CN105720709B - A kind of stator structure of compact permanent magnetic brushless - Google Patents
A kind of stator structure of compact permanent magnetic brushless Download PDFInfo
- Publication number
- CN105720709B CN105720709B CN201610217890.0A CN201610217890A CN105720709B CN 105720709 B CN105720709 B CN 105720709B CN 201610217890 A CN201610217890 A CN 201610217890A CN 105720709 B CN105720709 B CN 105720709B
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- Prior art keywords
- stator
- tooth
- hall element
- tooths
- slot
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Classifications
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- 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
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/16—Stator cores with slots for windings
- H02K1/165—Shape, form or location of the slots
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
- H02K29/06—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices
- H02K29/08—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices using magnetic effect devices, e.g. Hall-plates, magneto-resistors
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Brushless Motors (AREA)
- Iron Core Of Rotating Electric Machines (AREA)
Abstract
A kind of stator structure of compact permanent magnetic brushless, belongs to machine field, and the present invention can cause motor location torque to fluctuate to solve Hall element being directly embedded in the stator slot of existing stator structure, the problem of causing motor performance to decline.Stator structure of the present invention includes stator core and multiple stator tooths, is uniformly arranged multiple stator tooths in the internal circular surfaces of stator core, the internal circular surfaces of all stator tooths are located on same circumference；A stator slot is formed between every two stator tooths, in stator slot three Hall elements are embedded to by three-phase symmetrical mode, two stator tooths of stator slot are two special teeth that specular is set where each Hall element, and the stator tooth of other positions is normal stator tooth；The special flank of tooth is much larger than the pole shoe thickness ht1 of normal stator tooth from the pole shoe thickness ht2 of Hall element side to the pole shoe of Hall element side close to missing, the special back of tooth.
Description
Technical field
The present invention relates to a kind of mechanical arm special groove profile structure design of high power density sectional type permanent magnetic brushless, category
In technical field of motors.
Background technology
Space mechanism arm is space engineering indispensability important device, and auxiliary spacefarer completes high-precision transport and maintenance
Work.The design requirement of mechanical arm is high intensity, high reliability, flexibly worked and with as far as possible light volume and weight.
In mechanical arm drive system, calutron is essential.Driving is commonly used compared to other ground machine arms such as hydraulic-drivens
Mode, electromagnetic drive have great advantage in space field.Therefore for current space field development, other space sections
Skill advanced country all solves the driving problems of space manipulator using electromagnetic drive mode.
Motor is being designed with many technological difficulties be present in processing as electromagnetic drive important core equipment.Wherein it is directed to
High reliability, high efficiency, high controllability, loss of weight etc. have all carried out corresponding program analysis compared with.Led because motor uses
Magnetic ferromagnetic material is main composition with electric conductivity electromagnetic material, and the reduction of its weight is only capable of being embodied in increase energy density,
Therefore it is ideal scheme from magneto.Appropriate increase motor speed is used simultaneously to reduce the method for motor volume, simultaneously
It is equipped with appropriate deceleration device and reaches comprehensive volume and weight minimum design.
Country greatly develops industry 4.0 and planned at present, and specific developing goal, space machine are it is also proposed to Robot industry
Tool arm technology can apply to normal domestic field, the development with mobile robot industry.
Requirement takes into account integrity problem, cost and the cost problem of motor while weight and volume is reduced.
To improve power density, reduce motor volume, also to reduce the influence to motor performance as far as possible, it is necessary to which position will be used as
The Hall element for putting sensor is embedded in groove.This method in embedment tooth than having more superior motor performance.But by Hall
Element is directly embedded in the stator slot of existing stator structure, and motor location torque can be caused to fluctuate, cause motor performance to decline.
The content of the invention
The invention aims to solve Hall element being directly embedded in the stator slot of existing stator structure, electricity can be caused
Machine location torque fluctuates, a kind of the problem of causing motor performance to decline, there is provided stator structure of compact permanent magnetic brushless.
A kind of stator structure of compact permanent magnetic brushless of the present invention, stator structure include stator core and multiple
Stator tooth, multiple stator tooths are uniformly arranged in the internal circular surfaces of stator core, the internal circular surfaces of all stator tooths are located at same circle
Zhou Shang；A stator slot is formed between every two stator tooths, by three-phase symmetrical mode, is buried respectively in corresponding three stator slots
Entering a Hall element, two stator tooths of stator slot where each Hall element are two special teeth that specular is set,
The stator tooth of other positions is normal stator tooth；The special flank of tooth has bulge-structure to the pole shoe of Hall element side, special
The different back of tooth is much larger than the pole shoe thickness ht1 of normal stator tooth from the pole shoe thickness ht2 of Hall element side.
Advantages of the present invention：It is to use a kind of special teeth groove design in patent of the present invention, ensures in embedment suddenly
Reduce the influence to motor location torque and torque fluctuations while your element as far as possible.
Stator structure of the present invention is applied to kind of a low inertia brushless, permanently torque motor, and it is as space or civilian
The drive device of joint of mechanical arm, it can directly meet the requirement of mechanical arm tail end slow-speed of revolution operation, relative in the prior art
Supporting simple in construction by the way of reaching requirement, to realize using high-speed electric expreess locomotive and mechanical reduction gear, electric system is answered
Miscellaneous program reduces；Simultaneously because rotor uses hollow disc type, maximum torque output can be reached on the premise of identical weight,
It is more applicable for space industry.And embedment hall device method is used, reduce motor entire length, to reducing weight, improve work(
Rate density all has very big benefit.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the stator structure of compact permanent magnetic brushless of the present invention；
Fig. 2 is the comparison structure schematic diagram of two kinds of tooth forms in stator structure.
Embodiment
Embodiment one：Illustrate present embodiment with reference to Fig. 1 and Fig. 2, it is a kind of compact described in present embodiment
The stator structure of type permanent magnetic brushless, stator structure includes stator core and multiple stator tooths, in the inner circle table of stator core
Face is uniformly arranged multiple stator tooths, and the internal circular surfaces of all stator tooths are located on same circumference；Formed between every two stator tooths
One stator slot, by three-phase symmetrical mode, a Hall element 3, each Hall are embedded to respectively in corresponding three stator slots
Two stator tooths of the place stator slot of element 3 are two special teeth 2 that specular is set, and the stator tooth of other positions is normal
Stator tooth 1；The special tooth 2 has bulge-structure towards the pole shoe of the side of Hall element 3, and special tooth 2 deviates from Hall element 3 one
The pole shoe thickness ht2 of side is much larger than the pole shoe thickness ht1 of normal stator tooth 1.
Being driven using high-speed electric expreess locomotive to solve existing space mechanical arm needs associated gear deceleration device, makes motor
The problem of system architecture complexity.Motor involved by present embodiment is the motor of small volume as far as possible, in order to reduce motor axial direction body
Product, mode in motor slot is embedded to using by Hall element 3.
Hall element 3 is placed on stator inner circle position, in stator groove center line.Three-phase Hall element will symmetrically be laid.Suddenly
You will keep three-phase symmetrical at the corresponding phase relation of element 3 and phase winding back-emf.
Present embodiment includes the special stator flute profile that brushless permanent magnet motor is suitable to lay Hall element.Tooth form is divided into two
Class.Respectively normal tooth form（Normal stator tooth 1）With improper tooth form（Special tooth 2）Two kinds.It can be seen that improper tooth form
Side tooth shoulder since it is desired that lay Hall element 3 almost lack.
Embodiment two：Present embodiment is described further to embodiment one, and present embodiment provides one
Design parameter matching embodiment ht2=2.5ht1.But it is not limited to the embodiment.
Ht1 will be significantly less than ht2, it is therefore intended that make residing for special tooth 2 the close distribution of magnetic and gas at normal stator tooth 1 at air gap
The close distribution of gap magnetic is very close, and tooth shoulder is unlikely to excessively saturation, reaches the equally distributed purpose of air gap flux density, turns teeth groove
Square, torque fluctuations reduce as far as possible.
Claims (2)
1. a kind of stator structure of compact permanent magnetic brushless, it is characterised in that stator structure includes stator core and multiple
Stator tooth, multiple stator tooths are uniformly arranged in the internal circular surfaces of stator core, the internal circular surfaces of all stator tooths are located at same circle
Zhou Shang；A stator slot is formed between every two stator tooths, by three-phase symmetrical mode, is buried respectively in corresponding three stator slots
Enter a Hall element（3）, each Hall element（3）Two stator tooths of place stator slot are two spies that specular is set
Different tooth（2）, the stator tooth of other positions is normal stator tooth（1）；The special tooth（2）Towards Hall element（3）The pole of side
Boots have bulge-structure, special tooth（2）Away from Hall element（3）The pole shoe thickness ht2 of side is much larger than normal stator tooth（1）'s
Pole shoe thickness ht1.
A kind of 2. stator structure of compact permanent magnetic brushless according to claim 1, it is characterised in that ht2=
2.5ht1。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610217890.0A CN105720709B (en) | 2016-04-09 | 2016-04-09 | A kind of stator structure of compact permanent magnetic brushless |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610217890.0A CN105720709B (en) | 2016-04-09 | 2016-04-09 | A kind of stator structure of compact permanent magnetic brushless |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105720709A CN105720709A (en) | 2016-06-29 |
| CN105720709B true CN105720709B (en) | 2017-12-22 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610217890.0A Active CN105720709B (en) | 2016-04-09 | 2016-04-09 | A kind of stator structure of compact permanent magnetic brushless |
Country Status (1)
| Country | Link |
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| CN (1) | CN105720709B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007116956A1 (en) * | 2006-04-04 | 2007-10-18 | Toyota Jidosha Kabushiki Kaisha | Fixing structure for detection member and electric supercharger |
| CN201348929Y (en) * | 2008-12-31 | 2009-11-18 | 深圳航天科技创新研究院 | Hall rotating transformer and Hall angle encoder manufactured by same |
| CN202260954U (en) * | 2011-09-27 | 2012-05-30 | 浙江博望科技发展有限公司 | Three-phase polymorphic servo motor |
| JP5199723B2 (en) * | 2008-04-30 | 2013-05-15 | 株式会社ハーマン | Cooker |
| CN103236772A (en) * | 2013-05-10 | 2013-08-07 | 哈尔滨工业大学 | Compact type permanent magnet brushless motor with equal-resistance duplex winding and redundant hall structure |
| CN104153673A (en) * | 2014-08-29 | 2014-11-19 | 南京赛梵电气科技有限公司 | Power-driven translation door driving device based on permanent magnet linear motor |
| CN105141100A (en) * | 2015-10-12 | 2015-12-09 | 哈尔滨工业大学 | Tooth slot structure of high-power-density permanent magnet brushless motor used for space manipulator |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05199723A (en) * | 1992-01-20 | 1993-08-06 | Shibaura Eng Works Co Ltd | Molded motor |
-
2016
- 2016-04-09 CN CN201610217890.0A patent/CN105720709B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007116956A1 (en) * | 2006-04-04 | 2007-10-18 | Toyota Jidosha Kabushiki Kaisha | Fixing structure for detection member and electric supercharger |
| JP5199723B2 (en) * | 2008-04-30 | 2013-05-15 | 株式会社ハーマン | Cooker |
| CN201348929Y (en) * | 2008-12-31 | 2009-11-18 | 深圳航天科技创新研究院 | Hall rotating transformer and Hall angle encoder manufactured by same |
| CN202260954U (en) * | 2011-09-27 | 2012-05-30 | 浙江博望科技发展有限公司 | Three-phase polymorphic servo motor |
| CN103236772A (en) * | 2013-05-10 | 2013-08-07 | 哈尔滨工业大学 | Compact type permanent magnet brushless motor with equal-resistance duplex winding and redundant hall structure |
| CN104153673A (en) * | 2014-08-29 | 2014-11-19 | 南京赛梵电气科技有限公司 | Power-driven translation door driving device based on permanent magnet linear motor |
| CN105141100A (en) * | 2015-10-12 | 2015-12-09 | 哈尔滨工业大学 | Tooth slot structure of high-power-density permanent magnet brushless motor used for space manipulator |
Non-Patent Citations (2)
| Title |
|---|
| 《集成永磁伺服电机关键技术研究》;王孝伟;《中国博士学位论文全文数据库 工程科技II辑》;20160315(第3期);全文 * |
| Structure Optimization for Brushless DC Motor in Robot"s Arms Using FEM;Shang Jing 等;《Proceeding or International Conference on Electrical Machines and Systems》;20071031;全文 * |
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| Publication number | Publication date |
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| CN105720709A (en) | 2016-06-29 |
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