CN113325763A - Rocket automatic straightening device based on CAN bus control - Google Patents
Rocket automatic straightening device based on CAN bus control Download PDFInfo
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- CN113325763A CN113325763A CN202110579024.7A CN202110579024A CN113325763A CN 113325763 A CN113325763 A CN 113325763A CN 202110579024 A CN202110579024 A CN 202110579024A CN 113325763 A CN113325763 A CN 113325763A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
Abstract
The invention discloses a rocket automatic straightening device based on CAN bus control, which comprises a double-shaft inclination angle sensor, a supporting platform, a control system, a speed reducer transmission mechanism and a ball screw transmission mechanism. According to the automatic rocket straightening device based on CAN bus control, collected information is sent to a CAN bus by a double-shaft inclination angle sensor through a CAN bus communication device, an engineering machine reads angle information on the current CAN bus through the CAN bus communication device, an alternating current servo motor needing to be adjusted is judged and determined according to an engineering machine software algorithm, a command is transmitted to a straightening controller through the CAN bus communication device by the engineering machine, the straightening controller controls three motor drivers to drive the alternating current servo motor to rotate or stop rotating, the alternating current servo motor serves as an execution mechanism and drives a ball screw transmission mechanism to do linear motion through a speed reducer, and the ball screw drives one vertex of a supporting platform connected with the ball screw to do lifting motion, so that the straightening of a rocket is realized. Is suitable for rocket alignment.
Description
Technical Field
The invention relates to the technical field of automatic rocket alignment, in particular to an automatic rocket alignment device based on CAN bus control.
Background
With the development of the scientific technology of the new era, the rapid launching capability of the rocket becomes an important research direction for launching the rocket, and the requirement of the rocket before launching can not be well met because the rocket needs to be straightened by manual operation before launching.
The existing rocket straightening device judges a datum plane through manually adjusting a ground supporting device and outputting by a horizontal measuring instrument, the manual straightening usually needs operation of experienced personnel, the consumed time is long, the precision cannot be guaranteed, the system automatic adjustment cannot meet the expected requirement, the anti-interference capability is not strong, the precision requirement of rocket launching is very high, the rocket straightening is vital to the rocket launching, and the normal proceeding of the subsequent launching process is influenced, so that the rocket automatic straightening device based on CAN bus control has important significance.
Disclosure of Invention
The invention aims to provide a rocket automatic straightening device based on CAN bus control, which aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a rocket automatic straightening device based on CAN bus control, includes biax angular transducer, supporting platform, control system, reduction gear drive mechanism and ball screw drive mechanism, biax angular transducer fixed mounting is in supporting platform's upper surface, ball screw drive mechanism fixed mounting is in supporting platform's apex department, reduction gear drive mechanism meshes the bottom of connecting in ball screw drive mechanism, control system connects in reduction gear drive mechanism's input.
Preferably, the shape of supporting platform is equilateral triangle, biax tilt sensor is located the central point department of equilateral triangle frame supporting platform upper surface, biax tilt sensor's X axle installation direction keeps parallel with supporting platform's base, biax tilt sensor's Y axle installation direction keeps perpendicular with supporting platform's base, according to the planar principle of three point determination, adjusts a certain surface of water and reaches the level, as long as adjust on the plane arbitrary two crossing straight lines reach the level can.
Preferably, control system's output passes through the keyway location and is connected with reduction gear drive mechanism, reduction gear drive mechanism passes through the ring gear meshing with ball screw drive mechanism and is connected, ball screw drive mechanism fixed mounting is in supporting platform's three apex department, control system, reduction gear drive mechanism and ball screw drive mechanism's quantity is three, and three control system drive corresponds reduction gear drive mechanism and drives ball screw drive mechanism and make mechanical action, adjusts the supporting platform plane.
Preferably, the control system consists of an alternating current servo motor, a motor driver, a straightening controller, a CAN bus communication device and an engineering machine, the motor driver is rotationally connected with the input end of the speed reducer transmission mechanism, the alternating current servo motor is fixedly arranged at the top of the motor driver, the double-shaft tilt angle sensor transmits the acquired X-axis and Y-axis information to the CAN bus at intervals of 50ms through the CAN bus communication device, the engineering machine reads the angle information of the X-axis and the Y-axis on the current CAN bus through the CAN bus communication device, the servo motor to be adjusted is judged and determined according to the software algorithm of the engineering machine, the engineering machine transmits a command to the straightening controller through the CAN bus communication device, the straightening controller controls three servo motor drivers to drive the alternating current servo motor to rotate or stop rotating, and the direction needing to be straightened is judged in real time according to the information of the X axis and the Y axis of the double-axis tilt sensor during adjustment.
Preferably, alignment controller and motor drive electric connection, CAN bus communication device and alignment controller and engineering machine electric connection, the alignment controller adopts programmable controller to control, and the alignment controller adopts programmable controller to control, has advantages such as the reliability is high, the interference killing feature is strong, the programming is simple, the low price.
Preferably, reduction gear drive mechanism comprises motor output shaft, shaft coupling and reduction gear, and motor output shaft rotates to be connected in alternating current servo motor's output, shaft coupling fixed connection is on motor output shaft's surface right side, reduction gear fixed connection is in motor output shaft's surface left side, and supporting platform is equilateral triangle, and equilateral triangle's three summit is direct to link to each other with three ball.
Preferably, ball screw drive mechanism comprises nut, ball and base, nut threaded connection is in the bottom of reduction gear, ball meshing connection is in the inside of reduction gear, base fixed mounting is in ball's bottom, and servo motor drives ball drive mechanism through the reduction gear as actuating mechanism and is linear motion.
Preferably, the base is fixedly installed on the upper surface of the supporting platform, the number of the ball screws is three, the three ball screws are respectively connected with three vertexes of the supporting platform, and the ball screws drive one vertex of the supporting platform connected with the ball screws to do lifting action, so that the rocket is straightened.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the rocket automatic straightening device based on CAN bus control, collected X-axis and Y-axis information is sent to a CAN bus at intervals of 50ms by a double-axis inclination angle sensor through a CAN bus communication device, an engineering machine reads the X-axis and Y-axis angle information on the current CAN bus through the CAN bus communication device, a servo motor needing to be adjusted is judged and determined according to an engineering machine software algorithm, a command is transmitted to a straightening controller through the CAN bus communication device by the engineering machine, the straightening controller controls three servo motor drivers to drive an alternating current servo motor to rotate or stop rotating, the direction needing to be straightened is judged in real time according to the X-axis and Y-axis information of the double-axis inclination angle sensor during adjustment, and the straightening controller is controlled by a programmable controller.
2. According to the automatic rocket alignment device based on CAN bus control, a liquid type horizontal sensing element is used as a core of a double-shaft inclination angle sensor, the axial direction of the sensor is an X-axis and a Y-axis, signals are output through a CAN bus, the measuring range is 150 ℃ below zero to 150 ℃, the zero-position temperature drift is less than 1 ℃, the working temperature is 40 ℃ below zero to 60 ℃, a built-in temperature module is used for realizing zero-position temperature drift compensation and full-temperature linearity correction, and the automatic rocket alignment device based on CAN bus control has the advantages of high horizontal precision, good stability, vibration impact resistance and the like.
3. This automatic aligning device of rocket based on CAN bus control, the alignment controller adopts programmable controller to control, have the reliability height, interference killing feature is strong, programming is simple, advantages such as low price, programmable controller its central processing unit CPU226 has 2 RS485 interfaces and 24I/16 output totally 40 digital I/O points, CAN connect 7 expansion module, programmable controller's communication interface divide into remote communication interface and operator's panel interface, wherein remote communication utilizes RS485 interface to change CAN communication device and CAN bus and links to each other, with the communication between the realization and the engineering machine, through the CAN bus, CAN long-range real-time control system, realize unmanned on duty automatic alignment.
Drawings
FIG. 1 is a top view of the present invention;
FIG. 2 is a side view of the present invention;
FIG. 3 is a rear view of the present invention;
FIG. 4 is a schematic view of an actuator of the present invention;
FIG. 5 is a schematic diagram of the control system of the present invention.
In the figure: 1. a dual-axis tilt sensor; 2. a support platform; 3. a control system; 301. an AC servo motor; 302. a motor driver; 303. a straightening controller; 304. a CAN bus communication device; 305. an engineering machine; 4. a speed reducer transmission mechanism; 401. an output shaft of the motor; 402. a coupling; 403. a speed reducer; 5. a ball screw drive mechanism; 501. a nut; 502. a ball screw; 503. a base.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, the present invention provides a technical solution: a rocket automatic straightening device based on CAN bus control comprises a double-shaft inclination angle sensor 1, a supporting platform 2, a control system 3, a speed reducer transmission mechanism 4 and a ball screw transmission mechanism 5, wherein the double-shaft inclination angle sensor 1 is fixedly arranged on the upper surface of the supporting platform 2, the ball screw transmission mechanism 5 is fixedly arranged at the vertex of the supporting platform 2, the speed reducer transmission mechanism 4 is meshed and connected with the bottom of the ball screw transmission mechanism 5, the control system 3 is connected with the input end of the speed reducer transmission mechanism 4, the supporting platform 2 is in an equilateral triangle shape, the double-shaft inclination angle sensor 1 is positioned at the central point of the upper surface of the equilateral triangle frame supporting platform 2, the X-axis installation direction of the double-shaft inclination angle sensor 1 is parallel to the bottom edge of the supporting platform 2, the Y-axis installation direction of the double-shaft inclination angle sensor 1 is vertical to the bottom edge of the supporting platform 2, the double-shaft tilt sensor 1 takes a liquid type horizontal sensing element as a core, the axial direction measured by the sensor is an X-axis and a Y-axis, rocket alignment is achieved by means of height adjustment of three ball screws 502, an XYZ and X0Y0Z0 coordinate system is established at the central point of a platform, wherein XYZ is a platform coordinate system which is a fixed coordinate system, X0Y0Z0 is a horizontal coordinate system which is a moving coordinate system, a double-shaft tilt angle sensor 1 is vertically arranged in the central position direction of the platform to measure the horizontal tilt angle of the platform in the X direction and the Y direction, when the two inclination angles are both zero, the platform is in a completely horizontal state, the straightening process of the platform is a process that the platform gradually approaches to a horizontal position from an original position, namely a process that the platform coordinate is converted to a horizontal coordinate, the horizontal inclination angles of the platform in the X direction and the Y direction are respectively set as alpha and beta, and then the two coordinate systems are converted as follows: [ XYZ ] T ═ ROT (α, β) [ X0Y0Z0] T, and the specific leveling procedure is as follows: firstly, adjusting the inclination angle in the X direction, judging the size of alpha of the inclination angle measured by the inclination angle sensor, if the alpha is less than 0, determining that the positive direction of the X axis is lower than the negative direction, fixing A, C two points to be immobile, and raising the point B, thereby enabling the inclination angle alpha to be 0, namely the X direction to reach the expectation; otherwise, fixing B, C two points to be immobile, raising the point A to make the inclination angle alpha be 0, then adjusting the inclination angle in Y direction, if beta is less than 0, then knowing that the positive direction of Y axis is lower than negative direction, fixing A, B two points to be immobile, raising the point C to make the inclination angle beta be 0, Y direction reaches expectation, otherwise lowering the point C, and adjusting in sequence according to direction, actually a decoupled one-dimensional control, so it has the advantages of simplicity, easy algorithm, less programming workload, etc., the signal is output through CAN bus, the measuring range is 150-150 degrees below zero, the zero drift is less than 1 degree, the working temperature is 40-60 degrees below zero, the built-in temperature module realizes zero drift compensation, full temperature linearity correction, it has the advantages of high horizontal precision, good stability, vibration impact resistance, etc., the acquisition information of the biaxial inclination sensor 1 includes: x-axis information and Y-axis information; carrying out X axial adjustment according to X axle information, making the X axial adjustment result accord with the preset condition, carrying out Y axial adjustment according to Y axle information, making the Y axial adjustment result accord with the preset condition, control system 3's output passes through the keyway location and is connected with reduction gear drive mechanism 4, reduction gear drive mechanism 4 passes through the ring gear meshing with ball screw drive mechanism 5 and is connected, ball screw drive mechanism 5 fixed mounting is in the three apex of supporting platform 2, control system 3, reduction gear drive mechanism 4 and ball screw drive mechanism 5's quantity is three.
The control system 3 comprises an alternating current servo motor 301, a motor driver 302, a straightening controller 303, a CAN bus communication device 304 and an engineering machine 305, the motor driver 302 is rotatably connected to the input end of the reducer transmission mechanism 4, the alternating current servo motor 301 is fixedly arranged on the top of the motor driver 302, the straightening controller 303 is electrically connected with the motor driver 302, the CAN bus communication device 304 is electrically connected with the straightening controller 303 and the engineering machine 305, the straightening controller 303 is controlled by a programmable controller, the straightening controller 303 is controlled by the programmable controller, and the double-shaft tilt angle sensor 1 has the advantages of high reliability, strong anti-interference capability, simple programming, low price and the like, collected X-axis and Y-axis information is sent to the CAN bus at intervals of 50ms through the CAN bus communication device 304, and the engineering machine 305 reads the X-axis, the X-axis and the Y-axis information on the current CAN bus through the CAN bus communication device 304, The Y-axis angle information is judged and determined according to the software algorithm of the engineering machine 305, the alternating current servo motor 301 which needs to be adjusted is transmitted to the straightening controller 303 by the engineering machine 305 through the CAN bus communication device 304, the straightening controller 303 controls three motor drivers 302 to drive the alternating current servo motor 301 to rotate or stop rotating, the direction which needs to be straightened is judged in real time according to the information of the X-axis and the Y-axis of the double-axis inclination angle sensor 1 during adjustment, the straightening controller 303 is controlled by a programmable controller, and has the advantages of high reliability, strong anti-interference capability, simple programming, low price and the like, wherein a central processing unit CPU226 of the programmable controller is provided with 2 RS485 interfaces and 40 digital quantity I/O points which are output by 24 input/16, 7 expansion modules CAN be connected, and the communication interface of the programmable controller is divided into a remote communication interface and an operator panel interface, wherein the remote communication is connected with the CAN bus communication device 304 by an RS485 interface to realize the communication with the engineering machine 305, the system CAN be remotely controlled in real time by the CAN bus communication device 304 to realize the unattended automatic alignment,
the reducer transmission mechanism 4 is composed of a motor output shaft 401, a coupler 402 and a reducer 403, the motor output shaft 401 is rotatably connected to the output end of the alternating current servo motor 301, the coupler 402 is fixedly connected to the right side of the outer surface of the motor output shaft 401, the reducer 403 is fixedly connected to the left side of the outer surface of the motor output shaft 401, the ball screw transmission mechanism 5 is composed of a nut 501, ball screws 502 and bases 503, the nut 501 is in threaded connection with the bottom of the reducer 403, the ball screws 502 are engaged and connected to the inside of the reducer 403, the bases 503 are fixedly installed at the bottoms of the ball screws 502, the bases 503 are fixedly installed on the upper surface of the supporting platform 2, the number of the ball screws 502 is three, the three ball screws 502 are respectively connected with three vertexes of the supporting platform 2, the alternating current servo motor 301 is used as an execution mechanism to drive the ball screw transmission mechanism 5 to make linear motion through the reducer 403, the ball screw 502 drives a vertex of the connected supporting platform 2 to do lifting action, so that the rocket is straightened.
When the dual-axis tilt sensor is used, the acquired X-axis and Y-axis information is sent to a CAN bus through a CAN bus communication device 304 every 50ms, an engineering machine 305 reads the X-axis and Y-axis angle information on the current CAN bus through the CAN bus communication device 304, the AC servo motor 301 needing to be adjusted is determined according to the software algorithm of the engineering machine 305, the engineering machine 305 transmits a command to a straightening controller 303 through the CAN bus communication device 304, the straightening controller 303 controls three motor drivers 302 to drive the AC servo motor 301 to rotate or stop rotating, the AC servo motor 301 serves as an execution mechanism and drives a ball screw transmission mechanism 5 to do linear motion through a speed reducer 403, and the ball screw 502 drives one vertex of a connected supporting platform 2 to do lifting motion, so that the straightening of a rocket is realized.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides a rocket automatic straightening device based on CAN bus control, includes biax angular transducer (1), supporting platform (2), control system (3), reduction gear drive mechanism (4) and ball screw drive mechanism (5), its characterized in that: the double-shaft inclination angle sensor is characterized in that the double-shaft inclination angle sensor (1) is fixedly installed on the upper surface of the supporting platform (2), the ball screw transmission mechanism (5) is fixedly installed at the top point of the supporting platform (2), the speed reducer transmission mechanism (4) is connected to the bottom of the ball screw transmission mechanism (5) in a meshed mode, and the control system (3) is connected to the input end of the speed reducer transmission mechanism (4).
2. A CAN bus control based rocket automatic straightening device according to claim 1, characterized in that: the shape of supporting platform (2) is equilateral triangle, biax inclination sensor (1) is located the central point department of equilateral triangle frame supporting platform (2) upper surface, the X axle installation direction of biax inclination sensor (1) keeps parallel with the base of supporting platform (2), the Y axle installation direction of biax inclination sensor (1) keeps perpendicular with the base of supporting platform (2).
3. A CAN bus control based rocket automatic straightening device according to claim 1, characterized in that: the output end of the control system (3) is connected with the speed reducer transmission mechanism (4) through key groove positioning, the speed reducer transmission mechanism (4) is connected with the ball screw transmission mechanism (5) through gear ring meshing, the ball screw transmission mechanism (5) is fixedly installed at the three top points of the supporting platform (2), and the number of the control system (3), the speed reducer transmission mechanism (4) and the ball screw transmission mechanism (5) is three.
4. A CAN bus control based rocket automatic straightening device according to claim 3, characterized in that: the control system (3) comprises an alternating current servo motor (301), a motor driver (302), a straightening controller (303), a CAN bus communication device (304) and an engineering machine (305), wherein the motor driver (302) is rotatably connected to the input end of the speed reducer transmission mechanism (4), and the alternating current servo motor (301) is fixedly installed at the top of the motor driver (302).
5. A rocket automatic straightening device based on CAN bus control according to claim 4, characterized in that: the alignment controller (303) is electrically connected with the motor driver (302), the CAN bus communication device (304) is electrically connected with the alignment controller (303) and the engineering machine (305), and the alignment controller (303) is controlled by a programmable controller.
6. A CAN bus control based rocket automatic straightening device according to claim 3, characterized in that: reduction gear drive mechanism (4) comprise motor output shaft (401), shaft coupling (402) and reduction gear (403), and motor output shaft (401) rotates and connects in the output of interchange servo motor (301), shaft coupling (402) fixed connection is in the surface right side of motor output shaft (401), reduction gear (403) fixed connection is in the surface left side of motor output shaft (401).
7. A CAN bus control based rocket automatic straightening device according to claim 3, characterized in that: the ball screw transmission mechanism (5) is composed of a nut (501), a ball screw (502) and a base (503), the nut (501) is connected to the bottom of the speed reducer (403) in a threaded mode, the ball screw (502) is connected to the inside of the speed reducer (403) in a meshed mode, and the base (503) is fixedly installed at the bottom of the ball screw (502).
8. A rocket automatic straightening device based on CAN bus control according to claim 7, characterized in that: the base (503) is fixedly arranged on the upper surface of the supporting platform (2), the number of the ball screws (502) is three, and the three ball screws (502) are respectively connected with three vertexes of the supporting platform (2).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110579024.7A CN113325763A (en) | 2021-05-26 | 2021-05-26 | Rocket automatic straightening device based on CAN bus control |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110579024.7A CN113325763A (en) | 2021-05-26 | 2021-05-26 | Rocket automatic straightening device based on CAN bus control |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114526402A (en) * | 2022-01-07 | 2022-05-24 | 保利长大工程有限公司 | Leveling device and leveling method of slump expansion dial |
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| CN101551673A (en) * | 2009-03-30 | 2009-10-07 | 零八一电子集团有限公司 | Automatic leveling system of multipoint electric support platform |
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Application publication date: 20210831 |