization platform with a large load according to an embodiment;
FIG. 2 is a schematic view of a hidden load box of a three-dimensional stable platform with large load in accordance with an embodiment;
FIG. 3 is a schematic diagram illustrating the pitch ring alone and the internal related structure in an embodiment;
FIG. 4 is a perspective view of the bottom angle of FIG. 3;
FIG. 5 is a bottom view of FIG. 3;
FIG. 6 is a schematic diagram of a second ball screw drive unit according to an embodiment;
FIG. 7 is a schematic view of the blank-out bottom closure plate of FIG. 5;
wherein the base plate 1, the first ball screw driving unit 11, the first servo motor 12,
A supporting seat 2, a plug-in connector 21, an inertial navigation system installation part 22, a mechanical limiting device 23,
Pitch ring 3, horizontal longitudinal shaft 31, second ball screw drive unit 32, second servo motor 33, screw 34, nut 35, sleeve 36, outer housing 37, motor housing 371, link housing 372, screw housing 373, hinge lug 38,
The roll ring 4, the horizontal transverse shaft 41, the azimuth motor 42, the bottom closure plate 43, the hinge lugs 44,
A vertical azimuth shaft 5, an azimuth gear pair 51, a hydroelectric slip ring 52 and a load box 53.
Detailed Description
The following describes the embodiments of the present invention in further detail with reference to the drawings.
Referring to fig. 1 and 2, a three-dimensional stable platform with large load in the embodiment includes a horizontal bottom plate 1, two parallel opposite supporting seats 2 are convexly arranged on the bottom plate 1, a pitching ring 3 is connected between the two supporting seats 2, and the outer side surfaces of the pitching ring 3 are respectively and rotatably connected with the supporting seats 2 on the corresponding sides through two collinear horizontal longitudinal shafts 31; the inside of the pitching ring 3 is connected with a rolling ring 4, the outer side surfaces of the rolling ring 4 are respectively and rotatably connected with the inner side surfaces of the pitching ring 3 on the corresponding side through two collinear horizontal rolling shafts 41, and the horizontal rolling shafts 41 are perpendicular to the horizontal longitudinal shafts 31; the rolling ring 4 is internally connected with a vertical azimuth shaft 5 which can rotate along the axis of the rolling ring, and the bottom plate 1 is connected with the pitching ring 3 through a first ball screw driving unit 11 and drives the pitching ring 3 to rotate through the first ball screw driving unit 11; the pitch ring 3 is connected to the roll ring 4 by a second ball screw drive unit 32 and drives the roll ring 4 in rotation by said second ball screw drive unit 32.
According to the high-load three-dimensional stable platform, the connecting structure and the driving mode are optimized, the alternating-current servo motor is adopted to drive the ball screw to drive the pitching ring 3 and the rolling ring 4, the precision is high, the driving force is large, the problem that the existing stable platform can bear small weight can be solved, the load box 53 capable of synchronously rotating is connected to the vertical azimuth shaft 5, the load box 53 can be used for connecting instruments with large weight and large volume, the load box 53 can provide a mounting plane and a control system mounting position for the load, and the effective use of the stable platform is guaranteed.
In practice, the horizontal longitudinal shaft 31 may be integrally formed on the outer side surface of the pitch ring 3 and rotatably connected to the supporting seat 2; or an independent shaft body, two ends of which are respectively connected with the pitching ring 3 and the supporting seat 2, and any one end of which is rotatably connected. The horizontal rotation shaft 41 may be integrally formed on the outer side surface of the rolling ring 4 and rotatably connected to the inner side surface of the pitching ring 3 (may be rotatably penetrated); or an independent shaft body, wherein the two ends are respectively connected with the rolling ring 4 and the pitching ring 3, and any one end is rotatably connected.
Wherein the driving end and the driven output end of the first ball screw driving unit 11 are respectively hinged with the bottom plate 1 and the pitching ring 3; the driving end and the driven output end of the second ball screw driving unit 32 are hinged with the pitching ring 3 and the rolling ring 4 respectively. The specific orientation of the two ends is not limiting and may be reversed.
In this way, the rotation of the pitching ring 3 and the rolling ring 4 is matched with the motion of the driving part, and the clamping stagnation and the motion interference are avoided.
With continued reference to fig. 3-6, in terms of design, the pitch ring 3 is located on the outermost ring, there is sufficient space on both the outer side of the pitch ring 3 and the bottom plate 1 for arranging the first ball screw driving unit 11 and the hinged connection of both ends thereof, the implementation manner is many, while the roll ring 4 is located in the pitch ring 3, the arrangement space is limited, the driving connection thereof requires detailed design, in this embodiment, the lower end of the roll ring 4 is connected with the bottom sealing plate 43, and the vertical azimuth shaft 5 is located above the bottom sealing plate 43; the lower surface of the bottom closing plate 43 is convexly provided with a hinge lug 44, the lower surface of the pitching ring 3 is convexly provided with a hinge lug 38, and the driving end and the driven output end of the second ball screw driving unit 32 are respectively hinged to the hinge lug 44 and the hinge lug 38.
In this way, the rotation design angle of the stabilizing platform is not too large, so that the related connection is arranged at the lower end of the rolling ring 4, and the stabilizing platform is more stable and reliable.
Wherein the driving end of the second ball screw driving unit 32 comprises a second servo motor 33, and the second servo motor 33 is in driving connection with one end of a screw 34; the driven output end of the second ball screw driving unit 32 comprises a nut 35 sleeved on the screw 34, a sleeve 36 is connected to the nut 35, and the sleeve 36 is sleeved on the free end of the screw 34 and can synchronously move along with the nut 35; the second servomotor 33 is fixedly arranged in the outer housing 37, the outside of the outer housing 37 and the end of the sleeve 36 remote from the nut 35 being hinged to the hinge lug 44 and the hinge lug 38, respectively.
Thus, a specific form of ball screw driving connection is provided, and the driving effect is ensured.
The outer casing 37 includes a motor casing 371, a connection section casing 372 and a screw casing 373 that are sequentially connected, the second servo motor 33 is fixedly disposed in the motor casing 371, an output shaft of the second servo motor 33 extends into the connection section casing 372 and is connected with one end of the screw 34 in the connection section casing 372, a rolling bearing is disposed between one end of the connection section casing 372 far away from the motor casing 371 and a corresponding section of the screw 34 to ensure rotation and effective support of the screw 34, a free end of the screw 34 is disposed in the screw casing 373, the nut 35 is also disposed in the screw casing 373, the sleeve 36 penetrates out from one end of the screw casing 373 far away from the connection section casing 372, and the outer walls of the nut 35 and the sleeve 36 are in sliding clearance fit with the inner wall of the screw casing 373; the outer side of the connecting section shell 372 is hinged with the hinge lugs 44; the end of the sleeve 36 remote from the nut 35 is sealed and hinged with said hinge lug 38.
In this way, the stability of the driving process is effectively ensured, the hinge lugs 44 are hinged on the outer side of the connecting section housing 372, on the one hand, the spatial arrangement is facilitated, and on the other hand, the output of the second servo motor 33 is smoother.
The first ball screw driving unit 11 may have a similar structure to the second ball screw driving unit 32, and in this embodiment, the first servomotor 12 in the first ball screw driving unit 11 is not oriented much the same, but for the purpose of designing the output force, a reduction gear is added behind the output shaft of the first servomotor 12 to increase the torque transmitted out, and the corresponding external shape and structure of the housing 37 thereof is changed adaptively.
In this embodiment, the pitch ring 3 and the roll ring 4 are both square ring structures, and the horizontal longitudinal axis 31 is coplanar with the axis of the horizontal transverse axis 41. The stability of the stabilized platform can be further improved.
With continued reference to fig. 7, the vertical azimuth shaft 5 is rotatably supported and connected in the rolling ring 4 through a rolling bearing, the rolling ring 4 is provided with an azimuth motor 42, and the azimuth motor 42 is in transmission connection with an azimuth gear pair 51 fixedly connected to the vertical azimuth shaft 5 to drive the vertical azimuth shaft 5.
In this way, the connection and driving of the vertical azimuth shaft 5 is implemented, and the use is reliable. In this embodiment, the azimuth motor 42 is also connected to the lower surface of the bottom sealing plate 43, and the output shaft passes through the bottom sealing plate 43 and is meshed with the azimuth gear pair 51 through the output pinion. The control accuracy of the rotation angle can be further improved by selecting a dual-motor anti-backlash driving mode as in the present embodiment, the number of azimuth motors 42 is two, and the azimuth motors are symmetrically arranged in the center of the vertical azimuth shaft 5.
When in implementation, the electric power supply device also comprises a control box and a power supply box (not shown in the figure) for supplying power to all electric components, the placement position is not limited, the power supply box can select an 8U standard machine box to convert 380V alternating current into a required 220V alternating current power supply, a direct current power supply and a motor driving power supply; the control box is a 6U standard case and is used for controlling the stable platform to keep stable operation, the control box is used for controlling and connecting the first servo motor 12, the second servo motor 33 and the azimuth motor 42, the horizontal longitudinal shaft 31, the horizontal transverse shaft 41 and the vertical azimuth shaft 5 are respectively and synchronously connected with encoders (not shown in the figure) in a rotating way, and signals of the encoders are connected with the control box to feed back the rotating angle.
Wherein, the base plate 1 or the supporting seat 2 is provided with an external plug-in connector 21 and an inertial navigation system installation part 22. The vertical azimuth shaft 5 is provided with a hydroelectric slip ring 52, the hydroelectric slip ring 52 is connected with the plug connector 21, a load box 53 is synchronously connected above the vertical azimuth shaft 5 in a rotating manner so as to provide a mounting plane and a control system mounting position for a load, and the hydroelectric slip ring 52 stretches into the load box 53 so as to be connected with the load in a switching manner.
The structural design of the stable platform of the embodiment adopts an O-T form, namely: the O-shaped pitching ring 3, the O-shaped rolling ring 4 and the T-shaped vertical azimuth shaft 5 can be understood that the rotating connection parts are supported and connected by adopting precise mechanical bearings so as to ensure the rotation precision, the rigidity of the system and the service life of the equipment. The longitudinal and rolling rings 4 are driven by adopting an alternating current servo motor to drive a ball screw, the azimuth axis is driven by adopting double azimuth motors 42 to eliminate gaps, and an absolute magnetic grid is adopted as a platform axis motion measurement feedback element. When the device is used, the connector is connected with water supply, electricity or/and an air circuit as required, the control box cable and the power box cable are also connected to the connector to realize power supply, communication and the like of the stable platform, the inertial navigation system can be connected to the inertial navigation system installation part 22, the control box receives the attitude information (including heading angle, pitch angle, roll angle and the like) of the carrier provided by the inertial navigation system, and correspondingly controls the rotation of the first servo motor 12, the second servo motor 33 and the azimuth motor 42 on the stable platform, and adjusts the pitch angle, the roll angle and the azimuth angle of the load box 53 so that the load box 53 is always stable. Each encoder measures the offset angles of the pitching ring 3, the rolling ring 4 and the vertical azimuth shaft 5 in real time, and feeds information back to the control box to perform closed-loop control. The vertical azimuth axis 5 is provided with an absolute encoder. To ensure the use safety, the pitching ring 3 and the rolling ring 4 may be equipped with mechanical limiting devices 23 and electrical limiting devices, and at the same time, software limiting may be set in the control software to ensure the use safety. The hydroelectric slip ring 52 switches the power supply, the signal wire, the cooling water shortage and the like on the connector into the load box 53, so that the power supply, the signal, the cooling water and the like can be conveniently provided for the load correspondingly.
The large-load three-dimensional stable platform can bear 1000kg of load, has high precision and can realize the rotation range: orientation: 360 degrees; pitching: 10 °; and (3) rolling: 10 °; the stable precision can be realized: roll less than or equal to 0.3 degrees (1 sigma); pitching less than or equal to 0.3 degrees (1 sigma); the azimuth is less than or equal to 0.1 degree (1 sigma).
Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered by the scope of the claims of the present invention.
Claims (8)
1. The utility model provides a three-dimensional stable platform of big load which characterized in that: the device comprises a horizontal bottom plate, wherein two parallel supporting seats which are opposite to each other are arranged on the bottom plate in a protruding mode, a pitching ring is connected between the two supporting seats, and the outer side faces of the pitching ring are respectively and rotatably connected with the supporting seats on the corresponding sides through two collinear horizontal longitudinal shafts; the outer side surface of the rolling ring is respectively and rotatably connected with the inner side surface of the corresponding side of the rolling ring through two collinear horizontal rolling shafts, and the horizontal rolling shafts are perpendicular to the horizontal longitudinal shafts; a vertical azimuth shaft which can rotate along the axis of the rolling ring is connected in the rolling ring,
The bottom plate is connected with the pitching ring through a first ball screw driving unit and drives the pitching ring to rotate through the first ball screw driving unit;
the pitching ring is connected with the rolling ring through a second ball screw driving unit and drives the rolling ring to rotate through the second ball screw driving unit;
the driving end and the driven output end of the first ball screw driving unit are respectively hinged with the bottom plate and the pitching ring;
the driving end and the driven output end of the second ball screw driving unit are respectively hinged with the pitching ring and the rolling ring;
the horizontal longitudinal axis is coplanar with the horizontal transverse axis.
2. The high load three-dimensional stabilization platform of claim 1, wherein: the lower end of the rolling ring is connected with a bottom sealing plate, and the vertical azimuth shaft is positioned above the bottom sealing plate; the lower surface of the bottom sealing plate is convexly provided with a hinge lug, the lower surface of the pitching ring is convexly provided with a hinge lug, and the driving end and the driven output end of the second ball screw driving unit are respectively hinged to the hinge lug and the hinge lug.
3. A high load three-dimensional stabilized platform as claimed in claim 2, wherein: the driving end of the second ball screw driving unit comprises a second servo motor which is in driving connection with one end of the screw rod; the driven output end of the second ball screw driving unit comprises a nut sleeved on the screw rod, a sleeve is connected to the nut, and the sleeve is sleeved at the free end of the screw rod and can synchronously move along with the nut; the second servo motor is fixedly arranged in the outer shell, and the outer side of the outer shell and one end, far away from the nut, of the sleeve are respectively hinged to the hinge lug and the hinge lug.
4. A high load three-dimensional stabilized platform as claimed in claim 3, wherein: the outer shell comprises a motor shell, a connecting section shell and a screw shell which are sequentially connected, the second servo motor is fixedly arranged in the motor shell, an output shaft of the second servo motor stretches into the connecting section shell and is connected with one end of a screw rod in the connecting section shell, a rolling bearing is arranged between one end far away from the motor shell and the corresponding screw rod section of the connecting section shell to ensure rotation and effective support of the screw rod, the free end of the screw rod is positioned in the screw rod shell, a nut is also positioned in the screw rod shell, the sleeve penetrates out from one end far away from the connecting section shell of the screw rod shell, and the outer walls of the nut and the sleeve are in sliding clearance fit with the inner wall of the screw rod shell;
the outer side of the connecting section shell is hinged with the hinge lugs; the end of the sleeve, which is far away from the nut, is sealed and hinged with the hinge lug.
5. The high load three-dimensional stabilization platform of claim 1, wherein: the vertical azimuth shaft is rotatably supported and connected in the rolling ring through a rolling bearing, an azimuth motor is arranged on the rolling ring, and the azimuth motor is in transmission connection and fixedly connected with an azimuth gear pair on the vertical azimuth shaft so as to drive the vertical azimuth shaft.
6. The high load three-dimensional stabilized platform of claim 5, wherein: the device further comprises a control box, wherein the control box is in control connection with the first ball screw driving unit, the second ball screw driving unit and the azimuth motor, the horizontal longitudinal shaft, the horizontal transverse shaft and the vertical azimuth shaft are respectively and synchronously rotated and connected with encoders, and signals of the encoders are connected with the control box to feed back the rotation angle.
7. The high load three-dimensional stabilization platform of claim 1, wherein: the bottom plate or the supporting seat is provided with an external plug connector and an inertial navigation system installation part.
8. The high load three-dimensional stabilization platform of claim 7, wherein: the vertical azimuth shaft is provided with a hydroelectric slip ring, the hydroelectric slip ring is connected with the plug connector, the upper side of the vertical azimuth shaft is synchronously rotationally connected with a load box body so as to provide a mounting plane and a control system mounting position for a load, and the hydroelectric slip ring stretches into the load box body so as to be connected with the load in a switching way.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011545086.8A CN112555617B (en) | 2020-12-23 | 2020-12-23 | Three-dimensional stable platform of heavy load |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011545086.8A CN112555617B (en) | 2020-12-23 | 2020-12-23 | Three-dimensional stable platform of heavy load |
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| Publication Number | Publication Date |
|---|---|
| CN112555617A CN112555617A (en) | 2021-03-26 |
| CN112555617B true CN112555617B (en) | 2024-06-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011545086.8A Active CN112555617B (en) | 2020-12-23 | 2020-12-23 | Three-dimensional stable platform of heavy load |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN213982751U (en) * | 2020-12-23 | 2021-08-17 | 重庆华渝电气集团有限公司 | Large-load three-dimensional stable platform |
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| EP2650962A1 (en) * | 2012-04-12 | 2013-10-16 | Satcube AB | Antenna support system |
| CN203082471U (en) * | 2012-12-12 | 2013-07-24 | 马洪 | Rotatable installation structure |
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| CN204695110U (en) * | 2015-07-03 | 2015-10-07 | 中国电子科技集团公司第二十六研究所 | Integral electric lifting stablizes revolving-turret device |
| CN105173024A (en) * | 2015-09-26 | 2015-12-23 | 哈尔滨工程大学 | Three-freedom-degree hydraulic drive heavy load stabilizing platform |
| CN106017915A (en) * | 2016-05-11 | 2016-10-12 | 清华大学 | Ball screw assembly precision retaining testing apparatus with characteristics of precise pre tightening and loading |
| CN110386227B (en) * | 2019-07-20 | 2021-01-05 | 大连理工大学 | Roll, pitch and heave decoupling and connecting mechanism for connecting ice region nuclear power platform |
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2020
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN213982751U (en) * | 2020-12-23 | 2021-08-17 | 重庆华渝电气集团有限公司 | Large-load three-dimensional stable platform |
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