CN212556849U - High-precision double-shaft simulation turntable with no shielding of clearance of pitching shaft - Google Patents
High-precision double-shaft simulation turntable with no shielding of clearance of pitching shaft Download PDFInfo
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Abstract
The utility model provides a high accuracy biax emulation revolving stage that every single move axle headroom does not have shelter from, horizontal rotation through the position shafting and vertical rotation of every single move shafting provide two degrees of freedom disturbance environment for the seeker, the load of being surveyed in the every single move shafting is relatively fixed with every single move shafting frame, do the luffing motion around the every single move axle through gear + tooth arc and slider + arc guide rail jointly, seeker front end antenna panel keeps 120 headroom states all the time, solved in the 120 toper workspace of load front end, the test demand that load self antenna panel every single move axle centre of rotation and revolving stage every single move axle centre of rotation require coincidence; the azimuth axis is directly driven by the DD motor, so that transmission errors caused by a speed reducing mechanism are avoided, high-precision transmission is realized, and meanwhile, the gear ring and the sliding rail of the pitch axis are compact in structure, so that the defects of large size, heavy weight and low precision of a traditional rotary table are overcome, and the repeated positioning precision is controlled to be below 0.005 degrees.
Description
Technical Field
The utility model belongs to the technical field of the test revolving stage, in particular to high accuracy biax emulation revolving stage that every single move axle headroom does not have and shelters from.
Background
The rotary table is classified into a simulation rotary table and an inertia test rotary table according to purposes, but at present, two categories gradually begin to permeate each other. The inertia test turntable emphasizes static or steady-state performance and is mainly used for performance detection and calibration of an inertial navigation system and inertial elements such as a gyroscope and an accelerometer; the simulation turntable focuses on dynamic performance, is generally used for simulating the motion state of a weapon platform or a motion carrier, is key equipment and an important component of a semi-physical simulation test and ground comprehensive test system of various weapon platforms, and is an economic and efficient technical means for testing, evaluating and calibrating the performance of various motion carriers and weapon systems.
The simulation rotary table plays an important role in the development process of the aircraft. The guidance system is a core component of the aircraft, and two main methods for evaluating the performance of the guidance system are used, wherein one method is to obtain data in actual shooting or actual flight and analyze and evaluate the performance of the guidance system according to the data, and the other method is to test and evaluate the performance index of the guidance system on the ground by simulating the actual flight environment of the aircraft and detecting the working state and the tracking precision of the system by using simulation equipment. With the development of the aerospace industry, the structures of products in the aerospace industry are increasingly complex, the manufacturing cost is increasingly expensive, the flying and targeting times of experimental and test data are reduced, and the first method is not a main means for evaluating a guidance system. With the development of computers and other related technologies, the second method can accelerate the development process of flight systems, greatly reduce development cost, can repeat tests, and has extremely safe simulation, so that the method is more and more widely applied and becomes a main means for developing and evaluating other aviation and aerospace devices for aircraft systems. The simulation turntable can truly simulate various postures of actual flight of aircrafts, torpedoes and the like in the air or in water under the laboratory condition, and the dynamic characteristics of the simulation turntable during movement are reproduced, so that the performance of the simulation turntable is directly related to the reliability and confidence coefficient of a simulation test, and the simulation turntable is a basis for ensuring the precision and performance of aviation, aerospace and weapon systems. In order to meet the test requirements, the requirements on high-precision technical indexes of the simulation turntable are increasingly strict, and a new subject is provided for the overall manufacturing level and performance of the simulation turntable.
At present, aiming at the requirement that the pitching axis of an antenna disc at the front end of a tested load (a seeker) is coaxial with the pitching axis of a rotary table when the tested load (the seeker) is tested, and the requirement that a 120-degree conical working area at the front end of the antenna disc is free of clearance and shielding, a traditional UUT structural form simulation rotary table cannot meet the use requirement. In order to meet the test requirements of coaxiality and clearance, the conventional rotary table is usually designed to have a large volume and a large weight, so that the self shafting has large moment of inertia and large motor power, thereby bringing difficulty to servo control, restricting the improvement of the shafting precision and ensuring that the precision can not meet the test requirements.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the utility model provides a high accuracy biax emulation revolving stage that every single move axle headroom does not have and shelters from is provided.
The utility model discloses specific technical scheme as follows:
the utility model provides a high accuracy biax emulation revolving stage that every single move axle headroom does not have and shelters from, include by the position motor drive can the horizontal rotation the position shafting and by every single move motor drive can vertical rotatory every single move shafting, the seeker level is installed every single move shafting one side and can follow the vertical rotation of every single move shafting, every single move shafting is fixed position shafting top and can follow the position shafting horizontal rotation.
Furthermore, the pitching axis system comprises a pitching support arm and a C-shaped frame, the seeker is mounted on the C-shaped frame through a load mounting plate, and the bottom of the pitching support arm is fixed on the azimuth axis system; the C type frame lateral wall is equipped with tooth arc and arc guide rail along the radian direction side by side, every single move support arm lateral wall be equipped with the gear of tooth arc looks adaptation and with arc guide rail matched with slider, the slider cover is established on the arc guide rail.
Furthermore, the pitching motor and a pitching brake matched with the pitching motor are arranged on the outer wall of the pitching support arm, and one side, opposite to the C-shaped frame, of the pitching support arm is located below the load mounting plate and is provided with a proximity switch used for controlling the pitching motor.
Furthermore, the pitching support arms and the C-shaped frames are two, and the two C-shaped frames are connected through a plurality of connecting rods.
Furthermore, one side of the pitching support arm opposite to the C-shaped frame is located below the C-shaped frame, a first limiting block is arranged below the C-shaped frame, and a first cushion pad is arranged at the top of the first limiting block.
Further, the azimuth axis system comprises an azimuth turntable for mounting the pitching axis system, and the azimuth motor and an azimuth brake matched with the azimuth motor are arranged at the bottom of the azimuth turntable.
Furthermore, a base is arranged at the bottom of the azimuth shafting, and the azimuth motor and the azimuth brake are arranged in the base; the base outer wall cladding has a plurality of shroudings of dismantling, one of them can dismantle the shrouding and be equipped with the connector.
Furthermore, the bottom of the azimuth turntable is positioned above the base and is provided with a second limiting block, and the top of the second limiting block is provided with a second cushion pad.
The utility model has the advantages as follows: the utility model provides a high accuracy biax emulation revolving stage that every single move axle headroom does not have shelter from, horizontal rotation through the position shafting and vertical rotation of every single move shafting provide two degrees of freedom disturbance environment for the seeker, the load of being surveyed in the every single move shafting is relatively fixed with every single move shafting frame, do the luffing motion around the every single move axle through gear + tooth arc and slider + arc guide rail jointly, seeker front end antenna panel keeps 120 headroom states all the time, solved in the 120 toper workspace of load front end, the test demand that load self antenna panel every single move axle centre of rotation and revolving stage every single move axle centre of rotation require coincidence; the azimuth axis is directly driven by the DD motor, so that transmission errors caused by a speed reducing mechanism are avoided, high-precision transmission is realized, and meanwhile, the gear ring and the sliding rail of the pitch axis are compact in structure, so that the defects of large size, heavy weight and low precision of a traditional rotary table are overcome, and the repeated positioning precision is controlled to be below 0.005 degrees. Through the design, the real disturbance in the process of load flight can be simulated under the laboratory condition, so that the dynamic precision index of the load in the flight state can be tested.
Drawings
FIG. 1 is a right side view of a high-precision biaxial simulation turntable with unobstructed clearance for the pitch axis according to an embodiment;
FIG. 2 is a front view of a high-precision biaxial simulation turntable with unobstructed pitching axis clearance according to an embodiment;
FIG. 3 is a left side view of a pitch axis system in a high-precision biaxial simulation turntable with unobstructed pitch axis clearance according to an embodiment;
FIG. 4 is a right side view of a pitch axis system of a high-precision biaxial simulation turntable with unobstructed pitch axis clearance according to an embodiment;
FIG. 5 is a schematic structural diagram of a servo system in a high-precision biaxial simulation turntable with no shielding of a clearance of a pitch axis according to an embodiment;
fig. 6 is a block diagram of a transfer function of a high-precision dual-axis simulation turntable with unobstructed pitch axis clearance according to an embodiment.
Wherein: 1. a seeker; 2. a pitching support arm; 21. a gear; 22. a slider; 23. a pitch motor; 24. a pitch brake; 25. a proximity switch; 26. a first stopper; 3. a C-shaped frame; 31. tooth arc; 32. an arc-shaped guide rail; 33. assembling; 34. a tool mounting frame; 35. a connecting rod; 4. a load mounting plate; 5. an azimuth turntable; 51. an azimuth motor; 52. an azimuth brake; 53. A second limiting block; 6. a base; 61. a base; 62. a connector is provided.
Detailed Description
The present invention will be described in further detail with reference to the following examples and drawings.
Examples
As shown in fig. 1-4, embodiment 1 of the present invention provides a high-precision biaxial simulation turntable with no shielding for a clearance of a pitch axis, which includes a azimuth axis system driven by an azimuth motor 51 (preferably DX103M model, and DX103M model is selected as a driver), and a pitch axis system driven by a pitch motor 23 (preferably DX5B model, and UX5BG3 model is selected as a driver), wherein the vertical rotation of the pitch axis system is driven by a seeker 1 horizontally installed on one side of the pitch axis system and can be vertical rotation along with the pitch axis system, and the pitch axis system is fixed on the top of the azimuth axis system and can be horizontal rotation along with the azimuth axis system.
The simulation turntable provides a two-degree-of-freedom disturbance environment for a load (a seeker) to be tested through horizontal rotation of an azimuth axis and vertical rotation of a pitch axis, so that real disturbance in the process of load flight is simulated under laboratory conditions, and dynamic precision indexes of the load in a flight state are tested. The high-precision duplex bearings and the high-precision code discs are arranged in the azimuth motor and the pitching motor, and errors caused by the speed reducing mechanism can be avoided by directly driving the motors.
In some embodiments, the pitching axis system comprises a pitching arm 2 and a C-shaped frame 3, the seeker 1 is mounted on the C-shaped frame 3 through a load mounting plate 4, and the load mounting plate 4 is fixed on the azimuth axis system through the bottom of the pitching arm 2; c type frame 3 passes through frock 33 and frock mounting bracket 34 and installs on every single move support arm 2, and 3 lateral walls of C type frame are equipped with tooth arc 31 and arc guide rail 32 along the radian direction side by side, and 2 lateral walls of every single move support arm are equipped with the gear 21 with tooth arc 31 looks adaptation and with arc guide rail 32 matched with slider 22, and slider 22 cover is established on arc guide rail 32.
When the device works, the gear 21 and the sliding block 22 are kept still, the pitching motor 23 drives the gear 21 to rotate, the gear 21 is meshed with the tooth arc 31, and the tooth arc 31 drives the C-shaped frame to rotate around the pitching axis so as to drive the seeker 1 to rotate around the pitching axis. This kind of structure converts unbalanced moment to frictional force on the arc guide rail, has reduced unbalanced moment, has effectively solved the problem that the load front end headroom among the technical requirement does not have the sheltering from simultaneously to need not the balancing weight counter weight.
In some embodiments, the pitch motor 23 and the pitch brake 24 (preferably model BXH 08) associated with the pitch motor 23 are mounted on the outer wall of the pitch arm 2, and the side of the pitch arm 2 opposite the C-frame 3 is located below the load mount plate 4 and is provided with a pair of proximity switches 25 (preferably model E2E-X1) for controlling the pitch motor 23, for controlling the forward and reverse rotation of the pitch motor 23, respectively.
When the load mounting plate 4 drives the seeker 1 to move to the position of the proximity switch 25, the proximity switch 25 is triggered, the pitching motor 23 is controlled to rotate forwards or backwards by 60 degrees, and the C-shaped frame and the seeker 1 are driven to move reversely. Therefore, the moving range of the seeker 1 can be limited, the seeker can move up and down within the range of +/-60 degrees, and the antenna disc at the front end of the seeker can be always kept in a 120-degree clearance state.
In some embodiments, the pitch arm 2 and the C-shaped frame 3 are two, and the two C-shaped frames 3 are connected by a plurality of connecting rods 35 to fix and support the load mounting plate 4 from two sides, so as to improve the stability of the seeker 1.
In some embodiments, a first limit block 26 is arranged below the C-shaped frame 3 on the side of the pitching support arm 2 opposite to the C-shaped frame 3, and a cushion pad is arranged on the top of the first limit block 26.
In some embodiments, the azimuth axis system comprises an azimuth turntable 5 for mounting the pitch axis system, and an azimuth motor 51 and an azimuth brake 52 (preferably model SAX 15) cooperating with the azimuth motor 51 are provided at the bottom of the azimuth turntable 5.
In some embodiments, the base 6 is arranged at the bottom of the azimuth axis, and the azimuth motor 51 and the azimuth brake 52 are arranged in the base 6; the outer wall of the base 6 is wrapped with a plurality of detachable sealing plates 61, wherein one of the detachable sealing plates 61 is provided with a connector 62 for transmitting signals and supplying power.
The azimuth motor 51 is a hollow structure, the stator end of the azimuth motor is fixedly positioned and fastened with the base 6 through a motor mounting disc 55, and the rotor end is connected with the azimuth turntable 5 and the braking shaft flange of the azimuth brake 52 to drive the azimuth turntable 5 and the upper pitching shaft system to realize azimuth rotation. The brake shaft of the azimuth brake 52 passes through the central hole of the azimuth motor 51, the flange end of the brake shaft is connected with the rotor of the motor, and the tail end of the brake shaft is connected with the rotor of the azimuth brake 52 through a spline hub and is in tight fit connection through a flat key. The brake shaft of the built-in brake and the brake shaft of the design machining are both hollow structures, so that each control cable from the pitching shafting passes through the brake shaft and is connected to a corresponding socket of an electric control element such as a driver and the like in the base 6. Can dismantle the design of shrouding 61 and can conveniently dismantle, can dismantle behind the shrouding 61 dismantlement and can maintain operations such as change to the inside driver of base 6 and electrical components such as power. The azimuth brake 52 is used for holding the brake shaft tightly when the system is not electrified or abnormally powered off, so as to ensure that the azimuth shaft system is in a locking state. In the de-energized state, if the azimuth axis is to be rotated, the brake axis can be released by manually releasing the handle of the azimuth brake 52.
In some embodiments, a second stopper 53 is disposed at the bottom of the azimuth turntable 5 above the base 6, and a cushion is disposed at the top of the second stopper 53.
Considering that the azimuth rotation angle range is 90 degrees +/-, the second limiting block 53 is a metal stop block which is simple in structure, practical and reliable, the top of the metal stop block is also provided with a buffering cushion for absorbing energy, and when software and electrical limiting fail, the turntable can be protected, and the impact of vibration on the turntable and a load is reduced.
When the turntable is installed on site, the flange plate of the base 6 and a foundation or a support on site are supported, leveled and fastened through the leveling sizing blocks, and the turntable is ensured to be installed correctly through the calibration of the level gauge when the turntable is installed for the first time.
According to calculation, on the premise of meeting system precision indexes, the precision of the gear 21 and the tooth arc 31 is determined to be 6 grades, the tooth arc 31 adopts a linear cutting processing mode, the tooth form precision of the tooth arc 31 is guaranteed, meanwhile, the contact hardness of a tooth surface is improved, special tools are designed for processing parts such as the tooth arc 31 and the C-shaped frame 3 in the processing process, and errors caused by deformation in the part processing process are reduced.
In addition, the structural form of the pitching axis system determines that after the load (the seeker 1) is installed, the gravity center deviates from the pitching axis and is close to one side of the gear 21, the acceleration of sinusoidal vibration of the moving part of the pitching axis system according to the index requirement is far less than the acceleration of sliding along the slider 22, so the tooth arcs 31 and the gear 21 can be always meshed, even if a disengagement state does not exist in the sinusoidal vibration process, and the backlash does not influence the system precision.
Under the condition of meeting the rigidity and strength, in order to reduce the total weight of the rotary table, structural members such as a C-shaped frame 3, a tool 33 and a tool mounting frame 34 of a pitching axis system, and supporting structural members such as a base 6, a bottom mounting plate, an azimuth turntable 5 and a motor shield covering the motor are all made of cast aluminum alloy materials, and reinforcing ribs are designed at proper positions.
The servo control system of the turntable is shown in fig. 5. In order to meet the requirement of the turntable on high precision, the azimuth shafting adopts a direct drive mode of a DD motor (motor), so that transmission errors caused by a speed reducing mechanism are avoided; the pitch shafting adopts a DD motor, a high-precision gear and a tooth arc transmission mode; the system adopts a current, rotating speed and position three-closed-loop control mode in the whole control mode, so that the positioning precision and the system bandwidth are improved. The servo system mainly comprises a servo driver, a motor, an encoder and the like.
The parameters calculated to determine the DD motors selected for the azimuth motor 51 and the elevation motor 23 are shown in table 1.
| Parameter(s) | Azimuth motor | Pitching motor |
| Maximum torque Nm | 501 | 50 |
| Rotor inertia kgm2 | 0.175 | 0.034 |
| Maximum rotational speed rps | 3.3 | 5 |
| Rated speed rps | 250 | 4 |
| Absolute precision | 18 | ±90 |
| Repetition accuracy | ±2 | ±10 |
| Weight kg | 60.8 | 16 |
| Overall dimension mm | Phi 284X 252, inner diameter phi 42.9 | Phi 150X 212, inner diameter phi 56 |
Therefore, the shafting precision is analyzed, whether the motion rule meets the requirement or not is judged, and the motion position and speed reach the required precision or not, namely whether the system error reaches the index or not is judged. The systematic errors include static errors and steady state errors. The static error is mainly caused by errors in the aspects of precision, structure and circuit of the angle measuring element, such as torsional deformation of a shaft system, backlash at the meshing position of a gear pair, zero offset and zero drift of a control circuit and the like. Through rational design of the structure and reasonable type selection of devices, the static error can be reduced. The steady-state error is caused by input signals (speed, acceleration size and frequency) and interference (static and dynamic moment and environmental factors), and the steady-state error can be reduced by reasonably designing a servo system, improving the quick response capability of the system, improving the rigidity and the anti-interference capability of the system and reducing the steady-state error. The specific method comprises the following steps:
1. static error
Each motor of the double-shaft turntable and the matched drivers and other devices thereof select mature-technology and advanced-performance motion control devices during scheme design, and static errors caused by a control circuit can be ignored.
Therefore, the static error of the system is mainly caused by the precision of the angle measuring device and the backlash of the reducer, and the condition of the static error caused by the azimuth axis and the pitching axis is different, and the static error is analyzed and calculated respectively below.
(1) Azimuth system
The azimuth system adopts a direct motor (DD motor) driving mode. The angle measuring device is arranged on the motor shaft, and the static error only depends on the angle measuring device because of no speed reducer. As shown in Table 1, the angle measuring device is a high-resolution encoder with absolute accuracy of +/-18 'and repetition accuracy of +/-2', and the static accuracy can be guaranteed.
Static error of azimuth axis: deltaSquare 1＝18″。
(2) Pitching system
The pitch system belongs to a gear arc speed reducing mechanism, the speed reducing ratio is designed to be 14.372, and the error of the absolute accuracy of an encoder of the pitch system, which is +/-90' at a load end (the output end of the gear arc speed reducer), is as follows:
the tooth clearance of the tooth-arc speed reducer can cause static errors, 6-level precision tooth arcs are selected, the tooth clearance is 0.02 mm, the tooth arc radius is 460 mm, and the tooth clearance error is 9.6 ".
Static error of pitch axis: deltaLower 1＝6.26″+9.6″≈15.86″。
2. Steady state error
The steady state error is caused by input signals (speed, magnitude and frequency of acceleration) and disturbances (static and dynamic moments, moments due to environmental factors), the former being calculated with error coefficients and the latter being calculated with system stiffness.
(1) Error of moment generation
The transfer function of a two-axis turret is shown in fig. 6.
Torque-induced motor shaft position error (rad) ═ torque (Nm)/system stiffness K on the motor shaftR
Wherein the system stiffness KRThe calculation formula is KR＝CmKaKpKn)/Ra
Wherein:
the azimuth axis has no unbalanced moment, so the error caused by the unbalanced moment is as follows: deltaSquare 1＝0′；
The errors caused by the unbalanced moment of the pitch axis are: deltaLower 1＝1′；
Coefficient of system stiffness KRThe larger the position error caused by the moment is, the smaller the position error caused by the moment is;
when the rigidity coefficient of the system is required to be improved, the gain of the system and the gain of a speed loop of the system need to be improved after the motor is determined;
the gain improvement is limited by the system stability;
after the position loop and the speed loop are respectively added with proper integral and differential regulation, namely D, I regulation, the stability margin of the system is increased, which is beneficial to improving the gains of the position loop and the speed loop, and the rigidity of the system can be further improved, thereby further reducing the error.
(2) Error caused by speed
The error caused by the speed is the main part of the steady-state error of the system, and due to the inertia of the system, the tracking of the signal change has lag, and the faster the signal change, the more the lag, and the larger the error.
The three closed loops of current, speed and position arranged in the servo driver and PID regulation in each closed loop are arranged for overcoming the influence of factors such as system inertia, parameter change of each device of the system, external interference and the like on the tracking precision of the system.
The mathematical transformation between motor speed and corner has an integral link, makes the system have first order no static error, and the difference of position promptly does not cause position tracking error, and the difference of speed can cause position tracking error, and its size is: the product of the velocity error coefficient and the velocity.
The error coefficients for such a system are: position error coefficient: c0＝0
Speed error coefficient: c1＝Kf/KP Ka。
Under the condition of 1 DEG and 3Hz sine wave tracking, the dynamic tracking error of the azimuth axis caused by the speed is as follows:
△square 22.5'; the dynamic tracking error of the pitch axis is deltaLower 2＝1′。
Therefore, to reduce the error caused by the moment, the moment rigidity of the system needs to be improved, and the amplification factor K needs to be increasedPKn；
To reduce the speed error, the speed error coefficient C is reduced1It is also necessary to increase the magnification KP；
The stability of the system can be reduced by increasing the amplification factor;
in order to solve the contradiction between the precision and the stability of the system, feedforward (feed forward) control is added into the system to form a composite control system, namely an open-loop and closed-loop control system.
c) Total dynamic tracking error
△Square block＝△Square 1+△Square 2＝0′+2.5′＝2.5′；
△Bow down＝△Lower 1+△Lower 2＝1′+1′＝2′。
The utility model provides a simulation revolving stage passes through the horizontal rotation of azimuth shafting and the vertical rotation of every single move shafting and provides two degrees of freedom disturbance environment for the load (seeker) of being surveyed, the load of being surveyed among the every single move shafting is relatively fixed with every single move shafting frame, do the pitching motion around the every single move shaft through gear + tooth arc and slider + arc guide rail jointly, seeker front end antenna panel keeps 120 headroom states all the time, solved load front end 120 toper workspace headroom, load self antenna panel every single move shaft centre of revolution and revolving stage every single move shaft centre of revolution and required the test demand of coincidence; the azimuth axis is directly driven by the DD motor, so that transmission errors caused by a speed reducing mechanism are avoided, high-precision transmission is realized, and meanwhile, the gear ring and the sliding rail of the pitch axis are compact in structure, so that the defects of large size, heavy weight and low precision of a traditional rotary table are overcome, and the repeated positioning precision is controlled to be below 0.005 degrees. Through the design, the real disturbance in the process of load flight can be simulated under the laboratory condition, so that the dynamic precision index of the load in the flight state can be tested.
The present invention is not limited to the above-mentioned preferred embodiments, and any other products in various forms can be obtained by the teaching of the present invention, but any changes in the shape or structure thereof, which have the same or similar technical solutions as the present invention, fall within the protection scope of the present invention.
Claims (8)
1. The utility model provides a high accuracy biax emulation revolving stage that every single move axle headroom does not have sheltering from, but includes the azimuth axis system of horizontal rotation by azimuth motor (51) driven and by the pitch axis system of vertical rotation of pitch motor (23) driven, seeker (1) horizontal installation pitch axis system one side and can follow pitch axis system vertical rotation, pitch axis system is fixed azimuth axis system top and can follow azimuth axis system horizontal rotation.
2. The high-precision biaxial simulation turntable with unobstructed pitching axis clearance as claimed in claim 1, characterized in that said pitching axis comprises a pitching arm (2) and a C-frame (3), said seeker (1) is mounted on said C-frame (3) by a load mounting plate (4), and the bottom of said pitching arm (2) is fixed on said azimuth axis; c type frame (3) lateral wall is equipped with tooth arc (31) and arc guide rail (32) side by side along the radian direction, every single move support arm (2) lateral wall be equipped with gear (21) of tooth arc (31) looks adaptation and with arc guide rail (32) matched with slider (22), slider (22) cover is established on arc guide rail (32).
3. The high-precision biaxial simulation turntable with unobstructed pitch axis clearance as set forth in claim 2, wherein said pitch motor (23) and a pitch brake (24) associated with said pitch motor (23) are mounted on the outer wall of said pitch arm (2), and the side of said pitch arm (2) opposite to said C-frame (3) is provided with a proximity switch (25) for controlling said pitch motor (23) under said load mounting plate (4).
4. The high precision biaxial simulation turntable with unobstructed pitch axis clearance as claimed in claim 2, characterized in that said pitch arm (2) and said C-shaped frame (3) are two in number, and said C-shaped frames (3) are connected by a plurality of links (35).
5. The high-precision biaxial simulation turntable with unobstructed pitching axis clearance as claimed in any one of claims 2 to 4, wherein the side of said pitching arm (2) opposite to said C-shaped frame (3) is located under said C-shaped frame (3) and is provided with a first stopper (26), and the top of said first stopper (26) is provided with a cushion pad.
6. The high-precision two-axis simulation turntable with unobstructed pitching axis clearance of claim 1, characterized in that said azimuth axis system comprises an azimuth turntable (5) for mounting said pitching axis system, and said azimuth motor (51) and an azimuth brake (52) cooperating with said azimuth motor (51) are disposed at the bottom of said azimuth turntable (5).
7. The high-precision two-axis simulation turntable with unobstructed pitching axis clearance of claim 6, wherein a base (6) is provided at the bottom of said azimuth axis system, and said azimuth motor (51) and said azimuth brake (52) are provided in said base (6); the outer wall of the base (6) is wrapped with a plurality of detachable sealing plates (61), wherein one of the detachable sealing plates (61) is provided with a connector (62).
8. The high-precision biaxial simulation turntable with unobstructed pitch axis clearance as claimed in claim 7, wherein said azimuth turntable (5) has a second stopper (53) at the bottom above said base (6), and said second stopper (53) has a cushion at the top.
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| CN114440956A (en) * | 2022-04-11 | 2022-05-06 | 西安星通通信科技有限公司 | Three-dimensional test turntable with adjustable rigidity and rigidity debugging method thereof |
| CN114670160A (en) * | 2022-04-15 | 2022-06-28 | 北京航空航天大学 | Heavy-load high-precision changeable multi-dimensional rotation testing device |
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| CN114440956A (en) * | 2022-04-11 | 2022-05-06 | 西安星通通信科技有限公司 | Three-dimensional test turntable with adjustable rigidity and rigidity debugging method thereof |
| CN114440956B (en) * | 2022-04-11 | 2022-08-05 | 西安星通通信科技有限公司 | Three-dimensional test turntable with adjustable rigidity and rigidity debugging method thereof |
| CN114670160A (en) * | 2022-04-15 | 2022-06-28 | 北京航空航天大学 | Heavy-load high-precision changeable multi-dimensional rotation testing device |
| CN114670160B (en) * | 2022-04-15 | 2023-05-26 | 北京航空航天大学 | High-load high-precision changeable multidimensional rotation testing device |
| CN115939724A (en) * | 2022-12-07 | 2023-04-07 | 北京航天驭星科技有限公司 | Portable satellite measurement and control antenna turntable and satellite measurement and control station |
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