CN102022955A - Manual double-shaft non-magnetic rotary table - Google Patents
Manual double-shaft non-magnetic rotary table Download PDFInfo
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- CN102022955A CN102022955A CN2010105037428A CN201010503742A CN102022955A CN 102022955 A CN102022955 A CN 102022955A CN 2010105037428 A CN2010105037428 A CN 2010105037428A CN 201010503742 A CN201010503742 A CN 201010503742A CN 102022955 A CN102022955 A CN 102022955A
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Abstract
The invention discloses a manual double-shaft non-magnetic rotary table, which at least comprises a mechanical stage body, a mechanical base, an inner ring spindle unit, outer ring pitch axis units, inner-outer axis gears, a conductive slip ring, a shaft angle encoder and a console, wherein the mechanical base is provided with two outer ring pitch axis units, the inner ring spindle unit is arranged between the two pitch axis units, the two outer ring pitch axis units and the inner ring spindle unit are connected by the inner-outer axis gears, the conductive slip ring and the shaft angle encoder are arranged in the inner ring spindle unit, and the console mainly comprises a stabilized power supply unit, a multi-serial port information collection card, a one-machine dual-screen driver, an industrial personal computer and an auxiliary display screen. The manual double-shaft non-magnetic rotary table can serve as an inertial navigation system by taking a magnetic sensor as a main component to perform experiments such as test, calibration,loop simulation and the like on the ground, thus reducing the times of live shell flight and improving the success rate of live shell flight.
Description
Technical field
The present invention relates to the no magnetic twin shaft of a kind of precision rotation platform, belong to the inertial navigation field.
Background technology
Demand along with the development and the national defense industry of new technology, our country from begin during "the 10th five-years" to develop intelligent ammunition and cheaply intelligence lead rocket projectile, the core component of these modern weapon systems is inertial navigation systems, in order to accomplish small size, low cost, adopted magnetoresistive transducer as angle measurement element (replacing traditional vertical gyro), the sensitivity of magnetoresistive transducer is generally 80nT, so require the magnetic total quantity index of ground calibration, testing equipment must not surpass 40nT.
Though but traditional turntable can be accomplished high accuracy, can not accomplish not have magnetic, so just cause inertial navigation system effectively to test and calibration, have a strong impact on the Development Schedule of armament systems.This system succeeds in developing, and will break external monopolization to us, fills the domestic gaps.
Summary of the invention
The objective of the invention is to overcome the deficiency of above-mentioned existence, provide a kind of outer shaft to reach 60 rev/mins, interior axle reaches 960 rev/mins, turntable stage body self magnetic intensity does not have the magnetic turntable less than the twin shaft of 40nT.
The objective of the invention is to finish by following technical solution, a kind of twin shaft does not have the magnetic turntable, which comprises at least: a mechanical stage body; Include mechanical pedestal, interior ring spindle unit, outer shroud pitch axis parts, inside and outside shaft gear case, interior outer shaft gear, conducting slip ring, shaft-position encoder; Described mechanical pedestal is provided with two outer shroud pitch axis parts, be provided with in one between described two outer shroud pitch axis parts and encircle spindle unit, connect by interior outer shaft gear between described two outer shroud pitch axis parts and the interior bad spindle unit, encircle in the spindle unit in described conducting slip ring and shaft-position encoder are arranged at; One operation bench; Mainly form by the secondary screen of source of stable pressure, many Serial Port Informations capture card, a machine double screen driver, industrial computer and demonstration; The ring spindle unit mainly is made up of work top, principle axis shafting, main shaft support housing, main shaft drives transmission mechanism in described; Described outer shroud pitch axis parts are mainly by being made up of pitch axis left side axle system, the right axle of pitch axis system, U type base support housing, pitch axis drive transmission device; Described conducting slip ring adopts the electric brush type structure, mainly is made up of rotor leading wire, conduction ring plate, brush wires, brush carrier, stator lead, armature spindle, bearing, ring flange, stator case; Described shaft-position encoder adopts separately-loaded not have magneto-optic grid encoder as the angle position sensing element; Adopt cable to be connected between described mechanical stage body and the operation bench, to realize powering and the transmission of metrical information.
Described mechanical stage body adopts U-T type structure.
Described principle axis shafting and pitch axis axle system all adopt the handwheel rotating mechanism.
The present invention can make by Magnetic Sensor and make inertial navigation system as critical piece, tests on ground, tests such as calibration, HWIL simulation, to reduce the number of times of live shell flight, improves the success rate of live shell flight.
Description of drawings
Fig. 1 is that twin shaft of the present invention does not have magnetic turret systems composition diagram;
Fig. 2 is an interior ring spindle unit cut-away view of the present invention;
Fig. 3 is the outer shroud of the present invention spindle unit structure chart of lying on the back;
Fig. 4 is an interior ring spindle unit structure chart of the present invention;
Fig. 5 is the outer shroud of the present invention spindle unit cut-away view of lying on the back;
Fig. 6 is that twin shaft of the present invention does not have magnetic turret systems profile;
Fig. 7 is an electrical system function composition frame chart of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is done detailed introduction: shown in Fig. 1-6: a kind of twin shaft does not have the magnetic turntable, which comprises at least:
One mechanical stage body 1; Include mechanical pedestal 2, interior ring spindle unit 3, outer shroud pitch axis parts 4, interior outer shaft gear, conducting slip ring, shaft-position encoder; Described mechanical pedestal 1 is provided with two outer shroud pitch axis parts 4, be provided with ring spindle unit 3 between described two outer shroud pitch axis parts 4, connect by interior outer shaft gear between described two outer shroud pitch axis parts 4 and the interior ring spindle unit 3, encircle in the spindle unit 3 in described conducting slip ring and shaft-position encoder are arranged at; The outer shaft gear is made up of high gear system 5 and low-speed gear system 6 in described; It is to realize the working region distortion of field≤40nT that twin shaft does not have the main design object of magnetic turntable, so design focal point is considered no magnetic requirement.
1) select material: it is main that turntable machinery stage body adopts no magnetic duralumin 2A12 and cast aluminium 105, adopts titanium alloy on a small quantity.Bearing adopts the sliding bearing of tin bronze and polytetrafluoroethylmaterial material development.
2) parts: the round grating that customizes no magnetic material customizes the conducting slip ring of no magnetic material as the precision angle element.
3) line design is considered no magnetic wire and is not had the magnetoelectricity connector.
4) take magnetic circuit shielding and circuit shielding measure.
According to the magnetic screen principle and the motor that will shield is the concrete condition of low-frequency strong magnetic field, and the scheme that we determine is: the mode that adopts three layers or four layers shielding:
1, ground floor (internal layer): adopt high saturated material, such as: silicon steel or, and its carbon content of ultra-low-carbon steel (ULCS) typical case has less pliability less than 0.01%, and is easier to make than silicon steel.The magnetic permeability value of its high saturation field is 200-50000, and saturation field can reach 18000-21000Gs.
2, the second layer (interlayer): no nonmagnetic electrically conductive material, such as: copper Cu, the alternating current of logical the last one can be to the internal shield demagnetization on Cu, and the Cu layer can shield the interference of magnetostatic field simultaneously;
3, the 3rd layer (skin): adopt high-permeability material, such as glass not alloy with contain 80% nickel alloy Mumetal.The magnetic conductivity of its saturated magnetoconductivity material is between 80000-350000, and after heat treatment its saturation field can reach 7500Gs;
4, the 4th layer: if necessary, just add one deck again, to realize shield effectiveness more completely.
Magnetic field intensity estimation after the magnetic screen, B=2.5dH0/2t (Gs) wherein:
B: the magnet density of shield inside, the Gs of unit;
D: shield diameter (when shield refers to the size of longest edge during for rectangle);
T: shield thickness.
2, attenuation estimation
A＝μt/d
μ: material magnetic conductivity;
| Screen layer | Character | Magnetic conductivity μ | Diameter d (mm) | Thickness t (mm) | Attenuation A | The cascade decay |
| Ground floor | High saturated | 30000 | 300 | 0.25 | 25 | 25 |
| The second layer | Demagnetization is magnetostatic with shielding | 1.01 | 303 | 0.5 | -- | |
| The 3rd layer | High magnetic permeability | 300000 | 307 | 0.25 | 244 | 6100 |
| The 4th layer | High magnetic permeability | 300000 | 310 | 0.25 | 242 | 1476200 |
Can calculate thus, reach the index of 30nT:
When 1, adopting three layers of shielding, the magnetic field intensity that motor internal produces allows 1.83 * 10
-4T=1.83G
s
When 2, adopting four layers of shielding, the magnetic field intensity that motor internal produces allows 0.044286T=442.86G
s
Certainly by changing the thickness of shielding material, perhaps select big magnetoconductivity material, all can further increase attenuation.
One operation bench; Mainly form by the secondary screen of source of stable pressure, many Serial Port Informations capture card, a machine double screen driver, industrial computer and demonstration;
The main shaft handwheel drives slow-motion and two grades of transmission mechanisms of F.F. is set, and switches slow-motion and two gears of F.F. by gear shifting handle.
Slow-motion handwheel drive transmission device adopts two grades of worm and gears to slow down, and low-grade step-down ratio is 1: 80, and high-grade step-down ratio is 1: 3520.
F.F. handwheel drive transmission device adopts two grades of gear mechanism raising speeds, and low-grade raising speed gearratio is 5: 1, and high-grade raising speed gearratio is 15: 1.
Coaxially on the main shaft install round grating as the angle measurement element, the installation site apart from the about 500mm of table top measured piece load, is taked the electric shield measure in the lower end of main shaft.Installing ring conducting slip ring in the spindle hole is in order to transmission of electric signals.
The principle axis shafting material selection does not have duralumin, tin bronze and the polytetrafluoroethylene (PTFE) of magnetic, and parts such as work top, support housing and drive transmission device adopt cast aluminium, no magnetic duralumin 2Al2 and a spot of copper alloy etc. of no magnetic casting.
Described outer shroud pitch axis parts 4 are mainly by being made up of pitch axis left side axle system, the right axle of pitch axis system, U type base support housing, pitch axis drive transmission device.
Pitch axis U type base right shell body middle part is provided with the handwheel drive unit, adopts the relatively independent transmission mechanism of two covers to realize that respectively 0.01 °/s～10 °/s and 10 °/s～300 °/s selects the speed spinfunction for two sections, adopts locking mechanism to realize the control positioning function.
Pitch axis handwheel drive unit is provided with slow-motion and two grades of transmission mechanisms of F.F., switches slow-motion and two gears of F.F. by gear shifting handle.
Slow-motion handwheel drive transmission device adopts two grades of worm and gears to slow down, and low-grade step-down ratio is 1: 80, and high-grade step-down ratio is 1: 3520.
F.F. handwheel drive transmission device adopts triangle sack made by leather wheel to realize the constant speed transmission, and gearratio is designed to 1: 1.
Pitch axis is coaxial installs round grating as the angle measurement element, and the installation site apart from the about 300mm of table top measured piece load, is taked the electric shield measure at the left end of pitch axis.Conducting slip ring is installed, in order to transmission of electric signals in the pitching axis hole.
Pitch axis axle based material is selected duralumin, tin bronze and the polytetrafluoroethylene (PTFE) of no magnetic for use, and parts such as work top, U type base support housing and drive transmission device adopt cast aluminium, no magnetic duralumin 2Al2 and a spot of copper alloy etc. of no magnetic casting.
Twin shaft does not have the main shaft and the pitch axis of magnetic turntable, all adopts mechanical axis system, the sliding bearing of selecting for use tin bronze and polytetrafluoroethylmaterial material to form.Have that coefficient of friction is low, self-lubricating property good, characteristics such as anticorrosive, durable wear, rapid heat dissipation, broad application temperature range, especially being fit to turntable shaft is that this low bearing capacity is used.
The ideal structure of material for sliding bearing combination is soft relatively matrix and equally distributed hard point, or the soft relatively point that distributing on the hard matrix.Bearing is when Installation and Debugging, and soft tissue is worn recessed, can store lubricating oil, forms the oil film of continuous distributed, and hard part then plays a part bearing journal.Like this, the real contact area of bearing and axle journal significantly reduces, and the friction of bearing is reduced.
At main shaft high speed state, F.F. handwheel drive transmission device adopts the gear mechanism raising speed, requires operator's manual drives moment maximum this moment.
The slip coefficient of kinetic friction is 0.1～0.04 between polytetrafluoroethylene (PTFE), and load weight adds anchor clamps, table top (aluminium), main shaft etc., adds up to about 20kg, the about 0.12kg.m of rotary inertia
2, the about 2kg of static friction, the about 0.8kg of dynamic friction, base bearing effective radius 42mm.
Calculate at 15: 1 according to gearratio, the handwheel driving moment is 1.26～0.5kgm, estimation transmission efficiency 60%, and then driving moment is 2.1～0.8kgm, handwheel radius 110mm, driving force is estimated as 19～7.2kg.Driving acceleration is 600～240 °/s
2, accelerating to 15r/s needs 9～23s time.
The static friction coefficient of start-up period is bigger during operation, needs both hands to move the handwheel running, and after speed was got up, a hand was pulled the handwheel handle, and this moment, frictional force was less, accelerated service continuously.For improving acceleration efficiency, the acceleration initial stage can directly be pulled table top by hand, and rapid starting is quickened.
When manufacturing and designing conducting slip ring, material and parts must detect magnetic field intensity and capability of electromagnetic shielding.
Described shaft-position encoder adopts separately-loaded not have magneto-optic grid encoder as the angle position sensing element; Twin shaft does not manually have magnetic turntable measuring circuit and adopts the NC2090 separately-loaded of special development not have magneto-optic grid encoder as the angle position sensing element, the measurement output signal is connected to the measurement electronic box through about 20m cable and is converted to angle position digital signal, is connected to data acquisition computer through the RS-422 interface again.
Adopt cable to be connected between described mechanical stage body and the operation bench, to realize powering and the transmission of metrical information.
Described mechanical stage body adopts U-T type structure.
Described principle axis shafting and pitch axis axle system all adopt the handwheel rotating mechanism.
As shown in Figure 7: twin shaft does not have magnetic turntable electrical system and comprises console electrical equipment and turntable electrical equipment two parts.
Shaft angle degree encoder and outer shaft angular encoder in the turntable electrical equipment comprises, the angular coding information of axle and outer shaft sends to console in producing respectively.During turntable work, measured piece produces demarcation information and customized information, and demarcation information is sent to workbench, and self-defined information is sent to the user test system.
Angular encoder adopts the NC2090 separately-loaded of custom-made not have magneto-optic grid encoder as the angle position sensing element, and measured value is connected on the multi-serial-port card by 5～20 meters long cables through being encoded to the RS485 serial data stream, is submitted to the PC host process.
Twin shaft does not have magnetic turntable upper computer software and is used for collection synchronously from the data of turntable, and result is shown in real time, stores.Comprise measured piece demarcation information, the angle position information of inside and outside shaft encoder.Therefore, software function can be divided into following 4 modules:
1, gathers synchronously: call the driving of multi-serial-port card, the turntable data that receive with certain frequency sampling multi-serial-port card.The information refreshing frequency of measured piece is 200Hz, and the information refreshing frequency of angular encoder is 1KHz.Because the timeslice of Windows XP system is 1ms, after sampling, also have calculating, storage and demonstration task, system task also will account for about 1% timeslice in addition.Therefore getting the upper computer software sample frequency gets 50Hz, and each sampling obtains 20 groups of inside and outside shaft angle degree encoder data frames and 5 measured piece Frames.
2, angular speed calculates: according to the angle position information from interior shaft angle degree encoder, calculate roll angle speed; According to angle position information, calculate attitude angle speed from the outer shaft angular encoder.Computational methods are: refresh the time difference with adjacent two angle position offsets divided by the information of angular encoder, consider that main story positional value at the reference zero place overflows the special circumstances with the borrow of rotary position value.
3, storage: when starting upper computer software each time, automatically name a file relevant with system clock, with the inside and outside shaft angle degree encoder data frame that samples, measured piece Frame and the angular speed information that calculates are assembled into a data structure, are written in the file.
4, show: with position, angle and angular speed information, be presented on the graphical interfaces, send on the slave display, for turntable operating personnel reference.On another graphical interfaces, grouping shows position, angle, angular speed and measured piece Frame information, and display frequency is 10Hz.
Claims (3)
1. a twin shaft does not have the magnetic turntable, it is characterized in that having which comprises at least:
One mechanical stage body; Include mechanical pedestal, interior ring spindle unit, outer shroud pitch axis parts, interior outer shaft gear, conducting slip ring, shaft-position encoder; Described mechanical pedestal is provided with two outer shroud pitch axis parts, be provided with in one between described two outer shroud pitch axis parts and encircle spindle unit, connect by interior outer shaft gear between described two outer shroud pitch axis parts and the interior ring spindle unit, encircle in the spindle unit in described conducting slip ring and shaft-position encoder are arranged at;
One operation bench; Mainly form by the secondary screen of source of stable pressure, many Serial Port Informations capture card, a machine double screen driver, industrial computer and demonstration;
The ring spindle unit mainly is made up of work top, principle axis shafting, main shaft support housing, main shaft drives transmission mechanism in described;
Described outer shroud pitch axis parts are mainly by being made up of pitch axis left side axle system, the right axle of pitch axis system, U type base support housing, pitch axis drive transmission device;
Described conducting slip ring adopts the electric brush type structure, mainly is made up of rotor leading wire, conduction ring plate, brush wires, brush carrier, stator lead, armature spindle, bearing, ring flange, stator case;
Described shaft-position encoder adopts separately-loaded not have magneto-optic grid encoder as the angle position sensing element;
Adopt no magnetoelectricity cable to be connected between described mechanical stage body and the operation bench, power and the transmission of metrical information with realization.
2. twin shaft according to claim 1 does not have the magnetic turntable, it is characterized in that described mechanical stage body adopts U-T type structure.
3. twin shaft according to claim 1 does not have the magnetic turntable, it is characterized in that described principle axis shafting and pitch axis axle system all adopts the handwheel rotating mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010503742 CN102022955B (en) | 2010-10-09 | 2010-10-09 | Manual double-shaft non-magnetic rotary table |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010503742 CN102022955B (en) | 2010-10-09 | 2010-10-09 | Manual double-shaft non-magnetic rotary table |
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| CN102022955A true CN102022955A (en) | 2011-04-20 |
| CN102022955B CN102022955B (en) | 2013-06-12 |
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| CN 201010503742 Expired - Fee Related CN102022955B (en) | 2010-10-09 | 2010-10-09 | Manual double-shaft non-magnetic rotary table |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103335670A (en) * | 2013-06-20 | 2013-10-02 | 北京航天控制仪器研究所 | Two-axis turntable based levelness and orientation adjusting mechanism |
| CN103604445A (en) * | 2013-12-02 | 2014-02-26 | 天津光电通信技术有限公司 | Inertial navigation technology simulation test system |
| CN106323283A (en) * | 2016-08-30 | 2017-01-11 | 西安比特联创微波科技有限公司 | Vehicle-mounted two-axis turntable and testing method thereof |
| CN109374017A (en) * | 2018-10-11 | 2019-02-22 | 九江精密测试技术研究所 | Magnetic Matching Navigation System gravity perception calibration detection device |
| CN113819926A (en) * | 2021-10-15 | 2021-12-21 | 九江精密测试技术研究所 | Protection system for opening incubator door by misoperation of double-shaft rotary table with incubator |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0232629A (en) * | 1988-07-22 | 1990-02-02 | Nippon Telegr & Teleph Corp <Ntt> | Satellite channel allocation system |
| JPH11201700A (en) * | 1998-01-19 | 1999-07-30 | Mitsubishi Electric Corp | Airframe |
| US6163021A (en) * | 1998-12-15 | 2000-12-19 | Rockwell Collins, Inc. | Navigation system for spinning projectiles |
-
2010
- 2010-10-09 CN CN 201010503742 patent/CN102022955B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0232629A (en) * | 1988-07-22 | 1990-02-02 | Nippon Telegr & Teleph Corp <Ntt> | Satellite channel allocation system |
| JPH11201700A (en) * | 1998-01-19 | 1999-07-30 | Mitsubishi Electric Corp | Airframe |
| US6163021A (en) * | 1998-12-15 | 2000-12-19 | Rockwell Collins, Inc. | Navigation system for spinning projectiles |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103335670A (en) * | 2013-06-20 | 2013-10-02 | 北京航天控制仪器研究所 | Two-axis turntable based levelness and orientation adjusting mechanism |
| CN103335670B (en) * | 2013-06-20 | 2015-12-23 | 北京航天控制仪器研究所 | A kind of levelness based on double axle table and position adjusting mechanism |
| CN103604445A (en) * | 2013-12-02 | 2014-02-26 | 天津光电通信技术有限公司 | Inertial navigation technology simulation test system |
| CN103604445B (en) * | 2013-12-02 | 2015-12-02 | 天津光电通信技术有限公司 | inertial navigation technology simulation test system |
| CN106323283A (en) * | 2016-08-30 | 2017-01-11 | 西安比特联创微波科技有限公司 | Vehicle-mounted two-axis turntable and testing method thereof |
| CN106323283B (en) * | 2016-08-30 | 2023-11-21 | 西安比特联创微波科技有限公司 | Vehicle-mounted two-axis turntable and testing method thereof |
| CN109374017A (en) * | 2018-10-11 | 2019-02-22 | 九江精密测试技术研究所 | Magnetic Matching Navigation System gravity perception calibration detection device |
| CN113819926A (en) * | 2021-10-15 | 2021-12-21 | 九江精密测试技术研究所 | Protection system for opening incubator door by misoperation of double-shaft rotary table with incubator |
| CN113819926B (en) * | 2021-10-15 | 2023-11-24 | 九江精密测试技术研究所 | Protection system for misoperation of refrigerator door with incubator and double-shaft turntable |
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