CN104682647A - Ultrahigh-power servomotor - Google Patents
Ultrahigh-power servomotor Download PDFInfo
- Publication number
- CN104682647A CN104682647A CN201410429330.2A CN201410429330A CN104682647A CN 104682647 A CN104682647 A CN 104682647A CN 201410429330 A CN201410429330 A CN 201410429330A CN 104682647 A CN104682647 A CN 104682647A
- Authority
- CN
- China
- Prior art keywords
- stator
- high power
- super high
- magnet steel
- power servomotor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
- H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
- H02K21/14—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
- H02K1/2706—Inner rotors
- H02K1/2713—Inner rotors the magnetisation axis of the magnets being axial, e.g. claw-pole type
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K3/00—Details of windings
- H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
- H02K3/28—Layout of windings or of connections between windings
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Permanent Field Magnets Of Synchronous Machinery (AREA)
- Permanent Magnet Type Synchronous Machine (AREA)
- Iron Core Of Rotating Electric Machines (AREA)
Abstract
The invention discloses an ultrahigh-power servomotor, which belongs to the field of servomotors. The ultrahigh-power servomotor comprises a stator and a rotor; the rotor is located in the stator; the central axis of the stator is superposed with the central axis of the rotor; a double-layer winding is wound in stator slots on the stator, so that the electromotive force of the motor is close to the sine-shaped winding; the distribution pattern of the winding on the stator is short-distance distribution; the rotor comprises a rotor shaft and steel magnets; the steel magnets are fixed on the periphery of the rotor shaft; the rotor shaft at which the steel magnets are fixed is of a non-cylindrical structure; the steel magnets are non-uniform-thickness steel magnets; the cross section of each steel magnet is shaped like a reaphook, and the magnetization method is parallel magnetization. The sinusoidality of the electromotive force of the ultrahigh-power servomotor disclosed by the invention is high, and the ultrahigh-power servomotor can realize low inertia, high rotational speed, short-time peak overload and other performance indexes under the condition of high specific power.
Description
Technical field
The present invention relates to servomotor field, particularly relate to a kind of super high power servomotor.
Background technology
Servomotor is a kind of engine controlling mechanical organ running in servo system, can realize the accurate control of speed and position, be widely used in flight control system and multiple degrees of freedom transmission mechanism.
Along with the development of servo techniques, full electric servo system is owing to having miniaturization, lighting and the feature such as integrated, and be day by day subject to people's attention, compared with traditional servo system, its operating time of full electric servo system and dynamic property are all significantly improved.High-power in order to make full electric servo system realize, the servomotor of development super high power rank seems particularly important, and existing servomotor is comparatively heavy, and operating time is limited, and the performance index such as high-specific-power, in short-term peak value overload cannot be realized, make the development of full electric servo system limited.
Summary of the invention
In order to overcome the defect of prior art, technical problem to be solved by this invention is to propose a kind of super high power servomotor, the sine of its electromotive force is high, can realize low inertia, high rotating speed and performance index such as peak value overload in short-term when high-specific-power.
For reaching this object, the present invention by the following technical solutions:
A kind of super high power servomotor provided by the invention, comprise stators and rotators, described rotor is positioned at described stator interior, the axis of described stator and the axis conllinear of described stator, described stator being wound with one or more layers makes the electromotive force of described motor close to sine-shaped winding, and the distribution mode of described winding on described stator is short distance distribution.
Further technical scheme of the present invention: described rotor comprises armature spindle and magnet steel, described magnet steel is fixed on the outer surface of described armature spindle, and the described armature spindle at fixing described magnet steel place is non-cylinder structure.
Further technical scheme of the present invention: described magnet steel is non-uniform thickness magnet steel, and its cross section is sickle shaped, and the form of magnetizing is parallel magnetization.
Further technical scheme of the present invention: described magnet steel is provided with stator slot, described stator slot is embedded is wound with two layer winding, and the quantity of described stator slot is 18.
Further technical scheme of the present invention: described motor is three-phase binode motor.
Further technical scheme of the present invention: every layer of described three-phase windings all adopts the Y type mode of connection, the described three-phase windings of two covers all has A, B, C, X, Y and Z six nodes, its interior joint Y1 and node Y2 not wiring, draw after node A1 and A2, B1 and B2, C1 and C2 are connected in parallel respectively from same connecting groove.
Further technical scheme of the present invention: also comprise electric interfaces, feedback element, housing and the first end cap, described electric interfaces is fixing on the housing, described electric interfaces comprises terminal box and feedback connectors, described feedback connectors is positioned at the inside of described terminal box, described feedback element is fixed on described first end and covers, and is electrically connected with described feedback connectors.
Further technical scheme of the present invention: described feedback element comprises resolver for detection rotor shaft position and speed and transformer compressing tablet, and described resolver is fixed on described first end by described transformer compressing tablet and covers.
Further technical scheme of the present invention: described rotor also comprises stainless steel sleeve, described stainless steel sleeve is set on described magnet steel.
Further technical scheme of the present invention: the two ends of described magnet steel are provided with the gimbal for eliminating amount of unbalance.
Beneficial effect of the present invention is:
Super high power servomotor provided by the invention is by making the electromotive force of motor close to sine-shaped winding around bilayer stator slot is embedded, the winding coefficient of motor is increased, be suitable for high-speed cruising, the distribution mode of winding on stator is short distance distribution, the gullet positioning torque of this employing short distance distributed winding is little, more obvious to the weakening of humorous electromotive force, the waveform of motor powered gesture can be improved greatlyr.Magnet steel provided by the invention is non-uniform thickness magnet steel and the armature spindle at fixing magnet steel place is non-cylinder structure, adopts the magnet steel of this non-uniform thickness and the armature spindle of non-cylinder shape to be beneficial to the sine improving winding back emf.
Accompanying drawing explanation
Fig. 1 is the half sectional view of the super high power servomotor that the specific embodiment of the invention provides;
Fig. 2 is the left view of the super high power servomotor that the specific embodiment of the invention provides;
Fig. 3 is the right view of the super high power servomotor that the specific embodiment of the invention provides;
Fig. 4 is the structural representation of the rotor that the specific embodiment of the invention provides;
Fig. 5 is the structural representation of the winding of the expansion that the specific embodiment of the invention provides;
Fig. 6 is the sectional view of the rotor that the specific embodiment of the invention provides.
In figure:
1, housing; 2, the first end cap; 3, the second end cap; 41, iron core; 42, winding; 51, stainless steel sleeve; 52, armature spindle; 53, bearing; 54, gimbal; 55, magnet steel; 61, terminal box; 62, dynamic connector; 63, feedback connectors; 71, resolver; 72, transformer compressing tablet.
Embodiment
Technical scheme of the present invention is further illustrated by embodiment below in conjunction with accompanying drawing.
As shown in Figure 1, a kind of 30KW level super high power servomotor provided by the invention, comprise housing 1, first end cap 2, second end cap 3, stator, rotor, electric interfaces and feedback element, first end cap 2 and the second end cap 3 lay respectively at the end, two ends of housing 1, rotor is positioned at stator interior, the axis of stator and the axis conllinear of stator, namely rotor and stator are coaxially arranged, electric interfaces is fixed on the outer surface of housing 1, feedback element is fixed on the first end cap 2, and feedback element and electric interfaces are electrically connected.
Stator comprises iron core 41 and winding 42, iron core 41 is positioned at housing 1, iron core 41 is wound around the two-layer electromotive force of motor that makes close to sine-shaped winding 42, electromotive force can make winding 42 coefficient of motor increase close to sinusoidal waveform, be suitable for high-speed cruising, winding 42 is by producing magnetic field during electric current, and iron core 41 provides path for magnetic field.The distribution mode of winding 42 on stator is short distance distribution, and short distance distribution can make the gullet positioning torque of winding 42 little, more obvious to the weakening of humorous electromotive force, can improve greatlyr the waveform of motor powered gesture, improves the sine of electromotive force.During assembling, iron core 41 adopts hot-mounting process with the assembling of housing 1, and is installed by special tooling.
As shown in Figure 4, further, rotor comprises stainless steel sleeve 51, armature spindle 52, bearing 53, gimbal 54 and magnet steel 55, and the quantity of its middle (center) bearing 53 is two, is positioned at two ends of support rotor axle 52, and is set on armature spindle 52.Magnet steel 55 is fixed on the outer surface of armature spindle 52, and its fixed form can be bonding.Gimbal 54 is positioned at the two ends of magnet steel 55, for eliminating amount of unbalance, plays the effect of protection magnet steel 55.Stainless steel sleeve 51 is set on magnet steel 55, for fastening and protection magnet steel 55.During assembling, the assembling of gimbal 54 adopts press-loading process, and carries out two-sided reinforcing by screw, and steel bushing 51 adopts hot-mounting process with the assembling of magnet steel 55, turning between magnet steel 55 and armature spindle 52 is joined and also adopts hot-mounting process, reliability fixing between press-loading process and the equal reinforcement of hot-mounting process.
As shown in Figure 6, further preferably, the armature spindle 52 at fixing magnet steel 55 place is non-cylinder structure, and its cross section figure is a class rectangular configuration be made up of four arcs, class rectangular configuration refer to its roughly proterties be rectangle.Preferred further, magnet steel 55 is non-uniform thickness magnet steel 55, its cross section is sickle shaped, and its cross section figure is made up of two camber lines and two parallel lines, adopts the magnet steel 55 of this non-uniform thickness and the armature spindle 52 of non-cylinder shape to be beneficial to the sine improving winding back emf.The form of magnetizing of magnet steel 55 is parallel magnetization, and parallel magnetization refers to that the axial direction of the direction that the magnetic line of force sends and enters and armature spindle 52 is consistent.
Preferably, motor is three-phase binode motor, and magnet steel 55 is provided with stator slot, and stator slot is embedded is wound with two layer winding 42, and the quantity of described stator slot is 18.
In sum, the 30KW level super high power servomotor provided in the present embodiment is by the optimization of pole groove preferred disposition, rotor permanent magnet structural design and line style, make 30KW level super high power servomotor can realize low inertia, high rotating speed and performance index such as peak value overload in short-term when high-specific-power, thus the super high power servomotor of 30KW can be met in harsh operating modes such as space flight apparatuses.
As shown in Figure 2, further, electric interfaces comprises terminal box 61, dynamic connector 62 and feedback connectors 63, terminal box 61 is fixed on housing 1, dynamic connector 62 and feedback connectors 63 are all positioned at the inside of terminal box 61, and dynamic connector 62 and feedback connectors 63 are for receiving and feedback control signal.
As shown in Figure 3, further, feedback element and feedback connectors 63 are electrically connected, and feedback element comprises resolver 71 and transformer compressing tablet 72, resolver 71 is fixed on the first end cap 2 by transformer compressing tablet 72, and resolver 71 is for detection rotor axle 52 position and speed.Dynamic connector 62, feedback connectors 63, winding 42 go between and resolver 71 is all arranged in terminal box 61 according to a definition.
As shown in Figure 5, when specifically using, every layer of three-phase windings 42 all adopts the Y type mode of connection, i.e. star-star connection mode, often overlaps three-phase windings 42 and all has A, B, C, X, Y and Z six nodes.Its interior joint Y1 and node Y2 not wiring, draw after node A1 and node A2, Node B 1 and Node B 2, node C1 and node C2 are connected in parallel respectively from same connecting groove.The not wiring of Y1 with Y2 contact can reduce different due to permanent magnet performance in stator winding 42 and winding 42 circulation of causing of phase winding 42 permanent magnet induction electromotive force imbalance that are that cause.
The present invention is described by preferred embodiment, and those skilled in the art know, without departing from the spirit and scope of the present invention, can carry out various change or equivalence replacement to these characteristic sum embodiments.The present invention is not by the restriction of specific embodiment disclosed herein, and other embodiments fallen in the claim of the application all belong to the scope of protection of the invention.
Claims (10)
1. a super high power servomotor, comprises stators and rotators, and described rotor is positioned at described stator interior, and the axis of described stator and the axis conllinear of described stator, is characterized in that:
Described stator being wound with one or more layers makes the electromotive force of described motor close to sine-shaped winding (42), and the distribution mode of described winding (42) on described stator is short distance distribution.
2. super high power servomotor according to claim 1, is characterized in that:
Described rotor comprises armature spindle (52) and magnet steel (55);
Described magnet steel (55) is fixed on the outer surface of described armature spindle (52);
The described armature spindle (52) at fixing described magnet steel (55) place is non-cylinder structure.
3. super high power servomotor according to claim 2, is characterized in that:
Described magnet steel (55) is non-uniform thickness magnet steel (55), and its cross section is sickle shaped, and the form of magnetizing is parallel magnetization.
4. the super high power servomotor according to Claims 2 or 3, is characterized in that:
Described magnet steel (55) is provided with stator slot;
Described stator slot is embedded is wound with two layer winding;
The quantity of described stator slot is 18.
5. the super high power servomotor according to any one of claim 1-4, is characterized in that:
Described motor is three-phase binode motor.
6. super high power servomotor according to claim 5, is characterized in that:
Every layer of described three-phase windings (42) all adopts the Y type mode of connection;
The two described three-phase windings of covers (42) all have A, B, C, X, Y and Z six nodes;
Its interior joint Y1 and node Y2 not wiring, draw after node A1 and A2, B1 and B2, C1 and C2 are connected in parallel respectively from same connecting groove.
7. super high power servomotor according to claim 1, is characterized in that:
Also comprise electric interfaces, feedback element, housing (1) and the first end cap (2);
Described electric interfaces is fixed on described housing (1);
Described electric interfaces comprises terminal box (61) and feedback connectors (63), and described feedback connectors (63) is positioned at the inside of described terminal box (61);
Described feedback element is fixed on described first end cap (2), and is electrically connected with described feedback connectors (63).
8. super high power servomotor according to claim 7, is characterized in that:
Described feedback element comprises resolver (71) for detection rotor axle (52) position and speed and transformer compressing tablet (72);
Described resolver (71) is fixed on described first end cap (2) by described transformer compressing tablet (72).
9. super high power servomotor according to claim 2, is characterized in that:
Described rotor also comprises stainless steel sleeve (51);
Described stainless steel sleeve (51) is set on described magnet steel (55).
10. the super high power servomotor according to claim 2 or 9, is characterized in that:
The two ends of described magnet steel (55) are provided with the gimbal for eliminating amount of unbalance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410429330.2A CN104682647A (en) | 2014-08-27 | 2014-08-27 | Ultrahigh-power servomotor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410429330.2A CN104682647A (en) | 2014-08-27 | 2014-08-27 | Ultrahigh-power servomotor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104682647A true CN104682647A (en) | 2015-06-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410429330.2A Pending CN104682647A (en) | 2014-08-27 | 2014-08-27 | Ultrahigh-power servomotor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104682647A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105762952A (en) * | 2016-04-11 | 2016-07-13 | 天津大学 | Low rotational inertia permanent magnet synchronous servo motor adopting four layer and short pitch distributed windings |
| CN106208459A (en) * | 2016-07-07 | 2016-12-07 | 航天鑫创自控装备发展股份有限公司 | The rotor of a kind of servomotor and this servomotor |
| CN113410934A (en) * | 2021-06-28 | 2021-09-17 | 康富科技有限公司 | Coil inserting structure and coil inserting method for alternating current motor winding |
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| CN2428911Y (en) * | 2000-06-12 | 2001-05-02 | 朱向东 | Long-service-life multi-model type permanent magnet brushless servo electric motor |
| CN201204527Y (en) * | 2008-06-10 | 2009-03-04 | 西安悦诚电气技术有限公司 | Permanent magnet AC servo motor for industrial sewing machine |
| CN102782989A (en) * | 2010-06-10 | 2012-11-14 | 三菱电机株式会社 | Rotating electrical machine rotor |
| CN103095084A (en) * | 2011-10-27 | 2013-05-08 | 北京精密机电控制设备研究所 | Oil-immersion type high specific power permanent magnet brushless direct current motor |
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2014
- 2014-08-27 CN CN201410429330.2A patent/CN104682647A/en active Pending
Patent Citations (5)
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|---|---|---|---|---|
| CN2428911Y (en) * | 2000-06-12 | 2001-05-02 | 朱向东 | Long-service-life multi-model type permanent magnet brushless servo electric motor |
| CN201204527Y (en) * | 2008-06-10 | 2009-03-04 | 西安悦诚电气技术有限公司 | Permanent magnet AC servo motor for industrial sewing machine |
| CN102782989A (en) * | 2010-06-10 | 2012-11-14 | 三菱电机株式会社 | Rotating electrical machine rotor |
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Non-Patent Citations (1)
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105762952A (en) * | 2016-04-11 | 2016-07-13 | 天津大学 | Low rotational inertia permanent magnet synchronous servo motor adopting four layer and short pitch distributed windings |
| CN105762952B (en) * | 2016-04-11 | 2018-01-12 | 天津大学 | Using the low rotor inertia permanent synchronous servo motor of four layers of short distance Distributed Winding |
| CN106208459A (en) * | 2016-07-07 | 2016-12-07 | 航天鑫创自控装备发展股份有限公司 | The rotor of a kind of servomotor and this servomotor |
| CN106208459B (en) * | 2016-07-07 | 2019-02-15 | 航天鑫创自控装备发展有限公司 | A kind of rotor and the servo motor of servo motor |
| CN113410934A (en) * | 2021-06-28 | 2021-09-17 | 康富科技有限公司 | Coil inserting structure and coil inserting method for alternating current motor winding |
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Application publication date: 20150603 |
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