A dual-axis turntable system

Abstract

The embodiment of the present invention discloses a dual-axis turntable system. The dual-axis turntable system includes an inner shaft portion and an outer shaft portion, wherein the axial direction of the inner shaft portion is orthogonal to the axial direction of the outer shaft portion, and the outer shaft portion is axially connected to the inner shaft portion so that the inner shaft portion can rotate around the axial direction of the outer shaft portion. The dual-axis turntable system provided by the embodiment of the present invention belongs to a horizontal T-shaped dual-axis turntable, which outputs a high-precision drive signal that meets the motor operation characteristics to the inner shaft motor and the outer shaft motor by controlling the host, so that the inner shaft motor and the outer shaft motor can respond to the drive signal of the control host and rotate smoothly according to the set operation curve, thereby achieving a smooth transition between different speeds, thereby solving the problem of large-scale turntable systems in the prior art having high distortion at low speeds, and improving the detection accuracy of the device to be tested. At the same time, the dual-axis turntable system provided by the embodiment of the present invention has the advantages of small size and light weight, and can meet the verification requirements of various engineering levels.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of simulation control technology, and in particular to a dual-axis turntable system. Background Art

[0002] Gyroscopes are used to detect the angular velocity of an object, and accelerometers are used to detect the acceleration of an object. During the production process of gyroscopes or accelerometers, they need to be calibrated and repeatedly tested so that the output of the gyroscope or accelerometer meets the specification requirements under the action of the set input signal.

[0003] The existing dual-axis turntable system is relatively large in size and has a relatively large speed distortion at low speeds, thereby affecting the test accuracy and test reliability of the gyroscope or acceleration sensor at low speeds. Summary of the invention

[0004] The embodiment of the present invention provides a dual-axis turntable system to improve the stability of the turntable system and improve the test reliability of velocity-type or acceleration-type devices.

[0005] An embodiment of the present invention provides a dual-axis turntable system, comprising an inner shaft portion and an outer shaft portion, wherein the axial direction of the inner shaft portion is orthogonal to the axial direction of the outer shaft portion, and the outer shaft portion is axially connected to the inner shaft portion so that the inner shaft portion can rotate around the axial direction of the outer shaft portion;

[0006] The inner shaft portion comprises an inner shaft frame, a first end of the inner shaft frame along the axial direction of the inner shaft portion is connected to an inner shaft encoder, a second end along the axial direction of the inner shaft portion is connected to an inner shaft motor, and the inner shaft motor and the inner shaft encoder are connected via a first rotating shaft; a first support arm and a second support arm are spaced apart between the first end and the second end of the inner shaft frame, and the first rotating shaft is supported by the first support arm and the second support arm; a portion of the first rotating shaft located between the first support arm and the second support arm is connected to a stage for fixing a device under test, and the inner shaft motor drives the stage to rotate along the axial direction of the inner shaft portion via the first rotating shaft;

[0007] The outer shaft portion includes a first outer shaft bracket and a second outer shaft bracket which are arranged on both sides of the inner shaft frame along the axial direction of the outer shaft portion, the first outer shaft bracket supports a second rotating shaft, one end of the second rotating shaft is connected to the first side of the inner shaft frame, and the other end of the second rotating shaft passes through the first outer shaft bracket to connect to an outer shaft encoder; the second outer shaft bracket supports a third rotating shaft, one end of the third rotating shaft is connected to the second side of the inner shaft frame, and the other end of the third rotating shaft passes through the second outer shaft bracket to connect to an outer shaft motor, and the outer shaft motor drives the inner shaft frame to rotate around the axial direction of the outer shaft portion through the third rotating shaft;

[0008] The present invention also includes a control host, which is respectively connected to the inner shaft encoder, the inner shaft motor, the outer shaft encoder, the outer shaft motor and the device under test, and is used to respond to a test instruction input by a user, output a set type of driving signal to the inner shaft motor and the outer shaft motor, and obtain output signals of the inner shaft encoder, the outer shaft encoder and the device under test, and based on the output signals, display the operating status of the inner shaft part, the outer shaft part and the device under test in a preset manner.

[0009] Optionally, the inner shaft portion further includes an inner shaft through-hole slip ring, the inner shaft through-hole slip ring is fixed to the inner shaft frame, and the first rotating shaft passes through the inner shaft through-hole slip ring;

[0010] The input end of the inner shaft through-hole slip ring is connected to the device under test, and the inner shaft through-hole slip ring is used to communicate with the device under test and output a rotation signal of the device under test.

[0011] Optionally, the outer shaft portion further includes a first outer shaft through-hole slip ring fixed to the first outer shaft bracket and a second outer shaft through-hole slip ring fixed to the second outer shaft bracket;

[0012] The second rotating shaft passes through the first outer shaft through-hole slip ring, and the third rotating shaft passes through the second outer shaft through-hole slip ring;

[0013] The input end of the first outer shaft through-hole slip ring is connected to the output end of the inner shaft encoder, the output end of the first outer shaft through-hole slip ring is connected to the control host, and the first outer shaft through-hole slip ring is used to output the output signal of the inner shaft encoder to the control host;

[0014] The input end of the second outer shaft through-hole slip ring is respectively connected to the output end of the inner shaft through-hole slip ring and the driver of the inner shaft motor, the output end of the second outer shaft through-hole slip ring is connected to the control host, and the second outer shaft through-hole slip ring is used to transmit the drive signal of the control host to the inner shaft motor and the device under test, and output the feedback signal of the device under test to the control host.

[0015] Optionally, it further comprises an inner shaft limiter and an outer shaft limiter; the signal output ends of the inner shaft limiter and the outer shaft limiter are connected to the control host;

[0016] The inner shaft limiter is arranged on a side of the inner shaft frame facing the first rotating shaft, and the outer shaft limiter is arranged on a side of the first outer shaft support or the second outer shaft support facing the inner shaft frame.

[0017] Optionally, the inner shaft portion further includes a counterweight module, which is arranged on the inner shaft frame at one end of the inner shaft encoder, and the counterweight module is used to adjust the center of gravity of the inner shaft portion so that the center of gravity of the inner shaft portion coincides with the geometric center of the inner shaft portion.

[0018] Optionally, it further comprises a first load-bearing bracket and a second load-bearing bracket arranged on both sides of the first outer shaft bracket and the second outer shaft bracket along the axial direction of the outer shaft portion;

[0019] The external shaft encoder is fixed to the first load-bearing bracket, and the second rotating shaft passes through the first load-bearing bracket and is connected to the external shaft encoder;

[0020] The outer shaft motor is fixed to the second load-bearing bracket, and the third rotating shaft passes through the second load-bearing bracket and is connected to the outer shaft motor.

[0021] Optionally, the first load-bearing bracket and the first outer shaft bracket are connected via a first connecting portion having a first preset strength, and the second load-bearing bracket and the second outer shaft bracket are connected via a second connecting portion having a second preset strength.

[0022] Optionally, a mounting base is further included, and the first outer shaft bracket, the second outer shaft bracket, the first load-bearing bracket and the second load-bearing bracket are all fixed to the mounting base.

[0023] Optionally, the inner shaft frame is an aviation aluminum frame;

[0024] The first outer shaft bracket, the second outer shaft bracket, the first load-bearing bracket and the second load-bearing bracket are all steel brackets with preset strength; the mounting base is a steel base with preset strength.

[0025] Optionally, both the inner shaft motor and the outer shaft motor are stepper motors.

[0026] Optionally, the first support arm, the second support arm, the first end and the second end of the inner shaft frame are all provided with inner shaft through holes, each of the inner shaft through holes is provided with an inner shaft bearing, the outer ring of each inner shaft bearing is interference fit with the corresponding inner shaft through hole, and the inner ring of each inner shaft bearing is interference fit with the first rotating shaft;

[0027] The first outer shaft bracket, the second outer shaft bracket, the first load-bearing bracket and the second load-bearing bracket are all provided with outer shaft through holes, and each outer shaft through hole is provided with an outer shaft bearing, the outer ring of each outer shaft bearing is interference fit with the corresponding outer shaft through hole, and the inner ring of each outer shaft bearing is interference fit with the second rotating shaft or the third rotating shaft at the corresponding position.

[0028] Optionally, a flexible coupling is connected to the end of each rotating shaft;

[0029] The first rotating shaft is connected to the inner shaft motor and the inner shaft encoder respectively through the flexible coupling at the end;

[0030] The second rotating shaft and the third rotating shaft are connected to the external shaft encoder and the external shaft motor respectively through the flexible couplings at the ends.

[0031] The embodiment of the present invention provides an inner shaft frame, a first rotating shaft is provided on the inner shaft frame, and the inner shaft motor drives the first rotating shaft to rotate, thereby driving the stage fixed to the first rotating shaft to rotate in the first dimension; the second rotating shaft and the third rotating shaft are provided on both sides of the inner shaft frame, and the outer shaft motor drives the third rotating shaft to rotate, thereby driving the inner shaft frame to rotate around the axial direction of the outer shaft part, thereby driving the stage to rotate in the second dimension. By providing an inner shaft encoder connected to the first rotating shaft, and providing an outer shaft encoder connected to the second rotating shaft, the coded signal output by the inner shaft encoder is used as the reference signal of the inner shaft part, and the coded signal output by the outer shaft encoder is used as the reference signal of the outer shaft part, and the control host performs speed or acceleration detection on the device under test in the first dimension and the second dimension based on the two reference signals. The dual-axis turntable system provided in the embodiment of the present invention is a horizontal T-shaped dual-axis turntable. The control host outputs a high-precision drive signal that meets the motor operation characteristics to the inner shaft motor and the outer shaft motor, so that the inner shaft motor and the outer shaft motor can respond to the drive signal of the control host and rotate smoothly according to the set operation curve, achieving a smooth transition between different speeds, thereby solving the problem of large-scale turntable systems in the prior art having high distortion at low speeds, and improving the detection accuracy of the device to be tested. At the same time, the dual-axis turntable system provided in the embodiment of the present invention has the advantages of small size and light weight, and can meet the verification requirements of various engineering levels. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1A schematic structural diagram of a dual-axis turntable system provided by an embodiment of the present invention;

[0033] Figure 2 A schematic diagram of the structure of the inner shaft portion provided by an embodiment of the present invention;

[0034] Figure 3 A schematic structural diagram of an outer shaft portion provided in an embodiment of the present invention;

[0035] Figure 4 The inner shaft speed graph using the S-curve control algorithm provided by the embodiment of the present invention;

[0036] Figure 5 A curve diagram of a derivative function provided by an embodiment of the present invention;

[0037] Figure 6 An S-shaped curve diagram provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0038] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0039] Figure 1 A schematic diagram of the structure of a dual-axis turntable system provided in an embodiment of the present invention, Figure 2 A schematic diagram of the structure of the inner shaft portion provided by an embodiment of the present invention, Figure 3 This is a schematic diagram of the structure of the outer shaft provided in an embodiment of the present invention. The dual-axis turntable system is a small turntable system that can be used to detect and verify gyroscopes, acceleration sensors, etc. The dual-axis turntable system provided in this embodiment can accurately reproduce various dynamic characteristics of the object under test under various speed conditions. Figure 1 to Figure 3 The dual-axis turntable system includes an inner shaft portion and an outer shaft portion, wherein the axial direction of the inner shaft portion is orthogonal to the axial direction of the outer shaft portion, and the outer shaft portion is axially connected to the inner shaft portion so that the inner shaft portion can rotate around the axial direction of the outer shaft portion;

[0040] The inner shaft portion includes an inner shaft frame 10, the inner shaft frame 10 is connected to an inner shaft encoder 11 at the first end along the axial direction of the inner shaft portion, and is connected to an inner shaft motor 12 at the second end along the axial direction of the inner shaft portion, and the inner shaft motor 12 and the inner shaft encoder 11 are connected through a first rotating shaft 13; the inner shaft frame 10 is provided with a first support arm 14 and a second support arm 15 between the first end and the second end, and the first rotating shaft 13 is supported by the first support arm 14 and the second support arm 15; the portion of the first rotating shaft 13 located between the first support arm 14 and the second support arm 15 is connected to a stage 16 for fixing the device to be tested, and the inner shaft motor 12 drives the stage 16 to rotate along the axial direction of the inner shaft portion through the first rotating shaft 13;

[0041] The outer shaft portion includes a first outer shaft support 20 and a second outer shaft support 21 which are arranged on both sides of the inner shaft frame 10 along the axial direction of the outer shaft portion. The first outer shaft support 20 supports a second rotating shaft 22, one end of the second rotating shaft 22 is connected to the first side of the inner shaft frame 10, and the other end of the second rotating shaft 22 passes through the first outer shaft support 20 to connect to an outer shaft encoder 24; the second outer shaft support 21 supports a third rotating shaft 23, one end of the third rotating shaft 23 is connected to the second side of the inner shaft frame 10, and the other end of the third rotating shaft 23 passes through the second outer shaft support 21 to connect to an outer shaft motor 25, and the outer shaft motor 25 drives the inner shaft frame 10 to rotate around the axial direction of the outer shaft portion through the third rotating shaft 23;

[0042] It also includes a control host (not shown in the figure), which is connected to the inner shaft encoder 11, the inner shaft motor 12, the outer shaft encoder 24, the outer shaft motor 25 and the device to be tested respectively. The control host is used to respond to the test instructions input by the user, output a set type of drive signal to the inner shaft motor 12 and the outer shaft motor 25, and obtain the output signals of the inner shaft encoder 11, the outer shaft encoder 24 and the device to be tested, and based on the output signals, the operating status of the inner shaft part, the outer shaft part and the device to be tested is displayed in a preset manner.

[0043] Specifically, the inner shaft portion is used to drive the device under test to rotate in the first dimension, and the outer shaft portion is used to drive the device under test to rotate in the second dimension, thereby realizing a dual-degree-of-freedom architecture of the dual-axis turntable system.

[0044] The inner shaft frame 10 is set up with a "circular" integrated structure. An inner shaft motor 12 is set at one end of the inner shaft frame 10. The power output end of the inner shaft motor 12 is connected to the first rotating shaft 13, and the inner shaft motor 12 drives the first rotating shaft 13 to rotate. The stage 16 is fixed to the first rotating shaft 13, so that the inner shaft motor 12 drives the first rotating shaft 13 to drive the stage 16 to rotate, and the device to be tested is fixed to the stage 16. Therefore, under this structure, the inner shaft motor 12 drives the device to be tested to rotate accordingly through the first rotating shaft 13. In an optional embodiment, the stage 16 is provided with a through hole, and the first rotating shaft 13 passes through the hole, and then the stage 16 is fixed to the first rotating shaft 13 on the back of the stage 16 using a hexagonal countersunk screw.

[0045] The other end of the first rotating shaft 13 is connected to the inner shaft encoder 11, so that during the rotation of the first rotating shaft 13, the rotation angle of the first rotating shaft 13 is detected by the inner shaft encoder 11. In this way, the rotation angle of the first rotating shaft 13, that is, the rotation angle of the device to be tested, can be verified by the inner shaft encoder 11, so as to control the host to use the encoded signal output by the inner shaft encoder 11 as a standard signal to verify the speed signal or acceleration signal of the device to be tested.

[0046] The first support arm 14 and the second support arm 15 arranged between the first end and the second end of the inner shaft frame 10 can support the first rotating shaft 13. The first rotating shaft 13 is supported by these two support arms. In this way, it can be ensured that the first rotating shaft 13 will not cause rotation eccentricity due to the load-bearing problem in the vertical direction during the rotation process, thereby protecting the first rotating shaft 13 of the inner shaft part, ensuring the stable operation of the inner shaft part, and helping to improve the test accuracy.

[0047] The outer shaft portion is used to drive the inner shaft portion to rotate around the axial direction of the outer shaft portion, so as to realize the rotation of the dual-axis turntable system in another dimension. Specifically, the axial direction of the outer shaft portion includes a second rotating shaft 22 and a third rotating shaft 23, and the second rotating shaft 22 is connected to one side of the inner shaft frame 10, and the third rotating shaft 23 is connected to the other side of the inner shaft frame 10. Because the second rotating shaft 22 and the third rotating shaft 23 are supported and arranged on the first outer shaft bracket 20 and the second outer shaft bracket 21, the inner shaft frame 10 can be driven by the second rotating shaft 22 and the third rotating shaft 23 to rotate around the axial direction of the outer shaft portion, that is, the direction of the second rotating shaft 22 and the third rotating shaft 23. By connecting the other end of the third rotating shaft 23 to the power output end of the outer shaft motor 25, it is realized that the outer shaft motor 25 drives the inner shaft frame 10 to rotate around the axial direction of the outer shaft portion through the third rotating shaft 23. At the same time, by connecting the other end of the second rotating shaft 22 to the external shaft encoder 24, the external shaft encoder 24 detects the rotation angle of the inner shaft frame 10, thereby controlling the host to verify the speed or acceleration signal of the device to be tested in the axial direction of the outer shaft part based on the encoding signal output by the external shaft encoder 24.

[0048] In this embodiment, the inner shaft motor 12 is provided to drive the first rotating shaft 13 to rotate, thereby realizing the rotation of the dual-axis turntable system in the first dimension; the outer shaft motor 25 is provided to drive the inner shaft frame 10 to rotate, thereby realizing the rotation of the dual-axis turntable system in the second dimension. Thus, by applying a preset type of rotation control signal to the inner shaft motor 12 and the outer shaft motor 25, the dual-axis turntable system can realize the rotation of two dimensions, so as to perform angle or acceleration detection on the device under test in two dimensions.

[0049] In one embodiment, both the inner shaft encoder 11 and the outer shaft encoder 24 are incremental rotary encoders, which output A and B phase pulse signals to the control host, and the control host performs closed-loop angle control.

[0050] The control software is running in the control host, so that the corresponding drive signals can be output to the inner shaft motor 12 and the outer shaft motor 25 according to the test instructions input by the user, so that the inner shaft motor 12 and the outer shaft motor 25 can operate at the set angle according to the set speed change curve, and a smooth transition between different speeds can be achieved. The control software running in the control host can output corresponding rotation control signals according to the operating characteristics of the inner shaft motor 12 and the outer shaft motor 25, so that the inner shaft motor 12 and the outer shaft motor 25 can smoothly transition the speed at any speed, thereby avoiding the problem of distortion of the dual-axis turntable system at low speed and improving the stability of the dual-axis turntable system.

[0051] In the embodiment of the present invention, an inner shaft frame 10 is provided, a first rotating shaft 13 is provided on the inner shaft frame 10, and the first rotating shaft 13 is driven to rotate by the inner shaft motor 12, thereby driving the stage 16 fixed to the first rotating shaft 13 to rotate in the first dimension; a second rotating shaft 22 and a third rotating shaft 23 are provided on both sides of the inner shaft frame 10, and the third rotating shaft 23 is driven to rotate by the outer shaft motor 25, thereby driving the inner shaft frame 10 to rotate around the axial direction of the outer shaft part, thereby driving the stage 16 to rotate in the second dimension. By providing an inner shaft encoder 11 connected to the first rotating shaft 13, and providing an outer shaft encoder 24 connected to the second rotating shaft 22, the coded signal output by the inner shaft encoder 11 is used as the reference signal of the inner shaft part, and the coded signal output by the outer shaft encoder 24 is used as the reference signal of the outer shaft part, and the control host performs speed or acceleration detection on the device under test in the first dimension and the second dimension based on the two reference signals. The dual-axis turntable system provided in the embodiment of the present invention is a horizontal T-shaped dual-axis turntable. The control host outputs a high-precision drive signal that meets the motor operation characteristics to the inner shaft motor 12 and the outer shaft motor 25, so that the inner shaft motor 12 and the outer shaft motor 25 can respond to the drive signal of the control host and rotate smoothly according to the set operation curve, thereby achieving a smooth transition between different speeds, thereby solving the problem of large-scale turntable systems in the prior art having high distortion at low speeds, and improving the detection accuracy of the device to be tested. At the same time, the dual-axis turntable system provided in the embodiment of the present invention has the advantages of small size and light weight, and can meet the verification requirements of various engineering levels.

[0052] Optionally, based on the above embodiment, continue to refer to Figure 2 The inner shaft portion further includes an inner shaft through-hole slip ring 17, the inner shaft through-hole slip ring 17 is fixed to the inner shaft frame 10, and the first rotating shaft 13 passes through the inner shaft through-hole slip ring 17;

[0053] The input end of the inner shaft through-hole slip ring 17 is connected to the device under test. The inner shaft through-hole slip ring 17 is used to communicate with the device under test and output a rotation signal of the device under test.

[0054] Specifically, the through-hole slip ring can output the rotation signal in a fixed form. Specifically in this embodiment, the inner shaft through-hole slip ring 17 can output the rotation signal of the inner shaft portion in a fixed form to the outer shaft through-hole slip ring and then to the control host.

[0055] In this embodiment, in order to ensure that the dual-axis turntable system can run smoothly, the control host needs to process the various signals of the inner shaft motor 12, the inner shaft encoder 11, and the device to be tested respectively, and each device needs to output multiple signals, so it is necessary to lay more connecting cables, and too many cables will inevitably be entangled when the inner shaft frame 10 rotates, thereby affecting the rotation of the inner shaft frame 10, affecting the operation of the inner shaft part, and causing operation deviation. In this embodiment, by setting the inner shaft through-hole slip ring 17, the output signal of the device to be tested is output through the inner shaft through-hole slip ring 17, thereby regularizing the various signal lines connected to the inner shaft part, avoiding the entanglement of various signal lines with the inner shaft frame 10, and thus will not affect the rotation of the inner shaft part, ensuring the detection accuracy of the device to be tested.

[0056] It should be noted that the inner shaft through-hole slip ring 17 in this embodiment only fixes its outer shell to the inner shaft frame 10, and the inner shaft through-hole slip ring 17 itself does not bear the weight of the first rotating shaft 13, the inner shaft motor 12 and the inner shaft encoder 11, thereby ensuring that the inner shaft through-hole slip ring 17 can output the rotation signal of the inner shaft without distortion.

[0057] Optionally, based on the above embodiment, continue to refer to Figure 3 The outer shaft portion further includes a first outer shaft through-hole slip ring 26 fixed to the first outer shaft support 20 and a second outer shaft through-hole slip ring 27 fixed to the second outer shaft support 21;

[0058] The second rotating shaft 22 passes through the first outer shaft through-hole slip ring 26, and the third rotating shaft 23 passes through the second outer shaft through-hole slip ring 27;

[0059] The input end of the first outer shaft through-hole slip ring 26 is connected to the output end of the inner shaft encoder 11, and the output end of the first outer shaft through-hole slip ring 26 is connected to the control host. The first outer shaft through-hole slip ring 26 is used to output the output signal of the inner shaft encoder 11 to the control host;

[0060] The input end of the second outer shaft through-hole slip ring 27 is connected to the output end of the inner shaft through-hole slip ring 17 and the driver of the inner shaft motor 12, and the output end of the second outer shaft through-hole slip ring 27 is connected to the control host. The second outer shaft through-hole slip ring 27 is used to transmit the drive signal of the control host to the inner shaft motor 12, and output the feedback signal of the device under test to the control host.

[0061] Specifically, the number of the outer shaft through-hole slip rings is set to two, wherein the first outer shaft through-hole slip ring 26 is used to output the encoding signal of the inner shaft encoder 11 to the control host, and the second outer shaft through-hole slip ring 27 is used to transmit the driving signal of the control host to the inner shaft motor 12 and the device under test, and output the feedback signal of the device under test to the control host, and by setting the first outer shaft through-hole slip ring 26 and the second outer shaft through-hole slip ring 27 separately, it is possible to avoid the driving signal of the motor interfering with the encoding signal of the encoder. At the same time, by setting the outer shaft through-hole slip ring, the signal lines of the inner shaft part and the signal lines of the outer shaft part are regularized, avoiding the external signal routing from affecting the rotation of the inner shaft frame 10.

[0062] In the present embodiment, because the driving signals of the inner shaft motor 12 and the outer shaft motor 25 are voltage-type signals, and the encoding signal of the encoder is a pulse-type high-frequency oscillation signal, the driving signal of the motor and the encoding signal of the encoder are isolated and output through the first outer shaft through-hole slip ring 26 and the second outer shaft through-hole slip ring 27, thereby avoiding ripple interference of the motor driving signal on the encoding signal of the encoder, thereby ensuring that the control host can obtain an undistorted reference signal, and ensuring the detection accuracy of the dual-axis detection system for the device under test.

[0063] Optionally, based on the above embodiment, refer to Figure 2 and Figure 3 The dual-axis turntable system further includes an inner axis limiter 18 and an outer axis limiter 28; the signal output ends of the inner axis limiter 18 and the outer axis limiter 28 are connected to the control host;

[0064] The inner shaft limiter 18 is disposed on a side of the inner shaft frame 10 facing the first rotating shaft 13 , and the outer shaft limiter 28 is disposed on a side of the first outer shaft support 20 or the second outer shaft support 21 facing the inner shaft frame 10 .

[0065] Specifically, the inner shaft stopper 18 and the outer shaft stopper 28 are provided to return the inner shaft and the outer shaft to their initial positions. In this embodiment, the inner shaft stopper 18 detects the rotation angle of the first rotating shaft 13, and the outer shaft stopper 28 detects the rotation angle of the inner shaft frame 10.

[0066] After completing a test of the device to be tested, the inner and / or outer shafts of the dual-axis turntable system deviate from the initial position due to rotation. Only when the inner and outer shafts are in the initial position can the control host obtain the accurate reference position and then output an accurate drive signal to the inner and / or outer shaft motors. Therefore, after each test, the inner and outer shafts need to be returned to their initial positions.

[0067] The following is a further introduction to the return limit principle of the inner shaft limiter 18 by taking it as an example.

[0068] The signal output end of the inner shaft limiter 18 is connected to the control host, and the control host is configured with a corresponding regression algorithm. After completing a detection, the regression algorithm in the control host controls the inner shaft to rotate in the opposite direction at the same angle according to the rotation angle of the inner shaft detected this time. When the inner shaft rotates to the detection range of the inner shaft limiter 18, the inner shaft limiter 18 feeds back a signal to the control host and confirms that the return to the initial position has been completed.

[0069] The regression control process of the outer shaft is similar and will not be described in detail in this embodiment.

[0070] In one embodiment, both the inner shaft limiter 18 and the outer shaft limiter 28 use limit U-shaped photoelectric sensors to complete the inner and outer shaft state return action through the limit U-shaped photoelectric sensors.

[0071] Optionally, based on the above embodiment, the inner shaft portion further includes a counterweight module (not shown in the figure), which is arranged at one end of the inner shaft frame 10 located at the inner shaft encoder 11, and is used to adjust the center of gravity of the inner shaft portion so that the center of gravity of the inner shaft portion coincides with the geometric center of the inner shaft portion.

[0072] Specifically, because the end of the inner shaft frame 10 on which the inner shaft encoder 11 is installed is light in weight, the center of gravity of the entire inner shaft portion is biased toward one side of the inner shaft motor 12. By setting a counterweight module of appropriate weight, the center of gravity position of the inner shaft portion can be adjusted, and finally the center of gravity position of the inner shaft portion is adjusted to coincide with the geometric center of the inner shaft portion. The advantage of such a setting is that when the center of gravity of the inner shaft portion coincides with the geometric center, when the outer shaft portion rotates, the inner shaft portion will not have an eccentric pendulum, thereby reducing the moment of inertia, thereby ensuring that the dual-axis turntable system can operate stably and safely, and also helping to extend the service life of the dual-axis turntable system.

[0073] Optionally, based on the above embodiment, refer to Figure 3 The dual-axis turntable system further includes a first load-bearing bracket 29 and a second load-bearing bracket 30 disposed on both sides of the first outer axis bracket 20 and the second outer axis bracket 21 along the axial direction of the outer axis;

[0074] The external shaft encoder 24 is fixed to the first load-bearing bracket 29, and the second rotating shaft 22 passes through the first load-bearing bracket 29 and is connected to the external shaft encoder 24;

[0075] The outer shaft motor 25 is fixed to the second load-bearing bracket 30 , and the third rotating shaft 23 passes through the second load-bearing bracket 30 and is connected to the outer shaft motor 25 .

[0076] Specifically, by setting the first load-bearing bracket 29 and the second load-bearing bracket 30, the first load-bearing bracket 29 bears the weight of the second rotating shaft 22 and the external shaft encoder 24, and the second load-bearing bracket 30 bears the weight of the third rotating shaft 23 and the external shaft motor 25. On this basis, the first external shaft bracket 20 is only used to fix the outer shell of the first external shaft through-hole slip ring 26, and the second external shaft bracket 21 is only used to fix the outer shell of the second external shaft through-hole slip ring 27, so as to avoid letting the first external shaft through-hole slip ring 26 and the second external shaft through-hole slip ring 27 bear the weight of the corresponding rotating shaft, so that the first external shaft through-hole slip ring 26 and the second external shaft through-hole slip ring 27 only need to output the rotation signal, thereby ensuring that the two external shaft through-hole slip rings can operate reliably. In addition, the first load-bearing bracket 29 and the second load-bearing bracket 30 play a role in reinforcing the external shaft part, thereby also improving the seismic performance of the dual-axis turntable system.

[0077] As an implementation mode, the second rotating shaft 22, the third rotating shaft 23 and the first rotating shaft 13 can be matched with the corresponding brackets through bearings. Specifically, the first support arm 14, the second support arm 15, and the first end and the second end of the inner shaft frame 10 are all provided with inner shaft through holes, and each inner shaft through hole is provided with an inner shaft bearing, and the outer ring of each inner shaft bearing is interference fit with the corresponding inner shaft through hole, and the inner ring of each inner shaft bearing is interference fit with the first rotating shaft 13;

[0078] The first outer shaft bracket 20, the second outer shaft bracket 21, the first load-bearing bracket 29 and the second load-bearing bracket 30 are all provided with outer shaft through holes, and each outer shaft through hole is provided with an outer shaft bearing, the outer ring of each outer shaft bearing is interference fit with the corresponding outer shaft through hole, and the inner ring of each outer shaft bearing is interference fit with the second rotating shaft 22 or the third rotating shaft 23 at the corresponding position.

[0079] Optionally, based on the above embodiment, continue to refer to Figure 1 The first load-bearing bracket 29 and the first outer shaft bracket 20 are connected by a first connecting portion 32 having a first preset strength, and the second load-bearing bracket 30 and the second outer shaft bracket 21 are connected by a second connecting portion 33 having a second preset strength.

[0080] Specifically, the first load-bearing bracket 29 and the first outer shaft bracket 20 are connected by setting the first connecting part 32, and the second load-bearing bracket 30 and the second outer shaft bracket 21 are connected by setting the second connecting part 33, so that the first load-bearing bracket 29 and the first outer shaft bracket 20, and the second load-bearing bracket 30 and the second outer shaft bracket 21 respectively form an H-shaped reinforced bridge structure, thereby ensuring the stability of the operation of the dual-axis turntable system.

[0081] The strength of the first connecting portion 32 and the second connecting portion 33 can be set to be the same or different. In a preferred embodiment, the first connecting portion 32 and the second connecting portion 33 have the same strength and are both made of 45# steel.

[0082] Optionally, based on the above embodiment, refer to Figure 1 and Figure 3 The dual-axis turntable system further comprises a mounting base 31 , to which the first outer axis bracket 20 , the second outer axis bracket 21 , the outer axis encoder 24 bracket and the outer axis motor 25 bracket are all fixed.

[0083] Specifically, by setting up the mounting base 31, the first outer shaft bracket 20, the second outer shaft bracket 21, the outer shaft encoder 24 bracket and the outer shaft motor 25 bracket are all fixed to the mounting base 31, so that the inner shaft part and the outer shaft part are all assembled to the mounting base 31, and then locked by the locking mechanism, so that the dual-axis turntable system constitutes a movable turntable system, which can meet the user's requirements for the use of the dual-axis turntable system in different occasions.

[0084] Optionally, based on the above embodiment, the inner axis frame 10 of the dual-axis turntable system is an aviation aluminum frame;

[0085] The first outer shaft bracket 20 , the second outer shaft bracket 21 , the outer shaft encoder 24 bracket and the outer shaft motor 25 bracket are all steel brackets with preset strength; the mounting base 31 is a steel base with preset strength.

[0086] Specifically, the overall structure of the inner shaft is made of aviation aluminum material, so that the inner shaft has the characteristics of light weight and high hardness. The inner shaft frame 10 with an integrated "return-shaped" structure is used as the structural support part of the inner shaft, which ensures the precision, high hardness and ultra-lightness of the inner shaft, greatly improves the stability of the inner shaft, reduces the weight of the inner shaft, and greatly reduces the rotational inertia of the outer shaft. In a preferred embodiment, the inner shaft is specifically made of 7 series aviation aluminum material.

[0087] The outer shaft part needs to support the entire dual-axis turntable system, so it needs to have a certain strength. In this embodiment, the outer shaft part is made of steel, so that the outer shaft part has high strength, good plasticity and toughness, and has the advantages of high quality and stability, which meets the structural design requirements of the 2-DOF turntable. In a preferred embodiment, the first outer shaft bracket 20, the second outer shaft bracket 21, the outer shaft encoder 24 bracket, the outer shaft motor 25 bracket and the mounting base 31 are all made of 45 steel.

[0088] Optionally, based on the above embodiment, the inner shaft motor 12 and the outer shaft motor 25 are both stepping motors.

[0089] Specifically, the rotation angle and speed of the stepper motor are proportional to the pulse frequency, and the pulse frequency is precisely controllable, so the speed and angle can be precisely measured and controlled within the allowable range. At the same time, due to the motor characteristics, the error of each step will not be accumulated to the next step, so there is good position accuracy and motion repeatability. Therefore, the inner shaft motor 12 and the outer shaft motor 25 in this embodiment are both stepper motors, ensuring that the rotation angles of the inner shaft and the outer shaft are precisely controllable.

[0090] Compared with the traditional turntable system driven by a servo motor, this embodiment adopts a stepper motor as the power source of the dual-axis turntable system. The stepper motor can ensure great speed accuracy at low speeds, and cooperate with the rotation control algorithm for the stepper motor running in the control host to make the speed of the stepper motor smoothly transition, so that the dual-axis turntable system provided by this embodiment can also accurately detect the device under test at low speeds. At the same time, the load of the turntable is controllable and clear, so the static torque and phase current of the stepper motor can be determined, so that the volume of the inner shaft motor 12 and the outer shaft motor 25 is fixed, so that the stepper motor model suitable for the dual-axis turntable system can be selected.

[0091] In one embodiment, the inner shaft motor 12 and the outer shaft motor 25 both use 2-phase 4-wire stepper motors as the inner shaft power and the outer shaft power, wherein the inner shaft motor 12 uses a 57 series stepper motor, and the outer shaft motor 25 uses an 86 type stepper motor. The static torque of the inner shaft stepper motor is 0.66Nm, the phase current is 3A, and the static torque of the outer shaft stepper motor is 2.2Nm, the phase current is 6A, which meets the requirements of driving the load of the small dual-axis turntable system.

[0092] Optionally, based on the above embodiment, refer to Figure 2 and Figure 3 The ends of each rotating shaft are connected with a flexible coupling 19;

[0093] The first rotating shaft 13 is connected to the inner shaft motor 12 and the inner shaft encoder 11 respectively through the flexible coupling 19 at the end;

[0094] The second rotating shaft 22 and the third rotating shaft 23 are connected to the external shaft encoder 24 and the external shaft motor 25 respectively through the flexible coupling 19 at the end.

[0095] Specifically, the motor transmits the rotation signal to the corresponding encoder through the flexible coupling 19, which can absorb the vibration generated by the dual-axis turntable system during operation, thereby helping to reduce the operating noise of the dual-axis turntable system.

[0096] In one embodiment, the control host uses NI's LabVIEW as the host control program, and cooperates with the IO device NI-USB-6341 for system control and monitoring. As an NI X series acquisition card, it has 16 analog inputs for monitoring the VDC output of the sensor, and 4 32-bit counters / timers for PWM, encoders, frequency, event counting, etc. It meets the three aspects of PWM control of stepper motor conditions, encoder detection of angular displacement requirements, frequency and event counting, etc., and with NI-DAQmx, it can meet all the functions required by the system program, and has high-precision measurement and control capabilities for the closed-loop control of the turntable motor, while being able to efficiently and accurately collect the output signals of the product to be tested. Moreover, LabVIEW as a host computer is more compatible with NI hardware, and the functions of the front panel are more suitable for the needs of integrated measurement and control of the test platform.

[0097] The upper computer control program structure adopts the AF operator framework, which is an advanced concept in LabVIEW and an officially supported rapid development framework that can be used currently. It facilitates more flexible execution when switching modes and can reuse as much code as possible in a stable and reliable way.

[0098] The program running modes in the control host can be divided into: single-axis-inner axis-speed mode, single-axis-inner axis-angle mode, single-axis-external axis-speed mode, single-axis-external axis-angle mode, which can meet various test requirements and complex motion states of the inner and outer axes.

[0099] In one embodiment, the inner shaft encoder 11 and the outer shaft encoder 24 are both Omron incremental rotary encoders, and the A and B phase pulse signals output by the encoders are collected and analyzed by NI DAQ and converted into angular displacements to facilitate closed-loop angle control of the host.

[0100] The process of speed and angle control of the dual-axis turntable system provided by the embodiment of the present invention is described in detail below with reference to the accompanying drawings.

[0101] Regarding the speed mode: the dual-axis turntable system provided in the embodiment of the present invention adopts an S-curve control algorithm and applies it to power control. Figure 4 The inner shaft speed graph using the S-curve control algorithm provided by the embodiment of the present invention is Figure 5 A curve diagram of a derivative function provided by an embodiment of the present invention, Figure 6 An S-shaped curve diagram provided by an embodiment of the present invention.

[0102] The S-curve control algorithm, i.e. the 7-segment control algorithm, divides the entire motion process into the acceleration stage, uniform acceleration stage, deceleration stage, uniform speed stage, acceleration and deceleration stage, uniform deceleration stage, and deceleration and deceleration stage. The acceleration is continuous at the connection of different stages, and the acceleration rate is controllable, which perfectly solves the mutation problem of the T-type control algorithm. In addition, the S-curve has a small flexible impact and causes less damage to the machine.

[0103] According to the Sigmoid function prototype:

[0104]

[0105] After taking the derivative of formula (1), we can get:

[0106] S' (x) =S (x) ×(1-S (x) ) (2)

[0107] Reference Figure 5 , when the horizontal axis takes 0, the derivative function reaches its maximum value, and the acceleration of the corresponding function is the largest.

[0108] Reference Figure 6 ,according to Figure 6 From the curve shown, we can see that its coordinate origin is (-10, 0), so we translate the original function on the X and Y axes and stretch the curve to obtain:

[0109] Y=A+B / 1+e -ax+b (3)

[0110] Apply the function curve to the stepper motor pulse frequency control, that is:

[0111]

[0112] Where: F min is the lower frequency limit; F max is the upper frequency limit; F is the curve control strength, that is, the value of the Sigmoid function in the 0-x segment. The larger F is, the more severe the curve compression is, that is, the greater the acceleration of the middle curve is. On the contrary, the smaller it is, the closer it is to uniform acceleration. The ideal value is 4 to 6.

[0113] Num is the total number of control points;

[0114] X is the index value of the value point.

[0115] At the same time, the relationship between the speed and frequency of the stepper motor is as follows:

[0116]

[0117] Where: N is the motor speed (rpm);

[0118] T is the inherent step angle of the motor;

[0119] C is the subdivision accuracy of the motor driver.

[0120] Therefore, the speed control of the turntable system is realized through the program. By starting at a low speed and gradually and gently reaching the target speed, it not only ensures strong torque but also smoothly transitions to the desired speed state, meeting the speed mode requirements of the current turntable system. The speed of the motor is controlled by using the uniform acceleration and deceleration method, and the speed and torque are inversely proportional, which is conducive to the turntable to accurately and stably execute speed and angle commands, ensuring the accuracy of the experimental environment and solving the problem of "differential speed change and excessive start-stop current" when the stepper motor is used as a power source.

[0121] Regarding the angle mode: In the dual-axis turntable system provided by the embodiment of the present invention, the angle accuracy of the stepper motor under a reasonable pulse environment is affected by two aspects.

[0122] Subdivision accuracy and inherent step angle accuracy: The inner shaft motor 12 and the outer shaft motor 25 in the embodiment of the present invention both use two-phase hybrid stepping motors. When the subdivision accuracy is 1, the single step is: 360÷200=1.8°, and as the subdivision accuracy increases, such as 2, 4, 8, 16..., the single step angle of the motor also decreases, such as 0.9°, 0.45°, 0.225°, 0.1125°... It can be seen that the single step angle is directly related to the inherent step angle and subdivision accuracy.

[0123] Single step angle = 360 / (number of fixed steps of stepping motor × number of subdivisions) (6)

[0124] Calculation accuracy: When controlling the movement of a stepper motor, when calculating the angular displacement to be moved, it is necessary to ensure that the calculation accuracy is greater than the accuracy of a single step of the stepper motor. For example, in this embodiment, the inherent step angle of the stepper motor is 1.8°, and 16 subdivisions are used, that is, the step angle of a single step is 0.1125°. When we want to move 143.45°, the number of steps to be taken should be 143.45÷0.1125, and the calculation result is 1275.1111 steps. The actual result is 1275 steps, and the movement error is: 0.1125÷0.1111=0.0125°. Moreover, if the calculation angle is 1° unit, then 143.45=143 degrees, and the decimal part is discarded, that is, 143÷0.1125=1271.1111 steps. Compared with the previous movement error, (1275-1271)÷0.1125=0.45, the error is larger at this time. Moreover, the data types are different according to the definitions of different host computers, which can cause greater calculation errors. Try to use float and double data types for calculation to avoid this.

[0125] The number of pulses required for a single motor revolution: Based on the type of system power motor, inherent step angle, and subdivision number, the number of pulses required for a single motor revolution can be calculated, specifically:

[0126] The number of pulses required for the motor to rotate one circle = 360° / (motor inherent step angle / motor driver subdivision number) (7)

[0127] This allows accurate open-loop control of the required angle of motor rotation. At the same time, a rotary photoelectric encoder can be added at the other end of the shaft to capture the actual rotation angle when the load is actually driven, so as to detect abnormal phenomena such as loss of step and excessive angle.

[0128] In one embodiment, the device under test is tested based on the control host according to the following process.

[0129] After assembling and debugging the system, you can start interacting with the dual-axis turntable through the UI operation page of the control host.

[0130] First, select the sensor channel and mode (gyroscope mode, acceleration mode) according to the type of product to be tested (analog output, digital I2C output).

[0131] Then, configure the running speed, rotation angle, and rotation direction of the inner and outer axes according to the rotation mode (speed mode, angle mode) of the test item.

[0132] Furthermore, by triggering different buttons to execute the corresponding test content, including Single Axis-Speed ​​Mode-X, Single Axis-Angle Mode-X, Single Axis-Speed-Mode-Y and Single Axis-AngleMode-Y, the operating status of the turntable and the change data and curves of the three axes of the sensor are displayed in real time. After each execution, the local storage operation of test data and the system regression operation are automatically completed to ensure that the sensor is in the initial state.

[0133] The dual-axis turntable system provided in the embodiment of the present invention not only meets the complex requirements of gyroscope testing while ensuring the accuracy of speed and angle, but also adds a limit function to ensure the accuracy of system regression positioning. At the same time, an S-curve acceleration and deceleration control algorithm is developed by LabVIEW, and both the inner and outer axes can rotate 360° at will. Therefore, the system can also accurately test acceleration sensors.

[0134] In summary, the dual-axis turntable system can be used for testing and system motion simulation of MEMS gyroscopes, inertial measurement units and other products. It can realize dynamic tracking measurement and closed-loop control through acquisition equipment and control host, and can achieve real-time accurate data analysis and regular traceability and retesting.

[0135] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A dual-axis turntable system, characterized in that: The invention comprises an inner shaft portion and an outer shaft portion, wherein the axial direction of the inner shaft portion is orthogonal to the axial direction of the outer shaft portion, and the outer shaft portion is axially connected to the inner shaft portion so that the inner shaft portion can rotate around the axial direction of the outer shaft portion; The inner shaft portion comprises an inner shaft frame, a first end of the inner shaft frame along the axial direction of the inner shaft portion is connected to an inner shaft encoder, a second end along the axial direction of the inner shaft portion is connected to an inner shaft motor, and the inner shaft motor and the inner shaft encoder are connected via a first rotating shaft; a first support arm and a second support arm are spaced apart between the first end and the second end of the inner shaft frame, and the first rotating shaft is supported by the first support arm and the second support arm; a portion of the first rotating shaft located between the first support arm and the second support arm is connected to a stage for fixing a device under test, and the inner shaft motor drives the stage to rotate along the axial direction of the inner shaft portion via the first rotating shaft; The outer shaft portion includes a first outer shaft bracket and a second outer shaft bracket which are arranged on both sides of the inner shaft frame along the axial direction of the outer shaft portion, the first outer shaft bracket supports a second rotating shaft, one end of the second rotating shaft is connected to the first side of the inner shaft frame, and the other end of the second rotating shaft passes through the first outer shaft bracket to connect to an outer shaft encoder; the second outer shaft bracket supports a third rotating shaft, one end of the third rotating shaft is connected to the second side of the inner shaft frame, and the other end of the third rotating shaft passes through the second outer shaft bracket to connect to an outer shaft motor, and the outer shaft motor drives the inner shaft frame to rotate around the axial direction of the outer shaft portion through the third rotating shaft; The device also includes a control host, which is connected to the inner shaft encoder, the inner shaft motor, the outer shaft encoder, the outer shaft motor and the device under test respectively, and is used to respond to a test instruction input by a user, output a set type of drive signal to the inner shaft motor and the outer shaft motor, and obtain output signals of the inner shaft encoder, the outer shaft encoder and the device under test, and display the operating states of the inner shaft part, the outer shaft part and the device under test in a preset manner based on the output signals; wherein the inner shaft encoder and the outer shaft encoder are both incremental rotary encoders, and the control host performs closed-loop angle control; The inner shaft part also includes a counterweight module, which is arranged on the inner shaft frame at one end of the inner shaft encoder, and is used to adjust the center of gravity of the inner shaft part so that the center of gravity of the inner shaft part coincides with the geometric center of the inner shaft part.

2. The dual-axis turntable system according to claim 1, characterized in that: The inner shaft portion further comprises an inner shaft through-hole slip ring, the inner shaft through-hole slip ring is fixed to the inner shaft frame, and the first rotating shaft passes through the inner shaft through-hole slip ring; The input end of the inner shaft through-hole slip ring is connected to the device under test, and the inner shaft through-hole slip ring is used to communicate with the device under test and output a rotation signal of the device under test.

3. The dual-axis turntable system according to claim 2, characterized in that: The outer shaft portion further comprises a first outer shaft through-hole slip ring fixed to the first outer shaft bracket and a second outer shaft through-hole slip ring fixed to the second outer shaft bracket; The second rotating shaft passes through the first outer shaft through-hole slip ring, and the third rotating shaft passes through the second outer shaft through-hole slip ring; The input end of the first outer shaft through-hole slip ring is connected to the output end of the inner shaft encoder, the output end of the first outer shaft through-hole slip ring is connected to the control host, and the first outer shaft through-hole slip ring is used to output the output signal of the inner shaft encoder to the control host; The input end of the second outer shaft through-hole slip ring is respectively connected to the output end of the inner shaft through-hole slip ring and the driver of the inner shaft motor, the output end of the second outer shaft through-hole slip ring is connected to the control host, and the second outer shaft through-hole slip ring is used to transmit the drive signal of the control host to the inner shaft motor and the device under test, and output the feedback signal of the device under test to the control host.

4. The dual-axis turntable system according to claim 1, characterized in that: It also includes an inner shaft limiter and an outer shaft limiter; the signal output ends of the inner shaft limiter and the outer shaft limiter are connected to the control host; The inner shaft limiter is arranged on a side of the inner shaft frame facing the first rotating shaft, and the outer shaft limiter is arranged on a side of the first outer shaft support or the second outer shaft support facing the inner shaft frame.

5. The dual-axis turntable system according to claim 1, characterized in that: It also includes a first load-bearing bracket and a second load-bearing bracket arranged on both sides of the first outer shaft bracket and the second outer shaft bracket along the axial direction of the outer shaft portion; The external shaft encoder is fixed to the first load-bearing bracket, and the second rotating shaft passes through the first load-bearing bracket and is connected to the external shaft encoder; The outer shaft motor is fixed to the second load-bearing bracket, and the third rotating shaft passes through the second load-bearing bracket and is connected to the outer shaft motor.

6. The dual-axis turntable system according to claim 5, characterized in that: The first load-bearing bracket and the first outer shaft bracket are connected via a first connecting portion having a first preset strength, and the second load-bearing bracket and the second outer shaft bracket are connected via a second connecting portion having a second preset strength.

7. The dual-axis turntable system according to claim 5, characterized in that: It also includes a mounting base, and the first outer shaft bracket, the second outer shaft bracket, the first load-bearing bracket and the second load-bearing bracket are all fixed to the mounting base.

8. The dual-axis turntable system according to claim 7, characterized in that: The inner shaft frame is an aviation aluminum frame; The first outer shaft bracket, the second outer shaft bracket, the first load-bearing bracket and the second load-bearing bracket are all steel brackets with preset strength; the mounting base is a steel base with preset strength.

9. The dual-axis turntable system according to any one of claims 1 to 8, characterized in that: The inner shaft motor and the outer shaft motor are both stepping motors.

10. The dual-axis turntable system according to claim 5, characterized in that: The first support arm, the second support arm, the first end and the second end of the inner shaft frame are all provided with inner shaft through holes, each of the inner shaft through holes is provided with an inner shaft bearing, the outer ring of each inner shaft bearing is interference fit with the corresponding inner shaft through hole, and the inner ring of each inner shaft bearing is interference fit with the first rotating shaft; The first outer shaft bracket, the second outer shaft bracket, the first load-bearing bracket and the second load-bearing bracket are all provided with outer shaft through holes, and each outer shaft through hole is provided with an outer shaft bearing, the outer ring of each outer shaft bearing is interference fit with the corresponding outer shaft through hole, and the inner ring of each outer shaft bearing is interference fit with the second rotating shaft or the third rotating shaft at the corresponding position.

11. The dual-axis turntable system according to claim 1, characterized in that: The ends of each rotating shaft are connected with a flexible coupling; The first rotating shaft is connected to the inner shaft motor and the inner shaft encoder respectively through the flexible coupling at the end; The second rotating shaft and the third rotating shaft are connected to the external shaft encoder and the external shaft motor respectively through the flexible couplings at the ends.

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