CN112344962A - Light and small high-rotating-speed electric three-axis turntable - Google Patents
Light and small high-rotating-speed electric three-axis turntable Download PDFInfo
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- CN112344962A CN112344962A CN202011201965.9A CN202011201965A CN112344962A CN 112344962 A CN112344962 A CN 112344962A CN 202011201965 A CN202011201965 A CN 202011201965A CN 112344962 A CN112344962 A CN 112344962A
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- 238000009434 installation Methods 0.000 claims abstract description 17
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 71
- 239000004917 carbon fiber Substances 0.000 claims description 71
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 71
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- 238000000034 method Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 2
- 230000009467 reduction Effects 0.000 description 10
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 8
- 229910052799 carbon Inorganic materials 0.000 description 8
- 239000000835 fiber Substances 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 8
- 238000005096 rolling process Methods 0.000 description 8
- 238000004088 simulation Methods 0.000 description 6
- 238000012360 testing method Methods 0.000 description 5
- 239000000306 component Substances 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 230000002238 attenuated effect Effects 0.000 description 2
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- 238000013461 design Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 229910001008 7075 aluminium alloy Inorganic materials 0.000 description 1
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention discloses a light and small high-rotating-speed electric three-axis turntable, which comprises a chassis box, an outer rotating assembly and an inner rotating assembly, wherein the outer rotating assembly is arranged on the chassis box, and the inner rotating assembly is arranged in the outer rotating assembly; the chassis box comprises a yaw axis power set for realizing the rotation of the outer rotating assembly; the outer rotating assembly comprises an outer frame, a crossed roller bearing and a pitching shaft power set, the outer frame is positioned on the chassis box, the crossed roller bearing is installed on the outer frame, and the pitching shaft power set is used for realizing pitching rotation of the inner rotating assembly; the internal rotation subassembly includes interior mounting bracket, installation base plate, rotating main shaft, motor frame and brushless motor, and one side and the cross roller bearing of interior mounting bracket are connected, the opposite side is connected with every single move axle power unit, and the installation base plate passes through rotating main shaft and is connected with brushless motor, and the rotating main shaft passes the installation of interior mounting bracket, and the motor frame is installed in interior mounting bracket. The method can accurately simulate the attitude change characteristic of the shot rotating projectile in the outer ballistic flight process.
Description
Technical Field
The invention belongs to the technical field of three-axis rotary tables, and particularly relates to a light and small high-rotation-speed electric three-axis rotary table.
Background
The three-axis turntable is a core device for simulating the aircraft navigation system on the ground, and can simulate the attitude changes of the aircraft in three directions of yaw, pitch and roll in real time during actual flight, so that semi-physical simulation is realized. Obviously, the reliability and the reliability of the simulation test are directly influenced by the quality of the performance of the three-axis turntable, and the precision and the performance of the navigation system are determined.
The guided munition is a high and new technology weapon which is competitively developed in various countries, the navigation assembly is a core component of the novel guided munition, the performance quality of the guided munition directly determines the hit precision of the guided munition, and therefore accurate precision test and evaluation are necessary to be carried out on a navigation system. For a navigation system of guided munitions, a common three-axis turntable can be used for simulating attitude change of the guided munition in the flying process, but shot rotary projectiles have obvious high rotating speed characteristics, so that the requirements of the conventional three-axis turntable cannot be met.
Foreign researchers have made relevant studies on three-axis turrets, but these studies have failed to meet the requirements of high dynamics and light weight and compactness. The invention patent 201711122178.3 discloses a vertical single-shaft high-speed turntable, which solves the problem of accurate target shooting at high rotating speed by simulating dead-sensing ammunition, but only can realize high-speed rotation of a single shaft, the motions of a pitching shaft and a yawing shaft cannot be reflected, and the turntable is complex in structure, heavy in equipment and incapable of taking account of portability. The utility model 201822225611.2 discloses a three-axis simulation turntable with low production cost and good structural stress; the invention patent 200610049065.0 discloses a three-dimensional simulation rotary table for flight attitude of a miniature unmanned helicopter, which has small volume and simple mechanism. Both of these drawbacks are that they do not provide highly dynamic attitude simulation and do not meet the test requirements of guided munition navigation systems.
Disclosure of Invention
In order to solve the problems, the invention provides a light and small high-rotation-speed electric three-axis turntable, which provides a solution for a ground test of a navigation system for shooting rotating projectiles by a gun, wherein the rotation speed of a rolling shaft can reach 18000rpm, and the light and small structural design is realized by adopting a carbon fiber composite material, so that the turntable has high rigidity characteristic, meanwhile, the very light weight is kept, the turntable has quick response capability, and higher precision can be achieved.
The technical solution for achieving the above purpose is as follows:
a light and small high-rotation-speed electric three-axis turntable comprises a chassis box, an outer rotating assembly and an inner rotating assembly, wherein the outer rotating assembly is installed on the chassis box, and the inner rotating assembly is installed in the outer rotating assembly;
the chassis box comprises a yaw axis power set for realizing the rotation of the outer rotating assembly;
the outer rotating assembly comprises an outer frame, a crossed roller bearing and a pitching shaft power set, the outer frame is positioned on the chassis box, the crossed roller bearing is installed on the outer frame, the inner rotating assembly is rotationally connected with the outer frame through the crossed roller bearing and the pitching shaft power set, and the pitching shaft power set is used for achieving pitching rotation of the inner rotating assembly;
interior rotation subassembly includes interior mounting bracket, installation base plate, rotatory main shaft, motor frame and brushless motor, one side of interior mounting bracket with cross roller bearing connects, the opposite side with every single move axle power unit connects, the installation base plate passes through rotatory main shaft and is connected with brushless motor, rotatory main shaft passes interior mounting bracket installation, the motor frame install in on the interior mounting bracket and be used for the installation and support brushless motor.
Further, the chassis box further comprises a control panel, handles, a main box body and a wire passing panel, wherein the control panel and the wire passing panel are respectively located on two sides of the main box body, the handles are installed on two sides of the main box body, and the yawing shaft power set is installed on the main box body.
Furthermore, the outer frame comprises a carbon fiber bottom plate, an outer frame carbon fiber left side plate and an outer frame carbon fiber right side plate, the carbon fiber bottom plate is located above the yaw axis power set and fixedly connected with the yaw axis power set, and the outer frame carbon fiber left side plate and the outer frame carbon fiber right side plate are located on two sides of the carbon fiber bottom plate.
Furthermore, the outer frame further comprises four outer frame supporting plates and four outer frame positioning blocks, and the four outer frame supporting plates and the four outer frame positioning blocks are used for realizing connection and positioning of the outer frame carbon fiber left side plate and the outer frame carbon fiber right side plate with the carbon fiber bottom plate respectively.
Further, interior mounting bracket includes carbon fibre left side board, infrabasal plate and carbon fibre right side board, carbon fibre left side board with the cross roller bearing is connected, carbon fibre right side board with every single move axle power unit connects, the infrabasal plate is connected between carbon fibre left side board and carbon fibre right side board, rotatory main shaft passes the infrabasal plate installation.
Further, interior mounting bracket still includes four interior mounting bracket locating pieces, four interior mounting bracket locating pieces are used for realizing the location and the connection of carbon fibre left side board and carbon fibre right side board and infrabasal plate.
Further, the inner mounting frame further comprises a flange plate with a bearing, and the flange plate with the bearing penetrates through the inner bottom plate to be mounted and used for realizing rotary support of the rotary main shaft.
Furthermore, the inner mounting frame further comprises four rubber vibration reduction blocks, and the four rubber vibration reduction blocks are used for realizing connection and vibration reduction of the motor frame and the inner bottom plate.
Further, the interior mounting bracket still includes the shaft coupling, the shaft coupling is used for realizing the output shaft's of rotatory main shaft and brushless motor is connected.
Further, the inner bottom plate can realize position adjustment along the up-and-down direction of the carbon fiber left side plate and the carbon fiber right side plate.
Compared with the prior art, the invention has the beneficial effects that:
(1) the high-speed brushless motor and the servo driving module are adopted to realize the characteristics of ultrahigh-speed rotation of the roll axis and quick response of the pitch axis and the yaw axis;
(2) the inner bottom plate can realize position adjustment along the vertical direction of the carbon fiber left side plate and the carbon fiber right side plate, and the gravity center position of the inner frame can be adjusted according to the load, so that the gravity center position is close to the pitching axis, and the dynamic characteristic is favorably improved;
(3) the rolling shaft brushless motor is isolated independently through the vibration reduction mechanism, so that the interference of motor vibration under ultrahigh-speed operation is removed, and the gyro moment caused by the motor rotating at high speed under pitching motion is attenuated;
(4) the invention provides ultrahigh rotating speed required by a rolling shaft by using a rolling brushless motor capable of rotating at high speed, the pitching power set drives the inner rotating assembly to realize pitching motion, the yawing power set on the chassis box drives the combination of the outer rotating assembly and the inner rotating assembly to realize yawing motion, and the change characteristic of the outer ballistic attitude of the shot rotating projectile can be accurately simulated.
Drawings
Fig. 1 is a three-dimensional structure view of a lightweight, small, high-rotation-speed electric three-axis turntable according to the present invention.
Fig. 2 is a front view of the lightweight high-speed electric three-axis turntable of the present invention.
Fig. 3 is a right side view of the lightweight high-speed electric three-axis turntable of the present invention.
Fig. 4 is a left side view of the lightweight high-speed electric three-axis turntable of the present invention.
Fig. 5 is a top view of the lightweight, compact, high rotational speed electric three-axis turntable of the present invention.
Fig. 6 is an exploded view of the lightweight miniaturized high rotational speed electric three-axis turret of the present invention.
The device mainly comprises three parts, 1-5 is a chassis box (comprising a control panel 1, a handle 2, a main box body 3, a wire passing panel 4 and a yaw axis power set 5), 6-10 and 22-23 are external rotating components (a carbon fiber bottom plate 6, an outer frame supporting plate 7, an outer frame positioning block 8, an outer frame carbon fiber left side plate 9, a cross roller bearing 10, a pitch axis power set 22 and an outer frame carbon fiber right side plate 23), and 11-20 are internal rotating components (comprising an inner mounting frame carbon fiber left side plate 11, a mounting base plate 12, a rotating main shaft 13, a flange plate with a bearing 14, an inner bottom plate 15, a rubber vibration reduction block 16, a coupling 17, a motor frame 18, a brushless motor 19, an inner mounting frame positioning block 20 and an inner mounting frame carbon fiber right side plate 21).
Detailed Description
The present invention is described in further detail below with reference to the attached drawing figures.
With reference to fig. 1-6, a lightweight, compact, high-speed electric three-axis turret includes a chassis housing, an outer rotating assembly mounted on the chassis housing, and an inner rotating assembly mounted within the outer rotating assembly;
the chassis box comprises a yaw axis power set 5 for realizing the rotation of the outer rotating assembly;
the outer rotating assembly comprises an outer frame, a crossed roller bearing 10 and a pitching shaft power set 22, the outer frame is positioned on the chassis box, the crossed roller bearing 10 is installed on the outer frame, the inner rotating assembly is rotationally connected with the outer frame through the crossed roller bearing 10 and the pitching shaft power set 22, and the pitching shaft power set 22 is used for achieving pitching rotation of the inner rotating assembly;
the internal rotation component comprises an internal mounting frame, a mounting base plate 12, a rotating spindle 13, a motor frame 18 and a brushless motor 19, one side of the internal mounting frame is connected with the crossed roller bearing 10, the other side of the internal mounting frame is connected with the pitching shaft power group 22, the mounting base plate 12 is connected with the brushless motor 19 through the rotating spindle 13, the rotating spindle 13 penetrates through the internal mounting frame for mounting, and the motor frame 18 is mounted on the internal mounting frame and used for mounting and supporting the brushless motor 19.
Preferably, the chassis box still includes control panel 1, handle 2, main tank body 3 and crosses line panel 4, control panel 1 and cross line panel 4 and be located the both sides of main tank body 3 respectively, handle 2 install in the both sides of main tank body 3, driftage axle power pack 5 installs on main tank body 3, chassis box both sides be equipped with the handle 2 of being convenient for to can hold all electrical equipment such as driver, the outside only need supply power and go into and control signal.
Preferably, the outer frame comprises a carbon fiber bottom plate 6, an outer frame carbon fiber left side plate 9 and an outer frame carbon fiber right side plate 23, the carbon fiber bottom plate 6 is located above the yaw axis power set 5 and is fixedly connected with the yaw axis power set, and the outer frame carbon fiber left side plate 9 and the outer frame carbon fiber right side plate 23 are located on two sides of the carbon fiber bottom plate 6.
Preferably, the outer frame further comprises four outer frame support plates 7 and four outer frame positioning blocks 8, and the four outer frame support plates 7 and the four outer frame positioning blocks 8 are respectively used for realizing the connection and the positioning of the outer frame carbon fiber left side plate 9 and the outer frame carbon fiber right side plate 23 with the carbon fiber bottom plate 6.
Preferably, the interior mounting bracket includes interior mounting bracket carbon fiber left side board 11, interior bottom plate 15 and interior mounting bracket carbon fiber right side board 21, interior mounting bracket carbon fiber left side board 11 with cross roller bearing 10 is connected, interior mounting bracket carbon fiber right side board 21 with pitch axis power unit 22 is connected, interior bottom plate 15 is connected between interior mounting bracket carbon fiber left side board 11 and interior mounting bracket carbon fiber right side board 21, rotatory main shaft 13 passes interior bottom plate 15 installs.
Preferably, the inner mounting frame further comprises four inner mounting frame positioning blocks 20, and the four inner mounting frame positioning blocks 20 are used for positioning and connecting the inner mounting frame carbon fiber left side plate 11, the inner mounting frame carbon fiber right side plate 21 and the inner bottom plate 15.
Preferably, the inner mounting bracket further comprises a bearing flange 14, and the bearing flange 14 is mounted through the inner bottom plate 15 and is used for realizing the rotary support of the rotary main shaft 13.
Preferably, the inner mounting bracket further comprises four rubber vibration reduction blocks 16, and the four rubber vibration reduction blocks 16 are used for realizing connection and vibration reduction of the motor bracket 18 and the inner bottom plate 15.
Preferably, the inner mounting frame further comprises a coupler 17, the coupler 17 is used for realizing the connection between the rotating main shaft 13 and the output shaft of the brushless motor 19, the coupler 17, the mounting base plate 12, the rotating main shaft 13 and the flange plate with the bearing 14 are coaxially arranged, and the brushless motor 19 with the rolling shaft finally drives the mounting base plate 12 to rotate at a high speed.
Carbon fiber bottom plate 6, outer frame carbon fiber left side board 9, outer frame carbon fiber right side board 23, the carbon fiber left side board 11 of interior mounting bracket, the carbon fiber right side board 21 of interior mounting bracket, motor frame 17 all adopt carbon fiber material to make, and all the other materials are 7075 aluminum alloy to try to obtain minimum inertia.
Preferably, the inner bottom plate 15 can be adjusted in position along the vertical direction of the inner mounting frame carbon fiber left side plate 11 and the inner mounting frame carbon fiber right side plate 21, a series of mounting holes capable of adjusting the mounting position of the inner bottom plate 15 are designed in the inner mounting frame carbon fiber left side plate 11 and the inner mounting frame carbon fiber right side plate 21, the gravity center position of the whole inner rotation assembly can be adjusted according to the weight of a load, the inner rotation assembly is made to be close to a pitching axis as much as possible, and the response capability is improved.
A load (e.g., an inertial navigation assembly or a flight control system) may be mounted on the mounting base 12, the mounting base 12 being fixedly attached to the rotating main shaft 13. The rotating spindle 13 is carried by a flange 14 with bearings, and the rotating spindle 13 is driven by a brushless motor 19 through a coupling 17, so that the load rotates together at high speed. The internal rotation assembly is carried by a crossed roller bearing and a pitching shaft power set which are arranged on the left side plate of the carbon fiber of the outer frame, and is driven by the pitching shaft power set to perform pitching motion. The outer rotating assembly is arranged on a yaw power set fixed on the chassis box and driven by the yaw power set to do yaw motion. After the load is installed on the installation base plate, the installation position of the inner frame bottom plate is adjusted through a series of installation holes in the inner installation frame carbon fiber left side plate and the inner installation frame carbon fiber right side plate, and mass eccentricity is minimized. All connections are tightened by bolts and nuts. The control panel and the wire passing panel of the chassis box are in modular design and can be customized and installed according to requirements.
And a motor frame in the inner rotating assembly is connected with the inner bottom plate through a vibration reduction block, so that vibration is isolated, and the moment of the gyroscope is attenuated.
The working principle of the invention is as follows: the high-speed rotating rolling brushless motor capable of rotating at a high speed provides the ultrahigh rotating speed required by the rolling shaft, the pitching power set drives the inner rotating assembly to realize pitching motion, the yawing power set on the chassis box drives the outer rotating assembly and the inner rotating assembly to realize yawing motion, and the change characteristic of the outer trajectory attitude of the shot-shooting rotating projectile can be accurately simulated. And the vibration reduction mechanism is used for isolating the adverse effects of the vibration of the rolling brushless motor rotating at high speed, the gyro moment and the like on the rotary table.
Table 1 shows that the indexes of the turret under a load of 1kg completely satisfy the index requirements of the semi-physical simulation test of the navigation system for shooting the rotating projectile by the gun.
TABLE 11 kg load down index
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A light and small high-rotation-speed electric three-axis turntable is characterized by comprising a chassis box, an outer rotating assembly and an inner rotating assembly, wherein the outer rotating assembly is arranged on the chassis box, and the inner rotating assembly is arranged in the outer rotating assembly;
the chassis box comprises a yaw axis power pack (5) for enabling rotation of the outer rotating assembly;
the outer rotating assembly comprises an outer frame, a crossed roller bearing (10) and a pitching shaft power set (22), the outer frame is located on the chassis box, the crossed roller bearing (10) is installed on the outer frame, the inner rotating assembly is rotatably connected with the outer frame through the crossed roller bearing (10) and the pitching shaft power set (22), and the pitching shaft power set (22) is used for achieving pitching rotation of the inner rotating assembly;
interior rotation subassembly includes interior mounting bracket, installation base plate (12), rotatory main shaft (13), motor frame (18) and brushless motor (19), one side of interior mounting bracket with cross roller bearing (10) are connected, the opposite side with pitch axle power unit (22) are connected, installation base plate (12) are connected with brushless motor (19) through rotatory main shaft (13), rotatory main shaft (13) pass the installation of interior mounting bracket, motor frame (18) install in interior mounting bracket is used for installation and support brushless motor (19).
2. The light and small high-rotation-speed electric three-axis turntable according to claim 1, wherein the chassis box further comprises a control panel (1), a handle (2), a main box body (3) and a wire passing panel (4), the control panel (1) and the wire passing panel (4) are respectively located on two sides of the main box body (3), the handle (2) is installed on two sides of the main box body (3), and the yaw axis power group (5) is installed on the main box body (3).
3. The light, small and high-rotation-speed electric three-axis turntable according to claim 1, wherein the outer frame comprises a carbon fiber bottom plate (6), an outer frame carbon fiber left side plate (9) and an outer frame carbon fiber right side plate (23), the carbon fiber bottom plate (6) is located above and fixedly connected with the yaw axis power set (5), and the outer frame carbon fiber left side plate (9) and the outer frame carbon fiber right side plate (23) are located on two sides of the carbon fiber bottom plate (6).
4. The lightweight, compact, high-speed electric three-axis turntable according to claim 3, wherein the outer frame further comprises four outer frame support plates (7) and four outer frame positioning blocks (8), and the four outer frame support plates (7) and the four outer frame positioning blocks (8) are respectively used for connecting and positioning the outer frame carbon fiber left side plate (9) and the outer frame carbon fiber right side plate (23) with the carbon fiber bottom plate (6).
5. The light, small and high-rotation-speed electric three-axis turntable according to claim 1, wherein the inner mounting frame comprises an inner mounting frame carbon fiber left side plate (11), an inner bottom plate (15) and an inner mounting frame carbon fiber right side plate (21), the inner mounting frame carbon fiber left side plate (11) is connected with the crossed roller bearing (10), the inner mounting frame carbon fiber right side plate (21) is connected with the pitching shaft power group (22), the inner bottom plate (15) is connected between the inner mounting frame carbon fiber left side plate (11) and the inner mounting frame carbon fiber right side plate (21), and the rotating main shaft (13) penetrates through the inner bottom plate (15) to be installed.
6. The lightweight high-speed electric three-axis turntable as claimed in claim 5, wherein the inner-mounting frame further comprises four inner-mounting frame positioning blocks (20), and the four inner-mounting frame positioning blocks (20) are used for positioning and connecting the inner-mounting frame carbon fiber left side plate (11) and the inner-mounting frame carbon fiber right side plate (21) with the inner bottom plate (15).
7. A lightweight, compact, high speed electric three-axis turret according to claim 6, wherein the inner mounting frame further comprises a bearing flange (14), said bearing flange (14) being mounted through an inner base plate (15) and being adapted to enable rotational support of the rotating spindle (13).
8. The lightweight, compact, high-speed electric three-axis turret according to claim 7, wherein the inner mount further comprises four rubber vibration damping blocks (16), the four rubber vibration damping blocks (16) being used to effect connection and vibration damping of the motor mount (18) to the inner base plate (15).
9. A lightweight, compact, high-speed electric three-axis turret according to claim 7, characterized in that the inner mounting frame further comprises a coupling (17), said coupling (17) being used to enable the connection of the rotating spindle (13) with the output shaft of the brushless motor (19).
10. The lightweight, compact, high-speed electric three-axis turret according to claim 5, wherein the inner bottom plate (15) is capable of position adjustment in the up-down direction of the carbon fiber left side plate (11) and the carbon fiber right side plate (21).
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115903868A (en) * | 2022-11-10 | 2023-04-04 | 北京新风航天装备有限公司 | Device and method for testing turning attitude control system |
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