CN201828276U - Small two-axis turntable based on stepping motors - Google Patents
Small two-axis turntable based on stepping motors Download PDFInfo
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- CN201828276U CN201828276U CN2010205355375U CN201020535537U CN201828276U CN 201828276 U CN201828276 U CN 201828276U CN 2010205355375 U CN2010205355375 U CN 2010205355375U CN 201020535537 U CN201020535537 U CN 201020535537U CN 201828276 U CN201828276 U CN 201828276U
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Abstract
The utility model relates to a small two-axis turntable based on stepping motors, which belongs to the detection field of motion simulation and inertial navigation equipment. The small two-axis turntable based on the stepping motors mainly includes a base, a lower supporting structure, a lower-layer motor as well as a U-shaped frame, an upper-layer motor and an upper shaft line, a mounting frame and an electric system. The lower-layer motor is vertically arranged and the upper-layer motor is horizontally arranged. DSP (Digital Signal Processor) transmits pulse control signals to two drivers to drive the upper stepping motor and the lower stepping motor. Inertial navigation combinations such as gyroscopes and accelerometers can be arranged on the mounting frame; moreover, data can be read through the series port of the DSP, processed and then uploaded to an upper computer. The small two-axis turntable based on stepping motors has small error and high precision, can simulate the swinging postures of a two-wheeled robot, and can be used as a test platform for detecting the quality of a posture information algorithm. Moreover, the small two-axis turntable based on stepping motors can be used as a test platform for similar relevant motion simulations.
Description
Technical field
The utility model relates to a kind of minitype two-axle rotating table based on stepper motor, belongs to motion simulation, the inertial navigation equipment detection range.
Background technology
Turntable is as a kind of important motion simulation and inertial navigation testing apparatus, be mainly used in gyro test and Attitude Simulation, evaluate and test gyrostatic performance and quality,, measure in real time and show the angle of oscillation parameter as horizontal stroke, the pitching pendular motion of carriers such as tilter simulated flight device, car body or ship.
Turntable be simulate, the key equipment of motion simulation, test, the development of tradition inertial navigation test table is a very complicated technology, adopt air-bearing, magnetic levitation supporting construction, torque motor directly drives, polyphase induction motor or turbine and worm drive by servomotor, the combination of grating, end-toothed disc or inductosyn and optical encoder is as the angular position measurement element, utilize complicated advanced person's control algolithm, thereby realize high-precision measurement demand.These turntable precision height, but the R﹠D cycle is long, and volume is big, involves great expense.So, often in conjunction with actual needs, research and develop some small-sized motion simulations and inertial navigation testing apparatus, the utility model just is based on the minitype two-axle rotating table that double-wheel self-balancing robot attitude detection Study on Technology demand is researched and developed voluntarily.
The utility model content
The utility model has designed a kind of minitype two-axle rotating table based on stepper motor, by the stepping accuracy of micro-stepping driving of stepping motor device raising stepper motor, does not use driving member, makes the direct driven in rotation framework of stepper motor, reduces positioning error.Utilize the noncumulative characteristics of stepper motor error, adopt the powerful relatively motor of high-quality, and scrambler is as close-loop feedback, the error of avoiding step-out to bring.
The purpose of this utility model is a kind of attitude of waving that can simulate two wheel robots of design, and as the test platform of checking attitude information algorithm quality.And can be used as the test platform of similar relevant motion simulation.This platform comprises physical construction and electrical system.
The technical solution of the utility model is as follows:
A kind of minitype two-axle rotating table based on stepper motor.It is characterized in that: comprise fixedly base, time motor bracing frame, lower floor's motor, U type housing, upper strata motor, a last system, erecting frame, lower floor's motor driver, upper strata motor driver, dsp controller, 24V Switching Power Supply and the electric power source distribution device of turntable; Wherein, following motor bracing frame, lower floor's motor driver, upper strata motor driver, dsp controller, 24V Switching Power Supply and electric power source distribution device all directly are fixedly connected on the base, following motor bracing frame top is fixedly connected with lower floor's motor, be fixedly connected with U type housing on lower floor's motor, U type housing is provided with axle system and upper strata motor; Lower floor's motor is vertically placed, and drive U type housing and rotate, the false course angle, upper strata motor horizontal positioned, with lower floor's motor quadrature attitude, upper strata driven by motor erecting frame rotates around horizontal line, the simulation angle of pitch; Dsp controller is controlled two drivers respectively and is driven two motors up and down.
Described U type housing is made up of base plate, support end side plate, motor side side plate; Be processed with groove on the base plate, two side plate bottoms are stuck in the groove, again by screw retention; Base plate and lower floor's motor are fixedly linked, and base plate middle part is porose, and be coaxial with the hollow hole of lower floor motor, is convenient to the wiring of upper strata motor; Be provided with coaxial aperture on two side plates and be used for fixing axle.
The described axle system of going up has proposed two cover solutions:
(1) the described axle system of going up comprises motor side axle system, support end axle system and erecting frame, and described motor side axle is both sides fixedly connected support end axle and upper strata motors respectively, and described support end axle is fixedly connected another support end axle; Described erecting frame comprises pair of side plates and installation panel, and side plate links to each other with the support end axle of both sides respectively, and sensor is installed on the installation panel; Erecting frame side plate upper and lower side is provided with four holes, thereby makes turntable become split-type structural I type turntable.Wherein, two holes are coaxial on the erecting frame side plate when U type platform support end side plate bottom is left two holes with vertical the placement, can be by a hole and the tightening of U type housing idle on the erecting frame side plate, and the maintenance erecting frame is relative static with U type housing.
(2) the described axle system of going up comprises motor side axle system, support end axle system, and described motor side axle is both sides fixed connection shaft and upper strata motors respectively, and described support end axle is the fixed connection shaft other end; Described axle center section excises half, exposes a plane, and sensor is fixed on the axle by the threaded hole of reserving after installing panel, thereby makes the turntable formula structure I I type turntable that becomes one.
Split type being convenient to assembled, and erection space is big.Integral structure is simple, and alignment error is little.And in the two sets of plan except the axle difference, other parts can be shared, can implement respectively according to different situations.
Described motor is all stepper motor; Described lower floor motor is selected the integral type rotation platform of hollow for use, has avoided direct use motor-driven, supports steadily, allows that torque improves, and allows axial load, allows that statical moment improves, and realize the hi-Fix of no backlash.Simple for structure, the convenient again wiring of the bore of hollow.And described lower floor motor adopts out-of-step free motor, and inside has closed-loop device, and the sensor of built-in detection rotor position can automatically switch, and transfers closed-loop control to when being about to step-out, and load change rapidly, promptly quickens also not little shaking; Described upper strata motor has photoelectric encoder, can detect the state of motor at any time.
Described base is the plain cast iron material; Described motor bracing frame down adopts high-quality 45# carbon steel to process, two parallel placements of bracing frame that specification is the same, and lower floor's motor level is placed on it, is fixed by screw calcaneus branches frame and base; Described axle adopts Fine Steel Casting iron processing, and U type housing and other upper layer part part all adopt high strength duralumin to process.
Adopt the C2000 series DSP controller control motor of TI, feature richness, the arithmetic speed height, digital signal processing capability is strong, and host computer is controlled motor by DSP, and DSP receives the data of handling the erecting frame upper sensor simultaneously, is uploaded to host computer again, compares.
Beneficial effect
The system of diaxon up and down of the minitype two-axle rotating table based on stepper motor of the present utility model adopts classical U-T structure, improve the stepping accuracy of stepper motor by the micro-stepping driving of stepping motor device, it does not use driving member, makes the direct driven in rotation framework of stepper motor, has reduced positioning error.
Description of drawings
Fig. 1 the utility model is based on minitype two-axle rotating table (I type) structural drawing of stepper motor;
Fig. 2 the utility model axle system-support end sectional view;
Fig. 3 the utility model axle system-motor side sectional view;
Fig. 4 the utility model erecting frame structural drawing;
Fig. 5 the utility model U type housing and the fixing aperture synoptic diagram of using of last axle erecting frame;
Fig. 6 the utility model is based on the minitype two-axle rotating table II type structural drawing of stepper motor;
Axle is a sectional view on Fig. 7 the utility model II type;
Fig. 8 the utility model is based on the minitype two-axle rotating table electrical structure block diagram of stepper motor;
Fig. 9 the utility model is based on the minitype two-axle rotating table control flow chart of stepper motor;
Figure 10 (a) the utility model turntable I type top view;
Figure 10 (b) the utility model turntable I type left view;
Figure 11 (a) the utility model turntable II type front view;
Axle is fastened view on Figure 11 (b) the utility model turntable II type;
Figure 11 (c) the utility model turntable II type right view;
Figure 12 the utility model motor mount synoptic diagram.
Among the figure: 1-turret base, 2-lower floor electric machine support, 3-lower floor motor, 4-U type housing, 5-upper strata motor, 6-II profile shaft, 7-motor side axle system, 8-support end axle system, 9-I type erecting frame, 10-lower floor motor driver, 11-upper strata motor driver, 12-DSP controller, the 13-24V Switching Power Supply, 14-electric power source distribution device, 15-support end end cap, 16-support end circlip for shaft, 17-I type support end axle, 18-U type frame support end side plate, 19-I type motor side axle, 20-U type frame motor side side plate, 21-rolling bearing, the 22-bearing (ball) cover, the 23-motor mount, 24-bearing sleeve, 25-erecting frame side plate, 26-erecting frame panel, 27-acrylic installation panel.
Embodiment
Below in conjunction with accompanying drawing 1-12, the utility model is further specified embodiment:
A kind of minitype two-axle rotating table based on stepper motor of the present utility model comprises fixedly base 1, time motor bracing frame 2, lower floor's motor 3, U type housing 4, upper strata motor 5, a last system, erecting frame 9, lower floor's motor driver 10, upper strata motor driver 11, dsp controller 12,24V Switching Power Supply 13 and the electric power source distribution device 14 of turntable; Wherein, following motor bracing frame 2, lower floor's motor driver 10, upper strata motor driver 11, dsp controller 12,24V Switching Power Supply 13 and electric power source distribution device 14 all directly are fixedly connected on the base 1, following motor bracing frame 2 tops are fixedly connected with lower floor's motor 3, be fixedly connected with U type housing 4 on lower floor's motor 3, U type housing 4 is provided with axle system and upper strata motor 5; Lower floor's motor 3 is vertically placed, and drive U type housing 4 and rotate, the false course angle, upper strata motor 5 horizontal positioned, with lower floor's motor 3 quadrature attitudes, upper strata motor 5 drives erecting frame 9 and rotate around horizontal line, simulates the angle of pitch; Dsp controller 12 is controlled two drivers 10,11 respectively and is driven two motors 3,5 up and down.
At first electric part of the present utility model is described in conjunction with Fig. 1.Electric part of the present utility model comprises lower floor's stepper motor 3, upper strata stepper motor 5, lower floor's stepper motor driver 10, upper strata stepper motor driver 11, dsp controller 12,24V Switching Power Supply 13, electric power source distribution device 14.Controller sends a signal to two drivers respectively, and drive motor rotates by the program that prelists.
What motor 3 was selected for use is the hollow rotating formula gearing DG60 series of east motor, and deep-groove bearing and rotation platform are integrated, allows that torque improves, and is 0.9N*m, and installation dimension is 60mm, allows statical moment 2N*m.What this platform adopted is out-of-step free motor, and the sensor of built-in detection rotor position transfers closed-loop control to when being about to step-out, and load change rapidly, promptly quickens also not little shaking.Realize the hi-Fix of no backlash.Bearing accuracy is at ± 15sec repeatedly, the convenient again wiring of idle running 2min, the bore of hollow.Supporting driver 10 has the fourth gear switch, is up to 180000P/R, 0.002 °/setp.
That motor 5 is selected for use is 5 phase step motor CRK543AP of east motor, cooperate micro-stepping driver 11 with level and smooth driving function, can between list/dipulse input, switch, the photo-coupler input specification adopts the connector of being with the security lock function, drives in the micro-stepping mode, reach lower vibrations, more the effect of low noise can be provided with 16 kinds of cloth elongation, and minimum basic cloth elongation with motor is done 1/250 cut apart.
That the acp chip of DSP control panel 12 adopts is the TMS320F 2812 that TI company produces, this processor adopting be improved Harvard bus structure, there are data bus and program bus in inside.Clock frequency can reach 150MHZ.
Electric power source distribution device 14 is a North China industry control PW-4512 power module, converts Switching Power Supply to controller, motor, sensor required voltage, input voltage: 16-40V DC, output voltage: ATX:+3.3V@5A ,+5V/+5VSB@5A ,+12V@5A ,-12V@0.8A.
Below in conjunction with Fig. 1 to Fig. 7 mechanical part of the present utility model is described.Physical construction of the present utility model is clear, and cost is low, is convenient to realize.Except that specified otherwise, adopt high-intensity duralumin to process without exception, alleviate overall quality when satisfying rigidity requirement as far as possible.
Following motor bracing frame 2 processes for Fine Steel Casting iron 45# steel, two parallel placements of support that specification is the same, and lower floor's motor 3 levels are placed on it, fixed by screw calcaneus branches frame and base.Support has the requirement of flatness, the depth of parallelism and verticality.Guarantee the accuracy requirement of motor 3 horizontal positioned.
U type housing 4 specifications are 200mm * 60mm * 120mm, are made up of base plate, support end side plate 18, motor side side plate 20 respectively, are processed with groove on the base plate, the side plate bottom is stuck in the groove, by screw retention, whole requirement on machining accuracy is higher again, guarantees the verticality of side plate and base plate.Base plate and lower floor's motor 3 are fixedly linked, and base plate middle part is porose, and be coaxial with the hollow hole of lower floor motor 3, is convenient to the wiring of upper strata motor.Two side plates have the coaxial aperture of diameter 32mm apart from top 30mm place.
The support end axle is 8 to comprise that the support end side plate of axle 6, rolling bearing 21, circlip for shaft 16, axle head fixed cap 15 and U type housing forms.Shaft material is a Fine Steel Casting iron 45# steel, and intensity is higher, is widely used.Axial length 31mm, axle head diameter 15mm, the diameter 19mm of shoulder block place.Because rolling bearing mainly bears radial load in the utility model, bearing is elected deep groove ball bearing 16002 as, and friction factor is little, and the limit speed height is simple in structure, easy to use.Circlip for shaft 16 meets national GB/T 894 standards, and the diameter of axle is 15.Rolling bearing lateral surface and U type housing side plate 18 outer side plane coplanes, axle head fixed cap 15 internal diameters are 28mm, block rolling bearing after fixing and outwards move.
The motor side axle is 7 to comprise axle, rolling bearing 21, bearing (ball) cover 22, motor mount 23, and bearing sleeve 24, U type housing motor side side plate 20 are formed.It should be noted that, as shown in Figure 3, rolling bearing lateral surface and U type housing motor side side plate lateral surface coplane, and U type housing motor side side plate inboard adds the bearing of reserving 4mm man-hour shoulder block, and aperture, shoulder block place is 28mm, is used to block the inboard anti-sliding stop of rolling bearing, there is bearing (ball) cover 22 in the bearing outside, it is fastening to constitute both sides, ring in bearing sleeve 24 clamping stopper bearings, but on have through hole fixed electrical machinery axle to mill face.Motor mount (Figure 12) end has two mouths, is convenient to the screw on the fastening bearing sleeve.
Erecting frame 9 comprises pair of side plates 25, installation panel 26 compositions, and side plate links to each other with two axles of I type respectively, and sensor is installed on the installation panel.Need to prove erecting frame when placing perpendicular to surface level, it is coaxial and big or small identical that there are two holes in two holes and support end side plate 18 bottoms in four holes of side plate top and the bottom, can be fixing by this hole contrast when need not the axle rotation.
As Fig. 6, Figure 7 shows that turntable II type, be that with I type difference two minor axises are connected as a single entity, structure is compact more, an axle center section excises half, exposes a plane, is fixed on the axle by the threaded hole of reserving after sensor can being installed panel.
Benq is in the principle of work and the control procedure of the minitype two-axle rotating table of stepper motor below in conjunction with Fig. 8, Fig. 9.After system powers on, at first carry out initialization, the turntable levels is revert to relative zero, the record original state, the user sends instruction by host computer then, and DSP receives the instruction back and sends pulse signal to driver, the drive stepping motor running.Lower floor's motor internal has closed-loop device, can automatically switch, and guarantees out-of-step freely, and the upper strata motor adds photoelectric encoder, detects the state of motor at any time, if find step-out, feeds back to DSP, so constitutes closed loop, guarantees that motor is by the accurate running of instruction.Sensor places on the erecting frame, when turntable rotates signal is passed to DSP, and DSP inside is mounted with the relevant data anastomosing algorithm that is used for attitude detection, calculate the attitude information of turntable, and send to host computer in real time, after host computer obtains correlation data, can check the attitude detection algorithm effects.
More than be an exemplary embodiments of the present utility model, enforcement of the present utility model is not limited thereto.
Claims (7)
1. the minitype two-axle rotating table based on stepper motor is characterized in that: comprise the fixedly base of turntable (1), time motor bracing frame (2), lower floor's motor (3), U type housing (4), upper strata motor (5), a last system, erecting frame (9), lower floor's motor driver (10), upper strata motor driver (11), dsp controller (12), 24V Switching Power Supply (13) and electric power source distribution device (14); Wherein, following motor bracing frame (2), lower floor's motor driver (10), upper strata motor driver (11), dsp controller (12), 24V Switching Power Supply (13) and electric power source distribution device (14) all directly are fixedly connected on the base (1), following motor bracing frame (2) top is fixedly connected with lower floor's motor (3), be fixedly connected with U type housing (4) on lower floor's motor (3), U type housing (4) is provided with axle system and upper strata motor (5); Lower floor's motor (3) is vertical to be placed, and drive U type housing (4) and rotate, the false course angle, upper strata motor (5) horizontal positioned, with lower floor's motor (3) quadrature attitude, upper strata motor (5) drives erecting frame (9) and rotates around horizontal line, the simulation angle of pitch; Dsp controller (12) is controlled two drivers (10,11) respectively and is driven two motors (3,5) up and down.
2. the minitype two-axle rotating table based on stepper motor according to claim 1 is characterized in that: described U type housing (4) is made up of base plate, support end side plate (18), motor side side plate (20); Be processed with groove on the base plate, two side plates (18,20) bottom is stuck in the groove, again by screw retention; Base plate and lower floor's motor (3) are fixedly linked, and the base plate middle part is porose, and is coaxial with the hollow hole of lower floor's motor (3); Be provided with coaxial aperture on two side plates (18,20) and be used for fixing axle (6).
3. the minitype two-axle rotating table based on stepper motor according to claim 2, it is characterized in that: the described axle system of going up comprises motor side axle system (7), support end axle system (8) and erecting frame (9), described motor side axle system's (7) both sides difference fixedly connected support end axle (17) and upper strata motor (5), described support end axle is (8) fixedly connected another support end axle (17); Described erecting frame (9) comprises pair of side plates (25) and installation panel (26), and side plate (25) links to each other with the support end axle (17) of both sides respectively, and sensor is installed on the installation panel (26); Erecting frame side plate (25) upper and lower side is provided with four holes.
4. the minitype two-axle rotating table based on stepper motor according to claim 3 is characterized in that: last two holes of erecting frame side plate (25) when U type platform support end side plate (18) bottom is left two holes with vertical the placement are coaxial.
5. the minitype two-axle rotating table based on stepper motor according to claim 2, it is characterized in that: the described axle system of going up comprises motor side axle system (7), support end axle system (8), described motor side axle system's (7) both sides difference fixed connection shaft (6) and upper strata motor (5), described support end axle is (8) fixed connection shaft (6) other end; Described axle (6) center section excises half, exposes a plane, and sensor is installed panel (27) back and is fixed on the axle (6) by the threaded hole of reserving.
6. the minitype two-axle rotating table based on stepper motor according to claim 1 is characterized in that: described motor (3,5) is all stepper motor; Described lower floor motor (3) is selected the integral type rotation platform of hollow for use, and described lower floor motor (3) adopts out-of-step free motor, and inside has closed-loop device; Described upper strata motor (5) has photoelectric encoder.
7. according to the described minitype two-axle rotating table based on stepper motor of arbitrary claim among the claim 1-6, it is characterized in that: described base (1) is the plain cast iron material; Described motor bracing frame (2) down adopts high-quality 45# carbon steel to process, two parallel placements of bracing frame that specification is the same, and lower floor's motor (3) level is placed on it, is fixed by screw calcaneus branches frame and base; Described axle (6) adopts Fine Steel Casting iron processing, and U type housing (4) and other upper layer part part all adopt high strength duralumin to process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205355375U CN201828276U (en) | 2010-09-17 | 2010-09-17 | Small two-axis turntable based on stepping motors |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205355375U CN201828276U (en) | 2010-09-17 | 2010-09-17 | Small two-axis turntable based on stepping motors |
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| CN201828276U true CN201828276U (en) | 2011-05-11 |
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| CN2010205355375U Expired - Fee Related CN201828276U (en) | 2010-09-17 | 2010-09-17 | Small two-axis turntable based on stepping motors |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103048872A (en) * | 2013-01-19 | 2013-04-17 | 杭州图方科技有限公司 | Full-automatic numerical control camera calibration system |
| CN103697913A (en) * | 2013-12-17 | 2014-04-02 | 陕西宝成航空仪表有限责任公司 | Rotary table fixture for testing aircraft course precision |
| CN103697909A (en) * | 2013-12-13 | 2014-04-02 | 上海交通大学 | Guide rail sliding block type disc micro-mechanical solid fluctuation gyroscope packaging device and method |
| CN104117981A (en) * | 2013-04-23 | 2014-10-29 | 北京卫星环境工程研究所 | Outward turning type double-shaft rotary table based on electric push rod |
| CN110763254A (en) * | 2019-10-17 | 2020-02-07 | 哈尔滨工程大学 | Double-shaft indexing mechanism based on MEMS navigation system and calibration method thereof |
| CN112729338A (en) * | 2020-12-23 | 2021-04-30 | 北京航空航天大学 | Magnetic suspension turntable with fifteen degrees of freedom applied to semi-physical simulation platform |
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2010
- 2010-09-17 CN CN2010205355375U patent/CN201828276U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103048872A (en) * | 2013-01-19 | 2013-04-17 | 杭州图方科技有限公司 | Full-automatic numerical control camera calibration system |
| CN103048872B (en) * | 2013-01-19 | 2015-07-08 | 吴军 | Full-automatic numerical control camera calibration system |
| CN104117981A (en) * | 2013-04-23 | 2014-10-29 | 北京卫星环境工程研究所 | Outward turning type double-shaft rotary table based on electric push rod |
| CN104117981B (en) * | 2013-04-23 | 2016-10-05 | 北京卫星环境工程研究所 | Eversion type two-axle rotating table based on electricity push rod |
| CN103697909A (en) * | 2013-12-13 | 2014-04-02 | 上海交通大学 | Guide rail sliding block type disc micro-mechanical solid fluctuation gyroscope packaging device and method |
| CN103697909B (en) * | 2013-12-13 | 2016-06-01 | 上海交通大学 | Guide rail slider type disc type micromechanics solid fluctuation gyro encapsulation device and method |
| CN103697913A (en) * | 2013-12-17 | 2014-04-02 | 陕西宝成航空仪表有限责任公司 | Rotary table fixture for testing aircraft course precision |
| CN103697913B (en) * | 2013-12-17 | 2016-02-03 | 陕西宝成航空仪表有限责任公司 | For the turntable clamper of testing airplane course precision |
| CN110763254A (en) * | 2019-10-17 | 2020-02-07 | 哈尔滨工程大学 | Double-shaft indexing mechanism based on MEMS navigation system and calibration method thereof |
| CN112729338A (en) * | 2020-12-23 | 2021-04-30 | 北京航空航天大学 | Magnetic suspension turntable with fifteen degrees of freedom applied to semi-physical simulation platform |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110511 Termination date: 20150917 |
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| EXPY | Termination of patent right or utility model |