CN209764116U - Two-axis electric non-magnetic turntable - Google Patents

Abstract

The utility model provides a double-axis electric non-magnetic turntable, which includes a mechanical table body and a control console; the mechanical table body includes an outer ring azimuth axis part and an inner ring pitching part; the outer ring azimuth axis part is supported by a base shell, an azimuth Axis axis system and azimuth axis drive transmission mechanism; the base support shell is equipped with a vertical azimuth axis system, and the azimuth axis system is driven by the azimuth axis drive transmission mechanism; U-shaped support shell, pitch drive transmission mechanism; pitch shaft system is composed of pitch drive transmission mechanism; control console includes drivers connected to the drive mechanism signals of the azimuth axis drive transmission mechanism and pitch drive transmission mechanism respectively, and respectively connected to the conductive slip ring , the industrial computer connected to the driver signal, and the stabilized voltage source electrically connected to the conductive slip ring, the driver, the industrial computer, and the driving mechanism respectively.

Description

Two-axis electric non-magnetic turntable

technical field

The invention relates to a nonmagnetic turntable, in particular to a double-axis nonmagnetic turntable.

Background technique

With the development of new technologies and the needs of the defense industry, the unique advantages of geomagnetic navigation systems are increasingly used in aerospace, aviation and smart ammunition, but geomagnetic navigation systems are easily affected by external interference magnetic fields, so bottom surface calibration and testing are required And the simulation turntable must not have an interfering magnetic field, which affects the indicators of the navigation system. Although the non-magnetic turntable can be non-magnetic, it cannot be electrically driven, which makes the inertial navigation system unable to perform dynamic testing, calibration and simulation. Seriously affect the batch progress and dynamic calibration of the geomagnetic navigation system. The successful development of the system fills the gap in the country.

Utility model content

The technical problem to be solved by the present invention is to provide a simple structure anti-ultra-high impact overload motor and its method.

In order to solve the above technical problems, the present invention provides a two-axis electric non-magnetic turntable, including a mechanical table body and a console: the mechanical table body includes an outer ring azimuth axis component and an inner ring pitch component with built-in drive systems respectively; The azimuth shaft part of the outer ring is composed of a base support housing, an azimuth shaft system, and an azimuth shaft drive transmission mechanism; the base support housing is provided with a vertically upward azimuth shaft system, and the azimuth shaft system has an azimuth shaft drive transmission Mechanism drive; the pitching of the inner ring is composed of a working table, a pitching shaft system, a pitching U-shaped support shell, and a pitching drive transmission mechanism; the working table is fixedly connected to the upper end of the azimuth axis; the upper end of the working table is provided with a pitching U-shaped support shell, the two ends of the pitch U-shaped support shell are provided with a pitch shaft system, and the pitch shaft system is composed of a pitch drive transmission mechanism; the output shaft of the pitch drive transmission mechanism is passed through a conductive slip ring A shaft angle encoder is set; the console includes a driver that is connected to the signal of the azimuth axis drive transmission mechanism and the pitch drive transmission mechanism, an industrial computer that is respectively connected to the conductive slip ring and the driver signal, and is connected to the conductive slip ring and Chaoshenbo respectively. The stabilized voltage source for the electrical connection of the driver, industrial computer, and Chaoshenbo motor.

As an improvement of the two-axis electric non-magnetic turntable of the present invention: the azimuth axis drive transmission mechanism and the pitch drive transmission mechanism are respectively a supersonic motor I and an ultrasonic motor II; the driver is an ultrasonic driver.

As a further improvement of the double-axis electric non-magnetic turntable of the present invention: the conductive slip ring adopts a brush type structure.

As a further improvement of the double-axis electric non-magnetic turntable of the present invention: the conductive slip ring is composed of rotor leads, conductive ring pieces, brush wires, brush holders, stator leads, rotor shafts, bearings, flanges, stator It consists of a housing; the stator housing is equipped with a rotor shaft, and the two ends of the rotor shaft are equipped with bearings, and the bearings are fixed in the stator housing through a flange; the rotor shaft is equipped with a conductive ring piece, and the conductive A brush wire is set on the ring piece, and the brush wire is fixed on the flange plate through a brush holder; a stator lead wire is arranged inside the rotor shaft.

As a further improvement of the biaxial electric non-magnetic turntable of the present invention: the mechanical table body adopts a U-U-shaped structure

Further improvement of the double-axis electric non-magnetic turntable of the present invention: the shaft angle encoder adopts a sub-package non-magnetic grating encoder

As a further improvement of the double-axis electric non-magnetic turntable of the present invention: the mechanical table body and the console are connected without such a cable.

The object of the present invention is to overcome the above-mentioned deficiencies and provide an inner and outer shaft that reaches 4 revolutions per minute. The turntable is a two-axis electric non-magnetic turntable whose magnetic strength is less than 40nT. The mechanical table body and the control console are connected by cables to realize the transmission of motor drive, shaft angle encoder power supply and measurement information.

The invention can make the inertial navigation system made of the magnetic sensor as the main component, and carry out tests such as testing, calibration, semi-physical simulation and the like on the ground.

Description of drawings

The specific implementation manners of the present invention will be described in further detail below in conjunction with the accompanying drawings.

Fig. 1 is the main structure schematic diagram of the present invention;

Fig. 2 is a schematic diagram of the main structure of Fig. 1;

Fig. 3 is a kind of state diagram of Fig. 1;

Fig. 4 is another state diagram of Fig. 1;

FIG. 5 is a schematic diagram of main states of the conductive slip ring 124 .

Detailed ways

Embodiment 1, Fig. 1-Fig. 5 presents a kind of two-axis electric non-magnetic turntable, including the mechanical table body 1 and the console: the mechanical table body 1 includes the outer ring azimuth axis part 11 and the inner ring pitch of the built-in driving system respectively Part 12:

The outer ring azimuth axis component 11 is composed of a base support shell, an azimuth axis system 111, and an azimuth axis drive transmission mechanism: the base support shell is provided with a vertically upward azimuth axis system 111, and the azimuth axis system 111 is driven by the azimuth axis Transmission mechanism drive: azimuth axis drive transmission mechanism includes ultrasonic motor Ⅰ110 and gear Ⅰ: gear Ⅰ is set at the lower end of the azimuth axis shafting 111, and teeth meshing with gear 1 are set on the output shaft of ultrasonic motor Ⅰ110: through the output of ultrasonic motor Ⅰ110 The rotation of the shaft provides power, and then the gear converts the power into the rotational force of the azimuth shaft system 111 . The above-mentioned inner ring pitching part 12 is composed of a working table surface 121, a pitching shaft system 122, a pitching u-shaped support shell 123, and a pitching drive transmission mechanism: the upper end of the working table surface 121 is provided with a pitching u-shaped support shell 123 and a pitching u-shaped support shell Pitch axis 122 is set on the fulcrums at both ends of the body 123, and the pitch axis system 122 is composed of a pitch drive transmission mechanism: an axis angle encoder 125 is provided on the output shaft of the pitch drive transmission mechanism through a conductive slip ring 124 (electric brush structure); Wherein, the pitch driving transmission mechanism includes an ultrasonic motor II 120 and a gear II; one end of the pitch shaft system 122 is provided with a gear II, and the output shaft of the ultrasonic motor II 120 is provided with teeth meshing with the gear II, and the power is output through the output shaft of the ultrasonic motor II 120, And drive the pitch shafting 122. The conductive slip ring 124 is composed of rotor lead wire 1241, conductive ring sheet 1242, brush wire 1243, brush holder 1244, stator lead wire 1245, rotor shaft 1246, bearing 1247, flange plate 1248, Composition in the stator housing 1249: a rotor shaft 1246 is arranged in the stator housing 1249, bearings 1247 are set on both ends of the rotor shaft 1246, and the bearings 1247 are fixed in the stator housing 1249 through a flange 1248; the rotor shaft 1246 The conductive ring piece 1242 is set on the top, and the brush wire 1243 is set on the conductive sliding piece 1242. The brush wire 1243 is fixed to the flange plate 1248 through the brush holder: the stator lead wire 1245 is set in the rotor shaft 1246.

The device of the present utility model is controlled by an electric control system, and the electric control system includes a console, and the console includes a driver connected to the drive mechanism signals of the azimuth axis drive transmission mechanism and the pitch drive transmission mechanism respectively, and is connected with the conductive slip ring and the driver signal respectively. The connected industrial computer is a stabilized voltage source electrically connected to the conductive slip ring 124, the driver, the industrial computer, and the driving mechanism respectively. Wherein, the stator leads 1245 and the rotor 1241 are respectively connected to the industrial computer for signals.

The shaft angle encoder mentioned above adopts a split-type non-magnetic grating encoder. And adopt the non-magnetic cable to connect between the control consoles of the mechanical table body 1.

The main design goal of the dual-axis electric non-magnetic turntable of the utility model is to realize the magnetic field distortion in the working area ≤ 40nt, so the design focuses on the non-magnetic requirement.

1) Selection of materials: The mechanical body of the turntable is mainly made of non-magnetic aluminum 2A12 and cast aluminum 105, and a small amount of titanium alloy is used. Bearings are sliding bearings made of tin bronze and polytetrafluoroethylene.

2) Parts: Customized circular gratings made of non-magnetic materials as precision angle measuring components, and customized conductive slip rings made of non-magnetic materials.

3) The circuit design considers non-magnetic wires and non-magnetic electrical connectors.

4) Take magnetic circuit shielding and circuit shielding measures.

The deceleration transmission of the azimuth axis drive transmission mechanism and the pitch drive transmission mechanism of the utility model is 1:30.

Among them, the shaft angle encoder 125 is a non-magnetic encoder. The non-magnetic encoder is used as an angle-measuring element and is about 300 mm away from the measured piece on the table. It adopts electric shielding measures and transmits electrical signals through the conductive slip ring 124 .

The material of the pitch shaft system is made of non-magnetic duralumin, tin bronze and polytetrafluoroethylene, and the working table, supporting shell and drive transmission mechanism are made of non-magnetic cast aluminum, non-magnetic duralumin 2A12 and a small amount of copper alloy.

The material of the azimuth shaft system is made of non-magnetic duralumin, tin bronze and polytetrafluoroethylene. copper alloy etc.

When designing and manufacturing the conductive slip ring 124, the materials and components must be tested for magnetic strength and electromagnetic shielding performance.

The shaft angle encoder uses a sub-package non-magnetic grating encoder as the angular position sensing element; the dual-axis manual non-magnetic turntable measurement circuit uses a specially developed NC2090 sub-package non-magnetic grating encoder as the angular position sensing element . The measurement output signal is connected to the measurement electric box through a cable of about 20m and converted into an angular position digital signal, and then connected to the data acquisition computer through the RS-422 interface.

The device of the present invention may also include a pitch axis angle encoder and an azimuth axis angle encoder, which respectively generate angle encoding information of the pitch axis and azimuth axis and send them to the console. When the turntable is working, the DUT generates calibration information and user-defined information, the calibration information is transmitted to the workbench, and the customized information is transmitted to the user test system.

The angle encoder uses a specially customized NC2090 sub-package non-magnetic grating encoder as the angular position sensing element, and the measured value is encoded into an RS485 serial data stream, which is connected to the multi-serial port card through a 5-20 meter long cable and submitted to the Handle it to the PC host.

The upper computer software of the double-axis electric non-magnetic turntable is used to collect the data from the turntable synchronously, and display and store the processing results in real time. Including the calibration information of the tested part, the angular position information of the inner and outer shaft encoders. Therefore, software functions can be divided into the following 4 sections:

1. Synchronous acquisition: Call the driver of the multi-serial port card to sample the turntable data received by multiple serials at a certain frequency. The information refresh frequency of the DUT is 200Hz, and the information refresh frequency of the angle encoder is 1KHz.

2. Motion control: According to the angular position and fixed position information from the inner shaft angle encoder, calculate the speed and control amount required by the ultrasonic motor, which is used to control the closed-loop control of the ultrasonic motor; according to the angular position information from the outer shaft angle encoder and Determine the position information, calculate the speed control amount required by the ultrasonic wave, and use it to control the closed-loop control of the ultrasonic motor.

3. Storage: Every time the computer software is started, a file related to the system clock is automatically named, and the sampled data frames of the inner and outer shaft angle encoders, the detected data frames and the calculated angular velocity information are assembled into a A data structure to write to the file.

4. Display: display the angular position and angular rate information on a graphical interface, and send it to the secondary display for reference by the turntable operator. On another graphical interface, the angular position, angular rate and data frame information of the DUT are displayed in groups, and the display frequency is 10Hz.

Finally, it should also be noted that what is listed above is only a specific embodiment of the present invention. Obviously, the present invention is not limited to the above embodiments, and many variations are possible. All deformations that can be directly derived or associated by those skilled in the art from the content disclosed in the present invention should be considered as the protection scope of the present invention.

Claims (7)

1. A double-shaft electric non-magnetic turntable comprises a mechanical turntable body (1) and a control table: the method is characterized in that: the mechanical table body (1) comprises an outer ring azimuth shaft component (11) and an inner ring pitching component (12) which are respectively provided with a built-in driving system;

The outer ring azimuth shaft component (11) consists of a base support shell, an azimuth shaft system (111) and an azimuth shaft driving transmission mechanism;

An azimuth axis shaft system (111) which is vertically upward is arranged in the base supporting shell, and the azimuth axis shaft system (111) is driven by an azimuth axis driving transmission mechanism;

The inner ring pitching component (12) consists of a working table surface (121), a pitching shaft system (122), a pitching u-shaped supporting shell (123) and a pitching driving transmission mechanism;

The working table top (121) is fixedly connected with the upper end of the azimuth axis system (111);

The utility model discloses a pitching machine, including table surface (121), workstation, pitching U type support housing (123), set up pitching shafting (122) on the both ends fulcrum of pitching U type support housing (123), pitching shafting (122) are by pitching drive mechanism constitution: an output shaft of the pitching driving transmission mechanism is provided with a shaft angle encoder (125) through a conductive slip ring (124);

The console comprises a driver in signal connection with the driving mechanisms of the azimuth axis driving transmission mechanism and the pitching driving transmission mechanism respectively, an industrial personal computer in signal connection with the conductive slip ring and the driver respectively, and a voltage stabilizing source electrically connected with the conductive slip ring (124), the driver, the industrial personal computer and the driving mechanism respectively.

2. the dual-axis electric non-magnetic turntable of claim 1, wherein: the azimuth axis driving transmission mechanism comprises an ultrasonic motor I (110) and a gear I;

A gear I is arranged at the lower end of the azimuth axis system (111), and teeth meshed with the gear I are arranged on an output shaft of the ultrasonic motor I (110);

The pitching driving transmission mechanism comprises an ultrasonic motor II (120) and a gear II;

One end of the pitching shaft system (122) is provided with a gear II, and an output shaft of the ultrasonic motor II (120) is provided with teeth meshed with the gear II.

3. The dual-axis electric non-magnetic turntable of claim 1, wherein: the conductive slip ring adopts an electric brush type structure.

4. The dual-axis electric non-magnetic turntable of claim 1, wherein: the conductive slip ring (124) is composed of a rotor lead (1241), a conductive ring sheet (1242), an electric brush wire (1243), an electric brush holder (1244), a stator lead (1245), a rotor shaft (1246), a bearing (1247), a flange plate (1248) and a stator shell (1249);

A rotor shaft (1246) is arranged in the stator shell (1249), bearings (1247) are sleeved at two ends of the rotor shaft (1246), and the bearings (1247) are fixed in the stator shell (1249) through a flange plate (1248);

The rotor shaft (1246) is sleeved with a conductive ring sheet (1242), and the brush wire (1243) is sleeved on the conductive ring sheet (1242), and the brush wire (1243) is fixed on the flange plate (1248) through a brush holder (1244);

A stator lead (1245) is arranged in the rotor shaft (1246);

and the stator lead (1245) and the rotor lead (1241) are respectively in signal connection with an industrial personal computer.

5. The dual-axis electric non-magnetic turntable of claim 1, wherein: the mechanical table body (1) adopts a U-U type structure.

6. the dual-axis electric non-magnetic turntable of claim 1, wherein: the shaft angle encoder adopts a split-type non-magnetic grating encoder.

7. the dual-axis electric non-magnetic turntable of claim 1, wherein: the mechanical table body (1) is not connected with the control table through the cable.