CN104102232A - Harmonic drive speed reduction-based small-sized servo positioning turntable - Google Patents
Harmonic drive speed reduction-based small-sized servo positioning turntable Download PDFInfo
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- CN104102232A CN104102232A CN201410311384.9A CN201410311384A CN104102232A CN 104102232 A CN104102232 A CN 104102232A CN 201410311384 A CN201410311384 A CN 201410311384A CN 104102232 A CN104102232 A CN 104102232A
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Abstract
The invention discloses a harmonic drive speed reduction-based small-sized servo positioning turntable. The harmonic drive speed reduction-based small-sized servo positioning turntable comprises a base (1), a turntable main body (9), a rotary support (8), a movement control and communication circuit board (11), a horizontal servo motor (2), a horizontal limiting switch (10), a horizontal photoelectric code disc (15), a pitching servo motor (6), a pitching photoelectric code disc (12), a motor mounting support (5) and a pitching limiting switch (13), an input synchronous belt wheel (7), an output synchronous belt wheel (3), a synchronous belt (4), harmonic drive components and a wireless transceiver (14). The servo motors can form a servo system through position feedback of the photoelectric code discs; and power can be outputted to a horizontal rotary joint and a pitching rotary joint after deceleration of the harmonic drive components. According to the turntable, a harmonic drive deceleration scheme with extremely low return stroke errors is adopted, and therefore, small size and high load can be satisfied, and at the same time, high positioning precision and repeated positioning precision can be guaranteed.
Description
Technical field
The present invention relates to servo positioning turntable, particularly a kind of small-sized servo positioning turntable slowing down based on harmonic drive.
Background technology
In practical implementation, small-sized servo position turntable is used as locating platform conventionally in the precision equipment of monitoring trade, is used as the execution unit of accurate adjustment part orientation in micro-assembling process, and in TT&C system, is used as basic platform etc.But conventional servo positioning turntable is difficult to reach optimum balance between size, load, precision.The scheme that the type of drive of conventional small-sized servo positioning turntable generally adopts is directly to drive after decelerating through motor, mainly comprises base, turn table body, runing rest, servomotor, photoelectric code disk, limit switch, gear reducer and motion control and communicating circuit plate.This scheme has good servo characteristic and dynamic perfromance, but the error of bringing due to this kind of drive make the positioning precision of turntable and repetitive positioning accuracy relatively low, simultaneously, in the situation that physical dimension and weight have strict restriction, this scheme is also difficult to meet the requirement of the large load of small size.
Summary of the invention
The object of the invention is to provide a kind of small-sized servo positioning turntable slowing down based on harmonic drive, solve the error of bringing due to the small-sized servo positioning turntable of routine make the positioning precision of turntable and repetitive positioning accuracy relatively low, simultaneously, in the situation that physical dimension and weight have strict restriction, this scheme is also difficult to the problem of the requirement that meets the large load of small size.
A kind of small-sized servo positioning turntable slowing down based on harmonic drive, comprise: base, turn table body, runing rest, motion control and communicating circuit plate, horizontal servo motor, Horizontal limiting switch, horizon light code disc, pitching servomotor, pitching photoelectric code disk and pitching limit switch, also comprise: horizontal harmonic drive assembly, pitching harmonic drive assembly, sliding bearing, input synchronous pulley, output synchronous pulley, Timing Belt, left deep groove ball bearing, right deep groove ball bearing, horizontal drive shaft, the left axle of pitching, the right axle of pitching, motor mounting rack, wireless transceiver, horizontal servo driver card and pitching servo driving card, described horizontal harmonic drive assembly, comprising: waveform generator A, flexbile gear A and steel wheel A, described pitching harmonic drive assembly, comprising: waveform generator B, flexbile gear B and steel wheel B.Horizontal servo motor is placed on turn table body and with turn table body screw and installs, the output shaft of horizontal servo motor is connected by key with horizontal drive shaft, horizontal drive shaft is connected with waveform generator A key, steel wheel A is placed on turn table body and by sliding bearing and connects, Horizontal limiting switch is placed on turn table body and with turn table body screw and is connected, and horizon light code disc is connected with horizontal servo motor top screw, pitching servomotor is connected with motor mounting rack screw, motor mounting rack is placed on turn table body and with its screw and is connected, pitching photoelectric code disk is connected with pitching servomotor top screw, pitching motor output shaft is connected by key with input synchronous pulley, input synchronous pulley is connected by Timing Belt with output synchronous pulley, output synchronous pulley is connected by key with the left axle of pitching, the left axle of pitching is placed on turn table body and by left deep groove ball bearing and connects, the left axle of pitching is simultaneously connected with waveform generator B key, steel wheel B is connected with runing rest screw, the right axle of pitching is connected by right deep groove ball bearing with runing rest, right deep groove ball bearing is placed on turn table body, pitching limit switch is placed on turn table body and with turn table body screw and is connected, horizontal servo driver card is placed on turn table body and with turn table body screw and is connected, pitching servo driving is placed on turn table body and with turn table body screw and is connected, motion control is placed on turn table body and with turn table body screw and is connected with communicating circuit plate, wireless transceiver is placed on turn table body and with turn table body screw and is connected.
When turntable work, motion control and communicating circuit plate are by the first receiving position steering order of wireless transceiver, after Command Resolution, send to respectively horizontal servo driver card and pitching servo driving card, horizontal servo driver card receives instruction rear drive horizontal servo driven by motor waveform generator A rotation, waveform generator A drives steel wheel A rotation by flexbile gear A, and steel wheel A and then drive turn table body horizontally rotate.The rotation of instruction rear drive pitching servomotor is received in the clamping of pitching servo driving, pitching servomotor drives the rotation of input synchronous pulley, and drive the rotation of output synchronous pulley by Timing Belt, output synchronous pulley drives waveform generator B rotation by the left axle of pitching, waveform generator B drives steel wheel B rotation by flexbile gear B, and steel wheel B and then driven rotary support do pitching joint and rotate.
This turntable adopts the harmonic wave drive speed reducer with extremely low hysterisis error can ensure higher positioning precision and repetitive positioning accuracy, while turntable drives and kinematic train size is little, moment of torsion large, lift-launch ability is strong, can meet the location requirement of small turntable application scenario.
Brief description of the drawings
The structural drawing of a kind of small-sized servo positioning turntable slowing down based on harmonic drive of Fig. 1;
The sectional view of a kind of small-sized servo positioning turntable slowing down based on harmonic drive of Fig. 2;
The decomposing schematic representation of the horizontal harmonic drive assembly of a kind of small-sized servo positioning turntable slowing down based on harmonic drive of Fig. 3;
The decomposing schematic representation of the pitching harmonic drive assembly of a kind of small-sized servo positioning turntable slowing down based on harmonic drive of Fig. 4.
1. base 2. horizontal servo motors 3. are exported synchronous pulley 4. Timing Belt 5. motor mounting rack 6. pitching servomotors 7. and are inputted synchronous pulley 8. runing rest 9. turn table body 10. Horizontal limiting switch 11. motion controls and the horizontal harmonic drive assembly 24. horizontal drive shaft 25. sliding bearing 26. waveform generator A 27. flexbile gear A 28. steel wheel A 29. waveform generator B 30. flexbile gear B 31. steel wheel B of the communicating circuit right axle 23. of 12. pitching photoelectric code disk 13. pitching limit switch 14. wireless transceiver left deep groove ball bearing left axle 18. pitching harmonic drive assembly 19. horizontal servo driver card right deep groove ball bearing 22. pitching of 20. pitching servo driving card 21. of 17. pitching of 15. horizon light code disc 16..
Embodiment
A kind of small-sized servo positioning turntable slowing down based on harmonic drive, comprise: base 1, turn table body 9, runing rest 8, motion control and communicating circuit plate 11, horizontal servo motor 2, Horizontal limiting switch 10, horizon light code disc 15, pitching servomotor 6, pitching photoelectric code disk 12 and pitching limit switch 13, also comprise: horizontal harmonic drive assembly 23, pitching harmonic drive assembly 18, sliding bearing 25, input synchronous pulley 7, output synchronous pulley 3, Timing Belt 4, left deep groove ball bearing 16, right deep groove ball bearing 21, horizontal drive shaft 24, the left axle 17 of pitching, the right axle 22 of pitching, motor mounting rack 5, wireless transceiver 14, horizontal servo driver card 19 and pitching servo driving card 20, described horizontal harmonic drive assembly 23 comprises: waveform generator A26, flexbile gear A27 and steel wheel A28.Described pitching harmonic drive assembly 18, comprising: waveform generator B29, flexbile gear B30 and steel wheel B31.Horizontal servo motor 11 is positioned on turn table body 9, install with turn table body 9 screws, the output shaft of horizontal servo motor 11 is connected by key with horizontal drive shaft 24, horizontal drive shaft 24 is connected with the waveform generator A26 key of horizontal harmonic drive assembly 23, the steel wheel A28 of horizontal harmonic drive assembly 23 is placed on turn table body 9 and by sliding bearing 18 and connects, Horizontal limiting switch 2 is placed on turn table body 9 and install with turn table body 9 screws, and horizon light code disc 10 is connected with horizontal servo motor 2 top screws, pitching servomotor 6 is installed with motor mounting rack 5 screws, motor mounting rack 5 is placed on turn table body 9 and with its screw and is connected, pitching photoelectric code disk 12 is connected with pitching servomotor 6 top screws, pitching servomotor 6 output shafts are connected by key with input synchronous pulley 7, input synchronous pulley 7 is connected by Timing Belt 4 with output synchronous pulley 3, output synchronous pulley 3 is connected by key with the left axle 17 of pitching, the left axle 17 of pitching is placed on turn table body 9 and by left deep groove ball bearing 16 and connects, the left axle 17 of pitching is simultaneously connected with the waveform generator B29 key of pitching harmonic drive assembly 18, the steel wheel B31 of pitching harmonic drive assembly 18 is connected with runing rest 8 screws, the right axle 22 of pitching is connected by right deep groove ball bearing 21 with runing rest 8, right deep groove ball bearing 21 is placed on turn table body 9, pitching limit switch 13 is placed on turn table body 9 and with turn table body 9 screws and is connected, horizontal servo driver card 19 is positioned on turn table body 9 and with turn table body 9 screws and is connected, pitching servo driving card 20 is placed on turn table body 9 and be connected with turn table body 9 screws, motion control is positioned on turn table body 9 and with turn table body 9 screws and is connected with communicating circuit plate 11, wireless transceiver 14 is placed on turn table body 9 and with turn table body 9 screws and is connected.
When turntable work, motion control and communicating circuit plate 11 are by the first receiving position steering order of wireless transceiver 14, after Command Resolution, send to respectively horizontal servo driver card 19 and pitching servo driving card 20, the waveform generator 26 that horizontal servo driver card 19 receives the horizontal harmonic drive assembly 23 of instruction rear drive horizontal servo motor 2 drive rotates, waveform generator A26 drives steel wheel A28 rotation by flexbile gear A27, and steel wheel A28 and then drive turn table body 9 horizontally rotate.Pitching servo driving card 20 receives instruction rear drive pitching servomotor 6 and rotates, pitching servomotor 6 drives input synchronous pulley 7 to rotate, and drive output synchronous pulley 3 to rotate by Timing Belt 4, output synchronous pulley 3 drives the waveform generator B29 rotation of pitching harmonic drive assembly 18 by the left axle 17 of pitching, waveform generator B29 drives steel wheel B31 rotation by flexbile gear B30, and steel wheel B31 and then driven rotary support 8 do pitching joint and rotate.
Claims (1)
1. the small-sized servo positioning turntable slowing down based on harmonic drive, comprise: base (1), turn table body (9), runing rest (8), motion control and communicating circuit (11) plate, horizontal servo motor (2), Horizontal limiting switch (10), horizon light code disc (15), pitching servomotor (6), pitching photoelectric code disk (12) and pitching limit switch (13), characterized by further comprising: horizontal harmonic drive assembly (23), pitching harmonic drive assembly (18), sliding bearing (25), input synchronous pulley (7), output synchronous pulley (3), Timing Belt (4), left deep groove ball bearing (16), right deep groove ball bearing (21), horizontal drive shaft (24), the left axle of pitching (17), the right axle of pitching (22), motor mounting rack (5), wireless transceiver (14), horizontal servo driver card (19) and pitching servo driving card (20), described horizontal harmonic drive assembly (23), comprising: waveform generator A(26), flexbile gear A(27) and steel wheel A(28), described pitching harmonic drive assembly (18), comprising: waveform generator B(29), flexbile gear B(30) and steel wheel B(31), horizontal servo motor (2) is placed in turn table body (9) above and installs with turn table body (9) screw, the output shaft of horizontal servo motor (2) is connected by key with horizontal drive shaft (24), horizontal drive shaft (24) and waveform generator A(26) key is connected, steel wheel A(28) be placed in turn table body (9) go up and pass through sliding bearing (25) connect, Horizontal limiting switch (10) is placed in turn table body (9) above and is connected with turn table body (9) screw, and horizon light code disc (15) is connected with horizontal servo motor (2) top screw, pitching servomotor (6) is connected with motor mounting rack (5) screw, motor mounting rack (5) is placed in turn table body (9) above and is connected with its screw, pitching photoelectric code disk (12) is connected with pitching servomotor (6) top screw, pitching motor output shaft is connected by key with input synchronous pulley (7), input synchronous pulley (7) is connected by Timing Belt (4) with output synchronous pulley (3), output synchronous pulley (3) is connected by key with the left axle of pitching (17), the left axle of pitching (17) be placed in turn table body (9) go up and pass through left deep groove ball bearing (16) connect, the simultaneously left axle of pitching (17) and waveform generator B(29) key is connected, steel wheel B(31) be connected with runing rest (8) screw, the right axle of pitching (22) is connected by right deep groove ball bearing (21) with runing rest (8), right deep groove ball bearing (21) is placed on turn table body (9), pitching limit switch (13) is placed in turn table body (9) above and is connected with turn table body (9) screw, horizontal servo driver card (19) is placed in turn table body (9) above and is connected with turn table body (9) screw, pitching servo driving card (20) is placed in turn table body (9) above and is connected with turn table body (9) screw, motion control is placed in turn table body (9) above and is connected with turn table body (9) screw with communicating circuit (11) plate, wireless transceiver (14) is placed in turn table body (9) above and is connected with turn table body (9) screw,
When turntable work, motion control and communicating circuit (11) plate is by the first receiving position steering order of wireless transceiver (14), after Command Resolution, send to respectively horizontal servo driver card (19) and pitching servo driving card (20), horizontal servo driver card (19) receives instruction rear drive horizontal servo motor (2) and drives waveform generator A(26) rotation, waveform generator A(26) by flexbile gear A(27) drive steel wheel A(28) rotation, steel wheel A(28) and then drive turn table body (9) to horizontally rotate; Pitching servo driving card (20) receives instruction rear drive pitching servomotor (6) rotation, pitching servomotor (6) drives input synchronous pulley (7) rotation, and drive output synchronous pulley (3) rotation by Timing Belt (4), output synchronous pulley (3) drives waveform generator B(29 by the left axle of pitching (17)) rotation, waveform generator B(29) by flexbile gear B(30) drive steel wheel B(31) rotation, steel wheel B(31) so driven rotary support (8) do pitching joint and rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410311384.9A CN104102232B (en) | 2014-07-02 | 2014-07-02 | Harmonic drive speed reduction-based small-sized servo positioning turntable |
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| CN201410311384.9A CN104102232B (en) | 2014-07-02 | 2014-07-02 | Harmonic drive speed reduction-based small-sized servo positioning turntable |
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| CN104102232A true CN104102232A (en) | 2014-10-15 |
| CN104102232B CN104102232B (en) | 2017-02-15 |
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Cited By (7)
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| CN105302163A (en) * | 2015-11-19 | 2016-02-03 | 河南中光学集团有限公司 | Large and medium monitoring rotary-table rotating system and operation control method thereof |
| CN106239443A (en) * | 2016-07-27 | 2016-12-21 | 北京机械设备研究所 | A kind of dimensional turntable based on parallelogram linkage |
| CN108942812A (en) * | 2018-10-16 | 2018-12-07 | 北京环境特性研究所 | A kind of dimensional turntable |
| CN109386705A (en) * | 2017-08-11 | 2019-02-26 | 中核四0四有限公司 | A kind of horizontal holder of remote control |
| CN111487999A (en) * | 2020-04-23 | 2020-08-04 | 中国北方工业有限公司 | Turret servo and photoelectric servo cooperative control system and method |
| CN112809405A (en) * | 2021-02-03 | 2021-05-18 | 江苏开璇智能科技有限公司 | Modular harmonic drive numerical control rotary table |
| CN114589516A (en) * | 2022-04-19 | 2022-06-07 | 江苏开璇智能科技有限公司 | High-rigidity harmonic fourth-axis turntable |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105302163A (en) * | 2015-11-19 | 2016-02-03 | 河南中光学集团有限公司 | Large and medium monitoring rotary-table rotating system and operation control method thereof |
| CN105302163B (en) * | 2015-11-19 | 2017-12-05 | 河南中光学集团有限公司 | Big-and-middle-sized monitoring turntable rotation system and its progress control method |
| CN106239443A (en) * | 2016-07-27 | 2016-12-21 | 北京机械设备研究所 | A kind of dimensional turntable based on parallelogram linkage |
| CN109386705A (en) * | 2017-08-11 | 2019-02-26 | 中核四0四有限公司 | A kind of horizontal holder of remote control |
| CN108942812A (en) * | 2018-10-16 | 2018-12-07 | 北京环境特性研究所 | A kind of dimensional turntable |
| CN111487999A (en) * | 2020-04-23 | 2020-08-04 | 中国北方工业有限公司 | Turret servo and photoelectric servo cooperative control system and method |
| CN111487999B (en) * | 2020-04-23 | 2021-06-08 | 中国北方工业有限公司 | Turret servo and photoelectric servo cooperative control system and method |
| CN112809405A (en) * | 2021-02-03 | 2021-05-18 | 江苏开璇智能科技有限公司 | Modular harmonic drive numerical control rotary table |
| CN114589516A (en) * | 2022-04-19 | 2022-06-07 | 江苏开璇智能科技有限公司 | High-rigidity harmonic fourth-axis turntable |
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| CN104102232B (en) | 2017-02-15 |
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