High-precision portable radar servo turntable
Through the design of the servo motor and harmonic reducer, the positioning accuracy error problem of small servo turntables in complex environments is solved, and a portable radar servo turntable with high accuracy, stability and easy maintenance is achieved to meet the needs of complex environments.
Patent Information
- Application Number
- CN202422302996.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-20
- Publication Date
- 2025-07-22
- Estimated Expiration
- 2034-09-20
AI Technical Summary
The existing small servo turntable has a large positioning accuracy error in complex environments and cannot meet military needs. It has limitations in use especially in deserts, high and low temperatures, plateaus, seasides, rainy environments.
The design of a combination of servo motor and harmonic reducer, combined with transmission gear and rotary support, high-precision position control is achieved through the encoder, and a magnesium-aluminum alloy is manufactured and sealed to adapt to complex environments.
It improves the motion accuracy and stability of mechanical equipment, enhances its use ability in complex environments, achieves high efficiency and high load-bearing capacity, and is easy to maintain and expands usage scenarios.
Smart Images
Figure CN223137503U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of radar servo turntables, in particular to a high-precision portable radar servo turntable. Background Art
[0002] A device used in radar to radiate and receive electromagnetic waves and determine the direction of detection. The radar antenna has the function of focusing electromagnetic waves into beams, emitting and receiving electromagnetic waves in a directionally direction. Important tactical performance of radar, such as detection distance, detection range, angle measurement (azimuth, elevation) accuracy, angle resolution and anti-interference capability are all related to antenna performance. The radar servo turntable is a control system that uses a mechanical transmission structure, an electrical module, and a software program. The antenna and the servo turntable are mounted on the turntable to drive the radar antenna to continuously operate in the N×360° azimuth plane in outdoor high and low temperature, windy and rainy environments. When receiving instructions from the host computer, the turntable can drive the radar antenna to move at a stable speed, respond to instructions quickly, and have precise positioning functions. At the same time, in this working mode, the electrical signal cross-linking between the rotating part and the non-rotating part can be achieved, and it has network port communication, and the rotation state can be controlled through the network port; it has high control accuracy and stable speed, but most of the small servo turntables on the market are imported and mainly used for industrial applications. The speed and position feedback of the motor are mostly based on photoelectric encoders, and the positioning accuracy error is large. At the same time, it cannot meet the requirements for use in complex environments such as military, desert, high and low temperature, plateau, seaside, rainy and other environments, and there are great limitations for use. Utility Model Content
[0003] The purpose of the utility model is to overcome the deficiencies of the prior art and provide a high-precision portable radar servo turntable to solve the deficiencies of the prior art.
[0004] The purpose of the utility model is achieved through the following technical solutions: a high-precision portable radar servo turntable, comprising a box, a servo transmission mechanism arranged on the box, a junction box arranged on the servo transmission mechanism and a load plate installed on the junction box, the servo transmission mechanism comprising a servo motor, a harmonic reducer, a mounting plate, a slewing support, a merge ring, an adapter plate and an encoder, the mounting plate is installed on the top of the box, the output shaft of the servo motor is connected to the harmonic reducer through a reducer adapter plate, the reducer adapter plate is installed on the mounting plate, an adapter shaft is installed on the harmonic reducer, the slewing support is arranged on the mounting plate, the adapter shaft is connected to the slewing support through a transmission assembly, the adapter plate is installed on the slewing support, the junction box is installed on the adapter plate, the rotor end of the merge ring is installed on the adapter plate, and the output shaft of the merge ring is connected to the encoder.
[0005] Further, the slewing bearing includes an inner slewing ring and an outer slewing ring. The inner slewing ring is fixedly sleeved on the shaft seat of the mounting plate, the outer slewing ring is rotatably sleeved on the inner slewing ring, and the adapter plate is fixedly installed on the outer slewing ring.
[0006] Further, the transmission assembly includes a transmission gear. The transmission gear is key-connected to the adapter shaft, the top of the transmission gear is positioned and connected to the adapter shaft through a locking cover, and a raceway for engaging the transmission gear is provided on the side wall of the outer slewing ring.
[0007] Further, the servo drive mechanism further includes a slip ring fixing seat fixedly installed on the mounting plate. The stator end of the slip ring is installed in the slip ring fixing seat through a fork block. The output shaft of the slip ring is installed on the slip ring fixing seat through a miniature bearing, and the output shaft of the slip ring is locked through the clamp of the encoder itself.
[0008] Further, the top of the mounting plate is connected with an upper cover. A round hole for the bottom shaft of the junction box to pass through is provided on the upper cover. A sealing groove is provided around the round hole on the top of the upper cover. A lip seal is press-fitted in the sealing groove, and the top of the lip seal contacts the bottom end face of the junction box.
[0009] Further, a sealing outer ring is coaxially fixed to the bottom of the junction box. A sealing protrusion is formed around the sealing groove on the top of the upper cover. A felt ring is provided between the sealing protrusion and the sealing outer ring.
[0010] Further, a circular seal is provided between the outer wall of the shaft of the junction box and the inner wall of the round hole. Seals are provided between the upper cover and the mounting plate, and between the mounting plate and the box body.
[0011] Further, left and right covers are respectively installed on the left and right side walls of the box body. A driver is installed on the right cover, and a control board is provided on the left cover.
[0012] Further, the bottom of the box body is connected with a bottom plate through screws, and a bottom seal is provided between the bottom plate and the box body.
[0013] The beneficial effects of the present utility model are as follows:
[0014] 1. The combination of the servo motor and the harmonic reducer can greatly improve the motion accuracy and stability of mechanical equipment. The powerful control ability and high-precision position control system of the servo motor can accurately control the displacement and speed of each moving part. The servo motor realizes the closed-loop control of position, speed and torque, overcoming the problem of step loss of the stepping motor. The harmonic reducer can increase the output torque to several times the original, enabling the mechanical equipment to bear greater loads.
[0015] 2. The servo motor cooperating with the harmonic reducer can greatly improve the efficiency and performance of the equipment. The harmonic reducer can reduce the output speed to one fortieth of the original, thereby increasing the torque output of the mechanical equipment and improving the motion efficiency and performance.
[0016] 3. The sliding at the meshing part of the transmission gear and the rotary outer ring is very small, reducing the power loss caused by friction. Therefore, while obtaining a high reduction ratio, high efficiency can be maintained, greatly improving the load-bearing capacity.
[0017] 4. The servo motor, harmonic reducer, and transmission gear are combined to form a transmission group, the controller is combined with the left cover plate, the driver is combined with the right cover plate, and the slip ring is combined with the encoder to achieve componentization, and each component can be replaced and maintained separately; the disassembly and assembly are simple; the integration, modularization, and miniaturization of the servo turntable are truly realized. At the same time, the bottom plate and the upper cover can be replaced separately according to the load interface size, expanding the usage scenarios and performance of the servo turntable. Description of the Drawings
[0018] Figure 1 It is a schematic internal structure diagram of a high-precision portable radar servo turntable of the present utility model;
[0019] Figure 2 It is a schematic partial structure diagram of a high-precision portable radar servo turntable of the present utility model;
[0020] Figure 3 It is a schematic structure diagram of the servo motor in a high-precision portable radar servo turntable of the present utility model;
[0021] Figure 4 It is a schematic internal structure diagram of the servo motor in a high-precision portable radar servo turntable of the present utility model;
[0022] Figure 5 It is a partial perspective view of a high-precision portable radar servo turntable of the present utility model;
[0023] Figure 6 It is Figure 1 The enlarged view at A in
[0024] Figure 7 It is a schematic structure diagram of a high-precision portable radar servo turntable of the present utility model;
[0025] In the figure, 1 - box body, 2 - junction box, 3 - load board, 4 - servo motor, 5 - harmonic reducer, 6 - mounting plate, 7 - slip ring, 8 - adapter plate, 9 - encoder, 10 - reducer adapter plate, 11 - adapter shaft, 12 - rotor end, 13 - output shaft, 14 - inner slewing ring, 15 - outer slewing ring, 16 - transmission gear, 17 - locking cover, 18 - slip ring fixing seat, 19 - fork block, 20 - miniature bearing, 21 - hoop, 22 - upper cover, 23 - round hole, 24 - sealing groove, 25 - lip seal, 26 - outer sealing ring, 27 - sealing protrusion, 28 - felt ring, 29 - circular seal, 30 - seal, 31 - left cover plate, 32 - right cover plate, 33 - driver, 34 - control board, 35 - bottom plate. Detailed implementation manner
[0026] Such as Figures 1 to 7As shown in the figure, a high-precision portable radar servo turntable includes a box body 1, a servo drive mechanism arranged on the box body 1, a junction box 2 arranged on the servo drive mechanism, and a load board 3 installed on the junction box 2. The servo drive mechanism includes a servo motor 4, a harmonic reducer 5, a mounting plate 6, a slewing bearing, a slip ring 7, a transfer plate 8, and an encoder 9. The mounting plate 6 is installed on the top of the box body 1. The output shaft of the servo motor 4 is connected to the harmonic reducer 5 through a reducer transfer plate 10. The reducer transfer plate 10 is installed on the mounting plate 6. A transfer shaft 11 is installed on the harmonic reducer 5. The slewing bearing is arranged on the mounting plate 6. The transfer shaft 11 is drivingly connected to the slewing bearing through a transmission component. The transfer plate 8 is installed on the slewing bearing. The junction box 2 is installed on the transfer plate 8. The rotor end 12 of the slip ring 7 is installed on the transfer plate 8. The output shaft 13 of the slip ring 7 is connected to the encoder 9. The power of the servo motor 4 is transmitted through the harmonic reducer 5, thereby driving the transfer shaft 11 to rotate. The transfer shaft 11 drives the slewing bearing to rotate through the transmission component. The slewing bearing drives the transfer plate 8 to rotate. The transfer plate 8 drives the junction box 2 to rotate. The junction box 2 drives the load board 3 to rotate. The radar is installed on the load board 3 to achieve 360° continuous operation of the radar; annular sealing grooves are provided on both the upper and lower end faces of the reducer transfer plate 10, and sealing strips are arranged in the annular sealing grooves. When installing the sealing strips, it is ensured that the aviation lubricating oil in the cavity of the harmonic reducer 5 is stored to meet the lubrication requirements. Combining the harmonic reducer 5 with a mechanical transmission device that uses the elastic deformation of flexible elements to transmit motion and power, and has the characteristics of a large and wide range of transmission ratios, a high reduction ratio of 1 / 30 to 1 / 320 can be obtained with a single-stage coaxial structure; the rotation of the transfer plate 10 drives the rotation of the rotor end 12 of the slip ring 7, and the rotation of the encoder 9 is driven through the slip ring 7, so that the speed information and angle information output by the servo motor 4 are collected by the encoder 9 and feedback to the controller through electrical signal conversion, thereby forming a speed closed-loop and an angle closed-loop; at the same time, the error can be automatically corrected, so that the system can adapt in a changing environment and maintain ultra-high precision. Preferably, a left cover plate 31 and a right cover plate 32 are respectively installed on the left and right side walls of the box body 1. A driver 33 is installed on the right cover plate 32, and a control board 34 is arranged on the left cover plate 31. In the case of maintenance and repair, the right cover plate 32 and the left cover plate 31 can be removed to take down the driver 33 and the control board 34 at the same time and place them outside the turntable, expanding the operation space inside the turntable and making it easier to judge the maintenance of components; secondly, the whole turntable is made of magnesium alloy, with the characteristics of light weight, high strength and impact resistance. An anti-salt spray primer and an anti-slip scratch topcoat are sprayed on the surface of metal parts to achieve better anti-sand, salt spray, mildew and bacteria erosion effects.
[0027] Furthermore, as shown in Figures 1 to 5As shown in the figure, the slewing bearing includes a slewing inner ring 14 and a slewing outer ring 15. The slewing inner ring 14 is fixedly sleeved on the axle seat of the mounting plate 6, and the slewing outer ring 15 is rotatably sleeved on the slewing inner ring 14. The adapter plate 8 is fixedly installed on the slewing outer ring 15. The transmission assembly includes a transmission gear 16. The transmission gear 16 is connected to the adapter shaft 11 by a key. The top of the transmission gear 16 is positioned and connected to the adapter shaft 11 through a locking cover 17. A raceway for meshing with the transmission gear 16 is provided on the side wall of the slewing outer ring 15. The harmonic reducer 5 drives the adapter shaft 11 to rotate. The adapter shaft 11 drives the adapter plate 8 to rotate through the meshing of the transmission gear 16 with the slewing outer ring 15. Power is transmitted through the harmonic reducer 5 and then to the adapter plate 8 through the gear. The influence of gear pitch error and cumulative pitch error on the rotation accuracy is relatively average, making the position accuracy and rotation accuracy reach an extremely high level. At the same time, the number of meshing teeth is large and it is a surface contact, so the pressure borne by each gear becomes smaller, and a very high torque capacity can be obtained, greatly meeting the load-bearing requirements. The sliding at the meshing part of the gear teeth is very small, reducing the power loss caused by friction. Therefore, while obtaining a high reduction ratio, high efficiency can be maintained; it has the advantages of small size and light weight; compared with the gear device of the traditional planetary reducer, the volume and weight can be greatly reduced, realizing miniaturization and light weight. The transmission is stable and the noise is small. The circumferential speed of the gear teeth meshing is low, and the transmitted motion force is balanced, so the operation is quiet and the vibration is extremely small. The structure is simple and the number of parts is small. Three basic parts achieve a high reduction ratio, and all parts are on the same axis, so the kit installation is simple and the shape is simple.
[0028] Furthermore, as Figures 1 to 4 shown, the servo drive mechanism further includes a slip ring fixed seat 18 fixedly installed on the mounting plate 6. The stator end of the slip ring 7 is installed in the slip ring fixed seat 18 through a fork block 19. The output shaft 13 of the slip ring 7 is installed on the slip ring fixed seat 18 through a miniature bearing 20, and the output shaft 13 of the slip ring 7 is locked by the clamp 21 of the encoder 9 itself. The miniature bearing 20 ensures the coaxiality of the upper and lower ends of the rotor end 12 of the slip ring 7 during the movement process, so that the data collected by the encoder 9 is more accurate. The slip ring 7 realizes the electrical signal cross-linking between the rotating part and the non-rotating part. At the same time, the encoder 9 is directly transmitted through the output shaft of the slip ring 7, and the running speed and angle of the turntable can be accurately collected. The integration of the encoder 9 and the slip ring 7 optimizes the installation space.
[0029] Furthermore, as Figure 1 and Figure 5As shown, the top of the mounting plate 6 is connected to the upper cover 22. A round hole 23 for the bottom shaft of the junction box 2 to pass through is provided on the upper cover 22. A sealing groove 24 is formed around the round hole 23 on the top of the upper cover 22. A lip seal ring 25 is press-fitted in the sealing groove 24. The top of the lip seal ring 25 is in contact with the bottom end face of the junction box 2. The connection position between the junction box 2 and the upper cover 22 is sealed by the lip seal ring 25. The size of the sealing groove 24 is smaller than that of the lip seal ring 25, so that the lip seal ring 25 is press-fitted in the sealing groove 24 through its own deformation, making the outer ring of the lip seal ring 25 closely adhere to the surface of the device, generating a certain pressure. The sealing is achieved through the interference amount of the lip seal ring 25. When the lip of the lip seal ring 25 is worn, it has a certain self-compensating ability, which helps to maintain the sealing performance for a long time.
[0030] Furthermore, as Figure 1 and Figure 5 shown, a sealing outer ring 26 is coaxially fixed to the bottom of the junction box 2. A sealing protrusion 27 is formed around the sealing groove 24 on the top of the upper cover 22. A felt ring 28 is arranged between the sealing protrusion 27 and the sealing outer ring 26. The connection position between the junction box 2 and the upper cover 22 is further sealed by the felt ring 28. A circular seal ring 29 is arranged between the outer wall of the shaft of the junction box 2 and the inner wall of the round hole 23, forming three layers of seals from outside to inside in sequence, enabling the turntable to operate continuously at 360° normally in a complex environment. Sealing rings 30 are arranged between the upper cover 22 and the mounting plate 6, and between the mounting plate 6 and the box body 1. All connection positions of the turntable are sealed to ensure good sealing performance, enabling the servo turntable to maintain good operating performance under different temperatures, different humidities, and in salt spray and sand-dust environments.
[0031] Furthermore, the bottom of the box body 1 is connected to the bottom plate 35 by screws. A bottom sealing ring is arranged between the bottom plate 35 and the box body 1 to improve the sealing performance between the bottom plate 35 and the box body 1.
Claims
1. A high-precision portable radar servo turntable, comprising a box body (1), a servo drive mechanism arranged on the box body (1), a junction box (2) arranged on the servo drive mechanism, and a load plate (3) mounted on the junction box (2), characterized in that, The servo drive mechanism includes a servo motor (4), a harmonic reducer (5), a mounting plate (6), a slewing bearing, a slip ring (7), a transfer plate (8) and an encoder (9). The mounting plate (6) is installed on the top of the box body (1). The output shaft of the servo motor (4) is connected to the harmonic reducer (5) through a reducer transfer plate (10). The reducer transfer plate (10) is installed on the mounting plate (6). A transfer shaft (11) is installed on the harmonic reducer (5). The slewing bearing is arranged on the mounting plate (6). The transfer shaft (11) is drivingly connected to the slewing bearing through a transmission component. The transfer plate (8) is installed on the slewing bearing. The junction box (2) is installed on the transfer plate (8). The rotor end (12) of the slip ring (7) is installed on the transfer plate (8). The output shaft (13) of the slip ring (7) is connected to the encoder (9).
2. The high-precision portable radar servo turntable according to claim 1, wherein The slewing bearing includes a slewing inner ring (14) and a slewing outer ring (15). The slewing inner ring (14) is fixedly sleeved on the axle seat of the mounting plate (6). The slewing outer ring (15) is rotatably sleeved on the slewing inner ring (14). The transfer plate (8) is fixedly installed on the slewing outer ring (15).
3. The high-precision portable radar servo turntable according to claim 2, characterized in that, The transmission component includes a transmission gear (16). The transmission gear (16) is key-connected to the transfer shaft (11). The top of the transmission gear (16) is positioned and connected to the transfer shaft (11) through a locking cover (17). A raceway for meshing with the transmission gear (16) is arranged on the side wall of the slewing outer ring (15).
4. A high-precision portable radar servo turntable according to claim 1, characterized in that, The servo drive mechanism further includes a slip ring fixing seat (18) fixedly installed on the mounting plate (6). The stator end of the slip ring (7) is installed in the slip ring fixing seat (18) through a fork block (19). The output shaft (13) of the slip ring (7) is installed on the slip ring fixing seat (18) through a miniature bearing (20), and the output shaft (13) of the slip ring (7) is locked through the clamp (21) of the encoder (9) itself.
5. A high-precision portable radar servo turntable according to claim 1, characterized in that, The top of the mounting plate (6) is connected to an upper cover (22). A round hole (23) for the bottom rotating shaft of the junction box (2) to pass through is opened on the upper cover (22). A sealing groove (24) is opened around the round hole (23) on the top of the upper cover (22). A lip seal (25) is press-fitted in the sealing groove (24). The top of the lip seal (25) contacts the bottom end face of the junction box (2).
6. The high-precision portable radar servo turntable according to claim 5, characterized in that, A sealing outer ring (26) is coaxially fixed to the bottom of the junction box (2). A sealing protrusion (27) is formed around the sealing groove (24) on the top of the upper cover (22). A felt ring (28) is arranged between the sealing protrusion (27) and the sealing outer ring (26).
7. A high-precision portable radar servo turntable according to claim 6, characterized in that A circular sealing ring (29) is arranged between the outer wall of the rotating shaft of the junction box (2) and the inner wall of the round hole (23), and sealing rings (30) are arranged between the upper cover (22) and the mounting plate (6), and between the mounting plate (6) and the box body (1).
8. A high-precision portable radar servo turntable according to claim 1, characterized in that, Left and right side walls of the box body (1) are respectively installed with a left cover plate (31) and a right cover plate (32), a driver (33) is installed on the right cover plate (32), and a control board (34) is arranged on the left cover plate (31).
9. The high-precision portable radar servo turntable according to claim 1, wherein The bottom of the box body (1) is connected with a bottom plate (35) by screws, and a bottom sealing ring is arranged between the bottom plate (35) and the box body (1).