CN207069808U - A kind of three axles directly turn platform - Google Patents

Abstract

The utility model discloses a kind of three axles directly to turn platform, including pitching frame, pitching frame is connected with pitching rotary shaft, one end of pitching rotary shaft connects the rotor of the first motor, the other end of pitching rotary shaft is provided with the first encoder, the bottom of pitching platform is fixedly connected with the periphery of pitching rotary shaft, the base that a vertical straight turns platform is fixedly connected with the top of pitching platform, the bottom of pitching frame is fixedly connected on another vertical straight and turned on the table with revolvable top of platform, the base that vertical straight turns platform is fixedly connected with the second motor, the rotor of second motor passes through axis connection table with revolvable top of transferring, second encoder is provided with Coupling Shaft, first encoder connects the first motor and the second motor with second encoder by servo-control system.Reasonable in design, simple in construction, permanent-magnetic synchronous motor rotor directly drives each turntable, reduces driving-chain, improves transmission efficiency；Progressive number controlled motor operates, and control accuracy is high；Turntable operation noise is small, easy to maintenance.

Description

A kind of three axles directly turn platform

Technical field

Turntable technical field is the utility model is related to, it particularly relates to which a kind of three axles directly turn platform.

Background technology

The flourishing country of some space technologies in the world, such as development of the U.S., the former Soviet Union, Germany, France all to turntable Very big energy is put into.Their Development Level has evolved to certain height.The particularly U.S., it is to develop turntable Start to walk one of earliest country, its turntable Development Techniques is constantly in status advanced in the world.The U.S. is in turntable manufacturer at present Face, quantitatively, measurement accuracy, occupy first place in the world in kind or all in terms of test automation degree, represent World today's highest level.

The First turntable A type turntables being born in the world in Massachusetts Institute Technology's Instrumentation Laboratory in 1945.Adopt With common ball bearing, driven with alternating current torque motor, angular position measurement element uses ball sensitive switch.Due to using Components accuracy than relatively low, and rawness can be used for reference, and this turntable deposits many shortcomings, and precision is also very low, is practically without throwing Enter to use.B type servo turntables have been succeeded in developing in 1950 in succession later, C type turntables have been have developed within 1953, with essence Close gear instead of direct drive unit.D type turntables come into operation within 1954, and this turntable employs accurate taper roller Bearing, Angle Position read-out device use photoelectric angular measurement system, indicate that turntable enters an advanced stage.Latter stage in the 60's, The turntable that the U.S. develops, which starts to adopt, to computerized control, and 3768 types, the 3769 type single shafts produced such as Fick system branch company turn Platform and 5768 types, 5769 type double axle tables；5769 type turntables also achieve computer automation testing, and this turntable can divide Servo condition, no-load speed state, secondary rate state, digit position state and auto-programming displaced condition etc. are not worked in. CCJC companies of the U.S. are at the beginning of the 60's ends to the 70's, 51 serial twin shaft air bearing testboards of development and production.70 53 serial three-axle tables of age end development and production.It is worth mentioning that employ Modularized Precision Angle Position in the type turntable Control system MPACS（Modular Presicion Angular Control System）30H.30H series of products combine Modern electronic design and encapsulation technology, it is possible to provide various control and encoding function.Due to when designing MPACS each module All consider from being minimized to most functional requirements, so system can provide absolute angle or position control, it is position encoded and Accurate speed control.System structure design provides maximum expansion capacity, the functions of modules of 30H series for multiaxis test equipment Part, show the maintainability and using flexible of height.To the end of the seventies, U.S.'s test table has reached at a relatively high water It is flat, show precision height, high reliability, multipurpose, adopt and computerized control and data processing.Due in many cases, skill Art is horizontal, and oneself reaches border or ultimate precision, and the continuity and the force of habit of technology development.It is set to be difficult to quickly enter newly Developing stage.Therefore inertial navigation measuring technology enters a stage of a relative standstill, the technical merit of turntable in evolution Substantially maintain there is no major progress to the end of the eighties.

1984, many performance indications that CGS starts to develop improved three axis test desks ITAlrr, ITATT were represented and worked as The development level of modern inertial navigation testboard, development of many new technologies and measure used in design to Inertial Navigation Testing Device from now on come Say, be representative.In order to improve the performance of turntable, employed in the design of advanced three axis test desks of rrATT a series of Measure.In terms of bearing；Some existing test equipments using air bearing, and advanced three axis test desk employ it is active Magnetic levitation technology, so the rotating accuracy of axle can be brought up to 0.03 rad from 0.5 rad；The structural formula sample prescription face of testboard： Some existing testboards are using aluminium tower structure, and advanced three axis test desk then employs graphite composite material ball Shape shell structure, this improves symmetry and deflection characteristic；Some testboards of current version use in terms of driver It is AC/DC torque motor, and advanced three axis test desk then employs polyphase induction motor, so as to eliminate the teeth groove of motor Effect and torque fluctuations；In terms of angular position pick up：Some test equipments of current version use single inductosyn, and Advanced three axis test desks of ITATT then employ inductosyn and optical encoder combination, so that angle measurement accuracy is from 0.5 rad Bring up to less than 0.03 rad, control aspect：Some original testboards of CGC are using analog/digital technology, and advanced three Axis test desk employs digital state feedback technique, can so eliminate skew, and create condition for error compensation：Employ After stating technology, improved advanced three axis test desks ITATT synthesis pointing accuracy is up to 0.1 rad, the positioning precision of axle 0.03 rad, comprehensive technical indexes raise an order of magnitude.China's turntable is started in nineteen sixty-five, compared with 20 years evenings of the U.S., but sends out Speed or faster is opened up, gap is gradually reduced.1974, DT-1 type low speed turntables are developed into by 707,1975, It is similar with CGC 200 type turntables by the 303 SFT-1.1 type servo turntables being developed into, it is mainly used to carry out servo test .1979 year, China First two-axis servo turntable " 7191 " twin shaft air axle is developed into jointly by Harbin Institute of Technology, 441 factories and 6354 Forward platform.Nineteen eighty-two, " 7191-n " type double axle table is developed into by 6354.The turntable be on the basis of " 7191 " turntable, Improved in terms of precision, convenient operation, expanded function, raising reliability and increase stream time is improved.Nineteen eighty-three It is the maximum double axle table in China by 13 servo turntables of DPCT- II developed.It is 0.01 ° of m that it, which is designed to measure drift rate, Double degree of freedom gyro, free gyroscope and accelerometer.1985, the DPCT-n type turntables developed by Harbin Institute of Technology were for we The turntable of state First computer control, the turntable employ some popular technologies in the world, utilize advanced control Algorithm, turntable angle measurement accuracy is set to reach 1 rad, design objective is can to survey the gyro that drift rate is 0.001 °/h.Breathe out work within 1987 The CCGT type Gyro test turntables succeeded in developing jointly with 6354 greatly, for the dual-spindle testing turntable of computer control, it can test Drift rate is 0.001 ° of m gyro.Nineteen ninety, Ministry of Aviation 303 have been succeeded in developing the prompt even inertial navigation test of the axle of I types of SGT- three and turned Platform, the turntable use mechanical bearing, and its main performance index is.This axle rotating accuracy is ± 2 rads, and non-perpendicularity is 1 rad, Angle measurement accuracy is 1 rad.At present, Harbin Institute of Technology just developing or completing the axle test tables of HIT tri-, the triaxial synthesis testboards of GST- I, More than 20 turntables such as the single-axis servo platforms of CT- I, the axle test tables of CT- I 3, the axle artificial rotary table of optical imagery five.Zhejiang in 2008 Xun Ling Science and Technology Ltd.s set up, and the said firm is directed to the development and production of turntable always.In July, 2009 the said firm first Platform single-shaft superspeed rotary table is succeeded in developing and delivers to customer to use, and this turntable rotating speed can reach 50-20000rpm, breaks through country Top standard.In September, 2009 takes up research and development project of the twin shaft without magnetic turntable, and delivers use successively in May, 2010 Family uses, while this also breaches national advanced level without magnetic turntable, has applied for national patent.

Three current axles directly turn platform, the position of pitching, revolution can not in real time be monitored, have more intermediate transmission ring Section, response speed is slow, and platform stabilization is not high.

The problem of in correlation technique, effective solution is not yet proposed at present.

Utility model content

For the above-mentioned technical problem in correlation technique, the utility model proposes a kind of three axles directly to turn platform, same by permanent magnetism Motor direct-drive is walked, reduces intermediate transmission link, motor acceleration is big, fast response time and speed-regulating range width.Motor opens Stop realizing Close loop servo control by each back encoder signals, control accuracy is high, so that the load on turntable can track letter Number motion.

To realize above-mentioned technical purpose, what the technical solution of the utility model was realized in：

A kind of three axles directly turn platform, including pitching frame, and the pitching frame is connected with pitching rotary shaft, described to bow The one end for facing upward rotary shaft connects the rotor of the first motor, and the other end of the pitching rotary shaft is provided with the first encoder, described The bottom of pitching platform is fixedly connected with the periphery of pitching rotary shaft, a vertical straight is fixedly connected with the top of the pitching platform The base of platform is turned, the bottom of the pitching frame is fixedly connected on another vertical straight and turned on the table with revolvable top of platform, described vertical The straight base for turning platform is fixedly connected with the second motor, and the rotor of second motor passes through table with revolvable top described in axis connection of transferring, institute State and second encoder is provided with Coupling Shaft, first encoder connects with second encoder by servo-control system One motor and the second motor.

Further, the both ends of the pitching frame are provided with bearing spider, and the end face of bearing spider is installed with End cap, the bearing being connected with the pitching rotary shaft is installed with inside bearing spider, the bearing is provided at both ends with Mechanical seal, the right-hand member of the pitching frame install first motor, and the rotor of first motor passes through flat key and circle spiral shell Female right-hand member with the pitching rotary shaft is connected, and first motor is arranged on the right-hand member of the pitching frame by rebound Face.

Further, first motor and the second motor are no frame permagnetic synchronous motor.

Further, first motor includes the first stator module, the first rotor component, the first stator seat and dust cap Plate, first stator module include the first stator core and the first stator winding, and first stator winding is arranged on institute State in stator core, the first rotor component includes the first rotor body and the first magnetic conduction inner ring, in first magnetic conduction Excircle of the circle along the first rotor body is set, and the first rotor body is bowed by the flat key and round nut with described Rotation axis connection is faced upward, first stator seat is arranged on the right side of the pitching frame by rebound.

Further, the vertical straight, which turns platform, includes the base, and the base passes through the second stator seat and interior hexagonal Screw is fixedly connected with the second stator module, and second stator module includes the second stator core and the second stator winding, institute State the second stator winding to be arranged in second stator core, second stator winding is flexibly connected the by turntable bearing Two rotor assembly, second rotor assembly include the second rotor body and the second magnetic conduction inner ring, the second magnetic conduction inner ring Set along the excircle of second rotor body, second rotor body is connected by the Coupling Shaft and the table with revolvable top Connect, back shroud is installed between the Coupling Shaft and the base, the back shroud and switching between centers are provided with TC sealing rings.

Further, the turntable bearing is YRT turntable bearings, and the YRT turntables bearing includes seat ring and blowout patche, described Seat ring is fixed on second stator seat, and the blowout patche is fixed on second rotor body, the blowout patche with described turn Table top is connected, and VL sealing rings are provided between the table with revolvable top and the seat ring.

Further, the first magnetic conduction inner ring and the second magnetic conduction inner ring are made up of permanent magnet material, the first stator winding It is made up with the second stator winding of conductive metallic material, first stator core and the second stator core are by silicon steel sheet material system Into.

Further, first encoder is TS2620N21E11 rotary encoders, and the second encoder is ECN113 absolute type encoders.

Further, the servo-control system includes single-chip microcomputer and the multiple servo-drivers being connected with single-chip microcomputer, The single-chip microcomputer connects the first encoder and second encoder.

Further, one of servo-driver connects the first stator winding, the respectively connection one of another two servo-driver Second stator winding.

The beneficial effects of the utility model：Reasonable in design, simple in construction, permanent-magnetic synchronous motor rotor directly drives each turn Platform, reduce driving-chain, improve transmission efficiency；Progressive number controlled motor operates, and control accuracy is high；Turntable runs noise It is small, it is easy to maintenance.

Brief description of the drawings

, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art In the required accompanying drawing used be briefly described, it should be apparent that, drawings in the following description are only of the present utility model Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this A little accompanying drawings obtain other accompanying drawings.

Fig. 1 is the structural representation that three axles according to the utility model embodiment directly turn platform；

Fig. 2 is the enlarged diagram of the M according to Fig. 1.

In figure：

1st, second encoder；2nd, vertical straight turns platform；21st, base；22nd, the second stator module；221st, the second stator core； 222nd, the second stator winding；23rd, the second stator seat；24th, turntable bearing；241st, seat ring；242nd, blowout patche；25th, the second rotor assembly； 251st, the second rotor body；252nd, the second magnetic conduction inner ring；26th, table with revolvable top；27th, Coupling Shaft, 28, VL sealing rings；29th, back shroud； 210th, TC sealing rings；3rd, pitching frame；4th, bearing spider；5th, end cap；6th, bearing；7th, mechanical seal；8th, pitching rotary shaft；9、 First motor；91st, the first stator module；911st, the first stator core；912nd, the first stator winding；92nd, the first rotor component； 921st, the first rotor body；922nd, the first magnetic conduction inner ring；93rd, the first stator seat；94th, dust cover；10th, flat key；11st, circle spiral shell It is female；12nd, rebound；13rd, pitching platform；14th, roll turntable；15th, the first encoder.

Embodiment

Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole Embodiment.Based on the embodiment in the utility model, every other embodiment that those of ordinary skill in the art are obtained all belongs to In the scope of the utility model protection.

As shown in Figure 1-2, the axle of one kind three according to the utility model embodiment directly turns platform, including pitching frame 3, The pitching frame 3 is connected with pitching rotary shaft 8, and one end of the pitching rotary shaft 8 connects the rotor of the first motor 9, The other end of the pitching rotary shaft 8 is provided with the first encoder 15, is fixedly connected and bows on the periphery of the pitching rotary shaft 8 The bottom of platform 13 is faced upward, the top of the pitching platform 13 is fixedly connected with the base 21 that a vertical straight turns platform 2, the pitching frame The bottom of frame 3 is fixedly connected on another vertical straight and turned on the table with revolvable top 26 of platform 2, and the base 21 that the vertical straight turns platform 2 is solid Surely the second motor is connected, the rotor of second motor connects the table with revolvable top 26 by Coupling Shaft 27, in the Coupling Shaft 27 Second encoder 1 is provided with, first encoder 15 connects the first motor with second encoder 1 by servo-control system 9 and second motor.

In a specific embodiment of the present utility model, the both ends of the pitching frame 3 are provided with bearing spider 4, The end face of bearing spider 4 is installed with end cap 5, is installed with inside bearing spider 4 and is connected with the pitching rotary shaft 8 Bearing 6, the bearing 6 is provided at both ends with mechanical seal 7, and the right-hand member of the pitching frame 3 installs first motor 9, The rotor of first motor 9 is connected by flat key 10 and round nut 11 with the right-hand member of the pitching rotary shaft 8, first electricity Machine 9 is arranged on the right side of the pitching frame 3 by rebound 12.

In a specific embodiment of the present utility model, the motor of the first motor 9 and second is no frame permanent magnetism Synchronous motor.

In a specific embodiment of the present utility model, first motor 9 includes 91, first turns of the first stator module Sub-component 92, the first stator seat 93 and dust cover 94, first stator module 91 include the first stator core 911 and the One stator winding 912, first stator winding 912 are arranged in the stator core 911, and the first rotor component 92 wraps Include the magnetic conduction inner ring 922 of the first rotor body 921 and first, the first magnetic conduction inner ring 922 is along the first rotor body 921 Excircle set, the first rotor body 921 connected by the flat key 10 and round nut 11 with the pitching rotary shaft 8 Connect, first stator seat 93 is arranged on the right side of the pitching frame 3 by rebound 12.

In a specific embodiment of the present utility model, the vertical straight, which turns platform 2, includes the base 21, the bottom Seat 21 is fixedly connected with the second stator module 22 with soket head cap screw by the second stator seat 23, and second stator module 22 includes Second stator core 221 and the second stator winding 222, second stator winding 222 are arranged on second stator core In 221, second stator winding 222 is flexibly connected the second rotor assembly 25, second rotor set by turntable bearing 24 Part 25 includes the second rotor body 251 and the second magnetic conduction inner ring 252, and the second magnetic conduction inner ring 252 is along second rotor The excircle of body 251 is set, and second rotor body 251 is connected by the Coupling Shaft 27 with the table with revolvable top 26, institute State and back shroud 29 is installed between Coupling Shaft 27 and the base 21, TC sealings are provided between the back shroud 29 and Coupling Shaft 27 Circle 210.

In a specific embodiment of the present utility model, the turntable bearing 24 is YRT turntable bearings, and the YRT turns Platform bearing includes seat ring 241 and blowout patche 242, and the seat ring 241 is fixed on second stator seat 23, and the blowout patche 242 is solid It is scheduled on second rotor body 251, the blowout patche 242 is connected with the table with revolvable top 26, the table with revolvable top 26 and the seat VL sealing rings 28 are provided between circle 241.

In a specific embodiment of the present utility model, the first magnetic conduction inner ring 922 and the second magnetic conduction inner ring 252 by Permanent magnet material forms, and the first stator winding 912 and the second stator winding 222 are made up of conductive metallic material, and described first is fixed The sub- stator core 221 of iron core 911 and second is made up of silicon steel sheet material.

In a specific embodiment of the present utility model, first encoder 15 is TS2620N21E11 rotary codings Device, the second encoder 1 are ECN113 absolute type encoders 1.

In a specific embodiment of the present utility model, the servo-control system includes single-chip microcomputer and and single-chip microcomputer Multiple servo-drivers of connection, the single-chip microcomputer connect the first encoder 15 and second encoder 1.

In a specific embodiment of the present utility model, one of servo-driver connects the first stator winding 912, Another two servo-driver respectively connects one second stator winding 222.

In order to facilitate above-mentioned technical proposal of the present utility model is understood, below by way of new to this practicality in specifically used mode The above-mentioned technical proposal of type is described in detail.

The mode described in the utility model that is fixedly connected can use the conventional technical means such as bolt, bonding to replace, and be flexibly connected Mode can use the conventional technical means such as bearing, hinge to replace.

Three axle of the present utility model directly turns platform, including bottom vertical straight turn platform 2 and middle part pitching frame 3 and on The three parts of roll turntable 14 composition in portion.The vertical straight of bottom, which turns, is provided with ECN113 absolute type encoders in platform 2（I.e. second Encoder 1）.The vertical straight that the pitching frame 3 at middle part is arranged on bottom is turned on the table with revolvable top 26 of platform 2, and the both ends of pitching frame 3 are set Bearing spider 4 is equipped with, the end face of bearing spider 4 is provided with end cap 5, and bearing 6 is provided with inside bearing spider 4, and the both ends of bearing 6 are set There is mechanical seal 7, pitching rotary shaft 8 is installed between the bearings at both ends bearing 4 of pitching frame 3, the low order end of pitching frame 3 is provided with Without frame permagnetic synchronous motor（First motor 9）, the first motor 9 is connected with pitching rotary shaft 8 by flat key 10 and uses round nut 11 fastenings, the first motor 9 are arranged on the right side of pitching frame 3, the middle part pitching rotary shaft of pitching frame 3 by rebound 12 Pitching platform 13 is installed on 8, TS2620N21E11 rotations are installed in the left end face of left end bearing spider 4 of pitching frame 3 Encoder（That is the first encoder 15）.The roll turntable 14 on top also turns platform by vertical straight and formed, structure type and bottom As vertical straight turns platform 2, the roll turntable 14 is directly fixedly mounted on pitching platform 13.

The vertical straight of bottom turns platform 2 and is provided with base 21, and the second stator module 22 is landed in by the second stator seat 23 On base 21, fastened by soket head cap screw, table with revolvable top 26 passes through YRT turntable bearings（That is turntable bearing 24）Blowout patche 242 with Second rotor assembly 25 is connected, and Coupling Shaft 27, the seat of turntable bearing 24 are provided among the rotor assembly 25 of table with revolvable top 26 and second Circle 241 is fixed on the second stator seat 23, and VL sealing rings 28 are provided between the seat ring 241 of table with revolvable top 26 and turntable bearing 24, is turned Back shroud 29 is installed between spindle 27 and base 21, TC sealing rings 210 are provided between back shroud 29 and Coupling Shaft 27.

First motor 9 includes the first stator module 91, the first rotor component 92, the first stator seat 93 and dust cover 94. The first rotor component 92 of first motor 9 is connected by flat key 10 with pitching rotary shaft 8 to be fastened with round nut 11, the first stator seat 93 are arranged on the right side of pitching frame 3 by rebound 12.

Turntable bearing 24 includes seat ring 241 and blowout patche 242, and seat ring 241 is fixed on the second stator seat 23, and blowout patche 242 is solid It is scheduled on the second rotor assembly 25.

Second stator module 22 includes the second stator core 221 and the second stator winding 222, the second stator winding 222 It is arranged in the second stator core 221.

Second rotor assembly 25 includes the second rotor body 251 and the second magnetic conduction inner ring（Permanent magnet）252, the second magnetic conduction Excircle of the inner ring 252 along the second rotor body 251 is set.

First stator module 91 of the first motor 9 includes the first stator core 911 and the first stator winding 912, and first Stator winding 912 is arranged in the first stator core 911.

The first rotor component 92 of first motor 9 includes the magnetic conduction inner ring of the first rotor body 921 and first（Permanent magnet） 922, excircle of the first magnetic conduction inner ring 922 along the first rotor body 921 is set.

Three axles are directly turned and encoder are mounted on each axle of platform, and back encoder signals are realized to servo controller Motor closed-loop vector controls, and each turntable constant torque, rotating speed is accurately adjustable, and the platform anglec of rotation is directly turned to three axles so as to realize Accurate control.

The first magnetic conduction inner ring 922 and the second magnetic conduction inner ring 252 are made up of permanent magnet material, the first stator winding 912 It is made up with the second stator winding 222 of conductive metallic material, the stator core 221 of the first stator core 911 and second is by silicon Steel disc material is made.

First encoder 15 is used for the angular displacement for detecting the rotor of the first motor 9, and second encoder is used to detect the second motor The angular displacement of rotor, single-chip microcomputer are control centre, after it receives the signal of the first encoder 15 and second encoder 1, are led to Motor corresponding to crossing servo-driver control rotates, and realizes that vertical straight turns the roll turntable 14 of platform 2, pitching platform 13 and top Precise movement.

When specifically used, the vertical straight of bottom turns platform 2 and the first motor of middle part pitching 9 and the roll turntable 14 on top After being powered without frame permagnetic synchronous motor, corresponding table with revolvable top 26 and pitching rotary shaft 8 rotate in the presence of electromagnetic force, electricity Signal is fed back to servo-control system by the encoder on arbor, can accurately control each turntable rotating speed and each revolving table position angle of control Degree.

To sum up, by means of above-mentioned technical proposal of the present utility model, the position of pitching, roll turntable is monitored in real time, led to The stability contorting regulation of permanent magnet synchronous servo motor is crossed, be maintained at the double-shaft level position of pitching and roll with making platform stable, Platform loads, high efficiency, high reliability, the non-maintaining operation of brushless servo motor are driven using integral permanent magnet synchronous servo motor.

Preferred embodiment of the present utility model is these are only, it is all in this practicality not to limit the utility model Within new spirit and principle, any modification, equivalent substitution and improvements made etc., guarantor of the present utility model should be included in Within the scope of shield.

Claims (10)

1. a kind of three axles directly turn platform, including pitching frame（3）, it is characterised in that the pitching frame（3）It is connected with and bows Face upward rotary shaft（8）, the pitching rotary shaft（8）One end connect the first motor（9）Rotor, the pitching rotary shaft（8）'s The other end is provided with the first encoder（15）, the pitching rotary shaft（8）Periphery on be fixedly connected with pitching platform（13）'s Bottom, the pitching platform（13）Top be fixedly connected with a vertical straight and turn platform（2）Base（21）, the pitching frame （3）Bottom be fixedly connected on another vertical straight and turn platform（2）Table with revolvable top（26）On, the vertical straight turns platform（2）Bottom Seat（21）The second motor is fixedly connected with, the rotor of second motor passes through Coupling Shaft（27）Connect the table with revolvable top（26）, institute State Coupling Shaft（27）On be provided with second encoder（1）, first encoder（15）And second encoder（1）Pass through servo Control system connects the first motor（9）With the second motor.

2. three axle according to claim 1 directly turns platform, it is characterised in that the pitching frame（3）Both ends be respectively provided with There is bearing spider（4）, bearing spider（4）End face be installed with end cap（5）, bearing spider（4）Inside be installed with The pitching rotary shaft（8）The bearing being connected（6）, the bearing（6）Be provided at both ends with mechanical seal（7）, the pitching Framework（3）Right-hand member first motor is installed（9）, first motor（9）Rotor pass through flat key（10）And round nut （11）With the pitching rotary shaft（8）Right-hand member connection, first motor（9）Pass through rebound（12）Installed in the pitching Framework（3）Right side.

3. three axle according to claim 2 directly turns platform, it is characterised in that first motor（9）It is equal with the second motor For without frame permagnetic synchronous motor.

4. three axle according to claim 3 directly turns platform, it is characterised in that first motor（9）Including the first stator Component（91）, the first rotor component（92）, the first stator seat（93）And dust cover（94）, first stator module（91）Bag Include the first stator core（911）And first stator winding（912）, first stator winding（912）It is arranged on the stator Iron core（911）It is interior, the first rotor component（92）Including the first rotor body（921）And the first magnetic conduction inner ring（922）, institute State the first magnetic conduction inner ring（922）Along the first rotor body（921）Excircle set, the first rotor body（921） Pass through the flat key（10）And round nut（11）With the pitching rotary shaft（8）Connection, first stator seat（93）Passed through Cab apron（12）Installed in the pitching frame（3）Right side.

5. three axle according to claim 4 directly turns platform, it is characterised in that the vertical straight turns platform（2）Including described Base（21）, the base（21）Pass through the second stator seat（23）The second stator module is fixedly connected with soket head cap screw（22）, Second stator module（22）Including the second stator core（221）And second stator winding（222）, second stator around Group（222）It is arranged on second stator core（221）It is interior, second stator winding（222）Pass through turntable bearing（24）It is living The second rotor assembly of dynamic connection（25）, second rotor assembly（25）Including the second rotor body（251）And second magnetic conduction Inner ring（252）, the second magnetic conduction inner ring（252）Along second rotor body（251）Excircle set, described second turn Sub- body（251）Pass through the Coupling Shaft（27）With the table with revolvable top（26）Connection, the Coupling Shaft（27）With the base （21）Between back shroud is installed（29）, the back shroud（29）And Coupling Shaft（27）Between be provided with TC sealing rings（210）.

6. three axle according to claim 5 directly turns platform, it is characterised in that the turntable bearing（24）For YRT turntable axles Hold, the YRT turntables bearing includes seat ring（241）And blowout patche（242）, the seat ring（241）It is fixed on second stator seat （23）On, the blowout patche（242）It is fixed on second rotor body（251）On, the blowout patche（242）With the table with revolvable top （26）Connection, the table with revolvable top（26）With the seat ring（241）Between be provided with VL sealing rings（28）.

7. three axle according to claim 5 directly turns platform, it is characterised in that the first magnetic conduction inner ring（922）With second Magnetic conduction inner ring（252）It is made up of permanent magnet material, the first stator winding（912）With the second stator winding（222）By conducting metal Material is made, first stator core（911）With the second stator core（221）It is made up of silicon steel sheet material.

8. three axle according to claim 1 directly turns platform, it is characterised in that first encoder（15）For TS2620N21E11 rotary encoders, the second encoder（1）For ECN113 absolute type encoders（1）.

9. three axle according to claim 1 directly turns platform, it is characterised in that the servo-control system include single-chip microcomputer with And the multiple servo-drivers being connected with single-chip microcomputer, the single-chip microcomputer connect the first encoder（15）And second encoder（1）.

10. three axle according to claim 1 directly turns platform, it is characterised in that one of servo-driver connection first Stator winding（912）, another two servo-driver one second stator winding of each connection（222）.