CN106545494B - planetary rotor pump - Google Patents
planetary rotor pump Download PDFInfo
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- CN106545494B CN106545494B CN201510598909.6A CN201510598909A CN106545494B CN 106545494 B CN106545494 B CN 106545494B CN 201510598909 A CN201510598909 A CN 201510598909A CN 106545494 B CN106545494 B CN 106545494B
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- knuckle
- planet
- rotor
- planetary
- servo motor
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Abstract
The invention discloses a kind of planetary rotor pumps, including main motor, knuckle-tooth worm screw, planet rotor, encoder, servo motor and control circuit；Knuckle-tooth worm screw, one end pass through the output axis connection of first shaft coupling and main motor, and the other end is connect by second shaft coupling with encoder；Knuckle-tooth face is engaged with the planetary wheel mechanical of planet rotor in the middle part of knuckle-tooth worm screw；The connection of the main shaft of servo motor and planet rotor；Encoder is used to measure the revolving speed and angular position of main motor；Control circuit is according to main motor revolving speed and angular position signal, calculate output servo motor follows speed and position signal, control servo motor is rotated by main shaft drives planet rotor, and planetary gear and the knuckle-tooth of knuckle-tooth worm screw on planet rotor is made to match successively synchronous occlusion.Planetary rotor pump of the invention, mechanical structure is simple, and installation, adjustment and maintenance are all more convenient, can be reduced the stress abrasion of the planetary gear knuckle-tooth of planet rotor, extends the service life of planetary rotor pump.
Description
Technical field
The present invention relates to drive technology more particularly to planetary rotor pumps.
Background technique
Impeller pump is also known as colloid pump, lobe pump, three blade pump, general-purpose delivery pump etc., and impeller pump belongs to positive displacement pump.It is by
The periodicity of multiple fixed volumes conveying unit in working chamber, which is converted, achievees the purpose that trandfer fluid.The machine of motor
Tool can be converted into the pressure energy of trandfer fluid by pumping, the flow of pump be solely dependent upon working chamber volume changing value and its
Change frequency in unit time, and it is (theoretically) unrelated with discharge pressure；Impeller pump during the work time indeed through
The rotor of a pair of of synchronous rotary, rotor are driven by intracorporal a pair of of the synchromesh gear of case, rotor under the drive of major-minor axis, into
The synchronous opposite direction rotation of row, makes the volume of pump change, to constitute higher vacuum degree and discharge pressure.Impeller pump relies on
The rotor (number of teeth is 2-4) of two synchronous backwards rotation generates suction (vacuum degree) in entrance in rotary course, to suck
The material to be conveyed, rotor chamber is separated into several small spaces by two rotors, and is operated by a → b → c → d order.Operating is extremely
When a of position, medium is full of only in the room I；When to position b, B encloses certain media in room；When to position C, A is also closed in room
Medium；When to position d, the room the A room B is communicated with II Room, and medium is transported to discharge port.It loops back and forth like this, medium (object
Material) continually transferred out.Impeller pump is particularly suitable for the conveying of sanitation-grade medium and corrosivity, high viscosity medium.
Planetary rotor pump is used primarily in the highly concentrated steady high-pressure delivery containing particle and fibrous solids slurry, conveys high concentration
Slurry can generally generate violent wear effects to the pump housing.In particular, when worm screw knuckle-tooth face and planetary gear knuckle-tooth face have directly
When physical contact, the wear effects of generation are just bigger, this will have a direct impact on the service life of planet rotor.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of planetary rotor pumps, and mechanical structure is simple, installation, adjustment and dimension
Shield is all more convenient, can be reduced the stress abrasion of the planetary gear knuckle-tooth of planet rotor, extends the service life of planet rotor.
In order to solve the above technical problems, planetary rotor pump provided by the invention comprising main motor, knuckle-tooth worm screw, planet
Rotor, encoder, servo motor and control circuit；
The planet rotor, including planet carrier, main shaft, multiple planetary gears, multiple planet wheel spindles；
The planet carrier, it is in the form of annular discs；
The main shaft perpendicular to planet carrier, and is fixed on the center of planet carrier；
Each planet wheel spindle, perpendicular to planet carrier, be evenly distributed on planetary wheel carrier and to the center of planet carrier away from
From equal；
Each planetary gear is separately fixed on each planet wheel spindle；
The knuckle-tooth worm screw, one end pass through the output axis connection of first shaft coupling and main motor, and the other end passes through second
Axis device is connect with the encoder；
The knuckle-tooth worm screw, middle part knuckle-tooth face are engaged with the planetary wheel mechanical of planet rotor；
The servo motor is connect with the main shaft of planet rotor；
The encoder, for measuring the revolving speed and angular position of main motor, and by the main motor revolving speed measured and
Angular position signal is transferred to the control circuit；
The control circuit, according to main motor revolving speed and angular position signal, calculate output servo motor follows speed
And position signal, it controls the servo motor and is rotated by planet rotor described in the main shaft drives, make the row on planet rotor
Star-wheel matches successively synchronous occlusion with the knuckle-tooth of knuckle-tooth worm screw.
Preferably, there is gap in the knuckle-tooth face of the knuckle-tooth worm screw between the planetary gear of mechanical snap.
Preferably, the planetary rotor pump, further includes servo-driver, signal transition card；
The control circuit, using programmable logic controller (PLC)；
The servo-driver allows servo motor to move by the control speed of its output, and defeated for driving servo motor
Long line style feedback signal is to programmable logic controller (PLC) out；
The signal transition card, the long line style feedback signal that the servo-driver is exported are converted into programmable logic control
Device processed can received open collector signal.
Preferably, the servo motor, is connected by the main shaft of speed reducer and planet rotor.
Preferably, the main motor, is alternating current generator.
Preferably, the speed Vf that follows of servo motor is：
Vf=Vm/ (K1*K2), Vm are the revolving speed of main motor, and K1 is the reduction ratio of knuckle-tooth worm screw and planet rotor, and K2 is to watch
Take the reduction ratio of motor side speed reducer；
The position deviation e that follows of servo motor is：
E=Xm/ (K1*K2)-y, Xm are the angular position of main motor, and y is that the angular position value of servo motor carries out single order
Numerical value after differential calculation.
Planetary rotor pump of the invention drives knuckle-tooth worm screw and encoder one to start shipment when the rotation of the output shaft of main motor
Dynamic, encoder is measured with regard to the revolving speed and angular position of main motor, and the main motor revolving speed and angular position that will be measured
Signal is transferred to control circuit, control circuit according to main motor revolving speed and angular position signal, calculate output servo motor with
With speed and position signal, controls servo motor and rotated by main shaft drives planet rotor.Planetary rotor pump of the invention, it is mechanical
Structure is simple, and installation, adjustment and maintenance are all more convenient, the movement of the accurate real-time tracking knuckle-tooth worm screw of servo motor energy, driving
Planet rotor rotates synchronously, and guarantees to maintain gap between when knuckle-tooth worm screw and planet turn gear motion, reduces planet rotor
The stress of planetary gear knuckle-tooth is worn, and the service life of planetary rotor pump is extended.
Detailed description of the invention
In order to illustrate more clearly of technical solution of the present invention, the required attached drawing of the present invention is made below simple
It introduces, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ordinary skill people
For member, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is planet rotor structural schematic diagram；
Fig. 2 is the mechanical structure schematic diagram of one embodiment of planetary rotor pump of the invention；
Fig. 3 is AA ' the section machinery structural schematic diagram of Fig. 2；
Fig. 4 is the transmission principle figure of one embodiment of planetary rotor pump of the invention；
Fig. 5 is the control structure schematic diagram of one embodiment of planetary rotor pump of the invention；
Fig. 6 is the Mathematical model control block diagram of one embodiment of planetary rotor pump of the invention.
Specific embodiment
Below in conjunction with attached drawing, clear, complete description is carried out to the technical solution in the present invention, it is clear that described
Embodiment is a part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is general
Logical technical staff all other embodiment obtained without making creative work, belongs to protection of the present invention
Range.
Embodiment one
Planetary rotor pump, as shown in Figure 2, Figure 3, Figure 4, including main motor 2, knuckle-tooth worm screw 3, planet rotor 1, encoder 4,
Servo motor 5 and control circuit；
The planet rotor 1, as shown in Figure 1, including planet carrier 11, main shaft 12, multiple planetary gears 14, multiple planet wheel spindles
13；
The planet carrier 11, it is in the form of annular discs；
The main shaft 12 perpendicular to planet carrier 11, and is fixed on the center of planet carrier 11；
Each planet wheel spindle 13 is evenly distributed on planetary wheel carrier 11 perpendicular to planet carrier 11 and arrives planet carrier 11
Center is equidistant；
Each planetary gear 14 is separately fixed on each planet wheel spindle 13；
The knuckle-tooth worm screw 3, by the output axis connection of first shaft coupling 81 and main motor 2, the other end passes through for one end
Two shaft couplings 82 are connect with the encoder 4；
The knuckle-tooth worm screw 3,14 mechanical snap of planetary gear in middle part knuckle-tooth face and planet rotor 1；
The servo motor 5 is connect with the main shaft 12 of planet rotor 1；
The encoder 4, for measuring the revolving speed and angular position of main motor 2, and the main motor revolving speed that will be measured
The control circuit is transferred to angular position signal；
The control circuit, according to main motor revolving speed and angular position signal, calculate output servo motor 5 follows speed
And position signal, it controls the servo motor 5 and drives the planet rotor 1 to rotate by the main shaft 12, make on planet rotor 1
Planetary gear 14 and the knuckle-tooth of knuckle-tooth worm screw 3 match successively synchronous occlusion.
Preferably, there is gap in the knuckle-tooth face at 3 middle part of knuckle-tooth worm screw between the planetary gear 14 of mechanical snap.
The planetary rotor pump of embodiment one drives knuckle-tooth worm screw and encoder together when the rotation of the output shaft of main motor
Movement, encoder measures with regard to the revolving speed and angular position of main motor, and by the main motor revolving speed measured and corner position
Confidence number is transferred to control circuit, and control circuit calculates output servo motor according to main motor revolving speed and angular position signal
Speed and position signal are followed, control servo motor is rotated by main shaft drives planet rotor.The planetary rotor pump of embodiment one,
Mechanical structure is simple, and installation, adjustment and maintenance are all more convenient, the movement of the accurate real-time tracking knuckle-tooth worm screw of servo motor energy,
It drives planet rotor to rotate synchronously, guarantees to maintain gap between when knuckle-tooth worm screw and planetary gear gear motion, reduce planet and turn
The stress abrasion of the planetary gear knuckle-tooth of son, extends the service life of planetary rotor pump.
Embodiment two
Based on the planetary rotor pump of embodiment one, as shown in figure 5, further including servo-driver, signal transition card；
The control circuit, using PLC (programmable logic controller (PLC))；
The servo-driver allows servo motor to move by the control speed of its output, and defeated for driving servo motor
Long line style feedback signal is to PLC out.The signal transition card, the long line style feedback signal that the servo-driver is exported are converted
It can received open collector signal at PLC.
Preferably, the servo motor 5, is connect by speed reducer 6 with the main shaft 12 of planet rotor 1.
Preferably, the main motor 2, is alternating current generator.Main motor requires power larger, generally in 15kw or more, in order to
Cost is saved, common alternating current generator can be selected.In practice, cost is not minded such as, wants to reach better control effect,
Variable-frequency motor or servo motor can be selected in main motor.
The planetary rotor pump of embodiment two, control circuit use PLC, and flexible design, hardware cost is low.Long line style feedback letter
It number is a kind of high-speed pulse form that servo-driver feeds back to upper-level control system, common small PLC can only receive current collection
The high-speed pulse signal of pole open circuit form, can not receive the pulse signal of long line style.The planetary rotor pump of embodiment two, passes through
The long line style feedback signal that servo-driver exports is converted into the collection that common low price small PLC can receive by signal transition card
(open collector signal, that is, signal are derived from the collector of triode or Darlington transistor to electrode open circuit signaling, when triode is cut
When only, the resistance of collector over the ground is high impedance, and as there is a pull-up resistor to connect high level on collector, output at this time is high electricity
For flat when triode is saturated, output at this time is low level), it can further reduce the cost, improve cost performance.
Embodiment three
Based on the planetary rotor pump of embodiment one, as shown in fig. 6, the speed Vf that follows of servo motor is：
Vf=Vm/ (K1*K2), Vm are the revolving speed of main motor, and K1 is the reduction ratio of knuckle-tooth worm screw and planet rotor, and K2 is to watch
Take the reduction ratio of motor side speed reducer；
The position deviation e that follows of servo motor is：
E=Xm/ (K1*K2)-y, Xm are the angular position of main motor, and y is that the angular position value of servo motor carries out single order
Numerical value after differential calculation.
Since common alternating current generator speed of service fluctuation is big, servo motor is followed in order to quickly track the speed of alternating current generator
Degree and position, and control in the adjustable range of mechanical clearance, need to establish effective Motion Controlling Model.
PID control is made of ratio, integral, differential regulator parallel connection.Three kinds of adjusters are combined performance
Respective advantage is to reach ideal regulating effect.
Proportional control action, the effect of proportional are proportionally to amplify the amplitude of deviation.Proportional controller exists static
Deviation stablizes system in the new stable state for deviateing given value.In addition, Proportional coefficient K p is also influence ratio tune
The factor of section.Kp increases, and can accelerate the response speed of system, reduces static system deviation, mentions high control precision.But Kp is excessive
It will lead to biggish overshoot, cause system unstable.Kp reduces the overshoot that can reduce system, but can reduce system and adjust essence
Degree.
Autocatalytic reset action, in integration control, the output of controller and input error signal are integrated into proportionate relationship.
As long as there are deviation between controlled variable and given value, the output signal numerical value of adjuster changes.Work as deviation signal
After disappearance, the output signal of adjuster stops variation.The advantages of integral controller is can be to avoid the generation of static deviation.But
The disadvantage is that being easy to produce over control.
Derivation regulating action, differential adjusting is adjusted according to the pace of change of deviation, so its movement speed is wanted
It is faster than proportional controller.Adjustment effect that is this advanced and reinforcing can reduce the dynamic deviation of controlled variable.
Since the stability bandwidth of alternating current generator operation is very big, simple parallel connection PID adjusting can not be followed in place.Embodiment three
Planetary rotor pump, be added first derivative element, to follow servo motor angular position value carry out differential, make servo motor
It follows deviation control in scope of design, is frequently gone up and down to control the speed of alternating current generator, it can be to avoid the speed of alternating current generator
System oscillation caused by fluctuating, improves the dynamic property of system.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent substitution, improvement and etc. done be should be included within the scope of the present invention.
Claims (6)
1. a kind of planetary rotor pump, which is characterized in that including main motor, knuckle-tooth worm screw, planet rotor, encoder, servo motor
And control circuit；
The planet rotor, including planet carrier, main shaft, multiple planetary gears, multiple planet wheel spindles；
The planet carrier, it is in the form of annular discs；
The main shaft perpendicular to planet carrier, and is fixed on the center of planet carrier；
Each planet wheel spindle is evenly distributed on the distance phase at the center on planetary wheel carrier and to planet carrier perpendicular to planet carrier
Deng；
Each planetary gear is separately fixed on each planet wheel spindle；
The knuckle-tooth worm screw, one end pass through the output axis connection of first shaft coupling and main motor, and the other end passes through second shaft coupling
It is connect with the encoder；
The knuckle-tooth worm screw, middle part knuckle-tooth face are engaged with the planetary wheel mechanical of planet rotor；
The servo motor is connect with the main shaft of planet rotor；
The encoder, for measuring the revolving speed and angular position of main motor, and the main motor revolving speed and corner that will be measured
Position signal is transferred to the control circuit；
The control circuit, according to main motor revolving speed and angular position signal, calculate output servo motor follows speed and position
Confidence number controls the servo motor and is rotated by planet rotor described in the main shaft drives, makes the planetary gear on planet rotor
Successively synchronous occlusion is matched with the knuckle-tooth of knuckle-tooth worm screw.
2. planetary rotor pump according to claim 1, which is characterized in that
There is gap in the knuckle-tooth face of the knuckle-tooth worm screw between the planetary gear of mechanical snap.
3. planetary rotor pump according to claim 1, which is characterized in that
The planetary rotor pump further includes servo-driver, signal transition card；
The control circuit, using programmable logic controller (PLC)；
The servo-driver allows servo motor to move by the control speed of its output, and export length for driving servo motor
Line style feedback signal is to programmable logic controller (PLC)；
The signal transition card, the long line style feedback signal that the servo-driver is exported are converted into programmable logic controller (PLC)
It can received open collector signal.
4. planetary rotor pump according to claim 1, which is characterized in that
The servo motor is connected by the main shaft of speed reducer and planet rotor.
5. planetary rotor pump according to claim 1, which is characterized in that
The main motor is alternating current generator.
6. planetary rotor pump according to claim 1, which is characterized in that
The speed Vf that follows of servo motor is：
Vf=Vm/ (K1*K2), Vm are the revolving speed of main motor, and K1 is the reduction ratio of knuckle-tooth worm screw and planet rotor, and K2 is servo electricity
The reduction ratio of pusher side speed reducer；
The position deviation e that follows of servo motor is：
E=Xm/ (K1*K2)-y, Xm are the angular position of main motor, and y is that the angular position value of servo motor carries out first differential
Numerical value after calculating.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510598909.6A CN106545494B (en) | 2015-09-18 | 2015-09-18 | planetary rotor pump |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510598909.6A CN106545494B (en) | 2015-09-18 | 2015-09-18 | planetary rotor pump |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106545494A CN106545494A (en) | 2017-03-29 |
| CN106545494B true CN106545494B (en) | 2018-11-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510598909.6A Expired - Fee Related CN106545494B (en) | 2015-09-18 | 2015-09-18 | planetary rotor pump |
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| CN (1) | CN106545494B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109838382B (en) * | 2019-04-12 | 2024-12-31 | 阜新金昊空压机有限公司 | A large displacement rotary compressor |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2197485Y (en) * | 1993-12-25 | 1995-05-17 | 大连理工大学 | Worm pump with a ring and a gear |
| CN102155405A (en) * | 2011-05-06 | 2011-08-17 | 沈阳工业大学 | Intelligent revolving speed control system and control method for submersible oil screw pump |
| CN102364104A (en) * | 2011-10-29 | 2012-02-29 | 董孝连 | Round-tooth worm type slurry pump |
| CN103486026A (en) * | 2013-08-26 | 2014-01-01 | 薛世忠 | Screw pump safety interlock control system and control method thereof |
| CN205001177U (en) * | 2015-09-18 | 2016-01-27 | 上海浩蕊峰自动化设备有限公司 | Planetary rotor pump |
-
2015
- 2015-09-18 CN CN201510598909.6A patent/CN106545494B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2197485Y (en) * | 1993-12-25 | 1995-05-17 | 大连理工大学 | Worm pump with a ring and a gear |
| CN102155405A (en) * | 2011-05-06 | 2011-08-17 | 沈阳工业大学 | Intelligent revolving speed control system and control method for submersible oil screw pump |
| CN102364104A (en) * | 2011-10-29 | 2012-02-29 | 董孝连 | Round-tooth worm type slurry pump |
| CN103486026A (en) * | 2013-08-26 | 2014-01-01 | 薛世忠 | Screw pump safety interlock control system and control method thereof |
| CN205001177U (en) * | 2015-09-18 | 2016-01-27 | 上海浩蕊峰自动化设备有限公司 | Planetary rotor pump |
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| Publication number | Publication date |
|---|---|
| CN106545494A (en) | 2017-03-29 |
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Granted publication date: 20181120 Termination date: 20200918 |