CN113515144A - Integrated universal azimuth pitching two-shaft rotary table - Google Patents
Integrated universal azimuth pitching two-shaft rotary table Download PDFInfo
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- CN113515144A CN113515144A CN202110508995.2A CN202110508995A CN113515144A CN 113515144 A CN113515144 A CN 113515144A CN 202110508995 A CN202110508995 A CN 202110508995A CN 113515144 A CN113515144 A CN 113515144A
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Abstract
The invention discloses an integrated universal azimuth pitching two-axis turntable which comprises a base, an azimuth box body, an azimuth power transmission part, an azimuth data transmission part, a pitching power transmission part, a pitching data transmission part, a left pitching arm, a right pitching arm and a servo control system, wherein the azimuth power transmission part adopts a structural form that a shell rotates and an axis does not rotate, the azimuth and pitching power transmission parts adopt transmission modes of a motor-driven reducer and a final-stage gear pair, and the data transmission part adopts coaxially-mounted encoders to output angle signals; the left side and the right side of the rotary table and the top of the rotary table can be provided with loads, and the left pitching arm, the right pitching arm and the top connecting plate can be integrally designed with the loads. The invention reduces the volume and has compact structure through series integrated design.
Description
Technical Field
The invention belongs to the technical field of rotary table design, and particularly relates to an integrated universal azimuth pitching two-shaft rotary table.
Background
The azimuth pitching rotary table is a functional component for realizing load azimuth pitching two-dimensional motion and consists of two sets of azimuth and pitching rotary shaft systems. The traditional azimuth pitching rotary table generally comprises an azimuth device and a pitching device, wherein the azimuth device is installed on a base, and the pitching device is installed on the azimuth device. The azimuth generally adopts a vertical shaft type structure with a shaft rotating shell not rotating, and azimuth power transmission and data transmission are integrated in an azimuth device; the pitching adopts a fork frame structure, the fork frame rotates along with the direction without pitching, and the pitching power transmission and the data transmission are integrated in the pitching fork frame; and the servo control system is generally separated from the rotary table, so that the integration level is not high. Most of the traditional azimuth pitching rotary tables are designed aiming at specific load conditions, are generally non-standard products and have low universality.
Disclosure of Invention
The invention aims to provide an integrated universal azimuth pitching two-axis turntable.
The technical solution for realizing the purpose of the invention is as follows: an integrated universal azimuth pitching two-axis turntable comprises a base, an azimuth box body, an azimuth power transmission part, an azimuth data transmission part, a pitching power transmission part, a pitching data transmission part, a left pitching arm, a right pitching arm and a servo control system, wherein the azimuth power transmission part, the azimuth data transmission part, the pitching power transmission part, the pitching data transmission part and the servo control system are integrated in the azimuth box body; the azimuth box body is arranged on the base and bears the whole rotary table;
the azimuth power transmission part is arranged at the bottom in the azimuth box body and comprises an azimuth motor, an azimuth reducer, an azimuth pinion, an azimuth large gear, an azimuth main bearing, an azimuth shaft, an azimuth mounting disc, an azimuth transition shaft, a transition shell and an azimuth auxiliary bearing, wherein the lower end of the azimuth shaft is matched and fixedly connected with the top end of the base, a positioning circle of the azimuth mounting disc is matched with a positioning hole at the lower part of the azimuth box body, and a positioning surface of the azimuth mounting disc is attached and fixedly connected with a positioning surface at the lower part of the azimuth box body;
the azimuth mounting disc is movably connected with an azimuth shaft through an azimuth main bearing;
the azimuth large gear is matched and fixedly connected with an azimuth shaft below an azimuth main bearing and an azimuth mounting disc, the azimuth large gear, the azimuth shaft and a base do not rotate, an azimuth reducer is arranged on the azimuth mounting disc through an azimuth eccentric sleeve, the top input end of the azimuth reducer is connected with the output shaft of an azimuth motor, the bottom output rotating shaft is connected with an azimuth pinion, the azimuth pinion is meshed with the azimuth large gear, and the azimuth motor drives the output rotating shaft and the azimuth pinion of the azimuth reducer to rotate, so that the azimuth mounting disc and an azimuth box body are driven to rotate around the azimuth large gear and the azimuth shaft, and an azimuth power transmission mode that the box body rotates but the shaft does not rotate is realized;
one end of the transition shell is fixed at the top end of the azimuth mounting disc, the azimuth auxiliary bearing is arranged in a bearing mounting hole at the upper end of the transition shell, the outer ring of the auxiliary bearing is matched with the bearing mounting hole on the transition shell, the outer rings of the transition shell and the azimuth auxiliary bearing rotate along with the azimuth mounting disc, the bottom end of the azimuth transition shaft is matched and fastened with the top end of the azimuth shaft, the upper end of the azimuth transition shaft is fixed in the inner ring of the azimuth auxiliary bearing, and the azimuth shaft, the azimuth transition shaft and the inner ring of the azimuth auxiliary bearing do not rotate;
when the azimuth overturning moment is larger than a threshold value, a bearing combination mode of an azimuth main bearing and an azimuth auxiliary bearing is adopted, the azimuth main bearing simultaneously bears axial load and radial load, and the azimuth auxiliary bearing bears radial load; when the azimuth overturning moment is smaller than the threshold value, only adopting the azimuth main bearing, simultaneously bearing the axial load, the radial load and the overturning moment by the azimuth main bearing, removing the azimuth auxiliary bearing, the transition shell and the azimuth transition shaft, directly matching and fixedly connecting the shell of the azimuth encoder with the top end of an azimuth mounting plate through a mounting seat, and matching and fixedly connecting the inner ring of the collector ring with a mounting flange reserved in the middle of an inner hole of the azimuth shaft;
the azimuth data transmission part is integrated above the azimuth power transmission part in the azimuth box body and comprises an azimuth encoder, a mounting seat, a shaft coupling, a confluence ring and a transition disc, wherein the lower end of an inner ring of the confluence ring is mounted on a flange at the lower part of an inner hole of an azimuth transition shaft through the transition disc, a rotating shaft of the azimuth encoder is connected with the upper end of the inner ring of the confluence ring in a coaxial matching way through the shaft coupling, the transition disc, the inner ring of the confluence ring and the rotating shaft of the azimuth encoder are connected with an azimuth shaft in a coaxial matching way through an azimuth transition shaft and do not rotate, the mounting seat is mounted above a transition shell, a flange at the lower end of the mounting seat is connected with the top end of the transition shell in a matching and fastening way, the azimuth encoder is arranged above the mounting seat, a shell of the azimuth encoder is fixedly connected with the upper end of the mounting seat, a shifting fork is arranged at the upper end of an outer ring of the confluence ring and correspondingly arranged in the shifting fork mounting seat, and a shell, a mounting seat, a shifting fork, a shaft, the outer ring of the slip ring rotates along with the transition shell and the azimuth mounting disc, the azimuth encoder outputs azimuth angle signals through the relative rotation of the shell and the rotating shaft, azimuth data transmission is realized, the outer ring of the slip ring rotates relative to the inner ring of the slip ring, and the switching of electric signals of the rotary table from non-rotation to rotation in azimuth is completed;
the pitching power transmission part is integrated in the right side space of the upper part in the azimuth box body and comprises a pitching motor, a pitching speed reducer, a pitching eccentric sleeve, a pitching power bearing, a pitching power shaft, a pitching large gear, a pitching small gear and a speed reducer mounting seat, the pitching power bearing is arranged in a pitching power bearing mounting hole on the right side wall of the azimuth box body, the outer ring of the pitching power bearing is matched with the pitching power bearing mounting hole, the pitching power shaft is arranged in the inner ring of the pitching power bearing, the inner ring of the pitching power bearing rotates relative to the outer ring, the pitching power shaft is movably connected with the azimuth box body through the pitching power bearing, one end of the pitching power shaft is matched and fastened with the pitching large gear in the azimuth box body, the other end of the pitching power shaft extends out of the azimuth box body and is matched and fastened with the right pitching arm, the speed reducer mounting seat is fixed in the right side wall of the azimuth box body and below the pitching power bearing mounting hole, the pitching speed reducer is fixedly installed on the speed reducer installation seat in a matched and matched mode through a pitching eccentric sleeve, a pitching motor is installed at the left input end of the pitching speed reducer, a pitching pinion is installed on the right output rotating shaft, the pitching pinion is meshed with a pitching gearwheel, and the pitching motor drives the output rotating shaft and the pitching pinion of the pitching speed reducer to rotate, so that the pitching gearwheel, the pitching power shaft and the right pitching arm are driven to rotate relative to the box body, and pitching power transmission is achieved;
the pitching data transmission part is integrated in the upper left space of the azimuth box body and comprises a pitching data shaft, a pitching data bearing, a transition shaft, a mounting seat, a coupling and a pitching encoder, the mounting seat is fixed on the inner side of the left side wall of the azimuth box body, the pitching encoder is fixed on the mounting seat, the pitching data bearing is arranged in a pitching data bearing mounting hole on the left side wall of the azimuth box body, the outer ring of the bearing is matched with the pitching data bearing mounting hole, the pitching data shaft is arranged in the inner ring of the pitching data bearing, the inner ring of the pitching data bearing rotates relative to the outer ring, the pitching data shaft is movably connected with the azimuth box body through the pitching data bearing, the left end of the pitching data shaft is matched and fastened with the left pitching arm outside the azimuth box body, the right end is matched and fastened with the left end of the transition shaft inside the azimuth box body, and the rotating shaft of the pitching encoder is coaxially matched and connected with the right end of the transition shaft through the coupling, the left pitching arm is fixedly connected with the right pitching arm through the top connecting plate, when the right pitching arm is driven to rotate by the pitching power shaft, the left pitching arm, the pitching data shaft and the rotating shaft relative position box body of the pitching encoder are driven to rotate through the top connecting plate, and the pitching encoder outputs a pitching angle signal through the relative rotation of the rotating shaft and the shell, so that pitching data transmission is realized.
The servo control system is used for receiving and processing an instruction signal of the upper computer, an azimuth angle signal of the azimuth encoder and a pitching angle signal of the pitching encoder, and controlling the azimuth motor and the pitching motor to rotate, so that the azimuth power transmission part, the azimuth data transmission part, the pitching power transmission part and the pitching data transmission part are driven to rotate correspondingly, and the rotary table azimuth and pitching complete corresponding rotation functions according to the instruction of the upper computer.
Compared with the prior art, the invention has the following remarkable advantages:
(1) the degree of integrating is high, compact structure, and is small: the azimuth, pitching power and data transmission, the servo control system and the collector ring are integrated in the azimuth box body, the azimuth adopts a structural form that a shell (box body) rotates but a shaft does not rotate, loads can be mounted on the left side, the right side and the top of the rotary table, the left pitching arm, the right pitching arm and the top connecting plate are integrated with the loads, the size is greatly reduced through the integrated design, and the structure is compact;
(2) the universality is strong: the invention determines whether to select the auxiliary bearing according to the magnitude of the load to the azimuth overturning moment, is suitable for different application occasions and has good universality; the azimuth box body and the blank thereof are in a universal design, can adapt to different azimuths and pitching transmission ratios within a certain range, and adapt to different pitching limiting angles; the azimuth motor, the reducer, the eccentric sleeve, the pinion, the encoder, the coupling and the like are universal to pitching; in addition, the base body is also of universal design.
The present invention is described in further detail below with reference to the attached drawings.
Drawings
Fig. 1 is a front sectional view of the present invention.
Fig. 2 is an assembled side sectional view of the present invention.
Figure 3 is an assembled side cross-sectional view of the turntable without the optional orientation auxiliary bearing.
FIG. 4 is a cross-sectional view of an azimuth mounting plate.
FIG. 5 is a top view of an azimuth mounting plate.
FIG. 6 is a front cross-sectional view of the azimuth housing.
FIG. 7 is a side cross-sectional view of the azimuth housing.
Fig. 8 is a schematic view of the right side of the azimuth box body provided with a pitch limit stop.
Wherein:
1-azimuth encoder, 2-mounting seat, 3-coupling, 4-azimuth auxiliary bearing, 5-transition shell, 6-azimuth transition shaft, 7-collector ring,
8-azimuth mounting disk, 8-1-azimuth reducer mounting hole, 8-2-azimuth bearing mounting hole, 8-3-azimuth mounting disk positioning surface, 8-4-azimuth mounting disk positioning circle, 8-5-azimuth mounting disk top end surface, 8-6-azimuth mounting disk top end positioning circle,
9-azimuth box body, 9-1-pitching dynamic bearing mounting hole, 9-2-pitching reducer mounting hole, 9-3-azimuth box body lower positioning surface, 9-4-azimuth box body lower positioning hole, 9-5-pitching data bearing mounting hole,
10-base, 10-1-base body, 10-2-base side cover plate, 10-3-adapter socket,
11-azimuth axis, 12-azimuth main bearing, 13-transition disk, 14-azimuth large gear, 15-azimuth small gear, 16-azimuth eccentric sleeve, 17-azimuth reducer, 18-azimuth motor, 19-azimuth front side cover, 20-servo control system, 21-pitch data axis, 22-pitch data bearing, 23-transition axis, 24-left pitch arm, 25-mounting seat, 26-coupling, 27-pitch encoder, 28-pitch motor, 29-pitch reducer, 30-pitch eccentric sleeve, 31-connecting plate, 32-right pitch arm, 33-pitch dynamic bearing, 34-pitch dynamic axis, 35-pitch large gear, 36-pitch small gear, 37-reducer mounting seat, 38-azimuth rear side cover, 39-servo control system, 40-pitch limit stop, 41-pitch limit stop.
Detailed Description
An integrated universal azimuth pitching two-axis turntable comprises a base 10, an azimuth box 9, an azimuth power transmission part, an azimuth data transmission part, a pitching power transmission part, a pitching data transmission part, a left pitching arm 24, a right pitching arm 32 and a servo control system, wherein the azimuth power transmission part, the azimuth data transmission part, the pitching power transmission part, the pitching data transmission part and the servo control system are all integrated in the azimuth box 9.
As shown in fig. 1, 2 and 3, the base 10 is at the lowest part of the turntable, bears the whole turntable and serves as a mounting interface of the turntable;
as shown in fig. 1, 2, 3, 4, 5, 6 and 7, the azimuth power transmission part is integrally installed in the lower space in the azimuth box 9 and is composed of an azimuth motor 18, an azimuth reducer 17, an azimuth eccentric sleeve 16, an azimuth pinion 15, an azimuth bull gear 14, an azimuth main bearing 12, an azimuth shaft 11 and an azimuth installation disk 8; the azimuth shaft 11 is installed at the top end of the base 10, and the lower end of the azimuth shaft 11 is matched and fixedly connected with the top end of the base 10; the orientation mounting disc positioning circle 8-4 is matched with the orientation box body lower positioning hole 9-4, and the orientation mounting disc positioning surface 8-3 is attached and tightly connected with the orientation box body lower positioning surface 9-3; an azimuth main bearing 12 is arranged between the azimuth mounting disc 8 and the upper end of an azimuth shaft 11, the azimuth main bearing 12 is arranged in an azimuth bearing mounting hole 8-2 on the azimuth mounting disc 8, the outer ring of the main bearing 12 is matched with the azimuth bearing mounting hole 8-2, the upper end of the azimuth shaft 11 is arranged in the inner ring of the azimuth main bearing 12, the outer ring of the azimuth main bearing 12 rotates relative to the inner ring, and the azimuth mounting disc 8 is movably connected with the azimuth shaft 11 through the azimuth main bearing 12; the azimuth large gear 14 is matched and fixedly connected with the azimuth shaft 11 below the azimuth main bearing 12 and the azimuth mounting plate 8, and the azimuth large gear 14, the azimuth shaft 11 and the base 10 do not rotate; the azimuth reducer 17 is installed in an azimuth reducer installation hole 8-1 on the azimuth installation disc 8 through an azimuth eccentric sleeve 16, an azimuth motor 18 is installed at the top input end of the azimuth reducer 17, an azimuth pinion 15 is installed at the bottom output rotating shaft, the azimuth pinion 15 is meshed with the azimuth large gear 14, the output rotating shaft of the azimuth reducer 17 and the azimuth pinion 15 are driven to rotate by the azimuth motor 18, and therefore the azimuth installation disc 8 and the azimuth box body 9 are driven to rotate around the azimuth large gear 14 and the azimuth shaft 11, and the azimuth power transmission mode that the box body rotates but the shaft does not rotate is achieved.
As shown in fig. 1 and 2, a transition shell 5 is mounted at the top end of an azimuth mounting plate 8, a lower end hole of the transition shell 5 is matched with a positioning circle 8-6 at the top end of the azimuth mounting plate, the bottom end surface of the transition shell 5 is tightly attached and connected with a top end surface 8-5 of the azimuth mounting plate, an azimuth auxiliary bearing 4 is mounted in a bearing mounting hole at the upper end of the transition shell 5, the outer ring of the auxiliary bearing 4 is matched with a bearing mounting hole on the transition shell 5, and the outer rings of the transition shell 5 and the azimuth auxiliary bearing 4 rotate along with the azimuth mounting plate 8; the top end of the azimuth shaft 11 is provided with an azimuth transition shaft 6, the bottom end of the azimuth transition shaft 6 is matched and fixedly connected with the top end of the azimuth shaft 11, the upper end of the azimuth transition shaft 6 is arranged in the inner ring of the azimuth auxiliary bearing 4, and the azimuth shaft 11, the azimuth transition shaft 6 and the inner ring of the azimuth auxiliary bearing 4 do not rotate; the azimuth main bearing 12 is a bearing capable of simultaneously bearing axial load, radial load and overturning moment, such as a four-point contact ball bearing, the azimuth main bearing 12 and the azimuth auxiliary bearing 4 are combined, the azimuth main bearing 12 simultaneously bears the axial load and the radial load, and the azimuth auxiliary bearing 4 bears the radial load to bear larger azimuth overturning moment, so that the bearing is applied to a load condition with large azimuth overturning moment.
As shown in fig. 1 and 2, the azimuth data transmission part is integrated above the azimuth power transmission part in the azimuth box 9 and consists of an azimuth encoder 1, a mounting seat 2, a coupling 3, a collector ring 7 and a transition disc 13; the lower end of the inner ring of the collecting ring 7 is arranged on a flange at the lower part of an inner hole of the azimuth transition shaft 6 through a transition disc 13, a rotating shaft of an azimuth encoder 1 is coaxially matched and connected with the upper end of the inner ring of the collecting ring 7 through a coupling 3, and the transition disc 13, the inner ring of the collecting ring 7 and the rotating shaft of the azimuth encoder 1 are coaxially matched and connected with an azimuth shaft 11 through an azimuth transition shaft 6 without rotating; the mounting seat 2 is mounted above the transition shell 5, a lower end flange of the mounting seat 2 is matched and fixedly connected with the top end of the transition shell 5, the azimuth encoder 1 is arranged above the mounting seat 2, a shell of the azimuth encoder 1 is fixedly connected with the upper end of the mounting seat 2, the upper end of the outer ring of the collecting ring 7 is provided with a shifting fork which is arranged in a corresponding shifting fork hole in the mounting seat 2, and the shell of the azimuth encoder 1, the mounting seat 2 and the outer ring of the collecting ring 7 rotate along with the transition shell 5 and the azimuth mounting plate 8; the azimuth encoder 1 outputs azimuth angle signals through relative rotation of a shell and a rotating shaft, azimuth data transmission is achieved, an outer ring of the collector ring 7 rotates relative to an inner ring of the collector ring, and switching of electric signals of the rotary table from rotation to rotation in the azimuth is achieved.
As shown in fig. 1 and 2, the pitching power transmission part is integrated in the upper right space in the azimuth box 9 and is composed of a pitching motor 28, a pitching reducer 29, a pitching eccentric sleeve 30, a pitching power bearing 33, a pitching power shaft 34, a pitching large gear 35, a pitching small gear 36 and a reducer mounting seat 37; the pitching dynamic bearing 33 is arranged in a pitching dynamic bearing mounting hole 9-1 on the right side wall of the azimuth box body 9, the outer ring of the bearing 33 is matched with the pitching dynamic bearing mounting hole 9-1, the pitching dynamic shaft 34 is arranged in the inner ring of the pitching dynamic bearing 33, the inner ring of the pitching dynamic bearing 33 rotates relative to the outer ring, and the pitching dynamic shaft 34 is movably connected with the azimuth box body 9 through the pitching dynamic bearing 33; the left end of the pitching power shaft 34 is matched and fastened with the pitching big gear 35 in the azimuth box body 9, and the right end of the pitching power shaft is matched and fastened with the right pitching arm 32 outside the azimuth box body 9; a pitching reducer mounting hole 9-2 is formed in the right side wall of the azimuth box body 9 and below the pitching power bearing mounting hole 9-1, the right end of a reducer mounting seat 37 is mounted in a matched mode with the mounting hole 9-2, a pitching reducer 29 is fixedly mounted at the left end of the reducer mounting seat 37 in a matched mode through a pitching eccentric sleeve 30, a pitching motor 28 is mounted at the left input end of the pitching reducer 29, a pitching pinion 36 is mounted on a right output rotating shaft, the pitching pinion 36 is meshed with a pitching gearwheel 35, and the pitching motor 28 drives the output rotating shaft of the pitching reducer 29 and the pitching pinion 36 to rotate, so that the pitching gearwheel 35, the pitching power shaft 34 and the right pitching arm are driven to rotate relative to the azimuth box body 9, and pitching power transmission is achieved.
As shown in fig. 1, the pitch data transmission part is integrated in the upper left space of the azimuth box 9 and is composed of a pitch data shaft 21, a pitch data bearing 22, a transition shaft 23, a mounting seat 25, a coupling 26 and a pitch encoder 27; a mounting seat 25 is arranged between the pitching encoder 27 and the azimuth box body 9, the left end of the mounting seat 25 is matched and fastened with the inner side of the left side wall of the azimuth box body 9, the right end of the mounting seat 25 is matched and fastened with the shell of the pitching encoder 27, and the shell of the pitching encoder 27 and the mounting seat 25 do not rotate relative to the azimuth box body 9; the pitching data bearing 22 is arranged in a pitching data bearing mounting hole 9-5 in the left side wall of the azimuth box body 9, the outer ring of the bearing 22 is matched with the pitching data bearing mounting hole 9-5, the pitching data shaft 21 is arranged in the inner ring of the pitching data bearing 22, the inner ring of the pitching data bearing 22 rotates relative to the outer ring, and the pitching data shaft 21 is movably connected with the azimuth box body 9 through the pitching data bearing 22; the left end of the pitch data shaft 21 is matched and fixedly connected with a left pitch arm 24 outside the azimuth box body 9, the right end is matched and fixedly connected with the left end of a transition shaft 23 inside the azimuth box body 9, and a rotating shaft of a pitch encoder 27 is coaxially matched and connected with the right end of the transition shaft 23 through a coupling 26; the left pitching arm 24 is fixedly connected with the right pitching arm 32 through the top connecting plate 31, when the pitching power shaft 34 drives the right pitching arm 32 to rotate, the left pitching arm 24, the pitching data shaft 21 and the rotating shaft of the pitching encoder 27 are driven to rotate relative to the position box 9 through the top connecting plate 31, and the pitching encoder 27 outputs a pitching angle signal through the relative rotation of the rotating shaft and the shell, so that pitching data transmission is realized.
The servo control system is used for receiving and processing instruction signals of the upper computer, azimuth angle signals of the azimuth encoder (1) and pitch angle signals of the pitch encoder (27), and controlling the azimuth motor (18) and the pitch motor (28) to rotate, so that the azimuth power transmission part, the azimuth data transmission part, the pitch power transmission part and the pitch data transmission part are driven to rotate correspondingly, and the purpose that the rotary table azimuth and the pitch complete corresponding rotation functions according to instructions of the upper computer is achieved.
As shown in fig. 1, the left pitch arm 24, the right pitch arm 32 and the top connection plate 31 are respectively installed with a left side load, a right side load and a top load, and may be integrally designed with the respective loads.
As shown in fig. 2, an azimuth front side cover 19 and an azimuth rear side cover 38 are respectively installed on the front side and the rear side of the azimuth box 9, an azimuth motor driver and a pitch motor driver 20 of a servo control system can be integrally installed inside the azimuth front side cover 19, and a power supply and a control board 39 of the servo control system can be integrally installed inside the azimuth rear side cover 38, and further integrated design is performed.
As shown in fig. 3, under the load condition of small azimuth overturning moment, the azimuth only adopts the azimuth main bearing 12, the main bearing 12 simultaneously bears the axial load, the radial load and the overturning moment, the azimuth auxiliary bearing 4, the transition housing 5 and the azimuth transition shaft 6 are removed, the housing of the azimuth encoder 1 is directly matched and fixedly connected with the top end of the azimuth mounting disk 8 through the mounting seat 2, and the inner ring of the collector ring 7 is matched and fixedly connected with the mounting flange reserved in the middle of the inner hole of the azimuth shaft 11. The application occasions are enlarged and the universality is improved by selecting and matching the azimuth auxiliary bearing 4 to adapt to different load conditions.
As shown in fig. 1, 4, 5, 6 and 7, the azimuth box 9 is provided with an azimuth mounting plate 8, on one hand, a lower positioning surface 9-3 of the azimuth box inside the azimuth box 9 faces the outer side of the lower part, so that the processing is convenient, and the processing manufacturability is solved, on the other hand, when the transmission ratio of the azimuth large gear 14 and the azimuth small gear 15 is adjusted and designed, only the center distance R between an upper position reducer mounting hole 8-1 of the azimuth mounting plate 8 and an azimuth bearing mounting hole 8-2 needs to be adjusted and designed, and the azimuth box 9 and other parts of the turntable can be used commonly.
As shown in fig. 1, 2, 6, 7 and 8, the periphery of the pitching dynamic bearing mounting hole 9-1 on the right side of the azimuth box body 9 is thickened, and when the transmission ratio of the pitching big gear 35 and the pitching small gear 36 is adjusted, the center distance r between the pitching reducer mounting hole 9-2 and the pitching dynamic bearing mounting hole 9-1 on the azimuth box body 9 is adjusted; the mounting angle beta of the pitching speed reducer can be adjusted and designed according to requirements; in addition, the installation positions of the pitching limit stoppers 40 and 41 can be adjusted according to different pitching angles, and the blank of the azimuth box body 9 and other parts of the rotary table can be used commonly.
Four sides of a main body 10-1 of the base 10 are provided with base side cover plates 10-2, adapter sockets 10-3 are designed on the base side cover plates 10-2 according to needs to complete the outward electrical signal adapter function of the rotary table, and the base main body 10-1 is designed universally.
The azimuth motor 18 and the pitch motor 28 are commonly used, the azimuth reducer 17 and the pitch reducer 29 are commonly used, the azimuth eccentric sleeve 16 and the pitch eccentric sleeve 30 are commonly used, the azimuth pinion 15 and the pitch pinion 36 are commonly used, the azimuth encoder 1 and the coupling 3 are commonly used with the pitch encoder 27 and the coupling 26 respectively, and therefore the universality is further improved.
Through the design of serial integration, reduce the volume, compact structure. Whether the azimuth auxiliary bearing is selected or not can be determined according to the magnitude of the azimuth overturning moment of the load, so that the method is suitable for different application occasions; the azimuth box body is provided with the azimuth mounting disc, so that the processing manufacturability of the azimuth box body is solved, and on the other hand, when the transmission ratio of the final azimuth gear pair is adjusted and designed, only the local part of the azimuth mounting disc needs to be adjusted and designed, and the azimuth box body and other parts of the rotary table can be used commonly; the position box body blank is also suitable for different pitching transmission ratios and different pitching limiting angles, the position motor, the speed reducer, the eccentric sleeve, the pinion, the encoder, the coupling and the like are universal to pitching, and in addition, the base main body is also universal in design and high in universality.
The left pitch arm 24, the right pitch arm 32 and the top connection plate 31 are respectively provided with a left load, a right load and a top load, and can be integrally designed with the corresponding loads.
Examples
An integrated universal azimuth pitching two-axis turntable comprises a base 10, an azimuth box 9, an azimuth power transmission part, an azimuth data transmission part, a pitching power transmission part, a pitching data transmission part, a left pitching arm 24, a right pitching arm 32 and a servo control system, wherein the azimuth power transmission part, the azimuth data transmission part, the pitching power transmission part, the pitching data transmission part and the servo control system are all integrated in the azimuth box 9; the azimuth box body 9 is arranged on the base 10, bears the whole rotary table and serves as an installation interface of the rotary table;
the azimuth power transmission part is integrally arranged in the lower space in the azimuth box body 9 and consists of an azimuth motor 18, an azimuth reducer 17, an azimuth eccentric sleeve 16, an azimuth pinion 15, an azimuth bull gear 14, an azimuth main bearing 12, an azimuth shaft 11 and an azimuth mounting disc 8, the azimuth shaft 11 is arranged at the top end of a base 10, the lower end of the azimuth shaft 11 is matched and fastened with the top end of the base 10, an azimuth mounting disc positioning circle 8-4 is matched with a lower positioning hole 9-4 of the azimuth box body, an azimuth mounting disc positioning surface 8-3 is attached and fastened with a lower positioning surface 9-3 of the azimuth box body, the azimuth main bearing 12 is arranged between the azimuth mounting disc 8 and the upper end of the azimuth shaft 11, the azimuth main bearing 12 is arranged in an azimuth bearing mounting hole 8-2 on the azimuth mounting disc 8, and the outer ring of the main bearing 12 is matched with the azimuth bearing mounting hole 8-2, the upper end of an azimuth shaft 11 is arranged in an inner ring of an azimuth main bearing 12, the outer ring of the azimuth main bearing 12 rotates relative to the inner ring, an azimuth mounting disc 8 is movably connected with the azimuth shaft 11 through the azimuth main bearing 12, an azimuth large gear 14 is matched and fixedly connected with the azimuth shaft 11 below the azimuth main bearing 12 and the azimuth mounting disc 8, the azimuth large gear 14, the azimuth shaft 11 and a base 10 do not rotate, an azimuth reducer 17 is arranged in an azimuth reducer mounting hole 8-1 on the azimuth mounting disc 8 through an azimuth eccentric sleeve 16, an azimuth motor 18 is arranged at the top input end of the azimuth reducer 17, an azimuth pinion 15 is arranged at the bottom output rotating shaft, the azimuth pinion 15 is meshed with the azimuth large gear 14, the output rotating shaft of the azimuth reducer 17 and the azimuth pinion 15 are driven by the azimuth motor 18 to rotate, and accordingly the azimuth mounting disc 8 and an azimuth box body 9 are driven to rotate around the azimuth large gear 14 and the azimuth shaft 11, the azimuth power transmission mode that the box body rotates but the shaft does not rotate is realized; a transition shell 5 is arranged at the top end of an azimuth installation disc 8, a lower end hole of the transition shell 5 is matched with a positioning circle 8-6 at the top end of the azimuth installation disc, the bottom end face of the transition shell 5 is attached and fastened with a top end face 8-5 of the azimuth installation disc, an azimuth auxiliary bearing 4 is arranged in a bearing installation hole at the upper end of the transition shell 5, the outer ring of the auxiliary bearing 4 is matched with a bearing installation hole in the transition shell 5, the outer rings of the transition shell 5 and the azimuth auxiliary bearing 4 rotate along with the azimuth installation disc 8, an azimuth transition shaft 6 is arranged at the top end of an azimuth shaft 11, the bottom end of the azimuth transition shaft 6 is matched and fastened with the top end of the azimuth shaft 11, the upper end of the azimuth transition shaft 6 is arranged in the inner ring of the azimuth auxiliary bearing 4, and the azimuth shaft 11, the azimuth transition shaft 6 and the inner ring of the azimuth auxiliary bearing 4 do not rotate;
the azimuth data transmission part is integrated above the azimuth power transmission part in the azimuth box body 9 and consists of an azimuth encoder 1, a mounting seat 2, a coupling 3, a confluence ring 7 and a transition disc 13, the lower end of an inner ring of the confluence ring 7 is mounted on a flange at the lower part of an inner hole of an azimuth transition shaft 6 through the transition disc 13, a rotating shaft of the azimuth encoder 1 is coaxially matched and connected with the upper end of the inner ring of the confluence ring 7 through the coupling 3, the transition disc 13, the inner ring of the confluence ring 7 and a rotating shaft of the azimuth encoder 1 are coaxially matched and connected with an azimuth shaft 11 through an azimuth transition shaft 6 and do not rotate, the mounting seat 2 is mounted above a transition shell 5, a flange at the lower end of the mounting seat 2 is matched and fastened with the top end of the transition shell 5, the azimuth encoder 1 is arranged above the mounting seat 2, the shell of the azimuth encoder 1 is fastened and connected with the upper end of the mounting seat 2, the upper end of an outer ring of the confluence ring 7 is provided with a shifting fork which is mounted in a corresponding shifting fork hole in the mounting seat 2, the shell, the mounting seat 2 and the outer ring of the collector ring 7 of the azimuth encoder 1 rotate along with the transition shell 5 and the azimuth mounting disc 8, the azimuth encoder 1 outputs azimuth angle signals through the relative rotation of the shell and the rotating shaft, azimuth data transmission is realized, the outer ring of the collector ring 7 rotates relative to the inner ring of the collector ring, and the switching of electric signals of the rotary table from non-rotation to rotation in azimuth is completed;
the pitching power transmission part is integrated in the upper right space in the azimuth box body 9 and consists of a pitching motor 28, a pitching speed reducer 29, a pitching eccentric sleeve 30, a pitching power bearing 33, a pitching power shaft 34, a pitching large gear 35, a pitching small gear 36 and a speed reducer mounting seat 37, the pitching power bearing 33 is arranged in a pitching power bearing mounting hole 9-1 on the right side wall of the azimuth box body 9, the outer ring of the bearing 33 is matched with the pitching power bearing mounting hole 9-1, the pitching power shaft 34 is arranged in the inner ring of the pitching power bearing 33, the inner ring of the pitching power bearing 33 rotates relative to the outer ring, the pitching power shaft 34 is movably connected with the azimuth box body 9 through the pitching power bearing 33, the left end of the pitching power shaft 34 is fixedly connected with the pitching large gear 35 in the azimuth box body 9 in a matching manner, and the right end of the pitching power shaft is fixedly connected with the right pitching arm 32 in a matching manner outside the azimuth box body 9, a pitching reducer mounting hole 9-2 is formed in the right side wall of the azimuth box body 9 and below the pitching power bearing mounting hole 9-1, the right end of a reducer mounting seat 37 is mounted in a matched manner with the mounting hole 9-2, the left end of the reducer mounting seat 37 is fixedly mounted with a pitching reducer 29 in a matched manner through a pitching eccentric sleeve 30, a pitching motor 28 is mounted at the left input end of the pitching reducer 29, a pitching pinion 36 is mounted on the right output rotating shaft, the pitching pinion 36 is meshed with a pitching gearwheel 35, and the pitching motor 28 drives the output rotating shaft of the pitching reducer 29 and the pitching pinion 36 to rotate, so that the pitching gearwheel 35, the pitching power shaft 34 and the right pitching arm are driven to rotate relative to the azimuth box body 9, and pitching power transmission is realized;
the pitching data transmission part is integrated in the upper left space of the azimuth box body 9 and consists of a pitching data shaft 21, a pitching data bearing 22, a transition shaft 23, a mounting seat 25, a coupling 26 and a pitching encoder 27, the mounting seat 25 is arranged between the pitching encoder 27 and the azimuth box body 9, the left end of the mounting seat 25 is matched and fixedly connected with the inner side of the left side wall of the azimuth box body 9, the right end of the mounting seat 25 is matched and fixedly connected with the outer shell of the pitching encoder 27, the outer shell of the pitching encoder 27 and the mounting seat 25 do not rotate relative to the azimuth box body 9, the pitching data bearing 22 is arranged in a pitching data bearing mounting hole 9-5 on the left side wall of the azimuth box body 9, the outer ring of the bearing 22 is matched with the pitching data bearing mounting hole 9-5, the pitching data shaft 21 is arranged in the inner ring of the pitching data bearing 22, the inner ring of the pitching data bearing 22 rotates relative to the outer ring, the pitching data shaft 21 is movably connected with the azimuth box body 9 through the pitching data bearing 22, the left end of the pitching data shaft 21 is in fit and fastening connection with the left pitching arm 24 outside the azimuth box body 9, the right end is in fit and fastening connection with the left end of the transition shaft 23 inside the azimuth box body 9, the rotating shaft of the pitching encoder 27 is in coaxial fit and connection with the right end of the transition shaft 23 through the coupling 26, the left pitching arm 24 is fixedly connected with the right pitching arm 32 through the top connecting plate 31, when the pitching power shaft 34 drives the right pitching arm 32 to rotate, the rotating shafts of the left pitching arm 24, the pitching data shaft 21 and the pitching encoder 27 are driven to rotate relative to the azimuth box body 9 through the top connecting plate 31, the pitching encoder 27 outputs a pitching angle signal through the relative rotation of the rotating shaft and the shell, and pitching data transmission is achieved.
Claims (8)
1. An integrated universal azimuth pitching two-axis turntable is characterized by comprising a base (10), an azimuth box body (9), an azimuth power transmission part, an azimuth data transmission part, a pitching power transmission part, a pitching data transmission part, a left pitching arm (24), a right pitching arm (32) and a servo control system, wherein the azimuth power transmission part, the azimuth data transmission part, the pitching power transmission part, the pitching data transmission part and the servo control system are integrated in the azimuth box body (9); the azimuth box body (9) is arranged on the base (10) and bears the whole rotary table;
the azimuth power transmission part is arranged at the inner bottom of the azimuth box body (9) and comprises an azimuth motor (18), an azimuth reducer (17), an azimuth pinion (15), an azimuth gearwheel (14), an azimuth main bearing (12), an azimuth shaft (11), an azimuth mounting disc (8), an azimuth transition shaft (6), a transition shell (5) and an azimuth auxiliary bearing (4), the lower end of the azimuth shaft (11) is matched and fastened with the top end of the base (10), an azimuth mounting disc positioning circle (8-4) is matched with an azimuth box body lower positioning hole (9-4), and an azimuth mounting disc positioning surface (8-3) is attached and fastened with an azimuth box body lower positioning surface (9-3);
the azimuth mounting disc (8) is movably connected with an azimuth shaft (11) through an azimuth main bearing (12);
the azimuth large gear (14) is matched and fixedly connected with the azimuth shaft (11) below the azimuth main bearing (12) and the azimuth mounting disc (8), the azimuth large gear (14), the azimuth shaft (11) and the base (10) do not rotate, the azimuth reducer (17) is arranged on the azimuth mounting disc (8) through an azimuth eccentric sleeve (16), the top input end of the azimuth reducer (17) is connected with the output shaft of the azimuth motor (18), the bottom output rotating shaft is connected with the azimuth pinion (15), the azimuth pinion (15) is meshed with the azimuth gearwheel (14), an output rotating shaft of an azimuth reducer (17) and the azimuth pinion (15) are driven to rotate by an azimuth motor (18), thereby driving the azimuth mounting disc (8) and the azimuth box body (9) to rotate around the azimuth large gear (14) and the azimuth shaft (11) and realizing an azimuth power transmission mode that the box body rotates but the shaft does not rotate;
one end of the transition shell (5) is fixed at the top end of the azimuth mounting disc (8), the azimuth auxiliary bearing (4) is arranged in a bearing mounting hole at the upper end of the transition shell (5), the outer ring of the auxiliary bearing (4) is matched with the bearing mounting hole on the transition shell (5), the outer rings of the transition shell (5) and the azimuth auxiliary bearing (4) rotate along with the azimuth mounting disc (8), the bottom end of the azimuth transition shaft (6) is matched and fastened with the top end of the azimuth shaft (11), the upper end of the azimuth transition shaft (6) is fixed in the inner ring of the azimuth auxiliary bearing (4), and the inner rings of the azimuth shaft (11), the azimuth transition shaft (6) and the azimuth auxiliary bearing (4) do not rotate;
when the azimuth overturning moment is larger than a threshold value, a bearing combination mode of an azimuth main bearing (12) and an azimuth auxiliary bearing (4) is adopted, the azimuth main bearing (12) simultaneously bears axial load and radial load, and the azimuth auxiliary bearing (4) bears radial load; when the azimuth overturning moment is smaller than a threshold value, only adopting the azimuth main bearing (12), simultaneously bearing the axial load, the radial load and the overturning moment by the azimuth main bearing (12), removing the azimuth auxiliary bearing (4), the transition shell (5) and the azimuth transition shaft (6), directly matching and fixedly connecting the shell of the azimuth encoder (1) with the top end of an azimuth mounting disc (8) through a mounting seat (2), and matching and fixedly connecting the inner ring of the collecting ring (7) with a mounting flange reserved in the middle of the inner hole of the azimuth shaft (11);
the azimuth data transmission part is integrated above the azimuth power transmission part in the azimuth box body (9) and comprises an azimuth encoder (1), a mounting seat (2), a coupling (3), a bus ring (7) and a transition disc (13), the lower end of the inner ring of the bus ring (7) is mounted on a flange at the lower part of an inner hole of an azimuth transition shaft (6) through the transition disc (13), a rotating shaft of the azimuth encoder (1) is coaxially matched and connected with the upper end of the inner ring of the bus ring (7) through the coupling (3), the transition disc (13), the inner ring of the bus ring (7) and the rotating shaft of the azimuth encoder (1) are coaxially matched and connected with an azimuth shaft (11) through the azimuth transition shaft (6), the mounting seat (2) is mounted above the transition shell (5), the flange at the lower end of the mounting seat (2) is matched and fastened with the top end of the transition shell (5), the azimuth encoder (1) is arranged above the mounting seat (2), the shell of the azimuth encoder (1) is fixedly connected with the upper end of the mounting seat (2), the upper end of the outer ring of the collecting ring (7) is provided with a shifting fork which is arranged in a corresponding shifting fork hole in the mounting seat (2), the shell of the azimuth encoder (1), the mounting seat (2) and the outer ring of the collecting ring (7) rotate along with the transition shell (5) and the azimuth mounting disc (8), the azimuth encoder (1) outputs azimuth angle signals through the relative rotation of the shell and the rotating shaft, azimuth data transmission is realized, the outer ring of the collecting ring (7) rotates relative to the inner ring of the collecting ring, and the switching of electric signals of the rotary table from non-rotation to rotation in azimuth is completed;
the pitching power transmission part is integrated in the right side space of the upper part of the azimuth box body (9) and comprises a pitching motor (28), a pitching speed reducer (29), a pitching eccentric sleeve (30), a pitching power bearing (33), a pitching power shaft (34), a pitching large gear (35), a pitching small gear (36) and a speed reducer mounting seat (37), wherein the pitching power bearing (33) is arranged in a pitching power bearing mounting hole (9-1) on the right side wall of the azimuth box body (9), the outer ring of the pitching power bearing (33) is matched with the pitching power bearing mounting hole (9-1), the pitching power shaft (34) is arranged in the inner ring of the pitching power bearing (33), the inner ring of the pitching power bearing (33) rotates relative to the outer ring, the pitching power shaft (34) is movably connected with the azimuth box body (9) through the pitching power bearing (33), and one end of the pitching power shaft (34) is matched, fastened and connected with the pitching large gear (35) in the azimuth box body (9) in a fastening mode The other end of the connecting rod extends out of the azimuth box body (9) and is matched and tightly connected with the right pitching arm (32), the speed reducer mounting seat (37) is fixed in the right side wall of the azimuth box body (9) and below the side of the pitching dynamic bearing mounting hole (9-1), the pitching reducer (29) is fixedly arranged on a reducer mounting seat (37) through a pitching eccentric sleeve (30) in a matching way, a pitching motor (28) is arranged at the left input end of the pitching reducer (29), a pitching pinion (36) is arranged at the right output rotating shaft, the pitching small gear (36) is meshed with the pitching big gear (35), the output rotating shaft of the pitching reducer (29) and the pitching small gear (36) are driven to rotate by the pitching motor (28), thereby driving the pitching big gear (35), the pitching power shaft (34) and the right pitching arm to rotate relative to the azimuth box body (9) and realizing pitching power transmission;
the pitching data transmission part is integrated in the upper left space of the azimuth box body (9) and comprises a pitching data shaft (21), a pitching data bearing (22), a transition shaft (23), a mounting seat (25), a coupling (26) and a pitching encoder (27), the mounting seat (25) is fixed on the inner side of the left side wall of the azimuth box body (9), the pitching encoder (27) is fixed on the mounting seat (25), the pitching data bearing (22) is arranged in a pitching data bearing mounting hole (9-5) of the left side wall of the azimuth box body (9), the outer ring of the bearing (22) is matched with the pitching data bearing mounting hole (9-5), the pitching data shaft (21) is arranged in the inner ring of the pitching data bearing (22), the inner ring of the pitching data bearing (22) rotates relative to the outer ring, and the pitching data shaft (21) is movably connected with the azimuth box body (9) through the pitching data bearing (22), the left end of a pitching data shaft (21) is in fit and fastening connection with a left pitching arm (24) outside a position box body (9), the right end of the pitching data shaft is in fit and fastening connection with the left end of a transition shaft (23) inside the position box body (9), a rotating shaft of a pitching encoder (27) is in coaxial fit and connection with the right end of the transition shaft (23) through a coupling (26), the left pitching arm (24) is fixedly connected with a right pitching arm (32) through a top connecting plate (31), when a pitching power shaft (34) drives the right pitching arm (32) to rotate, the rotating shaft of the left pitching arm (24), the pitching data shaft (21) and the pitching encoder (27) is driven to rotate relative to the position box body (9) through the top connecting plate (31), and the pitching encoder (27) outputs a pitching angle signal through relative rotation of the rotating shaft and a shell, so that pitching data transmission is realized.
The servo control system is used for receiving and processing an instruction signal of an upper computer, an azimuth angle signal of the azimuth encoder (1) and a pitch angle signal of the pitch encoder (27), and controlling the azimuth motor (18) and the pitch motor (28) to rotate, so that the azimuth power transmission part, the azimuth data transmission part, the pitch power transmission part and the pitch data transmission part are driven to rotate correspondingly.
2. The integrated universal azimuth pitching two-axis rotary table according to claim 1, wherein an azimuth front side cover (19) and an azimuth rear side cover (38) are respectively installed on the front side and the rear side of the azimuth box body (9), an azimuth motor driver and a pitching motor driver (20) of a servo control system are installed inside the azimuth front side cover (19), and a power supply and a control board (39) of the servo control system are integrally installed inside the azimuth rear side cover (38).
3. An integrated universal azimuth pitch two-axis turntable according to claim 1, wherein the azimuth main bearing (12) is a four-point contact ball bearing.
4. The integrated universal type azimuth pitching two-axis turntable as claimed in claim 1, wherein a pitching reducer mounting hole (9-2) is formed in the right side wall of the azimuth box body (9) and below the pitching dynamic bearing mounting hole (9-1), the right end of the reducer mounting seat (37) is mounted in cooperation with the mounting hole (9-2), and when the transmission ratio of the pitching large gear (35) and the pitching small gear (36) is adjusted, the center distance r between the pitching reducer mounting hole (9-2) and the pitching dynamic bearing mounting hole (9-1) in the azimuth box body (9) is adjusted.
5. An integrated universal azimuth-pitching two-axis turntable according to claim 1, wherein the azimuth reducer (17) is disposed in the azimuth reducer mounting hole (8-1) on the azimuth mounting plate (8) through an azimuth eccentric sleeve (16).
6. The integrated universal azimuth pitching two-axis rotary table according to claim 1, wherein the specific method for movably connecting the azimuth mounting plate (8) with the azimuth shaft (11) through the azimuth main bearing (12) is as follows:
the azimuth main bearing (12) is arranged in an azimuth bearing mounting hole (8-2) on the azimuth mounting disc (8), the outer ring of the azimuth main bearing (12) is matched with the azimuth bearing mounting hole (8-2), the upper end of the azimuth shaft (11) is arranged in the inner ring of the azimuth main bearing (12), and the outer ring of the azimuth main bearing (12) rotates relative to the inner ring; when the transmission ratio of the azimuth large gear (14) and the azimuth small gear (15) is adjusted and designed, the center distance R between an azimuth reducer mounting hole (8-1) on the azimuth mounting plate (8) and an azimuth bearing mounting hole (8-2) is adjusted and designed.
7. An integrated universal azimuth pitching two-axis turntable as claimed in claim 1, wherein base side cover plates (10-2) are arranged on four sides of the main body (10-1) of the base (10), and adapter sockets (10-3) are designed on the base side cover plates (10-2) as required to complete the external electrical signal switching function of the turntable.
8. An integrated universal azimuth-pitch two-axis turntable according to claim 1, wherein the mounting positions of the pitch limit stoppers (40), (41) of the pitch reducer are adjusted according to different pitch angles.
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| CN202110508995.2A CN113515144B (en) | 2021-05-11 | 2021-05-11 | Integrated universal azimuth pitching two-axis turntable |
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| CN202110508995.2A CN113515144B (en) | 2021-05-11 | 2021-05-11 | Integrated universal azimuth pitching two-axis turntable |
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