CN107294280A - A kind of three axles directly turn platform - Google Patents
A kind of three axles directly turn platform Download PDFInfo
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- CN107294280A CN107294280A CN201710370402.4A CN201710370402A CN107294280A CN 107294280 A CN107294280 A CN 107294280A CN 201710370402 A CN201710370402 A CN 201710370402A CN 107294280 A CN107294280 A CN 107294280A
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- pitching
- motor
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- stator
- encoder
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/14—Structural association with mechanical loads, e.g. with hand-held machine tools or fans
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
- H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
- H02K21/14—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
- H02K5/16—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields
- H02K5/161—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields radially supporting the rotary shaft at both ends of the rotor
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
Platform is directly turned the invention discloses a kind of three axle, including pitching frame, pitching frame is connected with pitching rotary shaft, one end of pitching rotary shaft connects the rotor of the first motor, the other end of pitching rotary shaft is provided with the first encoder, the bottom of pitching platform is fixedly connected with the periphery of pitching rotary shaft, the base that a vertical straight turns platform is fixedly connected with the top of pitching platform, the bottom of pitching frame is fixedly connected on another vertical straight and turned on the table with revolvable top of platform, the base that vertical straight turns platform is fixedly connected with the second motor, the rotor of second motor connects table with revolvable top by Coupling Shaft, second encoder is provided with Coupling Shaft, first encoder and second encoder connect the first motor and the second motor by servo-control system.Reasonable in design, simple in construction, permanent-magnetic synchronous motor rotor directly drives each turntable, reduces driving-chain, improves transmission efficiency；Progressive number controlled motor is operated, and control accuracy is high；Turntable operation noise is small, easy to maintenance.
Description
Technical field
The present invention relates to turntable technical field, it particularly relates to which a kind of three axle directly turns platform.
Background technology
The flourishing country of some space technologies, such as development of the U.S., the former Soviet Union, Germany, France all to turntable in the world
Very big energy is put into.Their Development Level has evolved to certain height.Particularly U.S., it is to develop turntable
One of earliest country of starting, its turntable Development Techniques is constantly in status advanced in the world.The current U.S. is in turntable manufacturer
Face, quantitatively, in kind or in terms of measurement accuracy, test automation degree all occupies first place in the world, represents
World today's highest level.
The First turntable A type turntables being born in the world in Massachusetts Institute Technology's Instrumentation Laboratory for 1945.Adopt
With common ball bearing, driven with alternating current torque motor, angular position measurement element uses ball sensitive switch.Due to using
Components accuracy than relatively low, and rawness can be used for reference, and this turntable deposits many shortcomings, and precision is also very low, is practically without throwing
Enter to use.B type servo turntables have been succeeded in developing in 1950 in succession later, C type turntables have been have developed within 1953, with essence
Close gear instead of direct drive unit.D type turntables come into operation within 1954, and this turntable employs accurate taper roller
Bearing, Angle Position read-out device uses photoelectric angular measurement system, indicates that turntable enters an advanced stage.Latter stage in the 60's,
The turntable that the U.S. is developed, which starts to adopt, to computerized control, and such as 3768 types of Fick system branch company production, 3769 type single shafts turn
Platform and 5768 types, 5769 type double axle tables；5769 type turntables also achieve computer automation testing, and this turntable can divide
Servo condition, no-load speed state, secondary rate state, digit position state and auto-programming displaced condition etc. are not worked in.
U.S. CCJC companies are at the beginning of the 60's Mos to the 70's, the serial twin shaft air bearing testboards of development and production 51.70
The serial three-axle tables of age Mo development and production 53.It is worth mentioning that employing Modularized Precision Angle Position in the type turntable
Control system MPACS（Modular Presicion Angular Control System）30H.30H series of products are combined
Modern electronic design and encapsulation technology, it is possible to provide various control and encoding function.Due to when designing MPACS each module
All consider from being minimized to most functional requirements, so system absolute angle or position control can be provided, it is position encoded and
Accurate speed control.System structure design provides maximum expansion capacity, the functions of modules of 30H series for multiaxis test equipment
Part, shows the maintainability of height and uses flexibility.To the end of the seventies, U.S.'s test table has reached at a relatively high water
It is flat, show that precision is high, high reliability, multipurpose is adopted and computerizedd control and data processing.Due in many cases, skill
Oneself reaches border or ultimate precision to art level, and the continuity and the force of habit of technology development.It is set to be difficult to enter new quickly
Developing stage.Therefore inertial navigation measuring technology enters a stage of a relative standstill, the technical merit of turntable in evolution
It is basic to maintain there is no major progress to the end of the eighties.
1984, many performance indications that CGS starts to develop improved three axis test desks ITAlrr, ITATT were represented and worked as
The development of the development level of modern inertial navigation testboard, many new technologies used in design and measure to Inertial Navigation Testing Device from now on comes
Say, be representative.In order to improve the performance of turntable, employed in the design of senior three axis test desks of rrATT a series of
Measure.In terms of bearing；Some existing test equipments use air bearing, and senior three axis test desk employ it is active
Magnetic levitation technology, so from 0.5 rad can bring up to 0.03 rad by the rotating accuracy of axle；The structural formula sample prescription face of testboard：
Some existing testboards use aluminium tower structure, and senior three axis test desk then employs graphite composite material ball
Shape shell structure, this improves symmetry and deflection characteristic；Some testboards of current version are used in terms of driver
It is AC/DC torque motor, and senior three axis test desk then employs polyphase induction motor, so as to eliminate the teeth groove of motor
Effect and torque fluctuations；In terms of angular position pick up：Some test equipments of current version use single inductosyn, and
Senior three axis test desks of ITATT then employ inductosyn and optical encoder combination, so that angle measurement accuracy is from 0.5 rad
Bring up to less than 0.03 rad, control aspect：Some original testboards of CGC use analog/digital technology, and senior three
Axis test desk employs digital state feedback technique, can so eliminate skew, and create condition for error compensation：Employ
State after technology, improved senior three axis test desks ITATT synthesis pointing accuracy is up to 0.1 rad, and the positioning precision of axle is
0.03 rad, comprehensive technical indexes raise an order of magnitude.China's turntable is started in nineteen sixty-five, compared with 20 years evenings of the U.S., but sends out
Open up speed or faster, gap is gradually reduced.1974, DT-1 type low speed turntables are developed into by 707,1975,
The SFT-1.1 type servo turntables being developed into by 303, it is similar with CGC 200 type turntables, it is mainly used to carry out servo test
.1979 in year, China First two-axis servo turntable " 7191 " twin shaft air axle is developed into jointly by Harbin Institute of Technology, 441 factories and 6354
Forward platform.Nineteen eighty-two, " 7191-n " type double axle table is developed into by 6354.The turntable be on the basis of " 7191 " turntable,
Improved in terms of precision, convenient operation, expanded function, raising reliability and increase stream time is improved.Nineteen eighty-three
It is the maximum double axle table of China by 13 servo turntables of DPCT- II developed.It is 0.01 ° of m that it, which is designed to measurement drift rate,
Double degree of freedom gyro, free gyroscope and accelerometer.1985, the DPCT-n type turntables developed by Harbin Institute of Technology were for we
The turntable of state First computer control, the turntable employs some popular technologies in the world, utilizes advanced control
Algorithm, makes turntable angle measurement accuracy reach 1 rad, design objective is can to survey the gyro that drift rate is 0.001 °/h.Breathe out work within 1987
The CCGT type Gyro test turntables succeeded in developing jointly with 6354 greatly, are the dual-spindle testing turntable of computer control, can test
Drift rate is 0.001 ° of m gyro.Nineteen ninety, Ministry of Aviation 303 has succeeded in developing the victory of the axle of I types of SGT- three, and even inertial navigation test turns
Platform, the turntable uses mechanical bearing, and its main performance index is.This axle rotating accuracy is ± 2 rads, and non-perpendicularity is 1 rad,
Angle measurement accuracy is 1 rad.At present, Harbin Institute of Technology just developing or completing the axle test tables of HIT tri-, the triaxial synthesis testboards of GST- I,
More than 20 turntables such as the single-axis servo platforms of CT- I, the axle test tables of CT- I 3, the axle artificial rotary table of optical imagery five.Zhejiang in 2008
Xun Ling Science and Technology Ltd.s set up, and the said firm is directed to the development and production of turntable always.In July, 2009 the said firm first
Platform single-shaft superspeed rotary table is succeeded in developing and delivers to customer to use, and this turntable rotating speed can reach 50-20000rpm, breaks through country
Top standard.In September, 2009 takes up research and development project of the twin shaft without magnetic turntable, and delivers use successively in May, 2010
Family is used, while this also breaches national advanced level without magnetic turntable, has applied for national patent.
Three current axles directly turn platform, it is impossible to the position of pitching, revolution is monitored in real time, with more intermediate transmission ring
Section, response speed is slow, and platform stabilization is not high.
The problem of in correlation technique, effective solution is not yet proposed at present.
The content of the invention
For the above-mentioned technical problem in correlation technique, the present invention proposes that a kind of three axle directly turns platform, by permanent magnet synchronous electric
Machine directly drives, and reduces intermediate transmission link, and motor acceleration is big, fast response time and speed-regulating range width.The start and stop of motor are led to
Cross each back encoder signals and realize Close loop servo control, control accuracy is high, so that the load on turntable can track signal
Motion.
To realize above-mentioned technical purpose, the technical proposal of the invention is realized in this way：
A kind of three axles directly turn platform, including pitching frame, and the pitching frame is connected with pitching rotary shaft, the pitching rotation
One end of rotating shaft connects the rotor of the first motor, and the other end of the pitching rotary shaft is provided with the first encoder, the pitching
It is fixedly connected on the periphery of rotary shaft and is fixedly connected with a vertical straight at the top of the bottom of pitching platform, the pitching platform and turns
The base of platform, the bottom of the pitching frame is fixedly connected on another vertical straight and turned on the table with revolvable top of platform, and the vertical straight drives
The base of turntable is fixedly connected with the second motor, and the rotor of second motor connects the table with revolvable top, described turn by Coupling Shaft
Second encoder is provided with spindle, first encoder and second encoder pass through the electricity of servo-control system connection first
Machine and the second motor.
Further, the two ends of the pitching frame are provided with bearing spider, and the end face of bearing spider is installed with
It is installed with the bearing being connected with the pitching rotary shaft inside end cap, bearing spider, the bearing is provided at both ends with
Mechanical seal, the right-hand member of the pitching frame installs first motor, and the rotor of first motor passes through flat key and circle spiral shell
Female right-hand member with the pitching rotary shaft is connected, and first motor is arranged on the right-hand member of the pitching frame by rebound
Face.
Further, first motor and the second motor are no frame permagnetic synchronous motor.
Further, first motor includes the first stator module, the first rotor component, the first stator seat and dust cap
Plate, first stator module includes the first stator core and the first stator winding, and first stator winding is arranged on institute
State in stator core, the first rotor component is included in the first rotor body and the first magnetic conduction inner ring, first magnetic conduction
Enclose and set along the excircle of the first rotor body, the first rotor body is bowed by the flat key and round nut with described
Rotary shaft connection is faced upward, first stator seat is arranged on the right side of the pitching frame by rebound.
Further, the vertical straight, which turns platform, includes the base, and the base passes through the second stator seat and interior hexagonal
Screw is fixedly connected with the second stator module, and second stator module includes the second stator core and the second stator winding, institute
State the second stator winding to be arranged in second stator core, second stator winding is flexibly connected the by turntable bearing
Two rotor assembly, second rotor assembly includes the second rotor body and the second magnetic conduction inner ring, the second magnetic conduction inner ring
Set along the excircle of second rotor body, second rotor body is connected by the Coupling Shaft and the table with revolvable top
Connect, back shroud is installed between the Coupling Shaft and the base, the back shroud and switching between centers are provided with TC sealing rings.
Further, the turntable bearing is YRT turntable bearings, and the YRT turntables bearing includes seat ring and blowout patche, described
Seat ring is fixed on second stator seat, and the blowout patche is fixed on second rotor body, the blowout patche with described turn
Table top is connected, and VL sealing rings are provided between the table with revolvable top and the seat ring.
Further, the first magnetic conduction inner ring and the second magnetic conduction inner ring are made up of permanent magnet material, the first stator winding
It is made up with the second stator winding of conductive metallic material, first stator core and the second stator core are by silicon steel sheet material system
Into.
Further, first encoder is TS2620N21E11 rotary encoders, and the second encoder is
ECN113 absolute type encoders.
Further, the servo-control system includes single-chip microcomputer and the multiple servo-drivers being connected with single-chip microcomputer,
The single-chip microcomputer connects the first encoder and second encoder.
Further, one of servo-driver connects the first stator winding, the respectively connection one of another two servo-driver
Second stator winding.
Beneficial effects of the present invention：Reasonable in design, simple in construction, permanent-magnetic synchronous motor rotor directly drives each turntable, subtracts
Lack driving-chain, improve transmission efficiency；Progressive number controlled motor is operated, and control accuracy is high；Turntable operation noise is small, dimension
Shield is convenient.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention
Example, for those of ordinary skill in the art, on the premise of not paying creative work, can also be obtained according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is the structural representation that three described according to embodiments of the present invention axles directly turn platform；
Fig. 2 is the enlarged diagram of the M according to Fig. 1.
In figure：
1st, second encoder；2nd, vertical straight turns platform；21st, base；22nd, the second stator module；221st, the second stator core；222、
Second stator winding；23rd, the second stator seat；24th, turntable bearing；241st, seat ring；242nd, blowout patche；25th, the second rotor assembly；251、
Second rotor body；252nd, the second magnetic conduction inner ring；26th, table with revolvable top；27th, Coupling Shaft, 28, VL sealing rings；29th, back shroud；210、
TC sealing rings；3rd, pitching frame；4th, bearing spider；5th, end cap；6th, bearing；7th, mechanical seal；8th, pitching rotary shaft；9th, first
Motor；91st, the first stator module；911st, the first stator core；912nd, the first stator winding；92nd, the first rotor component；921st,
One rotor body；922nd, the first magnetic conduction inner ring；93rd, the first stator seat；94th, dust cover；10th, flat key；11st, round nut；12nd, mistake
Cab apron；13rd, pitching platform；14th, roll turntable；15th, the first encoder.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, the every other embodiment that those of ordinary skill in the art are obtained belongs to what the present invention was protected
Scope.
As shown in Figure 1-2, described a kind of three axle according to embodiments of the present invention directly turns platform, including pitching frame 3, described
Pitching frame 3 is connected with pitching rotary shaft 8, and one end of the pitching rotary shaft 8 connects the rotor of the first motor 9, described
The other end of pitching rotary shaft 8 be provided with the first encoder 15, the periphery of the pitching rotary shaft 8 be fixedly connected pitching put down
The bottom of platform 13, the top of the pitching platform 13 is fixedly connected with the base 21 that a vertical straight turns platform 2, the pitching frame 3
Bottom be fixedly connected on another vertical straight and turn on the table with revolvable top 26 of platform 2, the base 21 that the vertical straight turns platform 2 is fixed and connected
The second motor is connect, the rotor of second motor is connected by Coupling Shaft 27 to be set in the table with revolvable top 26, the Coupling Shaft 27
There is second encoder 1, first encoder 15 and second encoder 1 connect the He of the first motor 9 by servo-control system
Second motor.
In one particular embodiment of the present invention, the two ends of the pitching frame 3 are provided with bearing spider 4, bearing
The end face of bearing 4 is installed with the axle for being installed with and being connected with the pitching rotary shaft 8 inside end cap 5, bearing spider 4
Hold 6, the bearing 6 is provided at both ends with mechanical seal 7, and the right-hand member of the pitching frame 3 installs first motor 9, described
The rotor of first motor 9 is connected by flat key 10 and round nut 11 with the right-hand member of the pitching rotary shaft 8, first motor 9
The right side of the pitching frame 3 is arranged on by rebound 12.
In one particular embodiment of the present invention, the motor of the first motor 9 and second is no frame permanent-magnet synchronous
Motor.
In one particular embodiment of the present invention, first motor 9 includes the first stator module 91, the first rotor group
Part 92, the first stator seat 93 and dust cover 94, it is fixed that first stator module 91 includes the first stator core 911 and first
Sub- winding 912, first stator winding 912 is arranged in the stator core 911, and the first rotor component 92 includes the
One rotor body 921 and the first magnetic conduction inner ring 922, the first magnetic conduction inner ring 922 are outer along the first rotor body 921
Circumference is set, and the first rotor body 921 is connected by the flat key 10 and round nut 11 with the pitching rotary shaft 8, institute
State the right side that the first stator seat 93 is arranged on the pitching frame 3 by rebound 12.
In one particular embodiment of the present invention, the vertical straight, which turns platform 2, includes the base 21, the base 21
Second stator module 22 is fixedly connected with soket head cap screw by the second stator seat 23, second stator module 22 includes second
The stator winding 222 of stator core 221 and second, second stator winding 222 is arranged on second stator core 221
Interior, second stator winding 222 is flexibly connected the second rotor assembly 25, second rotor assembly 25 by turntable bearing 24
Including the second rotor body 251 and the second magnetic conduction inner ring 252, the second magnetic conduction inner ring 252 is along second rotor body
251 excircle is set, and second rotor body 251 is connected by the Coupling Shaft 27 with the table with revolvable top 26, described turn
Back shroud 29 is installed between spindle 27 and the base 21, TC sealing rings are provided between the back shroud 29 and Coupling Shaft 27
210。
In one particular embodiment of the present invention, the turntable bearing 24 is YRT turntable bearings, the YRT turntables axle
Contract and include seat ring 241 and blowout patche 242, the seat ring 241 is fixed on second stator seat 23, the blowout patche 242 is fixed on
On second rotor body 251, the blowout patche 242 is connected with the table with revolvable top 26, the table with revolvable top 26 and the seat ring 241
Between be provided with VL sealing rings 28.
In one particular embodiment of the present invention, the first magnetic conduction inner ring 922 and the second magnetic conduction inner ring 252 are by permanent magnetism
Body material is constituted, and the first stator winding 912 and the second stator winding 222 are made up of conductive metallic material, the first stator iron
The stator core 221 of core 911 and second is made up of silicon steel sheet material.
In one particular embodiment of the present invention, first encoder 15 is TS2620N21E11 rotary encoders,
The second encoder 1 is ECN113 absolute type encoders 1.
In one particular embodiment of the present invention, the servo-control system includes single-chip microcomputer and is connected with single-chip microcomputer
Multiple servo-drivers, the single-chip microcomputer connects the first encoder 15 and second encoder 1.
In one particular embodiment of the present invention, one of servo-driver connects the first stator winding 912, another two
Individual servo-driver respectively connects one second stator winding 222.
Understand for convenience the present invention above-mentioned technical proposal, below by way of in specifically used mode to the present invention it is above-mentioned
Technical scheme is described in detail.
The mode of the present invention that is fixedly connected can be replaced with conventional technical means such as bolt, bondings, movable connection method
It can be replaced with conventional technical means such as bearing, hinges.
Three axles of the present invention directly turn platform, including the vertical straight of bottom turns pitching frame 3 and the top at platform 2 and middle part
The part of roll turntable 14 3 is constituted.The vertical straight of bottom, which is turned, is provided with ECN113 absolute type encoders in platform 2（I.e. second coding
Device 1）.The vertical straight that the pitching frame 3 at middle part is arranged on bottom is turned on the table with revolvable top 26 of platform 2, and pitching frame 3 is provided at both ends with
Bearing spider 4, the end face of bearing spider 4, which is provided with inside end cap 5, bearing spider 4, is provided with bearing 6, and bearing 6 is provided at both ends with machine
Tool sealing 7, is provided with pitching rotary shaft 8 between the bearings at both ends bearing 4 of pitching frame 3, and the low order end of pitching frame 3 is provided with rimless
Formula permagnetic synchronous motor（First motor 9）, the first motor 9 is connected and tight with round nut 11 by flat key 10 with pitching rotary shaft 8
Gu, the first motor 9 is arranged on by rebound 12 in the right side of pitching frame 3, the middle part pitching rotary shaft 8 of pitching frame 3
It is provided with pitching platform 13, the left end face of left end bearing spider 4 of pitching frame 3 and TS2620N21E11 rotary codings is installed
Device（That is the first encoder 15）.The roll turntable 14 on top also turns platform by vertical straight and constituted, structure type and bottom it is vertical
Directly turn as platform 2, the roll turntable 14 is directly fixedly mounted on pitching platform 13.
The vertical straight of bottom turns platform 2 and is provided with base 21, and the second stator module 22 is landed in by the second stator seat 23
On base 21, fastened by soket head cap screw, table with revolvable top 26 passes through YRT turntable bearings（That is turntable bearing 24）Blowout patche 242 with
Second rotor assembly 25 is connected, and Coupling Shaft 27, the seat of turntable bearing 24 are provided with the middle of the rotor assembly 25 of table with revolvable top 26 and second
Circle 241 is fixed on the second stator seat 23, and VL sealing rings 28 are provided between the seat ring 241 of table with revolvable top 26 and turntable bearing 24, is turned
Back shroud 29 is installed between spindle 27 and base 21, TC sealing rings 210 are provided between back shroud 29 and Coupling Shaft 27.
First motor 9 includes the first stator module 91, the first rotor component 92, the first stator seat 93 and dust cover 94.
The first rotor component 92 of first motor 9 is connected by flat key 10 with pitching rotary shaft 8 to be fastened with round nut 11, the first stator seat
93 are arranged on the right side of pitching frame 3 by rebound 12.
Turntable bearing 24 includes seat ring 241 and blowout patche 242, and seat ring 241 is fixed on the second stator seat 23, and blowout patche 242 is consolidated
It is scheduled on the second rotor assembly 25.
Second stator module 22 includes the second stator core 221 and the second stator winding 222, the second stator winding 222
It is arranged in the second stator core 221.
Second rotor assembly 25 includes the second rotor body 251 and the second magnetic conduction inner ring（Permanent magnet）252, the second magnetic conduction
Excircle of the inner ring 252 along the second rotor body 251 is set.
First stator module 91 of the first motor 9 includes the first stator core 911 and the first stator winding 912, first
Stator winding 912 is arranged in the first stator core 911.
The first rotor component 92 of first motor 9 includes the magnetic conduction inner ring of the first rotor body 921 and first（Permanent magnet）
922, excircle of the first magnetic conduction inner ring 922 along the first rotor body 921 is set.
Three axles are directly turned and encoder are mounted on each axle of platform, and back encoder signals are realized to servo controller
Motor closed-loop vector is controlled, and each turntable constant torque, rotating speed is accurately adjustable, and the platform anglec of rotation is directly turned to three axles so as to realize
Accurate control.
The first magnetic conduction inner ring 922 and the second magnetic conduction inner ring 252 are made up of permanent magnet material, the first stator winding 912
It is made up with the second stator winding 222 of conductive metallic material, the stator core 221 of the first stator core 911 and second is by silicon
Steel disc material is made.
First encoder 15 is used for the angular displacement for detecting the rotor of the first motor 9, and second encoder is used to detect the second motor
The angular displacement of rotor, single-chip microcomputer is control centre, after it receives the signal of the first encoder 15 and second encoder 1, is led to
Crossing servo-driver controls corresponding motor to rotate, and realizes that vertical straight turns the roll turntable 14 of platform 2, pitching platform 13 and top
Precise movement.
When specifically used, the vertical straight of bottom turns platform 2 and the first motor of middle part pitching 9 and the roll turntable 14 on top
After being powered without frame permagnetic synchronous motor, corresponding table with revolvable top 26 and pitching rotary shaft 8 rotate in the presence of electromagnetic force, electricity
Signal is fed back to servo-control system by the encoder on arbor, can accurately be controlled each turntable rotating speed and be controlled each revolving table position angle
Degree.
To sum up, by means of the above-mentioned technical proposal of the present invention, the position of pitching, roll turntable is monitored in real time, by forever
The stability contorting regulation of magnetic-synchro servomotor, is maintained at the double-shaft level position of pitching and roll, uses with making platform stable
Integral permanent magnet synchronous servo motor drives platform loads, high efficiency, high reliability, the non-maintaining operation of brushless servo motor.
These are only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.
Claims (10)
1. a kind of three axle directly turns platform, including pitching frame（3）, it is characterised in that the pitching frame（3）It is connected with and bows
Face upward rotary shaft（8）, the pitching rotary shaft（8）One end connect the first motor（9）Rotor, the pitching rotary shaft（8）'s
The other end is provided with the first encoder（15）, the pitching rotary shaft（8）Periphery on be fixedly connected with pitching platform（13）'s
Bottom, the pitching platform（13）Top be fixedly connected with a vertical straight and turn platform（2）Base（21）, the pitching frame
（3）Bottom be fixedly connected on another vertical straight and turn platform（2）Table with revolvable top（26）On, the vertical straight turns platform（2）Bottom
Seat（21）The second motor is fixedly connected with, the rotor of second motor passes through Coupling Shaft（27）Connect the table with revolvable top（26）, institute
State Coupling Shaft（27）On be provided with second encoder（1）, first encoder（15）And second encoder（1）Pass through servo
Control system connects the first motor（9）With the second motor.
2. three axle according to claim 1 directly turns platform, it is characterised in that the pitching frame（3）Two ends be respectively provided with
There is bearing spider（4）, bearing spider（4）End face be installed with end cap（5）, bearing spider（4）Inside be installed with
The pitching rotary shaft（8）The bearing being connected（6）, the bearing（6）Be provided at both ends with mechanical seal（7）, the pitching
Framework（3）Right-hand member first motor is installed（9）, first motor（9）Rotor pass through flat key（10）And round nut
（11）With the pitching rotary shaft（8）Right-hand member connection, first motor（9）Pass through rebound（12）Installed in the pitching
Framework（3）Right side.
3. three axle according to claim 2 directly turns platform, it is characterised in that first motor（9）It is equal with the second motor
For without frame permagnetic synchronous motor.
4. three axle according to claim 3 directly turns platform, it is characterised in that first motor（9）Including the first stator
Component（91）, the first rotor component（92）, the first stator seat（93）And dust cover（94）, first stator module（91）Bag
Include the first stator core（911）And first stator winding（912）, first stator winding（912）It is arranged on the stator
Iron core（911）It is interior, the first rotor component（92）Including the first rotor body（921）And the first magnetic conduction inner ring（922）, institute
State the first magnetic conduction inner ring（922）Along the first rotor body（921）Excircle set, the first rotor body（921）
Pass through the flat key（10）And round nut（11）With the pitching rotary shaft（8）Connection, first stator seat（93）Pass through mistake
Cab apron（12）Installed in the pitching frame（3）Right side.
5. three axle according to claim 3 directly turns platform, it is characterised in that the vertical straight turns platform（2）Including described
Base（21）, the base（21）Pass through the second stator seat（23）The second stator module is fixedly connected with soket head cap screw（22）,
Second stator module（22）Including the second stator core（221）And second stator winding（222）, second stator around
Group（222）It is arranged on second stator core（221）It is interior, second stator winding（222）Pass through turntable bearing（24）It is living
The second rotor assembly of dynamic connection（25）, second rotor assembly（25）Including the second rotor body（251）And second magnetic conduction
Inner ring（252）, the second magnetic conduction inner ring（252）Along second rotor body（251）Excircle set, described second turn
Sub- body（251）Pass through the Coupling Shaft（27）With the table with revolvable top（26）Connection, the Coupling Shaft（27）With the base
（21）Between back shroud is installed（29）, the back shroud（29）And Coupling Shaft（27）Between be provided with TC sealing rings（210）.
6. three axle according to claim 4 directly turns platform, it is characterised in that the turntable bearing（24）For YRT turntable axles
Hold, the YRT turntables bearing includes seat ring（241）And blowout patche（242）, the seat ring（241）It is fixed on second stator seat
（23）On, the blowout patche（242）It is fixed on second rotor body（251）On, the blowout patche（242）With the table with revolvable top
（26）Connection, the table with revolvable top（26）With the seat ring（241）Between be provided with VL sealing rings（28）.
7. three axles according to any one of claim 4 and 5 directly turn platform, it is characterised in that the first magnetic conduction inner ring
（922）With the second magnetic conduction inner ring（252）It is made up of permanent magnet material, the first stator winding（912）With the second stator winding（222）
It is made up of conductive metallic material, first stator core（911）With the second stator core（221）It is made up of silicon steel sheet material.
8. three axle according to claim 1 directly turns platform, it is characterised in that first encoder（15）For
TS2620N21E11 rotary encoders, the second encoder（1）For ECN113 absolute type encoders（1）.
9. three axle according to claim 1 directly turns platform, it is characterised in that the servo-control system include single-chip microcomputer with
And the multiple servo-drivers being connected with single-chip microcomputer, the first encoder of the single-chip microcomputer connection（15）And second encoder（1）.
10. three axle according to claim 1 directly turns platform, it is characterised in that one of servo-driver connection first
Stator winding（912）, another two servo-driver one second stator winding of each connection（222）.
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| CN201710370402.4A CN107294280A (en) | 2017-05-23 | 2017-05-23 | A kind of three axles directly turn platform |
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| CN201710370402.4A Pending CN107294280A (en) | 2017-05-23 | 2017-05-23 | A kind of three axles directly turn platform |
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| CN108233616A (en) * | 2018-01-31 | 2018-06-29 | 湖北环电磁装备工程技术有限公司 | The air blower rotating device that a kind of no frame permanent magnet synchronous motor directly drives |
| CN108213387A (en) * | 2018-01-31 | 2018-06-29 | 湖北环电磁装备工程技术有限公司 | The die casting machine mold locking mechanism that a kind of no frame permanent magnet synchronous motor directly drives |
| CN108284141A (en) * | 2018-01-31 | 2018-07-17 | 湖北环电磁装备工程技术有限公司 | The veneer reeling machine that rimless combination type permanent-magnet synchronous motor directly drives |
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| CN108284141A (en) * | 2018-01-31 | 2018-07-17 | 湖北环电磁装备工程技术有限公司 | The veneer reeling machine that rimless combination type permanent-magnet synchronous motor directly drives |
| CN108326213A (en) * | 2018-01-31 | 2018-07-27 | 湖北环电磁装备工程技术有限公司 | The Ring Rolling Machine that rimless combination type permanent-magnet synchronous motor directly drives |
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| CN109029123A (en) * | 2018-07-21 | 2018-12-18 | 长沙金信诺防务技术有限公司 | Weapon platform, the anti-Swimmers Weapons System with the platform and operational method |
| CN109084626A (en) * | 2018-07-21 | 2018-12-25 | 长沙金信诺防务技术有限公司 | A kind of controlling terminal and its control method of anti-Swimmers Weapons System |
| CN109029123B (en) * | 2018-07-21 | 2021-02-26 | 长沙金信诺防务技术有限公司 | Weapon platform, anti-frogman weapon system with platform and operation method |
| CN108983827A (en) * | 2018-09-14 | 2018-12-11 | 高新兴科技集团股份有限公司 | A kind of Self-stabilization holder |
| CN109945970A (en) * | 2018-12-10 | 2019-06-28 | 河北汉光重工有限责任公司 | A kind of channel circulation structure based on turret systems |
| CN113738768A (en) * | 2021-08-03 | 2021-12-03 | 九江精密测试技术研究所 | High-precision simplified shafting structure suitable for inverted rotary table |
| CN117030202A (en) * | 2023-07-21 | 2023-11-10 | 成都飞机工业（集团）有限责任公司 | Optical detection sample pose adjusting device and application method thereof |
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Effective date of registration: 20181226 Address after: 430000 Modern International Design City, Guannan Science and Technology Industrial Park, Donghu New Technology Development Zone, Wuhan City, Hubei Province, Phase I, Unit 31, Level 9 Applicant after: Hubei Fusheng Technology Co., Ltd. Address before: 436034 No. 1 Sanjiang Avenue, Duandian Town, Ezhou City, Hubei Province Applicant before: Hubei Fu Sheng intelligent equipment Limited by Share Ltd |