CN103983402B - The paraxonic tilting turntable of linear type three coordinate converting machine - Google Patents

Abstract

The invention discloses a side-axis inclined turntable for a linear three-coordinate conversion machine, wherein the plane air-floating upper plate is connected to the plane air-floating lower plate, the plane air-floating lower plate is fixedly supported on the plane air-floating seat, and the worm gear and worm The assembly is set inside the cavity of the plane air-floating seat. The worm gear shaft in the worm gear assembly passes through the plane air-floating lower plate and is fixedly connected with the plane air-floating upper plate. One end of the worm in the worm gear assembly is fixed on the inner side wall of the plane air-floating seat. The other end is connected with the servo motor to drive the worm to rotate, so that the worm drives the worm wheel to rotate, and when the screw connection between the plane air-floating upper plate and the plane air-floating lower plate is loosened, it will drive the plane air-floating upper plate to rotate. One side of the turntable seat is connected to the plane air bearing seat through the pivot of the inclined support shaft. Two sets of push rod assemblies are arranged symmetrically front and back on the opposite side of the turntable seat. The push rod of the push rod assembly is inserted into the groove and passed through the pivot and the groove The wall is connected in rotation. The invention effectively improves the load capacity of the linear three-coordinate conversion machine and the measurement accuracy of the mass characteristic parameters of the spacecraft.

Description

Side-axis tilting turntable for linear three-coordinate transformation machine

technical field

The invention belongs to satellite assembly testing technology, and in particular relates to quality characteristic testing equipment for a spacecraft whole satellite, spacecraft sub-systems and spacecraft components. In addition, the invention can also be used in the fields of complete automobiles and parts, aviation weapons, etc., to complete the quality characteristic test of related products.

Background technique

The three-coordinate conversion machine is a general-purpose chemical device for spacecraft quality characteristic testing. Its function is to replace the L-shaped bracket and bracket in the process of spacecraft quality characteristic parameter testing, and realize the automatic positional relationship between the spacecraft coordinate system and the test coordinate system. Convert function.

The three-coordinate conversion machine is divided into two types: a straight-line three-coordinate conversion machine and an arc-type three-coordinate conversion machine. Among them, the linear three-coordinate transformation machine is composed of two parts: a platform assembly and an inclined turntable assembly. The inclined turntable assembly can be translated along a straight line on the platform assembly, while the inclined turntable assembly itself has the functions of rotating around a vertical axis and tilting around a support axis. When testing the mass characteristic parameters of the spacecraft, the spacecraft is connected to the linear three-coordinate conversion machine, and the linear three-coordinate conversion machine is then connected to the quality characteristic test bench (centroid test bench, moment of inertia test bench, and center-of-mass moment of inertia comprehensive test bench) , through the translation, rotation and tilting motion of the linear three-coordinate transformation machine, the function of measuring all the quality characteristic parameters of the spacecraft is realized only once when it is installed and positioned.

At present, the inclined turntable of the linear three-coordinate transformation machine adopts the method of inclining around the central support axis, and the existing problems are as follows:

The inclined support shaft (central support shaft) is at the center directly below the inclined turntable table. After the spacecraft is connected with the linear three-coordinate conversion machine, an overturning moment will be generated on the inclined turntable table. Due to the gap between the support shaft and the bushing, the Under the action of the overturning moment, the surface of the inclined turntable will inevitably rotate relative to the central support shaft, forming a slight inclination angle, resulting in deviation in the measurement of the inclination angle. During the measurement of spacecraft mass characteristic parameters, the tilting turntable needs to drive the spacecraft to rotate around the vertical axis. The deviation angle changes with the rotation of the spacecraft, and the direction and magnitude of the moment relative to the tilting axis also change. The angle The existence of the deviation affects the measurement of the quality characteristic parameters of the spacecraft, thus bringing errors to the measurement of the quality characteristic parameters of the spacecraft. This error is caused by the structural form of the central axis support of the tilting turntable, which is a systematic error and cannot be eliminated or compensated during the measurement process.

The rotation function of the inclined turntable around the vertical axis needs to be realized by driving the air-floating upper plate through the worm gear mechanism. The worm wheel is installed in the flat air-floating lower plate and is coaxial with the air-floating upper plate. ) is perpendicular to the vertical axis, and its position must interfere with the worm gear assembly. In order to avoid the central support shaft, the worm gear assembly can only be placed above the central support shaft, which will inevitably increase the distance from the inclined turntable table to the support shaft. . The increase of this distance is equivalent to increasing the load of the tilting turntable during the tilting process, which belongs to the extra load. Due to the limitation of the output power of the drive motor, the increase of the extra load will inevitably lead to the reduction of the effective load, so that the range of the three-coordinate conversion machine reduce. Therefore, it is necessary to develop a tilting turntable for a linear three-coordinate transformation machine with high measurement accuracy and large load capacity.

Contents of the invention

The technical problem to be solved by the invention is that the existing inclined turntable used in the linear three-coordinate transformation machine has the problems of poor structural stability, low accuracy of inclination angle measurement and low load capacity. Through ingenious conception, the inventor designed and improved the inclined turntable of the linear three-coordinate conversion machine by adopting the method of unilateral lateral shaft support, and provided a kind of turret with better stability, higher measurement accuracy and greater load capacity. A tilting turntable for linear three-coordinate transformation machines.

In order to solve the problems of the technologies described above, the technical scheme adopted in the present invention is as follows:

Side-axis tilting turntable for linear three-coordinate conversion machine, including circular grating encoder 1, plane air-floating upper plate, plane air-floating bottom plate, plane air-floating seat with cavity inside, servo motor 1, worm gear assembly, Circular grating encoder 2. Two servo motors arranged side by side. 2. Push rod assembly, turntable seat and inclined support shaft. Among them, the plane air-floating upper plate is connected to the plane air-floating bottom plate by screws, and the plane air-floating bottom plate is fixedly supported On the hollow plane air bearing seat, the worm gear assembly is arranged inside the cavity of the plane air bearing seat. One end is fixed on the inner side wall of the plane air-floating seat, and the other end is connected with the servo motor to drive the worm to rotate, so that the worm drives the worm wheel to rotate, and it will be driven when the screw connection between the plane air-floating upper plate and the plane air-floating lower plate is loosened. The upper disc of the plane air bearing rotates; the second circular grating encoder is set on the worm gear shaft in the worm gear assembly to measure the rotation angle of the shaft. The flat air-floating upper disk and the flat air-floating lower disk supported by it can rotate around the axis. Two sets of push rod assemblies are arranged symmetrically front and back on the opposite side of the turntable seat, and each set of push rod assemblies is provided with a driving push rod assembly up and down. The moving servo motor 2. There is a groove on the plane air bearing seat to accommodate the upper end of the push rod. The push rod of the push rod assembly is inserted into the groove and connected to the groove wall through the pivot shaft. The lower end of the push rod assembly is also connected to the turntable base in rotation. On the opposite side, the circular grating encoder one is coaxial with the inclined support shaft and fixed on the turntable base to measure the rotation angle of the plane air bearing base and the upper and lower air bearing discs supported by it.

Among them, the flat air floating upper plate is a circular table top.

Among them, when the rotation function is working, remove the fastening screws between the air-floating upper plate and the air-floating lower plate, and inject high-pressure gas between the air-floating upper and lower plates to make the air-floating upper plate float. The flat air-floating upper plate rotates at any angle from -360° to 360° in the horizontal plane, and the circular grating encoder 2 installed on the central rotor of the air-floating seat measures the rotation angle of the air-floating upper plate in real time.

Wherein, the inclined support shaft connecting the plane air bearing seat and the turntable seat is a whole shaft passing through the turntable seat.

The invention has beneficial effects: compared with the tilting turntable of the existing linear three-coordinate conversion machine, the load capacity of the linear three-coordinate conversion machine and the measurement accuracy of the quality characteristic parameters of the spacecraft are improved. The tilting axis of the side-axis tilting turntable is on the side of the turntable and will not interfere with the worm gear assembly, so the distance between the turntable table surface and the tilting shaft can be greatly reduced, thereby significantly reducing dead load and improving the load capacity of the equipment. At the same time, when the spacecraft is measuring the mass characteristic parameters, no matter whether the turntable drives the spacecraft to rotate around the vertical axis, the direction of the overturning moment on the tilting axis remains unchanged, and the measurement deviation of the tilt angle is significantly reduced. It can be eliminated by the compensation method, thereby reducing the measurement error of the inclination angle and improving the measurement accuracy of quality characteristic parameters.

Description of drawings

Fig. 1 is a schematic diagram of a side-axis tilting turntable structure in a tilted state of a linear three-coordinate transformation machine of the present invention;

In the figure, 1. Circular grating encoder 1; 2. Plane air-floating upper plate; 3. Plane air-floating lower plate; 4. Plane air-floating seat; 5. Servo motor 2; 6. Worm gear assembly; 7. Circular grating encoding Device two; 8, servo motor one; 9, push rod assembly; 10, turntable seat; 11, inclined support shaft.

detailed description

The structure of the side-axis tilting turntable of the linear three-coordinate transformation machine of the present invention will be described in detail below with reference to the accompanying drawings, but this description is only exemplary and not intended to limit the protection scope of the present invention.

As shown in Figure 1, the device structure of the side-axis tilting turntable of the linear three-coordinate conversion machine of the present invention is shown. Floating lower plate 3, planar air-floating seat 4 with a cavity inside (support seat for supporting the planar air-floating lower plate), servo motor 2 5, worm gear assembly 6, circular grating encoder 2 7, servo motor 1 8 , a push rod assembly 9, a turntable seat 10 and an inclined support shaft 11 are formed. Wherein, the plane air-floating upper plate 2 is connected on the plane air-floating lower plate 3 by screws, the plane air-floating lower plate 3 is fixedly supported on the plane air-floating seat 4 which is hollow inside, and the worm gear assembly 6 is arranged in the hollow of the plane air-floating seat. Inside the cavity, the worm gear shaft in the worm gear assembly 6 passes through the plane air bearing lower plate 3 and is fixedly connected with the plane air bearing upper plate 2. Motor one 8 is connected to drive the worm to rotate, so that the worm drives the worm wheel to rotate, and when the screw connection between the plane air-floating upper plate 2 and the plane air-floating lower plate 3 is loosened, the plane air-floating upper plate 2 is driven to rotate thereupon. A circular grating encoder 7 (commercially available item) is arranged on the worm gear shaft in the worm gear assembly 6 to measure the rotation angle of the shaft. One side of the turntable seat 10 is pivotally connected to the plane air-floating seat 4 by an inclined support shaft 11, and the plane air-floating seat and its supported plane air-floating upper plate and the plane air-floating lower plate can rotate around the axis. Two sets of push rod assemblies 9 are symmetrically arranged on the opposite side, and each set of push rod assemblies 9 is provided with a servo motor 2 that drives the push rod assembly to move up and down. The push rod of the push rod assembly 9 is inserted into the groove and is rotatably connected with the groove wall by a pivot. The lower end of the push rod assembly 9 is also rotatably connected to the opposite side of the turntable base 10. It is coaxial and fixed on the turntable base 10 to measure the rotation angle of the plane air bearing seat 4 and the upper and lower air bearing discs supported by it.

The device has two functions of swivel and tilt. When the rotation function is working, remove the fastening screws between the plane air float upper plate 2 and the plane air float lower plate 4, and inject high-pressure gas between the plane air float upper plate 2 and the plane air float lower plate 3 to make the plane air float upper plate 2 float. Starting, the servo motor 18 drives the worm gear assembly 6 to rotate, and the worm gear assembly 6 drives the plane air bearing upper plate 2 to rotate at any angle of -360°～360° in the horizontal plane, and the circular grating encoder 7 can measure the rotation of the air bearing upper plate 2 in real time Angle; during tilting function work, the servomotor 25 that is fixed on the turntable seat 10 drives push rod assembly 9, and the push rod in the push rod assembly 9 stretches out, and the plane air bearing seat 4 one ends are jacked up, and the plane air bearing seat 4 Tilt around the tilted support shaft 11, and the circular grating encoder 1 installed coaxially with the tilted support shaft 11 measures the tilt angle of the plane air bearing 4 in real time.

Although the specific embodiments of the present invention have been described and illustrated in detail above, it should be pointed out that we can make various equivalent changes and modifications to the above-mentioned embodiments according to the concept of the present invention, and the functional effects produced by it are still the same. Anything beyond the spirit contained in the specification and drawings shall fall within the protection scope of the present invention.

Claims (4)

1. Side-axis tilting turntable for linear three-coordinate conversion machine, including circular grating encoder 1, plane air-floating upper plate, plane air-floating lower plate, plane air-floating seat with cavity inside, servo motor 1, worm gear Components, circular grating encoder 2, two servo motors arranged side by side, push rod assembly, turntable seat and inclined support shaft, wherein, the plane air-floating upper plate is connected to the plane air-floating bottom plate by screws, and the plane air-floating bottom plate It is fixedly supported on the hollow plane air-floating seat inside, and the worm gear and worm assembly is arranged inside the cavity of the plane air-floating seat. One end of the middle worm is fixed on the inner side wall of the plane air-floating seat, and the other end is connected with the servo motor to drive the worm to rotate, so that the worm drives the worm wheel to rotate. It drives the plane air-floating upper disk to rotate; the second circular grating encoder is set on the worm wheel shaft in the worm gear assembly to measure the rotation angle of the shaft. The floating seat and its supported flat air-floating upper plate and plane air-floating lower plate can rotate around the axis. Two sets of push rod assemblies are arranged symmetrically front and back on the opposite side of the turntable seat, and each set of push rod assemblies is provided with a drive push rod. Servo motor 2 for the component to move up and down. There is a slot for accommodating the upper end of the push rod on the plane air bearing seat. The push rod of the push rod assembly is inserted into the slot and is connected to the groove wall through a pivot shaft. The lower end of the push rod assembly is also connected to the On the opposite side of the turntable base, a circular grating encoder is coaxial with the inclined support shaft and fixed on the turntable base to measure the rotation angle of the plane air bearing base and the upper and lower air bearing discs supported by it. 2. The side-axis tilting turntable according to claim 1, wherein the flat air-floating upper plate is a circular table top. 3. The side-axis tilting turntable as claimed in claim 1, wherein, when the rotation function is working, the fastening screws between the air-floating upper plate and the air-floating lower plate are removed, and high-pressure gas is introduced between the air-floating upper plate and the lower plate, so that The air-floating upper plate floats, the servo motor drives the worm gear assembly to make the plane air-floating upper plate rotate at any angle from -360° to 360° in the horizontal plane, and the circular grating encoder installed on the central rotor of the air-floating seat measures the air-floating surface The rotation angle of the disk. 4. The side-axis tilting turntable according to claim 1, wherein the tilting support shaft connecting the plane air-bearing base and the turntable base is a whole shaft passing through the turntable base.