CN114440956A - Three-dimensional test turntable with adjustable rigidity and rigidity debugging method thereof - Google Patents
Three-dimensional test turntable with adjustable rigidity and rigidity debugging method thereof Download PDFInfo
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- CN114440956A CN114440956A CN202210372430.0A CN202210372430A CN114440956A CN 114440956 A CN114440956 A CN 114440956A CN 202210372430 A CN202210372430 A CN 202210372430A CN 114440956 A CN114440956 A CN 114440956A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D11/00—Component parts of measuring arrangements not specially adapted for a specific variable
- G01D11/30—Supports specially adapted for an instrument; Supports specially adapted for a set of instruments
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
- F16H1/20—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
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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
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M11/00—Testing of optical apparatus; Testing structures by optical methods not otherwise provided for
Abstract
The invention relates to a rigidity-adjustable three-dimensional testing turntable and a rigidity debugging method thereof. The problems of serious gear abrasion, large workload of installation and test, high equipment manufacturing cost, large abrasion, heaviness, poor universality, high cost and the like in the existing method are solved. The azimuth shaft, the pitch shaft and the roll shaft are driven to work in a mode that the torque driving assembly is matched with the position driving assembly, constant forward rotation torque meeting rigidity requirements is applied to corresponding driving gears in advance through the torque driving assembly aiming at loads with different weights, the constant forward rotation torque is not enough to be overcome by the load torque, and meanwhile, the corresponding driving gears are driven to rotate by the position driving assembly according to a turntable action command, so that azimuth, pitch and roll adjustment is realized; in addition, in the rotating process, the meshing of the driving gear always abuts against one side to rotate, and gapless transmission can be realized. The method is suitable for testing and calibrating high-precision inertial navigation devices, optical modules, stabilized sighting systems and servo mechanisms.
Description
Technical Field
The invention relates to a three-dimensional test turntable, in particular to a three-dimensional test turntable with adjustable rigidity and a rigidity debugging method thereof.
Background
For a test turntable, the test turntable is required to have higher transmission accuracy within a certain bearing range, for example, the requirements on the bearing capacity and the transmission accuracy of a certain test inertial navigation two-dimensional turntable on a moving part are as follows:
1) carrying capacity: less than or equal to 100 Kg;
2) azimuth gyration precision: 2' (main shaft) or less; the rotation precision of the pitch angle is less than or equal to 3';
factors that have a large influence on the transmission accuracy include transmission backlash. Although gapless transmission can be achieved by using a synchronous belt transmission system, the rigidity is poor, and the use requirement is difficult to meet when the load mass is large. Therefore, for higher loads, gear systems are generally used. At present, in order to eliminate the transmission clearance of a gear transmission system, a double-sheet gear is generally adopted and is realized by adjusting the center distance of the double-sheet gear. The spring pre-tightening adjusting mode can be adopted, the manual adjusting mode can also be adopted, the spring pre-tightening mode has the problems that the gear is seriously abraded and the service life of the rotary table is shortened, the manual adjusting mode has the problems that the workload is large when the installation test is carried out, the technical requirement on installation workers is high, and the motion abrasion cannot be compensated.
In addition, when the load mass is large, large load torque can be generated due to acceleration, deceleration and gravity, the load torque is not a constant value, high-precision transmission of variable load torque requires that a rotary table transmission system has no transmission clearance and sufficient rigidity, and generally, a measure for realizing high rigidity is to improve the rigidity of each part of the rotary table transmission system, so that equipment is heavy and the manufacturing cost is very high, for example, the total weight of a test bench with the load of 100Kg reaches hundreds of kilograms. Meanwhile, the high-rigidity rotary table can only be suitable for specific loads, the universality is low, and when the loads change, the rotary tables with different rigidities need to be replaced, so that the use cost is high, and the operation is complicated.
Disclosure of Invention
The invention aims to provide a three-dimensional testing turntable capable of realizing zero-clearance transmission and adjustable in rotation rigidity and a rotation rigidity adjusting method thereof, and aims to solve the problems that a method for eliminating a transmission clearance by adopting a spring pre-tightening adjusting mode is serious in gear abrasion, a manual adjusting mode is adopted, the workload is large during installation and testing, and the conventional high-rigidity turntable is high in equipment manufacturing cost, large in abrasion, heavy, poor in universality, high in use cost and the like.
The three-dimensional testing turntable can automatically adjust the rotation rigidity according to the load, can ensure gapless transmission in long-term work, has light and fast operation, low energy consumption, low cost, small abrasion and long service life, and can ensure the transmission precision in longer service life.
The invention provides a three-dimensional test turntable with adjustable rigidity, which is characterized in that: the device comprises a base, a pitching support, a rolling support, a workbench, an azimuth shaft, a pitching shaft, a rolling shaft and an MCU (microprogrammed control Unit);
the pitching support is fixed on the base through an azimuth shaft; the rolling support is fixed on the pitching support through a pitching shaft; the workbench is fixed on the transverse rolling bracket through a transverse rolling shaft;
the azimuth shaft, the pitch shaft and the roll shaft are respectively provided with an azimuth shaft encoder, a pitch shaft encoder and a roll shaft encoder;
an azimuth driving gear and an azimuth driving assembly are arranged in the base; the azimuth driving gear is fixedly connected with the azimuth shaft; the azimuth driving assembly comprises an azimuth torque driving assembly and an azimuth position driving assembly which drive the azimuth driving gear together; the azimuth torque driving component is used for applying a constant forward rotation torque to the azimuth driving gear according to an MCU instruction, so that the azimuth driving gear is always subjected to the action of the forward rotation (clockwise or anticlockwise) torque; the azimuth position driving assembly is used for driving the azimuth driving gear to act according to corresponding instructions according to the MCU instructions so as to realize azimuth adjustment;
a pitching moment driving gear, a pitching position driving gear, a pitching moment driving component and a pitching position driving component are arranged in the pitching support; the pitching moment driving gear and the pitching position driving gear are respectively and fixedly connected to two ends of the pitching shaft; the pitching moment driving component is used for applying a constant forward rotation moment to the pitching moment driving gear according to the MCU instruction, wherein the constant forward rotation moment is equal to the moment meeting the load rigidity requirement, so that the pitching moment driving gear is always acted by the forward rotation (clockwise or anticlockwise) moment; the pitching position driving assembly is used for driving the pitching position driving gear to act according to a corresponding instruction according to the MCU instruction so as to realize pitching adjustment;
a rolling moment driving assembly, a rolling position driving assembly and a rolling driving gear are arranged in the rolling bracket; the transverse roller driving gear is fixedly connected with the transverse roller shaft; the roll torque driving component and the roll position driving component drive the roll driving gear together; the roll moment driving assembly is used for applying a constant forward rotation moment to the roll driving gear according to an MCU instruction, wherein the constant forward rotation moment is equal to a moment meeting the load rigidity requirement, so that the roll driving gear is always acted by the forward rotation (clockwise or anticlockwise) moment; the roll position driving assembly is used for driving the roll driving gear to act according to corresponding instructions according to the MCU instructions so as to realize roll adjustment;
the MCU is used for sending instructions to the azimuth driving assembly, the pitching moment driving assembly, the pitching position driving assembly, the rolling moment driving assembly and the rolling position driving assembly to realize azimuth, pitching and rolling adjustment; meanwhile, according to the feedback of the azimuth shaft encoder, the pitch shaft encoder and the roll shaft encoder, the transmission error of the corresponding shaft is determined, instructions are sent to the azimuth torque driving assembly, the pitch torque driving assembly and the roll torque driving assembly respectively, the size of the output torque is adjusted, and the rotation rigidity of the corresponding shaft is adjusted until the transmission error of the corresponding shaft meets the set requirement.
Furthermore, the azimuth torque driving assembly comprises an azimuth torque servo driver, an azimuth torque servo motor, an azimuth torque planetary reducer, an azimuth torque driving gear and an azimuth torque encoder; the azimuth moment driving gear is meshed with the azimuth driving gear; the azimuth torque servo driver is used for receiving an MCU instruction to control an azimuth torque servo motor; the azimuth torque servo motor works in a torque servo mode and is used for driving an azimuth torque driving gear to act on the azimuth driving gear through an azimuth torque planetary reducer under the control of an azimuth torque servo driver; the azimuth torque encoder is arranged on the azimuth torque servo motor and used for providing the azimuth torque servo driver with the current rotation angle position feedback of the azimuth torque servo motor;
the azimuth position driving assembly comprises an azimuth position servo driver, an azimuth position servo motor, an azimuth position planetary reducer, an azimuth position driving gear and an azimuth position encoder, wherein the azimuth position driving gear is meshed with the azimuth driving gear; the azimuth position servo driver is used for receiving an MCU instruction to control an azimuth position servo motor; the azimuth position servo motor works in a position servo mode and is used for driving the azimuth position driving gear to act on the azimuth driving gear through the azimuth position planetary reducer under the control of the azimuth position servo driver; the azimuth position encoder is arranged on the azimuth position servo motor and used for providing the azimuth position servo driver with the current rotation angle position feedback of the azimuth position servo motor.
Furthermore, the pitching moment driving component comprises a pitching moment servo driver, a pitching moment servo motor, a pitching moment planetary reducer, a pitching moment driving wheel and a pitching moment encoder; the pitching moment driving wheel is meshed with the pitching moment driving gear; the pitching moment servo driver is used for receiving an MCU instruction to control the pitching moment servo motor; the pitching moment servo motor works in a moment servo mode and is used for driving a pitching moment driving wheel to act on the pitching driving gear through the pitching moment planetary reducer under the control of the pitching moment servo driver; the pitching moment encoder is arranged on the pitching moment servo motor and used for providing the pitching moment servo driver with the feedback of the current rotation angle position of the pitching moment servo motor;
the pitching position driving assembly comprises a pitching position servo driver, a pitching position servo motor, a pitching position planetary reducer, a pitching position driving wheel and a pitching position encoder, wherein the pitching position driving wheel is meshed with the pitching position driving gear; the pitching position servo driver is used for receiving an MCU instruction to control the pitching position servo motor; the pitch position servo motor works in a position servo mode and is used for driving the pitch position driving wheel to act on the pitch position driving gear through the pitch position planetary reducer under the control of the pitch position servo driver; the pitch position encoder is mounted on the pitch position servo motor and used for providing feedback of the current rotation angle position of the pitch position servo motor for the pitch position servo driver.
Further, the roll moment driving assembly comprises a roll moment servo driver, a roll moment servo motor, a roll moment planetary reducer, a roll moment driving gear and a roll moment encoder; the roll moment driving gear is meshed with the roll driving gear; the roll moment servo driver is used for receiving an MCU instruction to control the roll moment servo motor; the roll moment servo motor works in a moment servo mode and is used for driving the roll moment driving gear to act on the roll driving gear through the roll moment planetary reducer under the control of the roll moment servo driver; the roll moment encoder is arranged on the roll moment servo motor and used for providing the current rotation angle position feedback of the roll moment servo motor for the roll moment servo driver;
the roll position driving assembly comprises a roll position servo driver, a roll position servo motor, a roll position planetary reducer, a roll position driving gear and a roll position encoder, wherein the roll position driving gear is meshed with the roll driving gear; the roll position servo driver is used for receiving an MCU instruction to control the roll position servo motor; the roll position servo motor works in a position servo mode and is used for driving a roll position driving gear to act on the roll driving gear through a roll position planetary reducer under the control of a roll position servo driver; the roll position encoder is mounted on the roll position servo motor and used for providing the roll position servo driver with current rotation angle position feedback of the roll position servo motor.
Furthermore, the base is a cross-shaped box body, the azimuth driving gear is positioned in the center of the cross-shaped box body, and the azimuth moment driving component and the azimuth position driving component are oppositely arranged on two sides of the azimuth driving gear; the azimuth torque drive gear meshes with the azimuth position drive gear on opposite sides of the azimuth drive gear.
Furthermore, the azimuth moment driving gear and the azimuth position driving gear are bevel gears.
Furthermore, the pitching support is a U-shaped frame, and a cross beam of the U-shaped frame is fixed on the base through an azimuth shaft; the pitching moment driving gear and the pitching moment driving assembly are positioned in the vertical frame on one side, and the pitching position driving gear and the pitching position driving assembly are positioned in the vertical frame on the other side.
Furthermore, the pitching moment driving wheel and the pitching position driving wheel are bevel gears.
Further, the rolling support is a rectangular frame, the rolling driving gear is located on the side wall of the rectangular frame, the rolling moment driving assembly and the rolling position driving assembly are arranged in the rectangular frame in parallel, and the rolling moment driving gear and the rolling position driving gear are meshed on two opposite sides of the rolling driving gear.
Further, the roll moment drive gear, the roll position drive gear, and the roll drive gear are spur gears.
Further, the workbench is fixed inside the rolling support through the rolling shaft.
The invention also provides a rotating rigidity adjusting method of the rotating rigidity adjustable three-dimensional testing turntable, which is characterized by comprising the following steps:
step 4, the MCU acquires feedback data of the azimuth shaft encoder, the pitch shaft encoder and the roll shaft encoder, and analyzes the transmission error of the corresponding shaft; the method comprises the steps of sending instructions to an azimuth moment driving assembly, a pitching moment driving assembly and a rolling moment driving assembly respectively, adjusting the constant forward rotation moment Ty2 applied to an azimuth driving gear by the azimuth moment driving assembly, adjusting the constant forward rotation moment Tp2 applied to the pitching moment driving gear by the pitching moment driving assembly, adjusting the constant forward rotation moment Tr2 applied to the rolling driving gear by the rolling moment driving assembly, and adjusting the rotation rigidity of corresponding shafts until a transmission error meets a set requirement.
Further, step 3 specifically comprises:
when the pitching support needs to be static, the MCU sends an instruction to the azimuth position servo driver, so that the azimuth position servo driver controls the azimuth position servo motor to be in a locking state;
when the pitching support needs to rotate in the forward direction, the MCU sends an instruction to the azimuth position servo driver, so that the azimuth position servo driver controls the azimuth position servo motor to work in a position servo mode, and the torque generated by the azimuth position servo motor is Ty1< Ty 2;
when the pitching support needs to rotate reversely, the MCU sends an instruction to the azimuth position servo driver, so that the azimuth position servo driver controls the azimuth position servo motor to drive the azimuth driving gear to rotate reversely, and the torque generated by the azimuth position servo motor is Ty1> Ty2 at the moment;
when the roll support needs to be static, the MCU sends an instruction to the pitching position servo driver, so that the pitching position servo driver controls the pitching position servo motor to be in a locking state;
when the roll support needs to rotate in the forward direction, the MCU sends an instruction to the pitch position servo driver, so that the pitch position servo driver controls the pitch position servo motor to work in a position servo mode, and the torque generated by the pitch position servo motor is Tp1< Tp 2;
when the roll support needs to rotate reversely, the MCU sends an instruction to the pitch position servo driver, so that the pitch position servo driver controls the pitch position servo motor to drive the pitch position driving gear to rotate reversely, and the torque generated by the pitch position servo motor is Tp1> Tp 2;
when the workbench needs to be static, the MCU sends an instruction to the roll position servo driver, so that the roll position servo driver controls the roll position servo motor to be in a locking state;
when the workbench needs to rotate forwards, the MCU sends an instruction to the roll position servo driver, so that the roll position servo driver controls the roll position servo motor to work in a position servo mode, and the torque generated by the roll position servo motor is Tr1< Tr 2;
when the workbench needs to rotate reversely, the MCU sends an instruction to the roll position servo driver, so that the roll position servo driver controls the roll position servo motor to drive the roll driving gear to rotate reversely, and the torque generated by the roll position servo motor is Tr1> Tr2 at the moment.
Further, step 4 specifically includes:
step 4.1, the MCU acquires feedback data of the azimuth shaft encoder, the pitch shaft encoder and the roll shaft encoder, and analyzes real-time transmission errors of the azimuth shaft, the pitch shaft and the roll shaft;
step 4.2, comparing the real-time transmission error of each shaft with a target transmission error, and if the real-time transmission error is greater than or equal to the target transmission error, sending an instruction to the corresponding torque driving component to increase the constant forward rotation torque value applied to the corresponding driving gear by the corresponding torque driving component; if the real-time transmission error is smaller than the target transmission error, sending an instruction to the corresponding torque driving assembly, and reducing a constant forward rotation torque value applied to the azimuth driving gear by the corresponding torque driving assembly;
and 4.3, returning to the step 4.1 until the real-time transmission error is equal to the target transmission error.
The invention also provides a rigidity adjusting method of the three-dimensional testing turntable with adjustable rotating rigidity, which is characterized by comprising the following steps of:
and 3, the MCU27 sends instructions to corresponding servo drivers according to the turntable action commands, so that the azimuth position driving assembly, the pitch position driving assembly and the roll position driving assembly respectively drive the azimuth driving gear, the pitch moment driving gear, the pitch position driving gear and the roll driving gear to act, and azimuth, pitch and roll adjustment is realized.
The invention has the beneficial effects that:
1. according to the three-dimensional test turntable, the azimuth axis is based on the ground, the pitching support is arranged on the azimuth axis, the pitching axis is located on the pitching support, the rolling support is arranged on the pitching axis, and the rolling axis is located on the rolling support, so that the three-dimensional test turntable accords with the definition of an axis system during measurement tests of inertial navigation, optical instruments and the like. The azimuth shaft, the pitch shaft and the roll shaft are driven to work in a mode that the torque driving assembly is matched with the position driving assembly, constant forward rotation torque meeting rigidity requirements is applied to corresponding driving gears in advance through the torque driving assembly aiming at loads with different weights, the constant forward rotation torque is not enough to be overcome by the load torque, and meanwhile, the corresponding driving gears are driven to rotate by the position driving assembly according to a turntable action command, so that azimuth, pitch and roll adjustment is realized; in addition, in the rotating process, the meshing of the driving gears always abuts against one side of the forward rotation or the reverse rotation to rotate forward or reversely, and gapless transmission can be realized. The invention can be suitable for loads with different weights, and can meet the requirement of the load on rigidity by adjusting the output torque of the torque driving assembly aiming at the loads with different weights, has higher universality, strong bearing capacity and low use cost, can adjust the rigidity according to the requirement, and does not always work in a high-rigidity state; meanwhile, the position driving assembly is matched with the torque driving assembly, the magnitude of torque applied by the position driving assembly is adjusted, gapless transmission can be achieved, the adjusting process is simple and convenient, gear abrasion is small, rotation precision is high, the service life of the rotary table is long, and the device is suitable for testing and calibrating high-precision inertial navigation devices, optical modules, stabilized sighting systems and servo mechanisms.
2. The invention can realize the rigidity adjustment of the rotary table by manually adjusting the constant forward rotation torque output by the torque driving component, and can also automatically adjust the rigidity of the rotary table in real time based on the comparison of input pulse and output encoder data by the MCU, and the input pulse and the output encoder data can be conveniently switched through a human-computer interface.
Drawings
FIG. 1 is a schematic diagram of an overall structure of a rigidity-adjustable three-dimensional testing turntable in an embodiment;
the reference numbers in the figures are: 1-base, 2-pitching support, 3-rolling support, 4-rolling shaft, 5-workbench, 6-pitching shaft and 7-azimuth shaft.
FIG. 2 is a schematic view of an azimuth driving structure in the embodiment;
the reference numbers in the figures are: 8-azimuth torque drive assembly, 9-azimuth drive gear, and 10-azimuth position drive assembly.
FIG. 3 is a view showing the construction of an azimuth driving unit according to the embodiment;
the reference numbers in the figures are: 11-azimuth position encoder, 13-azimuth position servo motor, 14-azimuth position planetary reducer and 15-azimuth position drive gear.
FIG. 4 is a view showing the construction of an azimuth moment drive unit according to the embodiment;
the reference numbers in the figures are: 16-azimuth torque encoder, 17-azimuth torque servo motor, 18-azimuth torque planetary reducer, and 19-azimuth torque drive gear.
FIG. 5 is a schematic view of a pitch driving structure in an embodiment;
the reference numbers in the figures are: 20-pitch position drive assembly, 21-pitch position drive gear, 22-pitch moment drive gear, 23-pitch moment drive assembly, 231-pitch moment drive wheel, 201-pitch position drive wheel.
FIG. 6 is a schematic diagram of a rolling drive configuration in an embodiment;
the reference numbers in the figures are: 24-roll position drive assembly, 25-roll drive gear, 26-roll torque drive assembly, 241-roll position drive gear, 261-roll torque drive gear.
FIG. 7 is a schematic block diagram of a rigidity-adjustable three-dimensional testing turntable in an embodiment;
the reference numbers in the figures are: 27-MCU, 28-azimuth position servo driver, 29-azimuth moment servo driver, 30-pitch position servo driver, 31-pitch moment servo driver, 32-roll position servo driver, 33-roll moment servo driver, 41-azimuth axis encoder, 42-pitch axis encoder, 43-roll axis encoder.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, specific embodiments accompanied with figures are described in detail below, and it is apparent that the described embodiments are a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making creative efforts based on the embodiments of the present invention, shall fall within the protection scope of the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Furthermore, the appearances of the phrase "in other embodiments" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
Furthermore, the present invention is described in detail with reference to the schematic drawings, which are only examples when describing the embodiments of the present invention, and the scope of the present invention should not be limited thereto.
The structure of the three-dimensional testing turntable with adjustable rigidity is shown in fig. 1, and the whole three-dimensional testing turntable mainly comprises a base 1, a pitching support 2, a rolling support 3, a rolling shaft 4, a workbench 5, a pitching shaft 6, an azimuth shaft 7 and an MCU 27. The pitching support 2 is fixed on the base 1 through an azimuth shaft 7; the rolling bracket 3 is fixed on the pitching bracket 2 through a pitching shaft 6; the workbench 5 is fixed on the transverse roller bracket 3 through a transverse roller 4; the azimuth axis 7, the pitch axis 6, and the roll axis 4 are provided with an azimuth axis encoder 41, a pitch axis encoder 42, and a roll axis encoder 43, respectively.
As can be seen from fig. 2, the base 1 of the present embodiment is a cross-shaped box, the azimuth axis 7 penetrates through the center of the cross-shaped box, the pitching support 2 is installed at the upper end of the azimuth axis 7, and the azimuth driving gear 9 is fixed at the lower end of the azimuth axis 7, i.e. the end located inside the cross-shaped box; the azimuth axis 7 is provided with an azimuth axis encoder 41. An azimuth moment driving component 8 and an azimuth position driving component 10 which are matched with and drive an azimuth driving gear 9 are respectively fixed in the left box body and the right box body of the cross-shaped box body. The azimuth moment driving component 8 applies a constant forward rotation moment to the azimuth driving gear 9, and the constant forward rotation moment is equal to the moment that the load meets the rigidity requirement, so that the azimuth driving gear 9 is always under the action of the moment to generate clockwise or anticlockwise moment; the azimuth position driving assembly 10 can drive the azimuth driving gear 9 to act according to corresponding instructions, so that azimuth adjustment is realized.
Referring to fig. 3 and 4, the azimuth torque drive assembly 8 includes an azimuth torque servo driver 29, an azimuth torque servo motor 17, an azimuth torque planetary reducer 18, an azimuth torque drive gear 19, and an azimuth torque encoder 16; the azimuth moment driving gear 19 is positioned at the output end of the azimuth moment driving component 8, is a small bevel gear and is meshed with the azimuth driving gear 9; with reference to fig. 7, the azimuth torque servo driver 29 is configured to receive an instruction from the MCU27 to control the azimuth torque servo motor 17, the azimuth torque servo motor 17 operates in a torque servo mode, and the azimuth torque planetary reducer 18 drives the azimuth torque driving gear 19 to apply a constant forward rotation torque to the azimuth driving gear 9 under the control of the azimuth torque servo driver 29, so that the azimuth driving gear 9 always receives the torque to rotate clockwise or counterclockwise. The azimuth torque encoder 16 is mounted on the azimuth torque servo motor 17, and is used for feeding back the current rotation angle position of the azimuth torque servo motor 17 to the azimuth torque servo driver 29. The azimuth position driving assembly 10 includes an azimuth position servo driver 28, an azimuth position servo motor 13, an azimuth position planetary reducer 14, an azimuth position driving gear 15 and an azimuth position encoder 11, and the azimuth position driving gear 15 is located at the output end of the azimuth position driving assembly 10, and is also a bevel pinion, and is meshed with the azimuth driving gear 9. The azimuth position servo driver 28 is used for receiving the instruction of the MCU27 to control the azimuth position servo motor 13; the azimuth position servo motor 13 works in a position servo mode and is used for driving the azimuth position driving gear 15 to act on the azimuth driving gear 9 through the azimuth position planetary reducer 14 under the control of an azimuth position servo driver 28; the azimuth position encoder 11 is mounted on the azimuth position servo motor 13, and is used for feeding back the current rotational angle position of the azimuth position servo motor 13 to the azimuth position servo driver 28.
Assuming that the maximum torque generated by the azimuth position driving assembly 10 is Ty1, the constant forward rotation torque generated by the azimuth torque driving assembly 8 is Ty2, the torque of the load meeting the rigidity requirement is Ty, Ty can be calculated according to the load size, the mechanical property of the transmission part material and the rigidity requirement, the MCU27 sets the azimuth torque servo driver 29, Ty2= Ty, the MCU27 sets the azimuth position servo driver 28, so that the maximum value Ty1max =2 Ty of Ty1, in any case, the azimuth driving gear 9 is subjected to the torque of Ty2, the resultant force of the torque and the torque generated by the position driver acts, the azimuth motion mechanism is always in a stressed state, and the azimuth motion mechanism can realize gapless motion.
The automatic adjustment of the rotation rigidity of the azimuth axis can be realized by the following processes:
for example, when the pitch stand 2 needs to be stationary, the Ty2 is clockwise, so that the MCU27 sends a command to the azimuth position servo driver 28 to cause the azimuth position servo driver 28 to control the azimuth position servo motor 13 to be in a locked state; at this time, the counterclockwise torque generated by the azimuth position servo motor 13 is Ty 1; while Ty2 is clockwise, Ty1= Ty2 due to the characteristic of the position servo pattern, and Ty2-Ty1=0 makes the gear stationary on the side of clockwise rotation and not in a free state.
When the pitch bracket 2 needs to rotate clockwise, the MCU27 sends a command to the azimuth position servo driver 28, so that the azimuth position servo driver 28 controls the azimuth position servo motor 13 to drive the azimuth driving gear 9, the azimuth position servo motor 13 operates in a position servo mode, the counterclockwise torque generated by the motor at this time is Ty1, and Ty2 is clockwise, due to the characteristics of the position servo mode, Ty1< Ty2, and under the action of Ty2-Ty1>0, the gear mesh rotates clockwise close to the clockwise rotation side, thus implementing gapless transmission.
When the pitch bracket 2 needs to rotate anticlockwise, the MCU27 sends a command to the azimuth position servo driver 28, so that the azimuth position servo driver 28 controls the azimuth position servo motor 13 to drive the azimuth driving gear 9, the azimuth position servo motor 13 operates in a position servo mode, the anticlockwise torque generated by the motor at this time is Ty1, and Ty2 is clockwise, due to the characteristics of the position servo mode, Ty1> Ty2, and under the action of Ty2-Ty1<0, the gear mesh rotates anticlockwise close to the anticlockwise rotation side, thereby implementing gapless transmission.
Step 4, in the working process, the MCU27 compares the azimuth axis input pulse with the data of the azimuth axis encoder 41, and calculates the transmission error of the azimuth axis; because the transmission is gapless transmission, the transmission error is caused by insufficient rotation rigidity of the azimuth axis, and the MCU27 dynamically adjusts the output current of the azimuth torque servo driver 29, and further adjusts the output torque of the azimuth torque servo motor 17, thereby realizing real-time adjustment of the rotation rigidity of the azimuth axis. If the real-time transmission error is larger than the target transmission error, the output torque value of the azimuth torque servo motor 17 is increased; if the real-time transmission error is smaller than the target transmission error, reducing the output torque value of the azimuth torque servo motor 17; until the real-time transmission error is equal to the target transmission error.
Manual setting of the rotational stiffness of the azimuth axis can also be achieved by the following procedure:
and 3, manually adjusting to enable the azimuth position driving assembly 10 to drive the azimuth driving gear 9 to act, so that azimuth adjustment is realized.
With reference to fig. 1 and 5, it can be seen that the pitching support 2 of the present embodiment is a U-shaped frame, and a beam of the U-shaped frame is fixed on the base 1 through an azimuth axis 7; a pitching moment driving component 23 and a pitching moment driving gear 22 are arranged in the vertical frame on one side, and a pitching position driving component 20 and a pitching position driving gear 21 are arranged in the other vertical frame; a pitch position drive gear 21 and a pitch moment drive gear 22 are fixed to both ends of the pitch shaft 6, which are moving parts for pitch motion. The pitch moment drive assembly 23 and the pitch position drive assembly 20 are fixed parts for pitch motion. The pitching moment driving component 23 applies a constant forward rotation moment to the pitching moment driving gear 22, wherein the constant forward rotation moment is equal to the moment meeting the load rigidity requirement, so that the pitching moment driving gear 22 always receives the action of the moment and rotates clockwise or anticlockwise; the pitch position driving component 20 drives the pitch position driving gear 21 to act according to the corresponding instruction, so that pitch adjustment is realized.
The pitching moment driving component 23 comprises a pitching moment servo driver 31, a pitching moment servo motor, a pitching moment planetary reducer, a pitching moment driving wheel 231 and a pitching moment encoder; the pitching moment driving wheel 231 is a bevel gear meshed with the pitching moment driving gear 22; the pitching moment servo driver 31 is used for receiving an instruction of the MCU27 to control the pitching moment servo motor; the pitch moment servo motor works in a moment servo mode and is used for driving the pitch moment driving wheel 231 to act on the pitch moment driving gear 22 through the pitch moment planetary reducer under the control of the pitch moment servo driver 31; the pitching moment encoder is arranged on the pitching moment servo motor and used for providing the pitching moment servo driver 31 with the feedback of the current rotation angle position of the pitching moment servo motor; the pitch position driving assembly 20 comprises a pitch position servo driver 30, a pitch position servo motor, a pitch position planetary reducer, a pitch position driving wheel 201 and a pitch position encoder, wherein the pitch position driving wheel 201 is a bevel gear meshed with the pitch position driving gear 21; the pitch position servo driver 30 is used for receiving an instruction of the MCU27 to control the pitch position servo motor; the pitch position servo motor works in a position servo mode and is used for driving a pitch position driving wheel 201 to act on a pitch position driving gear 21 through a pitch position planetary reducer under the control of a pitch position servo driver 30; the pitch position encoder is mounted on the pitch position servo motor for feeding back the current rotational angle position of the pitch position servo motor to the pitch position servo driver 30.
The automatic adjustment of the rotation rigidity of the pitch axis can be realized through the following processes:
for example, when the roll stand 3 needs to be stationary, since Tp2 is clockwise, the command is sent to the pitch position servo driver 30 based on the MCU27, so that the pitch position servo driver 30 controls the pitch position servo motor to be in the locked state; at this time, the counterclockwise torque generated by the motor is Tp1, and Tp2 is clockwise, because of the characteristic of the position servo mode, Tp1= Tp2, and under the action of Tp2-Tp1=0, the gear is stopped at the side close to clockwise rotation, and is not in a free state.
When the roll bracket 3 needs to rotate clockwise, the MCU27 sends a command to the pitch position servo driver 30, so that the pitch position servo driver 30 controls the roll position servo motor to drive the roll bracket 3 to rotate clockwise, the pitch position servo motor works in a position servo mode, the counterclockwise torque generated by the motor at the moment is Tp1, and Tp2 is in a clockwise direction, and due to the characteristic of the position servo mode, Tp1< Tp2, under the action of Tp2-Tp1>0, the gear engagement rotates clockwise close to the clockwise rotation side, and gapless transmission is realized.
When the roll bracket 3 needs to rotate anticlockwise, the MCU27 sends a command to the pitch position servo driver 30, so that the pitch position servo driver 30 controls the roll position servo motor to drive the roll bracket 3 to rotate anticlockwise, the pitch position servo motor works in a position servo mode, the anticlockwise torque generated by the motor at the moment is Tp1, and Tp2 is in a clockwise direction, and due to the characteristic of the position servo mode, Tp1> Tp2, under the action of Tp2-Tp1<0, the gear engagement rotates anticlockwise close to the side of the anticlockwise rotation, and gapless transmission is realized.
Step 4, in the working process, the MCU27 compares the input pulse of the pitch axis with the data of the pitch axis encoder 42 to calculate the transmission error of the pitch axis; because the transmission is gapless transmission, the transmission error is caused by insufficient rotation rigidity of the pitch axis, and the MCU27 dynamically adjusts the output current of the pitch moment servo driver 31, further adjusts the output moment of the pitch moment servo motor, and realizes real-time adjustment of the rotation rigidity of the pitch axis. If the real-time transmission error is larger than the target transmission error, the output torque value of the pitching torque servo motor is increased; if the real-time transmission error is smaller than the target transmission error, reducing the output torque value of the pitching torque servo motor; until the real-time transmission error is equal to the target transmission error.
Manual setting of the pitch axis rotational stiffness can also be achieved by the following procedure:
and 3, the MCU27 sends an instruction to the pitching position servo driver 30 according to the turntable action command to drive the pitching driving gear to act so as to realize pitching motion or stop.
With reference to fig. 1, 5 and 6, the rolling support 3 of the present embodiment is a rectangular frame, and the rolling driving gear 25 is located on a side wall of the rectangular frame, is fixedly connected to the rolling support 3, and belongs to a fixing component for rolling movement; also disposed in parallel within the housing is a roll torque drive assembly 26 and a roll position drive assembly 24, which are moving parts for roll motion. The roll position drive assembly 24 is configured similarly to the azimuth position drive assembly 10 except that the position drive bevel pinion is replaced with a spur pinion and operates in a position servo mode, and the roll torque drive assembly 26 is configured similarly to the azimuth torque drive assembly 8 except that the torque drive bevel pinion is replaced with a spur pinion and operates in a torque servo mode. The table 5 is fixed inside the roll stand 3 by the roll shaft 4.
The automatic adjustment of the rotation rigidity of the transverse roller can be realized through the following processes:
for example, when the table 5 needs to be stationary, since Tr2 is clockwise, the MCU27 sends a command to the roll position servo driver 32 to control the roll position servo driver 32 to be in a locked state, and the counterclockwise torque generated by the roll position servo motor is Tr 1; and Tr2 is clockwise, and due to the characteristic of the position servo mode, Tr1= Tr2, under the action of Tr2-Tr1=0, the gear is stopped at the side close to clockwise rotation, and is not in a free state.
When the workbench 5 needs to rotate clockwise, the MCU27 sends an instruction to the roll position servo driver 32, so that the roll position servo driver 32 controls the roll position servo motor to operate in a position servo mode, and the counterclockwise torque generated by the roll position servo motor is Tr 1; and Tr2 is clockwise, due to the characteristic of position servo mode, Tr1< Tr2, under the effect of Tr2-Tr1>0, the gear mesh rotates clockwise close to the clockwise rotation side, and gapless transmission is realized.
When the workbench 5 needs to rotate anticlockwise, the MCU27 sends a command to the roll position servo driver 32, so that the roll position servo driver 32 controls the roll position servo motor to drive the roll driving gear 25 to rotate anticlockwise, the roll position servo motor operates in a position servo mode, the anticlockwise torque generated by the motor is Tr1, and Tr2 is clockwise, due to the characteristics of the position servo mode, Tr1> Tr2, under the action of Tr2-Tr1<0, the gear mesh rotates anticlockwise close to the side of the reverse needle rotation, and no-gap transmission is achieved.
Step 4, in the working process, the MCU27 calculates the transmission error of the roll shaft according to the comparison between the input pulse of the roll shaft and the data of the roll shaft encoder 43; because the transmission is gapless transmission, the transmission error is caused by insufficient rotating rigidity of the roll shaft, and the MCU27 dynamically adjusts the output current of the roll torque servo driver 33, and further adjusts the output torque of the roll torque servo motor, thereby realizing real-time adjustment of the rotating rigidity of the roll shaft. If the real-time transmission error is larger than the target transmission error, increasing the output torque value of the roll torque servo motor; if the real-time transmission error is smaller than the target transmission error, reducing the output torque value of the roll torque servo motor; until the real-time transmission error is equal to the target transmission error.
Manual setting of the roll axis rotation stiffness can also be achieved by the following procedure:
and 3, the MCU27 sends an instruction to the roll position servo driver 32 according to the turntable action command to drive the roll driving gear to act so as to realize roll movement or stop.
Claims (15)
1. The utility model provides a three-dimensional test revolving stage of rigidity adjustable which characterized in that: comprises a base (1), a pitching support (2), a rolling support (3), a workbench (5), an azimuth shaft (7), a pitching shaft (6), a rolling shaft (4) and an MCU (27);
the pitching support (2) is fixed on the base (1) through an azimuth shaft (7); the rolling support (3) is fixed on the pitching support (2) through a pitching shaft (6); the workbench (5) is fixed on the transverse rolling bracket (3) through a transverse rolling shaft (4);
an azimuth shaft encoder (41), a pitch shaft encoder (42) and a roll shaft encoder (43) are respectively arranged on the azimuth shaft (7), the pitch shaft (6) and the roll shaft (4);
an azimuth driving gear (9) and an azimuth driving assembly are arranged in the base (1); the azimuth driving gear (9) is fixedly connected with the azimuth shaft (7); the azimuth driving assembly comprises an azimuth torque driving assembly (8) and an azimuth position driving assembly (10) which jointly drive an azimuth driving gear (9); the azimuth torque driving assembly (8) is used for applying a constant forward rotation torque to the azimuth driving gear (9), wherein the constant forward rotation torque is equal to the torque of a load meeting the rigidity requirement, and the azimuth driving gear (9) is always under the action of the constant forward rotation torque; the azimuth position driving assembly (10) is used for driving the azimuth driving gear (9) to act according to corresponding instructions to realize azimuth adjustment;
a pitching moment driving gear (22), a pitching position driving gear (21), a pitching moment driving component (23) and a pitching position driving component (20) are arranged in the pitching support (2); the pitching moment driving gear (22) and the pitching position driving gear (21) are respectively fixedly connected to two ends of the pitching shaft (6); the pitching moment driving component (23) is used for applying a constant positive rotation moment to the pitching moment driving gear (22), the constant positive rotation moment is equal to the moment meeting the load rigidity requirement, and the pitching moment driving gear (22) is always under the action of the constant positive rotation moment; the pitching position driving assembly (20) is used for driving the pitching position driving gear (21) to act according to a corresponding instruction, so that pitching adjustment is realized;
a rolling moment driving component (26), a rolling position driving component (24) and a rolling driving gear (25) are arranged in the rolling bracket (3); the transverse roller driving gear (25) is fixedly connected with the transverse roller shaft (4); the roll moment driving component (26) and the roll position driving component (24) jointly drive the roll driving gear (25); the roll moment driving assembly (26) is used for applying a constant forward rotation moment to the roll driving gear (25), the constant forward rotation moment is equal to the moment that the load meets the rigidity requirement, and the roll driving gear (25) is always under the action of the constant forward rotation moment; the roll position driving assembly (24) is used for driving the roll driving gear (25) to act according to corresponding instructions to realize roll adjustment;
the MCU (27) is used for sending instructions to the azimuth moment driving component (8), the azimuth position driving component (10), the pitching moment driving component (23), the pitching position driving component (20), the rolling moment driving component (26) and the rolling position driving component (24) to realize azimuth, pitching and rolling adjustment; meanwhile, according to the feedback of the azimuth shaft encoder (41), the pitch shaft encoder (42) and the roll shaft encoder (43), the transmission error of the corresponding shaft is determined, instructions are sent to the azimuth torque driving assembly (8), the pitch torque driving assembly (23) and the roll torque driving assembly (26) respectively, the magnitude of the output torque is adjusted, and the rotation rigidity of the corresponding shaft is adjusted until the transmission error of the corresponding shaft meets the set requirement.
2. The adjustable rigidity three-dimensional test turret according to claim 1, wherein: the azimuth moment driving component (8) comprises an azimuth moment servo driver (29), an azimuth moment servo motor (17), an azimuth moment planetary reducer (18), an azimuth moment driving gear (19) and an azimuth moment encoder (16); the azimuth torque driving gear (19) is meshed with the azimuth driving gear (9); the azimuth torque servo driver (29) is used for receiving an instruction of the MCU (27) to control the azimuth torque servo motor (17); the azimuth torque servo motor (17) works in a torque servo mode and is used for driving an azimuth torque driving gear (19) to act on the azimuth driving gear (9) through an azimuth torque planetary reducer (18) under the control of an azimuth torque servo driver (29); the azimuth moment encoder (16) is arranged on the azimuth moment servo motor (17) and is used for feeding back the current rotation angle position of the azimuth moment servo motor (17) to the azimuth moment servo driver (29);
the azimuth position driving assembly (10) comprises an azimuth position servo driver (28), an azimuth position servo motor (13), an azimuth position planetary reducer (14), an azimuth position driving gear (15) and an azimuth position encoder (11), wherein the azimuth position driving gear (15) is meshed with the azimuth driving gear (9); the azimuth position servo driver (28) is used for receiving an instruction of the MCU (27) to control the azimuth position servo motor (13); the azimuth position servo motor (13) works in a position servo mode and is used for driving the azimuth position driving gear (15) to act on the azimuth driving gear (9) through the azimuth position planetary reducer (14) under the control of an azimuth position servo driver (28); the azimuth position encoder (11) is mounted on the azimuth position servo motor (13) and used for feeding back the current rotation angle position of the azimuth position servo motor (13) to the azimuth position servo driver (28).
3. The adjustable rigidity three-dimensional test turret according to claim 2, wherein: the pitching moment driving component (23) comprises a pitching moment servo driver (31), a pitching moment servo motor, a pitching moment planetary reducer, a pitching moment driving wheel (231) and a pitching moment encoder; the pitch moment drive wheel (231) is meshed with a pitch moment drive gear (22); the pitching moment servo driver (31) is used for receiving an instruction of the MCU (27) to control the pitching moment servo motor; the pitching moment servo motor works in a moment servo mode and is used for driving a pitching moment driving wheel (231) to act on the pitching moment driving gear (22) through a pitching moment planetary reducer under the control of a pitching moment servo driver (31); the pitching moment encoder is arranged on the pitching moment servo motor and used for providing the feedback of the current rotation angle position of the pitching moment servo motor for the pitching moment servo driver (31);
the pitching position driving component (20) comprises a pitching position servo driver (30), a pitching position servo motor, a pitching position planetary reducer, a pitching position driving wheel (201) and a pitching position encoder, wherein the pitching position driving wheel (201) is meshed with the pitching position driving gear (21); the pitching position servo driver (30) is used for receiving an instruction of the MCU (27) to control the pitching position servo motor; the pitch position servo motor works in a position servo mode and is used for driving a pitch position driving wheel (201) to act on a pitch position driving gear (21) through a pitch position planetary reducer under the control of a pitch position servo driver (30); the pitch position encoder is mounted on the pitch position servo motor and used for feeding back the current rotation angle position of the pitch position servo motor to the pitch position servo driver (30).
4. The adjustable rigidity three-dimensional testing turret according to claim 3, wherein: the roll moment driving component (26) comprises a roll moment servo driver (33), a roll moment servo motor, a roll moment planetary reducer, a roll moment driving gear (261) and a roll moment encoder; the roll torque drive gear (261) is meshed with the roll drive gear (25); the roll moment servo driver (33) is used for receiving an instruction of the MCU (27) to control a roll moment servo motor; the roll moment servo motor works in a moment servo mode and is used for driving a roll moment driving gear (261) to act on the roll driving gear (25) through a roll moment planetary reducer under the control of a roll moment servo driver (33); the roll moment encoder is arranged on the roll moment servo motor and used for feeding back the current rotating angle position of the roll moment servo motor to the roll moment servo driver (33);
the roll position driving assembly (24) comprises a roll position servo driver (32), a roll position servo motor, a roll position planetary reducer, a roll position driving gear (241) and a roll position encoder, wherein the roll position driving gear (241) is meshed with the roll driving gear (25); the roll position servo driver (32) is used for receiving an instruction of the MCU (27) to control a roll position servo motor; the roll position servo motor works in a position servo mode and is used for driving a roll position driving gear (241) to act on a roll driving gear (25) through a roll position planetary reducer under the control of a roll position servo driver (32); the roll position encoder is mounted on the roll position servo motor and is used for providing the roll position servo driver (32) with current rotation angle position feedback of the roll position servo motor.
5. The adjustable rigidity three-dimensional testing turret according to claim 4, wherein: the base (1) is a cross-shaped box body, the azimuth driving gear (9) is positioned in the center of the cross-shaped box body, and the azimuth moment driving component (8) and the azimuth position driving component (10) are oppositely arranged on two sides of the azimuth driving gear (9); the azimuth moment drive gear (19) is meshed with the azimuth position drive gear (15) on opposite sides of the azimuth drive gear (9).
6. The adjustable rigidity three-dimensional testing turret according to claim 5, wherein: the azimuth moment driving gear (19) and the azimuth position driving gear (15) are bevel gears.
7. The adjustable rigidity three-dimensional testing turret of claim 6, wherein: the pitching support (2) is a U-shaped frame, and a cross beam of the U-shaped frame is fixed on the base (1) through an azimuth shaft (7); the pitching moment driving gear (22) and the pitching moment driving assembly (23) are positioned in the vertical frame on one side, and the pitching position driving gear (21) and the pitching position driving assembly (20) are positioned in the vertical frame on the other side.
8. The adjustable rigidity three-dimensional test turret according to claim 7, wherein: the pitching moment driving wheel (231) and the pitching position driving wheel (201) are both bevel gears.
9. The adjustable rigidity three-dimensional test turret according to claim 8, wherein: the roll support (3) is a rectangular frame, the roll driving gear (25) is located on the side wall of the rectangular frame, the roll moment driving component (26) and the roll position driving component (24) are arranged in the rectangular frame in parallel, and the roll moment driving gear (261) and the roll position driving gear (241) are meshed on two opposite sides of the roll driving gear (25).
10. The adjustable rigidity three-dimensional test turret according to claim 9, wherein: the roll moment driving gear (261), the roll position driving gear (241) and the roll driving gear (25) are straight gears.
11. The adjustable rigidity three-dimensional test turret according to claim 10, wherein: the workbench (5) is fixed inside the transverse rolling support (3) through a transverse rolling shaft (4).
12. A rigidity adjusting method of the rigidity-adjustable three-dimensional test turntable according to any one of claims 1 to 11, comprising the steps of:
step 1, respectively calculating moments Ty, Tp and Tr meeting the requirements of load on the rotation rigidity of an azimuth shaft (7), a pitch shaft (6) and a transverse roller (4) according to the load size and the rotation rigidity requirements;
step 2, the MCU (27) respectively sends instructions to the azimuth moment driving component (8), the pitching moment driving component (23) and the roll moment driving component (26); enabling the azimuth torque driving component (8) to apply a constant positive rotation torque Ty2 to the azimuth driving gear (9), so that the azimuth driving gear (9) is always subjected to the torque and has a positive rotation trend, wherein Ty2 is equal to Ty; enabling the pitch moment driving component (23) to apply a constant positive rotation moment Tp2 to the pitch moment driving gear (22), enabling the pitch driving gear to be always subjected to the moment and have a positive rotation trend, wherein Tp2 is equal to Tp; the roll moment driving assembly (26) applies a constant positive rotation moment Tr2 to the roll driving gear (25), so that the roll driving gear (25) is always subjected to the moment and has a positive rotation trend, wherein Tr2 is equal to Tr;
step 3, the MCU (27) respectively sends instructions to the azimuth position driving component (10), the pitch position driving component (20) and the roll position driving component (24) according to the turntable action command, and respectively drives the azimuth driving gear (9), the pitch position driving gear (21) and the roll driving gear (25) to act, so that azimuth, pitch and roll rotation motion is realized;
step 4, the MCU (27) acquires feedback data of the azimuth shaft encoder (41), the pitch shaft encoder (42) and the roll shaft encoder (43), and analyzes the transmission error of the corresponding shaft; the method comprises the steps of sending commands to an azimuth moment driving assembly (8), a pitching moment driving assembly (23) and a rolling moment driving assembly (26) respectively, adjusting the magnitude of a constant forward rotation moment Ty2 applied to an azimuth driving gear (9) by the azimuth moment driving assembly (8), adjusting the magnitude of a constant forward rotation moment Tp2 applied to a pitching moment driving gear (22) by the pitching moment driving assembly (23), adjusting the magnitude of a constant forward rotation moment Tr2 applied to a rolling driving gear (25) by the rolling moment driving assembly (26), and adjusting the rotation rigidity of corresponding shafts until transmission errors meet set requirements.
13. The rigidity adjusting method of the three-dimensional test turntable with the adjustable rigidity according to claim 12, wherein the step 3 is specifically:
when the pitching support (2) needs to be static, the MCU (27) sends an instruction to the azimuth position servo driver (28), so that the azimuth position servo driver (28) controls the azimuth position servo motor (13) to be in a locking state;
when the pitching support (2) needs to rotate forwards, the MCU (27) sends a command to the azimuth position servo driver (28), so that the azimuth position servo driver (28) controls the azimuth position servo motor (13) to work in a position servo mode, and the torque Ty1 generated by the azimuth position servo motor (13) is less than Ty2 at the moment;
when the pitching support (2) needs to rotate reversely, the MCU (27) sends a command to the azimuth position servo driver (28), so that the azimuth position servo driver (28) controls the azimuth position servo motor (13) to drive the azimuth driving gear (9) to rotate reversely, and the torque Ty1 generated by the azimuth position servo motor (13) is more than Ty 2;
when the roll support (3) needs to be static, the MCU (27) sends an instruction to the pitching position servo driver (30), so that the pitching position servo driver (30) controls the pitching position servo motor to be in a locking state;
when the roll bracket (3) needs to rotate in the forward direction, the MCU (27) sends a command to the pitch position servo driver (30), so that the pitch position servo driver (30) controls the pitch position servo motor to work in a position servo mode, and the torque Tp1 generated by the pitch position servo motor is less than Tp 2;
when the roll bracket (3) needs to rotate reversely, the MCU (27) sends a command to the pitch position servo driver (30), so that the pitch position servo driver (30) controls the pitch position servo motor to drive the pitch position driving gear (21) to rotate reversely, and the torque generated by the pitch position servo motor at the moment is Tp1> Tp 2;
when the workbench (5) needs to be static, the MCU (27) sends an instruction to the roll position servo driver (32), so that the roll position servo driver (32) controls the roll position servo motor to be in a locking state;
when the workbench (5) needs to rotate in the forward direction, the MCU (27) sends a command to the roll position servo driver (32) to enable the roll position servo driver (32) to control the roll position servo motor to work in a position servo mode, and the torque Tr1 generated by the roll position servo motor is less than Tr 2;
when the workbench (5) needs to rotate reversely, the MCU (27) sends a command to the roll position servo driver (32), so that the roll position servo driver (32) controls the roll position servo motor to drive the roll driving gear (25) to rotate reversely, and the torque generated by the roll position servo motor is the torque Tr1> Tr 2.
14. The rigidity adjusting method of the rigidity-adjustable three-dimensional testing turntable according to claim 12, wherein the step 4 is specifically:
step 4.1, the MCU (27) acquires feedback data of the azimuth axis encoder (41), the pitch axis encoder (42) and the roll axis encoder (43), and analyzes real-time transmission errors of the azimuth axis (7), the pitch axis (6) and the roll axis (4);
step 4.2, comparing the real-time transmission error of each shaft with a target transmission error, and if the real-time transmission error is larger than the target transmission error, sending an instruction to the corresponding torque driving component to increase the constant forward rotation torque value applied to the corresponding driving gear by the corresponding torque driving component; if the real-time transmission error is smaller than the target transmission error, sending an instruction to the corresponding torque driving component, and reducing a constant forward rotation torque value applied to the corresponding driving gear by the corresponding torque driving component;
and 4.3, returning to the step 4.1 until the real-time transmission error is equal to the target transmission error.
15. A rigidity adjusting method of the rotary rigidity-adjustable three-dimensional test turntable according to any one of claims 1 to 11, comprising the steps of:
step 1, respectively calculating moments Ty, Tp and Tr meeting the requirements of load on the rotation rigidity of an azimuth shaft (7), a pitch shaft (6) and a transverse roller (4) according to the load size and the rotation rigidity requirements;
step 2, manually setting a torque value, so that the azimuth torque driving component (8) applies a constant forward rotation torque Ty2 to the azimuth driving gear (9), and the azimuth driving gear (9) is always subjected to the torque and has a forward rotation trend, wherein Ty2 is equal to Ty; enabling the pitch moment driving component (23) to apply a constant positive rotation moment Tp2 to the pitch moment driving gear (22), enabling the pitch driving gear to be always subjected to the moment and have a positive rotation trend, wherein Tp2 is equal to Tp; the roll moment driving assembly (26) applies a constant positive rotation moment Tr2 to the roll driving gear (25), so that the roll driving gear is always subjected to the moment and has a positive rotation trend, wherein Tr2 is equal to Tr;
and 3, the MCU27 sends instructions to corresponding servo drivers according to the turntable action commands, so that the azimuth position driving component (10), the pitch position driving component (20) and the roll position driving component (24) respectively drive the azimuth driving gear (9), the pitch position driving gear (21) and the roll driving gear (25) to act, and azimuth, pitch and roll adjustment is realized.
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