A manual inertial navigation test turntable with high sensitivity

Abstract

The invention discloses a manual inertial navigation test turntable with high sensitivity, comprising a U-shaped base, wherein the upper inner end of the U-shaped base is provided with a table, and the two ends of the table are respectively connected with a left spindle and a right spindle, and the left spindle is provided with a seat bearing assembly and an angle measuring assembly arranged inside the left end of the U-shaped base; the right spindle is provided with a right bearing assembly and a worm gear arranged inside the right end of the U-shaped base, and the lower end of the worm gear is meshedly connected with a worm in the adjustment assembly. The manual inertial navigation test turntable reasonably and effectively solves the problems of jitter after positioning of the existing inertial navigation test turntable, low self-positioning sensitivity, and failure to meet the testing and calibration needs of high-precision inertial groups, gyroscopes and accelerometers, and has the characteristics of compact structure, small space occupation and high sensitivity.

Description

Technical Field

[0001] The invention relates to a manual inertial navigation test turntable with high sensitivity. Background Art

[0002] Turntables are very common in the field of inertial testing. They are important equipment for calibrating inertial devices such as inertial groups, gyroscopes, and accelerometers. Traditional inertial navigation test turntables are generally driven by DC torque motors, use encoders or circular gratings as angle sensors, and adopt PID algorithms for control. Therefore, during the turntable's positioning process, because the PID algorithm is a closed-loop control, the turntable will have slight jitter after reaching the position, which needs to be avoided when testing some inertial components. Considering this shortcoming, some existing inertial navigation test turntables are also manually driven, but they have shortcomings such as low sensitivity and inconvenient adjustment, which seriously restricts the development of inertial devices. Summary of the Invention

[0003] The purpose of the present invention is to provide a manual inertial navigation test turntable with high sensitivity, which solves the problems of existing inertial navigation test turntables that jitter after positioning, low positioning sensitivity, and cannot meet the testing and calibration needs of high-precision inertial groups, gyros and accelerometers.

[0004] The technical solution adopted to achieve the above-mentioned purpose is a manual inertial navigation test turntable with high sensitivity, including a U-shaped base, a table top is provided at the upper end of the inner side of the U-shaped base, and the two ends of the table top are respectively connected to the left main shaft and the right main shaft, and the left main shaft is sleeved with a seat bearing assembly and an angle measuring assembly placed inside the left end of the U-shaped base; the right main shaft is sleeved with a right bearing assembly and a worm gear placed inside the right end of the U-shaped base, and the lower end of the worm gear is meshed with the worm in the adjustment assembly, and the adjustment assembly is placed inside the right end of the U-shaped base. The adjustment assembly includes a worm, one end of the worm is fixedly sleeved with a driven bevel gear, and one side of the driven bevel gear It is meshed with an active bevel gear, and a coarse adjustment handle is fixedly connected to the active bevel gear; the other end of the worm is fixedly sleeved with a fine-tuning worm wheel, one side of the fine-tuning worm wheel is meshed with a fine-tuning worm, and the fine-tuning handwheel is fixedly connected to the fine-tuning worm; one side of the fine-tuning worm wheel is also provided with a fixed toothed disc fixedly sleeved on the worm, and one side of the fixed toothed disc is provided with a movable toothed disc movably sleeved on the worm, the movable toothed disc is supported in a U-shaped base by a spring, and one side of the movable toothed disc is provided with a connecting plate placed on the end of the worm, and a cam handle is provided on the outside of the connecting plate, and the cam handle, the connecting plate and the movable toothed disc are axially fixed and connected in series via a pull pin.

[0005] Furthermore, the end of the pull pin is fixedly connected to the movable toothed disc via a threaded pair, and the connecting plate is placed on the outside of the U-shaped base. The cam handle on the outside of the connecting plate controls the axial movement of the connecting plate and the movable toothed disc, thereby further controlling the engagement and separation between the movable toothed disc and the fixed toothed disc. When the movable toothed disc and the fixed toothed disc are fully engaged, the connecting plate contacts and fits the U-shaped base. When the engagement between the movable toothed disc and the fixed toothed disc is disconnected, the connecting plate does not contact the U-shaped base.

[0006] Beneficial effects

[0007] Compared with the prior art, the present invention has the following advantages.

[0008] 1. The present invention reasonably and effectively solves the problem of jitter or poor sensitivity after positioning of the existing inertial navigation test turntable;

[0009] 2. The present invention has a compact structure and occupies little space. The adjustment components have the coordinated use of coarse adjustment and fine adjustment functions, high sensitivity, and are simple, convenient, flexible and fast to operate. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The present invention will be further described below in conjunction with the accompanying drawings.

[0011] Figure 1 This is a forward internal structural diagram of the overall structure of the present invention;

[0012] Figure 2 This is a diagram of the internal structure of the lateral structure of the present invention;

[0013] Figure 3 This is a diagram showing the internal structure of the adjustment component of the present invention;

[0014] As shown in the figure: 1-U-shaped base, 2-angle measuring assembly, 3-left bearing assembly, 4-left spindle, 5-table, 6-right spindle, 7-right bearing assembly, 8-worm gear, 9-worm, 10-driving bevel gear, 11-driven bevel gear, 12-coarse adjustment handwheel, 13-movable gear plate, 14-fixed gear plate, 15-fine adjustment worm gear, 16-fine adjustment worm, 17-fine adjustment handwheel, 18-spring, 19-cam handwheel, 20-connecting plate, 21-pull pin, 22-adjustment assembly. DETAILED DESCRIPTION

[0015] The present invention will be further described below in conjunction with the embodiments and drawings.

[0016] A highly sensitive manual inertial navigation test turntable comprises a U-shaped base 1, such as Figure 1-Figure 3As shown, a table 5 is provided at the upper end of the inner side of the U-shaped base 1, and the two ends of the table 5 are respectively connected to the left main shaft 4 and the right main shaft 6. The left main shaft 4 is provided with a seat bearing assembly 3 and an angle measuring assembly 2 placed inside the left end of the U-shaped base 1; the right main shaft 6 is provided with a right bearing assembly 7 and a worm gear 8 placed inside the right end of the U-shaped base 1, and the lower end of the worm gear 8 is meshed with the worm 9 in the adjustment assembly 22. The adjustment assembly 22 is placed inside the right end of the U-shaped base 1, and the adjustment assembly 22 includes a worm 9. One end of the worm 9 is fixedly provided with a driven bevel gear 11, and a driving bevel gear 10 is meshed with one side of the driven bevel gear 11. The driving bevel gear 10 is fixedly connected to a coarse adjustment handle 12 ; The other end of the worm 9 is fixedly sleeved with a fine-tuning worm wheel 15, and a fine-tuning worm 16 is meshed on one side of the fine-tuning worm wheel 15, and a fine-tuning handwheel 17 is fixedly connected to the fine-tuning worm 16; one side of the fine-tuning worm wheel 15 is also provided with a fixed toothed disc 14 fixedly sleeved on the worm 9, and one side of the fixed toothed disc 14 is provided with a movable toothed disc 13 movably sleeved on the worm 9, and the movable toothed disc 13 is supported in the U-shaped base 1 by a spring 18, and one side of the movable toothed disc 13 is provided with a connecting plate 20 placed on the end of the worm 9, and a cam handle 19 is provided on the outside of the connecting plate 20. The cam handle 19, the connecting plate 20 and the movable toothed disc 13 are axially fixed and connected in series through a pull pin 21.

[0017] The end of the pull pin 21 is fixedly connected to the movable toothed disc 13 via a threaded pair, and the connecting plate 20 is placed on the outside of the U-shaped base 1. The cam handle 21 on the outside of the connecting plate 20 controls the axial movement of the connecting plate 20 and the movable toothed disc 13, and further controls the engagement and separation between the movable toothed disc 13 and the fixed toothed disc 14. When the movable toothed disc 13 and the fixed toothed disc 14 are fully engaged, the connecting plate 20 contacts and fits the U-shaped base 1. When the engagement between the movable toothed disc 13 and the fixed toothed disc 14 is disconnected, the connecting plate 20 is not in contact with the U-shaped base 1.

[0018] In the present invention, the movable gear disc 13, the fixed gear disc 14, the spring 18, the cam handle 19, the connecting plate 20, and the pull pin 21 constitute a locking device of the manual inertial navigation test turntable.

[0019] The present invention adopts a manually toggled handwheel to drive the shaft system of the inertial navigation test turntable. The U-shaped base 1 is a mounting carrier for driving other components of the inertial navigation test turntable. The U-shaped base 1 is fixed to the foundation by anchor bolts. The U-shaped base 1 adopts a U-shaped frame structure. The shaft system is divided into a left shaft system and a right shaft system. The left shaft system consists of a left bearing assembly 3 and a left main shaft 4, and the right shaft system consists of a right bearing assembly 7 and a right main shaft 6. The left and right ends of the table 5 are respectively connected to the left and right shaft systems. When the shaft system rotates, it drives the load to be measured on the table 5 to move. An angle measuring assembly 2 is installed on the left shaft system. The angle measuring assembly 2 can feedback the angular position state of the shaft system as an angle sensor. An adjustment assembly 22 is installed on the right shaft system. The adjustment assembly 22 has fine adjustment and coarse adjustment functions.

[0020] In order to achieve the coarse adjustment function, the adjustment component 22 adopts a two-stage transmission, which is a first-stage transmission mechanism composed of a driving bevel gear 10 and a driven bevel gear 11. The first-stage transmission mechanism mainly plays a reversing role. The coarse adjustment handwheel 12 is connected to the driving bevel gear 10. The movement of the driving bevel gear 10 driven by the coarse adjustment handwheel 12 is finally converted into the movement of the driven bevel gear 11; the second-stage transmission mechanism adopts a worm gear mechanism, the worm 9 is connected to the driven bevel gear 11, and the worm 9 rotates at the same speed as the driven bevel gear 11. The worm wheel 8 is rigidly connected to the right main shaft 6, and the movement of the right main shaft 6 is driven by the movement of the worm 9; the type of the second-stage transmission worm is an Archimedean cylindrical worm, the number of worm heads is 1, and the transmission ratio is 1:100. The first-stage transmission main shaft plays a reversing role, and the transmission ratio is 1.

[0021] The present invention also adopts a two-stage transmission to realize the fine-tuning function. The first-stage transmission adopts a worm gear mechanism with 1 worm head and a transmission ratio of 1:32. The second transmission adopts a second-stage transmission mechanism used for the coarse adjustment function with 1 worm head and a transmission ratio of 1:100. The fine-tuning worm wheel 15 is connected to the worm 9, and the fine-tuning worm 16 is connected to the fine-tuning handwheel 17. The fine-tuning worm 16 is driven by the rotation of the fine-tuning handwheel 17, and the fine-tuning worm 16 drives the fine-tuning worm wheel 15. The rotation of the fine-tuning worm wheel 15 realizes the rotation of the worm 9, and finally realizes the rotation of the right main shaft 6. The angle measuring component 2 is installed on the left main shaft 4 as the angle sensor of this manual inertial navigation test turntable.

[0022] The present invention realizes the locking function by rotating the cam handwheel 19 to control the engagement and disconnection of the movable toothed disc 13 and the fixed toothed disc 14. The rotational freedom of the worm 9 will be constrained, and the shaft system of the manual inertial navigation test turntable will be locked. The cam handwheel 19 is connected to the connecting plate 20 by a pull pin 21. The movable toothed disc 13 has a threaded hole that cooperates with the pull pin 21, and forms a thread pair with the external thread on the pull pin 21. When the cam handwheel 19 is rotated, the movable toothed disc 13 can be moved along the axial direction of the worm 9, thereby realizing the engagement and separation of the movable toothed disc 13 and the fixed toothed disc 14. The spring 18 is installed between the movable toothed disc 13 and the U-shaped base 1 to play a supporting role; by adjusting the screw-in thread length of the pull pin 21, the connecting plate 20 and the U-shaped base 1 are in contact and fit when the movable toothed disc 13 and the fixed toothed disc 14 are engaged, so that the worm 9 cannot rotate along the axis under the action of external force; by adjusting the screw-in thread length of the pull pin 21, the connecting plate 20 and the U-shaped base 1 are not in contact when the movable toothed disc 13 and the fixed toothed disc 14 are engaged and disconnected, and the fine adjustment and coarse adjustment of the highly sensitive manual inertial navigation test turntable are achieved through the external force of the fine-tuning handwheel 17 and the coarse-tuning handwheel 12.

[0023] The working principle of the present invention is:

[0024] 1. Start the coarse adjustment mode of the inertial navigation test turntable: Turn the cam handle 19 clockwise to the horizontal direction. The movable gear plate 13 and the fixed gear plate 14 separate, releasing the worm 9's rotational freedom along the axis. Turn the coarse adjustment handwheel 12. The bevel gear decelerates and changes direction, driving the worm 9 to rotate. The worm 9 then drives the worm wheel 8 to rotate. The worm wheel 8 is connected to the main shaft. Finally, the movement of the coarse adjustment handwheel 12 is converted into the rotational motion of the main shaft of the inertial navigation test turntable, completing the preliminary positioning of the inertial navigation test turntable.

[0025] 2. Turn on the fine-tuning mode of the inertial navigation test turntable: Since the coarse-tuning mode is not sensitive enough, it cannot achieve high-precision testing and calibration of inertial components. Turn the fine-tuning handwheel 17, which drives the fine-tuning worm 16 to move. The fine-tuning worm 16 cooperates with the fine-tuning worm wheel 15, and the fine-tuning worm wheel 15 rotates along the axis. The fine-tuning worm wheel 15 is connected to the worm 9, and then the worm 9 also rotates. The worm 9 drives the rotation of the worm wheel 8, and the worm wheel 8 is connected to the main shaft. Finally, the movement of the fine-tuning handwheel 17 is converted into the rotational motion of the main shaft of the manual inertial navigation test turntable, completing the final positioning of the inertial navigation test turntable. The positioning accuracy can reach ±1";

[0026] 3. The coarse adjustment adopts a first-stage worm gear transmission, and the geometric parameters are as follows:

[0027] Worm type: Archimedean cylindrical worm

[0028] Number of worm heads: 1

[0029] Gear ratio: 1:100

[0030] Worm and worm gear transmission is also used for fine adjustment

[0031] Number of worm heads: 1

[0032] Gear ratio: 1:32

[0033] The total transmission ratio of fine-tuning is 1:3200, 1°=3600″. When the fine-tuning handwheel 17 rotates 0.9°, the inner ring shaft will produce a 1″ change. This is easily achieved by manually rotating the fine-tuning handwheel 0.9 degrees. Therefore, this inertial navigation test turntable has high sensitivity.

[0034] 4. The digital display shows the angular position of the shaft system. After the coarse adjustment handwheel 12 is turned to reach the specified position, the rotation of the fine adjustment handwheel 17 will be used as the driving force of the main shaft. The turntable is equipped with an angle measurement component 2. The final positioning of the inertial navigation test turntable is carried out through the feedback position of the angle measurement component 2. The final positioning can be displayed by the digital display box matched with the inertial navigation test turntable.

[0035] 5. To prevent misoperation, lock the spindle: the movable gear disc 13 and the fixed gear disc 14 are engaged, and the fit between the cam handle 19 and the U-shaped base 1 is controlled by the screw-in length of the pull pin 21. The rotary shaft system cannot be driven under the action of external force, and the inertial navigation test turntable is locked.

[0036] During the specific implementation of the present invention, the locking device for locking the shaft system of the manual inertial navigation test turntable is first opened: the cam handwheel 19 is rotated clockwise, the movable gear plate 13 moves to the left, the engaged movable gear plate 13 and the fixed gear plate 14 are disconnected, the main shaft is no longer locked, and can be rotated by rotating the coarse adjustment handwheel 12 and the fine adjustment handwheel 17 under the action of external force;

[0037] Then coarsely adjust the positioning accuracy of the manual inertial navigation test turntable to achieve the initial positioning of the turntable: manually turn the coarse adjustment handwheel 12 and the driving bevel gear 10 connected to the coarse adjustment handwheel 12 will move at the same speed, and then the driven bevel gear 11 engaged with the driving bevel gear 10 will move, and the movement direction will change 90 degrees, realizing the first stage transmission of the coarse adjustment function; the driven bevel gear 11 will move with the worm 9, and the worm 9 will drive the worm gear 8 matched with it, and the worm gear 8 will drive the right main shaft 6 with the cooperation of the left bearing assembly 3, and the right main shaft 6 and the left main shaft 4 are connected together through the table with screws, so that the left main shaft 4 will also move with the right main shaft 6, and the angle measuring assembly 2 installed on the left main shaft 4 will output the angular position in real time, realizing the initial positioning of the manual inertial navigation test turntable;

[0038] After the initial positioning, the positioning accuracy of the manual inertial navigation test turntable is fine-tuned to achieve the final positioning of the turntable: the fine-tuning handwheel 17 is turned by hand, and the fine-tuning worm 16 connected to the fine-tuning handwheel 17 will move together, and the fine-tuning worm 16 will drive the fine-tuning worm gear 15 to achieve the first-level transmission of the fine-tuning function; the fine-tuning worm gear 15 is connected to the worm 9 through a keyway, and the rotation of the fine-tuning worm gear 15 will also drive the worm 9 to rotate at the same rate, and the worm 9 drives the worm gear 8 that cooperates with it to achieve the second-level transmission of the fine-tuning function; the worm gear 8 will drive the right main shaft 6 with the cooperation of the left bearing assembly 3, and the right main shaft 6 and the left main shaft 4 are connected together through the table with screws, so that the left main shaft 4 will also move together with the right main shaft 6, and the angle measuring assembly 2 installed on the left main shaft 4 will output the angular position in real time to achieve precise positioning of the manual inertial navigation test turntable.

[0039] Finally, lock the locking device of the manual inertial navigation test turntable spindle: turn the cam handwheel 19 counterclockwise, the movable gear disc 13 will move to the right, the movable gear disc 13 and the fixed gear disc 14 that have been disengaged will engage, and the connecting plate 20 here will also fit with the base 1. The shaft system cannot move under the action of external force, and the spindle will be locked.

[0040] The present invention utilizes coarse and fine adjustment structures to achieve a high-sensitivity function for the inertial navigation test turntable. After the turntable is rotated to the corresponding position, the turntable will not experience jitter, and can be applied to the testing and calibration of high-precision inertial groups, gyroscopes, and accelerometers. The present invention also includes an axis locking device, which can be opened to achieve self-locking of the axis after the turntable completes the test task. The overall design is scientific and reasonable, and the operation is simple, convenient, flexible, and fast, overcoming the shortcomings of the existing technology.

Claims

1. A manual inertial navigation test turntable with high sensitivity, comprising a U-shaped base (1), characterized in that: The upper inner end of the U-shaped base (1) is provided with a table top (5), and the two ends of the table top (5) are respectively connected to a left spindle (4) and a right spindle (6), and the left spindle (4) is sleeved with a seat bearing assembly (3) and an angle measuring assembly (2) arranged inside the left end of the U-shaped base (1); the right spindle (6) is sleeved with a right bearing assembly (7) and a worm gear (8) arranged inside the right end of the U-shaped base (1), and the lower end of the worm gear (8) is meshedly connected with a worm (9) in an adjustment assembly (22), and the adjustment assembly (22) is arranged inside the right end of the U-shaped base (1). 2) comprising a worm (9), one end of the worm (9) being fixedly sleeved with a driven bevel gear (11), one side of the driven bevel gear (11) being meshed with a driving bevel gear (10), and a coarse adjustment handle (12) being fixedly connected to the driving bevel gear (10); the other end of the worm (9) being fixedly sleeved with a fine adjustment worm wheel (15), one side of the fine adjustment worm wheel (15) being meshed with a fine adjustment worm (16), and a fine adjustment hand wheel (17) being fixedly connected to the fine adjustment worm (16); one side of the fine adjustment worm wheel (15) is also provided with a fixed toothed disc (17) fixedly sleeved on the worm (9) 14), a movable toothed disc (13) movably mounted on the worm (9) is provided on one side of the fixed toothed disc (14), the movable toothed disc (13) is supported in the U-shaped base (1) via a spring (18), a connecting plate (20) disposed at the end of the worm (9) is provided on one side of the movable toothed disc (13), a cam handle (19) is provided on the outer side of the connecting plate (20), the cam handle (19), the connecting plate (20) and the movable toothed disc (13) are axially fixedly connected in series via a pull pin (21); the end of the pull pin (21) is connected to the movable toothed disc (13) via a threaded pair The connection is fixed, the connection plate (20) is placed outside the U-shaped base (1), and the cam handle (21) outside the connection plate (20) is controlled to axially move the connection plate (20) and the movable toothed disc (13), and further control the engagement and separation between the movable toothed disc (13) and the fixed toothed disc (14). When the movable toothed disc (13) and the fixed toothed disc (14) are fully engaged, the connection plate (20) and the U-shaped base (1) are in contact and fit. When the engagement between the movable toothed disc (13) and the fixed toothed disc (14) is disconnected, the connection plate (20) and the U-shaped base (1) are not in contact.

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