Modularized high-stability gradienter rotating platform

Abstract

The invention discloses a modularized high-stability gradienter rotating platform. The modularized high-stability gradienter rotating platform comprises a mounting bottom box and a mounting turntable, according to the platform, four functional modules are radially integrated at the bottom of an installation rotating disc from inside to outside to form a cooperative working system; an axial bearing module in a circle center area provides main supporting rigidity; the dynamic balance module in the middle annular area realizes automatic balancing; the radial force conversion module at the lower part of the outer edge converts the radial force into axial force; and the torque transmission module on the outermost edge realizes non-interference driving. Mechanical path decoupling is achieved through modular collaborative layout, the lateral force deviation is reduced to 0.05 degree, meanwhile, real-time dynamic balance within 180 milliseconds is achieved through a closed-loop control system, the technical problems that a traditional rotating platform is large in lateral force deviation and slow in dynamic response are thoroughly solved, and the rotary platform is suitable for high-precision building surveying and mapping and industrial calibration.

Description

Technical Field

[0001] This invention relates to the field of precision measuring equipment technology, and in particular to a modular, highly stable level rotating platform. Background Technology

[0002] As a key measuring tool in fields such as construction and machinery, levels often require a rotating platform to achieve multi-angle measurements. Traditional solutions mainly rely on manual adjustment using a tripod (such as patent CN215215379U), which suffers from cumbersome operation and low accuracy. Patent CN115355419A proposes a fully automatic level platform that uses a motor to drive lifting and rotation, but its rotating structure has significant drawbacks: 1. Lateral force offset problem: The mounting turntable is supported by a single-point base column. When the level is installed eccentrically or subjected to external vibration, the lateral force causes a displacement of >0.8°, resulting in measurement error.

[0003] 2. Spatial interference defects: The rotating teeth are located on the bottom plane of the turntable and overlap axially with the tapered bearing mounting area. When rotating at high speed, the probability of the teeth colliding with the bearing is 100%.

[0004] 3. Lack of dynamic equilibrium: Without an automatic balancing mechanism, a 2kg eccentric load requires manual adjustment of the counterweight, with a response time of >5 minutes, which cannot meet the needs of real-time measurement.

[0005] Currently, the industry urgently needs: Scenarios such as architectural surveying (e.g., slope topography measurement) and wind turbine tower monitoring must simultaneously meet the following requirements: Anti-displacement: Displacement under lateral force < 0.05°; Zero interference: There is no risk of physical collision with rotating parts; Millisecond-level balancing: handling sudden eccentric loads.

[0006] In summary, existing technologies cannot systematically balance high stability, non-interference, and real-time equilibrium, and innovative solutions are urgently needed in terms of overall structural layout and mechanical models. Summary of the Invention

[0007] To overcome the above-mentioned defects of the prior art, embodiments of the present invention provide a modular high-stability level rotating platform.

[0008] To achieve the above objectives, the present invention comprises a mounting base box and a mounting turntable mounted thereon. The mounting base box has an internal support plate inside. Its innovation lies in: The bottom of the mounting turntable is integrated into a collaborative working system, which includes: An axial load-bearing module is located in the central area of ​​the mounting turntable. The axial load-bearing module includes a support base column that is vertically fixed to the mounting turntable, a cross roller bearing sleeved on the support base column, and a pressure-bearing flange set at the top of the support base column. The outer ring of the cross roller bearing is fixed to the inner support plate, and the lower end face of the pressure-bearing flange is in contact with the upper end face of the inner ring of the cross roller bearing. A dynamic balancing module is located in the central annular area of ​​the mounting turntable. The dynamic balancing module includes an annular counterweight slide rail, a counterweight block slidably disposed in the annular counterweight slide rail, a stepper motor driving the counterweight block, several MEMS accelerometers evenly distributed on the edge of the mounting turntable, and a controller that is respectively connected to the MEMS accelerometers and the stepper motor signals. A radial force conversion module is located at the lower outer edge of the mounting turntable. The radial force conversion module includes a conical surface machined on the mounting turntable and an inner ring of a tapered roller bearing that is interference-fitted with the conical surface. The outer ring of the tapered roller bearing is fixed to the side wall of the mounting base box. A torque transmission module is located at the outermost edge of the mounting turntable. The torque transmission module includes vertically arranged rotating teeth. The axial bearing module, dynamic balancing module, radial force conversion module, and torque transmission module are arranged radially from the inside out and are rigidly connected by a mounting turntable, forming a collaborative working system that achieves mechanical path decoupling.

[0009] Furthermore, a disc spring preload module is provided between the aforementioned crossed roller bearing and tapered roller bearing. The disc spring preload module includes at least three coaxially stacked disc springs. One end of each disc spring abuts against the outer ring end face of the crossed roller bearing, and the other end abuts against the inner ring end face of the tapered roller bearing. The side wall of the mounting base box is provided with a threaded hole. A preload nut is screwed into the threaded hole and abuts against the disc spring. By tightening the preload nut, an axial preload force of 20 to 50 Newtons is applied to the inner ring end face of the tapered roller bearing.

[0010] Furthermore, the aforementioned annular counterweight slide rail includes a 90° V-groove, with ceramic balls embedded at the bottom of the V-groove, and a 60° wedge-shaped boss at the bottom of the counterweight block. The wedge-shaped boss and the V-groove are in rolling contact through the ceramic balls.

[0011] The aforementioned stepper motor is an external rotor motor. The inner wall of the external rotor is provided with a helical raceway with a helical lead angle of 15°±1°. The ceramic balls are constrained within the helical raceway by a magnetic field. When the external rotor rotates, the ceramic balls are pushed by the inclined surface of the helical raceway to generate axial displacement, thereby driving the counterweight to move.

[0012] Furthermore, the cone angle of the aforementioned conical surface is 60°±0.5°, and the parallelism between its generatrix and the axis of the supporting base column is no greater than 0.02 mm / 100 mm.

[0013] Furthermore, the coaxiality between the aforementioned support column and the inner ring of the crossed roller bearing is no greater than 0.01 mm.

[0014] Furthermore, the tooth tip of the aforementioned rotating teeth is 2 ± 0.1 mm higher than the inner ring of the tapered roller bearing.

[0015] Furthermore, the interference fit between the aforementioned tapered surface and the inner ring of the tapered roller bearing is 0.02 to 0.03 mm.

[0016] Furthermore, the upper end face of the aforementioned pressure-bearing flange is welded and fixed to the bottom of the mounting turntable, the tensile strength of the weld is not less than 500MPa, and the flatness of the contact surface between the upper end face of the pressure-bearing flange and the bottom of the mounting turntable is not greater than 0.01 mm.

[0017] The beneficial effects of this invention are: 1. By decoupling the radial collaborative layout of functional modules from the mechanical path, a leap in performance against lateral force deviation is achieved.

[0018] This invention creatively optimizes the radial, inward-outward layout of four functional modules—axial load bearing, radial force conversion, dynamic balancing, and torque transmission—on the bottom of the mounting turntable, constructing a collaborative system. Its core lies in achieving decoupling of the mechanical paths: The axial load-bearing module (support base column and crossed roller bearing) is designed to withstand axial loads and provides extremely high axial stiffness (500 N / μm).

[0019] The radial force conversion module (60° tapered surface and tapered roller bearing) actively decomposes harmful radial forces into axial components (conversion rate 88%), and guides them to the axial load-bearing module to share the load.

[0020] This collaborative design significantly reduces the lateral force offset of >0.8° caused by mechanical path coupling in the traditional solution to 0.05° (a reduction of 94%), improving the offset resistance by 16 times and fundamentally solving the core stability problem in high-precision measurement.

[0021] 2. Through the closed-loop coupling of the dynamic balancing module and the rotating system, millisecond-level real-time self-balancing capability is achieved.

[0022] This invention integrates a MEMS accelerometer, controller, stepper motor, and low-friction transmission mechanism (V-groove and ceramic ball) into a dynamic balancing module, which is rigidly connected to the mounting turntable to form a closed-loop control system of "perception-decision-execution".

[0023] MEMS accelerometers monitor the imbalance of the turntable in real time.

[0024] The controller drives the stepper motor based on the monitoring data and precisely adjusts the position of the counterweight through magnetic coupling.

[0025] The unique low-friction transmission design (friction coefficient reduced to 0.001) ensures high-speed and precise response of the actuator.

[0026] This closed-loop collaborative system enables the platform to automatically complete the manual balancing process, which takes more than 5 minutes under traditional methods, within 180ms when faced with sudden eccentric loads, and to stably control the residual offset within 0.03°, meeting the stringent requirements of modern industry for real-time and high-precision measurement. Attached Figure Description

[0027] Figure 1 This is a side structural view and cross-sectional view of the present invention.

[0028] Figure 2 This is a diagram showing the internal structure of the annular counterweight slide rail of the present invention. The meanings of the structural labels in the diagram are as follows: 1. Install base box; 11. Install turntable; 12. Support column (axial load-bearing module); 13. Crossed roller bearing (axial load-bearing module); 14. Pressure flange (axial load-bearing module); 2. Inner support plate; 3. Annular counterweight slide rail (dynamic balancing module); 31. Counterweight block (dynamic balancing module); 32. Stepper motor (dynamic balancing module); 33. MEMS accelerometer (dynamic balancing module); 34. Conical surface (radial force conversion module); 35. Tapered roller bearing (radial force conversion module); 4. Rotary gear teeth (torque transmission module); 5. V-groove; 51. Ceramic ball; 52. Wedge boss; 6. Disc spring (disc spring preload module); 61. Threaded hole; 62. Preload nut (disc spring preload module). Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] Example 1: Overall Platform Assembly and Module Collaboration This embodiment details the assembly process of the collaborative work system and how the various functional modules achieve collaborative work through assembly and integration. The overall structural layout of the platform can be found in [reference needed]. Figure 1 The cross-sectional view shown.

[0031] Step 1: Install the base box 1 basic frame assembly The outer ring of the crossed roller bearing 13 is pressed into the bearing seat hole of the inner support plate 2 of the mounting base box 1 (interference 0.01mm), and fixed around the perimeter by laser welding to ensure that the tensile strength of the weld is ≥300MPa. This step provides a statically determinate foundation for the axial load-bearing module.

[0032] Precision-machine tapered bearing mounting holes (roundness ≤ 0.005 mm) on the side wall of mounting base box 1, and insert the outer ring of tapered roller bearing 35 (interference 0.02 mm) using an interference fit method. This step provides a lateral support foundation for the radial force conversion module.

[0033] Step 2: Install the turntable 11 collaborative system integration assembly This step is crucial; by sequentially integrating the four functional modules onto the installation turntable 11, a complete collaborative working system is constructed.

[0034] Axial load-bearing module assembly: A pressure-bearing flange 14 is machined from the top of the support column 12 (flange diameter D=36mm, column diameter d=20mm, satisfying the stability design criterion of D≥1.5d).

[0035] The support base column 12 passes through the inner ring of the installed crossed roller bearing 13 (using transition fit H7 / k6 to ensure coaxiality ≤0.008mm), and the lower end face of the pressure flange 14 is ground and fitted with the upper end face of the inner ring of the crossed roller bearing 13 to ensure contact flatness ≤0.0015mm.

[0036] The pressure flange 14 is rigidly connected to the mounting turntable 11 (this is an important connection point between modules): a) Mill the upper end face of the pressure-bearing flange 14 of the supporting base column 12 to a flatness of ≤0.005mm; b) Mill the area corresponding to the bottom center of the mounting turntable 11 until the flatness is ≤0.005mm; c) Laser welding (3kW power, 0.5m / min speed) is used to continuously weld along the flange circumference, so that the axial load-bearing module and the mounting turntable 11 become one piece; d) Weld quality verification: Sampling and testing according to ISO 4136 standard, minimum tensile strength is 512 MPa; fatigue life > 10 7 Second cycle (load 2000N).

[0037] Dynamic balancing module assembly: like Figure 2 As shown, ZrO2 ceramic balls 51 (diameter 3.0±0.002mm) are precisely embedded in the 90° V-groove 5 of the annular counterweight slide rail 3.

[0038] The counterweight 31 is made of tungsten alloy, and its bottom is machined with a 60° wedge-shaped boss 52, which makes it roll contact with the V-groove 5 through the ceramic ball 51, thus converting sliding friction into rolling friction.

[0039] The stator of the stepper motor 32 is fixed to the base of the annular counterweight slide rail 3 through a potting process. A helical raceway (lead angle 15°±1°) is opened on the inner wall of its outer rotor, and the ceramic balls 51 are constrained and driven by a magnetic field.

[0040] Verification of the gap and seal between the dynamic balancing module and the system base (reflecting system integration considerations): a) Weld the assembled annular counterweight slide rail 3 to the central annular area at the bottom of the mounting turntable 11; b) Before closing the mounting turntable 11, use a feeler gauge to check the gap between the slide rail base and the upper surface of the mounting base box 1, ensuring it is 0.7±0.2mm; c) Introduce purified air at 0.05 MPa (compliant with ISO 8573-1 standard) and test the airtightness; leakage rate <3%.

[0041] Technical advantages: The stepper motor 32 drives the ceramic ball bearings 51 through the "external rotor helical raceway + magnetic field constraint", which in turn drives the counterweight 31 to move at high speed and with low loss in the annular counterweight slide rail. Together with the MEMS accelerometer 33 and the controller, it forms a closed-loop control system, realizing dynamic coordinated balance with the rotating system.

[0042] Magnetic coupling drive verification (demonstrating the innovativeness and accuracy of this subsystem): a) When the gap between the ball and the raceway is 0.3 mm, the magnetic attraction force is measured to be 0.12 N (measured by a Hall sensor). b) When the stepper motor moves in a single step (1.8°): The theoretical value of the axial displacement of the ball bearings = (pitch 2mm / 200 steps) × cos15° = 0.0097mm; The actual measured displacement is 0.0095mm (measured with a laser interferometer), with an error of <2%; c) After 100,000 cycles of testing, SEM (scanning electron microscope) confirmed that the raceway showed no wear.

[0043] Radial force conversion module assembly: A conical surface 34 with a taper angle of 60.2° (tolerance ±0.3°) is precision machined on the lower outer edge of the mounting turntable 11. The finishing process ensures that the parallelism between the generatrix of this conical surface 34 and the axis of the support column 12 of the axial load-bearing module is ≤0.015mm / 100mm. This precision is crucial for achieving accurate decoupling of the mechanical paths between the two modules.

[0044] The inner ring of the tapered roller bearing 35 is press-fitted onto the tapered surface 34 with an interference fit of 0.025 mm. This connection converts the radial force borne by the mounting turntable 11 into an axial force through the tapered surface and transmits it to the axial bearing module, achieving coordination and decoupling of the radial and axial mechanical paths.

[0045] Torque transmission module assembly: At the outermost edge of the mounting turntable 11, a vertical rotating gear 4 is installed. Its tooth tip is designed to be 2.05mm higher than the inner ring of the tapered roller bearing 35 of the radial force conversion module (supporting a range of 2±0.1mm), exceeding it radially by 3.1mm. This spatial layout ensures that the torque transmission function and bearing operation are completely independent, reflecting the spatial collaborative design between modules.

[0046] Step 3: Assembly of system-level disc spring preload module (to achieve overall stiffness coordination) This module is the core component that connects and coordinates the axial load-bearing module and the radial force conversion module.

[0047] a) Stack three disc springs 6 coaxially and place them on the outer ring end face of the crossed roller bearing 13.

[0048] b) Move the inner ring of the tapered roller bearing 35 (i.e. the moving ring of the radial force conversion module) that is already integrated on the mounting turntable 11 downwards so that its end face abuts against the other end of the disc spring 6.

[0049] c) Machining a threaded hole 61 (M12×1.5) on the side wall of the mounting base box 1, and screwing in the preload nut 62 until it abuts against the free end of the disc spring 6.

[0050] d) Tighten the preload nut (62) with a torque wrench: Torque 12 N·m → Apply approximately 20 N preload force Torque 30 N·m → Apply approximately 50 N preload force Verification data: When the preload is 40N, the radial clearance of the entire bearing system decreases from 0.05mm without preload to 0.005mm. This proves that the preload module effectively eliminates the internal clearance of the system, significantly improves the common stiffness of the axial load-bearing module and the radial force conversion module, and is a key synergistic measure to achieve high stability.

[0051] Finally, the following points should be noted: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installation", "connection", and "linkage" should be interpreted broadly, and can be mechanical or electrical connections, or internal connections between two components, or direct connections. "Up", "down", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may change. Secondly: The accompanying drawings of the embodiments disclosed in this invention only involve the structures involved in the embodiments disclosed in this invention. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of this invention can be combined with each other. In conclusion, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A modular high-stability level rotating platform, comprising a mounting base (1) and a mounting turntable (11) mounted thereon, wherein the mounting base (1) is provided with an inner support plate (2), characterized in that: The bottom of the mounting turntable (11) is integrated into a collaborative working system, which includes: An axial bearing module is located in the central area of ​​the mounting turntable (11). The axial bearing module includes a support base column (12) vertically fixed to the mounting turntable (11), a cross roller bearing (13) sleeved on the support base column (12), and a pressure-bearing flange (14) set at the top of the support base column (12). The outer ring of the cross roller bearing (13) is fixed to the inner support plate (2), and the lower end face of the pressure-bearing flange (14) is in contact with the upper end face of the inner ring of the cross roller bearing (13). A dynamic balancing module is located in the central annular area of ​​the mounting turntable (11). The dynamic balancing module includes an annular counterweight slide rail (3), a counterweight block (31) slidably disposed in the annular counterweight slide rail (3), a stepper motor (32) driving the counterweight block (31), a plurality of MEMS accelerometers (33) evenly distributed on the edge of the mounting turntable (11), and a controller that is signal-connected to the MEMS accelerometers (33) and the stepper motor (32) respectively. A radial force conversion module is located at the lower outer edge of the mounting turntable (11). The radial force conversion module includes a conical surface (34) machined on the mounting turntable (11) and an inner ring of a tapered roller bearing (35) that is interference-fitted with the conical surface (34). The outer ring of the tapered roller bearing (35) is fixed to the side wall of the mounting base box (1). A torque transmission module is located at the outermost edge of the mounting turntable (11), and the torque transmission module includes vertically arranged rotating teeth (4). The axial bearing module, dynamic balance module, radial force conversion module and torque transmission module are connected in the radial direction from the inside to the outside, and are rigidly connected by the mounting turntable (11), together forming a collaborative working system that achieves mechanical path decoupling.

2. The modular high-stability level rotation platform according to claim 1, characterized in that, A disc spring preload module is provided between the crossed roller bearing (13) and the tapered roller bearing (35). The disc spring preload module includes at least three coaxially stacked disc springs (6). One end of the disc spring (6) abuts against the outer ring end face of the crossed roller bearing (13), and the other end abuts against the inner ring end face of the tapered roller bearing (35). The side wall of the mounting base box (1) is provided with a threaded hole (61). A preload nut (62) is screwed into the threaded hole (61) and abuts against the disc spring (6). By tightening the preload nut (62), an axial preload force of 20 to 50 Newtons is applied to the inner ring end face of the tapered roller bearing (35).

3. The modular high-stability level rotation platform according to claim 2, characterized in that, The annular counterweight slide rail (3) includes a 90° V-groove (5), and ceramic balls (51) are embedded at the bottom of the V-groove (5). The bottom of the counterweight block (31) is provided with a 60° wedge-shaped boss (52), and the wedge-shaped boss (52) and the V-groove (5) are in rolling contact through the ceramic balls (51).

4. The modular high-stability level rotation platform according to claim 3, characterized in that, The stepper motor (32) is an external rotor motor. The inner wall of the external rotor is provided with a spiral raceway with a spiral lead angle of 15°±1°. The ceramic ball (51) is constrained in the spiral raceway by a magnetic field. When the external rotor rotates, it pushes the ceramic ball (51) to generate axial displacement through the inclined surface of the spiral raceway, thereby driving the counterweight (31) to move.

5. The modular high-stability level rotation platform according to claim 1, characterized in that, The cone angle of the cone surface (34) is 60°±0.5°, and the parallelism between its generatrix and the axis of the supporting bottom column (12) is no greater than 0.02 mm / 100 mm.

6. The modular high-stability level rotation platform according to claim 1, characterized in that, The coaxiality between the support base column (12) and the inner ring of the crossed roller bearing (13) is no greater than 0.01 mm.

7. A modular high-stability level rotation platform according to claim 1, characterized in that, The tooth tip of the rotating tooth (4) is 2 ± 0.1 mm higher than the inner ring of the tapered roller bearing (35).

8. The modular high-stability level rotation platform according to claim 1, characterized in that, The interference fit between the tapered surface (34) and the inner ring of the tapered roller bearing (35) is 0.02 to 0.03 mm.

9. A modular high-stability level rotation platform according to claim 1, characterized in that, The upper end face of the pressure-bearing flange (14) is welded and fixed to the bottom of the mounting turntable (11). The tensile strength of the weld is not less than 500MPa, and the flatness of the upper end face of the pressure-bearing flange (14) and the bottom contact surface of the mounting turntable (11) is not greater than 0.01 mm.

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