阅读说明：本技术 一种俯仰轴四电机对称的卧式三轴仿真转台 (Horizontal three-axis simulation turntable with four symmetrical pitching axis motors ) 是由 刘喜平 霍国亮 梅许文 于 2021-09-02 设计创作，主要内容包括：一种俯仰轴四电机对称的卧式三轴仿真转台,包括O型框架,所述O型框架的两端均连接有俯仰机构,俯仰机构固定安装在底座上,所述俯仰机构包括固定在底座上的支架,支架内经轴承组件安装有主轴,所述支架的外侧固定有外电机定子,外电机定子内侧安装有外电机转子,外电机转子经外电机转子座与主轴固定连接,所述支架的内侧固定有内电机定子,内电机定子内侧安装有内电机转子,内电机转子经内电机转子座与主轴固定连接,所述O型框架的两端均设有框架孔,框架孔内设有套装在主轴上的胀紧套。本发明将2组俯仰机构的电机经过对称布置,合理利用主轴和O型框架之间的空间,同时在主轴的两端输入扭矩,最大限度的提升了主轴的扭转刚度和频响特性。(The utility model provides a horizontal triaxial emulation revolving stage of four motor symmetries of every single move axle, includes O type frame, the both ends of O type frame all are connected with every single move mechanism, and every single move mechanism fixed mounting is on the base, every single move mechanism installs the main shaft through bearing subassembly including fixing the support on the base in the support, the outside of support is fixed with outer motor stator, and outer motor rotor is installed to outer motor stator inboard, and outer motor rotor is through outer motor rotor seat and main shaft fixed connection, the inboard of support is fixed with interior motor stator, and interior motor rotor is installed to interior motor stator inboard, and interior motor rotor is through interior motor rotor seat and main shaft fixed connection, the both ends of O type frame all are equipped with the frame hole, are equipped with the suit at the epaxial tight cover that expands of frame hole. The motors of the 2 groups of pitching mechanisms are symmetrically arranged, the space between the main shaft and the O-shaped frame is reasonably utilized, and meanwhile, the torque is input at the two ends of the main shaft, so that the torsional rigidity and the frequency response characteristic of the main shaft are improved to the maximum extent.)

1. A horizontal three-axis simulation turntable with four motors symmetric about a pitching axis comprises an O-shaped frame (13) and is characterized in that two ends of the O-shaped frame (13) are connected with pitching mechanisms (14), the pitching mechanisms (14) are fixedly mounted on a base (1), each pitching mechanism (14) comprises a support (7) fixed on the base (1), a spindle (3) is mounted in each support (7) through a bearing assembly (2), an outer motor stator (6) is fixed on the outer side of each support (7), an outer motor rotor (5) is mounted on the inner side of each outer motor stator (6), the outer motor rotor (5) is fixedly connected with the spindle (3) through an outer motor rotor base (4), an inner motor stator (8) is fixed on the inner side of each support (7), an inner motor rotor (9) is mounted on the inner side of each inner motor stator (8), and the inner motor rotor (9) is fixedly connected with the spindle (3) through an inner motor rotor base (10), frame holes (12) are formed in two ends of the O-shaped frame (13), and expansion sleeves (11) sleeved on the main shaft (3) are arranged in the frame holes (12).

2. The horizontal three-axis simulation rotary table with four symmetrical pitching axes and four motors is characterized in that the pitching mechanisms (14) have 2 groups, 2 groups of the pitching mechanisms (14) are symmetrically arranged on the base (1), 2 groups of the outer motor rotors (5) of the pitching mechanisms (14) are symmetrically arranged, and 2 groups of the inner motor rotors (10) of the pitching mechanisms (14) are symmetrically arranged.

3. The horizontal three-axis simulation rotary table with four pitching axes and symmetrical motors is characterized in that one end of the main shaft (3) is sleeved with the expansion sleeve (11) and then inserted into the frame hole (12), and two ends of the O-shaped frame (13) are fixedly connected with the main shaft (3) of the pitching mechanism (14) through screws.

Technical Field

The invention relates to a horizontal type simulation rotary table, in particular to a horizontal type three-axis simulation rotary table with four motors of pitching axes being symmetrical.

Background

The three-axis electric turntable is used as a test verification platform and has an important role in the development process of missiles and aerospace aircrafts. The missile guidance system is a core component of missiles and aircrafts, and the performance of the guidance system is evaluated by two main test methods: one is to obtain data in actual shooting or actual flight and find problems from the data to be improved continuously; the other method is to test and evaluate various performance indexes of the guidance system on the ground according to semi-physical simulation test equipment. Since the dynamics of the guidance head of the missile (or aircraft) are truly simulated under laboratory conditions, the device is more and more widely applied, and the requirements on high dynamics (or high frequency response and high bandwidth) are more and more strict.

The horizontal three-axis electric simulation rotary table is a serial mechanism and sequentially comprises a rolling shaft system, a yawing shaft system and a pitching shaft system from inside to outside. The triaxial series mechanism is characterized in that the rotational inertia of the rolling shaft system is composed of a motor rotor, a bearing inner ring, a rolling load and a rolling load support, the commonly added rotational inertia is the load of the rolling shaft system, the rotational inertia of the rolling assembly around the yaw axis direction is the load of the yaw shaft system, and the rotational inertia of the rolling assembly and the yaw assembly around the pitch direction is the load of the pitch shaft system;

in order to improve the dynamic characteristics of three shafting as much as possible and analyze factors influencing the rotational inertia and the shafting rigidity of each shafting, the bearing design, the motor design and the layout mode of the shafting are optimized on the premise of meeting other requirements of the horizontal three-shaft electric turntable so as to realize the high dynamic characteristics of each shafting.

The factors influencing the realization of the frequency response index have two aspects

1) Characteristic curve of the motor: the motor characteristic curve is smooth, the motor torque is large, and the frequency response index is favorably realized.

The pitching shafting of the triaxial horizontal simulation rotary table is the shafting of the outermost ring, the rotational inertia of the shafting is also the largest, along with the continuous improvement of the frequency response indexes in recent years, the conventional shafting design mode is difficult to meet the requirements, in some application situations, in order to meet the larger frequency response requirement, the radial and axial sizes of the motor need to be increased, and when the size reaches over phi 1000mm, much inconvenience is brought to the motor manufacture and the rotary table assembly, so that the requirements of some application scenes need to be met by increasing the number of the motors.

2) Shafting rigidity: the higher the shafting rigidity is, the more the expected frequency response characteristic can be achieved.

The rigidity of the shafting is influenced by three factors, namely 1) the rigidity of the main shaft, 2) the connection rigidity of the main shaft and the O-shaped frame, and 3) the rigidity of the O-shaped frame (aiming at the third factor, the frame needs to be optimally designed and needs to be designed independently, and the method is not in the discussion range of the scheme).

In the design of the traditional simulation turntable, a motor is placed at the tail end of a main shaft, a bearing assembly is closest to an O-shaped frame, and the transmission distance of the torque of the motor is too long due to the motor configuration mode, so that the realization of high-frequency response indexes is not facilitated; two ends of the left pitching shaft and the right pitching shaft are respectively provided with a set of motor, and four sets of motors are symmetrically arranged, so that the space can be effectively utilized, the distance from the torque of the motor to the O-shaped frame is shortened, and the frequency response characteristic of a pitching shaft system is improved.

Disclosure of Invention

The invention aims to provide a horizontal three-axis simulation turntable with four motors of a pitching axis in symmetry, so as to solve the problems in the background technology.

The technical scheme who takes for realizing above-mentioned purpose is, a horizontal triaxial emulation revolving stage of four motor symmetries of every single move axle, including O type frame, the both ends of O type frame all are connected with every single move mechanism, and every single move mechanism fixed mounting is on the base, every single move mechanism is including fixing the support on the base, and the main shaft is installed through bearing subassembly in the support, the outside of support is fixed with outer motor stator, and outer motor rotor is installed to outer motor stator inboard, and outer motor rotor is through outer motor rotor seat and main shaft fixed connection, the inboard of support is fixed with interior motor stator, and interior motor rotor is installed to interior motor stator inboard, and interior motor rotor is through interior motor rotor seat and main shaft fixed connection, the both ends of O type frame all are equipped with the frame hole, are equipped with the tight cover of bloating of suit on main shaft in the frame hole.

Furthermore, the pitching mechanisms are provided with 2 groups, 2 groups of pitching mechanisms are symmetrically arranged on the base, the outer motor rotors of the 2 groups of pitching mechanisms are symmetrically arranged, and the inner motor rotors of the 2 groups of pitching mechanisms are symmetrically arranged.

Furthermore, one end of the main shaft is sleeved with the expansion sleeve and then inserted into the frame hole, and two ends of the O-shaped frame are fixedly connected with the main shaft of the pitching mechanism through screws.

Advantageous effects

Compared with the prior art, the invention has the following advantages.

1. According to the invention, the input torque of the main shaft is increased by increasing the number of the motors, so that the input power of the main shaft is increased from multiple points, the requirements of special application environments are met, and the market competitiveness of products is improved;

2. the invention reasonably utilizes the limited space between the main shaft and the O-shaped frame by symmetrically arranging the motors of the pitching mechanism, and simultaneously, the torque is input at the two ends of the main shaft, thereby improving the torsional rigidity and the frequency response characteristic of the main shaft to the maximum extent.

Drawings

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

FIG. 1 is a structural cross-sectional view of the present invention;

FIG. 2 is a schematic view of an O-frame of the present invention;

FIG. 3 is a schematic view of a bearing assembly of the present invention;

FIG. 4 is a schematic structural view of the spindle of the present invention 1;

FIG. 5 is a schematic structural view of the spindle of the present invention, FIG. 2;

FIG. 6 is a schematic view of a roll assembly according to the present invention;

FIG. 7 is a schematic view of a yaw assembly of the present invention;

fig. 8 is a schematic structural view of a three-axis turntable in the present invention.

Detailed Description

The invention is further described with reference to the following examples and the accompanying drawings.

As shown in fig. 1-8, a horizontal three-axis simulation turntable with four motors in pitch axis symmetry comprises an O-shaped frame 13, two ends of the O-shaped frame 13 are both connected with a pitching mechanism 14, the pitching mechanism 14 is fixedly arranged on the base 1, the pitching mechanism 14 comprises a bracket 7 fixed on the base 1, a main shaft 3 is arranged in the bracket 7 through a bearing assembly 2, an outer motor stator 6 is fixed on the outer side of the bracket 7, an outer motor rotor 5 is arranged on the inner side of the outer motor stator 6, the outer motor rotor 5 is fixedly connected with the main shaft 3 through an outer motor rotor seat 4, an inner motor stator 8 is fixed on the inner side of the bracket 7, an inner motor rotor 9 is arranged on the inner side of the inner motor stator 8, the inner motor rotor 9 is fixedly connected with the main shaft 3 through an inner motor rotor seat 10, frame holes 12 are formed in two ends of the O-shaped frame 13, and expansion sleeves 11 sleeved on the main shaft 3 are arranged in the frame holes 12.

The pitching mechanisms 14 comprise 2 groups, wherein 2 groups of the pitching mechanisms 14 are symmetrically arranged on the base 1, 2 groups of the outer motor rotors 5 of the pitching mechanisms 14 are symmetrically arranged, and 2 groups of the inner motor rotors 10 of the pitching mechanisms 14 are symmetrically arranged.

One end of the main shaft 3 is sleeved with the expansion sleeve 11 and then inserted into the frame hole 12, and two ends of the O-shaped frame 13 are fixedly connected with the main shaft 3 of the pitching mechanism 14 through screws.

In the invention, two ends of the main shaft 3 are both in a stepped structure, the outer motor rotor base 4 is fixed on the stepped structure of the main shaft 3 positioned at the outer side of the bracket 7, and the inner motor rotor base 10 and the O-shaped frame 13 are both fixedly connected on the stepped structure of the main shaft 3 positioned at the inner side of the bracket 7; the stepped structure on the spindle and positioned outside the bracket comprises an outer motor cylindrical surface 30 and an outer motor flange surface 31, and the outer motor rotor seat 4 is sleeved on the outer motor cylindrical surface 30 and is fixedly connected with the outer motor flange surface 31 through screws; the stepped structure on the inner side of the bracket 7 comprises an inner motor flange surface 32, an inner motor cylindrical surface 33, a frame flange surface 34 and a frame cylindrical surface 35, wherein the inner motor rotor seat 10 is sleeved on the inner motor cylindrical surface 33 and is fixedly connected with the inner motor flange surface 32 through a screw; the end parts of the two ends of the O-shaped frame 13 are sleeved on the frame cylindrical surface 35 and are fixedly connected with the frame flange surface 34 through screws.

Two ends of the two main shafts 3 are respectively provided with a set of motor, so that the distance from the torque of the motor to the load is shortened as much as possible, and the rigidity of the main shafts is improved on the premise of not changing the diameter of the main shafts. And 2 sets of motors on 2 main shafts 3 are respectively and symmetrically arranged, the motors configured at the outer ends of the 2 main shafts 3 are the same type motors, and the types of the motors configured at the inner ends are the same, so that the torques transmitted to the pitching shafts by the configured motors are the same, and the control precision can be improved.

The working principle of the invention is that in the simulation turntable, the pitching mechanisms are 2 groups, the load is fixed with the main shaft of the pitching mechanisms 2 groups, the motors 2 groups are also fixed with the main shaft, the main shaft generates tiny torsional deformation along the circumferential tangential direction at the moment of starting the motors, and the rigidity of the main shaft can be improved only by reducing the deformation as much as possible, so the distance from the motors to the O-shaped frame is shortened as much as possible, and the rigidity of the main shaft is improved.

In order to improve the output torque of the pitching motor, the number of the motors needs to be increased, the motors of the same type are symmetrically configured at two ends of the 2 main shafts at the same time, and the motor torque is transmitted to the pitching shaft system at two ends of the 2 main shafts at the same time.

The invention takes a base 1 as a support, 2 brackets 7 are respectively fixed on the upper end surface of the base 1, a bearing assembly 2 is arranged at a central through hole of each bracket 7, a main shaft 3 is matched with the bearing assembly 2, and two independent shaft systems are formed at two ends of each 2 bracket 7;

2 supports 7 are used as supports, an outer motor stator 6 and an inner motor stator 8 are respectively arranged on the 2 supports 7, a main shaft 3 is used as a support, an outer motor rotor 5 is indirectly fixed at the outer end part of the main shaft 3 through an outer motor rotor seat 4, and an inner motor rotor 9 is indirectly fixed at the inner end part of the main shaft 3 through an inner motor rotor seat 10;

loosening the screws for fixing the bracket 7 to enable the bracket 7 to be in a free state, hoisting the O-shaped frame 13, firstly enabling the frame holes 12 at the two ends of the O-shaped frame 13 to be sleeved on the main shaft 3, enabling the left end face and the right end face of the O-shaped frame 13 to be tightly attached to the frame flange face 34 and the frame cylindrical face 35 on the main shaft 3, and finally fastening 2 brackets 7 on the base 1 again.

And an expansion sleeve 11 is arranged in a frame hole 12, screws between the O-shaped frame and the main shaft 3 are fastened, the O-shaped frame and the 2 main shafts are fastened together, and the left shaft system and the right shaft system are connected into a pitching shaft system through an O-shaped frame 13.

The use form of the four-motor symmetrical design of the pitching shaft of the horizontal three-shaft simulation turntable is not limited to the use of an electric motor, and the original design style can also meet the use condition of a hydraulic motor.

The size of the motor described by the invention can be changed according to different rotational inertia and frequency response indexes.

The invention is applied to a three-axis turntable with larger load size and weight to be measured, and the bearing assembly can adopt an angular contact bearing pair or a tapered roller bearing pair so as to increase the axial and radial rigidity of a shaft system.