CN106286761B - Differential attachment formula three-axle table - Google Patents

Abstract

The invention discloses a differential mechanism type three-axis turntable, which includes a machine base, a pitching component group, and a differential mechanism component group, and the differential mechanism component group and the pitching component group cooperate to form three rotation axes of a pitch axis, a rolling axis and an azimuth axis system, the pitch axis adopts an independent drive unit to realize the pitch rotation of the upper table, and the rotation of the roll axis and the azimuth axis is realized by a differential mechanism. The differential mechanism has three bevel gears, and the axis of two bevel gears coincides. The axes of the three bevel gears are perpendicular to the common axis of the first two bevel gears and are respectively meshed with the first two bevel gears. The two coaxial bevel gears are respectively connected to the drive motors arranged symmetrically to realize the compound motion of the two bevel gears. Thus, the third bevel gear is driven to complete two degrees of freedom movement, and the third bevel gear is connected with the upper table, so that the rolling and azimuth rotation of the work table are realized. The invention has the characteristics of compact structure, small size and light weight of the rolling axis and the azimuth axis, and is suitable for the field of turntables.

Description

Differential mechanism type three-axis turntable

technical field

The invention relates to a three-axis turntable used for simulation tests of inertial navigation and guidance systems, in particular to a differential mechanism type three-axis turntable with self-stabilization and adjustment of target load space attitude.

Background technique

At present, most of the three-axis turntable body mechanical system consists of three frames and a machine base, which mainly provide the installation reference for the load and realize the three-axis rotary motion of rolling, pitching, and azimuth, so it can be simulated on the ground. Various flight attitudes of aircraft, missiles, etc. are tested for their components and systems, avoiding expensive physical tests, and the process can be predicted and repeated through simulation, laying a solid foundation for the development of physical objects. As far as its mechanical structure is concerned, most of them adopt a real shaft series configuration, and each shaft system is equipped with an independent drive unit, so as to realize the spatial attitude adjustment of the target load. For example, the Chinese patent with the authorized notification number CN 103606737 B discloses a three-axis turntable, through which the attitude transformation in the three-axis direction can be realized through the lower turntable, the upper turntable, the pitch axis and their respective connecting transmission structures. Another example is the Chinese patent No. 201220751996.6 which discloses an electric three-axis turntable, the base of which is connected to the rotating frame through a conductive slip ring, and the rotating frame is provided with a turntable module, which can freely adjust the angle and has high positioning accuracy. However, the general problem of this type of turntable is that the structure is not compact enough, and a drive unit must be added to each shaft system, which will inevitably increase the space size and quality of the shaft system, and hinder the improvement of the performance of the turntable, especially the used When the size of the reducer is large, such as a worm gear reducer, this problem will be more prominent.

Contents of the invention

In order to overcome the shortcomings of large mass and size and uncompact structure of the single rotating shaft unit of the existing turntable, the present invention aims to provide a differential mechanism with a relatively small mass and size of the rolling shaft system and azimuth shaft system of the turntable, and a relatively compact structure Three-axis turntable.

The technical solution adopted in the present invention is: a differential mechanism type three-axis turntable, including a machine base and a pitching component group, the machine base provides an installation reference for the load, and is characterized in that it also includes a differential mechanism component group, the The differential mechanism component group cooperates with the pitch component group to form three rotation axis systems for pitching, rolling and azimuth rotation of the target load; in the initial state, the three rotation shaft systems The axes are perpendicular to each other, the axis of the pitch axis and the axis of the roll axis are located on the horizontal plane, and the axis of the azimuth axis is located on the vertical plane; during the working process, the axis of the pitch axis and the axis of the roll axis are always vertical, and the axis of the azimuth axis and the axis of the roll axis are always vertical; the pitch The shaft uses an independent drive unit to realize the pitch rotation of the upper table; the rolling axis and azimuth axis realize the rolling and azimuth rotation of the upper table through a differential mechanism, and the differential mechanism includes differential bevel gears 1, 2, and 3. The differential gears 1 and 3 are horizontally oppositely installed, the differential bevel gear 2 meshes with the differential bevel gears 1 and 3 respectively, the axes of the differential bevel gears 1 and 3 coincide in the horizontal direction, and the differential bevel gear 2 The axis is perpendicular to the common axis of the differential bevel gears 1 and 3, and the coaxial differential bevel gears 1 and 3 are respectively connected to the symmetrically arranged driving motors to realize the compound motion of the differential bevel gears 1 and 3, thereby driving the differential bevel gears The second gear completes the two-degree-of-freedom movement, and the second differential bevel gear is connected with the upper table.

As a preference, the differential bevel gears 1 and 3 of the differential mechanism in the present invention are respectively splined to the differential drive shafts 1 and 2, and their rotational support and drive are provided by the pitching component group. The differential bevel gear of the mechanism is splined to one end of the differential output shaft, and the differential output shaft is connected to the differential main force plate through the differential sleeve cup, the differential angular contact bearing, and the differential sleeve end cover. It constitutes a movable connection for rotating support. The other end of the differential output shaft is connected to the differential coupling with a spline. The upper table is fixed on the differential coupling with bolts. Turntable bearing 1 and differential spacer 1 are connected to the pitching frame to form a dynamic connection for rotating support around the rolling axis. The right end of the differential component group is connected to the pitching frame through differential turret bearing 2 and differential spacer 2. , constituting the dynamic connection of the rotating support around the rolling axis. When the differential bevel gear 1 and the differential bevel gear 3 rotate in reverse at the same speed, the upper table rotates azimuthally around the azimuth axis; when the differential bevel gear 1 and the differential bevel gear When the three gears rotate at the same speed and in the same direction, the upper table performs a rolling motion around the rolling axis. During normal operation, the differential bevel gears 1 and 3 are required to make compound motions to realize the compound motion of the rolling axis and the azimuth axis.

The beneficial effects of the present invention are: the differential mechanism can be used to realize long-distance transmission, and the driving motors are arranged symmetrically, so that the driving motors are installed at the ends of the rolling shaft and the azimuth shaft, so that the quality and size of the rolling shaft and the azimuth shaft can be greatly reduced. Small, so that the structure of the turntable is compact and the dynamic performance is improved.

Description of drawings

Fig. 1 is the overall effect drawing of the present invention.

Fig. 2 is a front view of the present invention.

Fig. 3 is a sectional view along line A-A of Fig. 2 .

Fig. 4 is a right side view of the present invention.

Fig. 5 is a B-B sectional view of Fig. 4 .

Fig. 6 is a structural schematic diagram of the differential mechanism of the present invention.

In the figure: 1-pitch protective cover 1, 2-hanging ring, 3-upper table, 4-pitch frame, 5-pitch protective cover 2, 6-frame frame, 7-base servo motor, 8-base protection Cover, 9-base worm gear reducer, 10-base deep groove ball bearing, 11-base reducer output shaft, 12-base pinion, 13-base eccentric sleeve, 14-base sector gear, 15- End cover of machine base drive shaft, 16- Machine base drive shaft, 17- Machine base drive shaft bearing, 18- Machine base limit block, 19- Pitch tightening sleeve 1, 20- Pitch limit block, 21- Pitch Tightening sleeve 2, 22-driven shaft of machine base, 23-bearing of driven shaft of machine base, 24-end cover of driven shaft of machine base, 25-counterweight, 26-end cover of assembly hole of machine base, 27-pitch Pinion 1, 28-pitching deep groove ball bearing, 29-pitching reducer output shaft 1, 30-pitching large gear 1, 31-pitching worm gear reducer 1, 32-pitching eccentric sleeve 1, 33-pitching servo motor 1 , 34-pitching angular contact bearing 1, 35-pitching cup 1, 36-pitching cup 2, 37-pitching angular contact bearing 2, 38-pitching cup 2 end cover, 39-pitching servo motor 2, 40-pitching Eccentric sleeve 2, 41-pitch worm reducer 2, 42-pitch large gear 2, 43-output shaft 2 of pitch reducer, 44-pitch deep groove ball bearing 2, 45-pitch pinion 2, 46-differential cone Gear 1, 47-differential main force plate, 48-differential turntable bearing 1, 49-differential spacer 1, 50-differential bevel gear 2, 51-differential output shaft, 52-differential sleeve cup, 53- Differential angular contact bearing, 54-differential sleeve cup end cover, 55-differential turntable bearing three, 56-differential coupling shaft, 57-differential auxiliary force plate, 58-differential turntable bearing two, 59-differential Dynamic spacer 2, 60-differential drive shaft 2, 61-differential bevel gear lock nut, 62-differential bevel gear 3, 63-differential drive shaft 1, 64-differential cover, I-pitch shaft , Ⅱ-roll axis, Ⅲ-orientation axis.

Detailed ways

The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

The differential mechanism type three-axis turntable of the embodiment of the present invention is composed of three major parts, including a machine base, a pitching component group and a differential component group; Ⅱ. Azimuth axis ⅢThree rotating shaft systems, see Figure 1; the three rotating shaft systems are used to realize the pitch, roll and azimuth rotation of the target load, and the machine base provides an installation reference for the load. As shown in Figure 2 and Figure 3, one end between the pitching frame 4 and the machine base is fixedly connected with the drive shaft 16 of the machine base through the first pitch tensioning sleeve 19, and the other end is connected with the driven shaft of the machine base through the second pitching tensioning sleeve 21. 22 are fixedly connected to form a dynamic connection around the pitch axis Ⅰ rotation support. On the other hand, the base pinion gear 12 on the base drives the base sector gear 14 fixedly connected to the base drive shaft 16 to drive the base drive shaft 16 to rotate, thereby realizing the pitch of the ±20 degree range of the pitch frame 4 sports. The implementation of rolling and azimuth rotation, as shown in Figure 5 and Figure 6, the realization of these two movements uses a differential mechanism, which is composed of differential bevel gear 1 46, differential bevel gear 2 50, differential bevel gear 2 Three differential bevel gears 62 are formed, in which the second differential bevel gear 50 is fixedly connected to the upper table 3 and meshes with the first differential bevel gear 46 and the third differential bevel gear 62, while the first differential bevel gear 46 and the third differential bevel gear 62 is connected with two driving motors through a transmission system to form a differential mechanism. As shown in Figure 6, the left end of the differential component group is connected to the pitch frame 4 through the differential turntable bearing 1 48 and the differential spacer 1 49 to form a dynamic connection of the rotation support around the rolling axis II. Similarly, the differential component group The right end is connected with the pitching frame 4 through the differential turntable bearing 2 58 and the differential spacer 2 59 to form a dynamic connection of the rotation support around the rolling axis II. When differential bevel gear 1 46 and differential bevel gear 3 62 rotate in opposite directions at the same speed, the upper table 3 rotates azimuthally around the azimuth axis III; when differential bevel gear 1 46 and differential bevel gear 3 62 rotate at the same speed When rotating, the upper table 3 makes a rolling motion around the rolling axis II. During normal operation, the movement of rolling axis II and azimuth axis III is a combination of the above two movements. Through this differential mechanism, the upper table 3 can realize rolling in the range of ±20 degrees and azimuth rotation in the range of ±135 degrees.

As shown in Fig. 2 and Fig. 3, the base servo motor 7 and the base worm gear reducer 9 are fixedly connected in series, the base pinion 12 is installed at the output end of the base worm gear reducer 9, and the base worm gear reducer 9 The reducer 9 is fixedly connected to the base frame 6 with the base eccentric sleeve 13, and the center distance between the base pinion gear 12 and the base sector gear 14 is adjusted by rotating the rotation angle of the base eccentric sleeve 13, thereby eliminating the meshing of cylindrical gears. Backlash. The base drive shaft 16 is connected to the base frame 6 with the base drive shaft bearing 17 and the base drive shaft end cover 15, and is fixedly connected with the base sector gear 14 through a spline, and is tightened with the pitch frame 4 by pitching. A set of 19 fixed connections. The machine base driven shaft 22 is connected on the machine base frame 6 with the machine base driven shaft bearing 23 and the machine base driven shaft end cover 24, and is fixedly connected with the pitch frame 4 through the pitch tensioner sleeve 2 21 . The power is output from the base servo motor 7, and is transmitted to the base sector gear 14 through the base worm gear reducer 9, the base reducer output shaft 11, and the base pinion 12, so that the base drive shaft 16 can drive the pitch frame 4 Realize pitching motion.

As shown in Fig. 4 and Fig. 5, the pitch component group consists of a pitch protective cover 1, a pitch frame 4, a pitch protective cover 2 5, a pitch tightening sleeve 19, a pitch limit block 20, a pitch tightening sleeve 2 21, Pitching pinion gear 127, pitching deep groove ball bearing 28, pitching reducer output shaft 129, pitching gear 130, pitching worm gear reducer 131, pitching eccentric sleeve 132, pitching servo motor 133, pitching angle contact Bearing 1 34, pitch cup 1 35, pitch cup 2 36, pitch angular contact bearing 2 37, pitch cup 2 end cover 38, pitch servo motor 2 39, pitch eccentric sleeve 2 40, pitch worm reducer 2 41 , Pitch gear two 42, pitch reducer output shaft two 43, pitch deep groove ball bearing two 44, pitch pinion two 45 and form. As shown in the right end of Figure 5, the pitching servo motor 2 39 is connected in series with the pitching worm gear reducer 2 41, the pitching pinion 2 45 is installed at the output end of the pitching worm gear reducer 41, and the pitching worm gear reducer 2 41 Use the pitch eccentric sleeve 2 40 to be fixedly connected to the pitch frame 4, and adjust the center distance between the pitch pinion gear 2 45 and the pitch gear 2 42 by rotating the rotation angle of the pitch eccentric sleeve 2 40, so as to eliminate the meshing tooth side of the cylindrical gear gap. The pitching cup 2 36, the pitching angular contact bearing 2 37, the pitching cup 2 end cover 38 and the differential drive shaft 60 form a dynamic connection for the rotation support, and the pitching gear 2 42 is fixedly connected to the differential drive shaft 2 with splines. 60 on. The power is output from the pitch servo motor 2 39, through the pitch worm gear reducer 2 41, the pitch reducer output shaft 2 43 drives the pitch gear 2 42 through the pitch pinion 2 45, thereby driving the differential bevel gear 3 62 to rotate. Similarly, as shown in the left end of Fig. 5, the pitching servo motor one 33 is connected in series with the pitching worm gear reducer one 31, the pitching pinion one 27 is installed at the output end of the pitching worm gear reducer one 31, and the pitching worm gear Reducer 1 31 is fixedly connected to pitch frame 4 with pitch eccentric sleeve 1 32, and the center distance between pitch pinion 1 27 and pitch gear 1 30 is adjusted by turning the angle of pitch eccentric sleeve 1 32, thereby eliminating cylindrical gear meshing tooth backlash. Pitch cover cup one 35, pitch angular contact bearing one 34, and differential drive shaft one 63 form the dynamic connection of rotation support, and pitch gear one 30 is fixedly connected on the differential drive shaft one 63 with spline. The power is output from the pitch servo motor-33, through the pitch worm gear reducer-31, the output shaft of the pitch reducer-29 drives the pitch gear-30 through the pitch pinion-27, thereby driving the differential bevel gear-46 to rotate.

As shown in Fig. 5 and Fig. 6, the differential component group is composed of upper table 3, differential bevel gear 1 46, differential main force plate 47, differential turntable bearing 1 48, differential spacer 1 49, differential Bevel gear 2 50, differential output shaft 51, differential sleeve cup 52, differential angular contact bearing 53, differential sleeve end cover 54, differential turntable bearing 3 55, differential coupling 56, differential auxiliary force Plate 57, differential turntable bearing 2 58, differential spacer 2 59, differential drive shaft 2 60, differential bevel gear lock nut 61, differential bevel gear 3 62, differential drive shaft 1 63, differential seal The cover 64 is composed. Differential bevel gear 1 46 and differential bevel gear 3 62 are arranged horizontally on overlapping axes, respectively connected to differential drive shaft 1 63 and differential drive shaft 2 60 with splines, and locked with differential bevel gear lock nut 61 , its rotation support and drive are provided by the pitch axis I component group. The axis of differential bevel gear two 50 is perpendicular to the axes of differential bevel gear one 46 and differential bevel gear three 62, and is connected with one end of differential output shaft 51 with splines and differential bevel gear lock nut 61. The differential output shaft 51 is connected to the differential main force plate 47 by a differential sleeve cup 52 , a differential angular contact bearing 53 , and a differential sleeve end cover 54 , forming a movable connection for rotational support. The other end of the differential output shaft 51 is connected to the differential coupling 56 with a spline, and the upper table 3 is fixed on the differential coupling 56 with bolts, so that the rotation of the differential bevel gear 2 50 can drive the movement of the upper table 3 . The rotation support of the differential components around the rolling shaft II is composed of the differential turntable bearing 1 48 and the differential spacer 1 49 at the left end, the differential turntable bearing 2 58 and the differential spacer 59 at the right end, and the pitch frame 4 respectively The movable connection is provided. The rotation support of the upper table around the azimuth axis III is provided by the differential turntable bearing 3 55 connected between the differential coupling 56 and the differential main force plate 47 .

Claims (2)

1. a kind of differential attachment formula three-axle table, including engine base, pitch components group, the engine base provides reference for installation for load, It is characterized in that, further including differential component group, the differential component group cooperatively forms negative for realizing target with pitch components group Three pitch axis, the axis of rolling, azimuth axis rotation axis systems of pitching, the rolling, orientation rotation of load；When original state, described three The axis of a rotation axis system is mutually perpendicular to, and pitch axis axis is located at horizontal plane with axis of rolling axis, and azimuth axis axis is located at vertical Face；In the course of work, pitch axis axis and axis of rolling axis are vertical always, and azimuth axis axis and axis of rolling axis are vertical always； The pitch axis realizes the pitch rotation of upper table surface using independent driving unit；The axis of rolling and azimuth axis pass through differential machine Structure realizes rolling and the orientation rotation of upper table surface, and the differential attachment includes bevel type differential gear one, two, three, the differential gearing One, three horizontally-opposed installation, the bevel type differential gear two engage respectively with bevel type differential gear one, three, bevel type differential gear one, three Axis overlaps in the horizontal direction, the axis of bevel type differential gear two perpendicular to bevel type differential gear one, three common axis, coaxial line Bevel type differential gear one, three is sequentially connected with the drive motor being arranged symmetrically realizes the compound motion of bevel type differential gear one, three respectively, To drive bevel type differential gear two to complete two degree of freedom movements, the bevel type differential gear two is connect with upper table surface.

2. differential attachment formula three-axle table according to claim 1, which is characterized in that the differential cone tooth of the differential attachment Wheel one, three is connected to spline on differential drive one, two, and rotational support and driving are carried by the pitch components group For the bevel type differential gear two of the differential attachment is connect with spline with differential output axis one end, and the differential output axis passes through difference Dynamic a set of cups, differential angular contact bearing, differential a set of cups end cap are connected on differential main board, constitute the movable connection of rotational support, Differential output axis other end spline is connect with differential coupling piece, and the upper table surface is fixed by bolts on differential coupling piece, institute It states differential component group left end to connect with pitching rack by differential turntable bearing one, differential spacer one, constitutes and turn around the axis of rolling The dynamic connection of dynamic support, the differential component group right end are connect by differential turntable bearing two, differential spacer two with pitching rack, The dynamic connection for constituting the rotational support around the axis of rolling, when bevel type differential gear one and the reverse rotation at the same speed of bevel type differential gear three, on Table top makees orientation rotation around azimuth axis；When bevel type differential gear one and three synchronized rotating Vortex of bevel type differential gear, upper table surface is around rolling Moving axis makees rolling movement, when normal work, needs bevel type differential gear one, three as compound motion to realize the axis of rolling and azimuth axis Compound motion.