CN215114577U

CN215114577U - Small indexing mechanism for positioning and orienting

Info

Publication number: CN215114577U
Application number: CN202121236620.7U
Authority: CN
Inventors: 任梦晴
Original assignee: China Shipping Jiujiang Jingda Technology Co ltd
Current assignee: China Shipping Jiujiang Jingda Technology Co ltd
Priority date: 2021-06-03
Filing date: 2021-06-03
Publication date: 2021-12-10
Anticipated expiration: 2031-06-03

Abstract

The utility model belongs to the technical field of inertia combination navigation, concretely relates to a small-size indexing mechanism for fix a position orientation. The utility model comprises a shell, a rotating component and a lifting component which are arranged in the shell, an end-toothed disc which is arranged on the rotating component, a slip ring which is arranged in the rotating component, and a control circuit which is arranged at the inner side of the shell and is used for controlling the lifting component and the rotating component; the end-toothed disc comprises an upper toothed disc and a lower toothed disc which are meshed with each other. The utility model discloses a casing is direct as the shell of location orientation system, and its machine part and control circuit all install on it, have reduced the volume of system, have improved the integrated nature of system, adopt last fluted disc and fluted disc matched with mode down, make the utility model discloses there are higher positioning accuracy and better mechanics adaptability.

Description

Small indexing mechanism for positioning and orienting

Technical Field

The utility model belongs to the technical field of inertia combination navigation, concretely relates to a small-size indexing mechanism for fix a position orientation.

Background

In positioning and orientation systems such as vehicle-mounted and ship-based systems, the systems generally use a combined navigation mode of inertial navigation and satellite navigation to perform positioning and orientation. When the inertial navigation unit in the inertial navigation system works in a positioning and orientation mode, certain angle positions are required to be used as reference according to different algorithms, and required results are obtained. The indexing mechanism is such an angular device that provides the inertial unit with a high degree of precision in its angular position.

Along with the continuous improvement of the requirements of the system, the precision requirement of the inertial navigation system is also continuously improved, and the precision of the inertial navigation system is reduced due to the zero drift characteristic of the inertial gyro during long-time work. At the moment, if a certain rotation rate can be given to the inertial set system, the calibration work of the inertial gyro is completed, the null shift of the gyro can be eliminated, and the precision of the inertial set is improved. The traditional indexing mechanism only can provide angular position reference and cannot provide high-precision speed precision. Meanwhile, the size of the inertial set system is limited, the size of the indexing mechanism needs to be reduced, and higher requirements are put on the integration of the indexing mechanism.

In order to solve the problems of long-time work and space size of the inertial measurement unit, a novel small indexing mechanism is needed, an accurate angular position and a certain rotation rate can be provided for the inertial measurement unit, and meanwhile, the size meets the requirement of system miniaturization.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a new-type small-size indexing mechanism. The positioning mechanism can provide high-precision angle positions for the inertial set system, can also provide high-precision speed precision, and is embedded into a shell of the positioning and orienting system in the whole structure, so that the volume requirement of the system is met. The device is suitable for various small positioning and orienting systems which work for a long time with high precision.

The utility model provides a technical scheme that its technical problem adopted is:

a small indexing mechanism for positioning and orientation comprises a shell, a rotating assembly and a lifting assembly which are arranged in the shell, an end-toothed disc arranged on the rotating assembly, a sliding ring arranged in the rotating assembly, and a control circuit arranged inside the shell and used for controlling the lifting assembly and the rotating assembly; the end-toothed disc comprises an upper toothed disc and a lower toothed disc, and the upper toothed disc is meshed with the lower toothed disc.

Further, the rotating assembly comprises a rotating motor, a rotating shaft coaxially arranged with an output shaft of the rotating motor, a driving rotating gear arranged on the rotating shaft, a driven rotating gear arranged on the shell and matched with the driving rotating gear, and an angle encoder coaxially arranged with the output shaft of the driven rotating gear; and a slip ring is arranged in the rotating shaft.

Further, the lifting assembly comprises a lifting motor arranged on the inner side of the shell and a lifting gear set coaxially arranged with an output shaft of the lifting motor, and an output end of the lifting gear set is connected with the end-toothed disc through a lifting screw rod.

Further, the lifting gear set comprises a first lifting gear coaxially arranged with an output shaft of the lifting motor, a second lifting gear arranged on the lower plate of the shell and externally meshed and connected with the first lifting gear, and a third lifting gear externally meshed and connected with the second lifting gear; and an output shaft of the third lifting gear is coaxially provided with a lifting screw rod, and a nut of the lifting screw rod is connected with the lower fluted disc.

Furthermore, the driving rotating gear and the driven rotating gear both adopt anti-backlash structures, one gear is made into two pieces, and the two pieces of gears are connected through a spring.

Further, the rotating electric machine is a dc brushless torque motor.

Further, the lifting motor is a direct current coreless motor.

Further, the angle encoder is a high-precision rotary transformer.

Furthermore, at least two guide posts are arranged between the lower fluted disc and the lower plate of the shell; the guide post is in interference fit with the lower fluted disc through the dense ball shaft system.

The utility model discloses a be used for fixing a position directional small-size indexing mechanism's beneficial effect is:

1. the utility model discloses a casing is direct as the shell of location orientation system, and its machine part and control circuit all install on it, have reduced the volume of system, have improved the integrated nature of system, adopt last fluted disc and fluted disc matched with mode down, make the utility model discloses there are higher positioning accuracy and better mechanics adaptability.

2. The utility model discloses place the angle encoder side direction, avoided the high problem of installation face, just the utility model discloses a direct current brushless torque motor has guaranteed as the rotating electrical machines the utility model discloses a rotation rate of high accuracy can be for being used to the group and providing accurate angular position and certain rotation rate in, volume and the miniaturized requirement of weight satisfaction system.

Drawings

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

Fig. 1 is a perspective view of an embodiment of the present invention;

fig. 2 is a schematic view of the internal structure of the housing according to the embodiment of the present invention;

fig. 3 is a partial schematic structural diagram of an embodiment of the present invention;

fig. 4 is a top view of an embodiment of the invention;

FIG. 5 is a cross-sectional view taken along line A-A of FIG. 1;

fig. 6 is a sectional view taken along line B-B of fig. 1.

In the figure, the device comprises a shell 1, a shell 2, a rotating assembly 21, a rotating motor 22, a rotating shaft 23, a driving rotating gear 24, a driven rotating gear 25, an angle encoder 3, a lifting assembly 31, a lifting motor 32, a lifting gear set 321, a first lifting gear 322, a second lifting gear 323, a third lifting gear 33, a lifting screw rod 4, an end toothed disc 41, an upper toothed disc 42, a lower toothed disc 5, a slip ring 6, a control circuit 7 and a guide column.

Detailed Description

The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic drawings and illustrate the basic structure of the present invention only in a schematic manner, and thus show only the components related to the present invention.

Fig. 1-6 show a specific embodiment of a small indexing mechanism for positioning and orientation according to the present invention, a small indexing mechanism for positioning and orientation, which comprises a housing 1, a rotating assembly 2 and a lifting assembly 3 mounted in the housing 1, an end-toothed disc 4 mounted on the rotating assembly 2, a slip ring 5 disposed in the rotating assembly 2, and a control circuit 6 disposed inside the housing 1 for controlling the lifting assembly 3 and the rotating assembly 2; the end-toothed disc 4 comprises an upper toothed disc 41 and a lower toothed disc 42, the upper toothed disc 41 and the lower toothed disc 42 being engaged. The end-toothed disc 4 adopts end-face centripetal rigid straight teeth which are subjected to surface hardening and rust prevention treatment, adopts alloy structural steel, and has the indexing precision of not more than 3 'and the repetition precision of not more than 1'.

The rotating assembly 2 comprises a rotating motor 21, a rotating shaft 22 coaxially arranged with an output shaft of the rotating motor 21, a driving rotating gear 23 arranged on the rotating shaft 22, a driven rotating gear 24 arranged on the shell 1 and matched with the driving rotating gear 23, and an angle encoder 25 coaxially arranged with an output shaft of the driven rotating gear 24; the rotating shaft 22 is internally provided with a slip ring 5. The driving rotating gear 23 and the driven rotating gear 24 both adopt anti-backlash structures, one gear is made into two pieces, and the two pieces of gears are connected through a spring.

Referring to fig. 2 to 6, in the embodiment of the present invention, the upper gear plate 41 is fixedly connected to the rotating shaft 22 through screws, the outer angular contact ball bearing is installed on the outer circle of the rotating shaft 22, the rotating electrical machine 21 is fixed at the lower end of the rotating shaft 22 through screws, and the rotating electrical machine 21 is a dc brushless torque electrical machine, which has a long service life and a high control accuracy. The angle encoder 25 is connected with the rotating shaft 22 through a driving rotating gear and a driven rotating gear, and the angle encoder 25 is a high-precision rotary transformer, the angle precision is not more than 1' and the precision of the angle and the speed is met. The lifting screw 33 in the lifting component 3 is connected with the lower fluted disc 42 through the screw hole in a matching way, and the guide column 7 and the dense ball shaft system are connected with the through hole on the lower fluted disc 42 in an interference fit way. The angular contact ball bearing is in interference fit with the rotating shaft 22, and pre-tightening force is applied during installation, so that the rotation precision of the rotating shaft 22 is ensured to meet requirements.

Referring to fig. 2 and 3, the lifting assembly 3 includes a lifting motor 31 installed inside the housing 1, and a lifting gear set 32 coaxially disposed with an output shaft of the lifting motor 31, wherein an output end of the lifting gear set 32 is connected with the end-toothed disc 4 through a lifting screw 33. The lifting gear set 32 comprises a first lifting gear 321 coaxially arranged with the output shaft of the lifting motor 31, a second lifting gear 322 arranged on the lower plate of the shell 1 and externally engaged with the first lifting gear 321, and a third lifting gear 323 externally engaged with the second lifting gear 322; an output shaft of the third lifting gear 323 is coaxially provided with a lifting screw 33, and a nut of the lifting screw 33 is connected with the lower toothed disc 42. The lifting motor 31 is a direct-current coreless motor, and is small in size and high in conversion efficiency. At least one guide post 7 is arranged between the lower fluted disc 42 and the lower plate of the shell 1, and the guide post 7 is in interference fit with the lower fluted disc 42 through a dense ball shaft system. The embodiment of the present invention provides two guide posts 7, as shown in fig. 5, the lifting screw 33 uses a trapezoidal thread structure, wherein the external thread is rotated, and the internal thread is lifted.

The utility model discloses a casing 1 is direct as the shell of location orientation system, its mechanical part and control circuit 6 are all installed on it, the volume of system has been reduced, the integration of system has been improved, angle encoder 25 is connected with rotation axis 22 through a counter rotating gear, last fluted disc 41 in the end-toothed disc 4 links firmly with rotation axis 22, a pair of angular contact ball bearing and rotating electrical machines 21 are equipped with on the rotation axis 22, lower fluted disc 42 passes through elevating screw 33 with lifting unit 3, guide post 7, dense pearl shafting is connected, elevating screw 33 passes through elevating gear group 32 and links to each other with elevating motor 31, place sliding ring 5 in the middle of the rotation axis 22 as signal of telecommunication transmission mechanism, control circuit 6 is through relevant command control elevating motor 31, rotating electrical machines 21 work, thereby drive rotating unit 2, corresponding function is accomplished to elevating unit 3.

The utility model discloses an in the use, will be used to the device of group and pass through the screw installation on last fluted disc 41, be used to the signal and the power of device of group and pass through sliding ring 5 and external system circuit connection.

When the inertial device needs an accurate angular position, the control circuit 6 applies a starting voltage to the lifting motor 31, the lifting motor 31 drives the lifting gear set 32 to rotate, the lifting screw 33 is driven to work, the lower fluted disc 42 descends and is separated from the upper fluted disc 41, after the lower fluted disc 42 descends to a specified position, the control circuit 6 applies a starting voltage to the rotating motor 21, the rotating motor 21 drives the rotating shaft 22 to rotate, the upper fluted disc 41 and the inertial device mounted on the upper fluted disc 41 start to rotate, the angle encoder 25 obtains the rotating angle of the inertial device through the combined action of the driving rotating gear 23 and the driven rotating gear 24, the control circuit 6 controls the upper fluted disc 41 to rotate to a specified angular position through angle information fed back by the angle encoder 25, then the lifting motor 31 is loaded with a voltage, the lifting motor 31 drives the lifting gear set 32 to rotate, and drives the lifting screw 33 to work, so that the lower toothed disc 42 is lifted and engaged with the upper toothed disc 41, and the inertial set device reaches the required angular position precisely. Because the hole on the lower fluted disc 42 is matched with the three guide columns 7 and the dense ball shaft system, the descending motion of the lower fluted disc 42 is close to the ideal vertical translation without axial twist, and the meshing of the upper fluted disc 41 during each lifting can obtain high repeatability and angle precision.

When the inertial measurement unit needs accurate and stable speed precision, the control circuit 6 loads starting voltage on the lifting motor 31, the lifting motor 31 drives the lifting gear set 32 to rotate and drives the lifting screw 33 to work, so that the lower fluted disc 42 descends and is separated from the upper fluted disc 41, after the lower fluted disc 42 descends to a specified position, the control circuit 6 loads starting voltage on the rotating motor 21, the rotating motor 21 drives the rotating shaft 22 encoder to obtain a rotating angle through the rotating gear, and the control circuit 6 performs PID control on the rotating motor 21 according to angle information fed back by the angle encoder 25 to obtain a required high-precision rotating speed.

It should be understood that the above description of the specific embodiments is only for the purpose of explanation and not for the purpose of limitation. Obvious changes or variations caused by the spirit of the present invention are within the scope of the present invention.

Claims

1. A compact indexing mechanism for indexing an orientation, comprising: the device comprises a shell (1), a rotating assembly (2) and a lifting assembly (3) which are arranged in the shell (1), an end-toothed disc (4) which is arranged on the rotating assembly (2), a slip ring (5) which is arranged in the rotating assembly (2), and a control circuit (6) which is arranged on the inner side of the shell (1) and is used for controlling the lifting assembly (3) and the rotating assembly (2); the end-toothed disc (4) comprises an upper toothed disc (41) and a lower toothed disc (42), and the upper toothed disc (41) is meshed with the lower toothed disc (42).

2. A compact indexing mechanism for use in indexing and orienting according to claim 1, wherein: the rotating assembly (2) comprises a rotating motor (21), a rotating shaft (22) which is coaxially arranged with an output shaft of the rotating motor (21), a driving rotating gear (23) which is arranged on the rotating shaft (22), a driven rotating gear (24) which is arranged on the shell (1) and is matched with the driving rotating gear (23), and an angle encoder (25) which is coaxially arranged with the output shaft of the driven rotating gear (24); and a slip ring (5) is arranged in the rotating shaft (22).

3. A compact indexing mechanism for use in indexing and orienting according to claim 1, wherein: lifting unit (3) including install lifting motor (31) of casing (1) inboard, with lifting gear set (32) of the coaxial setting of output shaft of lifting motor (31), lifting gear set (32) the output with end-toothed disc (4) are connected through lift lead screw (33).

4. A compact indexing mechanism for use in indexing and orienting according to claim 3, wherein: the lifting gear set (32) comprises a first lifting gear (321) coaxially arranged with an output shaft of the lifting motor (31), a second lifting gear (322) which is arranged on a lower plate of the shell (1) and is externally meshed and connected with the first lifting gear (321), and a third lifting gear (323) which is externally meshed and connected with the second lifting gear (322); an output shaft of the third lifting gear (323) is coaxially provided with a lifting screw rod (33), and a nut of the lifting screw rod (33) is connected with the lower fluted disc (42).

5. A compact indexing mechanism for use in indexing and orienting according to claim 1, wherein: the driving rotating gear (23) and the driven rotating gear (24) both adopt anti-backlash structures, one gear is made into two pieces, and the two pieces of gears are connected through a spring.

6. A compact indexing mechanism for use in indexing and orienting according to claim 1, wherein: the rotating motor (21) is a direct current brushless torque motor.

7. A compact indexing mechanism for use in indexing and orienting according to claim 1, wherein: the lifting motor (31) is a direct-current coreless motor.

8. A compact indexing mechanism for use in indexing and orienting according to claim 1, wherein: the angle encoder (25) is a high-precision rotary transformer.

9. A compact indexing mechanism for use in indexing and orienting according to claim 1, wherein: at least one guide post (7) is arranged between the lower fluted disc (42) and the lower plate of the shell (1); the guide post (7) is in interference fit with the lower fluted disc (42) through the dense ball shaft system.