CN104158375B - Super-low-speed high-torque motor and crane with motor - Google Patents

Abstract

The invention discloses a super-low-speed high-torque motor and a crane with the motor. The motor comprises an outer rotor and a stator. The stator is provided with a stator temperature sensor for collecting a temperature signal within the stator. The outer cylinder inner side of the outer rotor is fixedly equipped with a plurality of permanent magnets which are the same tile-shaped hexahedral structures and are regularly arranged along a circumferential direction and an axial direction. A plurality of permanent magnets are arranged in any circumferential and any axial direction. Two circumferential side faces of the permanent magnets are inclined plane shapes with inside cutting angle shapes, and the angle of a cutting angle is 5 degrees to 35 degrees. According to the crane with the motor, the outer cylinder of the motor is used as the winding drum of a lifting mechanism. The motor can normally run in the condition of low speed (super low speed) and large torque, the operation is stable, the vibration is small, the noise is small, the temperature rise is small, and the motor is mainly used for a crane, a port machine, a tower crane, an elevator, a winding machine and other similar occasion.

Description

Ultra-low speed big torsional moment motor and the crane using this motor

Technical field

The present invention relates to a kind of ultra-low speed big torsional moment motor, further relate to a kind of directly the outer tube of this motor is used as reel High pulling torque crane.

Background technology

Existing motor includes rotor and stator, generally adopts stator in outer rotor in interior structure, also has the part motor to be Outside and including stator, this motor is referred to as external rotor electric machine to rotor.The stator core of external rotor electric machine is arranged on fixing On central shaft, iron core is embedded with winding, rotor is cylindrical in shape, and positioned at the outside of stator, the two ends of rotor outer tube are provided with fixed disk, Fixed disk is connected by bearing with central shaft, produces rotating excitation field, with the permanent magnet being arranged in rotor inner wall after winding energising Phase separation, drives rotor rotation.Existing this motor operational excellence when speed is higher, but work as and need low speed (inclusion Ultra-Low Speed) During operation, the negative effect such as harmonic torque and cogging torque just becomes apparent from, and temperature rises, and vibration and noise increase, and go out Power decline in some instances it may even be possible to occur irreversible demagnetization phenomenon, these defects seriously hinder external rotor electric machine under the low speed should With.

Because existing motor can not run under low-speed big, when driving reel for crane, need setting huge Big gear-box is slowed down, and not only volume is big, complex structure, and production cost and maintenance cost are high, but also bring need not The power consumption wanted.

Content of the invention

It is an object of the invention to provide a kind of ultra-low speed big torsional moment motor, it can under low speed (Ultra-Low Speed) high pulling torque just Often run, and stable, and vibration is little, and noise is little, and temperature rise is low.

It is a further object to provide a kind of crane using above-mentioned ultra-low speed big torsional moment motor, its lifting machine Structure does not need setting gear-box, small volume, production cost and maintenance cost low, easy to use, can be big in low speed (Ultra-Low Speed) Normally run under moment of torsion.

The technical solution adopted in the present invention is:

A kind of ultra-low speed big torsional moment motor, including outer rotor and stator, described stator includes central shaft, is fixedly mounted on institute State the stator core on central shaft and the stator winding being fixedly mounted in described stator core, described stator is provided with for gathering The stator temperature sensor of temperature signal in described stator, described outer rotor includes outer tube, the inner side fixed installation of described outer tube Have some permanent magnets, the two ends of described outer tube be all installed with corresponding fixed disk and by corresponding fixed disk with described in Spindle bearing connects, and described some permanent magnets are using identical shoe hexahedron structure and circumferentially regular with axial both direction Arrangement, in arbitrary circumferential and arbitrary axial direction, the described permanent magnet quantity of arrangement is multiple, two peripheral side of described permanent magnet Face is in the tapered plane shape of inner side top rake shape, and its top rake angle is 5-35 degree, and the right-hand member of described central shaft is from connected corresponding Extend out in end bearing, be fixedly mounted on right rigid mount, described right rigid mount is provided with axle installing hole, described center The right part of axle is inserted the axle installing hole of described right rigid mount and is provided with for preventing both and described right rigid mount between The anti-rotation structure relatively rotating.

Preferably, described stator core is provided with the stator slot for being embedded in described winding, and described stator slot is peariform slot, Between 2.5-4.5mm, the pitch of described winding is 1 to notch size k, and every circle coil is wrapped on a stator tooth, and adopts 8 Pole 9 groove, 10 pole 12 groove, 20 pole 24 groove, 30 pole 36 groove, the pole groove fit system of 22 pole 24 groove, 16 pole 18 groove or 32 pole 36 groove, institute State permanent magnet and adopt NdFeB material, length is 30-95mm, thickness is 8-18mm, pole embrace is 0.8-0.9.

Preferably, described permanent magnet cross section outward flange diametrically is in the circle that the center of circle is located in described center shaft axis Arc line shaped, described permanent magnet cross section inward flange diametrically is using any one version following:

(1) described inward flange is in single circular arc, and the center of circle is located in described center shaft axis；

(2) described inward flange is in single circular arc, the center of circle be located at described permanent magnet cross section outward flange midpoint with described On straight line determined by center shaft axis, and its radius is equal to described outer peripheral radius；

(3) described inward flange is in single circular arc, and the center of circle is located in described center shaft axis, and permanent magnet cross section is in footpath Inward flange upwards is connected by a little concave arc line with the circumferential side of permanent magnet cross section；

(4) described inward flange is in single circular arc, the center of circle be located at described permanent magnet cross section outward flange midpoint with described On straight line determined by center shaft axis, and its radius is equal to described outer peripheral radius, and permanent magnet cross section is diametrically Inward flange is connected by a little concave arc line with the circumferential side of permanent magnet cross section.

Preferably, described some permanent magnets in the circumferential with axial direction on regular distribution mode be circumferentially right in the circumferential Neat and be uniformly distributed, in the axial direction along aligned and be uniformly distributed.

Preferably, it is provided with following cooling structure in any one or more:

(1) described central shaft is quill shaft, and the axis hole of described central shaft is constituted for heat dissipation wind channel in the axle of interior cooling；

(2) it is provided with the outer heat dissipation wind channel of composition stator between the medial surface of the lateral surface of described stator core and described outer rotor Annulus；

(3) it is provided with the axially extending bore constituting heat dissipation wind channel in stator, the axle in described stator core in described stator core It is formed by connecting to through hole by the corresponding heat dissipation wind channel hole gone out on the stator punching forming described stator core,

The draft type of above-mentioned each heat dissipation wind channel is gravity-flow ventilation and/or forced ventilation.

Preferably, using any one forced ventilation structure following:

(1) when described central shaft is quill shaft, the axis hole of described central shaft outlet air end is uncovered, described central shaft outlet air end Axis hole in be provided with induced draft fans in axle, when being additionally provided with heat dissipation wind channel in the outer heat dissipation wind channel of stator and/or stator, described stator The gap constituting the even gap band of calming the anger in end is left respectively and the described fixed disk of respective end between in two ends unshakable in one's determination, outside described stator In heat dissipation wind channel and/or stator, calm the anger gap band even with the described end of respective end connects respectively at the two ends of heat dissipation wind channel, described in The axis hole of described central shaft and the center of the even gap band of calming the anger in described end of respective end are communicated with the side wall of heart axle outlet air end Axle side opening, in described axle, induced draft fans are located at the outside of this central shaft side opening；

(2) when being provided with heat dissipation wind channel in the outer heat dissipation wind channel of stator and/or stator, the two ends of described stator core respectively with The gap constituting end even gap band of calming the anger is left, the outer heat dissipation wind channel of described stator and/or fixed between the described fixed disk of respective end In son, calm the anger gap band even with the described end of respective end connects respectively the two ends of heat dissipation wind channel, and the fixed disk of described air intake sets There is wind inlet channel, the quantity of described wind inlet channel is one or more, is serially connected with air intake air pump, positioned at institute in described wind inlet channel Air intake check valve is equipped with the described wind inlet channel stating air intake air pump two ends, described air intake air pump includes cylinder body, described cylinder body It is axially disposed within accordingly on described fixed disk, be provided with the piston supporting with it in described cylinder body, described piston is connected with extension Piston rod to inside described fixed disk, the cavity in described cylinder body is divided into rod chamber and rodless cavity by described piston, described Rod chamber be located at described rodless cavity inner side, described central shaft be provided with the even gap band of calming the anger in the described end of respective end and Constitute the multi-level cam of cam mechanism with described piston rod, described multi-level cam promotes described piston rod to move back and forth when rotating, The air inlet of described air intake air pump and gas outlet are arranged at the bottom of described rodless cavity, when being additionally provided with heat dissipation wind channel in axle, The axis hole of described central shaft and the even gap band of calming the anger in described end of respective end are communicated with the side wall of described central shaft air intake Central shaft side opening.

Preferably, the left end of described outer tube is connected with encoder, the company between the left end of described outer tube and described encoder Connect mode be following any one:

(1) described encoder is external rotor coder, including the inner sleeve being mutually rotatably connected and overcoat, described central shaft Left end extends out in connected corresponding end bearing, is fixedly mounted on left rigid mount, on described left rigid mount Be provided with axle installing hole, the left end of described central shaft insert described left rigid mount axle install in the hole and with described left rigid mount Between be provided with anti-rotation structure for preventing both from relatively rotating, described inner sleeve is fixedly connected the left end of described central shaft, described Overcoat is fixedly connected the described fixed disk of left end, and described central shaft, outer tube, inner sleeve and overcoat are coaxial；

(2) described encoder is internal rotor encoder, and including the inner sleeve being mutually rotatably connected and overcoat, described encoder is joined There are connection multidiameter and bearing spider, described connection multidiameter is arranged on described bearing spider by outer bearing, described The right-hand member of connection multidiameter is provided with radial flange, and described radial flange is coaxially fastened on the described fixed disk of left end, described The fixedly sleeved left part in described connection multidiameter of inner sleeve of encoder or by shaft coupling and described connection multidiameter Left end coaxially connected, the overcoat of coded device is fixedly connected with described bearing spider by connector, and described outer bearing adopts Double-row self-aligning bearing.

Preferably, described rigid mount adopt following any one:

(1) the axle installing hole on described rigid mount is polygonal hole, the described central shaft of connected respective end Shaft part is in identical polygon, and described axle installing hole is joined with the shaft part interference fit of the described central shaft being inserted or transition Close, corresponding polygonized structure constitutes described anti-rotation structure, described axle installing hole is set directly at described rigid mount In main body or be arranged in adjusting sleeve, during for being arranged in described adjusting sleeve, the outer rim of described adjusting sleeve is in cylinder Shape, described axle installing hole is arranged on the central authorities of described adjusting sleeve, the main body of described rigid mount be provided with described adjusting sleeve outside Edge corresponding adjusting sleeve installing hole, described adjusting sleeve is plugged on described adjusting sleeve installing hole, with described adjusting sleeve installing hole mistake Cross cooperation or interference fit, and be provided with or without fastening bolt；

(2) the axle installing hole on described rigid mount is cylindrical hole, and the shaft part of the described central shaft of respective end is in cylinder Shape, described rigid mount is provided with some pin via holes penetrating described axle installing hole side wall, the corresponding shaft part of described central shaft Be provided with some pin blind holes docked respectively with described some pin via holes, some pins or bearing pin wedge respectively described mutually The pin via hole of docking and pin blind hole, described pin or bearing pin and its supporting structure constitute described anti-rotation structure；

(3) the axle installing hole on described rigid mount is cylindrical hole, and the shaft part of the described central shaft of respective end is in cylinder Shape, described axle installing hole and the described axle of insertion are installed and are provided with multiple keys between the described central shaft shaft part of in the hole, described key and its Supporting structure constitutes described anti-rotation structure, and described axle installing hole is set directly in the main body of described rigid mount or arranges In adjusting sleeve, during for being arranged in described adjusting sleeve, the outer rim of described adjusting sleeve is in cylinder, described axle installing hole It is arranged on the central authorities of described adjusting sleeve, the main body of described rigid mount is provided with adjusting sleeve peace corresponding with described adjusting sleeve outer rim Dress hole, described adjusting sleeve is plugged on described adjusting sleeve installing hole, and described adjusting sleeve installing hole interference fits or interference fit, And it is provided with or without fastening bolt；

(4) the axle installing hole on described rigid mount is cydariform hole, the axle of the described central shaft of connected respective end Section is in identical cydariform, the shaft part interference fit of described axle installing hole and the described central shaft being inserted or interference fits, phase The drum organization answered constitutes described anti-rotation structure, described axle installing hole be set directly in the main body of described rigid mount or Person is arranged in adjusting sleeve, and during for being arranged in described adjusting sleeve, the outer rim of described adjusting sleeve is in cylinder, described axle Installing hole is arranged on the central authorities of described adjusting sleeve, and the main body of described rigid mount is provided with tune corresponding with described adjusting sleeve outer rim A whole set of installing hole, described adjusting sleeve is plugged on described adjusting sleeve installing hole, with described adjusting sleeve installing hole interference fits or mistake It is full of cooperation, and be provided with or without fastening bolt；

(5) the axle installing hole on described rigid mount is splined hole, the described central shaft shaft part of connected respective end For splined shaft, the above-mentioned spline structure being adopted between the two constitutes described anti-rotation structure.

Preferably, by the real time temperature in described stator temperature sensor acquisition stator, described fixed according to collect Real time temperature in son judges the fatigue state of motor, sets corresponding with the temperature acquisition position of described stator temperature sensor Operating temperature higher limit, when corresponding stator temperature sensor acquisition to temperature meet or exceed the corresponding operating temperature upper limit During value, it is judged as motor fatigue and judges according to this to control to shut down, when the temperature being collected is less than the corresponding operating temperature upper limit During value, it is judged as that motor is not tired and allows motor to be operated.

Preferably, it is provided with and obtain the current signal collection device of current of electric and/or for online acquisition electricity for online The voltage signal acquisition device of dynamo-electric pressure, described current signal collection device is the current input signal for gathering stator winding Current sensor and/or be to export the converter of its current output signal, described voltage signal acquisition device be for The voltage sensor of voltage input signal of collection stator winding and/or the converter for its voltage output signal can be exported, Current signal is obtained by current signal collection device, is believed for load transducing signal or by described electric current with described current signal Number calculate and obtain payload data, voltage signal is obtained by described voltage signal acquisition device, with described voltage signal for rotation The transducing signal of rotary speed or calculated by described voltage signal and obtain rotary speed data.

A kind of crane, including any one ultra-low speed big torsional moment motor disclosed by the invention, described ultra-low speed big torsional moment The outer tube of motor is used as the reel of the lifting mechanism of described crane, for connecting and winding the steel wire rope of described lifting mechanism.

The additional technical feature of claim 2-9 of the present invention, both can be single used as each independent optimisation technique means Solely exist it is also possible to mutual combination in any exists.

Beneficial effects of the present invention: due to adopting external rotor structure, be conducive to high pulling torque to export；Due to being provided with stator temperature Degree sensor, is obtained in that the true temperature of stator interior, and this temperature is with respect to the outer surface of motor adopting under prior art For temperature or support temperature, can more accurately embody the impact to motor of the degree of fatigue or temperature rise of motor, due to temperature Rise the impact to motor and be mainly shown as stator core different qualities at different temperatures, and whether stator core reaches one Can temperature limit be determined be the major influence factors that work on of motor and necessary qualificationss, and outer surface of motor temperature with fixed Sub- internal temperature is different, between the two also and non-critical linear relationship, therefore pass through the stator of stator temperature sensor acquisition Interior temperature can more accurately, judge the fatigue state of motor more in time, it is to avoid the erroneous judgement leading to because temperature is inaccurate is failed to judge, Both efficiently and securely ensure that motor operation, within the scope of reasonable or safe temperature, avoided not up to stopping in stator temperature again Machine limit value and shut down the waste causing, also avoid simultaneously because user ignore motor duty lead to motor stator temperature rise too high The infringement bringing to motor；In view of motor of the present invention is adapted to high pulling torque output, such as when the lifting machine for gantry crane During structure, during work, rotor and the Interaction Force square of stator, up to more than 200knm, are installed solid using the axle head of prior art Determine mode and be easy to occur fixing problem incessantly, due in being provided between central shaft right-hand member and right rigid mount and being used for preventing The anti-rotation structure that heart axle and bearing relatively rotate, be effectively guaranteed the stability of motor installation, it is to avoid existing installation skill Under art, central shaft is easy to the phenomenon of rotation of skidding；Due to being provided with heat dissipation wind channel it is possible to pass through forced ventilation in motor internal Mode carry out air-cooled, be conducive to increasing substantially heat-sinking capability, control temperature rise, especially because can enter using automatic tire pump Row ventilation, the air pump auto-action when rotor rotates, air pump also stopping action when rotor stops, not only facilitate operation, and Also without separately accessing power supply；Due to being provided with encoder, and external rotor coder and internal rotor encoder all can use, Adequately rotor rotation is gathered by encoder and position signalling provides condition, be conducive to controlling the power supply performance of converter Consistent with being actually needed, improve running quality；Due to being provided with current sensor and voltage sensor, and pass through current signal Obtain load signal, tach signal is obtained by voltage signal, thus greatly reduce the difficulty of corresponding data collection, simplify Control device control process；Some permanent magnets due to employing regularly arranged on circumferential and axial form outer rotor magnetic field, It is advantageously implemented the optimization of magnetic field structure；Due to employing multiple permanent magnets in circumference, and two peripheral side of permanent magnet are in The tapered plane shape of the inner side top rake shape of 5-35 degree, significantly reduces the aberration rate of field waveform；Multiple due to adopting in axial direction Permanent magnet, is conducive to reducing the length of permanent magnet it will be apparent that eliminating or inhibit the impact of higher hamonic wave, according to the reality of applicant Test, with respect to the conventional design under prior art, rely on the present invention above-mentioned be related to permanent magnet optimize structure and parameters optimization and with Other optimization technique means synergism of the present invention, the aberration rate of air-gap field waveform can reduce by 50% 85%, can be by air gap Field waveform aberration rate controls 15% or less than 10%, and the aberration rate of back emf waveform controls 10% or less than 8%, thus greatly Amplitude improves the running stability of motor, reduces noise, reduces torque pulsation and contribute to increasing torque output, reduces Heat, is particularly well-suited to crane hoisting mechanism and other classes that reel directly drives (using motor outer tube as lifting mechanism reel) Like occasion.

Under the above-mentioned preferred implementation of the present invention, motor speed can as little as 0.001r/min-30r/min, torque density May be up to 80kn m/m³More than, momentary overload capacity may be up to 1.5-2.0 times and transships.

Brief description

Fig. 1 is the general structure schematic diagram of ultra-low speed big torsional moment motor of the present invention；

Fig. 2 (a), 2(b) and 2(c) be respectively the present invention relates to the signal of three kinds of embodiments of permanent magnet shape of cross section Figure；

Fig. 3 is the axial schematic diagram of an embodiment of permanent magnetism mounting structure of the present invention；

Fig. 4 is the axial schematic diagram of another embodiment of permanent magnetism mounting structure of the present invention；

Fig. 5 is a kind of structural representation of hollow axle of the present invention；

Fig. 6 is the cross section structure schematic diagram the present invention relates to some heat dissipation wind channels；

Fig. 7 is a kind of schematic diagram of cooling structure of the present invention；

Fig. 8 is the schematic diagram of present invention another kind cooling structure；

Fig. 9 is the schematic diagram of the third cooling structure of the present invention；

Figure 10 is the present invention relates to the structural representation of external rotor coder；

Figure 11 is the present invention relates to the structural representation of internal rotor encoder；

Figure 12 is a kind of schematic diagram of rigid mount of the present invention；

Figure 13 is the schematic diagram of present invention another kind rigid mount；

Figure 14 is the schematic diagram of the third rigid mount of the present invention；

Figure 15 is the schematic diagram of the 4th kind of rigid mount of the present invention；

Figure 16 is the schematic diagram of the 5th kind of rigid mount of the present invention；

Figure 17 is the schematic diagram of the 6th kind of rigid mount of the present invention；

Figure 18 is the relation curve of electric current according to the present invention and lifting loads, and the occupation mode of motor is for crane Lifting mechanism, the rotor outer tube of motor as the cable drum of crane rope reel system, direct Wound steel rope, Load the lift heavy for crane；

Figure 19 is the relation curve of voltage according to the present invention and the speed of service, and the occupation mode of motor is for crane Lifting mechanism, the rotor outer tube of motor is as the cable drum of crane rope reel system, direct Wound steel rope；

Figure 20 is the structural representation being related to lifting mechanism in crane of the present invention.

Specific embodiment

Referring to Fig. 1-17, the invention discloses a kind of ultra-low speed big torsional moment motor, preferably permagnetic synchronous motor, usually Three-phase permanent magnet synchronous motor or single-phase permanent-magnet synchronous motor, including this kind of motor itself under ordinary meaning, also include The electric device of other concrete application functions is added on the basis of this electric machine structure and operation principle.

Ultra-low speed big torsional moment motor disclosed by the invention includes outer rotor and the stator in described outer rotor (referring to figure 1), described stator is mainly made up of stator core 1, stator winding and central shaft 2, and described central shaft can be solid shafting or hollow Axle, described stator core fixedly mounts on center shaft, and described stator core is provided with stator slot, and stator winding fixation is inlaid in On described stator slot, described outer rotor includes the outer tube 3 of tubular, and the two ends of described outer tube are fixedly connected with fixed disk 4, described solid Price fixing is rotatably connected with described central shaft by rotor bearing 5, is installed with some permanent magnets 6, if described in described outer tube Dry permanent magnet is using identical shoe hexahedron structure and circumferentially regularly arranged with axial both direction, arbitrary circumferential and arbitrary In axial direction, the described permanent magnet quantity of arrangement is multiple, two peripheral side tiltedly putting down in inner side top rake shape of described permanent magnet Planar, its top rake angle, θ is 5-35 degree (referring to Fig. 2).After stator winding electrifying, the rotating excitation field of generation is produced with permanent magnet Magnetic field interaction, drive outer tube synchronous rotary, thus convert electrical energy into mechanical energy.Due to employing on circumferential and axial Regularly arranged some permanent magnets form permanent magnetic field, are advantageously implemented the optimization of magnetic field structure, especially because adopting in circumference With multiple permanent magnets and permanent magnet two peripheral side be in 5-35 degree inner side top rake shape tapered plane shape, significantly reduce The aberration rate of field waveform；Due to multiple permanent magnets being adopted on axial direction, be conducive to reducing the length of permanent magnet it will be apparent that eliminating Or inhibit higher hamonic wave.

Preferably, described some permanent magnets in the circumferential with axial direction on regular distribution mode be circumferentially right in the circumferential Neat and be uniformly distributed, in the axial direction along aligned and be uniformly distributed, thus not only contribute to the week of each permanent magnet of reasonable arrangement To distribution and axially distribution, realize magnetic field optimization, and structure is simple, be easy to processing, install and safeguard.

Preferably, leave spacing between circumferentially-adjacent described permanent magnet, be thus conducive to optimizing magnetic field and be easily installed.

Preferably, installation fixed form in described outer tube for the described permanent magnet can be with using any one mode following:

(1) referring to Fig. 3, the inner surface of described outer tube be provided with some axially extending, circumferentially-spaced arrangement and with described forever The dovetail groove that the shape and size of magnet are adapted, described permanent magnet is inlaid in corresponding dovetail groove；

(2) referring to Fig. 4, between circumferentially-adjacent described permanent magnet, it is provided with axially extended fixing press strip 7, described axial direction is prolonged The fixing press strip stretched is fastened on described outer tube by screw and is pressed with the both sides side of described permanent magnet.

For above-mentioned (1st) kind mounting means, the described permanent magnet being inlaid in corresponding dovetail groove and described dovetail groove Between can mutually bond, for above-mentioned (2nd) kind mounting means, the cross section of described axially extended fixing press strip can be in Rectangle or trapezoidal, can also be provided with not between the radial outer side of described axially extended fixing press strip and the inwall of described outer tube Magnetic conduction binding agent 8, thus improves the fastness of installation and magnetic field will not be had a negative impact.Described fixing press strip adopts rectangle Section is easy to process, and trapezoid cross section can make both sides closely fit with the respective side of corresponding permanent magnet, is conducive to improving jail Solidity and reliability.

(it is provided between circumferentially-adjacent described permanent magnet and axially prolongs preferably for above-mentioned (2nd) kind mounting means During the fixing press strip stretched), two axial sides of described permanent magnet can also be in the tapered plane shape of inner side top rake shape, phase in axial direction Leave spacing between adjacent described permanent magnet and be provided with circumferentially extending fixing press strip, described axially extended fixing press strip passes through Screw is fastened on described outer tube and is pressed with the both sides side of described permanent magnet, described axially extended fixing press strip transversal Face rectangular and trapezoidal shapes, the fastness that thus can improve installation further is gone forward side by side one-step optimization magnetic field.

Preferably, the Cylinder Surface that the radially-outer surface of described permanent magnet is overlapped with described center shaft axis for axis, institute The inner radial surface stating permanent magnet is overlapped with described center shaft axis for axis or parallel Cylinder Surface or be by multiple axles The curved surface that the Cylinder Surface that line is parallel to each other connects, the connecting line of the plurality of Cylinder Surface may be located at axis with described On the Cylinder Surface that center shaft axis overlap.

As further preferred structure, described permanent magnet cross section (section on center shaft axis direction) exists Outward flange 61(radially is radially away from the edge of central shaft) it is located in the center of circle in described center shaft axis (in permanent magnet horizontal stroke Section institute in the plane, described center shaft axis show as a point, similarly hereinafter) circular arc linear, described permanent magnet cross section exists The edge of the radially adjacent central shaft of inward flange 62(radially) in single circular arc or be to be interconnected by multi-section circular arc phase The curve being connected into, by the optimization design of these curvilinear surface, can significantly improve air-gap field waveform, reduce aberration rate.

Fig. 2 (a)-(c) provides the several embodiments being related to permanent magnet cross section inward flange shape diametrically:

In the embodiment that Fig. 2 (a) is given: described permanent magnet cross section inward flange diametrically is in single circular arc, Its center of circle is located in described center shaft axis, and the radius of outward flange and inward flange is respectively r1 and r2, forms diametrically uniform thickness Permanent magnet, make the radially inner and outer surface of each permanent magnet be located at (rotor on the corresponding face of cylinder coaxial to described rotor case respectively Housing and central axis), and make spacing between permanent magnet inner surface diametrically and the outer surface of stator equal；

In the embodiment that Fig. 2 (b) is given: described permanent magnet cross section inward flange diametrically is in single circular arc, Outer peripheral radius diametrically is equal with described permanent magnet cross section for its radius, is r1, and its center of circle is located at described permanent magnetism On body cross section outward flange midpoint and straight line determined by described center shaft axis, it is consequently formed permanent magnet central thick both sides thin Structure, is conducive to eliminating edge harmonic wave；

In the embodiment of Fig. 2 (c), described permanent magnet cross section inward flange diametrically can adopt Fig. 2 (a) embodiment Shape, it would however also be possible to employ the shape of Fig. 2 (b) embodiment, it is characterized in that implements Fig. 2 (a) embodiment and Fig. 2 (b) In example, permanent magnet cross section inward flange diametrically and the circumferential side of permanent magnet cross section pass through a little concave arc line (radius be r3) connects, rather than being directly connected to or connected by convex fillet under normal circumstances, thus can be more effective Ground reduces edge harmonic wave.The setting of both sides circular arc serves the effect of similar " top rake ", is conducive to reducing torque pulsation further, Optimize magnetic field it will be apparent that eliminating or reduce the active force of higher hamonic wave, be that motor stablizes work under low speed/Ultra-Low Speed, high pulling torque Make to provide basic guarantee.

Preferably, between 30-95mm, the thickness of described permanent magnet is (when forever for the length (axial length) of described permanent magnet When magnet is not wait thick structure, refer to maximum gauge) between 8-18mm, thus in the premise ensureing mechanical strength and magnetic field intensity Under, can significantly reduce the impact of higher hamonic wave.

Preferably, described permanent magnet adopts NdFeB material, to improve magnetic property.

Preferably, the material of described permanent magnet meets following condition, to ensure that motor normally runs, improves adaptability:

(1), in more than 1.25t, HCJ is between 20-30koe for remanent magnetism；

(2) 150-180 DEG C when demagnetization curve be straight line, occur without degaussing flex point or degaussing flex point occur but it Maximum degaussing operating point b_mhHigher than its degaussing flex point.

Thus, described permanent magnet should choose the trade mark is sh, uh or eh NdFeB material, or suitable or more excellent its of performance The NdFeB material of his the possible trade mark.Using the permanent magnet material with These characteristics, traditional low-speed big electricity can be eliminated The irreversible degaussing risk that the permanent magnet of machine will produce under crane operating condition, is that the present invention is capable of low speed or super Low speed, the important guarantee of high pulling torque.

Preferably, described stator slot adopts peariform slot, and between 2.5-4.5mm, winding pitch is 1 to notch size k, every circle Stator winding coil is wrapped on a stator tooth, thus can significantly optimize stator field, eliminates or reduces higher hamonic wave, Improve frequency characteristic, raising is exerted oneself, material-saving, reduce copper loss.

Preferably, pole embrace is 0.8-0.9, and groove cooperation in pole adopts 8 pole 9 groove, 10 pole 12 groove, 20 pole 24 groove, 30 poles 36 Groove, 22 pole 24 groove, 16 pole 18 groove or 32 pole 36 groove fit system, to optimize air-gap field, eliminate cogging torque.

Through above-mentioned improvement, under preferred embodiment and with reference to other supporting optimization device (such as high-quality frequency conversions Device), the aberration rate of the air-gap field waveform of motor of the present invention can reduce by 50% 80%, so that air-gap field waveform aberration rate is controlled 15% or less than 10%, the aberration rate of back emf waveform controls 10% or less than 8%, and the operation of motor is thus greatly improved Stationarity, reduce noise, reduce torque pulsation and contribute to increase torque output, and contribute to control temperature rise, therefore exist Still can normally run in the case of ultra-low speed big torsional moment, be particularly well-suited to the lifting that reel directly drives (using outer tube as reel) Machine lifting mechanism and other similar applications.

For improving heat-sinking capability, improve radiating effect, especially for the big use occasion of some quantities of heat production, can be in electricity Inside machine, setting heat dissipation wind channel, by gravity-flow ventilation or force ventilated mode, directly aeration-cooling in motor internal.

For example, it is possible to be provided with following cooling structure (referring to Fig. 5-8) in any one or more:

(1) described central shaft is quill shaft, and the axis hole 9 of described central shaft is constituted for heat dissipation wind channel in the axle of interior cooling (referring to Fig. 5)；

(2) it is provided with the outer heat dissipation wind channel of composition stator between the medial surface of the lateral surface of described stator core and described outer rotor 10 annulus (referring to Fig. 6)；

(3) it is provided with the axially extending bore (referring to Fig. 6) constituting heat dissipation wind channel 11 in stator in described stator core.

Generally, described stator core is made up of some mutually isostructural axially stacked stator punchings, in the case, Preferably, on described stator punching, punching has some heat dissipation wind channel holes, and in described stator, heat dissipation wind channel is by described each stator punching On corresponding heat dissipation wind channel hole constitute, thus can be formed in the case of substantially not increasing processing technique or technology difficulty Heat dissipation wind channel in required stator.

Preferably, some heat dissipation wind channel holes on described stator punching are distributed along same even circumferential, thus can equalize Radiating effect everywhere.When needing to arrange multi-layer heat dissipation air duct hole, some heat dissipation wind channel holes on described stator punching are permissible Along multiple circle distribution, some heat dissipation wind channel holes of each circumference are uniformly distributed.

Preferably, described stator punching is distributed on same circumference some heat dissipation wind channel holes shapes and sizes phase Same, it is the arc strip hole with the center of described stator punching as the center of circle, thus can ensure that the situation of stator core intensity Under effectively improve the area of dissipation in air channel.

Preferably, this stator punching inward flange (centrally located central shaft of the heat dissipation wind channel pitch-row on described stator punching The edge of installing hole) distance be less than away from the outer peripheral distance of this stator punching, thus in the outer heat dissipation wind channel of composite stator and fixed In the case of heat dissipation wind channel effect in son, improve overall heat dissipation efficiency and heat-sinking capability.

When needing forced ventilation, any one forced ventilation structure following can be adopted:

(1) when described central shaft is quill shaft, the axis hole of described central shaft outlet air end is uncovered, described central shaft outlet air end Axis hole in be provided with induced draft fans in axle, when being additionally provided with heat dissipation wind channel in the outer heat dissipation wind channel of stator and/or stator, described stator Two ends unshakable in one's determination leave the gap constituting the even gap band 12 of calming the anger in end, described stator respectively and the described fixed disk of respective end between In outer heat dissipation wind channel and/or stator, calm the anger gap band even with the described end of respective end connects respectively at the two ends of heat dissipation wind channel, described Even calm the anger in gap band in the described end being communicated with the axis hole of described central shaft and respective end on the side wall of central shaft outlet air end Heart axle side opening 13, in described axle, induced draft fans are located at the outside of this central shaft side opening；

(2) when being provided with heat dissipation wind channel in the outer heat dissipation wind channel of stator and/or stator, the two ends of described stator core respectively with Leave the gap constituting end even gap band 12 of calming the anger between the described fixed disk of respective end, the outer heat dissipation wind channel of described stator and/or In stator, calm the anger gap band even with the described end of respective end connects, on the fixed disk of described air intake respectively at the two ends of heat dissipation wind channel It is provided with wind inlet channel, the quantity of described wind inlet channel is one or more, is serially connected with air intake air pump, is located in described wind inlet channel Air intake check valve is equipped with the described wind inlet channel at described air intake air pump two ends, described air intake air pump includes cylinder body, described cylinder Body is axially disposed within accordingly on described fixed disk, is provided with the piston supporting with it, described piston is connected with and prolongs in described cylinder body Reach the piston rod inside described fixed disk, the cavity in described cylinder body is divided into rod chamber and rodless cavity, institute by described piston State the inner side that rod chamber is located at described rodless cavity, described central shaft is provided with and calms the anger in gap band positioned at the described end of respective end is even And the multi-level cam with described piston rod composition cam mechanism, promote described piston rod back and forth to move during described multi-level cam rotation Dynamic, the air inlet of described air intake air pump and gas outlet are arranged at the bottom of described rodless cavity, when being additionally provided with heat dissipation wind channel in axle When, the side wall of described central shaft air intake is communicated with the axis hole of described central shaft and the even gap of calming the anger in described end of respective end The central shaft side opening of band.

The specific embodiment of several coolings be given below:

For example, it is possible to carry out the ventilation and heat in motor by heat dissipation wind channel in the outer heat dissipation wind channel of described stator and stator, In the case, the even gap band 12 of calming the anger in two described ends should be respectively communicated with respective ventilation air duct 14, and described ventilation air duct can To be opened on the fixed disk of respective end and calm the anger gap band even with the end of respective end is connected (referring to Fig. 7), to simplify structure, Reduce windage and improve efficiency, the ventilation air duct on one of fixed disk (fixed disk of such as right-hand member) is used as wind inlet channel, Ventilation air duct on another fixed disk (fixed disk of such as left end) is used as exhaust air flue, when needing to carry out forced ventilation, Ventilation air duct at least one described fixed disk is provided with forced ventilation device, by the draught effect (drum of forced ventilation device Enter and/or extract out), in described stator, heat dissipation wind channel and the outer heat dissipation wind channel of stator form the gas with Air Quantity Required and pressure Stream, the heat in stator core is scattered in the air-flow of heat dissipation wind channel and the outer heat dissipation wind channel of stator in stator by air-flow by heat exchange Take out of, be achieved in the purpose of high effect forced radiating.The outer heat dissipation wind channel of said stator and the even gap band of calming the anger in end may each be existing Have the respective clearance of motor, can according to radiating and even pressure the improvement needing to carry out on size and dimension and need not in addition again Setting, is conducive to simplifying structure.

Preferably, the quantity of described wind inlet channel and exhaust air flue is several, is opened in the fixation of respective end respectively On disk, described exhaust air flue is provided with air-out check valve 15, and described forced ventilation device is air intake air pump 16, described air intake air pump Quantity be several, concatenate in each self-corresponding described wind inlet channel respectively, on the wind inlet channel at described air intake air pump two ends It is equipped with corresponding air intake check valve (intake valve 17 for example for described air pump, air bleeding valve 18).To described air pump Driving and work method control can be by existing and other possible appropriate technologys of any suitable.

Preferably, described air intake air pump includes cylinder body, and described cylinder body is axially disposed within accordingly on described fixed disk, described It is provided with supporting piston, described piston is connected with the piston rod extending to inside described fixed disk in cylinder body, empty in described cylinder body Chamber is divided into rod chamber and rodless cavity by described piston, and described rod chamber is located at the inner side of described rodless cavity, on described central shaft It is provided with the multi-level cam 19 constituting cam mechanism in the even gap band of calming the anger of respective end and with described piston rod, described multistage convex Wheel promotes described piston rod to move back and forth when rotating, and the air inlet of described air intake air pump and gas outlet are each provided at described rodless cavity Bottom, thus a part for the described rodless cavity described wind inlet channel of composition, realizes string on described wind inlet channel for the described air pump Connect.Generally the wheel with described cam engagement can be set on piston rod top, the boss of described cam can also adopt one Top arc and the curved-surface structure of two inner arc smooth connections, to reduce friction.During motor work, described fixed disk rotates with outer rotor And move back and forth by the piston rod that described multi-level cam drives each air pump described, and then drive the piston reciprocating of each air pump Mobile, with the movement of piston, rely on the effect of the air intake check valve on the wind inlet channel of described air intake air pump two ends, extraneous air Enter rodless cavity, the evener gap band of calming the anger from rodless cavity entrance respective end, heat dissipation wind channel and the outer radiation air of stator in stator Behind road, the air outlet through the other end flows out.According to actual needs, can by suitable air pump quantity (wind inlet channel quantity), Boss quantity in air pump parameter and cam etc., can meet the requirement to air quantity and blast for the motor radiating.This air pump need not Separately connect external impetus, automatically begin to work when motor works, motor is automatically stopped when stopping, very convenient.

All it is opened in the replacement scheme on fixed disk as above-mentioned two ends ventilation air duct, described ventilation air duct can also all be opened It is located on the central shaft of respective end (as Fig. 8), or the ventilation air duct of one end is opened on fixed disk, the ventilation air duct of the other end It is opened on fixed disk (as Fig. 9).Ventilation air duct is opened up and is conducive on center shaft improving the adaptation to forced ventilation device Property, simplify the attachment structure and forced ventilation device between, and improve draught capacity, the described ventilation wind opening up on center shaft Road (can be equivalent to the center of the certain length that extends internally from axle head by the central shaft axial hole being opened in described center shaft end Axle axis hole) 20 and the central shaft side opening 21 that is arranged on the side wall in described central shaft axial hole constitute, described central shaft axial hole Outer end opening, inner end closure (includes using closeouts closure or is arranged to blind hole), the connection of one end of described central shaft side opening The even gap band of calming the anger in the end of respective end, the other end connects described central shaft axial hole.

When using breeze fan as forced ventilation device, the central shaft of air intake opens up wind inlet channel, described The air outlet of breeze fan connects described wind inlet channel or directly suitable breeze fan is arranged in described wind inlet channel, It is adapted with this forced ventilation mode, described exhaust air flue can be opened on the fixed disk of respective end it is also possible to be opened in On the central shaft of respective end, when on the fixed disk that described exhaust air flue is opened in respective end, the described fixation being opened in respective end The quantity of the exhaust air flue on disk is typically multiple, to improve draught capacity.

When using induced draft fans as described forced ventilation device, described exhaust air flue is located at the central shaft of respective end On, the air inlet of described induced draft fans connects described exhaust air flue or directly suitable induced draft fans is arranged on described air-out In air channel, with this forced ventilation mode be adapted, described wind inlet channel can be opened on the fixed disk of respective end it is also possible to It is opened on the central shaft of respective end, when on the fixed disk that described wind inlet channel is opened in respective end, described be opened in respective end Fixed disk on wind inlet channel quantity typically multiple, to improve draught capacity.

The above-mentioned type of cooling on center shaft is respectively provided with for wind inlet channel and exhaust air flue, if by central shaft Wind inlet channel connects (the central shaft axis hole actually adopting insertion) with exhaust air flue, forms heat dissipation wind channel in axle, and fits When the size of setting air intake and the central shaft side opening 13 of outlet air end, make heat dissipation wind channel and axle in the outer heat dissipation wind channel of stator, stator Air mass flow in interior heat dissipation wind channel meet the requirements it is possible to realize simultaneously the outer heat dissipation wind channel of stator, in stator heat dissipation wind channel and The purpose that in axle, heat dissipation wind channel radiates simultaneously.

As shown in figure 9, the air intake of described central shaft axis hole is blocked by closure plate 22, the central shaft axis hole of described outlet air end Inside it is provided with air-introduced machine 23 or the central shaft axis hole of described outlet air end is connected with air-introduced machine.After air-introduced machine starts, cool exterior air Wind inlet channel from air intake fixed disk enters the even gap band of calming the anger in end at this end, and a part enters after outer heat dissipation wind channel The even gap band of calming the anger in the end of outlet air end, then enters central shaft axis hole by the central shaft side opening of respective end, and another part passes through The central shaft side opening of air intake enters the central shaft axis hole at this end, flows into outlet air end along central shaft axis hole, and two parts air stream exists Converge in outlet air end central shaft axis hole, send central shaft through air-introduced machine, be consequently formed within stator outer surface and central shaft Air blast cooling, is achieved in the purpose of high effect forced radiating.

The encoder of described motor can adopt external rotor coder, it would however also be possible to employ common internal rotor encoder.

Generally, described encoder is rotary encoder, including the inner sleeve 24 being mutually rotatably connected and overcoat 25, described inner sleeve Leave gap and overcoat between, described inner sleeve and put outward and be provided with corresponding position sensible element, to ensure overcoat with respect to interior The rotation of set, to obtain corresponding transducing signal.

When described encoder is the external rotor coder being arranged on described outer tube left end (referring to Figure 10), described inner sleeve set It is connected on from the described central shaft that left end extends out and is fixedly connected with described central shaft, described overcoat is fixed with described outer tube Connect (can directly fix it is also possible to indirectly fix by other structures part), described central shaft, outer tube, inner sleeve and overcoat are same Axle.During work, described inner sleeve is maintained static together with described central shaft, and described overcoat is rotated with described outer tube Complete Synchronization ground, The parameters such as the angular displacement of described overcoat, rotary speed, rotary acceleration are identical with described outer tube, advantageously ensure that detection number According to reliability and improve accuracy of detection.

Preferably, the mode that described inner sleeve is fixedly connected with described central shaft be socketed in described interior on described central shaft It is provided with linking bond 26, this mode structure being connected is simple, easy for installation, good reliability between set and described central shaft.

Preferably, the axle journal that described central shaft left end is used for connecting described inner sleeve is multidiameter neck, the right-hand member of described inner sleeve By the corresponding seam positioning on described multidiameter neck, the left end of described inner sleeve is by the fixedly sleeved thrust ring in described multidiameter neck 27 positioning, ensure inner sleeve positioning in the axial direction and fixation from there through simple structure.

Preferably, described multidiameter neck is also socketed with spacer 28, described spacer be located at described inner sleeve with positioned at described interior Between the described interior loop port for positioning for the set left side, the right-hand member of described spacer is connected with the end face of described seam, described spacer Left end connect with the right-hand member of described inner sleeve, the right-hand member of described thrust ring is connected with the left end of described inner sleeve, setting by spacer Put, be beneficial to and inner sleeve is positioned on suitable axial location.

Preferably, described spacer is made up of one section of tube-in-tube structure, is provided with toroidal membrane in the middle part of the axial direction of described tube-in-tube structure, Described toroidal membrane is located at the left side of the described rotor bearing of left end, and its external diameter is more than the internal diameter of this rotor bearing, thus also may be used Protective action is played with the rotor bearing to respective end.

Preferably, the outward flange position of the described fixed disk of left end is fastened by bolts at described outer tube corresponding port In annular flange flange 29, the inner circle of described fixed disk is fixedly connected with the outer ring of respective rotor bearing, thus easily and effectively realizes Connection between the closure of described outer tube left end port and outer tube and rotor bearing.

Because the external diameter of described rotor bearing under normal circumstances is more than the external diameter of described overcoat it is preferable that described outer put It is provided with overcoat flange 30, described overcoat flange is located at the left side of a flange for connection 31, and is fastened by bolts in this connection With, on the inward flange position of ring flange, described flange for connection is located at the left side of the fixed disk of described left end, described connection is used The outward flange position of ring flange is fastened by bolts the inward flange position of the fixed disk in described left end, is achieved in described overcoat Being fixedly connected between described outer tube.Thus easily and effectively solve because of factors such as described encoder overcoat size and locations The problem that cannot be directly connected with fixed disk.

Under the mounting means of above-mentioned external rotor coder, the left end of described central shaft, as right-hand member, is arranged on it right On the left rigid mount 32 answered, described left rigid mount is arranged on the outside of described external rotor coder, thus not only facilitates The installation of encoder, simplifies attachment structure, also allows for operation and maintenance.

When described encoder is the internal rotor encoder 33 being arranged on described outer tube left end (referring to Figure 11), generally adopt Small-bore internal rotor encoder, described small-bore internal rotor encoder is provided with connection multidiameter 34 and bearing spider, described company Connect and be arranged on described bearing spider by outer bearing 35 with multidiameter, the right-hand member of described connection multidiameter is provided with radial convex Edge, the fixed disk 4 of the coaxially connected described left end of described radial flange, the inner sleeve of described encoder fixedly sleeved described connect use The left part of multidiameter or coaxially connected with the left end of described connection multidiameter by shaft coupling 36 or similar connector, is compiled The overcoat of code device is fixedly connected with described bearing spider by connector.Due to encoder inner sleeve pass through connection multidiameter with Described outer tube 3 is coaxially connected, so that overcoat is maintained static by corresponding connector, thus can be by the internal rotor under routine techniquess The detection of the external rotor electric machine for being relatively large in diameter for the encoder, ultra-low speed big torsional moment motor for example disclosed by the invention.

Generally, described bearing spider is preferably formed by the seat of honour 37 and the docking of lower seat 38 two parts, and the described seat of honour and lower seat lead to Cross bolt to tighten together, to facilitate processing, to install and maintenance.

Preferably, described outer bearing adopts double-row self-aligning bearing, to improve stress performance.

Preferably, described bearing spider is fixed with baffle ring 39 and the bearing cap 40 for bearing outer ring axial limiting, Described baffle ring is located at the right side of described outer bearing, and described bearing cap is located at left side, described baffle ring and the bearing cap of described outer bearing Leave gap and described connection multidiameter between, reliably positioned with realizing and avoid the obstruction to connection multidiameter.

Generally, on described connection multidiameter, the diameter of each shaft part is successively decreased to a left side by the right side, paragraph by paragraph to be adapted to outer tube and volume On code device, the installation dimension of corresponding part requires.

Generally, described connection multidiameter can be solid or hollow rotary structure part, when using hollow-core construction, Threading and ventilation etc. can be carried out by mesopore.

Preferably, the connector between described encoder overcoat and described bearing spider includes the special-shaped method that transition is connected Blue 41, the two ends of described Special-shaped flange are respectively peripheral annual connecting portion and inner edge annular connecting portion, and described peripheral annual connects Part between portion and inner edge annular connecting portion is in the tubular with ring ladder, and described peripheral annual connecting portion is in described different The right-hand member of type flange, is connected with bearing cap, described inner edge annular connecting portion in the left end of described Special-shaped flange, with described overcoat On mounting flange connect, thus not only adapted to the axial location of corresponding part and radial dimension of connection on motor and encoder Require, but also the effect of being effectively protected is played to parts such as outer bearings.

Described rigid mount (right rigid mount and, if any, left rigid mount) shape of any suitable can be adopted Formula, because the frictional force between cylindrical optical axis and the unthreaded hole of cylinder is limited, therefore when the moment of torsion of central shaft is very big, easily In occurring skidding, therefore, it can non-circular by being arranged to the central shaft cooperating shaft part and axle installing hole 42, for example many Side shape hole (referring to Figure 12) and cydariform hole (Figure 16), or by pin 43 or bolt etc. pass radially through positioned at rigid mount and in So as to a part is located in rigid mount, another part is located in central shaft, in thus stoping in hole (referring to Figure 14) on heart axle Heart axle relative stiffness bearing rotates, can also be by axle installing hole is arranged to splined hole (referring to Figure 17) or in central shaft And axle installing hole between setting linking bond 44(referring to Figure 15) etc. mode stop central shaft relative stiffness bearing rotate.

Generally, described axle installing hole can be arranged directly on described rigid mount, that is, be arranged on described rigid mount It is preferable that rigid mount can be using by the main body of rigid mount and adjusting sleeve 45 Split type structure, described axle installing hole in main body It is arranged on the central authorities of described adjusting sleeve, the outside of described adjusting sleeve is in cylinder, and the main body of described rigid mount is provided with and institute State adjusting sleeve outer rim corresponding adjusting sleeve installing hole, described adjusting sleeve is plugged on described adjusting sleeve installing hole, with described adjustment Set installing hole interference fits or interference fit, and be provided with or without in fastening bolt, can be by described adjusting sleeve during installation In the adjusting sleeve installing hole of the main body as integral installation to rigid mount for the central shaft, and adjusting sleeve installing hole is cylinder Hole, facilitates central shaft centering, reduces the circumferential difficulty of angle adjustment and the same axial adjustment of two rigid mounts when central shaft is installed Difficulty, also reduces rigid mount and the processing request of center shaft neck, when the two ends of central shaft are installed on rigid mount When, typically at least there is a rigid mount to be the above-mentioned rigid mount being provided with adjusting sleeve.

Preferably, the quantity of described stator temperature sensor is one or more, the setting of described stator temperature sensor Position (referring to the position of collecting temperature, corresponding temperature gathers position) can be one or more, thus can be according to different need And to process and operational facility, flexibly the quantity of setting stator temperature sensor and installation site.

For example, described stator temperature sensor can be arranged on following optional position:

A) described stator temperature sensor is arranged in the stator slot in described stator core, positioned at corresponding stator slot cell wall And the winding in this stator slot between, the temperature thus collecting substantially embodies the temperature of stator core, can be considered or uses Make the temperature of stator core；

B) it is provided with stator temperature sensor mounting hole inside described stator core, described stator temperature sensor is inlaid in institute State in stator temperature sensor mounting hole, thus more can accurately collect the temperature within stator core, can be by institute State the maximum temperature position that stator temperature sensor mounting hole is arranged on stator core, to obtain the highest temperature in stator core Degree, it is to avoid because actual acquisition to stator core internal temperature cause these positions to exceed iron core because of temperature less than its maximum temperature Operating temperature higher limit and break down；Generally, described stator temperature sensor mounting hole can rushing in corresponding lamination During system, punching is out.

C) described stator temperature sensor is arranged on inside the winding in the stator slot of described stator core, thus can be straight Connect the internal temperature collecting winding.Based on noted earlier same the reasons why, the stator temperature sensor of setting inside winding It is also preferred that the temperature highest position being arranged in winding；

D) it is also provided with described central shaft or is not provided with the stator temperature sensor for gathering central shaft temperature, lead to Cross and can obtain central shaft temperature for the stator temperature sensor gathering central shaft temperature, so that compared with other temperature, Analysis and research motor on thermograde change it is possible to control require relatively low in the case of as control according to or As control foundation after revising.

Due to being typically all temperature probe to be positioned on motor bearings or motor housing carry out thermometric under prior art, Heat production and the temperature regime of motor internal can not be reflected, for particularly corresponding external rotor permanent magnet synchronous machine, stator winding Copper loss and stator core iron loss be heating main cause, and these heat energy cause stator core and stator winding first Temperature rises, and just reaches shell or bearing through longer path, therefore, the temperature recording from shell or bearing can not be truly Embody the temperature of stator interior, be unfavorable for motor status are made with accurate judgement, be also unfavorable for motor is accurately controlled System.It is that the working level of motor is defined by time test additionally, due to people, but in actual running, user Typically will not go to count the time of motor operation, after running to the maximum operating time of working level restriction, often occur not Motor is carried out the phenomenon processing and continuing to run with such as shut down, it is easy to lead in the case that people do not grasp motor internal temperature Cause accident occurs, and if complete work according to duty, although generally can ensure that safe operation, often there is also motor The phenomenon just shut down before the internal temperature that not up to should shut down, leads to the utilization rate of motor to decline, and impact work efficiency is permissible Judge the fatigue state of motor by stator temperature, therefore, judge that motor fatigue state and degree are more defined by stator temperature Really, the operating temperature higher limit corresponding with temperature acquisition position on stator can be set, when the temperature collecting reaches or super When crossing corresponding operating temperature higher limit, judge motor fatigue and judge according to this to control to shut down, when the temperature being collected is low When corresponding operating temperature higher limit, judge that motor is not tired and allows motor to be operated.

Preferably, when the temperature that described stator temperature sensor is collected is less than corresponding operating temperature higher limit When, calculate the motor continuous working period reaching corresponding operating temperature higher limit, and continue to hold in this, as permission motor The maximum duration of continuous work, thus makes user understand and grasp the practical situation of motor, and the working time follow-up to motor does To knowing what's what.The calculating of described maximum duration, can calculate periodically or under certain condition according to the program setting, Corresponding temperature acquisition and calculating can be carried out according to the instruction being manually entered.

The ultra-low speed big torsional moment motor of the present invention is also provided with for the online current signal collection obtaining current of electric Device and/or the voltage signal acquisition device for online acquisition electric moter voltage, described current signal collection device is for adopting The current sensor of current input signal of collection stator winding and/or the converter for its current output signal can be exported, institute State the voltage sensor of the voltage input signal that voltage signal acquisition device is for gathering stator winding and/or for exporting The converter of its voltage output signal, when two kinds of signals are all obtained by converter, output current signal and voltage signal Converter can be same converter, obtain current signal by current signal collection device, with described current signal as load Transducing signal or calculated by described current signal and obtain payload data, obtains voltage by described voltage signal acquisition device Signal, the transducing signal with described voltage signal as rotary speed or calculated by described voltage signal and obtain rotary speed data.

It is utilized respectively current signal and voltage signal determines that the principle of motor load and motor operation speed is as follows: to described Permagnetic synchronous motor is carried out=0 vector controlled, in the presence of controller, stator winding supply current (i.e. stator current) Only pure torque current, without exciting current.Motor operation in such a mode, motor load and winding power electric current Between and motor operation speed and winding power voltage (i.e. stator voltage) between there is the positive correlation of determination.Therefore, It is directly obtained electric moter voltage information and current information, is equivalent to be aware of motor operation speed and motor load, compare existing There is the detection mode of various direct detection motor operation speed under technology and motor load more reliable, and implement more Simply, fast.

Figure 18 shows a kind of high-torque low speed as crane gearless lifting mechanism under above-mentioned vector controlled state The current loading profile of permagnetic synchronous motor, both corresponds to load (lift heavy, therefore basis determining under the electric current arbitrarily determining Winding power electric current just can calculate the lift heavy of motor it is also possible to according to actual needs directly by the current signal being gathered As the transducing signal embodying lift heavy, in motor/overload crane controls, set really according to the relation between lift heavy and electric current Recognize the current signal threshold value of lift heavy overload, when the current signal being gathered meets or exceeds given current signal threshold value, open Dynamic overload protection action, stops motor work, thus greatly facilitates the collection of lift heavy signal and the confirmation of motor overload, Greatly simplifie data processing amount, it is to avoid the lift heavy data distortion leading to because of weight sensor in reality and lift heavy overload control Make inaccurate defect, it helps reduce and eliminate the potential safety hazard brought because of shielding weighing instrument.

Figure 19 shows a kind of high-torque low speed as crane gearless lifting mechanism under above-mentioned vector controlled state Voltage/the speed curves of permagnetic synchronous motor, this curve is the simple curve of a rising, both corresponds under the voltage arbitrarily determining Determine motor operation speed, therefore according to winding power voltage can calculate motor motor operation speed it is also possible to The transducing signal being directly used as to embody motor operation speed by the voltage signal being gathered according to actual needs sends into corresponding prison Control device, the running status of supervision or controlled motor, but when needing to limit motor maximum speed, can be according to motor operation speed The voltage signal threshold value of the relation setting check motor operation speed hypervelocity and voltage between, when the voltage signal being gathered reaches Or when exceeding given voltage signal threshold value, start overspeed protection action, thus provide for the on-line checking of motor operation speed One kind easily mode.

As an application mode of motor of the present invention, this ultra-low speed big torsional moment external rotor electric machine can be used for lifting The lifting mechanism of machine, to eliminate the huge gear-box arranging under prior art as deceleration transmission, Figure 20 gives this The embodiment of the monkey under application, this trolley include by left and right end carriage and two ends respectively with described left and right end carriage The trolley frame that the equalizer bar connecting is constituted, also includes lifting motor and steel wire rope winding mechanism, described left and right end carriage is respectively mounted There is corresponding adhesion wheel/adhesion wheel group and by motor car wheel/by motor car wheel group, described adhesion wheel/adhesion wheel is assembled with Wheel drive motors, described lifting motor adopts any one ultra-low speed big torsional moment motor disclosed by the invention, described raising electricity Machine is arranged on described left and right end carriage by the rigid mount 46 at left and right two ends, the installation of described rigid mount and described motor It is provided with the anti-rotation structure for preventing both from relatively rotating, described installation axle is usually the central shaft of motor, with rigidity between axle It is fixedly connected between bearing, the outer tube 3 of described motor is used for lay winding wire ropes, constitutes the reel of described steel wire rope winding mechanism, institute State steel wire rope winding mechanism and also include the assembly pulley supporting with described steel wire rope, described assembly pulley is by movable pulley and fixed pulley group Become, the quantity of the quantity of described fixed pulley and described movable pulley is respectively one or more, described fixed pulley is arranged on described flat On Heng Liang.Because the outer rotor of lifting motor is directly as reel, eliminates the gear-box under prior art, thus not only avoid The various defects brought because of gear-box, but also external rotor permanent magnet synchronous machine particularly low speed can be made full use of (containing super Low speed) the various superior functions that have of high pulling torque external rotor permanent magnet synchronous machine.

Preferably, the outer rotor two ends of described lifting motor are equipped with fixed disk 4, and the described fixed disk of wherein one end connects There is rotary encoder, thus can gather positional information and the movable information of outer rotor, the institute of the other end by rotary encoder State fixed disk to be furnished with and its supporting brake tongs device forming disk brake, this fixed disk constitutes the system of described disk brake Moving plate to radially extend disk body outside the housing of described outer rotor by it (can also be to fix with the fixed disk of respective end The braking ring flange connecting) with the cooperation of the brake pad of described brake tongs device, thus the work of lifting motor can be controlled System, the position after disk brake carries out the braking of lifting motor and/or brakes keeps.

Generally, described disk brake can be electromagnetic disc type brake, to facilitate control.

Generally, described rigid mount is coordinated using polygon rigid mount or other any one be prevented from installing Axle installs the rigid mount of in the hole skidding rotation in axle, and it is polygonal that the rigid mount of described polygon cooperation is provided with cross section Axle installing hole, described lifting motor respective end installation axle using corresponding polygonized structure and grafting and be fixed on described many In the axle installing hole of rigid mount of side shape cooperation；The rigid mount of rounded engagement can also be adopted, this rigid mount sets Cross section is had to be circular axle installing hole, described lifting motor using cylindrical structural and is plugged on institute in the installation axle of respective end In the axle installing hole of the rigid mount stating rounded engagement, by arranging key connection structure, spline draw bail or squeezing into fixation Sell or improve the crystallized ability to installation axle for the rigid mount with modes such as fastening bolts.

Preferably, when described rigid mount adopts the rigid mount of polygon cooperation, the cross section of described axle installing hole is Positive triangle, square or regular hexagon, the support body of described rigid mount is divided into two parts of docking or institute relatively Stating support body is to be provided with the side-wall shaft of axle installing hole to the integral type support body in the gap cut open, described is divided into mutually The two-part support body of docking is fastened by bolts together, described is provided with the side-wall shaft of axle installing hole to cutting open The integral type support body in gap is locked by bolt in the both sides in described gap.

Described rigid mount adopts during the rigid mount of rounded engagement it is preferable that described cylindrical fixing axle is described Fixed form on the axle installing hole of the rigid mount of rounded engagement is the following combination of any one or more: (1) passes through footpath Fix (referring to Figure 14) to some pins being distributed on the wall of described axle installing hole side；(2) by being distributed in described axle installing hole side Some trip bolts on wall are fixed；(3) some projections by being distributed on described axle installing hole inwall are fixed；(4) By fixing with described axle installing hole interference fit；Or (5) the side wall of described axle installing hole is provided with least one abutment joint Gap, the two ends of described butt seam are provided with two ends to the trip bolt fastening together or fastening bolt, thus will be positioned at described The fixing axle that axle installs the cylinder of in the hole is fixedly clamped.It is achieved in lifting motor effectively and reliably propping up on trolley frame Support.The needs of internal rotor rotary encoder according to actual needs, for example, can be installed, in one end of lifting motor setting and raising The rotary shaft that motor outer rotor connects, and by corresponding bearing, this rotary shaft is arranged on the rigid mount of corresponding side.

Preferably, one or more of fixed pulleys are arranged in fixed pulley support, described fixed pulley support fixed installation On described equalizer bar, it is achieved in installation on described equalizer bar for the described fixed pulley, it is fixed to be provided with described fixed pulley support Sliding wheel arbor, mounting means in described fixed pulley support for the described fixed pulley be arranged on by bearing or axle sleeve described fixed On sliding wheel arbor, one or more of movable pulleys are arranged in moving pulley bracket, are provided with movable pulley in described moving pulley bracket Heart axle, described movable pulley is arranged on described movable pulley heart axle by bearing or axle sleeve, and described moving pulley bracket is provided with Suspension hook 48.Thereby assist in the normal operation ensureing assembly pulley.

Preferably, the plurality of fixed pulley and the plurality of movable pulley are all distributed using double row type, are beneficial to rational deployment And smooth movements, the upper outer of end carriage described in side can set up the dolly conduction rack for introducing power supply, described Two can be provided with respectively to the distribution box of described lifting motor and wheel drive motors dispensing electricity, described distribution box on trolley frame Hang over the side of described end carriage or be erected on described trolley frame, described trolley frame can be provided with inspection platform, described inspection The side of equating platform should be provided with railing, and the two ends of described end carriage all should be provided with sweeps rail plate and buffer, and the side of described end carriage should It is provided with safety ruler.

Shoe hexahedron alleged by the present invention refer to its main part be in similar to watt cylinder, including the table of two radial directions Two surfaces of the surface in face, two circumferential surfaces and two axial directions, wherein the two of radial direction surface and circumference are spaced Connect the side forming cylinder two-by-two, two surfaces of axial direction constitute the top and bottom of this cylinder, in almost fan.Cylinder arbitrary Seamed edge both can be the seamed edge or the curved surface seamlessly transitting that plane intersects, surface intersection, plane and surface intersection are formed Or the structure of other any suitable.

On permanent magnet alleged by the present invention, the tapered plane shape in inner side top rake shape for certain surface refers to the interior lateral of its radial direction The state of permanent magnet inner radial surface intermediate, inclined.

The top rake angle of two peripheral side of the permanent magnet alleged by the present invention refers to the outward flange of permanent magnet cross section The line of two-end-point and center shaft axis is measuring standard, the circumferential side of permanent magnet cross section and the above-mentioned line of corresponding side Angle.

Concave arc line alleged by the present invention refers to that, for the entity that it is located, its bending direction makes described entity The circular arc line that volume or area diminish.

The present invention relates to when the bearing of trend such as central shaft and outer tube and stator and central shaft bearing of trend identical part, removing It is otherwise noted, alleged two ends or left and right two ends refer to the two ends along center shaft axis direction, wherein " left " and " right " only limit It is for the facility on stating, state any one end along center shaft axis direction and the other end corresponding thereto respectively, it is to avoid Because state unclear lead to two ends mutually to be obscured, do not constitute to actually used when left and right directions restriction.

Bearing alleged by the present invention is connected as the rotatable flexible connection realized by bearing.

Structure alleged by the present invention includes the structure being formed by a part and by the multiple structures being formed, alleged two parts it Between the structure that is provided with refer on two parts mutual annexation or model of action produces the structure of impact, including this two parts or its In the arbitrary this structure being formed itself, this structure being formed after also including increasing other parts.

Cylinder Surface alleged by the present invention is the part curved surface constituting cylindrical side, and the axis of alleged Cylinder Surface is this cylinder The axle of curved surface Correspondent cy linder.

Circumference alleged by the present invention is along the circumferential direction, to any point on circumference, for the tangential direction of this point, described footpath To for along diameter of a circle direction, axle axis or the extension mode parallel to center shaft axis centered on alleged axial direction.Except as otherwise saying Bright outer, when being related to permanent magnet or being related to outer tube and stator and its each several part, the alleged circumference that is axially and radially related to be with In the vertical plane of middle bobbin axis and circumference in center shaft axis for the center of circle.

Outer and inner alleged by the present invention is relative concept, in radial directions, is interior, instead near the direction of center shaft axis Be outer；In the axial direction, the direction extending to the two ends of central shaft is outer, otherwise is interior, and for example, stator core is located at solid The inner side of price fixing.

Annulus alleged by the present invention refers to the cross section in this gap ringwise.

Induced draft fans alleged by the present invention refer to the gas conveying machinery for extracting air, can be according to temperature, air quantity and resistance Select suitable pattern etc. factor.

Polygonal hole alleged by the present invention or cydariform hole refer to the hole that its cross section is polygon or cydariform, equally, polygon post The outline that (or other stereochemical structures) swelled column (or other stereochemical structures) refers to its cross section be polygon or cydariform post (or Other stereochemical structures), alleged cydariform is by two Line Segment and the same side that connects this two straightway both sides respectively The figure that surrounds of two camber lines of point, two camber lines are the cambered outwards camber line in middle part with respect to this this figure, this figure with respect to The midpoint line specular of two straightways, with respect to the line of centres also specular of two camber lines.

Steel wire rope alleged by the present invention includes the flexible cable being twisted into by many or multiply finer wire, also includes for other The same purposes rope that meaning appropriate materials are made.

The trapezoidal trapezoidal and contour approximation including alleged by geometry alleged by the present invention in trapezoidal shape alleged by geometry, by Four edges form, thereon bottom and go to the bottom edge line can be curved, each line junction can be in horn shape it is also possible in smooth mistake Cross curve-like, equally, described rectangle includes trapezoidal and contour approximation alleged by geometry in rectangular shape alleged by geometry.

Motor alleged by the present invention is motor.

It is expressly recited except the present invention or can show that the present invention is any to any one technological means according to common knowledge One restriction depends on outside any one situation limiting to another technological means any, and the present invention is to any one skill Any one of art means limits equally, can be removed with any one the restriction combination in any to another technological means any The present invention be expressly recited or according to common knowledge can draw the present invention to any one technological means any one limit according to Lai Yu to this technological means any another limit situation outside, the present invention to any one technological means any one Restriction can be with another restriction combination in any any to this technological means.

Claims (9)

1. a kind of ultra-low speed big torsional moment motor, including outer rotor and stator, described stator include central shaft, be fixedly mounted on described Stator core on central shaft and the stator winding that is fixedly mounted in described stator core are it is characterised in that described stator is provided with For gathering the stator temperature sensor of temperature signal in stator, described outer rotor includes outer tube, and the inner side of described outer tube is fixed Some permanent magnets are installed, the two ends of described outer tube are all installed with fixed disk and by fixed disk and described center axle bearing Connect, described some permanent magnets are using identical shoe hexahedron structure and circumferentially regularly arranged with axial both direction, appoint In one circumferential and arbitrary axial direction, the described permanent magnet quantity of arrangement is multiple, and two peripheral side of described permanent magnet are in inner side The tapered plane shape of top rake shape, its top rake angle is 5-35 degree, and the right-hand member of described central shaft is in connected corresponding end bearing Extend out, be fixedly mounted on right rigid mount, described right rigid mount is provided with axle installing hole, the right-hand member of described central shaft Portion inserts the axle installing hole of described right rigid mount and is provided with for preventing both from relatively rotating and described right rigid mount between Anti-rotation structure,

It is additionally provided with following cooling structure in any one or more:

(1) described central shaft is quill shaft, and the axis hole of described central shaft is constituted for heat dissipation wind channel in the axle of interior cooling；

(2) it is provided with the ring constituting the outer heat dissipation wind channel of stator between the medial surface of the lateral surface of described stator core and described outer rotor Shape gap；

(3) it is provided with the axially extending bore constituting heat dissipation wind channel in stator in described stator core, the axial direction in described stator core is led to Hole is formed by connecting by forming the corresponding heat dissipation wind channel hole gone out on the stator punching of described stator core,

And using any one forced ventilation structure following:

(1) when described central shaft is quill shaft, the axis hole of described central shaft outlet air end is uncovered, the axle of described central shaft outlet air end In the hole is provided with induced draft fans in axle, when being additionally provided with heat dissipation wind channel in the outer heat dissipation wind channel of stator and/or stator, described stator core Two ends leave the gap constituting end even gap band of calming the anger and the described fixed disk of respective end between respectively, radiate outside described stator In air channel and/or stator, calm the anger gap band even with the described end of respective end connects respectively at the two ends of heat dissipation wind channel, described central shaft The axis hole of described central shaft and the central shaft side of the even gap band of calming the anger in described end of respective end are communicated with the side wall of outlet air end Hole, in described axle, induced draft fans are located at the outside of this central shaft side opening；

(2) when being provided with heat dissipation wind channel in the outer heat dissipation wind channel of stator and/or stator, the two ends of described stator core respectively with accordingly The gap constituting the even gap band of calming the anger in end is left, in the outer heat dissipation wind channel of described stator and/or stator between the described fixed disk at end Calm the anger gap band even with the described end of respective end connects respectively at the two ends of heat dissipation wind channel, the described fixed disk of air intake be provided with into Wind air channel, the quantity of described wind inlet channel is one or more, is serially connected with air intake air pump in described wind inlet channel, positioned at described enter Air intake check valve is equipped with the described wind inlet channel at pathogenic wind pump two ends, described air intake air pump includes cylinder body, described cylinder body is axially It is arranged on accordingly on described fixed disk, be provided with the piston supporting with it in described cylinder body, described piston is connected with and extends to institute State the piston rod inside fixed disk, the cavity in described cylinder body is divided into rod chamber and rodless cavity by described piston, and described have bar Chamber be located at described rodless cavity inner side, described central shaft be provided with the even gap band of calming the anger in the described end of respective end and with institute State the multi-level cam that piston rod constitutes cam mechanism, described multi-level cam promotes described piston rod to move back and forth when rotating, described The air inlet of air intake air pump and gas outlet are arranged at the bottom of described rodless cavity, when being additionally provided with heat dissipation wind channel in axle, described Even calm the anger in gap band in the described end being communicated with the axis hole of described central shaft and respective end on the side wall of central shaft air intake Heart axle side opening.

2. ultra-low speed big torsional moment motor as claimed in claim 1 is it is characterised in that described stator core is provided with for being embedded in The stator slot of described winding, described stator slot is peariform slot, and between 2.5-4.5mm, the pitch of described winding is notch size k 1, every circle coil is wrapped on a stator tooth, and adopts 8 pole 9 groove, 10 pole 12 groove, 20 pole 24 groove, 30 pole 36 groove, 22 poles 24 The pole groove fit system of groove, 16 pole 18 groove or 32 pole 36 groove, described permanent magnet adopts NdFeB material, and length is 30-95mm, thick Spend for 8-18mm, pole embrace is 0.8-0.9.

3. ultra-low speed big torsional moment motor as claimed in claim 1 it is characterised in that described some permanent magnets in the circumferential and axle Regular distribution mode upwards is circumferentially to align and be uniformly distributed in the circumferential, in the axial direction along aligned and uniformly point Cloth, described permanent magnet cross section outward flange diametrically is in that the center of circle is linear positioned at the circular arc in described center shaft axis, described Permanent magnet cross section inward flange diametrically is using any one version following:

(1) described inward flange is in single circular arc, and the center of circle is located in described center shaft axis；

(2) described inward flange is in single circular arc, and the center of circle is located at described permanent magnet cross section outward flange midpoint and described center On straight line determined by axle axis, and its radius is equal to described outer peripheral radius；

(3) described inward flange is in single circular arc, and the center of circle is located in described center shaft axis, and permanent magnet cross section is diametrically Inward flange be connected by a little concave arc line with the circumferential side of permanent magnet cross section；

(4) described inward flange is in single circular arc, and the center of circle is located at described permanent magnet cross section outward flange midpoint and described center On straight line determined by axle axis, and its radius is equal to described outer peripheral radius, permanent magnet cross section inner edge diametrically Edge is connected by a little concave arc line with the circumferential side of permanent magnet cross section.

4. ultra-low speed big torsional moment motor as claimed in claim 2 it is characterised in that described some permanent magnets in the circumferential and axle Regular distribution mode upwards is circumferentially to align and be uniformly distributed in the circumferential, in the axial direction along aligned and uniformly point Cloth, described permanent magnet cross section outward flange diametrically is in that the center of circle is linear positioned at the circular arc in described center shaft axis, described Permanent magnet cross section inward flange diametrically is using any one version following:

(1) described inward flange is in single circular arc, and the center of circle is located in described center shaft axis；

(2) described inward flange is in single circular arc, and the center of circle is located at described permanent magnet cross section outward flange midpoint and described center On straight line determined by axle axis, and its radius is equal to described outer peripheral radius；

(3) described inward flange is in single circular arc, and the center of circle is located in described center shaft axis, and permanent magnet cross section is diametrically Inward flange be connected by a little concave arc line with the circumferential side of permanent magnet cross section；

(4) described inward flange is in single circular arc, and the center of circle is located at described permanent magnet cross section outward flange midpoint and described center On straight line determined by axle axis, and its radius is equal to described outer peripheral radius, permanent magnet cross section inner edge diametrically Edge is connected by a little concave arc line with the circumferential side of permanent magnet cross section.

5. the ultra-low speed big torsional moment motor as described in claim 1,2,3 or 4 is it is characterised in that the left end of described outer tube is connected with Encoder, the connected mode between the left end of described outer tube and described encoder be following any one:

(1) described encoder is external rotor coder, including the inner sleeve being mutually rotatably connected and overcoat, the left end of described central shaft Extend out in connected corresponding end bearing, be fixedly mounted on left rigid mount, described left rigid mount is provided with Axle installing hole, the left end of described central shaft inserts the axle installation in the hole of described left rigid mount and and described left rigid mount between It is provided with the anti-rotation structure for preventing both from relatively rotating, described inner sleeve is fixedly connected the left end of described central shaft, described overcoat It is fixedly connected the described fixed disk of left end, described central shaft, outer tube, inner sleeve and overcoat are coaxial；

(2) described encoder is internal rotor encoder, and including the inner sleeve being mutually rotatably connected and overcoat, described encoder is furnished with even Connect with multidiameter and bearing spider, described connection multidiameter is arranged on described bearing spider by outer bearing, described connection It is provided with radial flange with the right-hand member of multidiameter, described radial flange is coaxially fastened on the described fixed disk of left end, described coding The fixedly sleeved left part in described connection multidiameter of inner sleeve of device or the left side by shaft coupling and described connection multidiameter End is coaxially connected, and the overcoat of coded device is fixedly connected with described bearing spider by connector, and described outer bearing adopts biserial Self-aligning bearing.

6. ultra-low speed big torsional moment motor as claimed in claim 5 is it is characterised in that described rigid mount is using following any one Kind:

(1) the axle installing hole on described rigid mount is polygonal hole, and the central shaft shaft part of connected respective end is in identical Polygon, described axle installing hole and the described central shaft shaft part interference fit being inserted or interference fits, polygon accordingly Shape structure constitutes described anti-rotation structure, and described axle installing hole is set directly in the main body of described rigid mount or arranges In adjusting sleeve, when being arranged in described adjusting sleeve, the outer rim of described adjusting sleeve is in cylinder, and described axle installing hole is arranged on The central authorities of described adjusting sleeve, the main body of described rigid mount is provided with adjusting sleeve installing hole corresponding with described adjusting sleeve outer rim, Described adjusting sleeve is plugged on described adjusting sleeve installing hole, and described adjusting sleeve installing hole interference fits or interference fit, and sets Have or be not provided with fastening bolt；

(2) the axle installing hole on described rigid mount is cylindrical hole, and the described central shaft shaft part of respective end is cylindrical, described Rigid mount is provided with some pin via holes penetrating described axle installing hole side wall, if the corresponding shaft part of described central shaft is provided with The dry pin blind hole docked with described some pin via holes respectively, some pins or bearing pin wedge respectively described in the pin that is mutually butted Nail through hole and pin blind hole, described pin or bearing pin and its supporting structure constitute described anti-rotation structure；

(3) the axle installing hole on described rigid mount is cylindrical hole, and the described central shaft shaft part of respective end is cylindrical, described It is provided with multiple keys, described key and its supporting structure between the described central shaft shaft part of axle installing hole and insertion described axle installation in the hole Constitute described anti-rotation structure, described axle installing hole is set directly in the main body of described rigid mount or is arranged on adjusting sleeve On, when being arranged in described adjusting sleeve, the outer rim of described adjusting sleeve is in cylinder, and described axle installing hole is arranged on described adjustment The central authorities of set, the main body of described rigid mount is provided with adjusting sleeve installing hole corresponding with described adjusting sleeve outer rim, described adjustment Set is plugged on described adjusting sleeve installing hole, and described adjusting sleeve installing hole interference fits or interference fit, and is provided with or not It is provided with fastening bolt；

(4) the axle installing hole on described rigid mount is cydariform hole, and the described central shaft shaft part of connected respective end is in phase Same cydariform, described axle installing hole and the described central shaft shaft part interference fit being inserted or interference fits, corresponding cydariform Structure constitutes described anti-rotation structure, and described axle installing hole is set directly in the main body of described rigid mount or is arranged on In adjusting sleeve, when being arranged in described adjusting sleeve, the outer rim of described adjusting sleeve is in cylinder, and described axle installing hole is arranged on institute State the central authorities of adjusting sleeve, the main body of described rigid mount is provided with adjusting sleeve installing hole corresponding with described adjusting sleeve outer rim, institute State adjusting sleeve to be plugged on described adjusting sleeve installing hole, and described adjusting sleeve installing hole interference fits or interference fit, and be provided with Or it is not provided with fastening bolt；

(5) the axle installing hole on described rigid mount is splined hole, and the described central shaft shaft part of connected respective end is flower Key axle, the above-mentioned spline structure being adopted between the two constitutes described anti-rotation structure.

7. the ultra-low speed big torsional moment motor as described in claim 1,2,3 or 4 is it is characterised in that sensed by described stator temperature Device gathers the real time temperature in stator, judges the fatigue state of motor according to the real time temperature in the described stator collecting, if The fixed operating temperature higher limit corresponding with the temperature acquisition position of described stator temperature sensor, when corresponding stator temperature sensing When the temperature that device collects meets or exceeds corresponding operating temperature higher limit, it is judged as motor fatigue and judges that control stops according to this Machine, when the temperature being collected is less than corresponding operating temperature higher limit, is judged as that motor is not tired and allows motor to carry out Work.

8. ultra-low speed big torsional moment motor as claimed in claim 7 is it is characterised in that be provided with for online acquisition current of electric Current signal collection device and/or the voltage signal acquisition device for online acquisition electric moter voltage, described current signal collection Device is the current sensor of the current input signal for gathering stator winding and/or is to export its current output signal Converter, described voltage signal acquisition device be the voltage input signal for gathering stator winding voltage sensor and/ Or be the converter that can export its voltage output signal, current signal is obtained by current signal collection device, with described electricity Stream signal is load transducing signal or is calculated by described current signal and obtain payload data, by described voltage signal acquisition Device obtains voltage signal, the transducing signal with described voltage signal as rotary speed or calculated and obtained by described voltage signal Obtain rotary speed data.

9. a kind of crane is it is characterised in that the Ultra-Low Speed including as described in any one claim in claim 1-8 is big Torque motor, the outer tube of described ultra-low speed big torsional moment motor is used as the reel of the lifting mechanism of described crane, for connecting and Wind the steel wire rope of described lifting mechanism.