CN1330955C - High-precise uniaxial magnetic-levitation revolving table - Google Patents
High-precise uniaxial magnetic-levitation revolving table Download PDFInfo
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- CN1330955C CN1330955C CNB2006100115617A CN200610011561A CN1330955C CN 1330955 C CN1330955 C CN 1330955C CN B2006100115617 A CNB2006100115617 A CN B2006100115617A CN 200610011561 A CN200610011561 A CN 200610011561A CN 1330955 C CN1330955 C CN 1330955C
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Abstract
The present invention relates to a high precision single shaft magnetic suspension rotary table which is composed of a torque motor, a lower protection bearing, a lower radial /axial integration displacement sensor, a lower radial magnetic suspension bearing, a lower bottom seat, a lower axial magnetic suspension bearing, a core shaft, an upper axial magnetic suspension bearing, an upper radial magnetic suspension bearing, an upper radial /axial integration displacement sensor, an upper bottom seat, an upper protection bearing, an angular position encoder and a working table, wherein the rotor part of the torque motor, the rotor part of the lower radial magnetic suspension bearing, the rotor part of the lower axial magnetic suspension bearing, the core shaft, the rotor part of the upper axial magnetic suspension bearing, the rotor part of the upper radial magnetic suspension bearing, the rotary part of the angular position encoder and the working table are rotary parts, and the rest are stationary parts. A stator and a rotor are in stable suspension in the way of not mechanically contacted through a radial magnetic suspension bearing and an axial suspension bearing. The present invention obviously reduces friction torque, improves control precision and system safety, and reduces the volume, the weight and the noise of a whole rotary table system.
Description
Technical field
The present invention relates to uniaxial magnetic-levitation revolving table, can be used to carry out the high precision measurement of element function such as spacecraft dynamics emulation and spacecraft topworks, can also carry out the demarcation of inertial navigation system and set up corresponding error model.
Background technology
Spacecraft dynamics artificial rotary table and spacecraft topworks test table (below be referred to as turntable) all are a kind of high precision apparatus, require moment of friction little, the measuring accuracy height.Its simulation and measuring accuracy directly influence control accuracy and the degree of stability of spacecraft topworks to spacecraft attitude.At present, turntable is generally and adopts aerostatic bearing and mechanical bearing supporting, because aerostatic bearing is very complicated on structural design, the processing and manufacturing accuracy requirement is very high, and needs a cover compressed air source unit (comprising air compressor, air drum, dryer, filtrator etc.), this just causes aerostatic bearing to need the professional to safeguard, and because gases at high pressure are arranged, so there is potential safety hazard, vibration noise is big, it is big to take up room, the maintenance cost height, shortcoming such as transport difficulty is big; And, exist mechanical friction moment big for the turntable of mechanical bearing supporting, and non-linear serious, shortcoming such as control system causes complexity, and control accuracy is low.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art, magnetic levitation technology is applied in the turret systems, a kind of uniaxial magnetic-levitation revolving table is provided, can be used to carry out the high precision measurement of element function such as spacecraft dynamics emulation and spacecraft topworks, can also carry out the demarcation of inertial navigation system and set up corresponding error model, this testing apparatus has no mechanical contact, low friction moment, safety, precision advantages of higher.
Technical solution of the present invention is a kind of uniaxial magnetic-levitation revolving table, it is characterized in that: mainly by torque motor, following protection bearing, the integrated displacement transducer of following radial/axial, following radial magnetic bearing, lower bottom base, following axial magnetic suspension bearing, mandrel, last axial magnetic suspension bearing, last radial magnetic bearing, the integrated displacement transducer of last radial/axial, upper bed-plate, last protection bearing, angular position encoder and worktable are formed, the rotor portion of torque motor wherein, the rotor portion of following radial magnetic bearing, the rotor portion of following axial magnetic suspension bearing, mandrel, the rotor portion of last axial magnetic suspension bearing, the rotor portion of last radial magnetic bearing, the rotating part of angular position encoder and worktable are the rotating part of turntable, all the other are the stationary part of turntable, realize that by radial magnetic bearing and axial magnetic suspension bearing the on-mechanical contact stabilization suspends between stator and the rotor; Last axial magnetic suspension bearing and following axial magnetic suspension bearing are positioned at the middle part of uniaxial magnetic-levitation revolving table, its stationary part links together with upper bed-plate and lower bottom base respectively, outwards be followed successively by radial magnetic bearing and following radial magnetic bearing, the last integrated displacement transducer of radial/axial and the integrated displacement transducer of following radial/axial, on protect bearing and following protection bearing, worktable and torque motor, angular position encoder is installed below worktable; The stationary part of last radial magnetic bearing and following radial magnetic bearing links together with upper bed-plate and lower bottom base respectively, and its rotor portion and mandrel link together.
The principle of such scheme is: rotating part and radial play and the torque motor stator and rotor radial play of stationary part of uniaxial magnetic-levitation revolving table by last radial magnetic bearing and following radial magnetic bearing maintenance turret systems is even, keep the rotating part of turret systems and the stationary part of turret systems to axially align by last axial magnetic suspension bearing and down axial magnetic suspension bearing, the while stator and rotor of holding torque motor are axially aligned.After the rotating part of turret systems is subjected to the interference of a certain factor, make the turret systems rotating part radially or end play when changing, the integrated displacement transducer of last radial/axial and the integrated displacement transducer of following radial/axial will in time detect radially or the variation of end play, send detection signal to adding controller, add controller by increasing or reduce to go up radial magnetic bearing and following radial magnetic bearing, or the electric current in the solenoid of last axial magnetic suspension bearing and following axial magnetic suspension bearing, increase or reduce to go up radial magnetic bearing and following radial magnetic bearing, or upward axial magnetic suspension bearing and the magnetic force of axial magnetic suspension bearing down, thereby the stationary part of maintenance turret systems and the radial and axial gap of rotating part are even, eliminate the influence of disturbing, keep the normal steady running of turret systems.
The present invention's advantage compared with prior art is: the present invention is owing to adopted the magnetic suspension bearing technology, promptly eliminated the moment of friction of mechanical bearing, improve control accuracy, reduced volume, the vibration noise of turret systems again, improved reliability, security and the maintainability of system.
Description of drawings
Fig. 1 is a uniaxial magnetic-levitation revolving table structural representation of the present invention;
Fig. 2 is the sectional view of the active outer steel radial direction magnetic bearing of permanent magnet bias of the present invention;
Fig. 3 is the sectional view of the active interior magnet steel radial direction magnetic bearing of permanent magnet bias of the present invention;
Fig. 4 is the sectional view of radial magnetic bearing of the present invention;
Fig. 5 is the sectional view of axial magnetic bearing of the present invention;
Fig. 6 is the sectional view of the active outer steel axial magnetic bearing of permanent magnet bias of the present invention;
Fig. 7 is the sectional view of the active interior magnet steel axial magnetic bearing of permanent magnet bias of the present invention;
Fig. 8 is the sectional view of the integrated displacement transducer of radial/axial of the present invention;
Fig. 9 is a torque motor axial section of the present invention;
Figure 10 is a protection bearing allocation plan axial section of the present invention.
Embodiment
As shown in Figure 1, the present invention mainly by torque motor 1, down protection bearing 2, down the integrated displacement transducer 3 of radial/axial, down radial magnetic bearing 4, lower bottom base 5, down axial magnetic suspension bearing 6, mandrel 7, go up axial magnetic suspension bearing 8, go up radial magnetic bearing 9, go up the integrated displacement transducer 10 of radial/axial, upper bed-plate 11, on protect bearing 12, angular position encoder 13 and worktable 14 to form.Wherein the rotor portion of the rotor portion of the rotor portion of torque motor 1, following radial magnetic bearing 4, following axial magnetic suspension bearing 6, mandrel 7, the rotor portion of going up axial magnetic suspension bearing 8, the rotor portion of going up radial magnetic bearing 9, the rotating part and the worktable 14 of angular position encoder 13 are rotating part, all the other are stationary part, realize that by radial magnetic bearing and axial magnetic suspension bearing the on-mechanical contact stabilization suspends between stator and the rotor; Last axial magnetic suspension bearing 8 and following axial magnetic suspension bearing 6 are positioned at the middle part of uniaxial magnetic-levitation revolving table, its stationary part links together with upper bed-plate 11 and lower bottom base 5 respectively, outwards be followed successively by radial magnetic bearing 9 and following radial magnetic bearing 4, its stationary part links together with upper bed-plate 11 and lower bottom base 5 respectively, and its rotating part and mandrel 7 link together; Last protection bearing 12 and following protection bearing 2 lay respectively at the end of mandrel 7; the integrated displacement transducer 10 of radial/axial between last protection bearing 12 and the last radial magnetic bearing 9 being; under protect between bearing 2 and the following radial magnetic bearing 4 and to be the integrated displacement transducer 3 of radial/axial down; torque motor 1 is in turret systems bottom; worktable 14 is in the top of turret systems; angular position encoder 13 is installed below worktable, can conducting ring be installed in the lower end of uniaxial magnetic-levitation revolving table as required and carries out the transmission of signal and energy.
At the described angular position encoder 13 of Fig. 1 can be photoelectric encoder, also can be rotary transformer.
Of the present inventionly going up radial magnetic bearing 9 and following radial magnetic bearing 4 be the on-mechanical contact bearing, can be the equal symmetrical structure of magnetic force, also but the unsymmetric structure that magnetic force does not wait.Can be active magnetic suspension bearing permanent magnet bias, Electromagnetic Control, magnet steel radial direction magnetic bearing in the active outer steel radial direction magnetic bearing of permanent magnet bias as shown in Figure 2, permanent magnet bias shown in Figure 3 are active; Also can be the magnetic suspension bearing of pure electric excitation, active radial magnetic bearing as shown in Figure 4 can also be the passive type magnetic suspension bearing that has only permanent magnetism.
In the active outer steel radial direction magnetic bearing of the described permanent magnet bias of Fig. 2, it mainly is made up of stator core 41, outer magnetic guiding loop 42, magnetism-isolating loop 43, magnetizing coil 44, permanent magnet 45, rotor core 46, interior magnetic guiding loop 47 and magnetic air gap 48, wherein rotor core 46 and interior magnetic guiding loop 47 are rotating part, and all the other are stationary part.
In the described permanent magnet bias of Fig. 3 is active in the magnet steel radial direction magnetic bearing, it mainly by stator core 41 ', outer magnetic guiding loop 42 ', magnetism-isolating loop 43 ', magnetizing coil 44 ', rotor core 45 ', interior magnetic guiding loop 46 ', permanent magnet 47 ' and magnetic air gap 48 ' form.Wherein rotor core 45 ', interior magnetic guiding loop 46 ' and permanent magnet 47 ' be rotating part, all the other are stationary part.
In the described radial magnetic bearing of Fig. 4, it mainly by stator core 41 ", magnetizing coil 42 ", magnetic air gap 44 ' and rotor core 43 " form, wherein rotor core 43 " be rotating part, all the other are stationary part.
The axial magnetic suspension bearing 8 of going up of the present invention is the on-mechanical contact bearing with following axial magnetic suspension bearing 6, can be the magnetic bearing of pure electric excitation, axial magnetic bearing as shown in Figure 5; Also can be the axial magnetic bearing of permanent magnet bias Electromagnetic Control, magnet steel axial magnetic bearing in the active outer steel axial magnetic bearing of permanent magnet bias as shown in Figure 6, permanent magnet bias shown in Figure 7 are active; It can also be the passive type magnetic suspension bearing.
In the described axial magnetic bearing of Fig. 5, it mainly is made up of magnetizing coil 83, bearing body 84, magnetic air gap 82 and rotor block 81, and wherein rotor block 81 is a rotating part, and all the other are stationary part.
In the active outer steel cod of the described permanent magnet bias of Fig. 6, it mainly by magnetic guiding loop 86 ', magnetic air gap 82 ', permanent magnet 85 ', magnetizing coil 83 ', bearing body 84 ' and rotor block 81 ' form, rotor block 81 ' be rotating part wherein, all the other are stationary part.
In the described permanent magnet bias of Fig. 7 is active in the magnet steel cod, it mainly is made up of magnetic guiding loop 86 ", magnetic air gap 82 ", permanent magnet 85 ", magnetizing coil 83 ", bearing body 84 " and rotor block 81 ", wherein rotor block 81, and " be rotating part, all the other are stationary part.
In the integrated displacement transducer of the described radial/axial of Fig. 8, it is mainly by two shaft position sensor probes 35,36 and four radial displacement transducer probes 31,32,33,34 form, wherein 4 radially pop one's head in and 31～34 survey orthogonal X and Y direction displacement signal respectively, two other axial probe 35 and 36 is surveyed Z direction displacement signal, eliminate the axial detection signal errors by mathematical operation, the prime amplifier of these 6 passages and probe are integrated, can survey the displacement signal of three directions of orthogonal vertical, in time detect radially or the variation of end play, send detection signal and give and add controller.
In the described torque motor of Fig. 9, it mainly is made up of stator core 87, stator coil 89, permanent magnet 91, rotor core 93 and magnetic air gap 95, and wherein stator core 87 and stator coil 89 are stationary part, and all the other are rotating part.
Of the present invention go up protection bearing 12 and following protection bearing 2 be go up radial magnetic bearing 9, down radial magnetic bearing 4, go up the protective device of axial magnetic suspension bearing 8, following axial magnetic suspension bearing 6 and torque motor 1; last radial magnetic bearing 9, down radial magnetic bearing 4, on axial magnetic suspension bearing 8 and shielding in the debug process of axial magnetic suspension bearing 6 down; it can be the angular contact ball bearing allocation plan of paired use shown in Figure 10; also can be the deep groove ball bearing allocation plan that uses in pairs, also can be the combination of two kinds of allocation plans.
In the described protection bearing of Figure 10 allocation plan axial section, it mainly by set nut 21, bearing seat 22, go up mechanical bearing 23, mechanical bearing 24, interior adjustment packing ring 25 and adjust packing ring 26 outward and form down.
Claims (5)
1, uniaxial magnetic-levitation revolving table, it is characterized in that: mainly by torque motor (1), following protection bearing (2), the integrated displacement transducer of following radial/axial (3), following radial magnetic bearing (4), lower bottom base (5), following axial magnetic suspension bearing (6), mandrel (7), last axial magnetic suspension bearing (8), last radial magnetic bearing (9), the integrated displacement transducer of last radial/axial (10), upper bed-plate (11), last protection bearing (12), angular position encoder (13) and worktable (14) are formed, the rotor portion of torque motor (1) wherein, the rotor portion of following radial magnetic bearing (4), the rotor portion of following axial magnetic suspension bearing (6), mandrel (7), the rotor portion of last axial magnetic suspension bearing (8), the rotor portion of last radial magnetic bearing (9), the rotating part of angular position encoder (13) and worktable (14) are the rotating part of turntable, all the other are the stationary part of turntable, realize that by radial magnetic bearing and axial magnetic suspension bearing the on-mechanical contact stabilization suspends between stator and the rotor; Last axial magnetic suspension bearing (8) and following axial magnetic suspension bearing (6) are positioned at the middle part of uniaxial magnetic-levitation revolving table, its stationary part links together with upper bed-plate (11) and lower bottom base (5) respectively, outwards be followed successively by radial magnetic bearing (9) and following radial magnetic bearing (4), go up the integrated displacement transducer of radial/axial (10) and the integrated displacement transducer of following radial/axial (3), on protect bearing (12) and following protection bearing (2), worktable (14) and torque motor (1), angular position encoder (13) is installed below worktable; The stationary part of last radial magnetic bearing (9) and following radial magnetic bearing (4) links together with upper bed-plate (11) and lower bottom base (5) respectively, and its rotor portion and mandrel (7) link together.
2, uniaxial magnetic-levitation revolving table according to claim 1, it is characterized in that: describedly go up radial magnetic bearing (9), go up axial magnetic suspension bearing (8), radial magnetic bearing (4) and time axial magnetic suspension bearing (6) are the magnetic suspension bearing that on-mechanical contacts down, it can be the magnetic suspension bearing of pure electric excitation, or the Active Magnetic Suspending Bearing of permanent magnet bias control or the active magnetic suspension bearing of Electromagnetic Control, or the passive type magnetic suspension bearing of permanent magnetism.
3, uniaxial magnetic-levitation revolving table according to claim 1 is characterized in that: described upward axial magnetic suspension bearing (8) and following axial magnetic suspension bearing (6) are the symmetrical structures that magnetic force equates, or the unequal unsymmetric structure of magnetic force.
4, according to claim 1 or 3 described uniaxial magnetic-levitation revolving tables, it is characterized in that: described torque motor (1) is a brushless D. C. torque motor, or the permanent magnet synchronous torque motor.
5, uniaxial magnetic-levitation revolving table according to claim 1 is characterized in that: described angular position encoder (13) is a photoelectric encoder, or rotary transformer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100115617A CN1330955C (en) | 2006-03-27 | 2006-03-27 | High-precise uniaxial magnetic-levitation revolving table |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100115617A CN1330955C (en) | 2006-03-27 | 2006-03-27 | High-precise uniaxial magnetic-levitation revolving table |
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| CN1865897A CN1865897A (en) | 2006-11-22 |
| CN1330955C true CN1330955C (en) | 2007-08-08 |
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| CNB2006100115617A Expired - Fee Related CN1330955C (en) | 2006-03-27 | 2006-03-27 | High-precise uniaxial magnetic-levitation revolving table |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106312863A (en) * | 2015-11-18 | 2017-01-11 | 无锡市友佳车辆配件厂 | Suspension type detecting device for vehicle frame |
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| CN101275883B (en) * | 2007-03-26 | 2011-02-16 | 北京智源博科技有限公司 | Uniaxial full physical simulation magnetic floating platform |
| CN101286281B (en) * | 2008-06-03 | 2010-04-14 | 清华大学 | Rigid-elastic liquid coupled spacecraft physical simulation experiment system |
| CN101847008A (en) * | 2010-05-24 | 2010-09-29 | 哈尔滨工业大学 | Flexible spacecraft ground control test platform and test method |
| CN105414180B (en) * | 2015-11-03 | 2017-11-07 | 大连交通大学 | Magnetic suspension superconduction rolling mill |
| CN106239397A (en) * | 2015-11-18 | 2016-12-21 | 无锡市友佳车辆配件厂 | The test fixture of vehicle frame |
| CN105697561B (en) * | 2016-03-31 | 2018-08-24 | 陕西宝成航空仪表有限责任公司 | A kind of axial floating radial tightening fixes the tumbler of inertance element place rotor |
| CN106181435A (en) * | 2016-08-26 | 2016-12-07 | 景德镇翼腾科技有限公司 | Electric turntable and control method thereof |
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| CN107144301B (en) * | 2017-04-17 | 2019-09-06 | 北京航天控制仪器研究所 | A kind of simulation testing environment of multiple degrees of freedom aggregate motion simulation |
| CN108206607A (en) * | 2018-02-14 | 2018-06-26 | 中国科学院国家天文台南京天文光学技术研究所 | Self bearing motor direct drive unit |
| CN108426692B (en) * | 2018-04-27 | 2023-12-08 | 唐山森普矿山装备有限公司 | Magnetic suspension rotor experiment table and magnetic suspension rotor test analysis method |
| CN108591750B (en) * | 2018-05-10 | 2020-11-10 | 中国科学院国家天文台南京天文光学技术研究所 | Large-sized precise magnetic suspension rotary worktable |
| CN108905179A (en) * | 2018-09-11 | 2018-11-30 | 广州市勇源运动用品科技有限公司 | A kind of magnetic suspension roller skate |
| CN112729338B (en) * | 2020-12-23 | 2023-07-25 | 北京航空航天大学 | Magnetic suspension turntable with fifteen degrees of freedom applied to semi-physical simulation platform |
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- 2006-03-27 CN CNB2006100115617A patent/CN1330955C/en not_active Expired - Fee Related
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|---|---|---|---|---|
| CN1484036A (en) * | 2003-08-07 | 2004-03-24 | 武汉理工大学 | Method for testing coupling property of magnetic suspension rotor system and tesl platform |
Non-Patent Citations (3)
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| 燃气涡轮发送机磁悬浮轴承试验台的稳定性研究 张钢，张建生，李松生，杨新洲，吴剑锋，汪希平，燃气涡轮试验与研究，第16卷第2期 2003 * |
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| CN106312863A (en) * | 2015-11-18 | 2017-01-11 | 无锡市友佳车辆配件厂 | Suspension type detecting device for vehicle frame |
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| CN1865897A (en) | 2006-11-22 |
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