CN209495091U - A kind of twin shaft self-level(l)ing device - Google Patents
A kind of twin shaft self-level(l)ing device Download PDFInfo
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- CN209495091U CN209495091U CN201822232271.6U CN201822232271U CN209495091U CN 209495091 U CN209495091 U CN 209495091U CN 201822232271 U CN201822232271 U CN 201822232271U CN 209495091 U CN209495091 U CN 209495091U
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Abstract
The utility model discloses a kind of twin shaft self-level(l)ing devices, including mounting seat, the levelling mechanism being arranged in mounting seat and the control circuit controlled levelling mechanism, the levelling mechanism includes the identical roll leveling structure of structure and pitching leveling structure, the leveling structure of traversing includes roll motor, roll retarder and roll bracket, and the output shaft of roll motor is sequentially connected by roll retarder and roll bracket；Angular transducer 9 is fixedly installed under face to be leveled, and the roll bracket and tilt mount are fixedly connected with the left and right end of plate to be leveled and upper and lower end respectively.The utility model uses twin shaft angular transducer, reduces the error generated during leveling, improves leveling precision；Using turbine and worm connection type, have in levelling range energy any angle can mechanical mechanism it is self-locking, substantially increase the safety and stability of equipment, mechanism design is simple and compact, and light-weight, reaction speed is fast, can satisfy plurality of application scenes.
Description
Technical field
The utility model relates to automatic leveling technical field more particularly to a kind of twin shaft self-level(l)ing devices.
Background technique
Currently, electric leveling device is usually that pitching azimuth type is taken to level control mode, pitching azimuth type levelling device
It is minimum 180 ° of orientation slewing area, all to cover pitching in leveling first, in accordance with a direction rotational orientation axis
Tilt angle can obtain the range of pitch tilt, herein from the angular transducer being mounted on datum level to be leveled at this time
The corresponding angle value in orientation when obtaining pitch tilt maximum angle in the process, while recording pitch tilt maximum angle；Then it controls
Orientation processed turns to pitch tilt angle maximum, and orientation stops at current location, rotates pitching, controls pitching to tilt angle
Reduced direction rotation, until datum level to be leveled is then in horizontal at this time when to be adjusted to angular transducer numerical value be zero.
Existing pitching orientation electric leveling device entirely leveled although being relatively easy realization in practical application
Journey step is more, takes a long time, and leveling precision is low, and specific: it is maximum to obtain pitching inclination angle difference to first have to rotational orientation
Then azimuthal point is rotated further by pitch axis；Entire leveling process time-consuming is limited by the reduction ratio of motor speed and deceleration mechanism, to obtain
Higher torque parameter is obtained, the speed of service of device is often reduced；The design error of azimuth mechanism can be directly superimposed to finally
Leveling error in, to guarantee final leveling precision, azimuth mechanism also needs higher design accuracy and higher control simultaneously
Precision processed, when obtaining the orientation angles of pitch tilt angle maximum value, can increase a precision to guarantee to level precision
Higher photoelectric encoder, but this also increases design cost and installation cost, reduces the maintainability and environment of device
Adaptability greatly reduces practical application scene.
Utility model content
The purpose of the utility model is to provide a kind of twin shaft self-level(l)ing device, can it can be with lower hardware cost
Higher leveling precision is obtained, and takes into account leveling efficiency, can automatic, quickly, accurately be leveled, and environment with higher is suitable
Ying Xing.
The technical solution adopted in the utility model are as follows:
A kind of twin shaft self-level(l)ing device, including mounting seat, the levelling mechanism being arranged in mounting seat and to leveling
The control circuit that mechanism is controlled, the levelling mechanism include the identical roll leveling structure of structure and pitching leveling knot
Structure, the roll leveling structure include roll motor, roll retarder and roll bracket, and the output shaft of roll motor passes through cross
It rolls retarder and roll bracket is sequentially connected；The pitching levelling mechanism includes pitching motor, pitching retarder 3 and pitching branch
The output shaft of frame, pitching motor is sequentially connected by pitching retarder and tilt mount；Angular transducer 9 is fixedly installed in wait adjust
Under plane, the roll bracket and tilt mount are fixedly connected with the left and right end of plate to be leveled and upper and lower end respectively；
The control circuit includes power circuit, DSP data processing circuit, pitch drive and roll driver, institute
The output end for the angular transducer stated is sent to the input terminal of DSP data processing circuit by serial ports, DSP data processing circuit
Output end is connected with roll leveling structure and the control of pitching leveling structure respectively by pitch drive and roll driver, described
Power circuit be respectively used to supply DSP data processing circuit, pitch drive, roll driver and angular transducer
Electricity.
It further include having multiple limit switches, multiple limit switches are respectively used to monitoring roll bracket and tilt mount
Adjustment position upper and lower limit；The output end of multiple limit switches is separately connected DSP data processing circuit input terminal.
The angular transducer is twin shaft angular transducer, model SP-05.
It further include thering is control cabinet, button switch and LED light, the button switch and LED light to be fixed on
It controls on cabinet, control circuit is placed in control cabinet, and button switch and LED light are connected in parallel on main power circuit and divide
The on-off of power supply Yong Yu not be controlled and show.
The pitching retarder includes worm screw, turbine and connecting shaft, the motor shaft connecting worm of the pitching motor, snail
Bar drives turbine to swing, and turbine and connecting shaft are rigidly connected, and connecting shaft drives tilt mount to carry out on direction after passing through bearing
Rotation.
The utility model and existing Technical comparing, the invention has the advantages that reducing the same of an azimuth encoder
When, using twin shaft angular transducer, the error generated during leveling is reduced, improves leveling precision；Using turbine snail
Bar connection type, have levelling range energy in any angle can mechanical mechanism it is self-locking, substantially increase the safety of equipment
And stability；Driving design is greatly optimized using stepper motor, so that motor-drive circuit design becomes succinct efficient, is lowered
Hardware cost；Have the function of maximum levelling range judgement and real-time position limitation protection, is effectively protected this equipment and load
Safety；The present apparatus has the function of single leveling and real-time leveling, and mechanism designs simple and compact, and light-weight, reaction speed is fast, can be with
Meet plurality of application scenes.
Detailed description of the invention
Fig. 1 is the main view of the utility model；
Fig. 2 is the cross-sectional view in the face cigarette B-B in the utility model main view；
Fig. 3 is the perspective view of the utility model；
Fig. 4 is the schematic block circuit diagram of the utility model.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative labor
Every other embodiment obtained under the premise of dynamic, fall within the protection scope of the utility model.
As shown in Fig. 1,2,3 and 4, the utility model includes mounting seat 10, the leveling machine being arranged in mounting seat 10
Structure and the control circuit controlled levelling mechanism, the levelling mechanism include the identical roll leveling structure of structure and bow
Face upward leveling structure, the roll leveling structure includes roll motor 2, roll retarder 1 and roll bracket 6, roll motor 2
Output shaft is sequentially connected by roll retarder and roll bracket 6；The pitching levelling mechanism includes pitching motor 4, pitching
The output shaft of retarder 3 and tilt mount 7, pitching motor 4 is sequentially connected by pitching retarder 3 and tilt mount 7；Angle passes
Sensor 9 is fixedly installed under face 8 to be leveled, and the roll bracket 6 and tilt mount 7 are left and right with plate to be leveled respectively
End is fixedly connected with upper and lower end；
The control circuit includes power circuit, DSP data processing circuit, pitch drive and roll driver, institute
The output end for the angular transducer 9 stated is sent to the input terminal of DSP data processing circuit, DSP data processing circuit by serial ports
Output end connected respectively with roll leveling structure and the control of pitching leveling structure by pitch drive and roll driver, institute
The power circuit stated is respectively used to supply DSP data processing circuit, pitch drive, roll driver and angular transducer
Electricity.
It further include having multiple limit switches, multiple limit switches are respectively used to monitoring roll bracket 6 and pitching branch
The upper and lower limit of the adjustment position of frame 7；The output end of multiple limit switches is separately connected the input of DSP data processing circuit
End.
Volume circuit composition.DSP data processing circuit passes through the bi-axial tilt angle that serial ports real-time reception angular transducer is sent
Angle value, while direction of motor rotation and velocity of rotation can be controlled by control pitch drive and roll driver, herein
Period DSP data processing circuit will also detect the limit signal of two axis of pitching and roll, for guaranteeing the safety fortune of whole device
Row.
The angular transducer is twin shaft angular transducer, model SP-05, precision with higher.
It further include having control cabinet 5, the control circuit 11 is placed in control cabinet 5.Cabinet 5 is controlled by setting
Not only can be dust-proof, moisture-proof, but also can be very good protection staff measurement safety.
The pitching retarder includes worm screw 14, turbine 13 and connecting shaft, the motor axis connection snail of the pitching motor
Bar 14, worm screw 14 drive turbine 13 to swing, and turbine 13 and connecting shaft 12 are rigidly connected, and connecting shaft 12 is bowed by driving after bearing 15
Face upward the rotation on the progress of bracket 7 direction；Roll part is as pitching part connection mounting means.
This self-level(l)ing device is made of control circuit, angular transducer and mechanical transmission mechanism, mechanical transmission mechanism packet
Include roll motor 2, roll retarder 1, roll bracket 6, pitching motor 4, pitching retarder 3, tilt mount 7；As shown in figure 3,
Angular transducer 9 is installed under face 8 to be leveled, and when installation will guarantee that certain accuracy control circuit 11 is placed in control cabinet 5
In.
Control circuit is mainly by power circuit, DSP data processing circuit, pitch drive, roll driver, limit circuit
Composition.DSP data processing circuit passes through the bi-axial tilt angle value that serial ports real-time reception angular transducer is sent, while can lead to
Control pitch drive and roll driver are crossed to control direction of motor rotation and velocity of rotation, DSP data processing during this period
Circuit will also detect the limit signal of two axis of pitching and roll, for guaranteeing the safe operation of whole device.
Pitching motor 4 is connected on pitching retarder 3 by motor shaft, and motor connects as shown in Figure 4 inside pitching retarder
Worm screw 14 is connect, worm screw 14 drives turbine 13 to swing, and turbine 13 and connecting shaft 12 are rigidly connected, by driving pitching side after bearing 15
To rotation；Roll part is as pitching part connection mounting means.
DSP data processing circuit receive angular transducer 9 transmission twin shaft angle when, first determine whether pitch angle and
Whether roll angle is more than maximum levelling range, if it exceeds maximum levelling range then not responds；If being less than maximum tune
Flat range then controls corresponding motor driver, rotates electricity according to the direction that pitch tilt angle and roll tilt angle reduce
Machine, until pitch tilt angle and roll tilt angle are reduced to 0 °.Data to two axis of angular transducer, which export, is all
At 0 °, power supply can be closed, at this time due to the present apparatus take be turbine and worm mechanism design, thereby may be ensured that in any position
Set can machine automatization it is locked；Power supply can not also be closed at this time, then the leveling of present apparatus meeting real-time perfoming, to reach automatic
The function of single leveling or real-time leveling.
Key problem in technology point of the invention is:
1, the higher twin shaft angular transducer of one precision is installed in datum level to be leveled, for guaranteeing leveling precision；
2, reducer arrangement uses turbine and worm mechanism, to guarantee that any angle can reach machine in levelling range
The function that tool mechanism locks automatically improves the safety and stability of device；
3, motor uses stepper motor, so that drive control becomes simply, to reduce multiple loop designs, simplify circuit
Design, reduces the cost；
4, two electric limitings are all respectively provided in pitching and two axis of roll, to protective device safety；
5, closed-loop control is carried out to tilt angle after DSP data processing acquires angle information, leveling precision is improved, realizes
It automatically controls.
Claims (5)
1. a kind of twin shaft self-level(l)ing device, it is characterised in that: including mounting seat, the levelling mechanism being arranged in mounting seat
With the control circuit controlled levelling mechanism, the levelling mechanism includes the identical roll leveling structure of structure and pitching
Leveling structure, the roll leveling structure include roll motor, roll retarder and roll bracket, the output shaft of roll motor
It is sequentially connected by roll retarder and roll bracket；The pitching levelling mechanism includes pitching motor, 3 and of pitching retarder
The output shaft of tilt mount, pitching motor is sequentially connected by pitching retarder and tilt mount；Angular transducer 9 is fixedly mounted
Under face to be leveled, the roll bracket and tilt mount are fixed with the left and right end of plate to be leveled and upper and lower end connect respectively
It connects；
The control circuit includes power circuit, DSP data processing circuit, pitch drive and roll driver, described
The output end of angular transducer is sent to the input terminal of DSP data processing circuit, the output of DSP data processing circuit by serial ports
End is connected with roll leveling structure and the control of pitching leveling structure respectively by pitch drive and roll driver, the electricity
Source circuit is respectively used to be powered DSP data processing circuit, pitch drive, roll driver and angular transducer.
2. twin shaft self-level(l)ing device according to claim 1, it is characterised in that: it further include having multiple limit switches, institute
The multiple limit switches stated are respectively used to the upper and lower limit of the adjustment position of monitoring roll bracket and tilt mount；Described is multiple
The output end of limit switch is separately connected DSP data processing circuit input terminal.
3. twin shaft self-level(l)ing device according to claim 1, it is characterised in that: the angular transducer is twin shaft angle
Spend sensor, model SP-05.
4. twin shaft self-level(l)ing device according to claim 1, it is characterised in that: further include thering is control cabinet, button to open
It closes and LED light, the button switch and LED light is fixed on control cabinet, control circuit is placed in control machine
In case, and button switch and LED light are connected in parallel on the on-off for being respectively used to control and show power supply on main power circuit.
5. twin shaft self-level(l)ing device according to claim 1, it is characterised in that: the pitching retarder includes snail
Bar, turbine and connecting shaft, the motor shaft connecting worm of the pitching motor, worm screw drive turbine to swing, and turbine is rigid with connecting shaft
Property connection, connecting shaft pass through bearing after drive tilt mount carry out direction on rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822232271.6U CN209495091U (en) | 2018-12-28 | 2018-12-28 | A kind of twin shaft self-level(l)ing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822232271.6U CN209495091U (en) | 2018-12-28 | 2018-12-28 | A kind of twin shaft self-level(l)ing device |
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| Publication Number | Publication Date |
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| CN209495091U true CN209495091U (en) | 2019-10-15 |
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| CN201822232271.6U Active CN209495091U (en) | 2018-12-28 | 2018-12-28 | A kind of twin shaft self-level(l)ing device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110836682A (en) * | 2019-11-28 | 2020-02-25 | 自然资源部第一海洋研究所 | Mounting platform and automatic control method thereof |
| CN110966494A (en) * | 2019-12-26 | 2020-04-07 | 曹思明 | Multi-axis movement fixing mechanism for camera |
| CN111717299A (en) * | 2020-06-09 | 2020-09-29 | 南京理工大学 | Vehicle self-stabilizing cockpit and control system and method based on cockpit |
| CN112009703A (en) * | 2020-08-01 | 2020-12-01 | 河北汉光重工有限责任公司 | Airborne three-axis stable servo platform capable of being self-locked at will in power failure and roll eccentricity compensation method |
| CN113173500A (en) * | 2021-03-31 | 2021-07-27 | 江苏无线电厂有限公司 | Lifting lodging mechanism and control method thereof |
| CN116759374A (en) * | 2023-08-16 | 2023-09-15 | 上海图双精密装备有限公司 | Passive leveling platform and method |
-
2018
- 2018-12-28 CN CN201822232271.6U patent/CN209495091U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110836682A (en) * | 2019-11-28 | 2020-02-25 | 自然资源部第一海洋研究所 | Mounting platform and automatic control method thereof |
| CN110966494A (en) * | 2019-12-26 | 2020-04-07 | 曹思明 | Multi-axis movement fixing mechanism for camera |
| CN111717299A (en) * | 2020-06-09 | 2020-09-29 | 南京理工大学 | Vehicle self-stabilizing cockpit and control system and method based on cockpit |
| CN112009703A (en) * | 2020-08-01 | 2020-12-01 | 河北汉光重工有限责任公司 | Airborne three-axis stable servo platform capable of being self-locked at will in power failure and roll eccentricity compensation method |
| CN112009703B (en) * | 2020-08-01 | 2024-06-04 | 河北汉光重工有限责任公司 | Airborne triaxial stable servo platform capable of achieving random self-locking in power failure |
| CN113173500A (en) * | 2021-03-31 | 2021-07-27 | 江苏无线电厂有限公司 | Lifting lodging mechanism and control method thereof |
| CN116759374A (en) * | 2023-08-16 | 2023-09-15 | 上海图双精密装备有限公司 | Passive leveling platform and method |
| CN116759374B (en) * | 2023-08-16 | 2023-11-14 | 上海图双精密装备有限公司 | Passive leveling platform and method |
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