CN202580513U - Microminiature two-dimensional control turntable - Google Patents
Microminiature two-dimensional control turntable Download PDFInfo
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- CN202580513U CN202580513U CN 201220156203 CN201220156203U CN202580513U CN 202580513 U CN202580513 U CN 202580513U CN 201220156203 CN201220156203 CN 201220156203 CN 201220156203 U CN201220156203 U CN 201220156203U CN 202580513 U CN202580513 U CN 202580513U
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- turntable
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- microminiature
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Abstract
The utility model relates to a microminiature two-dimensional control turntable which comprises a load, an installation cavity body, a pitching mechanism, an azimuth mechanism and a servo control system, wherein the installation cavity body, the pitching mechanism and the azimuth mechanism are of a modular structure; the load is installed on the installing surface of the installation cavity body, and the pitching mechanism and the azimuth mechanism are installed on the side surface of the installation cavity body; the rotating range of an azimuth rotating shaft ranges from 170 degrees to minus 170 degrees, and the rotating range of a pitching rotating shaft ranges from 30 degrees to minus 30 degrees; the rotation speed of the two-dimensional control turntable is as follows: the rotation speed of the azimuth mechanism is 0-2 degrees/s, the rotation speed of the pitching mechanism is 0-2 degrees/s, and the turntable accuracy error is not more than 0.1 degree; the output torque of the azimuth mechanism is 25 N.m, and the output torque of the pitching mechanism is 35 N.m. According to the utility model, by the modular structure design and compact installation of the installation cavity body, the pitching mechanism and the azimuth mechanism, the microminiaturization of the two-dimensional turntable is realized, the occupied space of the turntable is reduced, and the turntable is convenient for carrying, installing and using.
Description
Technical field
The utility model belongs to microwave communication test and automatic control technology field, relates to a kind of rotatable platform of remote control, is specifically related to a kind of microminiature two dimension control turntable.
Background technique
Two dimension control turret systems is the rotatable platform of a kind of local control or long-distance remote control, can the various light of installation and control, the electrical resistivity survey measurement equipment, be used for the geographical environment monitoring, security monitoring, and technical field such as antenna measurement.Along with the modernization development of technology such as geographical environment monitoring, security monitoring, the demand of various light, electrical resistivity survey measurement equipment being carried out the rotation control platform that multiple spot deploys to ensure effective monitoring and control of illegal activities is more and more, and technical requirements is increasingly high, and volume is more and more littler.From the angle of control, both can be, also can utilize the PC control antenna at far-end through data communication through local electronic control, manually control, adjust the orientation and the luffing angle of antenna, realization is to the detection and the monitoring of arbitrary direction and angle.
Notice of authorization number be CN2573838Y China utility model patent open " a kind of novel two-dimension automatic revolving platform; it comprises PSD sensor, fixed support, bearing, worm gearing, coupling, control system, power-supply system, stepper motor, horizontal rotating shaft, vertically rotatingshaft, fixed flat planar face, rotating platform base; be characterized in; the fixed support of fixedly accepting the sunlight parts is connected with separately worm gearing through level and vertical rotatingshaft respectively, and pass through coupling and be connected with stepper motor; Place that the PSD sensor is connected with control system respectively through interface circuit with stepper motor through preamplifier on the fixed flat planar face.Advantage is to make the flat board that is fixed on above the rotating platform vertical with sunlight all the time, has improved the utilization ratio of solar energy greatly.”。But this patent does not solve the miniaturization issues of turntable.
The model utility content
The purpose of the utility model provides a kind of microminiature two dimension control turntable, makes whole turntable structure compact, and in light weight, minimizing takes up room, and is convenient for carrying, installs and use.
The utility model microminiature two dimension control turntable comprises load, and cavity, luffing mechanism, azimuth mechanism and servo-control system are installed.Luffing mechanism comprises pitching rotating shaft, pitching drive motor, retarder and angle transducer.Azimuth mechanism comprises azimuth rotation axle, orientation drive motor, retarder and angle transducer.Cavity is installed attachment face is arranged.Installation cavity, luffing mechanism, azimuth mechanism are modular construction.Load is installed on the attachment face that cavity is installed, and luffing mechanism and azimuth mechanism are installed in the side that cavity is installed.The slewing area of azimuth rotation axle is 170 ° of 170 °～﹣ of ﹢, and the slewing area of pitching rotating shaft is 30 ° of 30 °～﹣ of ﹢.The rotating speed of two dimension control turntable is: 0 °～2 °/s of azimuth mechanism, 0 °～2 °/s of luffing mechanism, turntable trueness error≤0.1 °.The output torque of azimuth mechanism is 25N.m, and the output torque of luffing mechanism is 35N.m.
The load of microminiature two dimension control turntable is antenna, photographic camera, camera or infrared acquisition equipment, does not get rid of other load equipment.The pitching drive motor is provided with the pitching motor hand knob, and the azimuth axis drive motor is provided with the azimuth-drive motor hand knob.Servo-control system is made up of computer, single-chip microcomputer, motor driver, shaft-position encoder and position limitation protection device.The control of servo-control system is controlled through application software, The software adopted C Programming with Pascal Language, operation under dos operating system.Normal load≤the 20Kg of two dimension control turntable, the own wt≤40Kg of two dimension control turntable.Two dimension control turntable is installed on the turntable mounting.
It is outdoor that microminiature two dimension control turntable is suitable for the place environment, operating ambient temperature :-10 °～50 °, preserve ambient temperature :-20 °～65 °, and relative moisture: 90%RH.Computer PC 104-VSX-6151 is servo-controlled core, accomplishes the functions such as collection, state-detection, reception control command of various data, and expansion RS232 interface equipment, realizes the communication with upper-position unit.Adopt 80486 processors to make CPU, internal memory 16M, 4 serial ports, 16M solid-state electronic dish, the operation dos operating system adopts the C Programming with Pascal Language.Stepper motor Y07-58D1-17152, electric drilling match driver JK-2HB03M are adopted in the driving of antenna.Orientation, pitching installation shaft angle transducer, angular transducer is selected rotary transformer-BR379E11 for use, supporting decoder module, model is FB9502PA, exports 12 bit binary number amounts.Azimuth mechanism, luffing mechanism have the position limitation protection function, and limit switch adopts AH44E.Servo control box communicates with upper-position unit through the RS232 interface, receives control command, query statement, setup parameter and uploads data query.Reserve debugging interface and connect keyboard, display device, can carry out software modification at the scene.The operation control box panel and keypad carries out manually control of this locality.On the control cabinet panel 3 inches display screens are housed; Display interface on the servo control box panel is identical with the display interface of upper-position unit; The control operations interface; Through supervisory keyboard on the servo control box panel or upper-position unit, realize control functions such as rotation setting, location guide to each rotatingshaft of turntable.
The utility model is through installing cavity, luffing mechanism, the design of azimuth mechanism modular construction; The compact installation realized two turntable microminaturizations, reduced taking up room of turntable; Be convenient for carrying, install and use, improved the usability and the reliability of equipment.Servo control box communicates through RS232 interface and upper-position unit, receives control command, query statement, setup parameter and uploads data query.Realize control function through the supervisory keyboard on the servo control box panel to each rotation of turntable.Reserve debugging interface attended operation control box panel and keypad and can carry out this locality manually supervisory keyboard, modification software.Whole turntable structure is compact, rotates freely, and control flexibly, conveniently.
Description of drawings
Fig. 1 is the structural representation of the utility model microminiature two dimension control turntable;
Fig. 2 is the side view of Fig. 1;
Fig. 3 is the scheme of installation of microminiature two dimension control turntable;
Fig. 4 is a controller software master surface chart;
Fig. 5 is microminiature two dimension rotating platform control system and theory diagram.
Wherein
1-antenna, 2-attachment face, 3-luffing mechanism, 4-azimuth mechanism, 5-pitching drive motor, 6-pitching motor hand knob, 7-azimuth axis drive motor, 8-azimuth-drive motor hand knob, 9-antenna movement direction, 10-antenna are at the moving direction on the orientation, the spacing beacon in 11-orientation, the 12-antenna spacing beacon of moving direction, 13-pitching, 14-installation cavity, the 15-turntable mounting in pitching.
It specifically is mode of execution
Below in conjunction with accompanying drawing the utility model is further described.
The utility model microminiature two dimension control turntable such as Fig. 1, Fig. 2 are said, comprise antenna 1, and cavity 14, luffing mechanism 3, azimuth mechanism 4 and servo-control system are installed.Luffing mechanism comprises pitching rotating shaft, pitching drive motor 5, retarder and angle transducer, and the pitching drive motor is provided with pitching motor hand knob 6.Azimuth mechanism 4 comprises azimuth rotation axle, orientation drive motor 7, retarder and angle transducer, and azimuth axis drive motor 7 is provided with azimuth-drive motor hand knob 8.Installation cavity 14, luffing mechanism 3, azimuth mechanism 4 are modular construction, cavity 14 is installed is provided with attachment face 2, and antenna 1 is contained on the attachment face that cavity is installed, and luffing mechanism and azimuth mechanism are installed in the side that cavity is installed.As shown in Figure 3, cavity is installed is installed on the mounting 15.Servo-control system is made up of computer, single-chip microcomputer, motor driver, shaft-position encoder and position limitation protection device.The control of servo-control system is controlled through application software, The software adopted C Programming with Pascal Language, operation under dos operating system.The slewing area of azimuth rotation axle is 170 ° of 170 °～﹣ of ﹢, and the pitching rotating shaft slewing area is 30 ° of 30 °～﹣ of ﹢.The rotating speed of two dimension control turntable is: 0 °～2 °/s of azimuth mechanism, 0 °～2 °/s of luffing mechanism, turntable trueness error≤0.1 °.The output torque of azimuth mechanism is 25N.m, and the output torque of luffing mechanism is 35N.m.Microminiature two dimension control turntable normal load≤20Kg, two dimension control turntable own wt≤40Kg.Two dimension control turntable is installed on the turntable mounting.
According to the structural feature of microminiature two dimension control turntable, angle transducer adopts rotor and stator separate loading rotary transformer, during the turntable assembling, guarantee the concentricity of rotor and stator.If rotor and stator decentraction, promptly radial error can form rotor and be " ellipse " relation with respect to stator.The corresponding stator corner of diverse location angle of rotor is function relation to be changed, transverse one side, and the electrical angle of stator output is greater than rotor angle.Oval minor axis one side, the electrical angle of stator output is less than rotor angle.The function error of the inconsistent formation angle measurement of two angles, half-turn are overgauge, and half-turn is a negative deviation in addition, are the distribution error of periodic function relation.
After the assembling of microminiature two dimension control turntable is accomplished, with the absolute precision of angle control of theodolite check turntable and angle indication.Test method is: will control turntable with turntable controller and turn to zero-bit, an angle value θ is read in the controller indication
C1=0, adjust theodolite simultaneously, make reading θ
J1Zero setting (zero degree, zero, zero second), i.e. θ
J1=0.The control turntable rotates an angle, read-out controller indication angle θ
C1, read θ with theodolite again
J1.Note θ
C1-θ
J1=x
1(=0) is designated as and is first deviation sample x
1The control turntable rotates an angle again, read-out controller indication angle θ
C2, read θ with theodolite again
J2.Note θ
C2-θ
J2=x
2, be second deviation sample x
2Repeat above process, obtain θ successively
Cn, θ
Jn, use θ
Cn-θ
Jn, obtain x
3, x
4X
nDATA REASONING sample n is greater than 30, and scope will cover the whole slewing area of contract requirement.
Use x
iStandard variance, root-mean-square valve σ promptly evaluates the turntable validity, standard deviation reflection x
iDispersion degree with respect to mean value.If data represented whole sample is overall, then should use the Bezier formula to come basis of calculation deviation.The Bezier formula that is used for carrying out error statistics is:
σ =?
or σ =
Wherein: x
i----is sample;
N-----be sample size, get n >=30.
The control apparatus of microminiature two dimension control turntable, the motor and angle transducer on being installed in stage body, other equipment and device are installed in the servo control box.Cable connects between servo control box and the turntable: will "～220V ", " azimuth-drive motor ", " pitching motor ", " orientation is synchronous ", " pitching is synchronous ", " upper-position unit communication " six roots of sensation cable be by identifying corresponding connection.Wherein "～220V " connects the 220V ac power supply; " upper-position unit communication " connects the upper-position unit serial ports.Control operation, local panel operation and the far-end computer that turntable rotates is through the RS232 operation of serial-port, and the operation display interface is identical, and display screen master interface is as shown in Figure 4.
The top shows current orientation, luffing angle and rotational velocity among Fig. 4.Az Angle is the antenna bearingt angle; Az Speed is the rotational velocity of antenna on the orientation; El Angle is the antenna elevation angle degree; El Speed is the rotational velocity of antenna in pitching.Fig. 4 intermediate portion shows current antenna movement state.Antenna movement direction 9, which the direction motion of day alignment, which direction arrow is lighted; The moving direction 10 of antenna on the orientation.The spacing beacon 11 in orientation, antenna moving direction 12 in pitching and the spacing beacon 13 of pitching, arrives spacing after, the spacing status bar demonstration in right side " Up Limit ", " Down Limit ".The figure below is a prompt column, and prompting is menu item or dialog box is set that Local is local control, if PC control, then this status bar demonstration Remote.The figure right side is a menu bar, divides " manually ", " guiding ", " software limit ", " withdrawing from " four.By " M " key, select local manual function, interface prompt " Into Manual Mode "; Get into manually control by " ENTER ".Select at main interface " LEAD>" the entering bootmode." software limit " is used for the rotational angle range that initial setting is installed and used.Select " QUIT " to withdraw from application program, can close the turntable controller power supply then.Microminiature two dimension rotating platform control system and principle are seen Fig. 5.
Claims (6)
1. a microminiature two dimension is controlled turntable; Comprise load; Cavity (14), luffing mechanism (3), azimuth mechanism (4) and servo-control system are installed; Said luffing mechanism comprises pitching rotating shaft, pitching drive motor (5), retarder and angle transducer; Said azimuth mechanism (4) comprises azimuth rotation axle, orientation drive motor (7), retarder and angle transducer, cavity is installed is provided with attachment face (2), it is characterized in that: said installation cavity (14), luffing mechanism (3) and azimuth mechanism (4) are modular construction; Said load is installed on the attachment face (2) that cavity is installed, and luffing mechanism and azimuth mechanism are installed in the side that cavity is installed; The slewing area of said azimuth rotation axle is 170 ° of 170 °～﹣ of ﹢, and the slewing area of said pitching rotating shaft is 30 ° of 30 °～﹣ of ﹢; The rotating speed of two dimension control turntable is an azimuth mechanism: 0 °～2 °/s, and luffing mechanism: 0 °～2 °/s, turntable trueness error≤0.1 °; The output torque of azimuth mechanism is 25N.m, and the output torque of luffing mechanism is 35N.m.
2. microminiature two dimension control turntable according to claim 1, it is characterized in that: said load is antenna (1), photographic camera, camera or infrared acquisition equipment.
3. microminiature two dimension control turntable according to claim 1, it is characterized in that: said pitching drive motor (5) is provided with pitching motor hand knob (6), and said azimuth axis drive motor (7) is provided with azimuth-drive motor hand knob (8).
4. microminiature two dimension control turntable according to claim 1, it is characterized in that: described servo-control system is made up of computer, single-chip microcomputer, motor driver, shaft-position encoder and position limitation protection device.
5. microminiature two dimension control turntable according to claim 1 is characterized in that: the normal load≤20Kg of said two dimension control turntable, the own wt≤40Kg of two dimension control turntable.
6. microminiature two dimension control turntable according to claim 1 is characterized in that: said two dimension control turntable is installed on the turntable mounting (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220156203 CN202580513U (en) | 2012-04-13 | 2012-04-13 | Microminiature two-dimensional control turntable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220156203 CN202580513U (en) | 2012-04-13 | 2012-04-13 | Microminiature two-dimensional control turntable |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202580513U true CN202580513U (en) | 2012-12-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220156203 Expired - Fee Related CN202580513U (en) | 2012-04-13 | 2012-04-13 | Microminiature two-dimensional control turntable |
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| Country | Link |
|---|---|
| CN (1) | CN202580513U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103883853A (en) * | 2014-04-09 | 2014-06-25 | 厦门大学 | Double -freedom-degree direct-driven scanning tracking rotary table |
| CN104133414A (en) * | 2014-07-29 | 2014-11-05 | 北京机械设备研究所 | Individual-soldier rotary table servo control system based on CAN bus |
| CN106155102A (en) * | 2015-03-31 | 2016-11-23 | 北京航天计量测试技术研究所 | Turntable based on Multi-sensor Fusion is spacing, speed-limiting protection system |
| CN107333061A (en) * | 2017-06-30 | 2017-11-07 | 天津市亚安科技有限公司 | A kind of method that cradle head preset positions precision is improved with compensation |
| CN109519666A (en) * | 2018-12-17 | 2019-03-26 | 西安羚控电子科技有限公司 | A kind of holder support device |
-
2012
- 2012-04-13 CN CN 201220156203 patent/CN202580513U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103883853A (en) * | 2014-04-09 | 2014-06-25 | 厦门大学 | Double -freedom-degree direct-driven scanning tracking rotary table |
| CN103883853B (en) * | 2014-04-09 | 2016-01-20 | 厦门大学 | Dual free dimension directly drives scan tracing turntable |
| CN104133414A (en) * | 2014-07-29 | 2014-11-05 | 北京机械设备研究所 | Individual-soldier rotary table servo control system based on CAN bus |
| CN106155102A (en) * | 2015-03-31 | 2016-11-23 | 北京航天计量测试技术研究所 | Turntable based on Multi-sensor Fusion is spacing, speed-limiting protection system |
| CN106155102B (en) * | 2015-03-31 | 2019-02-01 | 北京航天计量测试技术研究所 | Turntable limit based on Multi-sensor Fusion, speed-limiting protection system |
| CN107333061A (en) * | 2017-06-30 | 2017-11-07 | 天津市亚安科技有限公司 | A kind of method that cradle head preset positions precision is improved with compensation |
| CN109519666A (en) * | 2018-12-17 | 2019-03-26 | 西安羚控电子科技有限公司 | A kind of holder support device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121205 Termination date: 20150413 |
|
| EXPY | Termination of patent right or utility model |