Slip ring follow-up system

Abstract

The invention discloses a slip ring follow-up system which comprises a base, a slip ring, a driving motor shaft system assembly and a follow-up motor shaft system assembly, the slip ring, the driving motor shaft system assembly and the follow-up motor shaft system assembly are arranged on the base, and the driving motor shaft system assembly is used for bearing external equipment and driving the external equipment to rotate. And the follow-up motor shaft system assembly is in signal connection with the driving motor shaft system assembly so as to synchronously rotate along with the driving motor shaft system assembly, and is used for driving a rotor of the slip ring to rotate. The slip ring follow-up system has the advantages of being simple and compact in structure, high in control precision and high in stability.

Description

Technical Field

[0001] The invention relates to the technical field of servo control, and in particular to a slip ring follower system. Background Art

[0002] At present, general optoelectronic stabilization devices are equipped with 360° rotatable slip rings, which mainly include electric slip rings, optoelectronic hybrid slip rings, electro-hydraulic hybrid slip rings, optoelectronic hybrid slip rings and other special slip rings. However, when slip rings with liquid are used, in order to ensure the sealing of the liquid, the slip rings will be equipped with liquid oil seals for sealing. The oil seals will cause a lot of rotational friction in the shaft system where the slip ring is installed. However, the aiming line stabilization accuracy of general optoelectronic stabilization devices has high requirements for the smoothness of low-speed rotation, so the smoothness of low-speed rotation requires that the rotational friction of the shaft system is relatively small, which conflicts with the characteristics of liquid slip rings.

[0003] Traditional optoelectronic stabilized aiming device shaft systems with high rotation accuracy are driven by direct drive motors. However, the control accuracy of direct drive motors requires relatively high friction torque for shaft system rotation. The friction torque must be as small as possible to ensure the stability of the aiming line of the optoelectronic stabilized aiming device. The existing solution is generally to use a direct drive motor with greater torque to overcome the large friction torque of the liquid slip ring. The above solution has the following disadvantages:

[0004] The friction torque of the liquid slip ring is generally much larger than the motor torque required for the stability of the optoelectronic stabilization device itself; if a direct-drive motor with a larger torque is selected, the cost will increase the overall size and cost of the system; and, even if the direct-drive motor with a larger torque overcomes the friction torque of the liquid slip ring, due to the large difference between the static and dynamic friction of the liquid slip ring, under servo control conditions, when the liquid slip ring changes from static friction to dynamic friction, or from dynamic friction to static friction, the instantaneous torque of the motor will decrease or increase sharply, causing overshoot in the control and causing the device to jitter, thereby affecting the stability of the aiming line of the optoelectronic stabilization device. Summary of the invention

[0005] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a slip ring follower system with a simple and compact structure, high control accuracy and high stability.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0007] A slip ring follower system comprises a base, a slip ring, an active motor shaft assembly and a follower motor shaft assembly arranged on the base, wherein the active motor shaft assembly is used to carry an external device and drive the external device to rotate, and the follower motor shaft assembly is connected to the active motor shaft assembly by signal to rotate synchronously with the active motor shaft assembly and drive the rotor of the slip ring to rotate.

[0008] As a further improvement of the above technical solution:

[0009] The follower motor shaft system assembly includes a follower drive unit and a slewing bearing, both of which are fixed on a base, the rotor of the slip ring is connected to the slewing bearing, and the follower drive unit is used to drive the slewing bearing to rotate.

[0010] The follow-up drive unit includes a drive motor and a reducer, the output shaft of the drive motor is connected to the reducer, and the output shaft of the reducer is connected to the outer ring of the slewing bearing.

[0011] The follower motor shaft system assembly also includes a gear, which is sleeved on the output shaft of the reducer and meshes with the outer ring of the slewing bearing.

[0012] The active motor shaft system assembly comprises an active drive unit and an active shaft, wherein the active drive unit is used to drive the active shaft to rotate, the external device is mounted on the active shaft, and the active shaft, slewing bearing and slip ring are coaxially arranged.

[0013] The driving shaft is a hollow shaft, the stator of the slip ring is provided with a stator wire outlet hole, the rotor of the slip ring is provided with a rotor wire outlet hole, and the cable of the external device passes through the driving shaft and extends into the rotor wire outlet hole.

[0014] The stator of the slip ring is fixed on the base, the stator of the slip ring is sleeved with the rotor of the slip ring, a cavity is formed between the stator of the slip ring and the rotor of the slip ring, and a liquid conductive medium is arranged in the cavity.

[0015] The slip ring follower system further comprises a misalignment sensing mechanism, and the misalignment sensing mechanism is used to detect the misalignment angle between the external device and the rotor of the slip ring.

[0016] The slip ring follower system also includes a misalignment sensing anti-collision mechanism. When the misalignment angle sensed by the misalignment sensing mechanism is greater than a preset angle, the misalignment sensing anti-collision mechanism limits the rotation of the active motor shaft system assembly and the follower motor shaft system assembly.

[0017] The preset angle is 15°.

[0018] Compared with the prior art, the advantages of the present invention are:

[0019] The slip ring follower system of the present invention drives the rotor of the slip ring to rotate by setting a follower motor shaft system assembly, and the follower motor shaft system assembly overcomes the friction torque of the slip ring. The transmission force of the follower motor shaft system assembly is fully transmitted to the external device to control the external device, thereby preventing the friction torque of the slip ring from being brought into the rotation of the active motor shaft system assembly. The structure is simple and compact, and the control accuracy and stability of the external device during rotation are high.

[0020] The slip ring follower system of the present invention can provide a sufficiently large driving force to overcome the rotational torque required for the friction torque of the slip ring after the driving motor is decelerated by the reducer, and has better stability.

[0021] In the slip ring follower system of the present invention, the moving shaft, the slewing bearing and the slip ring are coaxially arranged, and the twisting of the cable is prevented by improving the coaxiality of the external device and the rotor of the slip ring during rotation.

[0022] In the slip ring follower system of the present invention, the cable of the external device passes through the hollow driving shaft and extends to the rotor outlet hole, and the stator outlet hole is then connected to an external power source or signal source through another cable. The two ends of the cable of the external device respectively rotate synchronously with the external device and the rotor of the slip ring to transmit electric energy and signals. The cable can be hidden in the driving shaft, and the layout is reasonable.

[0023] The slip ring follower system of the present invention can detect the misalignment angle between the external device and the rotor of the slip ring by providing a misalignment sensing mechanism, thereby preventing the cable connected between the external device and the rotor of the slip ring from being twisted too much when the follower motor shaft system assembly and the active motor shaft system assembly fail synchronously, thereby causing damage to the equipment.

[0024] The slip ring follower system of the present invention, when the misalignment angle exceeds a preset angle, the misalignment sensing anti-collision mechanism limits the rotation of the active motor shaft system assembly and the follower motor shaft system assembly, thereby preventing the active motor shaft system assembly and the follower motor shaft system assembly from continuing to rotate under the action of inertia after the active motor shaft system assembly and the follower motor shaft system assembly stop, and preventing the cable torsion from exceeding the cable torsion limit angle, thereby achieving good safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a cross-sectional view of the slip ring follower system of the present invention.

[0026] Figure 2 It is a front view of the slip ring follower system of the present invention.

[0027] Figure 3 It is a cross-sectional view of the slip ring in the slip ring follower system of the present invention.

[0028] Figure 4 It is a cross-sectional view of the active motor shaft system component in the slip ring follower system of the present invention.

[0029] Figure 5 It is a cross-sectional view of the follower motor shaft system assembly in the slip ring follower system of the present invention.

[0030] The reference numerals in the figure indicate: 1. base; 2. slip ring; 21. rotor; 211. rotor lead-out hole; 22. stator; 221. stator lead-out hole; 23. cavity; 3. active motor shaft system assembly; 31. active drive unit; 32. active shaft; 4. follower motor shaft system assembly; 41. follower drive unit; 411. drive motor; 412. reducer; 413. gear; 42. slewing bearing; 5. misalignment sensing mechanism; 6. misalignment sensing anti-collision mechanism. DETAILED DESCRIPTION

[0031] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0033] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0034] In the present invention, unless otherwise clearly specified and limited, the terms "assemble", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0035] like Figures 1 to 5 As shown, the slip ring follower system of this embodiment includes a base 1, and a slip ring 2, an active motor shaft assembly 3 and a follower motor shaft assembly 4 arranged on the base 1. The active motor shaft assembly 3 is used to carry external equipment and drive the external equipment to rotate. The follower motor shaft assembly 4 is connected to the active motor shaft assembly 3 by signal to rotate synchronously with the active motor shaft assembly 3 and is used to drive the rotor 21 of the slip ring 2 to rotate.

[0036] In the slip ring follower system of this embodiment, when working, the external device (for example, an optoelectronic stabilization device, etc.) is installed on the active motor shaft assembly 3, the active motor shaft assembly 3 drives the external device to rotate, the follower motor shaft assembly 4 drives the rotor 21 of the slip ring 2 to rotate, the cable of the external device is connected to the rotor 21 of the slip ring 2, the follower motor shaft assembly 4 and the active motor shaft assembly 3 rotate synchronously through signal connection, so that the cable of the external device rotates synchronously with the external device, thereby realizing the transmission of electric energy and signals when the external device rotates. The slip ring follower system of this embodiment drives the rotor 21 of the slip ring 2 to rotate by setting the follower motor shaft assembly 4, and the friction torque of the slip ring 2 is overcome by the follower motor shaft assembly 4. The transmission force of the follower motor shaft assembly 4 is fully transmitted to the external device to control the external device, so as to avoid the friction torque of the slip ring 2 being brought into the rotation of the active motor shaft assembly 3. The structure is simple and compact, and the control accuracy and stability of the external device when rotating are high.

[0037] Furthermore, if Figure 5 As shown, in this embodiment, the follower motor shaft assembly 4 includes a follower drive unit 41 and a slewing bearing 42. The follower drive unit 41 and the slewing bearing 42 are both fixed on the base 1. The rotor 21 of the slip ring 2 is connected to the slewing bearing 42. The follower drive unit 41 is used to drive the slewing bearing 42 to rotate. The rotor 21 of the slip ring 2 is connected to the slewing bearing 42 through a flange. The follower drive unit 41 drives the slewing bearing 42 to rotate, thereby driving the rotor 21 of the slip ring 2 to rotate, and the rotation is stable.

[0038] Furthermore, in this embodiment, the follow-up drive unit 41 includes a drive motor 411 and a reducer 412, the output shaft of the drive motor 411 is connected to the reducer 412, and the output shaft of the reducer 412 is connected to the outer ring of the slewing bearing 42. After the drive motor 411 is decelerated by the reducer, it can provide a sufficiently large driving force to overcome the rotational torque required by the friction torque of the slip ring 2, and the stability is better.

[0039] Furthermore, in this embodiment, the follower motor shaft assembly 4 further includes a gear 413, which is sleeved on the output shaft of the reducer 412 and meshes with the outer ring of the slewing bearing 42. The follower drive unit 41 drives the slewing bearing 42 to rotate through the gear 413, so that the follower drive unit 41 is arranged on one side of the slewing bearing 42, does not interfere with the slip ring 2 and other components, and has a simple and compact structure.

[0040] Furthermore, if Figure 4As shown, in this embodiment, the active motor shaft assembly 3 includes an active drive unit 31 and an active shaft 32. The active drive unit 31 is used to drive the active shaft 32 to rotate. The active shaft 32, the slewing bearing 42 and the slip ring 2 are coaxially arranged. The active shaft 32, the slewing bearing 42 and the slip ring 2 are coaxially arranged to prevent the twisting of the cable by improving the coaxiality of the external device and the rotor 21 of the slip ring 2 when rotating.

[0041] Furthermore, in this embodiment, the driving shaft 32 is a hollow shaft, the stator 22 of the slip ring 2 is provided with a stator wire outlet hole 221, the rotor 21 of the slip ring 2 is provided with a rotor wire outlet hole 211, and the cable of the external device passes through the driving shaft 32 and extends into the rotor wire outlet hole 211. The cable of the external device passes through the hollow driving shaft 32 and extends into the rotor wire outlet hole 211, and the stator wire outlet hole 221 is connected to an external power source or signal source through another cable, and both ends of the cable of the external device rotate synchronously with the external device and the rotor 21 of the slip ring 2, respectively, to transmit electric energy and signals, and the cable can be hidden in the driving shaft 32, and the layout is reasonable.

[0042] Furthermore, if Figure 3 As shown, in this embodiment, the stator 22 of the slip ring 2 is fixed on the base 1, and the stator 22 of the slip ring 2 is sleeved with the rotor 21 of the slip ring 2 (specifically, the stator 22 is sleeved in the rotor 21), and a cavity 23 is formed between the stator 22 of the slip ring 2 and the rotor 21 of the slip ring 2, and a liquid conductive medium is arranged in the cavity 23. The cable of the external device is connected to the rotor outlet hole 211, and the cable of the external power source or signal source is connected to the stator outlet hole 221, and the electric energy and signal are transmitted to the external device in sequence through the cable of the external power source or signal source, the liquid conductive medium in the cavity 23, and the cable of the external device.

[0043] Furthermore, if Figure 2 As shown, in this embodiment, the slip ring follower system further includes a misalignment sensing mechanism 5, which is used to detect the misalignment angle between the external device and the rotor 21 of the slip ring 2. By providing the misalignment sensing mechanism 5, the misalignment angle between the external device and the rotor 21 of the slip ring 2 can be detected, so as to prevent the cable connected between the external device and the rotor 21 of the slip ring 2 from being twisted too much when the follower motor shaft assembly 4 and the active motor shaft assembly 3 fail synchronously, thereby causing damage to the equipment.

[0044] Preferably, the misalignment sensing mechanism 5 includes two sensors, one sensor is used to detect the rotation angle of the slewing bearing 42, and the other sensor is used to detect the rotation angle of the driving shaft 32, and the angle detection is accurate.

[0045] Furthermore, in this embodiment, the slip ring follower system also includes a misalignment sensing anti-collision mechanism 6. When the misalignment angle sensed by the misalignment sensing mechanism 5 is greater than a preset angle, the misalignment sensing anti-collision mechanism 6 limits the rotation of the active motor shaft assembly 3 and the follower motor shaft assembly 4. Since the cable has a certain flexibility, there can be a certain margin of misalignment angle between the external device and the rotor 21 of the slip ring 2. When the misalignment angle exceeds the preset angle, the misalignment sensing anti-collision mechanism 6 limits the rotation of the active motor shaft assembly 3 and the follower motor shaft assembly 4 to prevent the active motor shaft assembly 3 and the follower motor shaft assembly 4 from continuing to rotate under the action of inertia after the active motor shaft assembly 3 and the follower motor shaft assembly 4 are shut down, and the cable torsion exceeds the cable's limit torsion angle, which has good safety.

[0046] Preferably, in this embodiment, the misalignment sensing anti-collision mechanism 6 includes a rubber block, which contacts the driving shaft 32 and the slewing bearing 42 to limit the rotation of the driving motor shaft assembly 3 and the follower motor shaft assembly 4, thereby achieving a good braking effect.

[0047] Furthermore, in this embodiment, the preset angle is 15°. The preset angle is 15°, that is, the safe torsion angle of the cable is 15°, which is safer.

[0048] The above is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as above in the preferred embodiment, it is not used to limit the present invention. Any technician familiar with the art can make many possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and technical solution of the present invention, or modify it into an equivalent embodiment of equivalent changes. Therefore, any simple modification, equivalent replacement, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention, still fall within the scope of protection of the technical solution of the present invention.

Claims

1. A slip ring follower system, characterized in that: The invention comprises a base (1), a slip ring (2) arranged on the base (1), an active motor shaft assembly (3) and a follower motor shaft assembly (4), wherein the active motor shaft assembly (3) is used to carry an external device and drive the external device to rotate, and the follower motor shaft assembly (4) is connected to the active motor shaft assembly (3) by signal so as to rotate synchronously with the active motor shaft assembly (3) and drive the rotor (21) of the slip ring (2) to rotate.

2. The slip ring follower system according to claim 1, characterized in that: The follower motor shaft system assembly (4) comprises a follower drive unit (41) and a slewing bearing (42), wherein the follower drive unit (41) and the slewing bearing (42) are both fixed on a base (1), the rotor (21) of the slip ring (2) is connected to the slewing bearing (42), and the follower drive unit (41) is used to drive the slewing bearing (42) to rotate.

3. The slip ring follower system according to claim 2, characterized in that: The follow-up drive unit (41) comprises a drive motor (411) and a reducer (412), wherein the output shaft of the drive motor (411) is connected to the reducer (412), and the output shaft of the reducer (412) is connected to the outer ring of the slewing bearing (42).

4. The slip ring follower system according to claim 3, characterized in that: The follower motor shaft system assembly (4) also includes a gear (413), which is sleeved on the output shaft of the reducer (412) and meshes with the outer ring of the slewing bearing (42).

5. The slip ring follower system according to claim 2, characterized in that: The active motor shaft system assembly (3) comprises an active drive unit (31) and an active shaft (32), wherein the active drive unit (31) is used to drive the active shaft (32) to rotate, the external device is mounted on the active shaft (32), and the active shaft (32), the slewing bearing (42) and the slip ring (2) are coaxially arranged.

6. The slip ring follower system according to claim 5, characterized in that: The driving shaft (32) is a hollow shaft, the stator (22) of the slip ring (2) is provided with a stator wire outlet hole (221), the rotor (21) of the slip ring (2) is provided with a rotor wire outlet hole (211), and the cable of the external device passes through the driving shaft (32) and extends into the rotor wire outlet hole (211).

7. The slip ring follower system according to claim 1, characterized in that: The stator (22) of the slip ring (2) is fixed on the base (1), the stator (22) of the slip ring (2) is sleeved with the rotor (21) of the slip ring (2), a cavity (23) is formed between the stator (22) of the slip ring (2) and the rotor (21) of the slip ring (2), and a liquid conductive medium is arranged in the cavity (23).

8. The slip ring follower system according to any one of claims 1 to 7, characterized in that: The slip ring follower system further comprises a misalignment sensing mechanism (5), wherein the misalignment sensing mechanism (5) is used to detect a misalignment angle between an external device and a rotor (21) of the slip ring (2).

9. The slip ring follower system according to claim 8, characterized in that: The slip ring follower system also includes a misalignment sensing anti-collision mechanism (6). When the misalignment angle sensed by the misalignment sensing mechanism (5) is greater than a preset angle, the misalignment sensing anti-collision mechanism (6) limits the rotation of the active motor shaft system component (3) and the follower motor shaft system component (4).

10. The slip ring follower system according to claim 9, characterized in that: The preset angle is 15°.

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