CN2413266Y - Multi-purpose horizontal stable platform - Google Patents
Multi-purpose horizontal stable platform Download PDFInfo
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- CN2413266Y CN2413266Y CN 00203193 CN00203193U CN2413266Y CN 2413266 Y CN2413266 Y CN 2413266Y CN 00203193 CN00203193 CN 00203193 CN 00203193 U CN00203193 U CN 00203193U CN 2413266 Y CN2413266 Y CN 2413266Y
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Abstract
The utility model relates to a multi-purpose horizontal stable platform composed of a stable platform, an internal ring and an external ring of a normally-horizontal frame, a flywheel motor, a rotor, an inclination angle sensor, a compensating control circuit, a compensating torque motor, a base and balanced load. The utility model adopts the gyro moment effect of an angular-moment flywheel to keep the space stability of the stable platform and utilizes the gyroscopic precession principle to establish a two-axle moment compensating control system for keeping the stable platform horizontal so that the stable platform keeps stable tracking for the local horizontal plane under the condition that the installed base carrier moves. Therefore, the utility model is especially suitable for using as an installing platform for devices needing horizontal reference and stable tracking for the local level, such as radars on ships of sea, satellite antennas, infrared detectors, laser distance measuring instruments, cameras, etc.
Description
The utility model belongs to a kind of dynamo-electric automaton of horizontal stable.
Along with the develop rapidly of modern science technical equipment, particularly high-tech communication, navigation, rocket, satellite etc. the development needs, when a certain carrier under moving condition, can remain horizontal stable and just seem very important from motion tracking.This carrier as: radar, satellite tracking antenna, infrared detecting set, laser range finder, video camera etc. all need the platform of horizontal reference to finish the task that it is surveyed from motion tracking.But also require this Horizontal Stable Platform can have very responsive self-regulation performance.Up to the present, domestic still do not have this type of apparatus, and abroad this type of device is because of relating to the national defense and military secret, and few report only has application in the international maritime satellite communication apparatus, and structure is maintained secrecy.
The purpose of this utility model is a kind of auto-control stable platform for multiple motion carrier outfit tool bidimensional degree of freedom of design, is used to install the various sensitivities and the explorer base device that need horizontal stable, from the motion tracking local level.
The technical solution of the utility model is achieved like this: (seeing accompanying drawing)
Interior [2] and driving fly-wheel motor [3] and inertial flywheel rotor [4] encircled of a stable platform [1] and gimbal are linked together them by axle and bearing on the Z-direction of X, Y, Z three-dimensional, the axle of ring [2] is pressed the Y direction of motion carrier base coordinate system in the gimbal, with Bearing Installation on gimbal outer shroud [5], the gimbal outer shroud can be square or garden shape, and outer annulate shaft then uses Bearing Installation on pedestal [12] along the X coordinate direction vertical with the Y coordinate; The sense of rotation of inertial flywheel rotor [4] and the plane of stable platform are perpendicular, press the Z-direction of motion carrier base coordinate system and install; Balanced load [13] is arranged on the stable platform [1] and the Y-axis obliquity sensor [9] and the X-axis obliquity sensor [6] of detection platform level inclination are installed, their detected signals are sent to Y-axis compensating torque motor [8] and X-axis compensating torque motor [11] through Y-axis compensation control circuit [7] and X-axis compensation control circuit [10] respectively, thereby have constituted the free gyro Horizontal Stable Platform with spatial stability.Long 300～the 550mm of the structure of Horizontal Stable Platform, wide 200～400mm, high 480～700mm, 10～50 kilograms of load-bearing capacitys.
The principle of work of Horizontal Stable Platform is shown in Figure of description, the gimbal mechanism supports of the stable platform that is used to carry [1] by having the bidimensional degree of freedom is in pedestal [12], and, make stable platform have the stability in space with having constituted a kind of free gyro structure at the eccentric inertial flywheel rotor of installing [4] that runs up of Z-direction and the balanced load [13] of stable platform.X, the Y-axis obliquity sensor [6,9] of detection platform level inclination are installed on stable platform, when detecting the dip angle signal of the relative local level of stable platform by it, just be sent on the torque motor [11,8] of gimbal diaxon through compensation control circuit [10,7] respectively, consequent compensating torque then makes stable platform move by the Gyroscope Precession principle, level inclination to stable platform compensates, the level inclination that makes stable platform is zero, keeps following the tracks of the steady state (SS) of local level always.When pedestal [12] the accompany movement carrier of this stable platform system moves together, the gimbal diaxon torque compensation control system of forming by level inclination sensor, control circuit and torque motor etc., utilize gyro principle not only can effectively guarantee stable platform tracking local level, also the disturbance torque that can cause the factors such as friction of gimbal kinematic axis system effectively compensates, and guarantees the horizontal reference precision of stable platform.
The multi-usage Horizontal Stable Platform can support 20～30 kilograms balanced load, can be applied to place the multiple all kinds of instrument that need horizontal reference, as equipment such as radar antenna, video camera, laser range finders, ± 30 ° approximately of the angle range of stability of stable platform, following rate can reach per second 30 degree, and the horizontal pointing accuracy of stable platform is better than ± and 0.5 °.
Now structure description of drawings and the embodiment with the multi-usage Horizontal Stable Platform is expressed as follows: in the accompanying drawing: ring in the 1-stable platform, 2-gimbal, 3-fly-wheel motor, the 4-flywheel rotor, 5-gimbal outer shroud, 6-X axial rake sensor, 7-Y axle compensation control circuit, 8-Y axle compensating torque motor, 9-Y axial rake sensor, 10-X axle compensation control circuit, 11-X axle compensating torque motor, the 12-pedestal, the 13-balanced load.
Embodiment
A long 420mm, wide 300mm, the satellite antenna Horizontal Stable Platform of high 535mm, 25 kilograms of design load-bearing capacitys, the interior ring of gimbal that connects stable platform is 200mm * 180mm, the gimbal outer shroud is 230mm * 230mm square, fly-wheel motor weighs 2.2 kilograms, flywheel weighs 7 kilograms, and each is heavy 1.2 kilograms for X, Y-axis compensating torque motor, and assembling back stable platform complete machine weighs 45 kilograms.
Claims (3)
1. multi-usage Horizontal Stable Platform that keeps level with the gyroscopic couple effect of momentum moment flywheel, by stable platform, ring in the gimbal, the gimbal outer shroud, fly-wheel motor, flywheel rotor, obliquity sensor, compensation control circuit, the compensating torque motor, pedestal and balanced load are formed, it is characterized in that this Horizontal Stable Platform is with stable platform [1], ring [2] in the gimbal, fly-wheel motor [3] is connected them by axle and bearing on Z is axial with flywheel rotor [4], the axle of ring [2] is pressed the Y direction of motion carrier base coordinate system in the gimbal, with Bearing Installation on gimbal outer shroud [5], the axle of gimbal outer shroud then uses Bearing Installation on pedestal [12] along the X coordinate direction vertical with the Y coordinate, the sense of rotation of inertial flywheel rotor [4] and the plane of stable platform are perpendicular, press the Z-direction of motion carrier base coordinate system and install; Balanced load [13] is arranged on the stable platform [1] and the Y-axis obliquity sensor [9] and the X-axis obliquity sensor [6] of detection platform level inclination are installed, their detected signals are sent to Y-axis compensating torque motor [8] and X-axis compensating torque motor [11] through Y-axis compensation control circuit [7] and X-axis compensation control circuit [10] respectively, constitute to have the free gyro Horizontal Stable Platform of spatial stability.
2. according to the described multi-usage Horizontal Stable Platform of claim 1, it is characterized in that its long 300～550mm of one-piece construction, wide 200～400mm, high 480～700mm, load-bearing capacity is 10～50 kilograms.
3. according to the described multi-usage Horizontal Stable Platform of claim 1, it is characterized in that the gimbal outer shroud can be square or garden shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 00203193 CN2413266Y (en) | 2000-02-17 | 2000-02-17 | Multi-purpose horizontal stable platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 00203193 CN2413266Y (en) | 2000-02-17 | 2000-02-17 | Multi-purpose horizontal stable platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2413266Y true CN2413266Y (en) | 2001-01-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 00203193 Expired - Fee Related CN2413266Y (en) | 2000-02-17 | 2000-02-17 | Multi-purpose horizontal stable platform |
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| CN (1) | CN2413266Y (en) |
Cited By (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100390503C (en) * | 2004-03-26 | 2008-05-28 | 清华大学 | Laser tracking inertia combined measuring system and its measuring method |
| CN100421882C (en) * | 2005-09-22 | 2008-10-01 | 上海交通大学 | Self-operated dynamically balancing movable robot |
| CN100445768C (en) * | 2004-12-30 | 2008-12-24 | 中国海洋大学 | Marine precipitation and evaporation comprehensive measurement device |
| CN100445769C (en) * | 2004-12-30 | 2008-12-24 | 中国海洋大学 | Marine precipitation measuring device |
| CN101287646B (en) * | 2005-08-22 | 2010-12-08 | 科技投资股份有限公司 | Stabilising means |
| CN1932443B (en) * | 2006-09-30 | 2011-01-26 | 沪东中华造船(集团)有限公司 | Navigation system level reference apparatus |
| CN102004251A (en) * | 2010-09-27 | 2011-04-06 | 北京航空航天大学 | Compass-based horizontal scanning ultrasonic distance measurement instrument |
| CN101672645B (en) * | 2009-09-30 | 2011-08-17 | 合肥工业大学 | Plug-in horizontal state sensor |
| CN102279003A (en) * | 2011-07-12 | 2011-12-14 | 山东大学 | Rapid positioning and fixing method of laser range finder |
| CN102381452A (en) * | 2010-09-03 | 2012-03-21 | 财团法人联合船舶设计发展中心 | Ship stabilizing device |
| CN102420975A (en) * | 2011-11-01 | 2012-04-18 | 上海海事大学 | Anti-swaying device and method of sea-wrecking searching system |
| CN103010483A (en) * | 2012-11-29 | 2013-04-03 | 北京工业大学 | Two-DOF (Degrees of Freedom) test platform for micro aerial vehicle |
| CN103760811A (en) * | 2013-12-31 | 2014-04-30 | 河北汉光重工有限责任公司 | Ship-based heavy stabilizing platform |
| CN104037486A (en) * | 2014-06-04 | 2014-09-10 | 中国人民解放军总后勤部建筑工程研究所 | Antenna stand of anechoic chamber testing system of quasi single station |
| TWI505794B (en) * | 2013-03-18 | 2015-11-01 | Univ Nat Kaohsiung Applied Sci | Stable platform |
| CN105179887A (en) * | 2015-08-07 | 2015-12-23 | 中国人民武装警察部队后勤学院 | Anti-bumping two-dimensional automatic balancing instrument |
| CN105371821A (en) * | 2014-08-29 | 2016-03-02 | 同济大学 | Wind-driven generator foundation tilt detection method based on tilt angle sensors |
| CN105651244A (en) * | 2016-03-08 | 2016-06-08 | 浙江海洋学院 | Sextant high in horizontal stability |
| CN105858477A (en) * | 2015-08-11 | 2016-08-17 | 孙富亮 | Laser range finder capable of automatically adjusting position |
| CN106441256A (en) * | 2016-09-05 | 2017-02-22 | 北京艾肯拓科技有限公司 | Mixed cradle head |
| CN106763453A (en) * | 2017-01-13 | 2017-05-31 | 上海化工研究院有限公司 | A kind of pendulum type gyroscope stabilization vehicle-mounted precision instrument workbench of combined vibration-damping |
| CN107422750A (en) * | 2017-07-13 | 2017-12-01 | 武汉理工大学 | Unmanned boat calibrates erecting bed with automatic horizontal |
| CN108089599A (en) * | 2017-12-22 | 2018-05-29 | 安徽仁信安防电子工程有限公司 | A kind of sea radar detection direction-control apparatus and its application method |
| CN109714537A (en) * | 2019-01-24 | 2019-05-03 | 黄河科技学院 | Computer based Digital Image Processing platform |
| CN111121741A (en) * | 2019-12-17 | 2020-05-08 | 湖北麦格森斯科技有限公司 | Electronic compass without inclination angle compensation |
| CN111525843A (en) * | 2020-04-17 | 2020-08-11 | 北京泓慧国际能源技术发展有限公司 | Levelness control system, equipment and method for flywheel base |
| CN111644142A (en) * | 2020-06-11 | 2020-09-11 | 王艳军 | Parallel reaction instrument for chemical research |
| CN111776150A (en) * | 2020-06-12 | 2020-10-16 | 浙江海洋大学 | Unmanned ship structure suitable for severe sea condition environment |
| US10883648B2 (en) | 2019-02-25 | 2021-01-05 | International Business Machines Corporation | Leveling and stabilization of weight biased loads |
| CN112972087A (en) * | 2014-12-22 | 2021-06-18 | 陀螺仪装置有限公司 | Tremor stabilization device and method |
-
2000
- 2000-02-17 CN CN 00203193 patent/CN2413266Y/en not_active Expired - Fee Related
Cited By (38)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100390503C (en) * | 2004-03-26 | 2008-05-28 | 清华大学 | Laser tracking inertia combined measuring system and its measuring method |
| CN100445768C (en) * | 2004-12-30 | 2008-12-24 | 中国海洋大学 | Marine precipitation and evaporation comprehensive measurement device |
| CN100445769C (en) * | 2004-12-30 | 2008-12-24 | 中国海洋大学 | Marine precipitation measuring device |
| CN101287646B (en) * | 2005-08-22 | 2010-12-08 | 科技投资股份有限公司 | Stabilising means |
| CN100421882C (en) * | 2005-09-22 | 2008-10-01 | 上海交通大学 | Self-operated dynamically balancing movable robot |
| CN1932443B (en) * | 2006-09-30 | 2011-01-26 | 沪东中华造船(集团)有限公司 | Navigation system level reference apparatus |
| CN101672645B (en) * | 2009-09-30 | 2011-08-17 | 合肥工业大学 | Plug-in horizontal state sensor |
| CN102381452A (en) * | 2010-09-03 | 2012-03-21 | 财团法人联合船舶设计发展中心 | Ship stabilizing device |
| CN102004251A (en) * | 2010-09-27 | 2011-04-06 | 北京航空航天大学 | Compass-based horizontal scanning ultrasonic distance measurement instrument |
| CN102279003A (en) * | 2011-07-12 | 2011-12-14 | 山东大学 | Rapid positioning and fixing method of laser range finder |
| CN102279003B (en) * | 2011-07-12 | 2012-11-28 | 山东大学 | Rapid positioning and fixing method of laser range finder |
| CN102420975A (en) * | 2011-11-01 | 2012-04-18 | 上海海事大学 | Anti-swaying device and method of sea-wrecking searching system |
| CN103010483A (en) * | 2012-11-29 | 2013-04-03 | 北京工业大学 | Two-DOF (Degrees of Freedom) test platform for micro aerial vehicle |
| TWI505794B (en) * | 2013-03-18 | 2015-11-01 | Univ Nat Kaohsiung Applied Sci | Stable platform |
| CN103760811B (en) * | 2013-12-31 | 2016-03-30 | 河北汉光重工有限责任公司 | A kind of carrier-borne heavy stable platform |
| CN103760811A (en) * | 2013-12-31 | 2014-04-30 | 河北汉光重工有限责任公司 | Ship-based heavy stabilizing platform |
| CN104037486A (en) * | 2014-06-04 | 2014-09-10 | 中国人民解放军总后勤部建筑工程研究所 | Antenna stand of anechoic chamber testing system of quasi single station |
| CN105371821B (en) * | 2014-08-29 | 2018-05-08 | 同济大学 | A kind of wind driven generator base slant detection method based on obliquity sensor |
| CN105371821A (en) * | 2014-08-29 | 2016-03-02 | 同济大学 | Wind-driven generator foundation tilt detection method based on tilt angle sensors |
| CN112972087A (en) * | 2014-12-22 | 2021-06-18 | 陀螺仪装置有限公司 | Tremor stabilization device and method |
| CN105179887A (en) * | 2015-08-07 | 2015-12-23 | 中国人民武装警察部队后勤学院 | Anti-bumping two-dimensional automatic balancing instrument |
| CN105858477A (en) * | 2015-08-11 | 2016-08-17 | 孙富亮 | Laser range finder capable of automatically adjusting position |
| CN105858477B (en) * | 2015-08-11 | 2017-08-01 | 孙富亮 | A kind of laser range finder of energy automatic position adjusting function |
| CN105651244A (en) * | 2016-03-08 | 2016-06-08 | 浙江海洋学院 | Sextant high in horizontal stability |
| CN106441256A (en) * | 2016-09-05 | 2017-02-22 | 北京艾肯拓科技有限公司 | Mixed cradle head |
| CN106441256B (en) * | 2016-09-05 | 2020-10-02 | 北京艾肯拓科技有限公司 | Mixed type cloud platform |
| CN106763453B (en) * | 2017-01-13 | 2019-11-12 | 上海化工研究院有限公司 | A kind of stable vehicle-mounted precision instrument workbench of combined vibration-damping of pendulum type gyroscope |
| CN106763453A (en) * | 2017-01-13 | 2017-05-31 | 上海化工研究院有限公司 | A kind of pendulum type gyroscope stabilization vehicle-mounted precision instrument workbench of combined vibration-damping |
| CN107422750A (en) * | 2017-07-13 | 2017-12-01 | 武汉理工大学 | Unmanned boat calibrates erecting bed with automatic horizontal |
| CN108089599A (en) * | 2017-12-22 | 2018-05-29 | 安徽仁信安防电子工程有限公司 | A kind of sea radar detection direction-control apparatus and its application method |
| CN108089599B (en) * | 2017-12-22 | 2020-10-16 | 安徽仁信电子工程有限公司 | Sea surface radar detection direction control device and application method thereof |
| CN109714537A (en) * | 2019-01-24 | 2019-05-03 | 黄河科技学院 | Computer based Digital Image Processing platform |
| CN109714537B (en) * | 2019-01-24 | 2021-05-14 | 黄河科技学院 | Digital image processing platform based on computer |
| US10883648B2 (en) | 2019-02-25 | 2021-01-05 | International Business Machines Corporation | Leveling and stabilization of weight biased loads |
| CN111121741A (en) * | 2019-12-17 | 2020-05-08 | 湖北麦格森斯科技有限公司 | Electronic compass without inclination angle compensation |
| CN111525843A (en) * | 2020-04-17 | 2020-08-11 | 北京泓慧国际能源技术发展有限公司 | Levelness control system, equipment and method for flywheel base |
| CN111644142A (en) * | 2020-06-11 | 2020-09-11 | 王艳军 | Parallel reaction instrument for chemical research |
| CN111776150A (en) * | 2020-06-12 | 2020-10-16 | 浙江海洋大学 | Unmanned ship structure suitable for severe sea condition environment |
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Legal Events
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |