Vertical five-axis simulation rotary table with coaxial sleeve structure

Abstract

The application relates to a vertical five-axis simulation turntable with a coaxial sleeve structure and belongs to the technical field of semi-physical simulation equipment of inertial navigation and optical guidance systems. The turntable adopts a vertical structure and comprises a base, a two-axis table and a three-axis table. The azimuth, pitch and roll frame assemblies of the three-axis table constitute a frame assembly of three rotary degrees of freedom, so that three-dimensional attitude motion simulation of an aircraft is realized. The pitch and azimuth frame assemblies of the two-axis table constitute a frame assembly of two rotary degrees of freedom, so that starry sky simulation, target vision simulation or infrared target motion simulation on a spherical screen is realized. The external two-axis table is independently sleeved outside the internal three-axis table. The turntable has the characteristics of compact structure, high precision, large azimuth angle range of target motion simulation, large load size, wide bearing range and the like.

Description

Technical Field

[0001] This invention relates to a vertical five-axis simulation turntable with a coaxial assembly structure, which belongs to the technical field of semi-physical simulation equipment for inertial navigation and airborne optoelectronic guidance systems. Background Technology

[0002] Inertial navigation and guidance systems are core components of missiles and spacecraft. There are two main methods for evaluating the performance of guidance systems: one is to obtain data from actual target practice or flight tests, and then analyze and evaluate the system's performance based on this data; the other is to simulate the actual flight environment of missiles or spacecraft, using simulation equipment to test and evaluate various performance indicators of the guidance system on the ground, and to detect the system's operational status and tracking accuracy. The first method, due to the increasing complexity and cost of aerospace products, has become increasingly expensive, leading to higher testing costs. Therefore, this method is now only used as a final means of evaluating navigation system performance. The second method, due to its lower cost, repeatability, and safety, has become the primary method for evaluating aerospace equipment.

[0003] In practical scientific research, a five-axis simulation turntable with dual functions is needed. This turntable should consist of a three-axis flight simulation turntable and a two-axis turntable. The three-axis flight simulation turntable is used to simulate the attitude motion of an interceptor in a dome-screen simulation system, or to simulate the attitude motion of a projectile in an imaging guidance simulation system. The two-axis turntable provides two-dimensional motion for the target simulation projector in a dome-screen simulation system, or for the infrared target simulator in an imaging guidance simulation system.

[0004] The key to designing a vertical five-axis simulation turntable with a coaxial assembly structure is to achieve a compact stage structure. In the specific design, the three-axis stage orientation motor support and the two-axis stage orientation motor support are integrated together to eliminate fundamental errors in the simulation process. Summary of the Invention

[0005] The purpose of this invention is to provide a five-axis simulation turntable for simulating the target tracking and interception process of missiles guided by optical imaging or space-based guidance under ground test conditions, and to test the operation of guidance components in flight. The simulated missile attitude includes three degrees of freedom: roll, yaw, and pitch, while the simulated target tracking vehicle attitude includes two degrees of freedom: yaw and pitch. This invention mainly includes a base, a three-axis stage azimuth frame assembly, a two-axis stage azimuth frame assembly, a two-axis stage pitch frame assembly, a three-axis stage pitch frame assembly, and a three-axis stage roll axis assembly, wherein:

[0006] The base 1 is a vertical cylindrical casting with a threaded hole for mounting a three-axis platform azimuth bearing seat 26 drilled at the top.

[0007] The three-axis stage orientation frame assembly mainly includes a three-axis stage orientation bearing housing 26, a three-axis stage orientation motor 2, a three-axis stage orientation bearing 5, a three-axis stage U-shaped orientation frame 13, and a three-axis stage orientation shaft 14. The three-axis stage orientation bearing housing 26 is mounted on the base 1; the three-axis stage orientation shaft 14 is mounted in the three-axis stage orientation bearing housing 26 through the three-axis stage orientation bearing 5, and the upper end of the three-axis stage orientation shaft 14 is fixedly connected to the three-axis stage U-shaped orientation frame 13; the stator of the three-axis stage orientation motor 2 is mounted on the lower end face of the three-axis stage orientation bearing housing 26, and the rotor of the three-axis stage orientation motor 2 is fixedly connected to the lower end of the three-axis stage orientation shaft 14.

[0008] The two-axis stage orientation frame assembly mainly includes a two-axis stage orientation bearing seat 22, a two-axis stage orientation motor 25, a two-axis stage orientation bearing 23, a two-axis stage support beam 8, a two-axis stage pitch axis left support 9, and a two-axis stage orientation axis 17. The two-axis platform azimuth bearing housing 22 and the three-axis platform azimuth bearing housing 26 are assembled together and installed on the upper end face of the three-axis platform azimuth bearing housing 26; the two-axis platform azimuth shaft 17 is installed in the two-axis platform azimuth bearing housing 22 through the two-axis platform azimuth bearing 23, and the upper end of the two-axis platform azimuth shaft 17 is fixedly connected to the two-axis platform support beam 8; the stator of the two-axis platform azimuth motor 25 is installed on the lower end face of the two-axis platform azimuth bearing housing 22, and the rotor of the two-axis platform azimuth motor 25 is fixedly connected to the lower end of the two-axis platform azimuth shaft 17; the left support 9 of the two-axis platform pitch axis and the right support 52 of the two-axis platform pitch axis are symmetrically installed on both sides of the two-axis platform support beam 8 to form a two-axis platform U-shaped azimuth frame;

[0009] The two-axis stage pitch frame assembly mainly includes a two-axis stage pitch axis right support 52, a two-axis stage pitch motor 44, a two-axis stage pitch bearing 50, a two-axis stage U-shaped pitch frame 41, a two-axis stage pitch axis 39, a two-axis stage pitch counterweight 53, a target load 82, and a projector 81. The pitch axis 39 of the two-axis stage is mounted in the right support 52 of the pitch axis of the two-axis stage via the pitch bearing 50 of the two-axis stage. The inner end of the pitch axis 39 is fixedly connected to the U-shaped pitch frame 41 of the two-axis stage. The stator of the pitch motor 44 of the two-axis stage is fixed on the end face of the right support 52 of the pitch axis of the two-axis stage. The rotor of the pitch motor 44 is fixedly connected to the pitch axis 39 of the two-axis stage. The target load 82 is fixedly installed at the symmetrical center position of the U-shaped pitch frame 41 of the two-axis stage. The pitch counterweight 53 of the two-axis stage is installed at both ends of the U-shaped pitch frame 41 of the two-axis stage. The projector 81 is fixed on the left end face of the pitch axis 39 of the two-axis stage.

[0010] The three-axis pitch frame assembly mainly includes a three-axis pitch motor 65, a three-axis pitch bearing 57, a three-axis O-shaped pitch frame 55, and a three-axis pitch shaft 56. The three-axis pitch shaft 56 is installed in the bearing recess of the three-axis azimuth frame 13 via the three-axis pitch bearing 57, and the end of the three-axis pitch shaft 56 is fixedly connected to the three-axis O-shaped pitch frame 55; the stator of the three-axis pitch motor 65 is fixed to the end of the bearing recess of the three-axis azimuth frame 13, and the rotor of the three-axis pitch motor 65 is fixedly connected to the three-axis pitch shaft 56.

[0011] The three-axis table rolling shaft assembly mainly includes a three-axis table rolling motor 76, a three-axis table rolling bearing 73, and a three-axis table rolling shaft 72. The three-axis table rolling shaft 72 is mounted inside the three-axis table O-shaped pitch frame 55 via the three-axis table rolling bearing 73. The stator of the three-axis table rolling motor 76 is fixed to the front end face of the three-axis table O-shaped pitch frame 55, and the rotor of the three-axis table rolling motor 76 is fixedly connected to the three-axis table rolling shaft 72.

[0012] The working principle of this invention is as follows: the two-axis azimuth frame supported on the vertical base 1 rotates around the z-axis to simulate the azimuth motion of the target aircraft; the two-axis U-shaped pitch frame 41 supported on the two-axis azimuth frame rotates around the x-axis to simulate the pitch motion of the target aircraft; the target load 82 is fixedly installed on the two-axis U-shaped pitch frame 41, and the combined motion of the inner and outer frames simulates the azimuth and pitch attitude motion of the target aircraft in the air; or the projector 81 is fixed on the left end face of the pitch axis 39 of the two-axis platform, and the optical image of the target or starry sky is projected onto the dome screen to simulate the attitude change of the target motion. The three-axis U-shaped azimuth frame 13, supported on the vertical base 1, rotates around the z-axis; the three-axis O-shaped pitch frame 55, supported on the three-axis U-shaped azimuth frame 13, rotates around the x-axis; the three-axis rolling shaft 72, supported on the three-axis O-shaped pitch frame 55, rotates around the y-axis; the missile guidance components are fixedly installed on the three-axis rolling shaft 72, and the combined motion of the frames of the three-axis platform simulates the three-degree-of-freedom attitude motion of the missile body in the air, including azimuth, pitch, and roll.

[0013] The beneficial effects of this invention are as follows:

[0014] The vertical five-axis simulation turntable with a coaxial assembly structure can simulate the starry sky or target scene on a ground-based dome screen, enabling the testing and evaluation of various indicators across the entire flight range of optically guided interceptor or pursue missiles. Furthermore, the two-axis turntable can also be used to install an infrared target simulator for infrared imaging guidance simulation. The turntable has the capability to achieve comprehensive multi-functional simulation, enabling semi-physical simulation, shortening the missile development cycle, and reducing development costs.

[0015] In the vertical five-axis simulation turntable with a coaxial assembly structure of the present invention, the azimuth motion of the three-axis stage is completely independent of that of the two-axis stage. It eliminates the three-axis stage azimuth motor support of the traditional five-axis turntable, avoids the dead zone of the rotational motion of the three-axis stage azimuth frame, expands the range of azimuth angle changes of the simulated target aircraft, and has a compact structure, high precision, high overall rigidity, convenient structural installation and debugging, and a wide range of load size and weight of the tested target aircraft and missile body. Attached Figure Description

[0016] Figure 1 This is a three-dimensional outline of the overall structure of the vertical five-axis simulation turntable with a coaxial assembly structure according to the present invention. Figure 2 This is a front sectional view of the azimuth bearing housing of the present invention. Figure 3 This is a sectional view of the left side of the azimuth bearing housing of the present invention. Figure 4 This is a front sectional view of the two-axis pitch bearing housing of the present invention. Figure 5 This is a left-side view of the two-axis pitch bearing housing of the present invention. Figure 6 This is a front sectional view of the three-axis stage pitch bearing housing of the present invention. Figure 7 This is a left-side view of the three-axis stage pitch bearing housing of the present invention. Figure 8 This is a top sectional view of the three-axis table rolling bearing housing of the present invention. Detailed Implementation

[0017] Combination Figures 1 to 8 This implementation method is described below.

[0018] In this embodiment, the two-axis stage orientation motor 25 and the three-axis stage orientation motor 2 are respectively placed in two axially stacked vertical motor seats. The three-axis stage orientation bearing seat 26 located at the bottom is fitted inside the two-axis stage orientation bearing seat 22, ensuring that the three-axis stage orientation shaft drives the three-axis stage orientation frame to rotate independently. Each frame component is made of cast aluminum ZL114 material to improve strength, reduce weight, and ensure the dimensional accuracy and surface roughness of each component.

[0019] Reference Figures 1-8 In this embodiment, the turntable consists of a base, a three-axis stage orientation frame assembly, a two-axis stage orientation frame assembly, a two-axis stage pitch frame assembly, a three-axis stage pitch frame assembly, and a three-axis stage rolling axis assembly, wherein:

[0020] Base 1, see reference Figure 1 , Figure 2 It is a cylindrical casting with a threaded hole for mounting a three-axis platform orientation bearing seat 26 drilled at the upper end. To ensure the accuracy, stability and vibration absorption of the entire platform, the base 1 is made of cast iron HT300 material.

[0021] Three-axis stage orientation frame assembly, refer to Figures 1-3The main components include a three-axis stage azimuth bearing housing 26, a three-axis stage azimuth motor 2, a three-axis stage azimuth bearing outer ring preload cover 3, a three-axis stage azimuth bearing inner ring preload cover 4, a three-axis stage azimuth bearing 5, a three-axis stage azimuth bearing spacer 6, a three-axis stage azimuth bearing upper cover 12, a three-axis stage U-shaped azimuth frame 13, and a three-axis stage azimuth shaft 14. The three-axis stage azimuth bearing housing 26 is mounted on a vertical base 1. The three-axis stage azimuth shaft 14 is mounted in the three-axis stage azimuth bearing housing 26 via the three-axis stage azimuth bearing 5. The three-axis azimuth bearing 5 is fixed and the bearing clearance is adjusted by the outer ring preload cover 3, the inner ring preload cover 4, and the spacer ring 6 of the three-axis azimuth bearing; the upper end of the three-axis azimuth shaft 14 is fixedly connected to the three-axis U-shaped azimuth frame 13 by bolts and expansion sleeves 15; the stator of the three-axis azimuth motor 2 is mounted on the lower end face of the three-axis azimuth bearing seat 26, and the rotor of the three-axis azimuth motor 2 is fixedly connected to the lower end of the three-axis azimuth shaft 14 by bolts and expansion sleeves 15; refer to Figure 2 The three-axis stage orientation bearing housing end cover 30 is installed at the lower end of the stator of the three-axis stage orientation motor 2. The three-axis stage orientation code disk seat 29 is installed in the middle hole of the three-axis stage orientation bearing housing end cover 30. The three-axis stage orientation code disk 28 is fixed to the shaft center of the three-axis stage orientation code disk seat 29 and is fixedly connected to the lower end of the three-axis stage orientation shaft 14 through the three-axis stage orientation coupling 27. (Refer to...) Figures 2-3 The three-axis stage orientation limiting moving block 31 is installed on the rear side of the connection between the three-axis stage U-shaped orientation frame 13 and the three-axis stage orientation shaft 14. The outer cylindrical surface of the three-axis stage orientation limiting block 31 is covered with a buffer rubber sleeve. The three-axis stage orientation limiting fixed block 34 is fixed at a designated position on the two-axis stage support beam 8, so that the three-axis stage orientation limiting moving block 31 is blocked after rotating to a certain angle, thus playing a mechanical limiting role. The three-axis stage orientation electrical limit induction switch 16 is installed on the lower end face of the three-axis stage U-shaped orientation frame 13, and the three-axis stage orientation electrical limit induction block 11 is installed at a designated position on the upper end face of the two-axis stage support beam 8. When the three-axis stage orientation electrical limit sensor switch 16 and the three-axis stage orientation electrical limit sensor block 11 coincide in rotation position, the electrical limit is triggered, which has the functions of safety buffer and limiting the rotation angle range; the three-axis stage orientation zero position pin seat 32 is installed on the front side of the connection between the three-axis stage orientation U-shaped frame 13 and the three-axis stage orientation shaft 14, the three-axis stage orientation zero position pin 33 is inserted into the three-axis stage orientation zero position pin seat 32, and when the three-axis stage U-shaped orientation frame 13 is in the mechanical zero position, it is precisely inserted into the hole of the three-axis stage orientation limit positioning block 34 to calibrate the mechanical zero position of the three-axis stage U-shaped orientation frame 13.

[0022] Two-axis stage orientation frame assembly, reference Figures 1-3It mainly includes a two-axis platform azimuth bearing housing 22, a two-axis platform azimuth motor 25, a two-axis platform azimuth bearing outer ring preload cover 21, a two-axis platform azimuth bearing inner ring preload sleeve 24, a two-axis platform azimuth bearing 23, a two-axis platform support beam 8, a two-axis platform pitch axis left support 9, and a two-axis platform azimuth shaft 17; the two-axis platform azimuth bearing housing 22 is assembled with a three-axis platform azimuth bearing housing 26 and installed on the upper end face of the three-axis platform azimuth bearing housing 26; the two-axis platform azimuth shaft 17 is installed in the two-axis platform azimuth bearing housing 22 through the two-axis platform azimuth bearing 23. The two-axis azimuth bearing 23 is fixed and the bearing clearance is adjusted by the outer ring preload cover 21 and the inner ring preload sleeve 24 of the two-axis azimuth bearing. The upper end of the two-axis azimuth shaft 17 is fixedly connected to the two-axis support beam 8. The stator of the two-axis azimuth motor 25 is installed on the lower end face of the two-axis azimuth bearing seat 22, and the rotor of the two-axis azimuth motor 25 is fixedly connected to the lower end of the two-axis azimuth shaft 17. The left support 9 of the pitch axis and the right support 52 of the pitch axis are symmetrically installed on both sides of the two-axis support beam 8, forming the two-axis azimuth frame. (Refer to...) Figure 2 The stator of the two-axis azimuth sensing synchronizer 18 is mounted on the upper end face of the preload cover 21 of the two-axis azimuth bearing outer ring, and the rotor of the two-axis azimuth sensing synchronizer 18 is mounted on the stepped surface of the two-axis azimuth shaft 17. The two-axis azimuth limiting moving block 7 is mounted at a designated position on the lower end face of the two-axis support beam 8, and the two-axis mechanical limiting fixed block 20 is mounted at the edge of the upper end face of the two-axis azimuth bearing seat 22, and is wrapped with buffer rubber. After the two-axis azimuth shaft 17 rotates to a certain angle... When blocked, it serves as a mechanical limit; the two-axis platform orientation electrical limit sensor switch 10 is installed at a designated position on the lower end face of the two-axis platform support beam 8, and the two-axis platform orientation electrical limit sensor block 19 is installed at a designated position on the upper end face edge of the two-axis platform orientation bearing seat 22. When the two-axis platform orientation electrical limit sensor switch 10 and the two-axis platform orientation electrical limit sensor block 19 coincide in rotation position, the electrical limit is triggered. The above two limit devices have the functions of safety buffer and limiting the rotation angle range.

[0023] Two-axis pitch frame assembly, reference Figure 1 , Figure 4The main components include a right support 52 for the pitch axis of a two-axis stage, a left support 9 for the pitch axis of a two-axis stage, a pitch motor 44 for the two-axis stage, a pitch bearing 50 for the two-axis stage, an outer ring preload cover 51 for the pitch bearing 51, an inner ring preload cover 47 for the pitch bearing 47, a U-shaped pitch frame 41 for the two-axis stage, a pitch axis 39 for the two-axis stage, a pitch counterweight 53 for the two-axis stage, a target load 82, and a projector 81. The pitch axis 39 is installed in the right support 52 for the pitch axis of the two-axis stage via the pitch bearing 50. The pitch bearing 50 is fixed and the bearing clearance is adjusted by the outer ring preload cover 51 and the inner ring preload cover 47 for the pitch bearing. The two-axis stage U-shaped pitch frame 41 is fixedly connected to the two-axis stage via bolts and expansion sleeves 40; the stator of the two-axis stage pitch motor 44 is fixed to the end face of the two-axis stage pitch support 52, and the rotor of the two-axis stage pitch motor 44 is fixedly connected to the two-axis stage pitch axis 39; the target load 82 is fixedly installed at the symmetrical center position of the two-axis stage U-shaped pitch frame 41; the two-axis stage pitch counterweights 53 are installed at both ends of the two-axis stage U-shaped pitch frame 41, and the two-axis stage pitch counterweights 53 are increased or decreased according to the mass of the target load 82 to achieve the purpose of balancing the load and eliminating bearing off-center loading; the projector 81 is fixed to the left end face of the two-axis stage pitch axis 39, and can project target or starry sky images onto the surrounding dome screen; reference Figure 4 The right pitch bearing housing end cover 46 of the two-axis stage is installed at the right end of the stator of the pitch motor 44 of the two-axis stage. The pitch encoder disk seat 48 of the two-axis stage is installed in the middle hole of the right pitch bearing housing end cover 46 of the two-axis stage. The pitch encoder disk 49 of the two-axis stage is fixedly installed at the axial center of the pitch encoder disk seat 48 of the two-axis stage, with an external protective cover 45. The encoder disk shaft of the pitch encoder disk 49 of the two-axis stage is fixedly connected to the right end of the pitch shaft 39 of the two-axis stage. (Refer to...) Figure 4 , Figure 5 The two-axis stage pitch mechanical limit block 35 is installed at a designated position on the right support 52 of the two-axis stage pitch axis, and the two-axis stage pitch mechanical limit moving block 54 is installed at a designated position on the U-shaped pitch frame 41 of the two-axis stage. The outer cylindrical surface is covered with a buffer rubber sleeve. After the two-axis stage pitch axis 39 rotates to a certain angle, the two-axis stage pitch mechanical limit moving block 54 is blocked by the two-axis stage pitch mechanical limit block 35, thus achieving a mechanical limit function. The two-axis stage pitch electrical limit induction switch 42 is installed on the U-shaped pitch frame 41 of the two-axis stage, and the two-axis stage pitch electrical limit sensing block 43 is fixed. The two-axis stage pitch axis right support 52 is fixed at a designated position. When the two-axis stage pitch electrical limit sensor switch 42 and the two-axis stage pitch electrical limit sensor block 43 rotate to the same position, the electrical limit is triggered. The two-axis stage pitch zero position pin seat 37 is fixed on the two-axis stage U-shaped pitch frame 41. The two-axis stage pitch zero position pin 38 is inserted into the two-axis stage pitch zero position pin seat 37, and when the two-axis stage U-shaped pitch frame 41 is in the mechanical zero position, it is inserted into the hole of the two-axis stage pitch zero position pin hole seat 36, which is used to calibrate the mechanical zero position of the two-axis stage U-shaped pitch frame 41.

[0024] Three-axis stage pitch frame assembly, refer to Figure 1 , Figure 6 , Figure 7 The system mainly includes a three-axis pitch motor 65, a three-axis pitch bearing 57, a three-axis pitch bearing outer ring preload cover 58, a three-axis pitch bearing inner ring preload cover 59, a three-axis pitch O-shaped frame 55, and a three-axis pitch shaft 56. The three-axis pitch shaft 56 is installed in the bearing recess of the three-axis pitch U-shaped azimuth frame 13 via the three-axis pitch bearing 57. The three-axis pitch bearing 57 is fixed and the bearing clearance is adjusted by the three-axis pitch bearing outer ring preload cover 58 and the three-axis pitch bearing inner ring preload cover 59. The inner end of the three-axis pitch shaft 56 is a flange, which is bolted to the three-axis pitch O-shaped frame 55. The stator of the three-axis pitch motor 65 is fixed to the bearing recess end of the three-axis pitch U-shaped azimuth frame 13, and the rotor of the three-axis pitch motor 65 is fixed to the three-axis pitch shaft 56. (Refer to...) Figure 6 and Figure 7 The right pitch bearing housing end cover 60 of the three-axis stage is installed at the right end of the stator of the three-axis stage pitch motor 65. The pitch encoder disk seat 61 of the three-axis stage is installed in the hole in the middle of the right pitch bearing housing end cover 60. The pitch encoder disk 62 of the three-axis stage is fixedly installed at the axial center of the pitch encoder disk seat 61, and the encoder disk shaft of the pitch encoder disk 62 is fixedly connected to the right end of the pitch shaft 56 of the three-axis stage. (Refer to...) Figures 6-8 The three-axis stage pitch mechanical limit block 69 is installed at a designated position on the three-axis stage orientation frame 13. The three-axis stage pitch mechanical limit block 69 has a set of buffer micro-grooves machined on it. The three-axis stage pitch mechanical limit moving block 67 is installed on the inner end flange plane of the three-axis stage pitch shaft 56, so that after the two-axis stage pitch shafts 56 rotate to a certain angle, they are blocked by the three-axis stage pitch mechanical limit block 69, thus playing a mechanical limiting role. The three-axis stage pitch electrical limit induction switch 64 is installed on the right pitch bearing seat end cover 60 of the three-axis stage. The three-axis stage pitch electrical limit induction block 63 is fixed to the three-axis stage pitch... At the right edge of the stator of machine 65, when the three-axis stage pitch electrical limit induction switch 64 and the three-axis stage pitch electrical limit induction block 63 rotate to coincide, the electrical limit is triggered; the three-axis stage pitch zero position pin 66 is inserted into the hole on the three-axis stage pitch mechanical limit moving block 67, and the three-axis stage pitch zero position pin seat 68 is fixed at the designated position of the three-axis stage U-shaped orientation frame 13, so that the three-axis stage pitch zero position pin 66 is inserted into the hole of the three-axis stage pitch zero position pin seat 68 when the three-axis stage O-shaped pitch frame 55 is just at the mechanical zero position, which is used to calibrate the mechanical zero position of the three-axis stage O-shaped pitch frame 55.

[0025] Three-axis stage rolling axis assembly, refer to Figure 1 , Figure 8The main components include a three-axis table rolling motor 76, a three-axis table rolling bearing 73, a three-axis table rolling bearing outer ring preload cover 75, a three-axis table rolling bearing inner ring preload cover 78, and a three-axis table rolling shaft 72. The three-axis table rolling shaft 72 is installed inside the three-axis table O-shaped pitch frame 55 via the three-axis table rolling bearing 73, and the three-axis table rolling bearing 73 is fixed and the bearing clearance is adjusted by the three-axis table rolling bearing outer ring preload cover 75 and the three-axis table rolling bearing inner ring preload cover 78. The stator of the three-axis table rolling motor 76 is fixed on the front end face of the three-axis table O-shaped pitch frame 55, and the rotor of the three-axis table rolling motor 76 is fixedly connected to the three-axis table rolling shaft 72 via the three-axis table rolling bearing inner ring preload cover 78. Figure 8 The stator of the three-axis table rolling induction synchronizer 74 is mounted on the stepped surface behind the three-axis table O-shaped pitch frame 55, and the rotor of the three-axis table rolling induction synchronizer 74 is mounted on the stepped surface behind the three-axis table rolling shaft 72. The three-axis table rolling limit installation method is as follows: the three-axis table pitch frame end cover 80 is mounted on the front end face of the stator of the three-axis table rolling motor 76, the three-axis table rolling mechanical limit block 77 is fixed on the three-axis table pitch frame end cover 80, and the three-axis table rolling mechanical limit moving block 79 is fixed. The mechanical limit block 79 is fixed at a specific position on the front end face of the rotor of the rolling motor 76. When the rotor of the rolling motor 76 drives the three-axis table rolling mechanical limit block 79 to the position of the three-axis table rolling mechanical limit block 77, it is blocked, thus playing a mechanical limit role. The three-axis table rolling electrical limit induction switch 70 is fixed on the rear edge of the three-axis table pitch frame 55, and the three-axis table rolling electrical limit induction block 71 is fixed at a specific position on the rear edge of the three-axis table rolling shaft 72. When the rotation positions of the two coincide, the electrical limit is triggered. According to the actual requirements of this embodiment, no mechanical limit zero position pin device is set.

Claims

1. A vertical five-axis simulation turntable with a coaxial assembly structure, comprising: The base (1) is a vertical cylindrical casting with anchor bolt holes drilled at the bottom and a three-axis platform orientation bearing seat (26) mounting thread hole drilled at the top. The two-axis pitch frame assembly mainly includes a right support (52) for the two-axis pitch axis, a pitch motor (44) for the two-axis pitch, a pitch bearing (50) for the two-axis pitch, a U-shaped pitch frame (41) for the two-axis pitch, a pitch axis (39) for the two-axis pitch, a pitch counterweight (53) for the two-axis pitch, a target load (82), and a projector (81). The pitch axis (39) is mounted in the right support (52) for the two-axis pitch axis via the pitch bearing (50). The inner end of the pitch axis (39) is connected to the U-shaped pitch frame (41) for the two-axis pitch. The pitch frame (41) is fixedly connected; the stator of the two-axis pitch motor (44) is fixed on the end face of the right support (52) of the two-axis pitch axis, and the rotor of the two-axis pitch motor (44) is fixedly connected to the two-axis pitch axis (39); the target load (82) is fixedly installed at the symmetrical center position of the two-axis U-shaped pitch frame (41); the two-axis pitch counterweight (53) is installed at both ends of the two-axis U-shaped pitch frame (41); the projector (81) is fixed on the left end face of the two-axis pitch axis (39); The three-axis pitch frame assembly mainly includes a three-axis pitch motor (65), a three-axis pitch bearing (57), a three-axis O-shaped pitch frame (55), and a three-axis pitch shaft (56). The three-axis pitch shaft (56) is installed in the bearing recess of the three-axis azimuth frame (13) through the three-axis pitch bearing (57), and the inner end of the three-axis pitch shaft (56) is fixedly connected to the three-axis O-shaped pitch frame (55). The stator of the three-axis pitch motor (65) is fixed to the bearing recess end of the three-axis azimuth frame (13), and the rotor of the three-axis pitch motor (65) is fixedly connected to the three-axis pitch shaft (56). The three-axis table rolling shaft assembly mainly includes a three-axis table rolling motor (76), a three-axis table rolling bearing (73), and a three-axis table rolling shaft (72). The three-axis table rolling shaft (72) is installed inside the three-axis table O-shaped pitch frame (55) through the three-axis table rolling bearing (73). The stator of the three-axis table rolling motor (76) is fixed on the front end face of the three-axis table O-shaped pitch frame (55), and the rotor of the three-axis table rolling motor (76) is fixedly connected to the three-axis table rolling shaft (72). Its characteristic is that it also includes, The three-axis stage orientation frame assembly mainly includes a three-axis stage orientation bearing housing (26), a three-axis stage orientation motor (2), a three-axis stage orientation bearing (5), a three-axis stage U-shaped orientation frame (13), and a three-axis stage orientation shaft (14). The three-axis stage orientation bearing housing (26) is installed on the base (1), and the three-axis stage orientation shaft (14) is installed in the three-axis stage orientation bearing housing (26) through the three-axis stage orientation bearing (5). The upper end of the three-axis stage orientation shaft (14) is fixedly connected to the three-axis stage U-shaped orientation frame (13). The stator of the three-axis stage orientation motor (2) is installed on the lower end face of the three-axis stage orientation bearing housing (26), and the rotor of the three-axis stage orientation motor (2) is fixedly connected to the lower end of the three-axis stage orientation shaft (14). The two-axis stage azimuth frame assembly mainly includes a two-axis stage azimuth bearing housing (22), a two-axis stage azimuth motor (25), a two-axis stage azimuth bearing (23), a two-axis stage support beam (8), a two-axis stage pitch axis left support (9), and a two-axis stage azimuth shaft (17). The two-axis stage azimuth bearing housing (22) is assembled with the three-axis stage azimuth bearing housing (26) and installed on the upper end face of the three-axis stage azimuth bearing housing (26). The two-axis stage azimuth shaft (17) passes through the two-axis stage azimuth... The bearing (23) is installed in the azimuth bearing seat (22) of the two-axis platform. The upper end of the azimuth shaft (17) of the two-axis platform is fixedly connected to the support beam (8) of the two-axis platform. The stator of the azimuth motor (25) of the two-axis platform is installed on the lower end face of the azimuth bearing seat (22) of the two-axis platform. The rotor of the azimuth motor (25) of the two-axis platform is fixedly connected to the lower end of the azimuth shaft (17) of the two-axis platform. The left support (9) of the pitch axis of the two-axis platform and the right support (52) of the pitch axis of the two-axis platform are symmetrically installed on both sides of the support beam (8) of the two-axis platform. The two-axis azimuth frame supported on the vertical base (1) rotates around the z-axis, the two-axis U-shaped pitch frame (41) supported on the two-axis azimuth frame rotates around the x-axis, the target load (82) is fixedly installed on the two-axis U-shaped pitch frame (41), the projector (81) is fixed on the left end face of the two-axis pitch axis (39), the three-axis U-shaped azimuth frame (13) supported on the vertical base (1) rotates around the z-axis, the three-axis O-shaped pitch frame (55) supported on the three-axis U-shaped azimuth frame (13) rotates around the x-axis, the three-axis rolling shaft (72) supported on the three-axis O-shaped pitch frame (55) rotates around the y-axis, and the missile guidance components are fixedly installed on the three-axis rolling shaft (72).

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