CN108696016A - Direct driving motor - Google Patents

Direct driving motor Download PDF

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Publication number
CN108696016A
CN108696016A CN201810529932.3A CN201810529932A CN108696016A CN 108696016 A CN108696016 A CN 108696016A CN 201810529932 A CN201810529932 A CN 201810529932A CN 108696016 A CN108696016 A CN 108696016A
Authority
CN
China
Prior art keywords
stator
rotor
driving motor
direct driving
slot
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
Application number
CN201810529932.3A
Other languages
Chinese (zh)
Inventor
唐雪华
刘兵
吴旭峰
王渊峰
阮景龄
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hangzhou Jing Dao Intelligent Technology Co Ltd
Original Assignee
Hangzhou Jing Dao Intelligent Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Hangzhou Jing Dao Intelligent Technology Co Ltd filed Critical Hangzhou Jing Dao Intelligent Technology Co Ltd
Priority to CN201810529932.3A priority Critical patent/CN108696016A/en
Publication of CN108696016A publication Critical patent/CN108696016A/en
Pending legal-status Critical Current

Links

Classifications

    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02KDYNAMO-ELECTRIC MACHINES
    • H02K1/00Details of the magnetic circuit
    • H02K1/06Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/22Rotating parts of the magnetic circuit
    • H02K1/27Rotor cores with permanent magnets
    • H02K1/2706Inner rotors
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02KDYNAMO-ELECTRIC MACHINES
    • H02K1/00Details of the magnetic circuit
    • H02K1/06Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/12Stationary parts of the magnetic circuit
    • H02K1/16Stator cores with slots for windings
    • H02K1/165Shape, form or location of the slots
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02KDYNAMO-ELECTRIC MACHINES
    • H02K11/00Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/21Devices for sensing speed or position, or actuated thereby
    • H02K11/215Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02KDYNAMO-ELECTRIC MACHINES
    • H02K2201/00Specific aspects not provided for in the other groups of this subclass relating to the magnetic circuits
    • H02K2201/03Machines characterised by aspects of the air-gap between rotor and stator
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02KDYNAMO-ELECTRIC MACHINES
    • H02K2213/00Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
    • H02K2213/03Machines characterised by numerical values, ranges, mathematical expressions or similar information

Abstract

The invention discloses a kind of direct driving motor, including stator and rotor, the stator includes stator core, stator winding, Hall subassembly and insulating part, and the stator core includes multiple stator tooths, and stator slot is formed between adjacent two stator tooths;The rotor includes rotor core, magnetic shoe and rotor axle sleeve, and the magnetic shoe is to cut arc structure, and the rotor core includes multiple magnetic poles and multiple rotor tooths, and rotor dovetail slot is formed between adjacent two rotor tooths;The stator slot and the magnetic pole are coordinated using nearly slot, and the magnetic shoe is arranged in the rotor dovetail slot;The quantity of the stator slot is 6-72, and is 3 common multiple;The quantity of the magnetic pole is 4-78, and is 2 common multiple, and the quantity of the stator slot and the difference of the quantity of the magnetic pole are not more than 6.The direct driving motor of the present invention, it is reasonable for structure, by optimizing the tooth socket fit and magnetic Circuit Design of stator and rotor, the operation of motor is effectively improved, there is good promotion effect.

Description

Direct driving motor
Technical field
The present invention relates to technical field of motors, and in particular to a kind of direct driving motor.
Background technology
DDR (directly driving rotation) motor is that motor is directly connected in load by one kind under drive system control, realization pair The motor of load directly driven.Its feature is that torque is big, positioning accuracy is high, stable movement, fast response time, vibration is low, makes an uproar Sound is few, energy saving, long lifespan, the excellent motor characteristic such as easy to maintenance.Direct driving motor mostly uses conventional motors technical solution at present Distributed winding, number of stator slots are much larger than number of magnetic poles to design feature as follows, magnetic pole arc angle, and Gas-gap Magnetic Field Resonance Wave content is big.It is empty Between air-gap harmonic magnetic field can cause back-emf harmonic wave and torque pulsation, strong influence direct driving motor steadily control and operation, Especially it is embodied in the control performance of the low speed segment of direct driving motor.In addition because motor gas-gap magnetic field harmonics will produce harmonic wave exciting Power, it is relatively low so as to cause electric efficiency, vibration is big, electromagnetic noise is big.
In addition traditional large inertia high-speed direct-drive rotor generally uses nonmagnetic steel set or high strength fibre line, by Surface Mount Magnetic shoe fixation prevents its high speed from being fallen off by centrifugation, and either manufacturing process is complicated or because nonmagnetic steel covers intersity limitation for such structure System, steel bushing thickness reach 1.5mm or more generally in 0.5mm or more so as to cause the air gap of magneto, are keeping motor demagnetization energy Power and air-gap field density, it is necessary to permanent magnetism body thickness is thickeied, to bring the utilization rate of permanent magnet relatively low and air-gap field distortion It is difficult to reach effective sinusoidal magnetic field, Gas-gap Magnetic Field Resonance Wave content is big.
And improves Gas-gap Magnetic Field Resonance Wave generally use rotor magnetic pole at present and cut arc, skewed-rotor, improve the skills such as winding layout Art scheme, although preferable air-gap field waveform and winding back emf waveform can be obtained to a certain extent, for high-precision, High efficiency, high torque density direct driving motor be difficult to reach using above-mentioned Technological improvement plan.Its basic reason be stator and There are problems for the cooperation of rotor tooth socket.It can be seen that a kind of optimization tooth socket fit of design and stator and rotor magnetic circuit waveform is straight Drive the production problem that motor is urgently to be resolved hurrily.
Invention content
In view of this, the purpose of the present invention is to provide a kind of direct driving motor, by optimizing tooth socket fit and stator and turning Sub- magnetic circuit waveform, to overcome, back-emf distortion is serious, harmonic content is big, torque pulsation is big, motor in existing direct-drive motor technology The problems such as control accuracy and unstable operation, and high-revolving range is carried by rational structure design, improve direct driving motor volume Determine the output of power.
To achieve the above object, the present invention provides a kind of direct driving motor, including stator and rotor, the stator include stator Iron core, stator winding, Hall subassembly and insulating part, the stator core include multiple stator tooths, adjacent two stators Stator slot is formed between tooth;The rotor includes rotor core, magnetic shoe and rotor axle sleeve, and the magnetic shoe is to cut arc structure, described Rotor core includes multiple magnetic poles and multiple rotor tooths, and rotor dovetail slot is formed between adjacent two rotor tooths;It is described Stator slot and the magnetic pole are coordinated using nearly slot, and the magnetic shoe is arranged in the rotor dovetail slot;The quantity of the stator slot For 6-72, and it is 3 common multiple;The quantity of the magnetic pole is 4-78, and is 2 common multiple, the quantity of the stator slot and institute The difference for stating the quantity of magnetic pole is not more than 6.
Preferably, the air gap g between the stator and the rotor is 0.5-3mm, and the thickness L of the stator core is 5- The outer diameter D of 300mm, the stator are 50-600mm, and the axis fixed inner diameter D0 of the rotor is 15-350mm, the axis of the rotor It is 15-250mm to position internal diameter D1.
Preferably, the Hall subassembly includes Insulating frame, PCB terminal plates and Hall sensor.
Preferably, the quantity of the Hall sensor is 3.
Preferably, the angle β of line is 7.5 °≤β≤120 ° between two adjacent Hall sensors and the center of circle.
Preferably, integrally curing is carried out using epoxy resin after the completion of the stator assembly.
Preferably, the angle theta between the rotor dovetail slot is 5 ° -45 °, and the width B of the magnetic shoe is 5-60mm, described The thickness t of magnetic shoe is 2-12mm, and the radius R for cutting arc is 0-100mm, and the thickness t1 of the featheredge of the magnetic shoe is 1-6mm.
Preferably, the distance between the Hall sensor and the magnetic shoe are 1.5-10mm.
Preferably, the default winding method of the stator winding is centralization or distribution.
The direct driving motor of the present invention is coordinated by rational stator slot and rotor magnetic pole, the arc of cutting of rotor magnetic shoe designs and determines The magnetic structure Optimum combinatorial design of son and rotor, obtains good magnetic field path, and then obtain ideal air-gap field wave Shape and back-emf sinusoidal waveform reduce vibration noise of motor to reduce motor harmonic wave exciting force, reduce torque pulsation Obtain good control and stable movement performance;Magnetic shoe is arranged in rotor dovetail slot, magnetic when can prevent rotor from running at high speed It watt falls off.
Further, direct driving motor of the invention by optimize stator and rotor magnetic circuit, it is gentle in reasonable magnetic structure Groove area big as possible is obtained under gap magnetic field conditions, in the case of same groove utilization rate, the copper wire that big specification can be used carries out Coiling reduces copper wastage and iron loss to reduce the resistance of motor, improves electric efficiency and specific volume power density and turns Square density exports, and improves the performance of direct driving motor.
Description of the drawings
Fig. 1-A and Fig. 1-B are the structural schematic diagrams of the direct driving motor of the present invention;
Fig. 2-A and Fig. 2-B are the structural schematic diagrams of the stator of the direct driving motor of the present invention;
Fig. 3-A and Fig. 3-B are the structural schematic diagrams of the rotor of the direct driving motor of the present invention;
Fig. 4 is the close-up schematic view of the rotor of the direct driving motor of the present invention.
Fig. 5 is the exploded perspective view of the Hall subassembly of the direct driving motor of the present invention;
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described.
The embodiment of the present invention is described below in detail, the example of embodiment is shown in the accompanying drawings, wherein identical from beginning to end Or similar label indicates same or similar element or element with the same or similar functions.It is retouched below with reference to attached drawing The embodiment stated is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
As shown in Fig. 1-A and Fig. 1-B, direct driving motor of the invention, including stator 1 and rotor 2, such as Fig. 2-A and Fig. 2-B institutes Show, stator 1 includes stator core 11, stator winding 12, Hall subassembly 13 and insulating part 14, and stator core 11 includes multiple stators Tooth forms stator slot between adjacent two stator tooths;As shown in Fig. 3-A and Fig. 3-B, rotor 2 include rotor core 21, Magnetic shoe 22 and rotor axle sleeve 23, magnetic shoe 22 is to cut arc structure, as shown in figure 4, rotor core 21 includes multiple magnetic poles and multiple turns Sub- tooth 212 forms rotor dovetail slot 211 between adjacent two rotor tooths 212;The stator slot and the magnetic pole use Nearly slot cooperation, magnetic shoe 22 are arranged in rotor dovetail slot 211, and magnetic shoe 22 falls off when preventing rotor 2 from running at high speed;The stator slot Quantity N be 6-72, and for 3 common multiple;The quantity of the magnetic pole p is 4-78, and is 2 common multiple, the stator slot The difference of the quantity N and quantity p of the magnetic pole is not more than 6.The direct driving motor of the present invention passes through rational stator slot and rotor magnetic Pole cooperation, magnetic shoe 22 the magnetic structure Optimum combinatorial design for cutting arc design and stator 1 and rotor 2, it is logical to obtain good magnetic field Road, and then ideal air-gap field waveform and back-emf sinusoidal waveform are obtained, it is reduced to reduce motor harmonic wave exciting force Vibration noise of motor reduces torque pulsation and obtains good control and stable movement performance.
The stator slot of the direct driving motor of the present invention is along the inner circle circumference uniform distribution of stator 1, and each tooth socket is impartial, and rotor 2 turns Sub- dovetail groove 211 is uniformly distributed along the outer circle of rotor 2, and the air gap g between stator 1 and rotor 2 is 0.5-3mm, the thickness of stator core 11 Degree L is 5-300mm, and the outer diameter D of stator 1 is 50-600mm, and the axis fixed inner diameter D0 of rotor 2 is 15-350mm, and the axis of rotor 2 is fixed Position internal diameter D1 is 15-250mm.
As shown in figure 5, the Hall subassembly 13 of the direct driving motor of the present invention includes Insulating frame 131,132 and of PCB terminal plates The quantity of Hall sensor 133, Hall sensor 133 is generally 3, and the machinery that Hall 133 is calculated according to slot number cooperation presss from both sides The angle β value of angle namely adjacent two lines between the Hall sensor 133 and the center of circle is 7.5 °≤β≤120 °.It completes After the positioning shaping of Hall subassembly 13, signal and motor performance are detected with standard rotor, if can reach design requirement, stator 1 fills Integrally curing is carried out with stator 1 is put into mold after the completion, and using epoxy resin, reaches whole IP65 grades.
Angle theta between the rotor dovetail slot of the direct driving motor of the present invention is 5 ° -45 °, as shown in figure 4, the width of magnetic shoe 22 Degree B is 5~60mm, and the thickness t of magnetic shoe 22 is 2~12mm, and the radius R for cutting arc is 0~100mm, the featheredge of magnetic shoe 22 Thickness t1 is 1~6mm.The distance between Hall sensor 133 and magnetic shoe 22 are 1.5~10mm, are the shortest distance.
The default winding method of the stator winding 12 of the direct driving motor of the present invention is centralization or distribution, and stator 1 is real During now, insulating part 14 or prefabricated stator insulation bobbin winder bracket are inserted into the slot of stator core 11, by stator winding 12 In the winding insertion stator slot on the stator teeth or by pre- coiling, the system that test stator module is completed in wiring shaping is then carried out Make.The qualified stator module of detection is inserted in Hall subassembly 13, completes the installation positioning of Hall subassembly 13.
During the rotor of the direct driving motor of the present invention is realized, by respective rotor axle sleeve 23 using cold pressing or the side of hot jacket Formula is completed rotor assembly and is made, and then by the uniform spreading glue in 22 bottom of corresponding magnetic shoe, is then inserted into rotor dovetail slot 211 In, etc. dynamic balancing measurement and calibration carried out to rotor assembly after glue curings, rotor dynamic balancing by the control of G2.5 levels it is qualified after Complete the making of rotor 2.
In the direct driving motor assembling process of the present invention, stator 1 is pressed into casing and fixes stator 1 and casing, by rotor 2 The concentric of rotor 2 and axis is ensured by axis location hole guide-localization with axis, then passes through expansion sleeve and fixes outer circle and rotor axle sleeve Endoporus is fixed, and inner circle is fixed with axis, and combination forms complete rotor assembly, shaft end is then pressed into bearing, and right with stator 1 Together, the accessory casing of locking end cap installation motor, forms the direct driving motor of meet demand.
The direct driving motor of the present invention is coordinated using rational stator slot and rotor magnetic pole, may be implemented stator winding mode by Concentratred winding mode replaces traditional multiple step format winding method, significantly reduces the quality such as turn-to-turn in production process, pressure resistance be bad Problem.Motor gas-gap can obtain preferable air-gap field waveform, and harmonic content is relatively low, and sinusoidal is presented in winding back-emf.It can be with It is effective to improve electric efficiency, motor control and traveling comfort are improved, reduces torque pulsation, reduce motor oscillating And noise.Groove area big as possible is obtained under reasonable magnetic structure and air gap magnetic field conditions, the same groove utilization rate the case where Under, the copper wire that big specification can be used carries out coiling, to reduce the resistance of motor, reduces copper wastage and iron loss, improves motor Efficiency and specific volume power density and torque density output, improve the performance of direct driving motor.
Obviously, those skilled in the art can make to the present invention without departing from the spirit and scope of the present invention Embodiment various modifications and change.In this manner, if these modifications and changes be in the present invention claim and its In the range of equivalent form, then the present invention, which also aims to, covers these modifications and changes.Word " comprising " is not excluded for not wanting in right The presence for the other element or steps listed in asking.The simple thing that certain measures are recorded in mutually different dependent claims Do not indicate that the combination of these measures is consequently not used for making a profit in fact.Any reference numeral in claim should not be regarded as limited to Range.

Claims (9)

1. a kind of direct driving motor, which is characterized in that including stator and rotor, the stator includes stator core, stator winding, suddenly That component and insulating part, the stator core include multiple stator tooths, and stator slot is formed between adjacent two stator tooths; The rotor includes rotor core, magnetic shoe and rotor axle sleeve, and the magnetic shoe is to cut arc structure, and the rotor core includes multiple magnetic Pole and multiple rotor tooths form rotor dovetail slot between adjacent two rotor tooths;The stator slot and the magnetic pole are adopted Coordinated with nearly slot, the magnetic shoe is arranged in the rotor dovetail slot;The quantity of the stator slot is 6-72, and is 3 common multiple Number;The quantity of the magnetic pole is 4-78, and is 2 common multiple, the difference of the quantity of the stator slot and the quantity of the magnetic pole No more than 6.
2. direct driving motor according to claim 1, which is characterized in that the air gap g between the stator and the rotor is The thickness L of 0.5-3mm, the stator core are 5-300mm, and the outer diameter D of the stator is 50-600mm, and the axis of the rotor is solid It is 15-350mm to determine internal diameter D0, and the axis positioning internal diameter D1 of the rotor is 15-250mm.
3. direct driving motor according to claim 1, which is characterized in that the Hall subassembly includes Insulating frame, PCB wiring Plate and Hall sensor.
4. direct driving motor according to claim 3, which is characterized in that the quantity of the Hall sensor is 3.
5. direct driving motor according to claim 3, which is characterized in that adjacent two Hall sensors and the center of circle it Between line angle β be 7.5 °≤β≤120 °.
6. direct driving motor according to claim 1, which is characterized in that after the completion of stator assembly using epoxy resin into Row integrally curing.
7. direct driving motor according to claim 1, which is characterized in that angle theta between the rotor dovetail slot is 5 °- 45 °, the width B of the magnetic shoe is 5-60mm, and the thickness t of the magnetic shoe is 2-12mm, and the radius R for cutting arc is 0-100mm, The thickness t1 of the featheredge of the magnetic shoe is 1-6mm.
8. direct driving motor according to claim 3, which is characterized in that between the Hall sensor and the magnetic shoe away from From for 1.5-10mm.
9. direct driving motor according to claim 1, which is characterized in that the default winding method of the stator winding is to concentrate Formula or distribution.
CN201810529932.3A 2018-05-29 2018-05-29 Direct driving motor Pending CN108696016A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810529932.3A CN108696016A (en) 2018-05-29 2018-05-29 Direct driving motor

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Application Number Priority Date Filing Date Title
CN201810529932.3A CN108696016A (en) 2018-05-29 2018-05-29 Direct driving motor

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CN108696016A true CN108696016A (en) 2018-10-23

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022041570A1 (en) * 2020-08-24 2022-03-03 深圳市大疆创新科技有限公司 Magnetic member, electric motor and movable platform
CN114696536A (en) * 2022-04-12 2022-07-01 湖南工程学院 Turbine direct-drive conical rotor permanent magnet synchronous generator set

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102545436A (en) * 2012-02-08 2012-07-04 中国科学院电工研究所 Magnetic pole structure of permanent magnet synchronous direct-driven motor and design method thereof
CN204244044U (en) * 2014-12-18 2015-04-01 上海新松机器人自动化有限公司 Permanent-magnet alternating current servo motor
CN104795954A (en) * 2015-05-06 2015-07-22 长沙美福沛林电子科技有限公司 Steering engine and multi-pole-pair permanent magnetic direct-current brushless motor for same
CN105356709A (en) * 2015-11-30 2016-02-24 济宁环宇机电有限责任公司 Permanent magnet DC brushless motor for pure electric vehicle
CN206250933U (en) * 2016-10-14 2017-06-13 黑龙江瑞鑫永磁电机制造有限公司 A kind of low-energy-efficiency asynchronous machine efficiently remanufactures AC permanent magnet motor

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102545436A (en) * 2012-02-08 2012-07-04 中国科学院电工研究所 Magnetic pole structure of permanent magnet synchronous direct-driven motor and design method thereof
CN204244044U (en) * 2014-12-18 2015-04-01 上海新松机器人自动化有限公司 Permanent-magnet alternating current servo motor
CN104795954A (en) * 2015-05-06 2015-07-22 长沙美福沛林电子科技有限公司 Steering engine and multi-pole-pair permanent magnetic direct-current brushless motor for same
CN105356709A (en) * 2015-11-30 2016-02-24 济宁环宇机电有限责任公司 Permanent magnet DC brushless motor for pure electric vehicle
CN206250933U (en) * 2016-10-14 2017-06-13 黑龙江瑞鑫永磁电机制造有限公司 A kind of low-energy-efficiency asynchronous machine efficiently remanufactures AC permanent magnet motor

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022041570A1 (en) * 2020-08-24 2022-03-03 深圳市大疆创新科技有限公司 Magnetic member, electric motor and movable platform
CN114696536A (en) * 2022-04-12 2022-07-01 湖南工程学院 Turbine direct-drive conical rotor permanent magnet synchronous generator set

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Application publication date: 20181023

RJ01 Rejection of invention patent application after publication