CN217279370U

CN217279370U - Automatic tracking device based on radar

Info

Publication number: CN217279370U
Application number: CN202221123549.6U
Authority: CN
Inventors: 王同臻; 王伟民; 闫东
Original assignee: Beijing Anlong Technology Group Co ltd
Current assignee: Beijing Anlong Technology Group Co ltd
Priority date: 2022-05-11
Filing date: 2022-05-11
Publication date: 2022-08-23
Anticipated expiration: 2032-05-11

Abstract

The utility model discloses an automatic tracking device based on radar, including radar tracking system, electromechanical slewing mechanism, control system, power, executor, electromechanical slewing mechanism includes: a base; a rotation unit, comprising: the main shaft is vertically fixed on the base, and a first worm wheel is coaxially sleeved on the main shaft; the rotating shell is rotatably sleeved on the main shaft; the first driving assembly is arranged on the rotating shell and comprises a first worm meshed with the first worm wheel, and the first driving assembly drives the first worm to rotate; a pitch unit comprising: the transverse shaft transversely and rotatably penetrates through the rotary shell; the second driving assembly is arranged on the rotating shell and drives the transverse shaft to rotate; and the bearing table is fixed on the transverse shaft, and the actuator is arranged on the bearing table. The utility model discloses have the beneficial effect of the every single move of realizing 360 no dead angles rotation and big or small angle.

Description

Automatic tracking device based on radar

Technical Field

The utility model relates to a trail technical field. More specifically, the utility model relates to an automatic tracking device based on radar.

Background

The automatic tracking device based on the radar aims to solve the application problems of automatic tracking picture capture, driving and the like in an intelligent automation scene. The system can continuously aim equipment such as a camera, a dispersing device and the like at a target, so that automatic tracking shooting, dispersing and the like of moving objects such as people, medium and large animals, automobiles and the like are realized. The control system integrates a power supply processing unit, an industrial control computer, an automatic tracking control program, a display, a switch and other equipment. The input power supply of the control system is 24V direct current, and the input power supply enters the power supply processing unit to be converted into a 12V power supply through a DC-DC standard, so that power is supplied to equipment such as a radar tracking system, an industrial control computer, a display screen, an electromechanical rotating mechanism and the like. The industrial control computer is the basis of hardware and software environment for automatically tracking and controlling program operation, and is also a bridge connected with a radar tracking system and an electromechanical rotating mechanism. The automatic tracking control program is developed based on JAVA language environment, is flexible to apply, and is very flexible to butt joint with new equipment and later development.

How to enable actuators such as a camera and a dissipater to stably and reliably execute a rotation task, and realizing stable 360-degree rotation and a large pitching angle are the key points, and the method is one of key technologies for improving effective tracking.

SUMMERY OF THE UTILITY MODEL

It is an object of the present invention to solve at least the above problems and to provide at least the advantages which will be described later.

In order to achieve these objects and other advantages in accordance with the purpose of the invention, a radar-based automatic tracking device is provided, which includes a radar tracking system, an electromechanical rotating mechanism, a control system connected to the radar tracking system and the electromechanical rotating mechanism, a power supply connected to the control system, and an actuator installed on the electromechanical rotating mechanism, wherein the electromechanical rotating mechanism includes:

a base;

a rotation unit, comprising:

the main shaft is vertically fixed on the base, and a first worm gear is coaxially sleeved on the main shaft;

the rotating shell is rotatably sleeved on the main shaft;

the first driving assembly is arranged on the rotating shell and comprises a first worm meshed with the first worm wheel, and the first driving assembly drives the first worm to rotate;

a pitch unit comprising:

the transverse shaft transversely and rotatably penetrates through the rotary shell;

the second driving assembly is arranged on the rotating shell and drives the transverse shaft to rotate;

and the bearing table is fixed on the transverse shaft, and the actuator is installed on the bearing table.

Preferably, the first driving assembly includes:

the first motor is fixed in the rotating shell, and an output shaft of the first motor is horizontally arranged;

the first driving gear is coaxially fixed on an output shaft of the first motor;

the first driven gear is meshed with the first driving gear, the first worm is coaxially fixed on the first driven gear, and the first worm is rotatably connected in the rotating shell.

Preferably, still include the mounting panel, it sets up in rotatory casing, first worm rotates to wear to locate on the mounting panel.

Preferably, the second driving assembly includes:

the second motor is arranged in the rotating shell, and an output shaft of the second motor is horizontally arranged;

the second driving gear is coaxially fixed on an output shaft of the second motor;

the second driven gear is meshed with the second driving gear, a second worm is coaxially fixed on the second driven gear, and the second worm is rotatably connected in the rotating shell;

and the second worm wheel is coaxially fixed on the transverse shaft, and the second worm wheel is meshed with the second worm.

Preferably, the number of teeth of the second driving gear is smaller than that of the second driven gear.

Preferably, the first worm wheel and the second worm wheel are made of tin bronze metal.

Preferably, the receiving table includes:

the pair of bearing arms are oppositely fixed at two ends of the transverse shaft and positioned outside the rotating shell, the upper ends of the bearing arms are higher than the top of the rotating shell, and the bearing arms and the rotating shell are arranged in a clearance mode;

and a top plate fixed to the receiving arm, the top plate having the actuator mounted thereon.

Preferably, the rotating shell is made of aluminum alloy, and the rotating shell is provided with protrusions and grooves at intervals.

Preferably, the base is provided with a through hole, the through hole is provided with a cap-type slip ring and an aerial socket interface fixed on the cap-type slip ring, and the driving circuit lines of the first driving assembly and the second driving assembly are connected to the aerial socket interface.

Preferably, the vertical section of the bearing arm is in a trapezoid shape with a large top and a small bottom.

The utility model discloses at least, include following beneficial effect: the automatic tracking device can realize 360-degree dead-angle-free rotation and large and small-angle pitching. The operation is simple and flexible. Can be linked with a radar tracking system.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.

Drawings

Fig. 1 is a schematic front structural view of the electromechanical rotating mechanism according to one embodiment of the present invention;

fig. 2 is a schematic side view of the electromechanical rotating mechanism according to one embodiment of the present invention;

fig. 3 is a schematic diagram of a detailed structure of the first driving assembly according to one embodiment of the present invention;

fig. 4 is a detailed structural schematic diagram of the second driving assembly according to one embodiment of the present invention;

fig. 5 is a schematic connection diagram of the second worm wheel and the second worm according to one embodiment of the present invention;

fig. 6 is a distribution schematic diagram of the mounting plate according to one embodiment of the present invention;

fig. 7 is a schematic connection diagram of the automatic tracking apparatus based on radar according to one of the technical solutions of the present invention.

Detailed Description

The present invention is described in further detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description.

It is to be noted that the experimental methods described in the following embodiments are all conventional methods unless otherwise specified, and the reagents and materials, if not otherwise specified, are commercially available; in the description of the present invention, the terms indicating orientation or positional relationship are based on the orientation or positional relationship shown in the drawings only for convenience of description and simplification of description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

As shown in fig. 1-7, the utility model provides an automatic tracking device based on radar, including radar tracker 1, electromechanical slewing mechanism 2, with the control system 3 that radar tracker 1 and electromechanical slewing mechanism 2 are connected, with the power that control system 3 is connected, install in executor on the electromechanical slewing mechanism 2 is connected to control system 3 through the cable with radar tracker 1, is connected to control system 3 through the cable with electromechanical slewing mechanism 2, is connected to control system 3 through the cable with the power, and control system 3 includes power processing unit, industrial control computer, display, switch etc. and the power adopts 24V DC power supply usually, handles the back through power processing unit, converts 12V DC power supply into to be radar tracker 1, electromechanical slewing mechanism 2, the switch power supply respectively.

The electromechanical rotating mechanism 2 includes:

a base 4;

a rotation unit 5 comprising:

the main shaft 51 is vertically fixed on the base 4, and a first worm gear 52 is coaxially sleeved on the main shaft 51;

a rotary housing 53 rotatably fitted over the spindle 51; the rotary housing 53 can horizontally rotate about the main shaft 51 with respect to the main shaft 51.

A first driving assembly, which is disposed on the rotating housing 53, and includes a first worm 54 engaged with the first worm wheel 52, and the first driving assembly drives the first worm 54 to rotate; the first driving assembly may adopt a motor, such that the motor directly drives the first worm 54 to rotate, then drives the first worm wheel 52 to rotate, and then drives the main shaft 51 to rotate, and since the main shaft 51 is fixed and the processing is stationary, the rotating housing 53 can be reversely rotated horizontally around the main shaft 51 by the reverse locking performance of the first worm wheel 52 and the first worm 54. The motor may also indirectly drive the first worm 54 through a geared rotation.

A pitching unit 6 comprising:

a horizontal shaft 61 transversely rotatably disposed through the rotary housing 53; the rotary housing 53 may be rotatably connected to the horizontal shaft 61 by providing a through hole in a side wall of the rotary housing 53, attaching a bearing holder and a bearing to the through hole, and attaching the horizontal shaft 61 to the bearing.

A second driving assembly, which is arranged on the rotating shell 53 and drives the horizontal shaft 61 to rotate; the second driving assembly can drive the transverse shaft 61 to rotate by coaxially sleeving a gear on the transverse shaft 61, then adopting a motor, fixing another gear on an output shaft of the motor, and enabling the gear to be meshed with the gear on the transverse shaft 61. The output shaft of the motor may be fixed coaxially with the horizontal shaft 61 to rotate the horizontal shaft 61.

And a receiving table 7 fixed to the lateral shaft 61, wherein the actuator is attached to the receiving table 7. When the transverse shaft 61 rotates along the axial direction thereof, the rotation on the vertical surface is realized, the receiving platform 7 is fixed on the transverse shaft 61 and can rotate along with the transverse shaft 61, the transverse shaft 61 rotates forwards and backwards, the receiving platform 7 is expressed in a pitching operation, and the actuator is arranged on the receiving platform 7, namely the pitching of the actuator is realized. The actuators typically employ a camera or a dissipater.

In the above technical solution, when the first driving assembly is started, a rotational stress can be applied to the first worm 54, then the first worm 54 transmits the rotational stress to the first worm wheel 52, the first worm wheel 52 transmits the stress to the main shaft 51, the main shaft 51 is intended to rotate, then the main shaft 51 is fixedly arranged, and the worm wheel and the worm have a high transmission ratio, the worm can drive the worm wheel to rotate, but the worm wheel cannot drive the worm to rotate, so as to achieve a self-locking function, the two combine to reversely transmit the stress to the first motor 55 in sequence, and the first motor 55 is fixed on the rotating housing 53, so as to achieve a horizontal rotation of the rotating housing 53, and the receiving table 7 and the actuator are indirectly fixed on the rotating housing, so as to achieve a horizontal rotation function of the receiving table 7 and the actuator.

The second drive assembly is started to drive the cross shaft 61 to rotate on the vertical surface, so that the bearing table 7 and the actuator are driven to rotate on the vertical surface, and the rotation angle of the bearing table 7 and the actuator on the vertical surface is usually limited due to the gravity action of the bearing table and the actuator, so that the bearing table and the actuator are prevented from being toppled.

In another aspect, the first drive assembly includes:

a first motor 55 fixed in the rotary case 53, an output shaft of the first motor 55 being horizontally disposed;

a first drive gear 56 coaxially fixed to an output shaft of the first motor 55;

and a first driven gear 57 engaged with the first driving gear 56, wherein the first worm 54 is coaxially fixed to the first driven gear 57, and the first worm 54 is rotatably connected to the inside of the rotary case 53.

In the above technical solution, the first motor 55 is started to drive the first driving gear 56 to rotate on the vertical surface, so as to drive the first driven gear 57 to rotate on the vertical surface, then drive the first worm 54 to rotate on the vertical surface, then drive the first worm wheel 52 to rotate on the horizontal surface, the first worm wheel 52 is kept still under the action of the main shaft 51, so as to sequentially and reversely transmit, and finally, the first motor 55 horizontally rotates around the main shaft 51, so as to drive the rotating housing 53 to horizontally rotate around the main shaft 51. The first main gear and the first driven gear 57 are used to transmit the rotation of the first motor 55 because the first motor 55 usually rotates at a higher speed, and the gear transmission can reduce the rotation speed, so that the rotating housing 53, the adapting table 7 and the actuator rotate more gently.

In another technical solution, the worm gear further includes an installation plate 8 disposed in the rotating housing 53, and the first worm 54 is rotatably disposed on the installation plate 8. The first worm 54 can be firmly fixed by the mounting plate 8, and the components of the first driving assembly can be arranged in the middle of the rotating shell 53 as much as possible, so that the rotation is more balanced.

In another aspect, the second drive assembly includes:

a second motor 62 provided in the rotary case 53, an output shaft of the second motor 62 being horizontally provided;

a second driving gear 63 coaxially fixed to an output shaft of the second motor 62;

a second driven gear 64 engaged with the second driving gear 63, wherein a second worm 65 is coaxially fixed to the second driven gear 64, and the second worm 65 is rotatably connected to the inside of the rotary housing 53;

and a second worm wheel 66 coaxially fixed to the cross shaft 61, wherein the second worm wheel 66 is engaged with the second worm 65.

In the above technical solution, the second motor 62 is started to drive the second driving gear 63 to rotate on the vertical surface, then drive the second driven gear 64 to rotate on the vertical surface, then drive the second worm 65 to rotate on the vertical surface, then drive the second worm gear 66 to rotate on the vertical surface, and then drive the cross shaft 61 to rotate. The transmission of the rotation of the second motor 62 by the second main gear and the second driven gear 64 is performed because the second motor 62 usually rotates at a higher speed, and the gear transmission can reduce the rotation speed, so that the adapting table 7 and the actuator can swing in a gentler way. The load of the receiving platform 7 is more than 70 kg.

And the two pitching directions can be respectively provided with a position sensor, when the pitching angle reaches +/-60 degrees, the rotation is automatically stopped, and the problems of overlarge pitching angle and insufficient torque when the maximum load is applied can be prevented.

In another embodiment, the number of teeth of the second driving gear 63 is less than that of the second driven gear 64. Since the center of gravity of the receiving table 7 and the actuator is deviated from the center of the transverse shaft 61 during the pitching motion, a larger torque is required, and therefore, the second driving gear 63 and the second driven gear 64 have a larger transmission ratio to overcome the above-mentioned disadvantage.

In another technical solution, the first worm gear 52 and the second worm gear 66 are made of tin bronze metal. The first worm wheel 52 and the second worm wheel 66 are always subjected to torsion during operation, and the tin bronze metal material has excellent strength, rigidity and wear resistance, so that the service life of the first worm wheel 52 and the second worm wheel 66 can be prolonged.

In another solution, the receiving platform 7 includes:

a pair of receiving arms 71, the pair of receiving arms 71 being fixed to both ends of the lateral shaft 61 in an opposed manner and being located outside the rotary case 53, an upper end of the receiving arm 71 being higher than a top of the rotary case 53, the receiving arm 71 being provided with a gap from the rotary case 53;

and a top plate 72 fixed to the receiving arm 71, wherein the actuator is attached to the top plate 72.

In the above-described embodiment, the mounting of the receiving arm 71 and the top plate 72 makes it possible to mount the actuator at the center of the main shaft 51, to make the center of gravity fall on the main shaft 51 as much as possible, and to stabilize the rotation.

In another technical scheme, the rotating housing 53 is made of aluminum alloy, and protrusions and grooves are arranged on the rotating housing 53 at intervals. The aluminum alloy has the advantages of light weight, high mechanical strength, easy processing, difficult corrosion and the like. Under the condition of achieving the strength, the whole weight is reduced as much as possible, and the rotation load is reduced. The raised and recessed patterns on the rotary housing 53 not only increase the strength to prevent the rotary housing 53 from being deformed and damaged, but also have a certain aesthetic appearance.

In another technical scheme, a through hole is formed in the base 4, a cap-type slip ring and an aerial socket interface 41 fixed to the cap-type slip ring are arranged on the through hole, and driving circuit lines of the first driving assembly and the second driving assembly are connected to the aerial socket interface 41. The aerial plug interface 41 on the base 4 is connected to the driving circuits of the first driving assembly and the second driving assembly inside the rotating body through the miniature cap-type slip ring, so that 360-degree rotation of the rotating shell 53 can be realized, and the connecting wires cannot be wound or twisted off.

In another technical solution, the vertical section of the bearing arm 71 is a trapezoid with a large top and a small bottom. The top plate 72 and the actuator are easily mounted.

While the embodiments of the invention have been described above, it is not intended to be limited to the details shown, or described, but rather to cover all modifications, which would come within the scope of the appended claims, and all changes which come within the meaning and range of equivalency of the art are therefore intended to be embraced therein.

Claims

1. Automatic tracking device based on radar, including radar tracking system, electromechanical slewing mechanism, the control system who is connected with radar tracking system and electromechanical slewing mechanism, with the power that control system is connected, install in executor on the electromechanical slewing mechanism, its characterized in that, electromechanical slewing mechanism includes:

a base;

a rotation unit, comprising:

the rotating shell is rotatably sleeved on the main shaft;

a pitch unit comprising:

the second driving assembly is arranged on the rotating shell and drives the transverse shaft to rotate; and the bearing table is fixed on the transverse shaft, and the actuator is installed on the bearing table.

2. The radar-based automatic tracking device of claim 1, wherein said first drive assembly comprises:

3. The radar-based automatic tracking device of claim 2 further comprising a mounting plate disposed within the rotating housing, the first worm being rotatably disposed through the mounting plate.

4. The radar-based automatic tracking device of claim 1, wherein said second drive assembly comprises:

5. The radar-based automatic tracking device of claim 4, wherein the number of teeth of said second driving gear is less than the number of teeth of said second driven gear.

6. The radar-based automatic tracking device of claim 4, wherein a material of said first worm gear and said second worm gear is tin bronze metal.

7. The radar-based automatic tracking device of claim 1, wherein said docking station comprises:

8. The radar-based automatic tracking device of claim 1, wherein the rotating housing is made of aluminum alloy, and the rotating housing is provided with protrusions and grooves at intervals.

9. The radar-based automatic tracking device according to claim 1, wherein a through hole is formed in the base, a hat-shaped slip ring and an aerial socket interface fixed to the hat-shaped slip ring are formed in the through hole, and the driving circuits of the first driving assembly and the second driving assembly are wired to the aerial socket interface.

10. The radar-based automatic tracking device of claim 7, wherein a vertical cross section of said socket arm is trapezoidal-like with a large top and a small bottom.