High-precision double-shaft rotary table based on clearance elimination of worm and gear

Abstract

The high-precision double-shaft rotary table comprises a rotary table base, an inner ring shaft system and an outer ring shaft system, the inner ring shaft system comprises an inner ring rotating mechanism and an inner ring driving mechanism, and the outer ring shaft system comprises an outer ring rotating mechanism and an outer ring driving mechanism; the inner ring driving mechanism and the outer ring driving mechanism each comprise a driving worm, the inner ring rotating mechanism and the outer ring rotating mechanism are each provided with a driving worm gear meshed with the corresponding driving worm, and each driving worm comprises a solid shaft worm, a hollow shaft worm and a gap adjusting assembly which are coaxially arranged. According to the high-precision double-shaft rotary table based on worm and gear backlash elimination, the arrangement of two shaft systems can meet the requirements for azimuth rotation testing and pitching rotation angle testing of a tested inertial assembly, the worm and gear are adopted to drive the rotation terminal shaft, and the influence of the back backlash of a planetary reducer on the rotation terminal precision is reduced; the solid shaft worm and the hollow shaft worm are matched with the clearance adjusting piece to improve the rigidity of the structure, and the clearance eliminating effect is achieved in the transmission process.

Description

Technical Field

[0001] The invention belongs to the technical field of test simulation turntables, in particular to a high-precision double-axis turntable based on worm gear backlash elimination. Background Art

[0002] Generally speaking, the simulation turntable used for testing has functions such as position, speed, servo and simulation, which can meet all functional tests and experiments of inertial systems and inertial components. Different test requirements also have different requirements on the accuracy of the turntable. High-precision testing requires the use of a high-precision turntable with an accuracy requirement of 2". Most of the existing high-precision turntables use torque motors as power output, or use a combination of servo motors and planetary reducers as power output. However, the above methods have certain defects, such as:

[0003] (1) Using a torque motor as the power output method, because the output characteristics of the torque motor are linearly related to the load torque, its output power is also limited. It is generally suitable for low-load and low-power output application scenarios. If it is required to be suitable for large-load application scenarios, it is difficult to choose a suitable torque motor in most cases. In addition, as a direct-drive motor, the fluctuation component in the output torque of the torque motor will have a direct impact on the stable operation of the load, which puts higher requirements on the control of the torque motor and requires the use of a large-sized motor. However, large-sized motors occupy a large area and are not suitable for use in small-area and large-load test environments;

[0004] (2) The combination of servo motor and planetary reducer can avoid torque fluctuation problem and can be used in large load occasions. However, the reducer itself has backlash, so high-precision turntable is rarely used.

[0005] (3) The prior art also uses hydraulic pipelines and other methods to adjust the gap between the dual-axis worm gears to achieve the purpose of improving transmission stability. However, this adjustment method is easy to cause contamination to high-precision components such as gratings, affecting signal acquisition, and it is also difficult to repair if a fault occurs inside the device.

[0006] In view of the above problems, the present invention provides a high-precision dual-axis turntable based on worm gear backlash elimination, which can reduce the control difficulty and improve the system bandwidth while meeting the demand for higher positioning accuracy, so as to meet the turntable index requirements for positioning accuracy of 2" and large load. Summary of the invention

[0007] Purpose of the invention: To provide a high-precision dual-axis turntable based on worm gear backlash elimination, which can reduce the control difficulty and improve the system bandwidth while meeting the requirements of higher positioning accuracy, so as to meet the requirements of turntable indicators with positioning accuracy of 2" and large load.

[0008] Technical solution:

[0009] A high-precision dual-axis turntable based on worm gear backlash elimination, comprising a turntable base, an inner ring shaft system and an outer ring shaft system, wherein a base groove is provided in the turntable base, an inner frame is provided in the base groove, the inner frame comprises a support arm and a support frame fixed below the support arm, the inner ring shaft system is arranged on the inner frame, the inner ring shaft system comprises an inner ring rotating mechanism and an inner ring driving mechanism, the inner ring rotating mechanism is rotatably arranged on the support arm, and the inner ring driving mechanism is arranged in the support frame for driving the inner ring rotating mechanism to rotate;

[0010] The outer ring shaft system includes an outer ring rotating mechanism and an outer ring driving mechanism, wherein the outer ring rotating mechanism is arranged on both sides of the turntable base, the outer ring rotating mechanism is fixedly connected to the inner frame, and the outer ring driving mechanism is arranged on the turntable base to drive the outer ring rotating mechanism to drive the inner frame to rotate;

[0011] The inner ring driving mechanism and the outer ring driving mechanism both include a driving worm and a power piece, and the inner ring rotating mechanism and the outer ring rotating mechanism are both provided with a driving worm wheel meshing with the corresponding driving worm, and the driving worm includes a coaxially arranged solid shaft worm, a hollow shaft worm and a gap adjustment component, and the hollow shaft worm includes a hollow meshing portion and a hollow light rod portion distributed at both axial ends, and the solid shaft worm includes a solid meshing portion distributed in the middle of the axial direction and a solid light rod portion distributed at both axial ends, and the solid meshing portion and the hollow meshing portion are respectively meshed with two opposite surfaces of two tooth grooves adjacent to the driving worm wheel, wherein one of the solid light rod portions is connected to the output end of the power piece, and the other solid light rod portion extends into the interior of the hollow light rod portion and is connected to the gap adjustment component connected to the interior of the hollow light rod portion;

[0012] A limiting step is provided on the hollow shaft worm, and the limiting step is located at the connection between the hollow polished rod portion and the outer wall of the hollow meshing portion. A locking piece is provided on the outer side of the hollow polished rod portion, and the locking piece is located between the gap adjustment assembly and the limiting step. The locking piece includes a locking inner cylinder and a locking outer cylinder, and the locking inner cylinder is sleeved on the outer side of the hollow polished rod portion, and the locking outer cylinder is sleeved on the outer side of the locking inner cylinder. The inner wall surface of the locking outer cylinder and the outer wall surface of the locking inner cylinder are wedge-shaped, and the limiting step is used to prevent the locking piece from entering the hollow meshing portion.

[0013] In a further embodiment, the gap adjustment assembly includes an inner ring gap adjustment member and an outer ring gap adjustment member, the inner ring gap adjustment member and the outer ring gap adjustment member have the same structure and both include a compression spring, a shaft end compression spring seat, an adjustment cover plate and an adjustment screw, one side of the shaft end compression spring seat is fixed to the other solid polished rod portion located at one end of the hollow polished rod portion, the other side of the shaft end compression spring seat is provided with an adjustment cover plate, the adjustment cover plate is fixed inside the hollow polished rod portion, and the two ends of the compression spring are respectively abutted against the adjustment cover plate and the shaft end compression spring seat;

[0014] The adjusting cover plate is rotatably connected with the adjusting screw, and a screw hole for threaded connection of the adjusting screw is provided on the shaft end compression spring seat;

[0015] A shaft retaining ring is also provided in the hollow polished rod portion. The shaft retaining ring is located on a side of the adjusting cover plate away from the shaft end compression spring seat and is used for axially limiting the adjusting cover plate.

[0016] In a further embodiment, the inner ring rotating mechanism includes an inner ring rotating shaft and an inner ring bearing member, the inner ring bearing member is arranged on the support arm and sleeved on the inner ring rotating shaft, and an adapter plate is provided on the inner ring rotating shaft.

[0017] In a further embodiment, an inner ring angle monitoring component is further provided on the inner ring rotating shaft, and the inner ring angle monitoring component includes an inner ring grating and a reading head, and the inner ring grating and the reading head are both arranged in the supporting frame.

[0018] In a further embodiment, the outer ring rotation mechanism comprises a first outer ring rotation assembly and a second outer ring rotation assembly, the first outer ring rotation assembly and the second outer ring rotation assembly are arranged on both sides of the turntable base, and the outer ring drive mechanism is connected to the second outer ring rotation assembly;

[0019] The first outer ring rotating assembly comprises a first outer ring rotating shaft and a first outer ring bearing member, wherein the first outer ring shaft member is arranged on the turntable base and sleeved on the first outer ring rotating shaft;

[0020] The second outer ring rotating assembly includes a second outer ring rotating shaft and a second outer ring bearing component. The second outer ring bearing component is arranged on the turntable base and sleeved on the second outer ring rotating shaft.

[0021] In a further embodiment, a slewing support is provided on each of the first outer ring slewing shaft and the second outer ring slewing shaft, and the two slewing supports are respectively connected to two sides of the inner frame.

[0022] In a further embodiment, a protective cover is further provided on the turntable base, the protective cover is provided on the ends of the first outer ring rotary shaft and the first outer ring bearing member extending out of the turntable base, and an outer ring angle monitoring member is provided inside the protective cover;

[0023] The outer ring angle monitoring component includes an outer ring grating and a sensor plate, and the sensor plate and the outer ring grating are arranged on the first outer ring rotating shaft.

[0024] In a further embodiment, the driving worm gear comprises an inner ring worm gear and an outer ring worm gear, the inner ring worm gear is mounted on the inner ring rotating shaft, and the outer ring worm gear is mounted on the second outer ring rotating shaft.

[0025] In a further embodiment, the solid shaft worm includes an inner ring solid worm and an outer ring solid worm, and the hollow shaft worm includes an inner ring hollow worm and an outer ring hollow worm.

[0026] In a further embodiment, the power member includes a reducer and a motor, the motor is connected to the housing of the reducer, the output shaft of the motor and the input end of the reducer are keyed, and the output shaft of the reducer is connected to the solid shaft worm through a coupling;

[0027] The reducer includes an inner ring reducer and an outer ring reducer, the motor includes an inner ring drive motor and an outer ring drive motor, the inner ring drive motor is connected to the inner ring solid worm via the inner ring reducer, and the outer ring drive motor is connected to the outer ring solid worm via the outer ring reducer.

[0028] The beneficial effects of the present invention are as follows: by arranging an inner ring shaft system and an outer ring shaft system on the turntable base, the arrangement of the two shaft systems can meet the requirements of the azimuth rotation test and the pitch angle test of the inertial component to be tested, and the worm gear is used to drive the rotary terminal shaft, and the worm gear has a high reduction ratio characteristic. If the speed ratio of the worm gear is i, the backlash in the reducer can be reduced by i times through the worm gear transmission, thereby reducing the influence of the backlash of the planetary reducer on the rotary terminal accuracy, and there is no need to select a large-sized motor for matching; the solid shaft worm gear and the hollow shaft worm gear are used to match the The gap adjustment parts are used to improve the rigidity of the structure, so that the two coaxial worms can generate a certain tension when meshing with the two opposite surfaces of the worm wheel, ensuring that there is no tooth gap during the transmission process and achieving the effect of eliminating the gap. The gap adjustment component is a mechanical adjustment method and is arranged at one end of the inner part of the hollow shaft worm. While achieving the purpose of effective gap adjustment, it will not occupy a large space of the turntable base, thereby not causing pollution to the components in the shaft system. It is also more flexible. The setting of the end position also facilitates the operator to timely debug and maintain the gap adjustment component externally. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 The present invention is a schematic diagram of the appearance and structure of a high-precision, high-load, dual-axis turntable based on worm gear backlash elimination.

[0030] Figure 2 The present invention is a schematic diagram of the partial structure of the inner ring shaft system of a high-precision, high-load dual-axis turntable based on worm gear clearance elimination.

[0031] Figure 3 The schematic diagram of the top view of the inner ring driving mechanism of the high-precision and large-load dual-axis turntable based on worm gear backlash elimination of the present invention.

[0032] Figure 4 The invention discloses a high-precision, high-load dual-axis turntable based on worm gear clearance elimination. Figure 3 Enlarged structural diagram at A in the middle.

[0033] Figure 5 The present invention is a schematic diagram of the structure of the meshing part of a driving worm wheel and a driving worm of a high-precision, high-load dual-axis turntable based on worm wheel backlash elimination.

[0034] Figure 6 It is a partial structural schematic diagram of the left side component of the outer ring shaft system of a high-precision and high-load dual-axis turntable based on worm gear clearance elimination of the present invention.

[0035] Figure 7 It is a partial structural schematic diagram of the right side component of the outer ring shaft system of a high-precision and high-load dual-axis turntable based on worm gear clearance elimination of the present invention.

[0036] The accompanying drawings are marked as: turntable base 1, base groove 11, inner frame 2, support arm 21, support frame 22, inner ring shaft system 3, outer ring shaft system 4, inner ring rotation mechanism 5, inner ring rotating shaft 51, inner ring bearing member 52, adapter plate 53, inner ring angle monitoring member 54, inner ring driving mechanism 6, inner ring worm wheel 61, inner ring solid worm 62, inner ring hollow worm 63, inner ring gap adjustment member 64, compression spring 641, shaft end compression spring seat 642, Adjusting cover plate 643, adjusting screw 644, locking piece 645, inner ring drive motor 65, inner ring reducer 66, first outer ring rotating assembly 7, first outer ring rotating shaft 71, first outer ring bearing assembly 72, sleeve end cover 73, protective cover 74, outer ring angle monitoring piece 75, second outer ring rotating assembly 8, rotating support 81, second outer ring rotating shaft 82, outer ring drive mechanism 9, outer ring worm gear 91, outer ring solid worm 92. DETAILED DESCRIPTION

[0037] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present invention. However, it is apparent to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present invention, some technical features well known in the art are not described.

[0038] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0039] Reference Figure 1-7, is a high-precision dual-axis turntable based on worm gear clearance elimination disclosed in the present invention, comprising a turntable base 1, an inner ring shaft system 3 and an outer ring shaft system 4, the turntable base 1 is provided with a base groove 11, the base groove 11 is provided with an inner frame 2, the inner frame 2 comprises a support arm 21 and a support frame 22 fixed below the support arm 21, the inner ring shaft system 3 is arranged on the inner frame 2, the inner ring shaft system 3 comprises an inner ring rotating mechanism 5 and an inner ring driving mechanism 6, the inner ring rotating mechanism 5 is rotatably arranged on the support arm 21, and the inner ring driving mechanism 6 is arranged in the support frame 22 for driving the inner ring rotating mechanism 5 to rotate; the outer ring shaft system 4 comprises an outer ring rotating mechanism and an outer ring driving mechanism 9, the outer ring rotating mechanism is arranged on both sides of the turntable base 1, the outer ring rotating mechanism is fixedly connected to the inner frame 2, and the outer ring driving mechanism 9 is arranged on the turntable base 1 for driving the outer ring The rotating mechanism drives the inner frame 2 to rotate; the inner ring driving mechanism 6 and the outer ring driving mechanism 9 both include a driving worm and a power piece, and the inner ring rotating mechanism 5 and the outer ring rotating mechanism are both provided with a driving worm wheel meshing with the corresponding driving worm, the driving worm includes a coaxially arranged solid shaft worm, a hollow shaft worm and a gap adjustment component, the hollow shaft worm includes a hollow meshing portion and a hollow light rod portion distributed at both ends of the axial direction, the solid shaft worm includes a solid meshing portion distributed in the middle of the axial direction and a solid light rod portion distributed at both ends of the axial direction, the solid meshing portion and the hollow meshing portion are respectively meshed with two opposite surfaces of two tooth grooves adjacent to the driving worm wheel, wherein one of the solid light rod portions is connected to the output end of the power piece, and the other solid light rod portion extends into the interior of the hollow light rod portion and is connected to the gap adjustment component connected to the interior of the hollow light rod portion;The hollow shaft worm is provided with a limiting step, and the limiting step is located at the connection between the hollow polished rod portion and the outer wall of the hollow meshing portion. A locking member 645 is provided on the outer side of the hollow polished rod portion, and the locking member 645 is located between the gap adjustment assembly and the limiting step. The locking member 645 includes a locking inner cylinder and a locking outer cylinder. The locking inner cylinder is sleeved on the outer side of the hollow polished rod portion, and the locking outer cylinder is sleeved on the outer side of the locking inner cylinder. The inner wall surface of the locking outer cylinder and the outer wall surface of the locking inner cylinder are wedge-shaped. The limiting step is used to prevent the locking member 645 from entering the hollow meshing portion. The cooperation of the two locking cylinders can further lock the connection between the solid polished rod part and the hollow polished rod part. By knocking, the two locking cylinders are wedge-shaped and produce circumferential extrusion on the polished rod part, increasing the friction between the two polished rod parts and improving the connection tightness. When the driving worm rotates, the locking member 645 also rotates accordingly, always making the two worms tightly connected, thereby improving the synchronization of the rotation of the two worms. The locking function of the limiting step and the locking member 645 can adapt to the small scene and small size of the turntable base 1, and ensure the stability of the driving worm, and can solve the function of adjusting and limiting the driving worm in a small space environment. ;

[0040] The clearance adjustment assembly includes an inner ring clearance adjustment member 64 and an outer ring clearance adjustment member, and the inner ring clearance adjustment member 64 and the outer ring clearance adjustment member have the same structure and both include a compression spring 641, a shaft end compression spring seat 641, an adjustment cover plate 643 and an adjustment screw 644. One side of the shaft end compression spring seat 641 is fixed to the other solid rod portion located at one end of the hollow rod portion by a fixing screw, and the other side of the shaft end compression spring seat 641 is provided with an adjustment cover plate 643, and the adjustment cover plate 643 is fixed inside the hollow rod portion. The two ends of the compression spring 641 are respectively pressed against the adjustment cover plate 643 and the shaft end compression spring seat 641 The adjusting cover plate 643 is rotatably connected with the adjusting screw 644, and a screw hole for threaded connection of the adjusting screw 644 is provided on the shaft end compression spring seat 641; a shaft retaining ring is also provided in the hollow smooth rod portion, and the shaft retaining ring is located on the side of the adjusting cover plate 643 away from the shaft end compression spring seat 641 and is used to axially limit the adjusting cover plate 643. The solid smooth rod portion connected to the output end of the power part is compressed and limited by the bearing component, so that the solid meshing portion meshes with the driving worm wheel, but not too tight, and then the hollow shaft worm is installed on the solid shaft worm, the solid shaft worm is fixed, and the hollow shaft worm is rotated in the opposite direction. Rod, so that the other solid rod part is inserted into the hollow rod part, and the two opposite surfaces of the two adjacent tooth grooves of the driving worm wheel are fully in contact with the solid meshing part and the hollow meshing part. At this time, there is an axial gap between the hollow shaft worm and the solid shaft worm, and the compression spring 641 is installed in the slot hole opened in the compression spring seat 641 at the shaft end, and then the adjusting screw 644 is passed through the adjusting cover plate 643 and the compression spring 641 and screwed into the screw hole opened in the compression spring seat 641 at the shaft end, and then the compression amount of the compression spring 641 is adjusted by screwing the adjusting screw 644 into the thread depth, and the overall thickness of the gap adjustment component is further adjusted. When the gap is adjusted to an appropriate value, the solid shaft worm and the hollow shaft worm are in contact with each other. The driving worm gear generates a certain tensioning force, and the adjusting cover plate 643 is axially limited by the shaft retaining ring. After the gap is adjusted, the locking piece 645 is installed on the hollow shaft, and the locking inner cylinder is sleeved on the hollow smooth rod part and embedded in the locking outer cylinder, and the mating surface is wedge-shaped. The locking inner cylinder is knocked into the locking outer cylinder, and the locking inner cylinder holds the hollow shaft worm. As the locking inner cylinder enters the locking outer cylinder deeper, the smaller the aperture of the locking inner cylinder, the greater the locking force for the hollow smooth rod part and the solid smooth rod part, ensuring that there is no relative movement between the hollow shaft worm and the solid shaft worm. Due to the setting of the limiting step, the locking piece 645 will not move to the position of the hollow meshing part during the knocking process.

[0041] The inner ring rotating mechanism 5 includes an inner ring rotating shaft 51 and an inner ring bearing component 52. The inner ring bearing component 52 is arranged on the support arm 21 and sleeved on the inner ring rotating shaft 51. The inner ring rotating shaft 51 is provided with an adapter plate 53. The inner ring bearing component 52 includes an inner ring bearing seat and an angular contact bearing. The inner ring bearing seat is installed on the inner frame 2. The angular contact bearing is installed in the inner ring bearing seat. The stator of the angular contact bearing is fixed by the pressure cover and the step of the inner ring bearing seat. A shaft sleeve is installed between the two rotors of the angular contact bearing. The inner ring rotating shaft 51 is installed in the rotor, and the inner ring rotating shaft 51 is installed and fixed by a retaining ring and a locking nut.

[0042] An inner ring angle monitoring component 54 is also provided on the inner ring rotating shaft 51. The inner ring angle monitoring component 54 includes an inner ring grating and a reading head. The inner ring grating and the reading head are both arranged in the support frame 22. The inner ring grating feeds back the angle information to the driver to perform internal position and speed closed-loop control to realize the rotation and positioning of any position of the inner ring shaft system 3. The reading head is used in conjunction with the grating to collect the position information of the rotating shaft. The angle information is the inner ring rotating shaft 51. The measured inertial component is installed on the adapter plate 53, and the adapter plate 53 is installed on the inner ring rotating shaft 51. Therefore, the angle of the inner ring rotating shaft 51 is equal to the angle of the measured inertial component.

[0043] The outer ring rotation mechanism includes a first outer ring rotation component 7 and a second outer ring rotation component 8, the first outer ring rotation component 7 and the second outer ring rotation component 8 are arranged on both sides of the turntable base 1, and the outer ring driving mechanism 9 is connected to the second outer ring rotation component 8; the first outer ring rotation component 7 includes a first outer ring rotating shaft 71 and a first outer ring bearing component 72, the first outer ring shaft component is arranged on the turntable base 1 and sleeved on the first outer ring rotating shaft 71; the second outer ring rotation component 8 includes a second outer ring rotating shaft 82 and a second outer ring bearing component, the second outer ring bearing component is arranged on the turntable base 1 and sleeved on the second outer ring rotating shaft 82, the first outer ring bearing component 72 and the second outer ring bearing component both include an outer ring bearing seat and a pair of angular contact bearings, the angular contact bearings are in the bearing seat, the two angular contact bearings are pressed between two sleeves, and the axial pre-tightening of the angular contact bearings is achieved by a locking nut, and the sleeve end cover 73 presses the sleeve to ensure that the outer ring of the angular contact bearing is installed in place.

[0044] A swivel support 81 is provided on the first outer ring swivel axis 71 and the second outer ring swivel axis 82. The two swivel supports 81 are respectively connected to the two sides of the inner frame 2. After the swivel supports 81 are connected to the support arms 21 included in the inner frame 2 by screws, when the outer ring shaft system 4 rotates, it can drive the inner ring shaft system 3 to perform a pitch rotation, thereby completing the pitch angle test of the inertia measurement component connected to the adapter plate 53.

[0045] A protective cover 74 is also provided on the turntable base 1. The protective cover 74 is provided on the ends of the first outer ring rotating shaft 71 and the first outer ring bearing member 72 extending out of the turntable base 1. An outer ring angle monitoring member 75 is provided in the protective cover 74; the outer ring angle monitoring member 75 includes an outer ring grating and a sensor plate. The sensor plate and the outer ring grating are provided on the first outer ring rotating shaft 71. The outer ring grating feeds back the angle information to the driver for internal position and speed closed-loop control, so as to realize the rotation and positioning of the outer ring shaft system 4 within the range of -1° to +271°. The induction switch is fixed to the sleeve end cover 73 through the induction switch bracket. As an electric induction switch, it can realize the rotation within the range of -1° to +271°. The induction switch is mainly used when there is an angle restriction. The inner ring shaft system 3 can be rotated for multiple circles, and the outer ring shaft system 4 does not need to be rotated a full circle for pitch angle testing.

[0046] The driving worm gear includes an inner ring worm gear 61 and an outer ring worm gear 91 . The inner ring worm gear 61 is mounted on the inner ring rotating shaft 51 , and the outer ring worm gear 91 is mounted on the second outer ring rotating shaft 82 .

[0047] The solid shaft worm includes an inner ring solid worm 62 and an outer ring solid worm 92 , and the hollow shaft worm includes an inner ring hollow worm 63 and an outer ring hollow worm.

[0048] The power component includes a reducer and a motor, the motor is connected to the housing of the reducer by screws, the output shaft of the motor and the input end of the reducer are keyed, and the output shaft of the reducer is connected to the solid shaft worm through a coupling; the reducer includes an inner ring reducer 66 and an outer ring reducer, the motor includes an inner ring drive motor 65 and an outer ring drive motor, the inner ring drive motor 65 is connected to the inner ring solid worm 62 through the inner ring reducer 66, and the outer ring drive motor is connected to the outer ring solid worm 92 through the outer ring reducer, and a dust cover is provided in the inner frame 2, and the dust cover is provided on the outside of the inner ring drive motor 65 and the inner ring reducer 66 to play a role in dust protection.

[0049] The implementation principle of the present invention is as follows: the two motion axis control units of the inner ring axis system 3 and the outer ring axis system 4 are independent of each other, and the inertia component to be measured is installed on the adapter plate 53 of the inner ring axis system 3. When the inner ring axis system 3 rotates, the inertia component to be measured on the adapter plate 53 is driven to rotate in azimuth. When the outer ring axis system 4 rotates, the slewing support 81 drives the inner frame 2 to rotate through the support arm 22 connected thereto, thereby driving the pitch rotation of the inner ring axis system 3 as a whole. During operation, the control command is sent to the real-time control module through the management computer or the remote communication interface, and is converted into a digital quantity after the command is solved, and the driver is controlled through the CAN communication. The power current is output, and the upper computer sends the control instruction of the inner ring shaft system 3 to the controller through communication. The controller interprets the control signal as an absolute position instruction and sends it to the driver. After receiving the instruction, the driver drives the inner ring drive motor 65 of the inner ring drive mechanism 6 to rotate. The inner ring drive motor 65 further drives the inner ring rotating shaft 51 to rotate through the planetary reducer, i.e., the inner ring reducer 66, the inner ring worm gear 61, the inner ring solid worm 62 and the inner ring hollow worm 63. The driver performs internal position and speed closed-loop control according to the angle information fed back by the inner ring grating to realize rotation and positioning at any position.

[0050] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

[0051] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, various equivalent transformations can be made to the technical scheme of the present invention, and these equivalent transformations all belong to the protection scope of the present invention.

Claims

1. A high-precision dual-axis turntable based on worm gear backlash elimination, characterized in that: It includes a turntable base, an inner ring shaft system and an outer ring shaft system, wherein a base groove is provided in the turntable base, an inner frame is provided in the base groove, the inner frame includes a support arm and a support frame fixed below the support arm, the inner ring shaft system is arranged on the inner frame, the inner ring shaft system includes an inner ring rotating mechanism and an inner ring driving mechanism, the inner ring rotating mechanism is rotatably arranged on the support arm, and the inner ring driving mechanism is arranged in the support frame for driving the inner ring rotating mechanism to rotate; The outer ring shaft system includes an outer ring rotating mechanism and an outer ring driving mechanism, wherein the outer ring rotating mechanism is arranged on both sides of the turntable base, the outer ring rotating mechanism is fixedly connected to the inner frame, and the outer ring driving mechanism is arranged on the turntable base to drive the outer ring rotating mechanism to drive the inner frame to rotate; The inner ring driving mechanism and the outer ring driving mechanism both include a driving worm and a power piece, and the inner ring rotating mechanism and the outer ring rotating mechanism are both provided with a driving worm wheel meshing with the corresponding driving worm, and the driving worm includes a coaxially arranged solid shaft worm, a hollow shaft worm and a gap adjustment component, and the hollow shaft worm includes a hollow meshing portion and a hollow light rod portion distributed at both axial ends, and the solid shaft worm includes a solid meshing portion distributed in the middle of the axial direction and a solid light rod portion distributed at both axial ends, and the solid meshing portion and the hollow meshing portion are respectively meshed with two opposite surfaces of two tooth grooves adjacent to the driving worm wheel, wherein one of the solid light rod portions is connected to the output end of the power piece, and the other solid light rod portion extends into the interior of the hollow light rod portion and is connected to the gap adjustment component connected to the interior of the hollow light rod portion; A limiting step is provided on the hollow shaft worm, and the limiting step is located at the connection between the hollow polished rod portion and the outer wall of the hollow meshing portion. A locking piece is provided on the outer side of the hollow polished rod portion, and the locking piece is located between the gap adjustment assembly and the limiting step. The locking piece includes a locking inner cylinder and a locking outer cylinder, and the locking inner cylinder is sleeved on the outer side of the hollow polished rod portion, and the locking outer cylinder is sleeved on the outer side of the locking inner cylinder. The inner wall surface of the locking outer cylinder and the outer wall surface of the locking inner cylinder are wedge-shaped, and the limiting step is used to prevent the locking piece from entering the hollow meshing portion.

2. The high-precision dual-axis turntable based on worm gear backlash elimination according to claim 1, characterized in that: The clearance adjustment assembly comprises an inner ring clearance adjustment member and an outer ring clearance adjustment member, the inner ring clearance adjustment member and the outer ring clearance adjustment member have the same structure and both comprise a compression spring, a shaft end compression spring seat, an adjustment cover plate and an adjustment screw, one side of the shaft end compression spring seat is fixed to the other solid polished rod portion located at one end of the hollow polished rod portion, the other side of the shaft end compression spring seat is provided with an adjustment cover plate, the adjustment cover plate is fixed inside the hollow polished rod portion, and the two ends of the compression spring are respectively abutted against the adjustment cover plate and the shaft end compression spring seat; The adjusting cover plate is rotatably connected with the adjusting screw, and a screw hole for threaded connection of the adjusting screw is provided on the shaft end compression spring seat; A shaft retaining ring is also provided in the hollow polished rod portion. The shaft retaining ring is located on a side of the adjusting cover plate away from the shaft end compression spring seat and is used for axially limiting the adjusting cover plate.

3. The high-precision dual-axis turntable based on worm gear backlash elimination according to claim 1, characterized in that: The inner ring rotating mechanism comprises an inner ring rotating shaft and an inner ring bearing component. The inner ring bearing component is arranged on the support arm and sleeved on the inner ring rotating shaft. An adapter plate is arranged on the inner ring rotating shaft.

4. The high-precision dual-axis turntable based on worm gear backlash elimination according to claim 3, characterized in that: An inner ring angle monitoring component is also provided on the inner ring rotating shaft. The inner ring angle monitoring component includes an inner ring grating and a reading head. Both the inner ring grating and the reading head are arranged in the supporting frame.

5. The high-precision dual-axis turntable based on worm gear backlash elimination according to claim 4, characterized in that: The outer ring rotating mechanism comprises a first outer ring rotating assembly and a second outer ring rotating assembly, the first outer ring rotating assembly and the second outer ring rotating assembly are arranged on both sides of the turntable base, and the outer ring driving mechanism is connected to the second outer ring rotating assembly; The first outer ring rotating assembly comprises a first outer ring rotating shaft and a first outer ring bearing member, wherein the first outer ring shaft member is arranged on the turntable base and sleeved on the first outer ring rotating shaft; The second outer ring rotating assembly includes a second outer ring rotating shaft and a second outer ring bearing component. The second outer ring bearing component is arranged on the turntable base and sleeved on the second outer ring rotating shaft.

6. The high-precision dual-axis turntable based on worm gear backlash elimination according to claim 6, characterized in that: The first outer ring rotating shaft and the second outer ring rotating shaft are both provided with rotating supports, and the two rotating supports are respectively connected to two sides of the inner frame.

7. The high-precision dual-axis turntable based on worm gear backlash elimination according to claim 5, characterized in that: A protective cover is also provided on the turntable base, and the protective cover is provided on the ends of the first outer ring rotary shaft and the first outer ring bearing member extending out of the turntable base, and an outer ring angle monitoring member is provided inside the protective cover; The outer ring angle monitoring component includes an outer ring grating and a sensor plate, and the sensor plate and the outer ring grating are arranged on the first outer ring rotating shaft.

8. The high-precision dual-axis turntable based on worm gear backlash elimination according to claim 5, characterized in that: The driving worm gear comprises an inner ring worm gear and an outer ring worm gear, wherein the inner ring worm gear is mounted on the inner ring rotating shaft, and the outer ring worm gear is mounted on the second outer ring rotating shaft.

9. The high-precision dual-axis turntable based on worm gear backlash elimination according to claim 1, characterized in that: The solid shaft worm includes an inner ring solid worm and an outer ring solid worm, and the hollow shaft worm includes an inner ring hollow worm and an outer ring hollow worm.

10. The high-precision dual-axis turntable based on worm gear backlash elimination according to claim 9, characterized in that: The power member includes a reducer and a motor, the motor is connected to the housing of the reducer, the output shaft of the motor and the input end of the reducer are keyed, and the output shaft of the reducer is connected to the solid shaft worm through a coupling; The reducer includes an inner ring reducer and an outer ring reducer, the motor includes an inner ring drive motor and an outer ring drive motor, the inner ring drive motor is connected to the inner ring solid worm via the inner ring reducer, and the outer ring drive motor is connected to the outer ring solid worm via the outer ring reducer.

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