CN211979185U - Three-axis stable platform for water surface floating platform information radar - Google Patents
Three-axis stable platform for water surface floating platform information radar Download PDFInfo
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- CN211979185U CN211979185U CN202020419986.7U CN202020419986U CN211979185U CN 211979185 U CN211979185 U CN 211979185U CN 202020419986 U CN202020419986 U CN 202020419986U CN 211979185 U CN211979185 U CN 211979185U
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Abstract
The utility model relates to the field of radar auxiliary devices, in particular to a triaxial stabilized platform for a water surface floating platform information radar, which comprises a base and an upper platform, wherein the base is provided with a main shaft, the top of the main shaft is provided with a cross universal joint, and the top of the cross universal joint is connected with the bottom of the upper platform; the bottom of the upper platform is provided with a pitching transmission mechanism and a rolling transmission mechanism which have the same structure, and the pitching transmission mechanism and the rolling transmission mechanism are respectively arranged in two vertical directions at the bottom of the platform. The utility model has the advantages that adopt parallel mechanism, parallel mechanism improves greatly on bearing capacity, in the aspect of the precision, compares with series connection platform and has had quite high precision especially, and this system adopts parallel structure, and system design is more reasonable, succinct.
Description
Technical Field
The utility model relates to a radar auxiliary device field, especially a triaxial stabilized platform for surface of water floating platform information radar.
Background
The load is in an uncertain sea water motion environment and can be disturbed by motion, so that the motion disturbance in three directions of rolling, pitching and azimuth is generated. The stable platform is placed on a moving object, and the purpose of the stable platform is to isolate the movement interference of the moving object and keep the function of relatively stable load. The stable platform is only used for isolating motion interference in two directions of rolling and pitching, the search radar antenna performs speed stabilization control on the stable platform, the design of a mechanical execution system of the stable platform is generally divided into a series structure and a parallel structure, the series structure is a system which is executed in series based on motion in one direction and is executed in series based on motion in the other direction, and the motion in each direction affects each other.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome prior art's shortcoming, provide a triaxial stabilized platform for surface of water floating platform information radar, adopt and adopt parallelly connected structure, system design is more reasonable, succinct, improves greatly on bearing capacity, compares with series connection platform in the aspect of the precision and has had very high precision more.
The purpose of the utility model is realized through the following technical scheme: a three-axis stable platform for an information radar of a water surface floating platform comprises a base and an upper platform, wherein a main shaft is arranged on the base, a cross universal joint is arranged at the top of the main shaft, and the top of the cross universal joint is connected to the bottom of the upper platform;
the bottom of the upper platform is provided with a pitching transmission mechanism and a rolling transmission mechanism which have the same structure, the pitching transmission mechanism and the rolling transmission mechanism are respectively arranged in two vertical directions at the bottom of the platform, the pitching transmission mechanism comprises a mounting seat, a ball screw, a guide shaft and a driving motor, the guide shaft is fixed on the base, the bottom end of the ball screw is rotationally connected with the mounting seat, the ball screw is in threaded connection with a screw nut, a support table is sleeved on the screw rod nut, one end of the support table is connected with the guide shaft in a sliding way, a supporting shaft is arranged at the top of the other end of the supporting platform, the driving motor is fixed on the mounting seat, the output end of the driving motor is connected with the ball screw to drive the ball screw to rotate, the top of the supporting shaft is provided with a double-cross universal joint, and the top of the double-cross universal joint is fixed at the bottom of the upper platform;
the top of main shaft be provided with an L type right angle connecting plate, the top of guiding axle is fixed on the right angle connecting plate, the top of ball screw with the right angle connecting plate rotates and is connected.
Specifically, the right-angle connecting plate and the mounting seat are respectively provided with a limit switch on the moving track of the screw nut, and the limit switches are used for limiting the moving limit position of the screw nut.
Specifically, a gyroscope is arranged on the base.
Specifically, the upper platform is provided with an inclination angle sensor for detecting the state of the upper platform.
Specifically, the supporting shafts of the pitch transmission mechanism and the roll transmission mechanism are perpendicular to the connecting line of the main shaft.
Specifically, the guide shaft is sleeved with a linear bearing, and one end of the support platform is connected with the linear bearing.
Specifically, an output shaft of the driving motor is connected with a driving synchronous pulley, a driven synchronous pulley is arranged at the bottom end of the ball screw, and the driving synchronous pulley and the driven synchronous pulley are connected through a synchronous belt in a transmission mode.
The utility model has the advantages of it is following:
1. the driving motor located at the bottom of the main shaft drives the lead screw to rotate through the synchronous belt and the synchronous belt pulley, the lead screw nut located on the lead screw performs linear motion under the limitation of the guide shaft, and then drives the nut to perform vertical linear motion on the support shaft, and the platform is realized through the joint action of the two universal joints on the support shaft and the universal joint under the main shaft.
2. The utility model discloses a parallel mechanism, parallel mechanism improve greatly on bearing capacity, in the aspect of the precision, compares with series connection platform and has had quite high precision especially, and this system adopts parallel structure, and system design is more reasonable, succinct.
Drawings
Fig. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic perspective view of the present invention;
in the figure: 1-base, 2-driving motor, 3-supporting table, 4-ball screw, 5-supporting shaft, 6-guiding shaft, 7-double cross universal joint, 8-upper platform, 9-cross universal joint, 10-right angle connecting plate, 11-pitching transmission mechanism, 12-rolling transmission mechanism, 13-main shaft, 14-linear bearing, 15-gyroscope, 16-synchronous belt, 17-mounting seat, 18-limit switch, 19-screw nut and 20-inclination sensor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention, i.e., the described embodiments are only some, but not all embodiments of the invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiment of the present invention, all other embodiments obtained by the person skilled in the art without creative work belong to the protection scope of the present invention.
It is noted that relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The invention will be further described with reference to the accompanying drawings, but the scope of the invention is not limited to the following description.
As shown in fig. 1-2, a three-axis stabilized platform for an information radar of a water surface floating platform comprises a base 1 and an upper platform 8, wherein the surface of the upper platform is used for connecting and fixing a search radar load, a main shaft 13 is arranged on the base 1, a cross universal joint 9 is arranged at the top of the main shaft 13, and the top of the cross universal joint 9 is connected to the bottom of the upper platform 8; wherein the main shaft 13 is arranged at the central position of the bottom of the upper platform 8,
the bottom of the upper platform 8 is provided with a pitching transmission mechanism 11 and a rolling transmission mechanism 12 which are identical in structure, the pitching transmission mechanism 11 and the rolling transmission mechanism 12 are respectively arranged in two vertical directions at the bottom of the platform, the pitching transmission mechanism 11 comprises an installation seat 17, a ball screw 4, a guide shaft 6 and a driving motor 2, the driving motor 2 adopts a servo motor, the guide shaft 6 is fixed on the base 1, the bottom end of the ball screw 4 is rotatably connected with the installation seat 17, the ball screw 4 is in threaded connection with a screw nut 19, a support platform 3 is sleeved on the screw nut 19, one end of the support platform 3 is in sliding connection with the guide shaft 6, a support shaft 5 is arranged at the top of the other end of the support platform 3, the driving motor 2 is fixed on the installation seat 17, and the output end of the driving motor 2 is connected with the ball screw 4, the ball screw 4 is driven to rotate, a double-cross universal joint 7 is arranged at the top of the supporting shaft 5, and the top of the double-cross universal joint 7 is fixed at the bottom of the upper platform 8; in one direction, the stable platform rotating pair requires to rotate in one direction, and the rotating pair in one direction should not limit the rotation of the platform in the other direction. If the hinge is selected, the unidirectional rotation is realized, but the rotational freedom degree in the intersecting direction with the hinge is limited, so that a unidirectional upward revolute pair requires the rotation in at least two vertical directions, the universal joint is just required by symbols, and the universal joint has strong torque resistance, so that a precise double-cross universal joint 7 coupler is selected, the double-cross universal joint 7 can isolate or absorb axial vibration and impact, has the remarkable advantages of large torque, reduced accidents, small rotational inertia, large adjusting angle, convenience in installation, wide application range, long service life and the like, and is suitable for various universal mechanical occasions, the maximum rotating angle of each section is 45 degrees, the middle part adopts a large cross universal joint 9, and the pitching and the rolling adopt a group of double-cross universal joints 7 respectively; the universal joint adopts 40Cr high-quality alloy steel, the cross shaft and the shaft hole are both specially treated, the hardness is high, the wear resistance is good, the universal joint can be quickly maintained and replaced, and the maintenance cost is low.
The top of the main shaft 13 is provided with an L-shaped right-angle connecting plate 10, the top end of the guide shaft 6 is fixed on the right-angle connecting plate 10, the top end of the ball screw 4 is rotatably connected with the right-angle connecting plate 10, and the top ends of the ball screw 4 and the guide shaft 6 of the pitching transmission mechanism 11 and the rolling transmission mechanism 12 are respectively connected with two right-angle sides of the right-angle connecting plate 10. The utility model discloses a platform is used for on-board search radar to keep apart the carrier disturbance and keeps the antenna to move according to the assigned speed at the horizontal direction, at the during operation, 2 driving motor of pitch drive mechanism 11 drive ball screw 4 and rotate, make screw-nut move on ball screw 4, promote or tensile platform motion, accomplish the pitch drive, because the structure and the function of roll drive mechanism 12 and the same of pitch drive mechanism 11, only the direction is different, the gesture information of roll and pitch becomes 90 degrees right angles, 2 driving motor drives the lead screw pair, become the unique degree of freedom of motor drive roll removal, the pitch direction is the same with the pitch direction principle. Therefore, the stable platform is a two-degree-of-freedom stable platform, the freedom degrees in two directions also ensure the adjustment of the platform surface on the stable platform in any spatial direction, the design requirements are met, only the yaw gyro speed information needs to be acquired, and the yaw rate is compensated by the control system, so that the speed stabilization of the antenna on the geodetic coordinate system can be realized;
in order to increase stability, the lower part of the main shaft adopts a hollow steel pipe, the pipe diameter is enlarged, meanwhile, the weight is effectively controlled, a flange connection disc is arranged at the top end of the main shaft, a right-angle connection plate 10 is connected and fixed on the main shaft through a bolt and the flange connection disc, in addition, a threaded connection hole is also arranged on the top end face of the main shaft, and the bottom of the cross universal joint 9 is connected with the top end face of the main shaft through a bolt.
Furthermore, a limit switch 18 is arranged on the right-angle connecting plate 10 and the mounting seat 17 on the moving track of the screw nut 19 and used for limiting the moving limit position of the screw nut 19, and the screw nut reaches the upper limit position and the lower limit position to trigger the mechanical limit switch, so that the safety of the device and equipment is ensured.
Further, a gyroscope 15 is arranged on the base 1.
Further, an inclination sensor 20 is disposed on the upper platform 8, and is used for detecting a state of the upper platform 8.
Furthermore, the connecting line of the supporting shaft 5 of the pitching transmission mechanism 11 and the rolling transmission mechanism 12 is vertical to the main shaft 13.
Furthermore, a linear bearing 14 is sleeved on the guide shaft 6, and one end of the support platform 3 is connected with the linear bearing 14.
Further, an output shaft of the driving motor 2 is connected with a driving synchronous pulley, a driven synchronous pulley is arranged at the bottom end of the ball screw 4, and the driving synchronous pulley and the driven synchronous pulley are in transmission connection through a synchronous belt 16.
The top at the platform is provided with the cavity revolving stage, and the cavity revolving stage comprises cavity rotatory speed reducer and step motor, and step motor is connected with the speed reducer, and the keysets is connected to the output of speed reducer, and the top of keysets sets up the radar antenna.
When the system works, the controller obtains platform attitude information, speed information and acceleration information through an attitude calculation system consisting of a detection gyro and a horizontal sensor, performs complex data operation, and obtains the control quantity of each motor so as to control the level of the platform. The rotating part calculates according to the attitude to obtain yaw angle, acceleration and speed information, performs speed compensation by combining the current state, and finally controls the antenna to operate to stabilize the speed of the geodetic coordinate system.
The foregoing is merely a preferred embodiment of the invention and is not intended to limit the invention in any way. The technical solutions of the present invention can be used by anyone skilled in the art to make many possible variations and modifications to the technical solution of the present invention, or to modify equivalent embodiments with equivalent variations, without departing from the scope of the technical solution of the present invention. Therefore, any modification, equivalent change and modification of the above embodiments according to the present invention are all within the protection scope of the present invention.
Claims (7)
1. The utility model provides a triaxial stabilized platform for surface of water floating platform information radar which characterized in that: the device comprises a base (1) and an upper platform (8), wherein a main shaft (13) is arranged on the base (1), a cross universal joint (9) is arranged at the top of the main shaft (13), and the top of the cross universal joint (9) is connected to the bottom of the upper platform (8);
the bottom of the upper platform (8) is provided with a pitching transmission mechanism (11) and a rolling transmission mechanism (12) which are identical in structure, the pitching transmission mechanism (11) and the rolling transmission mechanism (12) are respectively arranged in two vertical directions of the bottom of the platform, the pitching transmission mechanism (11) comprises a mounting seat (17), a ball screw (4), a guide shaft (6) and a driving motor (2), the guide shaft (6) is fixed on the base (1), the bottom end of the ball screw (4) is rotatably connected with the mounting seat (17), the ball screw (4) is in threaded connection with a screw nut (19), the screw nut (19) is sleeved with a support platform (3), one end of the support platform (3) is slidably connected with the guide shaft (6), the top of the other end of the support platform (3) is provided with a support shaft (5), the driving motor (2) is fixed on the mounting seat (17), the output end of the driving motor (2) is connected with the ball screw (4) to drive the ball screw (4) to rotate, the top of the supporting shaft (5) is provided with a double-cross universal joint (7), and the top of the double-cross universal joint (7) is fixed at the bottom of the upper platform (8);
the top of main shaft (13) be provided with an L type right angle connecting plate (10), the top of guiding shaft (6) is fixed on right angle connecting plate (10), the top of ball screw (4) with right angle connecting plate (10) rotate and be connected.
2. The three-axis stabilized platform for a surface floating platform intelligence radar of claim 1, wherein: and a limit switch (18) is arranged on the right-angle connecting plate (10) and the mounting seat (17) on the moving track of the screw nut (19) and is used for limiting the moving limit position of the screw nut (19).
3. The three-axis stabilized platform for a surface floating platform intelligence radar of claim 1, wherein: the base (1) is provided with a gyroscope (15).
4. The three-axis stabilized platform for a surface floating platform intelligence radar of claim 1, wherein: an inclination angle sensor (20) is arranged on the upper platform (8) and used for detecting the state of the upper platform (8).
5. The three-axis stabilized platform for a surface floating platform intelligence radar of claim 1, wherein: and the connecting line of the supporting shaft (5) of the pitching transmission mechanism (11) and the rolling transmission mechanism (12) is vertical to the main shaft (13).
6. The three-axis stabilized platform for a surface floating platform intelligence radar of claim 1, wherein: the guide shaft (6) is sleeved with a linear bearing (14), and one end of the support platform (3) is connected with the linear bearing (14).
7. The three-axis stabilized platform for a surface floating platform intelligence radar of claim 1, wherein: an output shaft of the driving motor (2) is connected with a driving synchronous pulley, a driven synchronous pulley is arranged at the bottom end of the ball screw (4), and the driving synchronous pulley and the driven synchronous pulley are in transmission connection through a synchronous belt (16).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020419986.7U CN211979185U (en) | 2020-03-27 | 2020-03-27 | Three-axis stable platform for water surface floating platform information radar |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020419986.7U CN211979185U (en) | 2020-03-27 | 2020-03-27 | Three-axis stable platform for water surface floating platform information radar |
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| CN211979185U true CN211979185U (en) | 2020-11-20 |
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| CN202020419986.7U Active CN211979185U (en) | 2020-03-27 | 2020-03-27 | Three-axis stable platform for water surface floating platform information radar |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115475364A (en) * | 2022-10-14 | 2022-12-16 | 合肥工业大学 | Domestic body-building equipment of thing networking electronic intelligent control |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115475364A (en) * | 2022-10-14 | 2022-12-16 | 合肥工业大学 | Domestic body-building equipment of thing networking electronic intelligent control |
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