Energy-saving dual-motor redundant backup stage rotating device

Abstract

The invention relates to the technical field of stage machinery, in particular to an energy-saving dual-motor redundant backup stage rotating device which comprises a rotating table, a protective frame and a fixed bottom frame, the protective frame is fixedly arranged at the top of the fixed bottom frame, and the rotating table is rotationally arranged at the top of the protective frame. The rotating balls at the bottom of the rotating table are in rolling fit with the supporting sliding sleeves at the top of the protection frame, traditional sliding contact is replaced with rolling contact, mechanical friction loss in the rotating process is greatly reduced, the supporting stability of the rotating table during rotating is guaranteed, meanwhile, the rotating smoothness is remarkably improved, and the service life of the rotating table is prolonged. The problem of rotation blockage caused by large friction resistance is avoided; the direct-drive motor in the middle of the top of the fixed bottom frame is directly connected with the rotating table through the rotating shaft and the direct-drive rotating shaft, intermediate transmission links such as a speed reducer and a belt in a traditional device are omitted in a direct-drive mode, energy loss in the transmission process is reduced, the driving efficiency is further improved, and the energy-saving effect is enhanced.

Description

Technical Field

[0001] This invention relates to the field of stage machinery technology, specifically to an energy-saving dual-motor redundant backup stage rotating device. Background Technology

[0002] In order to achieve good stage effects and frequent scene changes during a performance, a large number of driving devices are often required. If a piece of equipment malfunctions during the performance, it will occupy the performance space, making it impossible for the next scene change to take place as scheduled, affecting the actors' normal scene changes, and even causing the entire performance to stop unexpectedly in the middle of the show. This will seriously affect the theater's operating revenue and bring serious economic losses.

[0003] Existing stage rotating devices mostly employ sliding support structures. The frictional resistance generated by sliding contact is significant, reducing the smoothness of the turntable's rotation and increasing the load on the drive motor, leading to high energy consumption. Regarding the drive system, some devices use a single motor; if the motor fails, the entire device will stop, severely impacting the performance schedule. Even those devices with dual motors suffer from slow switching response and low reliability due to the lack of a convenient and reliable power switching structure, making rapid redundancy difficult. Furthermore, fault detection in existing devices is often limited to monitoring single parameters, failing to comprehensively assess the operating status of mechanical components. This can lead to delayed or misjudged fault warnings, resulting in increased mechanical damage. Additionally, some redundant transmission structures use single-stage gear transmissions, which lack sufficient transmission stability and auxiliary support design for the turntable. Under heavy loads, this can cause the turntable to wobble, affecting positioning accuracy.

[0004] To address this, we propose an energy-saving dual-motor redundant backup stage rotation device. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides an energy-saving dual-motor redundant backup stage rotation device to solve the aforementioned technical defects.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an energy-saving dual-motor redundant backup stage rotating device, comprising a rotating platform, a protective frame, and a fixed base. The protective frame is fixedly mounted on the top of the fixed base, and the rotating platform is rotatably mounted on the top of the protective frame. A direct drive motor is fixedly mounted in the middle of the top of the fixed base, and a rotating shaft is fixedly mounted on the top of the output shaft of the direct drive motor. A direct drive shaft is fixedly mounted in the middle of the bottom of the rotating platform, and the bottom of the direct drive shaft is rotatably connected to the top of the rotating shaft. Two connecting sleeves are movably mounted on the bottom of the direct drive shaft. Miniature electric cylinders are fixedly mounted on both sides of the lower part of the direct drive shaft, and one end of the drive shaft of each of the two miniature electric cylinders is fixedly connected to one side of each of the two connecting sleeves. A redundant motor is fixedly installed on one side of the top of the fixed base frame, and a drive gear is fixedly installed at the bottom of the output shaft of the redundant motor. A driven gear ring is rotatably installed on the top of the fixed base frame, and a transmission gear ring is installed on the top of the driven gear ring through a connecting component. The outer circumferential surface of the transmission gear ring meshes with the outer circumferential surface of the drive gear for transmission. Several driven gears are rotatably installed on the top of the fixed base frame, and a support rod is fixedly installed inside the driven gear. A sliding groove is provided at the bottom of the rotary table, and the top of the support rod is slidably connected to the inside of the sliding groove. A transmission gear is fixedly installed at the top of the support rod. An internal gear ring is fixedly installed at the bottom of the rotary table, and the outer circumferential surfaces of several transmission gears mesh with the internal teeth of the internal gear ring for transmission. The protective frame is also equipped with a safety redundancy intelligent control system, which includes a displacement accuracy detection module, a temperature anomaly analysis module, a vibration fault identification module, and a mechanical component loosening judgment module.

[0007] Preferably, the bottom of the rotary table is provided with a plurality of rotating balls, the top of the protective frame is provided with a support sleeve that cooperates with the rotating balls, and the lower surfaces of the plurality of rotating balls are all in sliding contact with the interior of the support sleeve.

[0008] Preferably, the surface of the rotating shaft is provided with a plurality of vertical slots, and each of the two connecting sleeves is provided with a plurality of vertical blocks that cooperate with the vertical slots on the opposite side.

[0009] Preferably, the connecting assembly includes a second miniature electric cylinder, a mating block, and a mating groove. The second miniature electric cylinder is fixedly installed inside the transmission gear ring, and a mating block is fixedly installed at the bottom end of the drive shaft of the second miniature electric cylinder. A mating groove is provided on the top of the driven gear ring. A connecting protrusion is provided on the outer peripheral surface of the mating block, and a connecting groove that mates with the connecting protrusion is provided on one side of the inner wall of the mating groove.

[0010] Preferably, the displacement accuracy detection module collects displacement and rotation speed parameters, calculates and analyzes them to obtain an estimated displacement value, and verifies whether the accuracy meets the standard by calculating displacement deviation, thus providing accurate displacement feedback for the intelligent control of the stage rotation device; the specific calculation and analysis method is as follows: A laser displacement sensor mounted on the top of the fixed base frame measures the displacement of the rotary table in real time. Simultaneously, encoders are installed on the output shafts of the direct-drive motor and the redundant motor to collect their rotational speeds. The laser displacement sensor operates at fixed sampling intervals. Multiple sets of displacement measurements were continuously collected. Simultaneously, the encoder synchronously acquires the rotational speed from the previous moment. ; By calculating and analyzing the actual displacement measurement value and rotational speed at time n-1, the predicted displacement value at the current time is obtained. Then, the predicted displacement value and the current laser measurement value are fused and calculated to obtain the estimated displacement value. Finally, the displacement deviation between the estimated displacement value and the target displacement is calculated. .

[0011] Preferably, the temperature anomaly analysis module uses a fixed sampling period. Continuously collect temperature data of motor windings According to the formula Calculate the rate of temperature change, when If this occurs, a temperature anomaly warning will be triggered.

[0012] Preferably, the vibration fault identification module acquires the time-domain signal of the rotating shaft vibration acceleration at a sampling frequency of 1000Hz. Discretized into sampled values N is the number of sampling points; according to the formula The effective value of vibration was calculated. Let be the sampled value of the i-th vibration acceleration; if the effective value of the vibration at a certain moment is... If so, the vibration is deemed to be exceeding the limit.

[0013] Preferably, the mechanical component loosening determination module is used to receive displacement deviation, temperature change rate, and vibration effective value for comprehensive analysis. When the displacement deviation... , and If the mechanical parts are found to be loose, an intelligent control strategy is generated, instructing the redundant motor to supplement torque and reduce speed.

[0014] Compared with existing technologies, it has the following advantages: 1. By using a series of rotating balls at the bottom of the rotary table to form a rolling contact with the support sleeve at the top of the protective frame, the rolling contact replaces the traditional sliding contact, significantly reducing mechanical friction loss during rotation. This not only meets the energy-saving design requirements but also ensures the support stability of the rotary table during rotation, while significantly improving the smoothness of rotation and avoiding rotational jamming caused by high frictional resistance. The direct drive motor at the top center of the fixed base frame is directly connected to the rotary table through a rotating shaft and a direct drive shaft. The direct drive method eliminates intermediate transmission links such as reducers and belts in traditional devices, reducing energy loss during transmission, further improving drive efficiency, and enhancing energy-saving effects.

[0015] 2. Two miniature electric cylinders at the bottom of the direct-drive shaft can quickly engage or disengage the connecting sleeve with the vertical groove on the surface of the rotating shaft, providing a convenient structural basis for the power connection / disconnection between the direct-drive motor and the turntable. When the direct-drive motor fails, the redundant motor can drive the turntable to continue operating through a multi-stage gear meshing transmission system composed of a drive gear, transmission gear ring, driven gear ring, driven gear, support rod, transmission gear, and internal gear ring, avoiding equipment downtime and ensuring performance continuity. Furthermore, the transmission gear ring and driven gear ring achieve limited connection / disconnection through connecting components, mating blocks, and mating grooves. The precise engagement of the connecting protrusion of the mating block and the connecting groove of the mating groove improves the reliability and efficiency of redundant transmission switching, solving the problems of complex structure and slow response in traditional dual-motor switching.

[0016] 3. The sliding connection design between the top of the support rod and the sliding groove at the bottom of the rotary table provides additional circumferential support for the rotary table, preventing it from swaying under heavy load or high speed, while not hindering the normal rotation of the rotary table, thus further improving the overall operational stability of the device. At the same time, this structure, in conjunction with the direct drive positioning of the direct drive motor and the synchronous transmission of the redundant transmission, indirectly ensures the positioning accuracy of the rotary table.

[0017] 4. The safety redundancy intelligent control system inside the protective frame overcomes the limitations of traditional single-parameter detection through multi-module collaborative operation: The displacement accuracy detection module, using a laser displacement sensor installed on the top of the fixed base frame and encoders on the output shafts of the direct drive motor and redundant motor, combines the displacement prediction value and laser measurement value with a Kalman filter algorithm to provide accurate displacement feedback for the rotary table, ensuring positioning accuracy; The temperature anomaly analysis module uses a PT100 thermal resistor installed on the surface of the motor winding to collect temperature data and calculate the temperature change rate, realizing early warning of motor faults; The vibration fault identification module acquires the vibration acceleration signal of the rotating shaft at a sampling frequency of 1000Hz, determines whether the vibration exceeds the limit by calculating the effective value of vibration, and promptly identifies abnormalities of the rotating shaft; The mechanical component loosening judgment module integrates multi-parameter comprehensive analysis of displacement deviation, temperature change rate, and effective value of vibration to accurately determine component loosening and instruct the redundant motor to supplement torque and reduce speed, realizing an upgrade from passive fault tolerance to active prevention, significantly improving the safety redundancy performance and long-term operational reliability of the device.

[0018] Other features and advantages of the 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 the invention may be realized and obtained by means of the structures pointed out in the description and the drawings. Attached Figure Description

[0019] The accompanying drawings are provided to further illustrate the invention and form part of the specification, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of an energy-saving dual-motor redundant backup stage rotating device according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the fixed base frame and transmission gear ring structure according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the driven toothed ring and the internal toothed ring structure according to an embodiment of the present invention; Figure 4 This is a cross-sectional view of the rotary table and sliding groove structure according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the rotating shaft and connecting sleeve structure according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the mating block and mating slot structure according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the safety redundancy intelligent control system according to an embodiment of the present invention.

[0020] In the diagram, 1. Rotary table; 2. Protective frame; 3. Fixed base frame; 4. Direct drive motor; 5. Rotary shaft; 6. Direct drive shaft; 7. Connecting sleeve; 8. Miniature electric cylinder one; 9. Supporting sleeve; 10. Rotating ball bearing; 11. Redundant motor; 12. Drive gear; 13. Transmission gear ring; 14. Driven gear ring; 15. Driven gear; 16. Support rod; 17. Transmission gear; 18. Internal gear ring; 19. Sliding groove; 20. Miniature electric cylinder two; 21. Matching block; 22. Matching slot. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] This invention primarily addresses four core technical problems existing in the practical application of current stage rotating devices: First, traditional rotating supports often employ sliding contact, which easily leads to poor rotational smoothness and high energy consumption due to high frictional losses, making it difficult to balance support stability and energy-saving requirements; second, drive systems are mostly single-motor or dual-motor systems but lack efficient power switching structures, making it easy for the device to shut down when a single motor fails, thus compromising the continuity of stage performances; third, the transmission structure design is unreasonable, with some using complex intermediate transmission links resulting in high energy losses, or low reliability of redundant transmission switching, making it difficult to balance transmission efficiency and redundancy backup functions; fourth, fault detection and diagnosis often rely on single parameters, lacking multi-parameter collaborative analysis, which easily leads to misjudgments or omissions, making it impossible to achieve early warning and accurate response to faults, and making it difficult to ensure the long-term stable operation of the device.

[0023] Example 1 Please see Figures 1 to 6 As shown, an energy-saving dual-motor redundant backup stage rotation device includes: a rotating platform 1, a protective frame 2, and a fixed base 3. The protective frame 2 is fixedly installed on the top of the fixed base 3, and the rotating platform 1 is rotatably installed on the top of the protective frame 2. Several rotating balls 10 are rotatably installed on the bottom of the rotating platform 1, and a support sleeve 9 that cooperates with the rotating balls 10 is installed on the top of the protective frame 2. The lower surfaces of the several rotating balls 10 are all in sliding contact with the inside of the support sleeve 9. By using the several rotating balls 10 at the bottom of the rotating platform 1 to provide rotational support inside the support sleeve 9, not only is the support stability of the rotating platform 1 during rotation guaranteed, but the rotation smoothness of the rotating platform 1 is also improved.

[0024] Specifically, a direct drive motor 4 is fixedly installed at the center of the top of the fixed base frame 3, and a rotating shaft 5 is fixedly installed at the top of the output shaft of the direct drive motor 4; a direct drive rotating shaft 6 is fixedly installed at the center of the bottom of the rotating table 1, and the bottom of the direct drive rotating shaft 6 is rotatably connected to the top of the rotating shaft 5; two connecting sleeves 7 are movably installed at the bottom of the direct drive rotating shaft 6, and micro electric cylinders 8 are fixedly installed on both sides of the lower part of the direct drive rotating shaft 6, and one end of the drive shaft of the two micro electric cylinders 8 is fixedly connected to one side of the two connecting sleeves 7 respectively; the surface of the rotating shaft 5 is provided with several vertical slots, and several vertical locking blocks that cooperate with the vertical slots are provided on the opposite side of the two connecting sleeves 7.

[0025] It should be noted that when connecting the rotating shaft 5 and the direct drive shaft 6, the two micro electric cylinders 8 at the bottom of the direct drive shaft 6 drive the shaft to control the two connecting sleeves 7 and the surface of the rotating shaft 5 to engage and connect. At this time, the output shaft of the direct drive motor 4 is connected to the bottom end of the rotating shaft 5 and the direct drive shaft 6. The output shaft of the direct drive motor 4 controls the direct drive shaft 6 to rotate, thereby driving the rotary table 1 to rotate.

[0026] Specifically, a redundant motor 11 is fixedly installed on one side of the top of the fixed base frame 3, and a drive gear 12 is fixedly installed at the bottom of the output shaft of the redundant motor 11. A driven gear ring 14 is rotatably installed on the top of the fixed base frame 3, and a transmission gear ring 13 is installed on the top of the driven gear ring 14 through a connecting assembly. The outer circumferential surface of the transmission gear ring 13 meshes with the outer circumferential surface of the drive gear 12 for transmission. Several driven gears 15 are rotatably installed on the top of the fixed base frame 3, and a support rod 16 is fixedly installed inside the driven gear 15. A sliding groove 19 is provided at the bottom of the rotary table 1, and the top of the support rod 16 is slidably connected to the inside of the sliding groove 19. A transmission gear 17 is fixedly installed at the top of the support rod 16. An internal gear ring 18 is fixedly installed at the bottom of the rotary table 1, and the outer circumferential surfaces of several transmission gears 17 mesh with the internal teeth of the internal gear ring 18 for transmission.

[0027] Furthermore, the connecting assembly includes a miniature electric cylinder 20, a mating block 21, and a mating groove 22. The miniature electric cylinder 20 is fixedly installed inside the transmission gear ring 13, and the mating block 21 is fixedly installed at the bottom end of the drive shaft of the miniature electric cylinder 20. The mating groove 22 is provided on the top of the driven gear ring 14. A connecting protrusion is provided on the outer peripheral surface of the mating block 21, and a connecting groove that mates with the connecting protrusion is provided on one side of the inner wall of the mating groove 22.

[0028] It should be noted that when performing the limiting connection between the transmission gear ring 13 and the driven gear ring 14, the output shaft of the micro electric cylinder 20 controls the mating block 21 to move into the mating groove 22 on the top of the driven gear ring 14, thereby allowing the mating block 21 and the mating groove 22 to engage internally, thus achieving the limiting connection between the transmission gear ring 13 and the driven gear ring 14.

[0029] When the direct drive motor 4 fails, the two connecting sleeves 7 and the outer peripheral surface of the rotating shaft 5 are disengaged by the drive shafts of the two miniature electric cylinders 8. At this time, the output shaft of the redundant motor 11 controls the drive gear 12 to rotate. The outer peripheral surface of the drive gear 12 meshes with the outer peripheral surface of the transmission gear ring 13. During the rotation of the transmission gear ring 13, the driven gear ring 14 is driven to rotate synchronously. The internal teeth of the driven gear ring 14 mesh with the external teeth of several driven gears 15, causing several support rods 16 to rotate synchronously. The transmission gears 17 at the top of the support rods 16 drive the meshing internal gear ring 18 to rotate, and the internal gear ring 18 drives the rotating table 1 to rotate.

[0030] In summary, the rotating ball bearings 10 at the bottom of the rotary table 1 cooperate with the supporting sleeve 9 at the top of the protective frame 2, replacing the traditional sliding contact with rolling contact. This ensures the stability of the rotary support of the rotary table 1 while significantly improving the smoothness of rotation, reducing mechanical friction loss, and meeting the requirements of energy-saving design. The direct drive motor 4 at the top center of the fixed base frame 3 is directly connected to the rotary table 1 through the rotating shaft 5 and the direct drive shaft 6. The direct drive method eliminates the intermediate transmission link, improves transmission efficiency, and reduces energy loss. Furthermore, the two miniature electric cylinders 8 at the bottom of the direct drive shaft 6 can drive the connecting sleeve 7 to quickly engage or disengage from the vertical slot on the surface of the rotating shaft 5, providing a convenient structural basis for the rapid switching of dual-motor power connection. When the direct drive motor 4 fails... In case of failure, the redundant motor 11 can drive the rotary table 1 to operate continuously through multi-stage gear meshing transmission via drive gear 12, transmission gear ring 13, driven gear ring 14, driven gear 15, support rod 16, transmission gear 17, and internal gear ring 18, realizing the dual-motor redundancy backup function and ensuring the continuous and stable operation of the device. The design of the miniature electric cylinder 20, the mating block 21, and the mating slot 22 in the connecting components makes the limiting connection or separation operation of the transmission gear ring 13 and the driven gear ring 14 simpler, further improving the reliability and efficiency of redundant drive switching. In addition, the sliding connection between the top of the support rod 16 and the sliding groove 19 at the bottom of the rotary table 1 provides additional support to the rotary table 1 without hindering its rotation, enhancing the overall structural stability. Through the innovative dual-motor connection and switching structure, rolling support design, and multi-stage gear redundancy transmission, the system achieves a synergy of energy saving, high stability, and redundancy backup, improving the performance and reliability of the stage rotating device.

[0031] Example 2 Please see Figure 7 As shown, specifically, the interior of the protective frame 2 is also equipped with a safety redundancy intelligent control system, which includes a displacement accuracy detection module, a temperature anomaly analysis module, a vibration fault identification module, and a mechanical component loosening judgment module. The displacement accuracy detection module collects displacement and rotation speed parameters, calculates and analyzes them to obtain displacement estimates, and verifies whether the accuracy meets the standards by calculating displacement deviation, providing precise displacement feedback for the intelligent control of the stage rotating device; the specific calculation and analysis method is as follows: The displacement of the rotary table 1 is measured in real time by a laser displacement sensor mounted on the top of the fixed base 3. Simultaneously, encoders are installed on the output shafts of the direct drive motor 4 and the redundant motor 11 to collect the rotational speed of either the direct drive motor 4 or the redundant motor 11. The laser displacement sensor operates at fixed sampling intervals. Multiple sets of displacement measurements were continuously collected. Simultaneously, the encoder synchronously acquires the rotational speed from the previous moment. ; By calculating and analyzing the actual displacement measurement value and rotation speed at time n-1, the displacement prediction value at the current time is obtained; then, the displacement prediction value and the current laser measurement value are fused and calculated to obtain the displacement estimate value; finally, the displacement deviation between the displacement estimate value and the target displacement is calculated to verify whether the positioning accuracy meets the standard. Specifically, according to the formula Calculate the predicted displacement value at time n. This represents the actual displacement measurement at time n-1. The rotational speed at time n-1; according to the formula Calculate the displacement estimate at time n. Let n be the measured value of the laser displacement at time n. For K, K is the Kalman gain, 0 < K < 1; where, The larger the value, the more reliable the laser displacement measurement. The smaller the value, the more reliable the displacement prediction; specifically, here we have the Kalman gain. It can take the value 0.7.

[0032] According to the formula, Calculate the displacement deviation. For the target displacement of the stage rotation, if If so, the positioning accuracy requirement is met.

[0033] The temperature anomaly analysis module uses a fixed sampling period Continuously collect temperature data of motor windings According to the formula Calculate the rate of temperature change, when If the temperature is abnormal, a temperature alarm will be triggered, providing early warning information for the safety redundancy system. It should be noted that the temperature data of the motor windings is obtained using a PT100 resistance temperature detector (RTD), which is installed on the surface of the motor windings.

[0034] The vibration fault identification module acquires the time-domain signal of the vibration acceleration of the rotating shaft 5 at a sampling frequency of 1000Hz. Discretized into sampled values N is the number of sampling points; according to the formula The effective value of vibration was calculated. Let be the sampled value of the i-th vibration acceleration; if the effective value of the vibration at a certain moment is... If so, the vibration is deemed to be exceeding the limit.

[0035] The mechanical component loosening detection module receives displacement deviation, temperature change rate, and vibration effective value for comprehensive analysis. When the displacement deviation... , and If the mechanical parts are found to be loose, an intelligent control strategy is generated, instructing the redundant motor 11 to supplement torque and reduce speed to prevent the fault from escalating.

[0036] In summary, the design of the safety redundancy intelligent control system utilizes a displacement accuracy detection module to collect the displacement of the rotary table 1 in real time using a laser displacement sensor mounted on the top of the fixed base 3. This, combined with the rotational speeds collected by encoders on the output shafts of the direct drive motor 4 and redundant motor 11, is used to calculate the displacement estimate and deviation by fusing the displacement prediction value and laser measurement value through a Kalman filter algorithm. This provides precise displacement feedback for the intelligent control of the rotary table 1, ensuring controllable positioning accuracy and improving control precision. The temperature anomaly analysis module uses a PT100 thermal resistor mounted on the surface of the motor windings to collect temperature data at fixed intervals and calculate the rate of change. Threshold judgment triggers an early warning, enabling monitoring of the motor status. Real-time monitoring and fault precursor detection provide a basis for early intervention for safety redundancy. The vibration fault identification module acquires the vibration acceleration signal of the rotating shaft 5 at a sampling frequency of 1000Hz, and determines whether the vibration exceeds the limit by calculating the effective vibration value (RMS). It can promptly identify the abnormal vibration state of the rotating shaft 5 and avoid the expansion of mechanical damage. The mechanical component loosening judgment module integrates displacement deviation, temperature change rate, and vibration RMS for comprehensive analysis. When multiple parameters simultaneously meet the threshold conditions, it determines that the component is loose and instructs the redundant motor 11 to supplement torque and reduce speed. This realizes the upgrade from single-parameter detection to multi-parameter fusion diagnosis, improving the system's ability to identify and respond to complex faults. The overall design deeply integrates mechanical structure and intelligent detection and control through the complementary functions and collaborative work of each module. This not only ensures the precise operation of the rotating table 1, but also strengthens the system's safety redundancy performance through early warning, fault identification, and intelligent response.

[0037] Example 3 Specifically, this embodiment also discloses a working method for an energy-saving dual-motor redundant backup stage rotating device, including the following steps: After the device is started, the direct drive motor 4 is used to drive the rotary table 1 to rotate. At this time, the output shaft of the micro electric cylinders 8 on both sides of the lower part of the direct drive shaft 6 is extended, which drives the two connecting sleeves 7 to move closer to the rotating shaft 5. This makes the vertical locking block on the opposite side of the connecting sleeve 7 precisely engage with the vertical locking groove on the surface of the rotating shaft 5, realizing the power connection between the direct drive motor 4 and the direct drive shaft 6. After the direct drive motor 4 is started, its output shaft drives the rotating shaft 5 to rotate. The rotating shaft 5 drives the direct drive shaft 6 to rotate synchronously through the engaged connecting sleeves 7. In turn, the direct drive shaft 6 drives the rotary table 1 at the top to rotate. During the rotation, several rotating balls 10 at the bottom of the rotary table 1 roll in the support sleeve 9 at the top of the protective frame 2, providing stable support for the rotary table 1 and reducing rotational friction resistance, thus ensuring smooth rotation.

[0038] During normal or redundant operation of the device, the safety redundancy intelligent control system inside the protective frame 2 continues to work. The laser displacement sensor installed on the top of the fixed base frame 3 collects the displacement data of the rotary table 1 at a fixed sampling interval. At the same time, the encoder on the output shaft of the direct drive motor 4 or the redundant motor 11 synchronously collects the speed data of the corresponding motor. The actual displacement measurement value and speed data at time n-1 are substituted into the formula to calculate the displacement prediction value at time n. Then, combined with the laser displacement measurement value at time n and the Kalman gain of 0.7, the displacement estimate value at time n is calculated by the formula. Finally, the deviation between the displacement estimate value and the target displacement is calculated according to the formula. If the deviation meets the preset accuracy requirements, the current driving state is maintained. If the deviation exceeds the range, the motor output parameters are adjusted to correct the displacement. A PT100 thermal resistor installed on the surface of the motor windings collects temperature data of the windings of the direct drive motor 4 and the redundant motor 11 at a fixed sampling period. The temperature change rate is calculated according to a formula. When the temperature change rate exceeds a preset threshold, a temperature anomaly warning is triggered, prompting staff to check the motor status. The vibration acceleration time-domain signal of the rotating shaft 5 is collected at a sampling frequency of 1000Hz. After discretizing it into several sample values, the vibration effective value (RMS) is calculated according to a formula. If the vibration effective value exceeds a preset limit at a certain moment, it is determined that the rotating shaft 5 has a vibration fault, triggering a corresponding warning. The displacement deviation output by the displacement accuracy detection module, the temperature change rate output by the temperature anomaly analysis module, and the vibration effective value output by the vibration fault identification module are received. When all three simultaneously meet the preset component loosening judgment conditions, the device determines that there is a mechanical component loosening problem, generates an intelligent control strategy, and instructs the redundant motor 11 to supplement torque and reduce speed to prevent the fault from escalating.

[0039] When the safety redundancy intelligent control system detects a fault in the direct drive motor 4, it immediately triggers the redundancy switching process. First, it controls the miniature electric cylinder 8 inside the direct drive shaft 6 to retract the output shaft, causing the two connecting sleeves 7 to disengage from the outer circumference of the rotating shaft 5, thus cutting off the power connection between the direct drive motor 4 and the rotary table 1. Then, it starts the redundant motor 11 on one side of the top of the fixed base 3. The output shaft of the redundant motor 11 drives the drive gear 12 to rotate, and the drive gear 12 drives the transmission gear ring 13 to rotate through meshing transmission. At the same time, the miniature electric cylinder 20 inside the transmission gear ring 13 drives the output shaft to extend, pushing the mating block 21 to move towards the mating groove 22 on the top of the driven gear ring 14, so that... The connecting protrusion on the outer circumference of the locking block 21 precisely engages with the connecting groove on the inner wall of the locking slot 22, achieving a limiting connection between the transmission gear ring 13 and the driven gear ring 14. The transmission gear ring 13 then drives the driven gear ring 14 to rotate synchronously. The driven gear ring 14 engages with the outer circumference of several driven gears 15 on the top of the fixed base frame 3 through its internal teeth, driving the driven gears 15 and the internally fixed support rod 16 to rotate. The top of the support rod 16 slides in the sliding groove 19 at the bottom of the rotating table 1, while the transmission gear 17 at its top engages with the internal gear ring 18 at the bottom of the rotating table 1. Finally, the internal gear ring 18 drives the rotating table 1 to rotate continuously, ensuring uninterrupted operation of the device.

[0040] After the direct drive motor 4 is cleared of the fault, the redundant motor 11 is stopped, and the micro electric cylinder 20 is controlled to drive the mating block 21 to disengage from the mating slot 22, so that the transmission gear ring 13 and the driven gear ring 14 are separated. Then the micro electric cylinder 8 is restarted to drive the connecting sleeve 7 to re-engage with the rotating shaft 5, restoring the power connection between the direct drive motor 4 and the rotary table 1. The device returns to the normal operation state of the direct drive motor drive, and the safety redundancy intelligent control system continues to monitor the parameters in real time.

[0041] Furthermore, any content not described in detail in this specification is existing technology known to those skilled in the art.

[0042] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0043] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An energy-saving dual-motor redundant backup stage rotating device, comprising a rotating platform (1), a protective frame (2), and a fixed base frame (3), wherein the protective frame (2) is fixedly mounted on the top of the fixed base frame (3), and the rotating platform (1) is rotatably mounted on the top of the protective frame (2), characterized in that, A direct drive motor (4) is fixedly installed in the middle of the top of the fixed base frame (3), and a rotating shaft (5) is fixedly installed at the top of the output shaft of the direct drive motor (4); a direct drive rotating shaft (6) is fixedly installed in the middle of the bottom of the rotating table (1), and the bottom of the direct drive rotating shaft (6) is rotatably connected to the top of the rotating shaft (5); two connecting sleeves (7) are movably installed at the bottom of the direct drive rotating shaft (6), and micro electric cylinders (8) are fixedly installed on both sides of the lower part of the direct drive rotating shaft (6), and one end of the drive shaft of the two micro electric cylinders (8) is fixedly connected to one side of the two connecting sleeves (7) respectively; A redundant motor (11) is fixedly installed on one side of the top of the fixed base frame (3), and a drive gear (12) is fixedly installed at the bottom of the output shaft of the redundant motor (11). A driven gear ring (14) is rotatably installed on the top of the fixed base frame (3), and a transmission gear ring (13) is installed on the top of the driven gear ring (14) through a connecting assembly. The outer circumferential surface of the transmission gear ring (13) meshes with the outer circumferential surface of the drive gear (12) for transmission. Several gear rings are rotatably installed on the top of the fixed base frame (3). Driven gear (15), and a support rod (16) is fixedly provided inside the driven gear (15). A sliding groove (19) is provided at the bottom of the rotary table (1), and the top end of the support rod (16) is slidably connected to the inside of the sliding groove (19). A transmission gear (17) is fixedly provided at the top end of the support rod (16). An internal gear ring (18) is fixedly provided at the bottom of the rotary table (1), and the outer circumferential surfaces of several transmission gears (17) mesh with the internal teeth of the internal gear ring (18) for transmission. The protective frame (2) is also equipped with a safety redundancy intelligent control system, which includes a displacement accuracy detection module, a temperature anomaly analysis module, a vibration fault identification module, and a mechanical component loosening judgment module.

2. The energy-saving dual-motor redundant backup stage rotating device according to claim 1, characterized in that, The bottom of the rotating platform (1) is provided with a number of rotating balls (10), and the top of the protective frame (2) is provided with a support sleeve (9) that cooperates with the rotating balls (10), and the lower surfaces of the rotating balls (10) slide in contact with the inside of the support sleeve (9).

3. The energy-saving dual-motor redundant backup stage rotating device according to claim 1, characterized in that, The surface of the rotating shaft (5) is provided with several vertical slots, and each of the two connecting sleeves (7) is provided with several vertical blocks that cooperate with the vertical slots on the opposite side.

4. The energy-saving dual-motor redundant backup stage rotating device according to claim 1, characterized in that, The connecting assembly includes a miniature electric cylinder (20), a mating block (21), and a mating groove (22). The miniature electric cylinder (20) is fixedly installed inside the transmission gear ring (13), and the mating block (21) is fixedly installed at the bottom end of the drive shaft of the miniature electric cylinder (20). The mating groove (22) is provided on the top of the driven gear ring (14). A connecting protrusion is provided on the outer peripheral surface of the mating block (21), and a connecting groove that mates with the connecting protrusion is provided on one side of the inner wall of the mating groove (22).

5. The energy-saving dual-motor redundant backup stage rotating device according to claim 1, characterized in that, The displacement accuracy detection module collects displacement and rotation speed parameters, calculates and analyzes them to obtain displacement estimates, and verifies whether the accuracy meets the standards by calculating displacement deviation, thus providing accurate displacement feedback for the intelligent control of the stage rotation device; the specific calculation and analysis method is as follows: The displacement of the rotary table (1) is measured in real time by a laser displacement sensor installed on the top of the fixed base (3). At the same time, encoders are installed on the output shafts of the direct drive motor (4) and the redundant motor (11) to collect the rotational speed of the direct drive motor (4) or the redundant motor (11). The laser displacement sensor is used at a fixed sampling interval. Multiple sets of displacement measurements were continuously collected. Simultaneously, the encoder synchronously acquires the rotational speed from the previous moment. ; By calculating and analyzing the actual displacement measurement value and rotational speed at time n-1, the predicted displacement value at the current time is obtained. Then, the predicted displacement value and the current laser measurement value are fused and calculated to obtain the estimated displacement value. Finally, the displacement deviation between the estimated displacement value and the target displacement is calculated. .

6. The energy-saving dual-motor redundant backup stage rotating device according to claim 5, characterized in that, The temperature anomaly analysis module uses a fixed sampling period. Continuously collect temperature data of motor windings According to the formula Calculate the rate of temperature change, when If this occurs, a temperature anomaly warning will be triggered.

7. The energy-saving dual-motor redundant backup stage rotating device according to claim 6, characterized in that, The vibration fault identification module acquires the time-domain signal of the vibration acceleration of the rotating shaft (5) at a sampling frequency of 1000Hz. Discretized into sampled values N is the number of sampling points; according to the formula The effective value of vibration was calculated. Let be the sampled value of the i-th vibration acceleration; if the effective value of the vibration at a certain moment is... If so, the vibration is deemed to be exceeding the limit.

8. The energy-saving dual-motor redundant backup stage rotating device according to claim 7, characterized in that, The mechanical component loosening detection module is used to receive displacement deviation, temperature change rate, and vibration effective value for comprehensive analysis. When the displacement deviation... , and If the mechanical parts are loose, an intelligent control strategy is generated, instructing the redundant motor (11) to supplement torque and reduce speed.

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