CN103326534A - Super-strong type hybrid stepping motor with new structure - Google Patents
Super-strong type hybrid stepping motor with new structure Download PDFInfo
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- CN103326534A CN103326534A CN2013102244491A CN201310224449A CN103326534A CN 103326534 A CN103326534 A CN 103326534A CN 2013102244491 A CN2013102244491 A CN 2013102244491A CN 201310224449 A CN201310224449 A CN 201310224449A CN 103326534 A CN103326534 A CN 103326534A
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- sulculus
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Abstract
The invention provides a super-strong type hybrid stepping motor of a new structure. The super strong type hybrid stepping motor comprises a stator magnetic system, a rotor magnetic system, an armature winding and permanent magnet small strips. The stator magnetic system comprises a plurality of stator magnetic poles, each stator magnetic pole comprises a pole shoe protruding towards the circle center direction of a stator core, and a plurality of stator small grooves and stator small teeth are arranged at each pole shoe at intervals. The rotor magnetic system comprises a rotor shaft and at least one repeating rotor unit which is sleeved on the rotor shaft and arranged axially. Each rotor unit comprises a permanent magnet ring slice axially magnetized and two silicon steel sheet lamination sections which are clamped at the two ends of the permanent magnet ring slice, opposite in magnetic poles, and formed by overlapping a plurality of layers of silicon steel sheet punching sheets. A plurality rotor small teeth and rotor small grooves are formed in the circumference of each silicon steel sheet punching sheet at intervals. The armature winding is a symmetrical multi-phrase armature winding formed by coils which are wound on the stator magnetic poles. Each stator small groove and/or each rotor small groove is filled with the permanent magnet small strips.
Description
Technical field
The present invention relates to a kind of super strong type new construction hybrid type stepping motor.
Background technology
Stepping motor is applied to industrial production and starts from the sixties in 20th century, be to adapt to computer-controlled fortune control motor the earliest, because it has that torque rigidity is big, positioning stablity is reliable, tracking accuracy is high, open loop does not have cumulative errors, economy, series of advantages such as simple and convenient, develop rapidly the seventies, application is generalized to a lot of industrial equipments and the device from computer peripheral equipment and office automation, comprises numerically controlled lathe.Peaking the eighties becomes the main body of fortune controlled motor in the digital control system.But after the eighties, development and the maturation of brushless DC motor and digitlization AC servomotor system, and show advantage aspect quick performance are restricted the development of stepping motor and compress.Therefore stepping motor need have breakthrough the problem to be solved in the present invention that Here it is aspect rapidity.
Summary of the invention
The rapidity of motor dynamic response depends on the ratio of maximum electromagnetic torque and rotor moment of inertia, and the rapidity that improve stepping motor is exactly to improve its high specific moment coefficient (C
Tm), i.e. maximum electromagnetic torque (T
Em) and rotor volume (D
2L) ratio, the electromagnetic torque of motor and every utmost point useful flux (φ
1) be directly proportional, useful flux refers to produce the electromagnetic induction effect, namely produces the alternating component of EMF.The characteristics of stepping motor are that number of pole-pairs is a lot, be typically 50 pairs of utmost points, because the too small permanent magnet motor structure that can't make standard of pole span, main flow stepping motor product is the permanent magnet induction structure, be commonly referred to hybrid combination, the rotor permanent magnet of this structure motor is axial charging, it makes half stack of lamination of rotor be N polarity, second half stack of lamination is S polarity, by the modulating action of rotor teeth groove to air-gap permeance, N polarity stack of lamination is produced enter the i.e. magnetic flux of a coil of utmost point of stator, from positive the maximum (+φ of tooth during to tooth
1max) positive minimum value (+φ when changing to tooth to groove
1min).Because S polarity stack of lamination and N polarity stack of lamination be along circumference dislocation half tooth elongation, to enter same stator poles be that the magnetic flux of same coil is from bearing minimum value (φ so S polarity stack of lamination produces
1min) change to negative maximum (φ
1max).When as seen rotor core N polarity section and magnetic pole of the stator tooth were over against tooth, it was sum of the two, i.e. (+φ that rotor N polarity section and S polarity section produce the magnetic flux that enters this magnetic pole of the stator together
1max)+(-φ
1min); Turn over
Angular pitch, rotor core N polarity section and this magnetic pole of the stator tooth are to groove, and S polarity stack of lamination and this magnetic pole of the stator tooth are over against tooth, and it is (φ that two polarity stack of laminations of rotor produce the magnetic flux that enters this magnetic pole of the stator together
1max)+(+φ
1min).Show that from a magnetic pole of the stator or stator coil the mutual flux that produces during the rotor rotation also is alternation, the amplitude of alternation is (φ
1max-φ
1min).2 points as can be seen: the amplitude correspondence of (1) hybrid motor main flux alternating component is in half rotor core section, and is corresponding different at whole rotor magnetic pole axial length with permanent magnet motor, and effective flux the most very much not can surpass 50% of magnet structure; (2) approach directly perceived of raising hybrid combination motor effective flux should be the magnetic flux when improving tooth to tooth
1maxMagnetic flux when reducing tooth to groove
1min, there be not new tooth layer structural design, can not improve significantly.
Based on above-mentioned analysis, the objective of the invention is to be achieved through the following technical solutions:
A kind of super strong type new construction hybrid type stepping motor, it comprises:
The stator magnet system, it comprises a plurality of magnetic pole of the stator, described each magnetic pole of the stator comprises one to the outstanding pole shoe of the center of circle direction of described stator core, all is interval with a plurality of stator sulculuses and the little tooth of stator on each pole shoe;
The rotor magnetic system, it comprises armature spindle, be sheathed on the described armature spindle at least one repetition rotor unit of arranging vertically, each rotor unit comprises the permanent magnet ring plate of axial charging and is clipped in the opposite two silicon steel sheet laminate patch sections that are formed by stacking by the multilayer silicon steel punched chip respectively of magnetic pole at these permanent magnet ring plate two ends, all is interval with the little tooth of a plurality of rotors and rotor sulculus on the circumference of each silicon steel punched chip;
Armature winding, it is to be around in the symmetrical polyphase armature winding that the coil combination on described a plurality of magnetic pole of the stator forms;
It is characterized in that: all fill up little of permanent magnet in each described stator sulculus and/or the rotor sulculus.
As optimized technical scheme of the present invention, two silicon steel sheet laminate patch sections of described each rotor unit are along half rotor slot-pitch of circumference mutual dislocation.
As optimized technical scheme of the present invention, the magnetizing direction that the permanent magnet in the described rotor sulculus is little is radially, and to produce the trend of magnetic flux opposite with the permanent magnet ring plate of axial charging.
As optimized technical scheme of the present invention, the number of described magnetic pole of the stator is the integral multiple of the number of phases of described armature winding, and described armature winding is evenly distributed on the circumference of whole stator core.
As optimized technical scheme of the present invention, the magnetizing direction that the permanent magnet of filling in the described stator sulculus is little is for radially, and polarity depends on the polarity of institute's respective rotor stack of lamination, moves towards opposite with the magnetic flux that the rotor permanent magnet ring plate produces.
The magnetic pole of the stator of p belt coil can be divided into the unit of (p/m) individual symmetry, m is the number of phases, when two-phase motor m=4, coil on interior m the magnetic pole of each symmetrical cell, its rotary inductive electromotive force (EMF) mutual dislocation (electrical radian of 2 π/m) or (360 °/m) electrical degree, (p/m) the coil serial or parallel connection of EMF same-phase and antiphase constitutes a phase winding together in the individual unit.The phase place of EMF depends on the relative position of little tooth and rotor tooth on the magnetic pole pole shoe of living in the coil, and selecting the rotor number of teeth is not the multiple of (p) of the number of phases (m) and number of poles, and satisfies suitable relation, for example:
Just can satisfy the requirement of each phase winding EMF phase relation naturally.Otherwise will take the design of artificial dislocation, allow magnetic pole of the stator pole body center line and magnetic pole pole shoe misalignment exactly, in a symmetrical cell, the pole shoe center line of m the utmost point with along the different angle of the equally distributed pole body misalignment of circumference, also comprise zero degree, make the phase relation of m coil EMF satisfy the requirement of polyphase windings.
Compared with prior art, the present invention possesses following advantage:
1, fill up little of permanent magnet in the sulculus of each stack of lamination of rotor, little magnetizing direction is for radially, and polarity is that to produce the trend of magnetic flux opposite with rotor axial charging permanent magnet ring plate.The magnetic line of force that the permanent magnet ring plate produces is equidirectional at the circumference of a rotor core section, if this stack of lamination of investigating is N polarity, all is N polarity on the circumference of so whole stack of lamination, N
rIndividual tooth top portion is tangible N polarity, and the magnetic line of force enters stator core through air gap, N
rThe bottom of individual rotor sulculus also is N polarity, and the magnetic line of force also enters stator core through rotor sulculus and air gap.Put into little of permanent magnet in the sulculus, this little the end facing to bottom land is N polarity, the magnetic line of force that hinders the generation of permanent magnet ring plate arrives stator core through sulculus, but assemble to rotor tooth portion, make the magnetic flux that enters stator core when stator tooth faces toward rotor tooth increase, the magnetic flux that enters stator core when stator tooth faces toward rotor reduces, and has increased the alternating component of magnetic flux, and namely useful flux is heavy.
2, on the magnetic pole of the stator pole shoe, fill up little of permanent magnet in all sulculus, magnetizing direction is for radially, polarity depends on the polarity of respective rotor stack of lamination, i.e. the circle side polarity of stator sulculus notch end magnetic stripe just in the stator, and just the polarity of rotor tooth top is identical with rotor core section cylindrical side.When rotor forwards the rotor tooth to tooth (a certain of a certain stack of lamination extremely descends) to, the polarity of the interior little magnetic stripe notch end of stator sulculus is identical with the polarity at the bottom of the rotor, can play the magnetic line of force that hinders the generation of permanent magnet ring plate and arrive stator core through the rotor sulculus, but assemble to rotor tooth portion, increase the magnetic flux that enters stator teeth from the rotor tooth top through air gap; When rotor forwards the rotor tooth to groove (a certain stack of lamination, a certain extremely down) the position because little of permanent magnet is same polarity with the rotor tooth top in the stator sulculus, the magnetic flux that makes rotor enter stator core reduces, increased the alternating component of magnetic flux, i.e. effective flux.
When 3, little magnetic stripe is all filled up in the sulculus and rotor core section cylindrical sulculus inside on the stator pole shoes, the effect of stator and the little magnetic stripe of rotor is superposition, make the rotor tooth stronger to the effect of the poly-magnetic of rotor tooth portion to the tooth situation, namely make the maximum of every utmost point magnetic flux further increase, and the minimum value of the every utmost point magnetic flux of rotor tooth during to groove further reduces, alternating component is that effective flux further increases, thereby makes electromagnetic torque or high specific moment coefficient that the raising of essence be arranged.
Description of drawings
Fig. 1 is the overall structure schematic diagram of the embodiment of the invention;
Fig. 2 is the end view of the rotor magnetic system of the embodiment of the invention;
Fig. 3 is the interior silicon steel punched chip structural representation of rotor magnetic system shown in Figure 2;
Fig. 4 is that A partly is the structure for amplifying schematic diagram of the N utmost point among Fig. 3;
Fig. 5 is the interior S utmost point and structure for amplifying schematic diagram Fig. 4 appropriate section of rotor magnetic system shown in Figure 2;
Fig. 6 is the structural representation of stator core stamping sheet of the stator magnet system of the embodiment of the invention;
Fig. 7 is the structure for amplifying schematic diagram of B part among Fig. 6;
Fig. 8 is the armature winding schematic diagram of the embodiment of the invention;
Fig. 9 is the actual measurement holding torque characteristic curve of the embodiment of the invention;
Figure 10 is the actual measurement holding torque characteristic when not adding little magnetic stripe in the rotor sulculus that compares with Fig. 9;
Figure 11 is the actual measurement holding torque characteristic when only adding little magnetic stripe in the rotor sulculus.
Figure 12 is the holding torque characteristic of surveying when only adding little magnetic stripe in the stator sulculus.
Embodiment
The embodiment of existing accompanying drawings new construction stepping motor of the present invention.
As shown in Figure 1, the hybrid new construction stepping motor of the super strong type of present embodiment comprises fore bearing, rear bearing 7, front end housing 2, rear end cap 6, and is arranged at rotor magnetic system 5, stator magnet system 4 and armature winding 3 between described front end housing 2 and the rear end cap 6.Rotor magnetic system 5 is rotatably connected with front end housing 2 and rear end cap 6 by fore bearing 1 and rear bearing 7.
Extremely shown in Figure 5 as Fig. 2, described rotor magnetic system 5 comprises armature spindle 54 and is sheathed on a rotor unit on the described armature spindle 54, its rotor unit comprises the permanent magnet ring plate 51 of axial charging and is sheathed on rotor core section 52 on the described armature spindle 54, each group rotor stack of lamination 52 comprises a N utmost point side rotor core section and a S utmost point side rotor core section, and it is arranged at the both sides of described permanent magnet ring plate 51 respectively.Described N utmost point side rotor core section and S utmost point side rotor core section are two silicon steel sheet laminate patch sections along half rotor slot-pitch of circumference mutual dislocation.
Described rotor core section 52 is overrided to form by multilayer silicon steel punched chip 58, is respectively equipped with N on the circumference of each silicon steel punched chip 58
r Individual tooth 521 and N
r Individual rotor sulculus 522, present embodiment are N
r=50; All be filled with little 523 of a permanent magnet in each described rotor sulculus 522, the magnetizing direction that this permanent magnet is little 523 is along the circumference of described silicon steel punched chip radially, its polarity depend on the polarity of corresponding described rotor core section 52, its flow direction is opposite with the trend that the permanent magnet ring plate 51 of axial charging produces magnetic fluxs.
As Fig. 6, shown in Figure 7, described stator magnet system 4 comprises the stator core that is overrided to form by multilayer silicon steel punched chip 41, present embodiment is two-phase motor stator iron-core lamination 41, each silicon steel punched chip 41 comprises 8 magnetic pole of the stator 411 that are uniformly distributed in circumference, on the pole shoe of each magnetic pole of the stator 411 N is arranged
s=6 little teeth 412 have N
s-1=5 stator sulculus 413; Fill up permanent magnet in the stator sulculus 413 little 415.
The magnetic line of force that described permanent magnet ring plate 51 produces is equidirectional at the circumference of a rotor core section 52.If this rotor core section 52 of investigating is N polarity, all is N polarity on the circumference of so whole rotor core section 52, N
rIndividual tooth top portion is tangible N polarity, little tooth 412 parts that the magnetic line of force enters described stator magnet system 4 through air gap, N
rThe bottom of individual rotor sulculus 522 also is N polarity, and the magnetic line of force also enters little tooth 412 parts of described stator magnet system 4 through described rotor sulculus 522 and air gap.Put into permanent magnet in the described rotor sulculus 522 little 523, little 523 end facing to the bottom of described rotor sulculus 522 of this permanent magnet is N polarity, hinder the magnetic line of force of described permanent magnet ring plate 51 generations through the stator core of the described stator magnet of described rotor sulculus 522 arrival system 4, but assemble to the tooth portion 521 of the silicon steel punched chip of rotor core section 52, the magnetic flux that enters stator core when making the little tooth 412 of stator core facing to the tooth of rotor core section 52 increases, the magnetic flux that enters stator core at the tooth of stator core during facing to the groove 522 of rotor core section reduces, thereby increased the alternating component of magnetic flux, i.e. effective flux.
As shown in Figure 8, described armature winding is the polyphase windings that is formed by the coil combination that is around on the described magnetic pole of the stator 411.In the present embodiment, the rotor number N of teeth
r=50, the number of magnetic pole of the stator 411 is p=8, shows position, the residing rotor field of coil on the adjacent magnetic pole of the stator 411 stagger 1/4 rotor tooth elongation, i.e. 90 ° of electrical degrees.1st, the EMF of the coil on 3,5 and 7 magnetic pole of the stator 411 is homophase or anti-phase (differing 180 ° of electrical degrees), suitably just or differential concatenation become the A phase winding together; 2nd, then be unified into the B phase winding on 4,6 and 8 magnetic pole of the stator, 411 coils.Four coils of every phase winding also can be divided into two or four parallel branches.
The example of new construction motor of the present invention, from contour structures, the armature winding leading-out terminal, and to the requirement that drives control etc., all obviously do not distinguish with the 2-phase hybrid stepping motor of a station symbol standard, but its tooth layer structure difference has all increased little of the permanent magnet of specific magnetizing direction and polarity, for having the tooth layer structure of poly-fully magnetic effect in the sulculus of stator and rotor core.
For new construction being described at a glance to improving the effect of electromechanical properties, Fig. 9 has provided the actual measurement holding torque characteristic of the stepping motor of present embodiment.The curve that Figure 10 provides is the actual measurement holding torque characteristic when not adding little magnetic stripe in the rotor sulculus.Figure 11 is the actual measurement holding torque characteristic when only adding little magnetic stripe in the rotor sulculus.Figure 12 is the holding torque characteristic of surveying when only adding little magnetic stripe in the stator sulculus.
The contrast of saturated torque and saturation ratio moment coefficient is as shown in the table.
Data in the table have proved absolutely the obvious effect that super strong type new construction hybrid type stepping motor improves torque and Esson coefficient.The technical data of investigating general AC servomotor can get, and its specified Esson coefficient is C
TN=0.02-0.03Nm/cm
3, possess 3 times of short-time overload capacities usually, so the high specific moment coefficient is C
Tm=0.06-0.09Nm/cm
3Compare and can find out with the data in the top tabulation, the new construction motor has overcome the intrinsic weak tendency of permanent magnet induction structure fully, reaches the level that can be equal to mutually with standard permanent magnet motor rapidity.
Claims (5)
1. super strong type new construction hybrid type stepping motor, it comprises:
The stator magnet system, it comprises a plurality of magnetic pole of the stator, described each magnetic pole of the stator comprises one to the outstanding pole shoe of the center of circle direction of described stator core, all is interval with a plurality of stator sulculuses and the little tooth of stator on each pole shoe;
The rotor magnetic system, it comprises armature spindle, be sheathed on the described armature spindle at least one repetition rotor unit of arranging vertically, each rotor unit comprises the permanent magnet ring plate of axial charging and is clipped in the opposite two silicon steel sheet laminate patch sections that are formed by stacking by the multilayer silicon steel punched chip respectively of magnetic pole at these permanent magnet ring plate two ends, all is interval with the little tooth of a plurality of rotors and rotor sulculus on the circumference of each silicon steel punched chip;
Armature winding, it is to be around in the symmetrical polyphase armature winding that the coil combination on described a plurality of magnetic pole of the stator forms;
It is characterized in that: all fill up little of permanent magnet in each described stator sulculus and/or the rotor sulculus.
2. super strong type new construction hybrid type stepping motor according to claim 1, it is characterized in that: two silicon steel sheet laminate patch sections of described each rotor unit are along half rotor slot-pitch of circumference mutual dislocation.
3. super strong type new construction hybrid type stepping motor according to claim 1 and 2 is characterized in that: the magnetizing direction that the permanent magnet in the described rotor sulculus is little is radially, and to produce the trend of magnetic flux opposite with the permanent magnet ring plate of axial charging.
4. super strong type new construction hybrid type stepping motor according to claim 1 and 2, it is characterized in that: the number of described magnetic pole of the stator is the integral multiple of the number of phases of described armature winding, and described armature winding is evenly distributed on the circumference of whole stator core.
5. super strong type new construction hybrid type stepping motor according to claim 4, it is characterized in that: the magnetizing direction of the permanent magnet sulculus of filling in the described stator sulculus is for radially, polarity depends on the polarity of institute's respective rotor stack of lamination, and the magnetic flux trend that produces with the rotor permanent magnet ring plate is opposite.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013102244491A CN103326534A (en) | 2013-06-06 | 2013-06-06 | Super-strong type hybrid stepping motor with new structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013102244491A CN103326534A (en) | 2013-06-06 | 2013-06-06 | Super-strong type hybrid stepping motor with new structure |
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| CN103326534A true CN103326534A (en) | 2013-09-25 |
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| CN2013102244491A Pending CN103326534A (en) | 2013-06-06 | 2013-06-06 | Super-strong type hybrid stepping motor with new structure |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105576858A (en) * | 2016-01-29 | 2016-05-11 | 常州汉姆电机有限公司 | Stator of stepping motor and technology for embedding magnetic strip thereof |
| CN110233527A (en) * | 2019-06-21 | 2019-09-13 | 常州富兴机电有限公司 | A kind of iron core tooth socket inserts the rotor and stepper motor of magnetic stripe |
| CN111404335A (en) * | 2020-04-21 | 2020-07-10 | 淮南律动电机制造股份有限公司 | Automatic tooth staggering workpiece and tooth staggering method for rotor of hybrid stepping motor |
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| US4763034A (en) * | 1987-07-10 | 1988-08-09 | Sigma Instruments, Inc. | Magnetically enhanced stepping motor |
| US5856714A (en) * | 1996-07-05 | 1999-01-05 | Tamagawa Seiki Kaubushiki Kaisha | Hybrid type stepping motor |
| US20090108713A1 (en) * | 2003-09-25 | 2009-04-30 | Japan Servo Co. Ltd. | Outer Rotor Type Hybrid Stepping Motor |
| CN203313031U (en) * | 2013-06-06 | 2013-11-27 | 王宗培 | Super-strong new structure hybrid stepping motor |
-
2013
- 2013-06-06 CN CN2013102244491A patent/CN103326534A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4763034A (en) * | 1987-07-10 | 1988-08-09 | Sigma Instruments, Inc. | Magnetically enhanced stepping motor |
| US5856714A (en) * | 1996-07-05 | 1999-01-05 | Tamagawa Seiki Kaubushiki Kaisha | Hybrid type stepping motor |
| US20090108713A1 (en) * | 2003-09-25 | 2009-04-30 | Japan Servo Co. Ltd. | Outer Rotor Type Hybrid Stepping Motor |
| CN203313031U (en) * | 2013-06-06 | 2013-11-27 | 王宗培 | Super-strong new structure hybrid stepping motor |
Non-Patent Citations (1)
| Title |
|---|
| 王欢等: "基于ansys的增强型混合式步进电动机的静转矩分析与计算", 《轻工机械》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105576858A (en) * | 2016-01-29 | 2016-05-11 | 常州汉姆电机有限公司 | Stator of stepping motor and technology for embedding magnetic strip thereof |
| CN110233527A (en) * | 2019-06-21 | 2019-09-13 | 常州富兴机电有限公司 | A kind of iron core tooth socket inserts the rotor and stepper motor of magnetic stripe |
| CN111404335A (en) * | 2020-04-21 | 2020-07-10 | 淮南律动电机制造股份有限公司 | Automatic tooth staggering workpiece and tooth staggering method for rotor of hybrid stepping motor |
| CN111404335B (en) * | 2020-04-21 | 2022-02-08 | 淮南律动电机制造股份有限公司 | Automatic tooth staggering workpiece and tooth staggering method for rotor of hybrid stepping motor |
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Application publication date: 20130925 |