One-dimensional servo turntable and control method

Abstract

The invention relates to the technical field of antenna equipment, and discloses a one-dimensional servo turntable which comprises a crossed roller bearing mounted on an azimuth base; the angle sensor adopts an inductance type encoder; the alternating-current torque motor comprises a motor rotor and an electronic stator, the motor rotor is installed on the azimuth rotating shaft, and the motor stator is installed on the azimuth base and used for driving the rotating shaft and the cup-shaped piece and converting the output rotating speed and the output torque of the motor into the target rotating speed and the target torque corresponding to antenna rotation; the brake adopts an integrated jaw clutch, comprises a brake stator and a brake rotor and is used for being connected with the first-stage gear speed reducer and controlling locking of the antenna in a target state by tightly holding an output shaft of a pinion and limiting rotation of a large gear in a power-on pull-in and power-off separation mode, the brake stator is fixed to a stator flange, and the brake rotor is fixed to a second-stage gear speed reducer. The stator flange is used for preventing the coil and the wire from rotating; the brake rotor is installed on the flange plate which is used for limiting axial rotation of the brake rotor.

Description

Technical Field

[0001] The present application relates to the technical field of antenna equipment, and in particular to a one-dimensional servo turntable and a control method thereof. Background Art

[0002] Existing radar servo turntables mainly include one-dimensional turntables, two-dimensional turntables and three-dimensional turntables. The one-dimensional turntable can realize 360° rotation in azimuth, the two-dimensional turntable can realize pitch and azimuth functions, and the three-dimensional turntable can realize pitch, roll and azimuth functions.

[0003] The most commonly used locking form for one-dimensional turntables is the azimuth lock. On the one hand, the azimuth lock is an independent locking mechanism installed on the turntable shell, and its structure is relatively complex, the reliability is low, and the weight is large. On the other hand, the azimuth lock can only lock the antenna array at a specific position in azimuth (0° and 180°), and cannot lock the antenna array at any angle in azimuth.

[0004] In view of this, how to provide a lightweight one-dimensional servo turntable to achieve locking of the one-dimensional servo turntable at any angle in azimuth and maximize the function of the radar has become a technical problem that urgently needs to be solved. Summary of the invention

[0005] The embodiments of the present application provide a one-dimensional servo turntable and a control method for the one-dimensional servo turntable, so as to solve the problem of locking the radar antenna array in certain special states existing in the prior art.

[0006] In a first aspect, an embodiment of the present application provides a one-dimensional servo turntable, comprising:

[0007] A cross roller bearing is mounted on the azimuth base. The outer ring of the cross roller bearing is fixed by a large bearing pressure plate connected to the azimuth base. One end of the inner ring of the cross roller bearing is located at the shoulder of the azimuth shaft, and the other end is pressed by the end face of the cup-shaped member.

[0008] The angle sensor adopts an inductive encoder, wherein the inner ring of the inductive encoder is installed on the upper end surface of the azimuth shaft, and the outer ring is installed inside the upper shell;

[0009] An AC torque motor, comprising a motor rotor and an electronic stator, wherein the motor rotor is mounted on an azimuth rotating shaft, and the motor stator is mounted on an azimuth base, and is used to drive the rotating shaft and the cup-shaped member, and convert the output speed and output torque of the motor into a target speed and target torque corresponding to the rotation of the antenna, wherein the rotating shaft comprises an azimuth rotating shaft;

[0010] The brake adopts an integrated tooth clutch, including a brake stator and a brake rotor, which is used to be connected to the first-stage gear reducer through a key and is fixed axially by a pressure cover. The brake adopts an attraction method of power-on attraction and power-off separation. By clamping the small gear output shaft, the large gear rotation is limited, and the antenna is controlled to be locked in the target state. The brake stator is fixed on the stator flange, and the stator flange is installed on the upper cover plate. The stator flange is used to prevent the coil and the wire from rotating; the brake rotor is installed on the flange plate, and the flange plate is installed on the upper cover plate. The flange plate is used to limit the axial rotation of the brake rotor; the pressure cover is used to prevent the axial movement of the brake.

[0011] In a second aspect, an embodiment of the present application provides a control method using a one-dimensional servo turntable as described in the first aspect, comprising:

[0012] The AC torque motor drives the rotating shaft and the cup-shaped member to convert the output speed and output torque of the AC torque motor into the target speed and target torque corresponding to the rotation of the antenna;

[0013] The brake is connected to the output shaft of the first-stage gear reducer, and the antenna is locked in the target state by adopting the method of power-on attraction and power-off separation.

[0014] The embodiment of the present application proposes a one-dimensional servo turntable, including: a crossed roller bearing, which is installed on an azimuth base, wherein the outer ring of the crossed roller bearing is fixed by a large bearing pressure plate, which is connected to the azimuth base, and one end of the inner ring of the crossed roller bearing is located at the shoulder of the azimuth shaft, and the other end is pressed by the end face of a cup-shaped member; an angle sensor, which adopts an inductive encoder, wherein the inner ring of the inductive encoder is installed on the upper end face of the azimuth shaft, and the outer ring is installed inside the upper shell; an AC torque motor, including a motor rotor and an electronic stator, wherein the motor rotor is installed on the azimuth shaft, and the motor stator is installed on the azimuth base, and is used to drive the shaft and the cup-shaped member to convert the output speed and output torque of the motor into the target speed and corresponding to the rotation of the antenna. Target torque, wherein the rotating shaft includes an azimuth rotating shaft; the brake adopts an integrated tooth clutch, including a brake stator and a brake rotor, which is connected to the first-stage gear reducer through a key and fixed axially by a pressure cover. The brake adopts an attraction mode of power-on attraction and power-off separation. By clamping the small gear output shaft, the large gear is limited to rotate, and the antenna is controlled to be locked in the target state, wherein the brake stator is fixed on the stator flange, and the stator flange is installed on the upper cover plate, and the stator flange is used to prevent the coil and the wire from rotating; the brake rotor is installed on the flange plate, and the flange plate is installed on the upper cover plate, and the flange plate is used to limit the axial rotation of the brake rotor; the pressure cover is used to prevent the axial movement of the brake.

[0015] The one-dimensional servo turntable provided by the embodiment of the present application has a simple and compact structure, small size, light weight, large load-bearing capacity, and can realize 360° rotation around the azimuth direction; its braking method is simple and reliable, easy to maintain, and can realize locking at any angle in the azimuth direction. The one-dimensional servo turntable adopts the direct drive form of AC torque motor, which has the advantages of fast response speed and high precision.

[0016] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0018] Figure 1 A cross-sectional view of the shaft system of a one-dimensional servo turntable provided in an embodiment of the present application;

[0019] Figure 2 A flow chart of a control method for a one-dimensional servo turntable provided in an embodiment of the present application;

[0020] Figure 3 A schematic diagram of the main structure of a one-dimensional servo turntable provided in an embodiment of the present application;

[0021] Figure 4 A schematic top view of a one-dimensional servo turntable provided in an embodiment of the present application;

[0022] Figure 5 A schematic bottom view of a one-dimensional servo turntable provided in an embodiment of the present application;

[0023] Figure 6 A schematic diagram of a primary gear reduction transmission of a one-dimensional servo turntable provided in an embodiment of the present application;

[0024] Figure 7 A schematic diagram of a dynamic seal of a rotating device of a one-dimensional servo turntable provided in an embodiment of the present application;

[0025] Among them, AC torque motor-1, brake-2, merge ring-3, upper shell-4, azimuth shaft-5, azimuth base-6, cup-shaped piece-7, pressure cover-8, stator flange-9, large bearing pressure plate-10, flange-11, shift fork-13, large gear-14, upper cover-16, wire plate-17, protective cover-18, cross roller bearing-20, inductive encoder-22, small bearing pressure plate-25;

[0026] B direction (bottom view): pressing block 1-23;

[0027] A direction (top view): pressing block 2-24;

[0028] C: Pinion-15, retaining ring-12, locking nut-19, deep groove ball bearing-21. DETAILED DESCRIPTION

[0029] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0030] Radar equipment, as an indispensable equipment, is one of the important means of obtaining strategic and tactical intelligence. The radar servo transmission system is an indispensable equipment for realizing its search, tracking, monitoring, guidance and other functions. A set of accurate and reliable servo transmission system is the technical guarantee for the efficient and stable operation of radar.

[0031] The radar servo turntable azimuth transmission device is an important mechanical component of the radar turntable. Its function is to drive the radar antenna to perform high-precision azimuth 360° rotation. The azimuth turntable is a transmission device that integrates motor drive, angle information feedback and optoelectronic signals. Its main components include azimuth drive, angle feedback unit and azimuth transmission device.

[0032] There is an azimuth device in the prior art, including a rotary shaft system including an azimuth static shaft, an azimuth dynamic shaft, an azimuth transfer plate and two sets of bearings, an azimuth housing, a rotary transformer and a torque motor; the azimuth static shaft is connected to the azimuth dynamic shaft and the azimuth transfer plate by a first bearing that bears a double axial load and a second bearing with a larger diameter and bearing radial and overturning loads, thereby forming a turntable type rotary shaft system supported by inner and outer double bearings; the rotary shaft system and the rotary transformer and the torque motor are respectively located on the upper and lower sides of the annular horizontal plate in the middle of the azimuth housing and are independent of each other; in addition, a labyrinth felt ring integrated sealing structure is also used. However, the device cannot achieve locking of the azimuth turntable at any position, and the device is large in size and weight, and cannot meet the overall design requirements.

[0033] Generally speaking, as an important mechanism for realizing the azimuth scanning of the whole radar, the strength and rigidity of the one-dimensional servo turntable are crucial to the accuracy of the radar. Turntables for special purposes must meet the requirements of lightweight design while ensuring sufficient rigidity and strength and high axis system accuracy. On the other hand, the servo turntable needs to realize the locking function of the antenna array under specific conditions, but the existing technology lacks a one-dimensional servo turntable that meets the above requirements.

[0034] In view of this, in order to overcome the shortcomings of the existing one-dimensional servo turntable, the embodiment of the present application provides a servo turntable with a locking function at any angle in azimuth. At the same time, the one-dimensional servo turntable meets the design requirements of easy assembly and maintenance, small size and weight, high precision and rigidity.

[0035] See also Figure 1 , Figure 1 This is a cross-sectional view of the shaft system of a one-dimensional servo turntable provided in an embodiment of the present application. Figure 1 As shown, the rotation of the antenna array is directly driven by a torque motor, and the locking of the antenna array is performed by a brake 2, whose working mode is to engage when powered on and brake when powered off.

[0036] It should be noted that the main function of the one-dimensional servo turntable in the embodiment of the present application is to support and drive the antenna to achieve 360-degree rotation in azimuth, complete the transmission and feedback of azimuth angle data signals, and realize the installation and rotation of the merge ring 3.

[0037] The structural forms of one-dimensional servo turntable include turntable type and vertical axis type.

[0038] Among them, the turntable type servo turntable is characterized by using a large slewing support that can withstand axial loads, radial loads and overturning moments to support the antenna. This type of servo turntable has the advantages of large load-bearing capacity, good rigidity and high precision. At the same time, a large space can be left in the middle of the bearing to install the angle sensor and transmission device, making the structure compact and reasonable, with a small axial size, which also reduces the center of gravity of the antenna and enhances the stability of the servo turntable.

[0039] The vertical axis servo turntable drives the antenna to rotate through the rotating shaft. It has a simple structure and is suitable for small-caliber antennas with light loads. However, in order to obtain greater anti-overturning capability, the bearing spacing should be enlarged and the servo turntable height should be higher.

[0040] In an embodiment of the present application, the one-dimensional servo turntable is a turntable-type servo turntable, and an angle sensor and a transmission device are arranged in the middle of the bearing, which is used to support the antenna through a large-scale rotating support form that can withstand axial loads, radial loads and overturning moments.

[0041] In the embodiment of the present application, the working principle of the one-dimensional servo turntable is shown in Figure 2 ,in, Figure 2Flow chart of a control method of a one-dimensional servo turntable provided in an embodiment of the present application. Figure 2 As shown, the specific process includes the following steps.

[0042] Step S202: driving the rotating shaft and the cup-shaped member by an AC torque motor to convert the output speed and output torque of the AC torque motor into a target speed and target torque corresponding to the rotation of the antenna;

[0043] Step S204: Connect the brake to the output shaft of the first-stage gear reducer, and adopt a power-on pull-in and power-off pull-out method to control the locking of the antenna in the target state, that is, the locking method of the antenna array.

[0044] See also Figure 3 , Figure 3 This is a schematic diagram of the main structure of a one-dimensional servo turntable provided in an embodiment of the present application. Figure 1 , Figure 3 As shown, a one-dimensional servo turntable provided in an embodiment of the present application adopts a modular and lightweight design concept, and its main electromechanical components include: a cross roller bearing 20, an angle sensor, an AC torque motor 1 and a brake 2.

[0045] Specifically, the crossed roller bearing 20 is installed on the azimuth base 6. The outer ring of the crossed roller bearing 20 is fixed by a large bearing pressure plate 10, which is connected to the azimuth base 6. One end of the inner ring of the crossed roller bearing 20 is located at the shoulder of the azimuth shaft 5, and the other end is pressed by the end face of the cup-shaped member 7.

[0046] In the embodiment of the present application, the cup-shaped member 7 in the one-dimensional servo turntable is connected to the azimuth shaft 5 by 12 M6 screws. To ensure sufficient connection strength and shear strength, three φ8 pin holes are left on the cup-shaped member 7. When installing the cup-shaped member 7, the pin holes are drilled on the azimuth shaft 5 and the pins are installed, and the pressing block 1-23 is used for fixing. For details, see Figure 4 , Figure 4 A schematic top view of a one-dimensional servo turntable provided in an embodiment of the present application.

[0047] In the embodiment of the present application, the cross roller bearing 20 is mounted on the azimuth base 6, wherein the outer ring of the bearing is fixed by a large bearing pressure plate 10, which is connected to the azimuth base 6 by 16 M6 screws, and one end of the inner ring of the bearing is located at the shoulder of the azimuth shaft 5, and the other end is clamped by the end face of the cup-shaped member 7. The first-stage gear reducer adopts a column gear reducer, wherein the large gear 14 is mounted on the azimuth shaft 5 by 8 M5 screws. The small gear 15 transmission chain is installed in the internal mounting hole of the upper shell 4, and the upper shell 4 is installed on the azimuth base 6 by 8 M4 screws. In order to ensure sufficient design strength and shaft system accuracy, two φ5 pin holes are reserved at the connecting flange of the upper shell 4. During installation, the pin holes are punched on the azimuth base 6 and the pins are installed, and fixed with a pressure block 2-24. See. Figure 5 , Figure 5 A schematic bottom view of a one-dimensional servo turntable provided in an embodiment of the present application.

[0048] In the embodiment of the present application, the rollers in the cross roller bearing 20 are arranged crosswise on a single raceway, and the rollers are isolated by a target spacer. The cross roller bearing 20 carries a cylindrical roller or a conical roller, and the target spacer is a retainer or an isolation block. The slewing bearing in the one-dimensional servo turntable provided in the embodiment of the present application uses a cross roller bearing 20. It should be noted that the rolling elements of this type of bearing generally use cylindrical rollers or conical rollers to cross and cross on a single raceway. The rollers are separated by a retainer or an isolation block. It has high rotation accuracy, large load capacity, small size, high rotation speed and rigidity. It is a roller bearing that can simultaneously withstand large axial loads, radial loads, and overturning moments. The load is suitable for supporting transmission components and driving the load antenna to rotate accurately and stably. Compared with traditional structural bearings, the rigidity is increased by 3 to 4 times. At the same time, the size of the bearings in this series is minimized to the maximum extent, and the ultra-thin structure is close to the limit of miniaturization size and has high rigidity.

[0049] The angle sensor uses an inductive encoder 22, wherein the inner ring of the inductive encoder 22 is mounted on the upper end surface of the azimuth shaft 5, and the outer ring is mounted inside the upper shell 4. The angle sensor (or angle feedback unit) in the one-dimensional servo turntable provided in the embodiment of the present application uses an inductive encoder 22, wherein the inner ring is mounted on the upper end surface of the azimuth shaft 5, and the outer ring is mounted inside the upper shell 4. Its function is to detect the angle, position, and speed of the sensor, and it relies on the control of shafts, gears, measuring wheels, etc. to realize the detection of linear displacement and convert the actual mechanical displacement into a digital signal; it has the characteristics of high accuracy, compact structure, and light weight. At the same time, it is easy to install, and the measurement performance is basically not affected by the installation tolerance. It is suitable for harsh environments, and the measurement performance is not affected by temperature, humidity, condensation or dust.

[0050] The AC torque motor 1 includes a motor rotor and an electronic stator, wherein the motor rotor is mounted on an azimuth shaft 5, and the motor stator is mounted on an azimuth base 6, and is used to drive the shaft and cup-shaped member 7, and convert the output speed and output torque of the motor into a target speed and target torque corresponding to the rotation of the antenna, wherein the shaft includes the azimuth shaft 5. The one-dimensional servo turntable of the present application embodiment uses an AC torque motor 1, which has the characteristics of compact structure, few transmission links, high driving efficiency and high reliability, and has no mechanical commutation device. It is a brushless motor, which has higher impact resistance and vibration performance than a brushed motor, and has higher adaptability and higher reliability. The AC torque motor 1 includes a motor rotor and a motor stator, wherein the motor rotor is mounted on the azimuth shaft 5 through 8 M5 screws, and the motor stator is mounted on the azimuth base 6 through 8 M5 screws.

[0051] The brake 2 adopts an integrated tooth clutch, which includes a brake stator, a brake rotor and a protective cover 18, which is connected to the first-stage gear reducer through a key and is axially fixed by a pressure cover 8. The brake 2 adopts an attraction mode of power-on attraction and power-off separation. By clamping the output shaft of the small gear 15, the rotation of the large gear 14 is limited, and the antenna is locked in the target state.

[0052] The brake stator is fixed on the stator flange 9, and the stator flange 9 is installed on the upper cover plate 16. The stator flange 9 is used to prevent the coil and the wire from rotating.

[0053] The brake rotor is mounted on a flange 11 , which is mounted on an upper cover plate 16 , and the flange 11 is used to limit the axial rotation of the brake rotor.

[0054] The pressure cover 8 is used to prevent the brake 2 from axial movement; the protective cover 18 is installed on the flange 11 to prevent rain and dust.

[0055] In the embodiment of the present application, the brake 2 uses an integrated tooth clutch with a maximum braking torque of 100Nm. The teeth on both sides must be relatively still or the relative speed must be lower than 40rpm at the moment of engagement, and cannot be engaged during high-speed rotation. The engagement method uses power-on engagement and power-off separation. The application environment temperature is -40℃~+120℃. The working mode is simple and reliable, with small size and light weight.

[0056] The brake 2 is energized and closes, and by clamping the output shaft of the small gear 15, the rotation of the large gear 14 is limited. When the large gear 14 stops rotating, the antenna load also stops rotating, so the antenna load can stop rotating at any angle in the azimuth.

[0057] In an embodiment of the present application, the first-stage gear reducer adopts a column gear reducer, which is used for the one-dimensional servo turntable transmission azimuth, wherein the pinion 15 and the large gear 14 are meshed with each other, the large gear 14 is mounted on the azimuth shaft 5, and the pinion 15 transmission chain is mounted in the internal mounting hole of the upper shell 4, and the upper shell 4 is mounted on the azimuth base 6; the upper shell 4 is provided with a first preset number of first pin holes of a first specification, and the azimuth base 6 is provided with a first pinning hole, and the first pinning hole is installed with a first pin, and the upper shell 4 is installed on the azimuth base 6 through the first pin hole and the first pin, wherein each pin is fixed by a pressure plate for positioning.

[0058] In the embodiment of the present application, the first-stage gear reducer also includes: a deep groove ball bearing 21, a pair of deep groove ball bearings 21 are installed inside the upper shell 4, a retaining ring 12 is installed between the pair of deep groove ball bearings 21, and a small bearing pressure plate 25 is fixed to the internal boss of the upper shell 4 for pressing the outer ring of the bearing; a pair of locking nuts 19 are connected to the upper end thread of the pinion 15 for pressing the inner ring of the deep groove ball bearing 21 to prevent the bearing from axial movement.

[0059] In the embodiment of the present application, the one-dimensional servo turntable transmission azimuth adopts a first-stage gear reduction transmission, the pinion 15 and the large gear 14 are meshed with each other, the reduction ratio is 5.05, a pair of deep groove ball bearings 21 are installed inside the upper shell 4, the retaining ring 12 is installed between the bearings, the small bearing pressure plate 25 is fixed to the internal boss of the upper shell 4, and is used to press the outer ring of the bearing, and a pair of locking nuts 19 are connected to the upper end thread of the pinion 15, and are used to press the inner ring of the deep groove ball bearing 21 to prevent the bearing from axial movement. For specific structure, see Figure 6 , Figure 6 A schematic diagram of a first-stage gear reduction transmission of a one-dimensional servo turntable provided in an embodiment of the present application. The selected deep groove ball bearing 21 can bear both axial load and radial load.

[0060] In the embodiment of the present application, the one-dimensional servo turntable further includes:

[0061] The collector ring 3 is installed at the azimuth shaft flange and includes a conductive ring and an optical fiber ring. The conductive ring is in elastic contact with the conductive ring through the brush wire on the brush holder to transmit electrical signals in dynamic and static states respectively; the optical fiber ring is coupled by a non-contact optical fiber collimator to transmit optical signals in dynamic and static states respectively;

[0062] An upper cover plate 16, mounted on the upper shell 4;

[0063] The shift fork 13 is installed at the flange of the upper cover plate. The shift fork 13 and the merge ring 3 are loosely matched. The merge ring 3 cable is output from the shift fork 13 port. The wire plate 17 is installed at the shift fork flange to fix the cable shaking.

[0064] In the embodiment of the present application, the merge ring 3 is installed on the azimuth shaft flange by four M4 screws, the upper cover plate 16 is installed on the upper shell 4 by seven M3 screws, the fork 13 is installed on the upper cover plate flange, the fork 13 and the merge ring flange are loosely fitted, the merge ring cable is output from the fork mouth, and the wire plate 17 is installed on the fork flange to fix the cable shaking.

[0065] In the embodiment of the present application, the cup-shaped ring is connected to the azimuth rotating shaft 5, and a second preset number of second pin holes of a second specification are provided on the cup-shaped ring. A second pinning hole is provided on the azimuth rotating shaft 5, and a second pin is installed on the second pinning hole. The cup-shaped ring is connected to the azimuth shaft through the second pin hole and the second pin, and is fixed with a pressure plate.

[0066] In an embodiment of the present application, the one-dimensional servo turntable also includes: a rotating device, located between the cup-shaped part 7 and the azimuth base 6, the rotating part is a dynamic seal for rain protection; the outer ring of the cup-shaped part 7 and the outer ring of the azimuth base 6 are dynamic seals, using a non-contact labyrinth seal, and a sealing groove is provided, the sealing groove is filled with low-temperature resistant grease to ensure that dust and water cannot enter the interior of the turntable.

[0067] In the embodiment of the present application, the rotating device is between the cup-shaped part 7 and the azimuth base 6 of the one-dimensional servo turntable. This part is exposed to the atmosphere, so a dynamic seal and rainproof design must be performed. The outer ring of the cup-shaped part 7 and the outer ring of the azimuth base 6 are dynamic seals, using a non-contact labyrinth seal, and the sealing groove is filled with low-temperature resistant grease to ensure that dust and water cannot enter the turntable. Figure 7 , Figure 7 A schematic diagram of a dynamic seal of a rotating device of a one-dimensional servo turntable provided in an embodiment of the present application.

[0068] The embodiment of the present application proposes a one-dimensional servo turntable that can realize 360° rotation in azimuth, and the turntable can realize locking at any angle of 360° in azimuth, and the locking form is simple and reliable; the servo turntable has the characteristics of simple and compact structure, small size, light weight, large load-bearing capacity, and easy maintenance.

[0069] The one-dimensional servo turntable provided in the embodiment of the present application adopts a modular and lightweight design concept. The main electromechanical components include: an inductive encoder 22, a brake 2, an AC torque motor 1, and a cross roller bearing 20, which adopts a modular design concept; in addition, all components are lightweight in design under the premise of ensuring the function. The one-dimensional servo turntable uses a cross roller bearing 20, which can ensure the excellent anti-overturning ability of the turntable, outstanding axial and radial load-bearing capacity, and ample design margin. The servo turntable braking method uses an integrated tooth-embedded brake. Through a first-stage gear reduction, the brake 2 is installed at the gear reduction end. Under the premise of ensuring the braking load required by the turntable, the selected brake 2 has a simple and reliable braking method, a simple structural form, and is easy to use and maintain, meeting the environmental requirements of the aerospace field. The selected inductive encoder 22 is light in weight and has high reliability under the premise of ensuring that the accuracy meets the design requirements.

[0070] In addition, the one-dimensional servo turntable provided in the embodiment of the present application has excellent corrosion resistance. The main parts: cup-shaped part 7, azimuth base 6, azimuth shaft 5, upper shell 4, upper cover plate 16, protective cover 18, stator flange 9, fork 13 and other parts are made of 7075 aluminum alloy, and the surface is micro-arc oxidized and painted; large and small gears 15 and bearing pressure plates are all made of titanium alloy TA6, which has excellent corrosion resistance and sufficient strength and stiffness. At the same time, the one-dimensional servo turntable adopts a double labyrinth seal design to ensure that rainwater cannot enter the turntable.

[0071] The one-dimensional servo turntable provided in the embodiment of the present application has a simple and compact structure, small size, light weight, large load-bearing capacity, and can realize 360° rotation around the azimuth direction; its braking method is simple and reliable, easy to maintain, and can realize locking at any angle in the azimuth direction. The one-dimensional servo turntable adopts the direct drive form of the AC torque motor 1, has the advantages of fast response speed and high precision, meets the use of the aerospace field, and has a broad application prospect.

[0072] It should be noted that the above is a description of a specific embodiment of the present specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the embodiments of the present specification.

[0073] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0074] The preferred embodiments of this specification disclosed above are only used to help explain this specification. The optional embodiments do not describe all the details in detail, nor do they limit the invention to only the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of the embodiments of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the embodiments of this specification, so that technicians in the relevant technical field can well understand and use this specification. This specification is only limited by the claims and their full scope and equivalents.

Claims

1. A one-dimensional servo turntable, characterized in that: include: A cross roller bearing is mounted on the azimuth base. The outer ring of the cross roller bearing is fixed by a large bearing pressure plate connected to the azimuth base. One end of the inner ring of the cross roller bearing is located at the shoulder of the azimuth shaft, and the other end is pressed by the end face of the cup-shaped member. The angle sensor adopts an inductive encoder, wherein the inner ring of the inductive encoder is installed on the upper end surface of the azimuth shaft, and the outer ring is installed inside the upper shell; An AC torque motor, comprising a motor rotor and an electronic stator, wherein the motor rotor is mounted on an azimuth rotating shaft, and the motor stator is mounted on an azimuth base, and is used to drive the rotating shaft and the cup-shaped member, and convert the output speed and output torque of the motor into a target speed and target torque corresponding to the rotation of the antenna, wherein the rotating shaft comprises an azimuth rotating shaft; The brake adopts an integrated tooth clutch, including a brake stator and a brake rotor, which is used to be connected to the first-stage gear reducer through a key and is fixed axially by a pressure cover. The brake adopts an attraction method of power-on attraction and power-off separation. By clamping the small gear output shaft, the large gear rotation is limited, and the antenna is controlled to be locked in the target state. The brake stator is fixed on the stator flange, and the stator flange is installed on the upper cover plate. The stator flange is used to prevent the coil and the wire from rotating; the brake rotor is installed on the flange plate, and the flange plate is installed on the upper cover plate. The flange plate is used to limit the axial rotation of the brake rotor; the pressure cover is used to prevent the axial movement of the brake.

2. A one-dimensional servo turntable according to claim 1, characterized in that: The brake also includes a protective cover, which is installed on the flange and is used to prevent rain and dust.

3. The one-dimensional servo turntable according to claim 1, characterized in that: The rollers in the cross roller bearing are arranged crosswise on a single raceway, and the rollers are isolated by target spacers. The cross roller bearing carries cylindrical rollers or conical rollers, and the target spacers are retainers or isolation blocks.

4. The one-dimensional servo turntable according to claim 1, characterized in that: The first-stage gear reducer adopts a column gear reducer, which is used for the one-dimensional servo turntable transmission azimuth, wherein the pinion and the large gear are meshed with each other, the large gear is installed on the azimuth shaft, the pinion transmission chain is installed in the internal mounting hole of the upper shell, and the upper shell is installed on the azimuth base; The upper shell is provided with a first preset number of first pin holes of a first specification, the azimuth base is provided with a first pinning hole, the first pinning hole is installed with a first pin, the upper shell is installed on the azimuth base through the first pin hole and the first pin, wherein each pin is fixed by a pressure plate for positioning.

5. The one-dimensional servo turntable according to claim 4, characterized in that: The primary gear reducer further comprises: Deep groove ball bearings, a pair of deep groove ball bearings are installed inside the upper housing, a retaining ring is installed between the pair of deep groove ball bearings, and a small bearing pressure plate is fixed to the boss inside the upper housing to press the outer ring of the bearing; A pair of locking nuts are connected to the threads on the upper end of the pinion gear to tighten the inner ring of the deep groove ball bearing to prevent the bearing from axial movement.

6. The one-dimensional servo turntable according to claim 1, characterized in that: The one-dimensional servo turntable further comprises: The collector ring is installed at the azimuth shaft flange and includes a conductive ring and an optical fiber ring. The conductive ring is in elastic contact with the conductive ring through the brush wire on the brush holder to transmit electrical signals in dynamic and static states respectively; the optical fiber ring is coupled by a non-contact optical fiber collimator to transmit optical signals in dynamic and static states respectively; An upper cover plate, mounted on the upper shell; The shift fork is installed at the flange of the upper cover plate. The shift fork and the merge ring are loosely matched. The merge ring cable is output from the shift fork opening. The wire plate is installed at the shift fork flange to fix the cable shaking.

7. The one-dimensional servo turntable according to claim 1, characterized in that: The one-dimensional servo turntable further comprises: A cup ring is connected to the azimuth rotating shaft, the cup ring is provided with a second preset number of second pin holes of a second specification, the azimuth rotating shaft is provided with a second pinning hole, the second pinning hole is installed with a second pin, the cup ring is connected to the azimuth shaft through the second pin hole and the second pin, and is fixed with a pressure plate.

8. The one-dimensional servo turntable according to claim 1, characterized in that: The one-dimensional servo turntable further comprises: A rotating device is located between the cup-shaped member and the azimuth base, wherein the rotating part is a dynamic seal for preventing rain and dust; The outer ring of the cup-shaped member and the outer ring of the azimuth base are dynamic seals, adopt non-contact labyrinth seals, and are provided with sealing grooves. The sealing grooves are filled with low-temperature resistant grease to ensure that dust and water cannot enter the interior of the turntable.

9. A one-dimensional servo turntable according to any one of claims 1 to 8, characterized in that: The one-dimensional servo turntable is a turntable type servo turntable, in which an angle sensor and a transmission device are arranged in the middle of the bearing, and is used to support the antenna through a large slewing support form that can withstand axial loads, radial loads and overturning moments.

10. A control method using a one-dimensional servo turntable as claimed in claim 1, characterized in that: include: The AC torque motor drives the rotating shaft and the cup-shaped member to convert the output speed and output torque of the AC torque motor into the target speed and target torque corresponding to the rotation of the antenna; The brake is connected to the output shaft of the first-stage gear reducer, and the antenna is locked in the target state by adopting a power-on-closed and power-off-disconnected mode.

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