One-dimensional servo turntable and control method

Abstract

The application relates to the technical field of antenna devices, and discloses a one-dimensional servo turntable which comprises a cross roller bearing installed on an azimuth base, an angle sensor adopting an inductive encoder, an alternating-current torque motor comprising a motor rotor and an electronic stator, the motor rotor being installed on an azimuth rotating shaft, the motor stator being installed on the azimuth base, the alternating-current torque motor being used for driving the rotating shaft and a cup-shaped part, converting the output rotating speed and the output torque of the motor into corresponding target rotating speed and target torque of the antenna rotation, a brake adopting an integrated jaw clutch, the brake comprising a brake stator and a brake rotor, the brake being used for being connected with a primary gear reducer, the brake adopting a power-on attraction and power-off separation mode, the brake being used for limiting the rotation of a large gear through a clamping pinion output shaft to control the locking of the antenna in a target state, wherein the brake stator is fixed on a stator flange, the stator flange is used for preventing a coil and a wire from rotating together, the brake rotor is installed on a flange plate, and the flange plate is used for limiting the axial rotation of the brake rotor.

Description

Technical Field

[0001] This application relates to the field of antenna equipment technology, and in particular to a one-dimensional servo turntable and its control method. Background Technology

[0002] Existing radar servo turntables mainly include one-dimensional turntables, two-dimensional turntables, and three-dimensional turntables. One-dimensional turntables can achieve 360° azimuth rotation, two-dimensional turntables can achieve pitch and azimuth functions, and three-dimensional turntables can achieve pitch, roll, and azimuth functions.

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

[0004] In view of this, how to provide a lightweight one-dimensional servo turntable that can lock at any angle in the azimuth direction and maximize the overall function of the radar has become an urgent technical problem to be solved. Summary of the Invention

[0005] This application provides a one-dimensional servo turntable and a control method for the one-dimensional servo turntable, in order to solve the problem of radar antenna array locking under certain special states in the prior art.

[0006] In a first aspect, embodiments of this application provide a one-dimensional servo turntable, comprising:

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

[0008] An angle sensor employs an inductive encoder, wherein the inner ring of the inductive encoder is mounted on the upper end face of the azimuth shaft, and the outer ring is mounted inside the upper housing.

[0009] An AC torque motor includes a motor rotor and a motor stator. The motor rotor is mounted on an azimuth shaft, and the motor stator is mounted on an azimuth base. The motor rotor is used to drive the shaft and a cup-shaped component, converting the output speed and output torque of the motor into the target speed and target torque corresponding to the rotation of the antenna. The shaft includes an azimuth shaft.

[0010] The brake, adopting an integrated jaw clutch, comprises a brake stator and a brake rotor, is used to be connected with the primary gear reducer through a key, is fixed axially through a gland, adopts an attraction mode of energizing attraction and de-energizing separation, restricts the rotation of the large gear through holding the pinion output shaft, controls the locking of the antenna in the target state, wherein the brake stator is fixed on the stator flange, 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 together; the brake rotor is installed on the flange plate, the flange plate is installed on the upper cover plate, and the flange plate is used to restrict the axial rotation of the brake rotor; and the gland is used to prevent the axial movement of the brake.

[0011] In the second aspect, the embodiments of the present application provide a control method of the one-dimensional servo turntable, comprising:

[0012] The output rotation speed and output torque of the AC torque motor are converted into the corresponding target rotation speed and target torque of the antenna rotation through the AC torque motor driving the shaft and the cup-shaped part;

[0013] The brake is connected with the primary gear reducer output shaft, adopts an attraction mode of energizing attraction and de-energizing separation, and controls the locking of the antenna in the target state.

[0014] The embodiments of the present application provide a one-dimensional servo turntable, which comprises a cross roller bearing installed on an azimuth base, a large bearing pressing plate is used to fix the outer ring of the cross roller bearing and is connected with the azimuth base, one end of the inner ring of the cross roller bearing is located at the shaft shoulder of the azimuth shaft, and the other end is pressed by the end face of the cup-shaped part; an angle sensor 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 comprises a motor rotor and a motor stator, the motor rotor is installed on the azimuth shaft, the motor stator is installed on the azimuth base, is used to drive the shaft and the cup-shaped part, and converts the output rotation speed and output torque of the motor into the corresponding target rotation speed and target torque of the antenna rotation, wherein the shaft comprises an azimuth shaft; a brake, adopting an integrated jaw clutch, comprises a brake stator and a brake rotor, is used to be connected with the primary gear reducer through a key, is fixed axially through a gland, adopts an attraction mode of energizing attraction and de-energizing separation, restricts the rotation of the large gear through holding the pinion output shaft, controls the locking of the antenna in the target state, wherein the brake stator is fixed on the stator flange, 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 together; the brake rotor is installed on the flange plate, the flange plate is installed on the upper cover plate, and the flange plate is used to restrict the axial rotation of the brake rotor; and the gland is used to prevent the axial movement of the brake.

[0015] The one-dimensional servo turntable provided by the embodiment of the application has simple and compact structure, small volume, light weight, large load capacity, and can realize 360° rotation around the azimuth direction; the braking mode is simple and reliable, and the maintenance is convenient, and the azimuth direction can be locked at any angle.

[0016] The above description is only a summary of the technical solutions of the application, in order to enable the technical means of the application to be implemented according to the content of the specification, and in order to enable the above and other purposes, characteristics and advantages of the application to be more obvious and easy to understand, the following specific embodiments of the application are described. BRIEF DESCRIPTION OF DRAWINGS

[0017] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of the preferred embodiments and are not meant to limit the scope of the present application. Furthermore, the same reference numerals are intended to denote the same components throughout the accompanying drawings. In the drawings:

[0018] Figure 1 A shafting sectional view of a one-dimensional servo turntable provided by the embodiment of the application;

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

[0020] Figure 3 A front view structural schematic diagram of a one-dimensional servo turntable provided by the embodiment of the application;

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

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

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

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

[0025] Among them, AC torque motor-1, brake-2, collector ring-3, upper shell-4, azimuth rotating shaft-5, azimuth base-6, cup-7, gland-8, stator flange-9, large bearing pressing plate-10, flange plate-11, yoke-13, large gear-14, upper cover plate-16, wire passing plate-17, protective cover-18, crossed roller bearing-20, inductive encoder-22, small bearing pressing plate-25;

[0026] B to (bottom view): pressure block 1-23;

[0027] A to (top view): pressure block 2-24;

[0028] C: pinion-15, retainer-12, lock nut-19, deep groove ball bearing-21. DETAILED DESCRIPTION

[0029] Exemplary embodiments of the present disclosure will be described in greater detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it is understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be accurately conveyed to those skilled in the art.

[0030] Radar equipment is an indispensable equipment, and is one of the important means to obtain strategic and tactical information. The radar servo transmission system is an indispensable equipment to realize a series of functions such as search, tracking, monitoring and guiding of the radar. A set of precise and reliable servo transmission system is the technical guarantee for the efficient and stable work of the radar.

[0031] The azimuth transmission device of the radar servo turntable is an important mechanical component of the radar turntable, which drives the radar antenna to rotate 360° with high precision. The azimuth turntable is a transmission device integrating motor drive, angle feedback and photoelectric signal, mainly including azimuth drive, angle feedback unit and azimuth transmission device.

[0032] There is an azimuth device in the prior art, which includes a rotating shaft system containing an azimuth static shaft, an azimuth dynamic shaft, an azimuth adapter disc and two bearings, an azimuth housing, a resolver and a torque motor; the azimuth static shaft and the azimuth dynamic shaft, the azimuth adapter disc are connected by a first bearing bearing double axial load and a second bearing bearing radial and overturning load with larger diameter, thereby forming a rotating disc type rotating shaft system supported by inner and outer bearings; the rotating shaft system, the resolver and the torque motor are located on the upper and lower sides of the middle annular plate of the azimuth housing and are independent of each other; in addition, a labyrinth felt ring comprehensive sealing structure is also adopted. However, the device cannot realize the locking of the azimuth turntable at any position, and the device has large volume and weight, which cannot meet the overall design requirements.

[0033] Generally, the one-dimensional servo turntable is an important implementation mechanism of the azimuth machine scanning of the whole radar, and the strength and rigidity of the one-dimensional servo turntable are crucial to the accuracy of the radar. For the turntable for special purposes, the light-weight design requirement needs to be met, and meanwhile, the rigidity and strength are sufficient, and the shafting accuracy is high. On the other hand, the servo turntable needs to realize the locking function in a specific state of the antenna array, and there is a lack of one-dimensional servo turntable meeting the above requirements in the prior art.

[0034] Therefore, in order to overcome the deficiencies of the one-dimensional servo turntable in the prior art, the embodiment of the present application provides a servo turntable capable of having a locking function at any angle in the azimuth direction, and meanwhile, the one-dimensional servo turntable meets the design requirements of convenient assembly and maintenance, small volume and weight, high accuracy and rigidity, and the like.

[0035] Referring to Figure 1 , Figure 1 A shafting sectional view of the one-dimensional servo turntable provided by the embodiment of the present application is shown in the figure. Figure 1 As shown in the figure, the rotation of the antenna array adopts the form of direct drive of the torque motor, and the locking of the antenna array adopts the brake 2, and the working mode thereof is energized attraction and de-energized braking.

[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 realize 360-degree rotation in the azimuth direction, complete the transmission and feedback of the azimuth angle data signal, and realize the installation and rotation of the busbar 3.

[0037] The structural form of the one-dimensional servo turntable includes the turntable type and the vertical shaft type.

[0038] The turntable type servo turntable is characterized in that the antenna is supported by a large rotary support capable of bearing axial load, radial load and overturning moment. The servo turntable of this type has the advantages of large bearing capacity, good rigidity and high accuracy, and meanwhile, a larger space can be left in the middle of the bearing to install the angle sensor and the transmission device, so that the structure is compact and reasonable, the axial dimension is small, the gravity center of the antenna is lowered, and the stability of the servo turntable is enhanced.

[0039] The vertical shaft type servo turntable drives the antenna to rotate through the rotating shaft, and the structure is simple, which is suitable for small-caliber antennas with small load. However, in order to obtain larger overturning resistance, the bearing spacing should be enlarged, and the height of the servo turntable is higher.

[0040] In the embodiment of the present application, the one-dimensional servo turntable is a turntable type servo turntable, and the angle sensor and the transmission device are arranged in the middle of the bearing, which is used to support the antenna by a large rotary support capable of bearing axial load, radial load and overturning moment.

[0041] In the embodiment of the present application, the working principle of the one-dimensional servo turntable is shown in the figure. Figure 2 In the figure, Figure 2A flow chart of a control method of a one-dimensional servo turntable is provided in the embodiments of the present application. As shown in Figure 2 , the flow specifically includes the following steps.

[0042] Step S202: The output rotation speed and output torque of the AC torque motor are converted into the target rotation speed and target torque of the antenna rotation by driving the rotating shaft and the cup-shaped part with the AC torque motor.

[0043] Step S204: The brake is connected with the output shaft of the primary gear reducer, and the attraction mode of energization attraction and de-energization separation is adopted to control the locking of the antenna in the target state, that is, the locking mode of the antenna array surface.

[0044] Referring to Figure 3 , Figure 3 A front view structural schematic diagram of a one-dimensional servo turntable is provided in the embodiments of the present application. As shown in Figure 1 , Figure 3 The one-dimensional servo turntable provided in the embodiments of the present application adopts the modularization and light weight design idea, and the main mechanical and electrical components include the cross roller bearing 20, the angle sensor, the AC torque motor 1 and the brake 2.

[0045] Specifically, the cross roller bearing 20 is installed on the azimuth base 6, the outer ring of the cross roller bearing 20 is fixed by using the large bearing pressing plate 10 and is connected with the azimuth base 6, one end of the inner ring of the cross roller bearing 20 is located at the shaft shoulder of the azimuth rotating shaft 5, and the other end is pressed by the end face of the cup-shaped part 7.

[0046] In the embodiments of the present application, the cup-shaped part 7 in the one-dimensional servo turntable is connected with the azimuth rotating shaft 5 by 12 M6 screws, in order to ensure sufficient connection strength and shear strength, three φ8 pin holes are left on the cup-shaped part 7, the pin holes are drilled on the azimuth rotating shaft 5 and the pins are installed, and the pressing block 1-23 is used for fixation. For details, refer to Figure 4 , Figure 4 A top view schematic diagram of a one-dimensional servo turntable is provided in the embodiments of the present application.

[0047] In the embodiment of the present application, the cross-roller bearing 20 is installed on the azimuth base 6, wherein the outer ring of the bearing is fixed by a large bearing pressing plate 10 connected to the azimuth base 6 by 16 M6 screws, one end of the inner ring of the bearing is located at the shaft shoulder of the azimuth rotating shaft 5, and the other end is pressed by the end face of the cup-shaped part 7. The primary gear reducer is a cylindrical gear reducer, wherein the large gear 14 is installed on the azimuth rotating shaft 5 by 8 M5 screws. The small gear 15 is installed in the installation hole inside 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 shafting accuracy, two φ5 pin holes are left at the connection flange of the upper shell 4, and pins are installed after the pin holes are punched on the azimuth base 6, and a pressing block 2-24 is used for fixation. See Figure 5 , Figure 5 A bottom view schematic diagram of a one-dimensional servo turntable provided in the embodiment of the present application.

[0048] In the embodiment of the present application, the rollers in the cross-roller bearing 20 are arranged in a cross shape on a single raceway, and the rollers are isolated by target spacers. The cross-roller bearing 20 carries cylindrical rollers or conical rollers, and the target spacers are retainers or spacer blocks. In the one-dimensional servo turntable provided in the embodiment of the present application, a cross-roller bearing 20 is selected for the slewing bearing. It should be noted that the rolling elements of this type of bearing are generally cylindrical rollers or conical rollers arranged in a cross shape on a single raceway, and the rollers are separated by retainers or spacer blocks. This type of bearing has high rotational accuracy, large load capacity, small size, high rotational speed and rigidity, and is a roller bearing capable of simultaneously bearing large axial load, radial load and overturning moment, etc. It is suitable for supporting the driving part and driving the load antenna to rotate accurately and stably. Compared with traditional structure bearings, the rigidity is increased by 3-4 times. At the same time, the size of this series of bearings is minimized, and the ultra-thin structure is close to the limit of miniaturization size, and has high rigidity.

[0049] An angle sensor is used, which is an inductive encoder 22. The inner ring of the inductive encoder 22 is installed on the upper end face of the azimuth rotating shaft 5, and the outer ring is installed inside the upper shell 4. In the one-dimensional servo turntable provided in the embodiment of the present application, an angle sensor (or angle feedback unit) is selected as an inductive encoder 22, the inner ring of which is installed on the upper end face of the azimuth rotating shaft 5, and the outer ring is installed inside the upper shell 4. Its function is to detect the angle, position and speed of the sensor, and to realize the detection of linear displacement by controlling the shaft, gear and measuring wheel, etc. The actual mechanical displacement is converted into a digital signal; it has high accuracy; the structure is compact and light in weight; at the same time, it is easy to install, and the measurement performance is basically not affected by the installation tolerance, and is suitable for harsh environments, and the measurement performance is not affected by temperature, humidity, condensation or dust.

[0050] The AC torque motor 1 comprises a motor rotor and a motor stator, the motor rotor is installed on the azimuth rotating shaft 5, the motor stator is installed on the azimuth base 6, and the motor rotor and the motor stator are used for driving the rotating shaft and the cup-shaped part 7 to convert the output rotating speed and the output torque of the motor into the target rotating speed and the target torque of the antenna rotation, wherein the rotating shaft comprises the azimuth rotating shaft 5. The AC torque motor 1 is selected for the one-dimensional servo turntable in the embodiment of the application, has the characteristics of compact structure, few transmission links, high driving efficiency and high reliability, and has no mechanical reversing device, is a brushless motor, has higher impact and vibration resistance than a brush motor, and has higher adaptability and higher reliability. The AC torque motor 1 comprises the motor rotor and the motor stator, wherein the motor rotor is installed on the azimuth rotating shaft 5 through eight M5 screws, and the motor stator is installed on the azimuth base 6 through eight M5 screws.

[0051] The brake 2 adopts an integrated jaw clutch, adopts an integrated jaw clutch, comprises a brake stator, a brake rotor and a protective cover 18, is used for being connected with the primary gear reducer through a key, is fixed in an axial direction through the gland 8, adopts an attraction mode of being attracted by electricity and separated by electricity, outputs an axle through the clamping pinion 15, limits the rotation of the gear wheel 14, and controls the locking of the antenna in the target state.

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

[0053] The brake rotor is installed on the flange plate 11, the flange plate 11 is installed on the upper cover plate 16, and the flange plate 11 is used for limiting the axial rotation of the brake rotor.

[0054] The gland 8 is used for preventing the brake 2 from moving in the axial direction, and the protective cover 18 is installed on the flange plate 11 and is used for preventing rain and dust.

[0055] In the embodiment of the application, the brake 2 adopts an integrated jaw clutch, the maximum braking torque is 100 Nm, the teeth on both sides must be relatively static or the relative rotating speed is lower than 40 rpm in the attraction instant, and the attraction cannot be performed in high-speed rotation. The attraction mode adopts an attraction mode of being attracted by electricity and separated by electricity, the application environment temperature is-40℃ to +120℃, the working mode is simple and reliable, the volume is small, and the weight is light.

[0056] The brake 2 is attracted by electricity after being electrified, outputs an axle through the clamping pinion 15, thereby limiting the rotation of the gear wheel 14, the antenna load also stops rotating after the gear wheel 14 stops rotating, and therefore the antenna load can stop rotating at any angle in the azimuth direction.

[0057] In the embodiment of the present application, the primary gear reducer adopts a cylindrical gear reducer for driving the azimuth of the one-dimensional servo turntable. The pinion 15 and the gear 14 are in mesh with each other. The gear 14 is installed on the azimuth rotating shaft 5. The pinion transmission chain is installed in the installation hole inside the upper shell 4. The upper shell 4 is installed on the azimuth base 6. A first preset number of first standard first pin holes are arranged on the upper shell 4. A first pin hole is arranged on the azimuth base 6. A first pin is installed on the first pin hole. The upper shell 4 is installed on the azimuth base 6 through the first pin hole and the first pin. Each pin is fixed by a pressing plate for positioning.

[0058] In the embodiment of the present application, the primary gear reducer further comprises: a deep groove ball bearing 21. A pair of deep groove ball bearings 21 are installed inside the upper shell 4. The retainer ring 12 is installed between the pair of deep groove ball bearings 21. The small bearing pressing plate 25 is fixed to the boss inside the upper shell 4 for pressing the bearing outer ring. A pair of locking nuts 19 are connected to the upper end threads of the pinion 15 for pressing the inner ring of the deep groove ball bearing 21 to prevent the bearing from moving axially.

[0059] In the embodiment of the present application, the one-dimensional servo turntable drives the azimuth in the form of primary gear reduction. The pinion 15 and the gear 14 are in mesh 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 retainer ring 12 is installed between the bearings. The small bearing pressing plate 25 is fixed to the boss inside the upper shell 4 for pressing the bearing outer ring. A pair of locking nuts 19 are connected to the upper end threads of the pinion 15 for pressing the inner ring of the deep groove ball bearing 21 to prevent the bearing from moving axially. The specific structure is shown in FIG. 2. Figure 6 , Figure 6 A primary gear reduction transmission schematic diagram of the one-dimensional servo turntable is provided in the embodiment of the present application. The selected deep groove ball bearing 21 can bear axial load and radial load.

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

[0061] The bus ring 3 is installed at the flange of the azimuth rotating shaft and comprises a conductive ring and an optical fiber ring. The conductive ring is in elastic contact with the brush wire on the brush holder and the conductive ring to transmit electrical signals in the dynamic and static states, respectively. The optical fiber ring adopts a non-contact optical fiber collimator coupling to transmit optical signals in the dynamic and static states, respectively.

[0062] The upper cover plate 16 is installed 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 bus ring 3 adopt loose fitting. The bus ring 3 cable is output from the shift fork 13 port. The wire passing plate 17 is installed at the flange of the shift fork for fixing the cable shaking.

[0064] In the embodiment of the present application, the bus ring 3 is installed on the azimuth rotating shaft flange by 4 M4 screws, the upper cover plate 16 is installed on the upper shell 4 by 7 M3 screws, the yoke 13 is installed on the upper cover plate flange, the yoke 13 and the bus ring flange are in loose fit, the bus ring cable is output from the yoke opening, and the wire passing plate 17 is installed on the yoke flange to fix the cable from shaking.

[0065] In the embodiment of the present application, the cup-shaped part is connected with the azimuth rotating shaft 5, the cup-shaped part is provided with a second preset number of second pins of a second specification, the azimuth rotating shaft 5 is provided with a second pin hole, and the second pin hole is installed with a second pin, the cup-shaped part is connected with the azimuth rotating shaft through the second pin hole and the second pin, and is fixed by a pressing plate.

[0066] In the embodiment of the present application, the one-dimensional servo turntable further comprises: a rotating device located between the cup-shaped part 7 and the azimuth base 6, a rotating part is a dynamic seal for rainproof; the outer ring of the cup-shaped part 7 and the outer ring of the azimuth base 6 are dynamic seals, adopt non-contact labyrinth seal, are provided with a sealing groove, the sealing groove is filled with low-temperature resistant lubricating grease, and are used for preventing dust and water from entering the inside of the turntable.

[0067] In the embodiment of the present application, the one-dimensional servo turntable cup-shaped part 7 and the azimuth base 6 are rotating devices, this part is exposed to the atmosphere, so dynamic seal rainproof design is required. The outer ring of the cup-shaped part 7 and the outer ring of the azimuth base 6 are dynamic seals, adopt non-contact labyrinth seal, the sealing groove is filled with low-temperature resistant lubricating grease, and are used for preventing dust and water from entering the inside of the turntable, see Figure 7 , Figure 7 A dynamic seal schematic diagram of the rotating device of the one-dimensional servo turntable provided in the embodiment of the present application.

[0068] The embodiment of the present application provides a one-dimensional servo turntable capable of realizing 360° rotation in the azimuth direction, and the turntable can realize locking of 360° arbitrary angle in the azimuth direction, and the locking form is simple and reliable. The servo turntable has the characteristics of simple and compact structure form, small size, light weight, large carrying capacity, convenient maintenance and the like.

[0069] The one-dimensional servo turntable provided by the embodiment of the application adopts a modular and lightweight design concept, and main electromechanical components include: an inductive encoder 22, a brake 2, an alternating current torque motor 1, and a cross roller bearing 20, which adopt the modular design concept; in addition, all parts are all subjected to lightweight design under the premise of ensuring functions. The one-dimensional servo turntable selects the cross roller bearing 20, which can ensure excellent anti-overturning capability of the turntable, prominent axial and radial bearing capacity, and sufficient design allowance. The servo turntable brake mode selects an integrated toothed brake, which is installed at a gear reduction end through one-stage gear reduction, and the selected brake 2 has simple and reliable braking mode, simple structure, and convenient use and maintenance, and meets the environmental requirements in the field of aerospace. The selected inductive encoder 22 has light weight and high reliability under the premise of ensuring that the accuracy meets the design requirements.

[0070] In addition, the one-dimensional servo turntable provided by the embodiment of the application has excellent corrosion resistance, and main parts: a cup-shaped part 7, an azimuth base 6, an azimuth rotating shaft 5, an upper shell 4, an upper cover plate 16, a protective cover 18, a stator flange 9, a shift fork 13, and the like adopt 7075 aluminum alloy, and the surfaces are subjected to micro-arc oxidation and paint spraying treatment; the large and small gears 15 and the bearing pressing plate all select titanium alloy TA6, which has excellent corrosion resistance and sufficient strength and rigidity. At the same time, the one-dimensional servo turntable adopts double-labyrinth sealing design, which can ensure that rainwater cannot enter the inside of the turntable.

[0071] The one-dimensional servo turntable provided by the embodiment of the application has simple and compact structure, small volume, light weight, large bearing capacity, and can realize 360° rotation around the azimuth direction; the braking mode is simple and reliable, convenient to maintain, and can realize locking of the azimuth direction at any angle. The one-dimensional servo turntable adopts the direct driving form of the alternating current torque motor 1, has the advantages of fast response speed and high precision, meets the use in the field of aerospace, and has wide application prospect.

[0072] It should be noted that the above describes specific embodiments of the present specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be executed in an order different than the embodiments and still achieve the desired result. In addition, the processes depicted in the figures do not necessarily require the particular order shown or sequential order to achieve the desired results. In certain implementations, multitasking and parallel processing can be advantageous. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the embodiments of the present specification.

[0073] In the above-described embodiments, the description of each embodiment focuses on different aspects, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0074] The preferred embodiments of the present specification disclosed above are only used to help explain the present specification. The alternative embodiments do not describe all the details and limit the present application to the specific embodiments described. Obviously, according to the content of the embodiments of the present specification, many modifications and changes can be made. The present specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the embodiments of the present specification, so that those skilled in the art can well understand and utilize the present specification. The present specification is limited only by the claims and their full scope and equivalents.

Claims

1. A one-dimensional servo-turntable, characterized by It includes: Crossed roller bearing installed on the azimuth base, the fixed outer ring of the crossed roller bearing uses a large bearing pressing plate connected with the azimuth base, one end of the inner ring of the crossed roller bearing is located at the shoulder of the azimuth rotating shaft, and the other end is pressed through the end face of the cup-shaped part; Angle sensor using inductive encoder, wherein the inner ring of the inductive encoder is installed on the upper end face of the azimuth rotating shaft, and the outer ring is installed inside the upper shell; AC torque motor including motor rotor and motor stator, the motor rotor is installed on the azimuth rotating shaft, the motor stator is installed on the azimuth base, and is used to drive the rotating shaft and the cup-shaped part, so as to convert the output speed and output torque of the motor into the corresponding target speed and target torque of the antenna rotation, wherein the rotating shaft includes the azimuth rotating shaft; Brake using integrated jaw clutch, including brake stator and brake rotor, used to be connected with the primary gear reducer through key and fixed axially through gland, the brake uses the attraction mode of power-on attraction and power-off separation, and limits the rotation of the large gear by holding the small gear output shaft to control the locking of the antenna in the target state, wherein the brake stator is fixed on the stator flange, the stator flange is installed on the upper cover plate, and the stator flange is used to prevent the coil and wire from rotating together; the brake rotor is installed on the flange plate, 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 gland 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 installed on the flange plate for rain and dust prevention.

3. A one-dimensional servo turntable according to claim 1, characterized in that The rollers in the crossed roller bearing are arranged in a cross shape on a single raceway and are isolated from each other by target spacers, the crossed roller bearing carries cylindrical rollers or conical rollers, and the target spacers are retainers or spacer blocks.

4. A one-dimensional servo turntable according to claim 1, characterized in that The primary gear reducer uses a cylindrical gear reducer for azimuth transmission of the one-dimensional servo turntable, the small gear and the large gear are meshed with each other, the large gear is installed on the azimuth rotating shaft, the small gear transmission chain is installed in the mounting hole inside the upper shell, and the upper shell is installed on the azimuth base; A first preset number of first pin holes of a first specification are arranged on the upper shell, a first pin hole is arranged on the azimuth base, a first pin is installed on the first pin hole, and 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 pressing plate for positioning.

5. A one-dimensional servo-turntable according to claim 4, characterized in that The primary gear reducer also includes: Deep groove ball bearing, a pair of deep groove ball bearings are installed inside the upper shell, a retainer is installed between the pair of deep groove ball bearings, and a small bearing pressing plate is fixed at the boss inside the upper shell for pressing the outer ring of the bearing; A pair of locking nuts are connected to the upper end thread of the small gear for pressing the inner ring of the deep groove ball bearing to prevent axial movement of the bearing.

6. A one-dimensional servo turntable according to claim 1, characterized in that The one-dimensional servo turntable also includes: The current collecting ring is installed at the flange of the azimuth rotating shaft, and includes a conductive ring and an optical fiber ring. The upper cover plate is installed on the upper shell. The fork is installed at the flange of the upper cover plate, the fork and the current collecting ring are in loose fit, the current collecting ring cable is output from the fork port, and the wire passing plate is installed at the flange of the fork and used for fixing the cable shaking.

7. A one-dimensional servo turntable as claimed in claim 1, characterized in that The one-dimensional servo turntable further includes: The cup-shaped part is connected with the azimuth rotating shaft, the cup-shaped part is provided with a second preset number of second pins of a second specification, the azimuth rotating shaft is provided with a second pin hole, and the second pin hole is installed with a second pin.

8. A one-dimensional servo turntable according to claim 1, characterized in that The rotating part of the one-dimensional servo turntable is dynamic sealing, and is used for preventing rain and dust. The outer ring of the cup-shaped part and the outer ring of the azimuth base are dynamic sealing, adopt non-contact labyrinth sealing, are provided with a sealing groove, the sealing groove is filled with low-temperature resistant lubricating grease, and are used for preventing dust and water from entering the inside of the turntable.

9. A one-dimensional servo turntable according to any one of claims 1-8, characterized in that The one-dimensional servo turntable is a turntable type servo turntable, is provided with an angle sensor and a transmission device in the middle of the bearing, can bear axial load, radial load and overturning moment in the form of a large rotary support, and supports the antenna.

10. A method of controlling a one-dimensional servo-turntable according to claim 1, characterized in that The output rotating speed and output torque of the alternating current torque motor are converted into the target rotating speed and target torque corresponding to the antenna rotation by driving the rotating shaft and the cup-shaped part through the alternating current torque motor. The brake is connected with the output shaft of the primary gear reducer, adopts the suction mode of power-on suction and power-off separation, and controls the locking of the antenna in the target state. ​

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