Three-axis rotary table module

Abstract

The utility model relates to the technical field of three-axis rotary tables, and discloses a three-axis rotary table module which comprises a bottom plate, a supporting column is fixedly connected to the top of the bottom plate, a power adapter is arranged at the top of the bottom plate, a control assembly is arranged at the top of the bottom plate, and a rotary table device is arranged at the top of the supporting column. The rotary table device comprises a Z-axis joint motor, the bottom of the Z-axis joint motor is fixedly connected to the top of the supporting column, and an output shaft of the Z-axis joint motor is fixedly connected with an outer frame Z-axis support. According to the utility model, through the rotary table device, a control instruction containing operation parameters is issued to the Y-axis joint motor and the X-axis joint motor through the CAN communication interface, after the Y-axis joint motor and the X-axis joint motor complete operation execution, data of the tilt angle sensor is read again, whether the Y-axis joint motor and the X-axis joint motor return to the angle zero position or not is determined, and if yes, the angle zero position is detected. Therefore, the angle of the marble slab can be adjusted.

Description

A three-axis rotary table module Technical Field

[0001] This utility model relates to the field of three-axis turntable technology, specifically a three-axis turntable module. Background Technology

[0002] Three-axis rotary table modules are typically used in the field of precision motion control. They are mechanical devices that can rotate on three independent axes (usually X, Y, and Z axes).

[0003] Existing technology, such as the patent with publication number CN213585438U, discloses a concentric dual-axis motor module for a radar test turntable, including a first motor and a second motor symmetrically arranged, an inner housing, a rotating base, a transmission gear, and an outer housing. The inner housing houses the first and second motors, with the output shaft of the first motor connected to the main shaft. The rotating base, fitted outside the inner housing, is a cylindrical shape without a bottom at the lower end. A circular first through hole is provided at the upper end of the rotating base, through which the shaft of the first motor extends. A ring gear is provided at the other end of the rotating base, which serves as a countershaft. The second motor drives the rotating base to rotate. The outer housing is fitted outside the rotating base. This motor module can achieve dual-axis output within a single motor module, and when used with a radar turntable, it overcomes the shortcomings of existing radar turntables.

[0004] While the aforementioned existing technologies have significant beneficial effects, they still have shortcomings:

[0005] 1. The above-mentioned application, with its first and second motors, inner housing, rotating seat, transmission gears, and outer housing, makes it difficult to achieve three-axis output, resulting in inconvenience for making more precise adjustments to the radar turntable; 2. The above-mentioned application makes it inconvenient to fix items placed on the turntable when rotating the radar turntable, which may cause them to fall off; therefore, we propose a three-axis turntable module. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this utility model provides a three-axis turntable module. Through a fixing device, the rotation of the motor output shaft drives the bidirectional threaded rod to rotate, thereby causing two threaded sleeves to move along the limiting rod towards the center of the marble plate. When the threaded sleeves move, the connecting plate drives the fixing block to move. When the fixing pin moves and touches the product being tested placed on the marble plate, the fixing pin moves into the movable groove according to the shape of the product being tested, compressing the flexible spring. Thus, when the fixing pin moves to the bottom of the movable groove, it can fix the product being tested on the marble plate without being compressed, thereby preventing the product being tested from shifting when the angle is adjusted.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a three-axis turntable module, including a base plate, a support column fixedly connected to the top of the base plate, a power adapter provided on the top of the base plate, a control component provided on the top of the base plate, and a turntable device provided on the top of the support column;

[0008] The turntable device includes a Z-axis joint motor, the bottom of which is fixedly connected to the top of a support column. The output shaft of the Z-axis joint motor is fixedly connected to an outer frame Z-axis bracket. A Y-axis joint motor is arranged on the side of the outer frame Z-axis bracket. The output shaft of the Y-axis joint motor is fixedly connected to a middle frame Y-axis bracket. An inner frame X-axis bracket is fixedly connected to the side of the middle frame Y-axis bracket. An X-axis joint motor is arranged on the front side of the inner frame X-axis bracket.

[0009] Preferably, a marble plate is provided on the back side of the inner frame X-axis support, and an angle sensor is provided on the bottom of the marble plate. The function of the inner frame X-axis support is to drive the marble plate to rotate in the X direction.

[0010] Preferably, the marble plate has dimensions of 800×600×100mm, a working surface accuracy of "00" grade, a turntable device with a load capacity of 100kg, and a rotation angle range of ±10° in the X / Y direction and 30° in the Z direction. The purpose of the marble plate is to place the product being tested.

[0011] Preferably, the positioning accuracy in the three angular directions of X / Y / Z is 0.01°, and the adjustment time of the three axial angles of X / Y / Z is no more than 30s. The purpose of the positioning accuracy of 0.01° in the three angular directions of X / Y / Z is to reduce the error in the three angular directions of X / Y / Z.

[0012] Preferably, a fixing device is provided on the top of the marble slab. The fixing device includes a drive motor, the side of which is fixedly connected to the side of the Y-axis support of the middle frame. A bidirectional threaded rod is fixedly connected to the output shaft of the drive motor. A threaded sleeve is fixedly connected to the circumferential surface of the bidirectional threaded rod. A connecting plate is fixedly connected to the side of the threaded sleeve. A fixing block is fixedly connected to the side of the connecting plate. A movable groove is provided on the inner wall of the fixing block. A fixing pin slides through the side of the fixing block. A flexible spring is fixedly connected to the inner wall of the movable groove. The end of the flexible spring away from the movable groove is fixedly connected to the fixing pin. The function of the fixing pin is to fix the product being tested.

[0013] Preferably, a limiting rod is fixedly connected to the side of the Y-axis bracket of the middle frame, and the circumferential surface of the limiting rod slides through the inner wall of the threaded sleeve. The function of the limiting rod is to restrict the movement trajectory of the threaded sleeve.

[0014] Preferably, the number of threaded sleeve, connecting plate, fixing block, movable groove, fixing pin and flexible spring are each set to two, and they are symmetrical to each other along the vertical central axis of the marble plate. The purpose of setting the number of threaded sleeve, connecting plate, fixing block, movable groove, fixing pin and flexible spring to two, and symmetrical to each other along the vertical central axis of the marble plate, is to better fix the product under test.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. This utility model uses a turntable device and a control MCU to first read the tilt angle values ​​of the tilt sensor about the X and Y axes, then calculates the operating parameters of the Y-axis joint motor and the X-axis joint motor to determine the running direction and running angle. The control command containing the operating parameters is sent to the Y-axis joint motor and the X-axis joint motor through the CAN communication interface. After the Y-axis joint motor and the X-axis joint motor have completed their operation, the data from the tilt sensor is read again to confirm whether the Y-axis joint motor and the X-axis joint motor have returned to the zero angle position, thereby enabling the angle adjustment of the marble slab.

[0017] 2. This utility model uses a fixing device. The rotation of the motor output shaft can drive the bidirectional threaded rod to rotate, thereby causing the two threaded sleeves to move along the limiting rod towards the center of the marble plate. When the threaded sleeves move, the connecting plate will drive the fixing block to move. When the fixing pin moves and touches the product being tested placed on the marble plate, the fixing pin will move into the movable groove according to the shape of the product being tested, squeezing the flexible spring. Thus, when the fixing pin moves to the bottom of the movable groove, it will not be squeezed and move, thus fixing the product being tested on the marble plate and preventing displacement of the product being tested when adjusting the angle.

[0018] Other features and advantages of this invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained by means of the structures pointed out in the description, claims, and drawings. Attached Figure Description

[0019] Figure 1 is a schematic diagram of the main structure of this utility model;

[0020] Figure 2 is a schematic diagram of the turntable device of this utility model;

[0021] Figure 3 is a schematic diagram of the fixing device structure of this utility model;

[0022] Figure 4 is a three-dimensional enlarged structural schematic diagram of point A in Figure 3 of this utility model;

[0023] Figure 5 is a block diagram of the electrical control principle of the three-axis rotary table module of this utility model.

[0024] In the diagram: 1. Base plate; 2. Support column; 3. Power adapter; 4. Control components; 5. Turntable device; 51. Z-axis joint motor; 52. Outer frame Z-axis support; 53. Y-axis joint motor; 54. Middle frame Y-axis support; 55. Inner frame X-axis support; 56. X-axis joint motor; 57. Marble plate; 58. Tilt sensor; 6. Fixing device; 61. Drive motor; 62. Bidirectional threaded rod; 63. Threaded sleeve; 64. Connecting plate; 65. Fixing block; 66. Movable groove; 67. Fixing pin; 68. Flexible spring; 69. Limiting rod. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0026] Please refer to Figures 1-5. A three-axis turntable module of this embodiment includes a base plate 1, a support column 2 fixedly connected to the top of the base plate 1, a power adapter 3 disposed on the top of the base plate 1, a control component 4 disposed on the top of the base plate 1, and a turntable device 5 disposed on the top of the support column 2. The turntable device 5 includes a Z-axis joint motor 51, the bottom of which is fixedly connected to the top of the support column 2. The output shaft of the Z-axis joint motor 51 is fixedly connected to an outer frame Z-axis bracket 52. A Y-axis joint motor 53 is disposed on the side of the outer frame Z-axis bracket 52. The output shaft of the Y-axis joint motor 53 is fixedly connected to a middle frame Y-axis bracket 54. An inner frame X-axis bracket 55 is fixedly connected to the side of the middle frame Y-axis bracket 54. An X-axis joint motor 56 is disposed on the front side of the inner frame X-axis bracket 55. The back side of the inner frame X-axis bracket 55... A marble plate 57 is mounted on the surface, and an angle sensor 58 is installed at the bottom of the marble plate 57. The function of the inner frame X-axis support 55 is to drive the marble plate 57 to rotate in the X direction. The marble plate 57 has dimensions of 800×600×100mm, a working surface accuracy of "00" grade, a turntable device 5 with a load capacity of 100kg, and a rotation angle range of ±10° in the X / Y direction and 30° in the Z direction. The purpose of the marble plate 57 is to place the product to be tested. The positioning accuracy in the X / Y / Z three angular directions is 0.01°, and the adjustment time for the X / Y / Z three axial angles is no more than 30s. The positioning accuracy of 0.01° in the X / Y / Z three angular directions is to reduce the error in the X / Y / Z three angular directions.

[0027] The electrical control unit is powered by 220V AC mains, which is converted by a power adapter to output two DC power supplies: a 28V output to power the X / Y / Z axis joint motors, and a 24V output to power the control component circuit board. The control component circuit board includes a 24V to 5V power module, a 24V to 12V power module, a USB interface module, an MCU main control module, an RS485 communication module, and a CAN communication module. The 5V power supply powers the internal circuitry, the 12V output powers the tilt sensor, the MCU main control module controls the program flow, the USB interface receives control commands from the host computer and provides feedback on the turntable module status, the RS485 communication interface facilitates data exchange between the MCU and the tilt sensor, and the CAN interface facilitates data exchange between the MCU and the three joint motors. The joint motors are integrated motor modules with built-in brushless torque motors, ultra-thin harmonic reducers, and high-precision multi-turn absolute encoders, achieving an angle control positioning error of no more than 0.005°. The HWT6053-485 tilt sensor has a tilt resolution of 0.001° in the X / Y plane.

[0028] As shown in Figures 1-2 and 5, the three-axis turntable in this invention is similar to existing three-axis turntables, such as the three-axis simulation turntable disclosed in CN203964781U. The main improvement of this invention is that after the turntable device 5 is powered on, the MCU program of the control circuit board assembly starts running. First, it performs a self-test on each component of the module, including whether the power adapter 3, Z-axis joint motor 51, Y-axis joint motor 53, X-axis joint motor 56, and tilt sensor 58 are working properly, and feeds back the self-test results to the USB interface. When the host computer performs a normal self-test, the turntable device 5 enters standby mode. Upon receiving a control command from the host computer via the USB interface, the turntable device 5 enters working mode according to the command. When executing the one-key leveling program, the turntable device 5's control component 4 (MCU) first reads the tilt angle values ​​of the tilt sensor 58 along the X and Y axes, then calculates the operating parameters of the Y-axis joint motor 53 and the X-axis joint motor 56 to determine the running direction and angle. Finally, it sends control commands containing the operating parameters to the Y-axis joint motor 53 and the X-axis joint motor 56 via the CAN communication interface. After the Y-axis joint motor 53 and X-axis joint motor 56 have finished running, the data from the tilt sensor 58 is read again to confirm whether the Y-axis joint motor 53 and X-axis joint motor 56 have returned to the zero angle position. When executing the angle setting function program, the control component 4 MCU of the turntable device 5 first reads the tilt angle values ​​of the tilt sensor 58 about the X / Y axes and the current stopping angle value of the Z-axis. Then, based on the received target angle values ​​of the Z-axis joint motor 51, Y-axis joint motor 53, and X-axis joint motor 56, it calculates the angles of the Z-axis joint motor 51, Y-axis joint motor 53, and X-axis joint motor 56. The operating parameters of the Z-axis joint motor 53 and the X-axis joint motor 56 are used to determine the running direction and running angle. The control command containing the operating parameters is sent to the Z-axis joint motor 51, Y-axis joint motor 53 and X-axis joint motor 56 through the CAN communication interface. After the Z-axis joint motor 51, Y-axis joint motor 53 and X-axis joint motor 56 have completed their operation, the data of the tilt sensor 58 and the feedback data of the motor encoder are read again to confirm whether the Z-axis joint motor 51, Y-axis joint motor 53 and X-axis joint motor 56 have run to the set angle.

[0029] As shown in Figures 3 and 4, a fixing device 6 is provided on the top of the marble slab 57. The fixing device 6 includes a drive motor 61. The side of the drive motor 61 is fixedly connected to the side of the Y-axis bracket 54 of the middle frame. The output shaft of the drive motor 61 is fixedly connected to a bidirectional threaded rod 62. A threaded sleeve 63 is fixedly connected to the circumferential surface of the bidirectional threaded rod 62. A connecting plate 64 is fixedly connected to the side of the threaded sleeve 63. A fixing block 65 is fixedly connected to the side of the connecting plate 64. A movable groove 66 is opened on the inner wall of the fixing block 65. A fixing pin 67 slides through the side of the fixing block 65. A flexible spring 68 is fixedly connected to the inner wall of the movable groove 66. The end of the flexible spring 68 away from the movable groove 66 is fixedly connected to the fixing pin 67. The purpose is to fix the product being tested; the side of the Y-axis bracket 54 of the middle frame is fixedly connected to a limiting rod 69, the circumferential surface of the limiting rod 69 slides through the inner wall of the threaded sleeve 63, the purpose of the limiting rod 69 is to limit the movement trajectory of the threaded sleeve 63; the number of threaded sleeve 63, connecting plate 64, fixing block 65, movable groove 66, fixing pin 67 and flexible spring 68 are each set to two, and they are symmetrical to each other along the vertical central axis of the marble plate 57. The purpose of setting the number of threaded sleeve 63, connecting plate 64, fixing block 65, movable groove 66, fixing pin 67 and flexible spring 68 to two, and symmetrical to each other along the vertical central axis of the marble plate 57, is to better fix the product being tested.

[0030] As shown in Figures 3 and 4, by starting the drive motor 61, when the output shaft of the drive motor 61 rotates, it will drive the bidirectional threaded rod 62 to rotate. As the bidirectional threaded rod 62 rotates, the two threaded sleeves 63 will move towards the middle of the marble plate 57. When the threaded sleeves 63 move, they will drive the fixing block 65 to move through the connecting plate 64. When the fixing block 65 moves, it will drive the fixing pin 67 and the flexible spring 68 to move. When the fixing pin 67 moves and touches the product to be tested placed on the marble plate 57, the fixing pin 67 will move into the movable groove 66 according to the shape of the product to be tested, squeezing the flexible spring 68. Thus, when the fixing pin 67 moves to the bottom of the movable groove 66, it can fix the product to be tested on the marble plate 57 when it is squeezed and moved, thereby preventing the product to be tested from shifting when adjusting the angle.

[0031] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A three-axis rotary table module, comprising a base plate (1), characterized in that, A support column (2) is fixedly connected to the top of the base plate (1), a power adapter (3) is provided on the top of the base plate (1), a control component (4) is provided on the top of the base plate (1), and a turntable device (5) is provided on the top of the support column (2). The turntable device (5) includes a Z-axis joint motor (51), the bottom of the Z-axis joint motor (51) is fixedly connected to the top of the support column (2), the output shaft of the Z-axis joint motor (51) is fixedly connected to an outer frame Z-axis bracket (52), a Y-axis joint motor (53) is provided on the side of the outer frame Z-axis bracket (52), the output shaft of the Y-axis joint motor (53) is fixedly connected to a middle frame Y-axis bracket (54), the side of the middle frame Y-axis bracket (54) is fixedly connected to an inner frame X-axis bracket (55), and an X-axis joint motor (56) is provided on the front side of the inner frame X-axis bracket (55).

2. A three-axis rotary table module according to claim 1, characterized in that, A marble plate (57) is provided on the back side of the inner frame X-axis support (55), and an tilt sensor (58) is provided at the bottom of the marble plate (57).

3. A three-axis rotary table module according to claim 2, characterized in that, The marble slab (57) has dimensions of 800×600×100mm and a working surface accuracy of "00". The turntable device (5) has a load capacity of 100kg. The rotation angle range of the marble slab (57) in the X / Y direction is ±10° and the rotation angle range in the Z direction is 30°.

4. A three-axis rotary table module according to claim 1, characterized in that, The positioning accuracy in the three angular directions of X / Y / Z is 0.01°, and the adjustment time of the three axial angles of X / Y / Z is no more than 30s.

5. A three-axis rotary table module according to claim 2, characterized in that, The top of the marble slab (57) is provided with a fixing device (6), which includes a drive motor (61). The side of the drive motor (61) is fixedly connected to the side of the Y-axis bracket (54) of the middle frame. The output shaft of the drive motor (61) is fixedly connected to a bidirectional threaded rod (62). A threaded sleeve (63) is fixedly connected to the circumferential surface of the bidirectional threaded rod (62). A connecting plate (64) is fixedly connected to the side of the threaded sleeve (63). A fixing block (65) is fixedly connected to the side of the connecting plate (64). A movable groove (66) is opened on the inner wall of the fixing block (65). A fixing pin (67) slides through the side of the fixing block (65). A flexible spring (68) is fixedly connected to the inner wall of the movable groove (66). The end of the flexible spring (68) away from the movable groove (66) is fixedly connected to the fixing pin (67).

6. A three-axis rotary table module according to claim 1, characterized in that, A limiting rod (69) is fixedly connected to the side of the Y-axis bracket (54) of the middle frame, and the circumferential surface of the limiting rod (69) slides through the inner wall of the threaded sleeve (63).

7. A three-axis rotary table module according to claim 5, characterized in that, The number of the threaded sleeve (63), connecting plate (64), fixing block (65), movable groove (66), fixing pin (67) and flexible spring (68) are each set to two, and they are symmetrical to each other along the vertical central axis of the marble plate (57).

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