CN114260863A - Labyrinth sealed rotary table and control method thereof - Google Patents
Labyrinth sealed rotary table and control method thereof Download PDFInfo
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- CN114260863A CN114260863A CN202010974608.XA CN202010974608A CN114260863A CN 114260863 A CN114260863 A CN 114260863A CN 202010974608 A CN202010974608 A CN 202010974608A CN 114260863 A CN114260863 A CN 114260863A
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Abstract
The invention provides a labyrinth sealing type rotary worktable and a control method thereof, wherein the labyrinth sealing type rotary worktable comprises a torque motor, the torque motor comprises a rotor (400) and a stator (800) which is sleeved on the rotor (400) and is used for driving the rotor (400) to rotate; the labyrinth seal type rotary table also comprises a base for supporting and fixing the stator (800), and an encoder mounting ring (500) which is fixedly arranged at the bottom of the rotor (400) and can be rotatably arranged on the base; a labyrinth seal is arranged between the encoder mounting ring (500) and the base; the labyrinth seal type rotary worktable also comprises an annular base body fixedly sleeved on the stator (800), and a worktable surface (100) fixedly connected with the rotor (400) and supported on the annular base body in a relatively rotatable manner; a labyrinth seal is arranged between the working table surface (100) and the annular base body; the invention has novel design and strong practicability.
Description
Technical Field
The invention relates to the field of mechanical equipment, in particular to a labyrinth seal type rotary table and a control method thereof.
Background
Traditional rotary working tables often adopt contact type sealing modes, such as O-shaped ring sealing, lip-shaped sealing ring sealing and the like. These contact sealing methods have poor sealing effect at high temperature, high pressure and high rotational speed frequency; meanwhile, the traditional rotary worktable usually adopts gear transmission or worm and gear transmission, and can generate certain elastic deformation, increase useless friction, redundant reverse clearance and other problems under the occasions of starting, turning, sudden stopping and the like.
Disclosure of Invention
The invention provides a labyrinth sealing type rotary table and a control method thereof aiming at the technical problems.
The invention provides the following technical scheme:
the invention provides a labyrinth sealing type rotary table which comprises a torque motor, wherein the torque motor comprises a rotor and a stator, wherein the stator is sleeved on the rotor and is used for driving the rotor to rotate; the labyrinth sealed rotary worktable also comprises a base for supporting and fixing the stator, and an encoder mounting ring which is fixedly arranged at the bottom of the rotor and can be rotationally arranged on the base; labyrinth seal is formed between the encoder mounting ring and the base;
the labyrinth sealed rotary worktable also comprises an annular base body fixedly sleeved on the stator and a worktable surface fixedly connected with the rotor and supported on the annular base body in a relatively rotatable manner; the labyrinth seal is arranged between the working table surface and the annular base body;
the labyrinth seal type rotary working table also comprises an encoder coded disc fixedly arranged on the encoder mounting ring, and an encoder reading head fixedly arranged on the base and used for feeding back the angle information of the rotor in cooperation with the encoder coded disc.
In the labyrinth sealing type rotary table, the base comprises an annular base, and the stator is also annular and is supported above the base; the base further comprises a bottom sealing plate, the bottom sealing plate comprises a base plate and a first annular bulge formed on the base plate in a protruding mode, and the bottom sealing plate is fixedly clamped inside the base through the first annular bulge;
and a labyrinth seal is arranged between the base plate and the encoder mounting ring.
In the labyrinth sealing type rotary table, the base further comprises an annular rack fixing plate, and the rack fixing plate is sleeved on the bottom sealing plate; the base is fixedly supported and arranged on the rack fixing plate.
In the labyrinth sealing type rotary table, the encoder mounting ring is in a frustum shape, and the base further comprises an annular encoder fixing seat which is fixedly connected with the base and sleeved on the encoder mounting ring.
In the labyrinth seal type rotary table of the present invention, the second annular projection is formed on the top of the base, and the annular base includes a housing which is clamped inside the second annular projection and fixedly sleeved on the stator.
In the labyrinth sealing type rotary table, the annular base body further comprises an annular step-shaped bearing support seat, and the bearing support seat is clamped in the shell and is positioned above the stator;
the labyrinth sealing type rotary working table also comprises a rotor mounting ring fixedly arranged above the rotor and a bearing mounting ring fixedly arranged above the rotor mounting ring; the working table is fixedly arranged above the bearing mounting ring;
a turntable bearing is arranged between the bearing supporting seat and the bearing mounting ring;
labyrinth seal is arranged between the working table surface and the bearing support seat.
The invention also provides a control method of the labyrinth sealed rotary table, which comprises the following steps:
step S, calculating the speed and the angular acceleration of the rotor in real time through the angular information of the rotor fed back by a reading head of the encoder;
s, controlling the speed and the angular acceleration of the rotor through a torque motor according to the following modes:
the first stage is as follows: accelerating the speed of the rotor from zero to a preset first speed value at a preset first angular acceleration;
and a second stage: accelerating the speed of the rotor from the first speed value to a preset second speed value at a preset second angular acceleration; the value of the second angular acceleration is greater than the value of the first angular acceleration;
and a third stage: accelerating the speed of the rotor from the second speed value to a preset third speed value at a preset third angular acceleration; the value of the third angular acceleration is smaller than the value of the second angular acceleration;
a fourth stage: enabling the speed of the rotor to move at a third speed value at a constant speed;
the fifth stage: decelerating the speed of the rotor from the third speed value to a preset fourth speed value by using a preset fourth angular acceleration;
the sixth stage: decelerating the speed of the rotor from the fourth speed value to a preset fifth speed value at a preset fifth angular acceleration; the value of the fifth angular acceleration is greater than the value of the fourth angular acceleration;
a seventh stage: decelerating the speed of the rotor from the fifth speed value to zero at a preset sixth acceleration; the value of the sixth angular acceleration is smaller than the value of the fifth angular acceleration.
The labyrinth sealing type rotary worktable and the control method thereof provide the action of rotary power through the action of a magnetic field between a rotor and a stator of a torque motor, and an encoder reading head and an encoder code disc feed back the angle information of the rotor in real time through an optical principle; the labyrinth seal between the encoder mounting ring and the base and between the working table surface and the annular base body is adopted, and the labyrinth seal type rotary working table is sealed by utilizing the throttling effect generated by a plurality of tortuous small chambers of the labyrinth seal structure. The circular arc processing of the speed is realized through the first stage, the third stage, the fifth stage and the seventh stage, so that the speed of the rotor does not change suddenly, vibration and noise are not generated, the rated torque of the torque motor is fully exerted, and compared with the maximum torque utilized by a triangular curve, the current is smaller, so that less heat loss is caused. The labyrinth seal type rotary table and the control method thereof have novel design and strong practicability.
Drawings
The invention is further described below with reference to the accompanying drawings:
FIG. 1 shows a schematic view of a labyrinth-sealed rotary table in accordance with a preferred embodiment of the present invention;
FIG. 2 shows a schematic view of another orientation of the labyrinth-sealed rotary table of FIG. 1;
FIG. 3 is a schematic view of the labyrinth seal type rotary table of FIG. 2 in the direction A-A;
fig. 4 is a schematic view showing a speed variation of a rotor according to a control method of a labyrinth-sealed rotary table according to a preferred embodiment of the present invention.
Detailed Description
In order to make the technical solutions, technical objects, and technical effects of the present invention clearer so as to enable those skilled in the art to understand and implement the present invention, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 to 3, fig. 1 is a schematic view illustrating a labyrinth-sealed rotary table according to a preferred embodiment of the present invention; FIG. 2 shows a schematic view of another orientation of the labyrinth-sealed rotary table of FIG. 1; FIG. 3 is a schematic view of the labyrinth seal type rotary table of FIG. 2 in the direction A-A; the labyrinth sealing type rotary worktable comprises a torque motor, wherein the torque motor comprises a rotor 400 and a stator 800 which is sleeved on the rotor 400 and used for driving the rotor 400 to rotate; the labyrinth-sealed rotary table further includes a base supporting the fixed stator 800, an encoder installation ring 500 fixedly installed at the bottom of the rotor 400 and rotatably provided on the base; labyrinth seal is formed between the encoder mounting ring 500 and the base;
the labyrinth seal type rotary worktable also comprises an annular base body fixedly sleeved on the stator 800, and a worktable surface 100 fixedly connected with the rotor 400 and relatively rotatably supported on the annular base body; labyrinth seal between the work table 100 and the annular base;
the labyrinth seal type rotary table further includes an encoder code wheel 510 fixedly mounted on the encoder mounting ring 500, and an encoder read head 940 fixedly mounted on the base for feeding back angular information of the rotor 400 in cooperation with the encoder code wheel 510.
In the above technical solution, the rotor 400 and the stator 800 of the torque motor provide a rotating power function through a magnetic field function, and the encoder reading head 940 and the encoder code wheel 510 feed back the angle information of the rotor 400 in real time through an optical principle; the labyrinth seal between the encoder mounting ring 500 and the base and between the working table 100 and the annular base body is used for realizing the seal of the labyrinth seal type rotary working table by utilizing the throttling effect generated by a plurality of zigzag small chambers of the labyrinth seal structure.
Further, the base includes a ring-shaped base 900, and the stator 800 is also ring-shaped and supported above the base 900; the base further includes a bottom sealing plate 930, the bottom sealing plate 930 includes a base plate 931 and a first annular protrusion 932 formed protruding from the base plate 931, the bottom sealing plate 930 is fixedly clamped inside the base 900 by the first annular protrusion 932;
a labyrinth seal is provided between the base plate 931 and the encoder mounting ring 500.
In the above technical solution, the base 900 is formed by combining, assembling and fixing a plurality of structures, and it can be understood that the base 900 may be an integrated structure according to the requirement of the production process.
Further, in order to fix the base 900, the base further includes an annular rack fixing plate 920, and the rack fixing plate 920 is sleeved on the bottom sealing plate 930; the base 900 is fixedly supported and disposed on the rack fixing plate 920.
Further, in this embodiment, the encoder mounting ring 500 is frustum-shaped, and in order to prevent the center of gravity of the encoder mounting ring 500 from shifting, the base further includes an annular encoder fixing seat 910 connected and fixed to the base 900 and sleeved on the encoder mounting ring 500.
Further, a second annular protrusion 901 is formed on the top of the base 900, and the annular base body includes a housing 700 clamped inside the second annular protrusion 901 and fixedly sleeved on the stator 800.
Here, the restriction of the position of the stator 800 is achieved by the fitting structure of the housing 700 and the second annular projection 901.
The annular base body further comprises an annular step-shaped bearing support 600, and the bearing support 600 is clamped inside the shell 700 and positioned above the stator 800;
the labyrinth-sealed rotary table further includes a rotor mounting ring 300 fixedly installed above the rotor 400 and a bearing mounting ring 200 fixedly installed above the rotor mounting ring 300; the worktop 100 is fixedly mounted above the bearing mounting ring 200; thus, the working table 100 is fixedly connected with the rotor 400; it is understood that in other embodiments, the work table 100 may also be fixedly coupled directly to the rotor 400.
A turntable bearing 610 is arranged between the bearing support 600 and the bearing mounting ring 200;
the labyrinth seal is formed between the work table 100 and the bearing support 600.
Here, the turntable bearing 610 provides a rotation function for the workbench 100, and avoids the problems that a traditional rotary workbench usually adopts gear transmission or worm and gear transmission, and certain elastic deformation, increased useless friction, redundant reverse clearance and the like can be generated in the occasions of starting, turning, sudden stop and the like.
Further, the labyrinth type rotary table further includes a terminal box 950 mounted on the base 900 and connected to a torque motor and a driver (not shown) of the encoder reading head 940, and also connected to an external controller (not shown) through a cable. The rotation function is realized through the mutual cooperation of the driver and the controller.
Further, as shown in fig. 1, the labyrinth seal type rotary table operates in the following manner: the jig and the workpiece are positioned by the positioning pin and fixed on the working table 100 by the bolts, the frame fixing plate 920 is fixed on the frame (not shown in the figure) by the bolts, so that the main body of the labyrinth seal type rotary table can transmit acting forces in all directions to the frame, and the connecting box 950 is connected with the driver to realize the rotation of the torque motor and the feedback of the angle information of the encoder.
Further, as shown in fig. 4, fig. 4 is a schematic diagram illustrating a speed variation of a rotor according to a control method of a labyrinth sealed rotary table according to a preferred embodiment of the present invention. Where v represents the speed of the rotor 400 and t represents time. Specifically, the control method of the labyrinth sealed rotary table comprises the following steps:
step S1, calculating the speed and angular acceleration of the rotor 400 in real time according to the angle information of the rotor 400 fed back by the encoder reading head 940;
step S2, the speed and angular acceleration of the rotor 400 are controlled by the torque motor in the following manner:
the first stage is as follows: accelerating the speed of the rotor 400 from zero to a preset first speed value at a preset first angular acceleration;
and a second stage: accelerating the speed of the rotor 400 from the first speed value to a preset second speed value at a preset second angular acceleration; the value of the second angular acceleration is greater than the value of the first angular acceleration;
and a third stage: accelerating the speed of the rotor 400 from the second speed value to a preset third speed value at a preset third angular acceleration; the value of the third angular acceleration is smaller than the value of the second angular acceleration;
a fourth stage: the speed of the rotor 400 is moved at a third speed value;
the fifth stage: decelerating the speed of the rotor 400 from the third speed value to a preset fourth speed value at a preset fourth angular acceleration;
the sixth stage: decelerating the speed of the rotor 400 from the fourth speed value to a preset fifth speed value at a preset fifth angular acceleration; the value of the fifth angular acceleration is greater than the value of the fourth angular acceleration;
a seventh stage: decelerating the speed of the rotor 400 from the fifth speed value to zero at a preset sixth acceleration; the value of the sixth angular acceleration is smaller than the value of the fifth angular acceleration.
The circular arc processing of the speed is realized through the first stage, the third stage, the fifth stage and the seventh stage, so that the speed of the rotor does not change suddenly, vibration and noise are not generated, the rated torque of the torque motor is fully exerted, and compared with the maximum torque utilized by a triangular curve, the current is smaller, so that less heat loss is caused.
The labyrinth sealed rotary table adopts direct drive design, the maximum torque, the rated torque, the maximum rotating speed and the rated rotating speed are all fixed parameters, and the motion angle and the beat are determined by the application working condition of the labyrinth sealed rotary table, so that under the condition of knowing the maximum acceleration a, the maximum speed v, the operation angle, the operation time T and the rotating angle J, the algorithm curve of the labyrinth sealed rotary table under the application working condition can be obtained:
while the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (7)
1. A labyrinth sealed rotary table is characterized by comprising a torque motor, wherein the torque motor comprises a rotor (400) and a stator (800) sleeved on the rotor (400) and used for driving the rotor (400) to rotate; the labyrinth seal type rotary table also comprises a base for supporting and fixing the stator (800), and an encoder mounting ring (500) which is fixedly arranged at the bottom of the rotor (400) and can be rotatably arranged on the base; a labyrinth seal is arranged between the encoder mounting ring (500) and the base;
the labyrinth seal type rotary worktable also comprises an annular base body fixedly sleeved on the stator (800), and a worktable surface (100) fixedly connected with the rotor (400) and supported on the annular base body in a relatively rotatable manner; a labyrinth seal is arranged between the working table surface (100) and the annular base body;
the labyrinth seal type rotary table further comprises an encoder code disc (510) fixedly mounted on the encoder mounting ring (500), and an encoder reading head (940) fixedly mounted on the base and used for cooperating with the encoder code disc (510) to feed back the angle information of the rotor (400).
2. Labyrinth-sealing rotary table according to claim 1, characterized in that the base comprises an annular base (900), the stator (800) also being annular, supported above the base (900); the base further comprises a bottom sealing plate (930), the bottom sealing plate (930) comprises a base plate (931) and a first annular protrusion (932) which is convexly formed on the base plate (931), and the bottom sealing plate (930) is fixedly clamped inside the base (900) through the first annular protrusion (932) of the bottom sealing plate;
a labyrinth seal is formed between the base plate (931) and the encoder mounting ring (500).
3. The labyrinth-sealed rotary table according to claim 2, characterized in that the base further comprises an annular frame fixing plate (920), the frame fixing plate (920) being fitted over the bottom sealing plate (930); the base (900) is fixedly supported and arranged on the rack fixing plate (920).
4. The labyrinth-sealed rotary table according to claim 2, wherein the encoder mounting ring (500) is frustum-shaped, and the base further comprises an annular encoder holder (910) which is fixedly connected to the base (900) and fitted over the encoder mounting ring (500).
5. The labyrinth-seal type rotary table according to claim 2, characterized in that a second annular projection (901) is formed on the top of the base (900), and the annular base body comprises a housing (700) which is clamped inside the second annular projection (901) and fixedly sleeved on the stator (800).
6. The labyrinth-sealed rotary table according to claim 5, characterized in that the annular base body further comprises an annular stepped bearing support (600), the bearing support (600) being clamped inside the housing (700) and above the stator (800);
the labyrinth seal type rotary working table also comprises a rotor mounting ring (300) fixedly arranged above the rotor (400) and a bearing mounting ring (200) fixedly arranged above the rotor mounting ring (300); the working table top (100) is fixedly arranged above the bearing mounting ring (200);
a turntable bearing (610) is arranged between the bearing support seat (600) and the bearing mounting ring (200);
the labyrinth seal is arranged between the working table surface (100) and the bearing support seat (600).
7. A control method of a labyrinth seal type rotary table is characterized by comprising the following steps:
step S1, calculating the speed and the angular acceleration of the rotor (400) in real time through the angle information of the rotor (400) fed back by the reading head (940) of the encoder;
step S2, controlling the speed and angular acceleration of the rotor (400) by the torque motor in the following manner:
the first stage is as follows: accelerating the speed of the rotor (400) from zero to a preset first speed value at a preset first angular acceleration;
and a second stage: accelerating the speed of the rotor (400) from the first speed value to a preset second speed value at a preset second angular acceleration; the value of the second angular acceleration is greater than the value of the first angular acceleration;
and a third stage: accelerating the speed of the rotor (400) from the second speed value to a preset third speed value at a preset third angular acceleration; the value of the third angular acceleration is smaller than the value of the second angular acceleration;
a fourth stage: enabling the speed of the rotor (400) to move at a third speed value at a constant speed;
the fifth stage: decelerating the speed of the rotor (400) from the third speed value to a preset fourth speed value at a preset fourth angular acceleration;
the sixth stage: decelerating the speed of the rotor (400) from the fourth speed value to a preset fifth speed value at a preset fifth angular acceleration; the value of the fifth angular acceleration is greater than the value of the fourth angular acceleration;
a seventh stage: decelerating the speed of the rotor (400) from the fifth speed value to zero at a preset sixth acceleration; the value of the sixth angular acceleration is smaller than the value of the fifth angular acceleration.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010974608.XA CN114260863A (en) | 2020-09-16 | 2020-09-16 | Labyrinth sealed rotary table and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010974608.XA CN114260863A (en) | 2020-09-16 | 2020-09-16 | Labyrinth sealed rotary table and control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114260863A true CN114260863A (en) | 2022-04-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010974608.XA Pending CN114260863A (en) | 2020-09-16 | 2020-09-16 | Labyrinth sealed rotary table and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114260863A (en) |
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2020
- 2020-09-16 CN CN202010974608.XA patent/CN114260863A/en active Pending
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