CN105141100A - Tooth slot structure of high-power-density permanent magnet brushless motor used for space manipulator - Google Patents
Tooth slot structure of high-power-density permanent magnet brushless motor used for space manipulator Download PDFInfo
- Publication number
- CN105141100A CN105141100A CN201510658260.2A CN201510658260A CN105141100A CN 105141100 A CN105141100 A CN 105141100A CN 201510658260 A CN201510658260 A CN 201510658260A CN 105141100 A CN105141100 A CN 105141100A
- Authority
- CN
- China
- Prior art keywords
- stator
- tooth
- stator tooth
- notch
- brushless motor
- 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
Links
Landscapes
- Iron Core Of Rotating Electric Machines (AREA)
Abstract
The invention provides a tooth slot structure of a high-power-density permanent magnet brushless motor used for a space manipulator, belongs to the technical field of motors, and aims at solving problems that existing motors used for the space manipulator cannot consider reduction of the size under the condition of equipping of redundancy design. The scheme is that p pairs of stator teeth are arranged on the surface of the internal circle of a motor stator along circumference. A stator tooth slot port is formed between the pole shoes of every two adjacent stator teeth, and the stator tooth slot port has a structure of which the external part is narrow and the internal part is wide. Hall element embedding slots are arranged at the tooth crowns of the p stator teeth, and the slot ports face direction of the center of the circle. The p stator teeth with the Hall element embedding slots and the rest p stator teeth are arranged in a staggered way, and p is a positive integer greater than or equal to 2. Hall elements are embedded in the motor teeth so as to reduce the axial size of the motor. A special tooth type and slot type structure is adopted so as to ensure relatively small positioning moment and moment fluctuation.
Description
Technical field
The present invention relates to a kind of used by space manipulator high-power density permanent magnetic brushless motor special tooth profile structure, belong to technical field of motors.
Background technology
Space mechanism arm is the indispensable important device of space engineering, and auxiliary spacefarer completes high-precision transport and maintenance work.The designing requirement of mechanical arm is high strength, high reliability, flexibly work and have light volume and weight of trying one's best.In mechanical arm drive system, calutron is absolutely necessary.Commonly use type of drive compared to other ground machine arms such as hydraulic-driven, Electromagnetic Drive has great advantage at space field.Therefore, with regard to current space field development, other space science and technology advanced country all adopts electromagnetic drive mode to solve the driving problems of space manipulator.
As Electromagnetic Drive important core equipment, in design with processing, there are a lot of technological difficulties in motor.Wherein all carry out corresponding program analysis for high reliability, high efficiency, high controllability, loss of weight etc. and compared.Because motor adopts magnetic conductivity ferromagnetic material and conductivity electromagnetic material to be main composition, the reduction of its weight only can be embodied in and increase in energy density, therefore selects magneto to be ideal scheme.Adopt simultaneously and suitably increase motor speed to reduce the method for motor volume, be equipped with suitable deceleration device simultaneously and reach comprehensive volume and minimize weight designs.
The integrity problem taking into account motor is required while reducing weight and volume.Adopt Redundancy Design under normal circumstances: comprise redundancy Winding Design, redundant manipulator design, redundant hall apparatus design etc.
Summary of the invention
The present invention seeks to can not take into account to solve when existing space mechanical arm motor is equipped with Redundancy Design the problem reducing volume, providing the tooth slot structure of a kind of space mechanical arm high-power density permanent magnetic brushless motor.
The tooth slot structure of space of the present invention mechanical arm high-power density permanent magnetic brushless motor, the internal circular surfaces of this motor stator circumferentially arranges p to stator tooth, form stator tooth notch between the pole shoe of every adjacent two stator tooths, described stator tooth notch is outer narrow inner width structure; The crown place of p stator tooth has Hall element and imbeds groove wherein, and this notch is towards direction, the center of circle; Have Hall element and imbed p stator tooth of groove and all the other p stator tooth is staggered;
P be greater than or etc. 2 positive integer.
Advantage of the present invention: the present invention is a kind of low inertia brushless, permanently torque motor, it is as the drive unit of space station mechanical arm, can directly the slow-speed of revolution of meeting spatial mechanical arm tail end run requirement, relative to adopting high-speed electric expreess locomotive and the supporting mode reaching instructions for use of mechanical reduction gear in prior art, implementation structure is simple, and the complicated process of electric system reduces; And hall device method is imbedded in employing, reduce whole motor length, to reduction weight, improve power density and all there is very large benefit.
Accompanying drawing explanation
Fig. 1 is the stator tooth structural representation of conventional motors;
Fig. 2 is the structural representation of the tooth slot structure of space of the present invention mechanical arm high-power density permanent magnetic brushless motor;
Fig. 3 is the A place partial enlarged drawing of Fig. 2.
Embodiment
Embodiment one: present embodiment is described below in conjunction with Fig. 1 to Fig. 3, the tooth slot structure of space mechanical arm high-power density permanent magnetic brushless motor described in present embodiment, the internal circular surfaces of this motor stator circumferentially arranges p to stator tooth, form stator tooth notch between the pole shoe of every adjacent two stator tooths, described stator tooth notch is outer narrow inner width structure; The crown place of p stator tooth has Hall element and imbeds groove wherein, and this notch is towards direction, the center of circle; Have Hall element and imbed p stator tooth of groove and all the other p stator tooth is staggered;
P be greater than or etc. 2 positive integer.
Involved by present embodiment, motor comprises stators and rotators, and stator is arranged on the outside of rotor, and rotor adopts hollow tray type structure, and the hollow multi-pole permanent-magnetic rotor of hollow tray type structure is become with rotor iron yoke piece by rotor magnetic pole.Simultaneously because rotor adopts hollow disc type, maximum moment can be reached export under the prerequisite of identical weight, be more applicable for space industry.
Stator is wound with redundancy three-phase windings, in stator tooth, is embedded with redundant hall element.Stator tooth slot structure and conventional motors comparatively speaking have particular design part, to ensure that magnetic flux is uniformly distributed as far as possible, to reduce the torque fluctuations of magneto.
Figure 1 shows that the stator tooth structure of conventional motors, its stator tooth width of rebate is clean width, and present embodiment motor stator tooth width of rebate is non-uniform width, presents distribution wide outside and narrow inside.Object is that air gap flux density is evenly distributed as far as possible, to reduce location torque and torque fluctuations.
Embodiment two: present embodiment is described further execution mode one, it is bell mouth shape that Hall element imbeds groove, and notch outer edge place is loudspeaker aperture position.
Increase the width of notch, namely increase d
t1, make the A/F of notch outer edge position become large, form bell mouth shape, to prevent saturation effects, make the close distribution of magnetic as far as possible evenly, reduce the harmonic component in electric current.
Embodiment three: present embodiment is described further execution mode one or two, the ratio that the radial thickness of stator tooth notch accounts for stator tooth radial height is 0.2 ~ 0.3.
Figure 1 shows that the stator tooth structure of conventional motors, the radial thickness of its stator teeth groove is b
1, account for 0.1 ~ 0.15 of stator tooth radial height, and the radial thickness h of stator tooth notch described in present embodiment
t2thicker than the radial thickness of the stator tooth notch of conventional motors, so that better insert Hall element.
Claims (3)
1. the tooth slot structure of space mechanical arm high-power density permanent magnetic brushless motor, it is characterized in that, the internal circular surfaces of this motor stator circumferentially arranges p to stator tooth, and form stator tooth notch between the pole shoe of every adjacent two stator tooths, described stator tooth notch is outer narrow inner width structure; The crown place of p stator tooth has Hall element and imbeds groove wherein, and this notch is towards direction, the center of circle; Have Hall element and imbed p stator tooth of groove and all the other p stator tooth is staggered;
P be greater than or etc. 2 positive integer.
2. the tooth slot structure of space mechanical arm high-power density permanent magnetic brushless motor according to claim 1, it is characterized in that, it is bell mouth shape that Hall element imbeds groove, and notch outer edge place is loudspeaker aperture position.
3. the tooth slot structure of space mechanical arm high-power density permanent magnetic brushless motor according to claim 1 or 2, is characterized in that, the ratio that the radial thickness of stator tooth notch accounts for stator tooth radial height is 0.1 ~ 0.15.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510658260.2A CN105141100A (en) | 2015-10-12 | 2015-10-12 | Tooth slot structure of high-power-density permanent magnet brushless motor used for space manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510658260.2A CN105141100A (en) | 2015-10-12 | 2015-10-12 | Tooth slot structure of high-power-density permanent magnet brushless motor used for space manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105141100A true CN105141100A (en) | 2015-12-09 |
Family
ID=54726353
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510658260.2A Pending CN105141100A (en) | 2015-10-12 | 2015-10-12 | Tooth slot structure of high-power-density permanent magnet brushless motor used for space manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105141100A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105720709A (en) * | 2016-04-09 | 2016-06-29 | 哈尔滨工业大学 | Stator structure of compact permanent magnet brushless structure |
| WO2019045305A1 (en) * | 2017-08-28 | 2019-03-07 | 엘지이노텍 주식회사 | Stator and motor including same |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05103454A (en) * | 1991-10-02 | 1993-04-23 | Asmo Co Ltd | Brushless motor |
| JP2004153924A (en) * | 2002-10-30 | 2004-05-27 | Hitachi Ltd | Permanent magnet rotating machine |
| CN2896657Y (en) * | 2006-04-03 | 2007-05-02 | 何曙华 | Stator of external-rotor DC. brush-less motor |
| CN202424471U (en) * | 2011-12-27 | 2012-09-05 | 宁波北斗科技有限公司 | Hall element installation structure for iron cores of motors |
| CN203827085U (en) * | 2014-05-19 | 2014-09-10 | 河南高科电机电器有限公司 | High-efficient electric vehicle stator iron core |
| CN104753289A (en) * | 2015-03-19 | 2015-07-01 | 广东威灵电机制造有限公司 | Motor |
-
2015
- 2015-10-12 CN CN201510658260.2A patent/CN105141100A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05103454A (en) * | 1991-10-02 | 1993-04-23 | Asmo Co Ltd | Brushless motor |
| JP2004153924A (en) * | 2002-10-30 | 2004-05-27 | Hitachi Ltd | Permanent magnet rotating machine |
| CN2896657Y (en) * | 2006-04-03 | 2007-05-02 | 何曙华 | Stator of external-rotor DC. brush-less motor |
| CN202424471U (en) * | 2011-12-27 | 2012-09-05 | 宁波北斗科技有限公司 | Hall element installation structure for iron cores of motors |
| CN203827085U (en) * | 2014-05-19 | 2014-09-10 | 河南高科电机电器有限公司 | High-efficient electric vehicle stator iron core |
| CN104753289A (en) * | 2015-03-19 | 2015-07-01 | 广东威灵电机制造有限公司 | Motor |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105720709A (en) * | 2016-04-09 | 2016-06-29 | 哈尔滨工业大学 | Stator structure of compact permanent magnet brushless structure |
| CN105720709B (en) * | 2016-04-09 | 2017-12-22 | 哈尔滨工业大学 | A kind of stator structure of compact permanent magnetic brushless |
| WO2019045305A1 (en) * | 2017-08-28 | 2019-03-07 | 엘지이노텍 주식회사 | Stator and motor including same |
| US11316389B2 (en) | 2017-08-28 | 2022-04-26 | Lg Innotek Co., Ltd. | Stator and motor including same |
| US11637462B2 (en) | 2017-08-28 | 2023-04-25 | Lg Innotek Co., Ltd. | Stator and motor including same |
| US11876403B2 (en) | 2017-08-28 | 2024-01-16 | Lg Innotek Co., Ltd. | Stator and motor including same |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103715945B (en) | A kind of 12/14 bearing-free permanent magnet biased witch reluctance motor | |
| CN103222165B (en) | Three phase permanent magnet servomotor | |
| CN104702002A (en) | Rotating electric machine | |
| CN107181382B (en) | Rotor stagger angle stator magnetism-isolating type axial permanent magnet auxiliary doubly salient motor | |
| CN102013739B (en) | Hal-Bach permanent magnet actuator capable of lineally rotating two degrees of freedom | |
| CN105656228B (en) | A kind of transverse flux permanent magnetic motor | |
| CN100454715C (en) | Self-magnetizing motor and its stator | |
| CN105281514A (en) | Parallel type mixing-magnetic-material-based composite-rotor-contained magnetic flux switching motor | |
| US20130106254A1 (en) | Broad-Pole Type Square-Wave Three-Phase Brushless Permanent Magnet Direct Current Motor and Assembling Method Thereof | |
| CN106655560B (en) | Stator permanent magnet motor | |
| CN103647421A (en) | High slot-fill factor high-performance permanent magnet motor with open slots and straight teeth | |
| CN106787282A (en) | A kind of magneto | |
| JP5936990B2 (en) | Rotating electric machine | |
| WO2018162073A1 (en) | Permanent magnet axial-flux electric machine stator and rotor assemblies | |
| CN203617868U (en) | Open slot straight tooth permanent magnet motor with high slot full rate and high performance | |
| CN105141100A (en) | Tooth slot structure of high-power-density permanent magnet brushless motor used for space manipulator | |
| CN106341016B (en) | A kind of disc type double cross chain focused transverse magnetic field motor | |
| CN109004777A (en) | A kind of flux-reversal claw-pole motor component | |
| CN201854100U (en) | Permanent magnetic actuator capable of realizing straight line and rotation coordinated control | |
| CN209786885U (en) | Semi-direct-drive flat permanent magnet torque motor for oil pumping unit | |
| CN106100272A (en) | The double-salient-pole magnetic flux controllable motor that a kind of few rare earth tooth yoke is complementary | |
| CN104617725A (en) | Asynchronous starting type permanent magnetic synchronizing motor of double-rotor structure | |
| JP2014099990A (en) | Rotary electric machine | |
| CN103222166B (en) | A kind of three-phase permanent-magnetic servo | |
| US9608483B2 (en) | Electrical machine with magnetic flux intensifier |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20151209 |