CN108964313A - A kind of built-in type permanent-magnet servo motor of rotor fluting - Google Patents
A kind of built-in type permanent-magnet servo motor of rotor fluting Download PDFInfo
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- CN108964313A CN108964313A CN201811108979.9A CN201811108979A CN108964313A CN 108964313 A CN108964313 A CN 108964313A CN 201811108979 A CN201811108979 A CN 201811108979A CN 108964313 A CN108964313 A CN 108964313A
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- Prior art keywords
- rotor
- permanent
- magnet
- fluting
- built
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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
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
- H02K1/2706—Inner rotors
- H02K1/272—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis
- H02K1/274—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets
- H02K1/2753—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets the rotor consisting of magnets or groups of magnets arranged with alternating polarity
- H02K1/276—Magnets embedded in the magnetic core, e.g. interior permanent magnets [IPM]
- H02K1/2766—Magnets embedded in the magnetic core, e.g. interior permanent magnets [IPM] having a flux concentration effect
- H02K1/2773—Magnets embedded in the magnetic core, e.g. interior permanent magnets [IPM] having a flux concentration effect consisting of tangentially magnetized radial magnets
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
- H02K2213/03—Machines characterised by numerical values, ranges, mathematical expressions or similar information
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Permanent Field Magnets Of Synchronous Machinery (AREA)
Abstract
A kind of built-in type permanent-magnet servo motor of rotor fluting, including stator, rotor and shaft, fluting is on rotor to reduce rotor eddy current loss, rotor includes radial magnetizing formula Nd-Fe-B permanent magnet, rotor core back yoke, permanent magnetism inside groove, outer air groove and/or interior air groove, wherein, outer air groove is set to the outer surface of rotor, between two adjacent permanent magnets, between permanent magnet and shaft, permanent magnet is installed in permanent magnetism inside groove interior air groove.The present invention is weakened non-sine armature reacting field and is distributed generated low-order harmonic magnetic field, reduced rotor eddy current loss, promote motor comprehensive operation efficiency by the built-in type permanent-magnet rotor design slotted to rotor.
Description
Technical field
The invention belongs to servo motor technical fields, are related to permanent-magnet servo motor, for a kind of rotor fluting it is built-in forever
Magnetic servo motor.
Background technique
For permanent-magnet servo motor (Permanent Magnet Servo Motor) due to its good speed adjustment features, torque density is high
The advantages that high with precision, is widely used in the servos such as robot, lathe, textile industry workplace.
Current servo motor rotor construction mostly uses surface-mount type, and surface-mounted rotor structure mostly uses magnet steel that gluing is added to be attached to turn
Then sub- iron core surface adds glass fibre or other non-magnetic sheaths to fix outside magnet steel, to prevent motor from transporting in high speed
When turning, since centrifugal force acts on, magnet steel will appear the case where loosening or falling off.And glass fibre protective case makes in rotor and fills
With more troublesome in technique, increase manufacturing cost.And eddy-current loss can be generated using steel sleeve structure, reduce electric efficiency, shadow
Ring comprehensive performance.Therefore, built-in type permanent-magnet servo motor is widely studied, but since rotor core for armature-reaction provides magnetic
Path, armature reaction MMF harmonic wave is more, causes rotor eddy current loss big, furthermore torque ripple characteristic and vibration noise compared with
Greatly, comprehensive servo performance needs to be further improved.
Because of the more demanding craft precision of industrial robot servo motor, overall efficiency and steady torque output etc.
Performance requirement.In consideration of it, it is necessary to propose a kind of high torque density Novel industrial robot built-in type permanent-magnet servo motor, with
Promote comprehensive operation efficiency and operational reliability.
Summary of the invention
The problem to be solved in the present invention is: the rotor eddy current loss of built-in type permanent-magnet servo motor in the prior art is big,
High-speed cruising reliability is low low with comprehensive operation efficiency.
The present invention devises the built-in type permanent-magnet servo motor of rotor fluting, by slotting on rotor, weakens non-sine
Armature reacting field is distributed generated low-order harmonic magnetic field, reduces rotor eddy current loss, includes the following three types implementation:
A kind of built-in type permanent-magnet servo motor of rotor fluting, including stator, rotor and shaft, fluting is on rotor to subtract
Lesser trochanter eddy-current loss, rotor include in radial magnetizing formula Nd-Fe-B permanent magnet, outer air groove, rotor core back yoke and permanent magnetism
Slot, outer air groove is set to the outer surface of rotor, between two adjacent permanent magnets, along being uniformly distributed in rotor circumference,
Permanent magnet is installed in permanent magnetism inside groove.
A kind of built-in type permanent-magnet servo motor of rotor fluting, including stator, rotor and shaft, fluting is on rotor to subtract
Lesser trochanter eddy-current loss, rotor include in radial magnetizing formula Nd-Fe-B permanent magnet, interior air groove, rotor core back yoke and permanent magnetism
Slot, interior air groove is between permanent magnet and shaft, and along being uniformly distributed in rotor circumference, permanent magnet is installed on permanent magnetism inside groove
In.
A kind of built-in type permanent-magnet servo motor of rotor fluting, including stator, rotor and shaft, fluting is on rotor to subtract
Lesser trochanter eddy-current loss, rotor include radial magnetizing formula Nd-Fe-B permanent magnet, outer air groove, interior air groove, rotor core back yoke
With permanent magnetism inside groove, outer air groove is set to the outer surface of rotor, and between two adjacent permanent magnets, interior air groove is located at permanent magnetism
Between body and shaft, permanent magnet is installed in permanent magnetism inside groove.
It is preferred that the truncation surface of the outer air groove in above scheme is the triangle of opening, it is open towards stator.
Further, the magnetic conduction bridge thickness that outer air groove is connect with permanent magnet is greater than 0.4mm.
Further, the apex angle in outer air groove slot is circular arc chamfering, convenient for technique production processing.
It is preferred that the truncation surface of the interior air groove in above scheme is rectangle.
Further, the position of interior air groove is right against the centre of permanent magnet, and interior air groove width is greater than 0.5mm.
Further, the magnetic conduction bridge thickness that interior air groove is connect with permanent magnet is greater than 0.4mm.
It is preferred that the built-in type permanent-magnet servo motor of the fluting of rotor described in any of the above-described scheme, the rotor
Surface uses the design of non-uniform gap, i.e., cuts pole mode using the non-concentric formula of rotor surface.
The present invention problem big for built-in type permanent-magnet servo motor rotor eddy-current loss, proposes by opening on rotor
Slot reduces the mentality of designing of eddy-current loss, and proposes three kinds of implementations accordingly, is included in rotor outer surface fluting, is turning
Sub- internal recessing, and three kinds of schemes of double flutings inside and outside rotor, can be effectively reduced rotor eddy current loss, improve electric efficiency.
The utility model has the advantages that
1, the built-in type permanent-magnet rotor design that the present invention is slotted by rotor weakens non-sine armature reacting field and is distributed institute
The low-order harmonic magnetic field of generation promotes motor comprehensive operation efficiency to be further reduced rotor eddy current loss；
2, the built-in type permanent-magnet rotor design that the present invention is slotted by rotor, reduces the cross saturation phenomenon of motor, solves
Conventional internal formula electric machine iron core of having determined saturation, is lost the problems such as larger, and motor inductances parametrical nonlinearity degree is declined, into
One step improves the overload capacity of motor, weak magnetic ability and control precision；
3, the present invention is improved for built-in type permanent-magnet servo motor, is reduced rotor eddy current loss, is not present simultaneously
Permanent magnet needs additional glass fiber or other non-magnetic sheaths to fix when traditional durface mounted permanent magnet servo motor high-speed cruising
Problem improves the operational reliability of motor, has good comprehensive servo performance；
4, the present invention is designed by the structure that rotor is slotted, and is effectively reduced rotor weight and rotary inertia, is improved electricity
The torque density and control precision of machine.
Detailed description of the invention
Fig. 1 is the embodiment of the present invention structural schematic diagram.
Fig. 2 is the loss distribution map of different rotor structure motor.
Fig. 3 is the total losses comparison diagram of different rotor structure motor.
Fig. 4 is the comprehensive operation efficiency comparison diagram of different rotor structure motor.
Fig. 5 is the q axle inductance variation under the built-in type permanent-magnet servo motor difference dq shaft current that tradition is not slotted.
Fig. 6 is the q axle inductance variation under the double fluting built-in type permanent-magnet servo motor difference dq shaft currents of the present invention.
Specific embodiment
The present invention proposes a kind of built-in type permanent-magnet servo motor of rotor fluting, reduces rotor by slotting on rotor
Eddy-current loss, including slot on rotor, inside groove and simultaneously in external recessing three kinds of schemes of double flutings.Wherein, external recessing is set
Meter can also solve the problems, such as that conventional internal formula permanent-magnet servo motor cross saturation is serious, further promote the overload capacity of motor
With weak magnetic ability, and motor control precision is improved；Internal recessing design can weaken produced by the distribution of non-sine armature reacting field
Low-order harmonic magnetic field, reduce rotor eddy current loss, promoted motor comprehensive operation efficiency.When inside and outside two air grooves while work
Make, i.e., double flutings, then compared to inside groove or outer groove is only opened, eddy-current loss can be further reduced, realize the high-efficiency operation of motor.
Permanent-magnet servo motor proposed by the present invention is made further specifically below in conjunction with attached drawing and specific implementation case
It is bright.It should be noted that attached drawing uses reduced form and non-accurate ratio, only with convenient, lucidly the aid illustration present invention is real
Apply the purpose of example.
Fig. 1 is the structural schematic diagram of the permanent-magnet servo motor of the embodiment of the present invention, for convenience of inside groove and outer groove is introduced simultaneously
Setting, be illustrated by taking double flutings as an example.As shown in Figure 1, the permanent-magnet servo motor of rotor fluting proposed by the present invention, packet
Include: stator 1 and built-in type permanent-magnet rotor 2, stator 1 and built-in type permanent-magnet rotor 2 are mounted in shaft 3, stator 1, it is built-in forever
Magnet rotor 2 and shaft 3 are in the casing of servo motor.
Built-in type permanent-magnet rotor 2 include radial magnetizing formula Nd-Fe-B permanent magnet 2.1, outer air groove 2.2, interior air groove 2.3,
Rotor core back yoke 2.4 and permanent magnetism inside groove 2.5.The present embodiment has carried out double flutings to p-m rotor and has designed, on the one hand, in rotor
2 outer surface, is provided with the outer air groove 2.2 that truncation surface is up-side down triangle between two permanent magnetism 2.1, and triangle open mouth direction is fixed
Rotor center is directed toward on son, vertex, is circular arc chamfering on the inside of vertex, is facilitated production to process, outer air groove 2.2 can play reduction forever
Magnetic interelectrode magnetic leakage reduces the effect of armature-reaction cross saturation；On the other hand, truncation is equipped between permanent magnet 2.1 and shaft 3
Face is the interior air groove 2.3 of rectangle, which can further weaken fractional-slot concentratred winding armature reacting field non-sine
Low-order harmonic magnetic field caused by being distributed promotes motor comprehensive operation efficiency further to weaken rotor eddy current loss.Interior outer space
For air drain each along being uniformly distributed in rotor circumference, the groove width of outer air groove 2.2 is greater than manufacturing process minimum requirements, with
The concrete technology precision of motor is related；Interior air groove 2.3 is right against the centre of permanent magnet, and width is greater than 0.5mm, and width here refers to
Be the side adjacent with permanent magnet length, the magnetic conduction bridge thickness that inner air and outer air slot is connect with permanent magnet be required to be greater than 0.4mm.
Inner air and outer air slot is axially through setting on rotor.
The stator 1 is located at outside built-in type permanent-magnet rotor 2, including armature core tooth 1.1, stator yoke 1.2, slot
1.3 and the armature winding 4 on armature core tooth 1.1, the setting of armature core tooth 1.1 stator yoke 1.2 and rotor 2 it
Between, slot 1.3 between indent is formed between adjacent armature core tooth 1.1, slot 1.3 is wound in armature core tooth for putting
Armature winding 4 on 1.1.Stator structure of the present invention is the prior art, is no longer described in detail.
Further, the outer surface of the built-in type permanent-magnet rotor 2 uses the design method of non-uniform gap, that is, uses
The non-concentric formula of rotor surface cuts the mode of pole, to play the role of being further reduced cogging torque and torque pulsation.It is described not
The design method of even air gap with reference to China application CN201410453460.X, " rotor core of built-in permanent magnetic motor and
Its design method ", I will not elaborate.
2.1 shape of radial magnetizing formula Nd-Fe-B permanent magnet in the present invention is rectangle, and block number is even number, equal along rotor circumference
Even distribution, radial magnetizing formula Nd-Fe-B permanent magnet 2.1 are located between two adjacent outer air grooves 2.2, are installed on permanent magnetism inside groove 2.5
In, the magnetizing direction of adjacent two blocks of permanent magnetism is opposite.
With reference to the embodiments of above-mentioned double flutings, similarly over available list air groove or interior air groove implementation structure.
Fig. 2~4 give influence of the different rotor structure to the loss of electric machine.Fig. 2 is the loss of different rotor structure motor
Substep is schemed, as shown in Fig. 2, the present invention can reduce loss in the case where singly fluting, damage can be greatly reduced in double notching constructions
Consumption.The total losses that Fig. 3 and 4 gives different rotor structure motor compare, it can be seen that rotor proposed by the present invention is slotted interior
The total losses of motor can be reduced compared to the scheme that do not slot by setting formula magneto, to realize the effect that motor gross efficiency improves
Fruit, wherein the scheme of the scheme ratio of double flutings but fluting has better effect.
Fig. 5 and Fig. 6 is that the built-in type permanent-magnet servo motor that tradition is not slotted and the double fluting built-in type permanent-magnets of the present invention are watched
Motor is taken, the q axle inductance variation under different dq shaft currents, abscissa expression q shaft current, the q axle inductance that ordinate indicates, no
Different d shaft currents is corresponded to curve, it is seen that the solution of the present invention reduces the cross saturation phenomenon of motor.
The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of built-in type permanent-magnet servo motor of rotor fluting, including stator (1), rotor (2) and shaft (3), it is characterized in that
For fluting to reduce rotor eddy current loss, rotor (2) includes radial magnetizing formula Nd-Fe-B permanent magnet (2.1), outer space on rotor (2)
Air drain (2.2), rotor core back yoke (2.4) and permanent magnetism inside groove (2.5), outer air groove (2.2) are set to the appearance of rotor (2)
Face, between two adjacent permanent magnets (2.1), along being uniformly distributed in rotor circumference, permanent magnet (2.1) is installed in permanent magnetism
In slot (2.5).
2. a kind of built-in type permanent-magnet servo motor of rotor fluting, including stator (1), rotor (2) and shaft (3), it is characterized in that
For fluting to reduce rotor eddy current loss, rotor (2) includes radial magnetizing formula Nd-Fe-B permanent magnet (2.1), interior sky on rotor (2)
Air drain (2.3), rotor core back yoke (2.4) and permanent magnetism inside groove (2.5), interior air groove (2.3) are located at permanent magnet (2.1) and shaft
(3) between, along being uniformly distributed in rotor circumference, permanent magnet (2.1) is installed in permanent magnetism inside groove (2.5).
3. a kind of built-in type permanent-magnet servo motor of rotor fluting, including stator (1), rotor (2) and shaft (3), it is characterized in that
For fluting to reduce rotor eddy current loss, rotor (2) includes radial magnetizing formula Nd-Fe-B permanent magnet (2.1), outer space on rotor (2)
Air drain (2.2), interior air groove (2.3), rotor core back yoke (2.4) and permanent magnetism inside groove (2.5), outer air groove (2.2) are set to
The outer surface of rotor (2), between two adjacent permanent magnets (2.1), interior air groove (2.3) is located at permanent magnet (2.1) and turns
Between axis (3), permanent magnet (2.1) is installed in permanent magnetism inside groove (2.5).
4. the built-in type permanent-magnet servo motor of rotor fluting according to claim 1 or 3, it is characterized in that outer air groove
(2.2) truncation surface is the triangle of opening, is open towards stator (1).
5. the built-in type permanent-magnet servo motor of rotor according to claim 4 fluting, it is characterized in that outer air groove (2.2) and
The magnetic conduction bridge thickness of permanent magnet (2.1) connection is greater than 0.4mm.
6. the built-in type permanent-magnet servo motor of rotor fluting according to claim 4, it is characterized in that outer air groove (2.2) slot
Interior apex angle is circular arc chamfering.
7. the built-in type permanent-magnet servo motor of rotor fluting according to claim 2 or 3, it is characterized in that interior air groove
(2.3) truncation surface is rectangle.
8. the built-in type permanent-magnet servo motor of rotor fluting according to claim 6, it is characterized in that interior air groove (2.3)
Position is right against the centre of permanent magnet (2.1), and interior air groove (2.3) width is greater than 0.5mm.
9. the built-in type permanent-magnet servo motor of rotor according to claim 6 fluting, it is characterized in that interior air groove (2.3) with
The magnetic conduction bridge thickness of permanent magnet (2.1) connection is greater than 0.4mm.
10. the built-in type permanent-magnet servo motor of rotor fluting according to claim 1-3, it is characterized in that described turn
Sub (2) surface uses the design of non-uniform gap, i.e., cuts pole mode using the non-concentric formula of rotor surface.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811108979.9A CN108964313A (en) | 2018-09-21 | 2018-09-21 | A kind of built-in type permanent-magnet servo motor of rotor fluting |
| PCT/CN2019/086540 WO2020057146A1 (en) | 2018-09-21 | 2019-05-13 | Built-in permanent magnet servo motor having rotor slots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811108979.9A CN108964313A (en) | 2018-09-21 | 2018-09-21 | A kind of built-in type permanent-magnet servo motor of rotor fluting |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108964313A true CN108964313A (en) | 2018-12-07 |
Family
ID=64471629
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811108979.9A Pending CN108964313A (en) | 2018-09-21 | 2018-09-21 | A kind of built-in type permanent-magnet servo motor of rotor fluting |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN108964313A (en) |
| WO (1) | WO2020057146A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020057146A1 (en) * | 2018-09-21 | 2020-03-26 | 南京埃斯顿自动化股份有限公司 | Built-in permanent magnet servo motor having rotor slots |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11275784A (en) * | 1999-02-17 | 1999-10-08 | Hitachi Ltd | Electric vehicle |
| CN207283283U (en) * | 2017-08-15 | 2018-04-27 | 驰美电机（上海）有限公司 | A kind of yi word pattern rotor punching for being suitable for frame No. 225,8 pole rare-earth permanent-magnet electric machine |
| CN108512329A (en) * | 2018-04-27 | 2018-09-07 | 创驱（上海）新能源科技有限公司 | A kind of magnetic steel built-in type rotor and the permanent magnet synchronous motor for including the magnetic steel built-in type rotor |
| CN208904785U (en) * | 2018-09-21 | 2019-05-24 | 南京埃斯顿自动化股份有限公司 | A kind of built-in type permanent-magnet servo motor of rotor fluting |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4570333A (en) * | 1983-10-28 | 1986-02-18 | General Electric Company | Method of making a permanent magnet rotor |
| CN108964313A (en) * | 2018-09-21 | 2018-12-07 | 南京埃斯顿自动化股份有限公司 | A kind of built-in type permanent-magnet servo motor of rotor fluting |
-
2018
- 2018-09-21 CN CN201811108979.9A patent/CN108964313A/en active Pending
-
2019
- 2019-05-13 WO PCT/CN2019/086540 patent/WO2020057146A1/en active Application Filing
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11275784A (en) * | 1999-02-17 | 1999-10-08 | Hitachi Ltd | Electric vehicle |
| CN207283283U (en) * | 2017-08-15 | 2018-04-27 | 驰美电机（上海）有限公司 | A kind of yi word pattern rotor punching for being suitable for frame No. 225,8 pole rare-earth permanent-magnet electric machine |
| CN108512329A (en) * | 2018-04-27 | 2018-09-07 | 创驱（上海）新能源科技有限公司 | A kind of magnetic steel built-in type rotor and the permanent magnet synchronous motor for including the magnetic steel built-in type rotor |
| CN208904785U (en) * | 2018-09-21 | 2019-05-24 | 南京埃斯顿自动化股份有限公司 | A kind of built-in type permanent-magnet servo motor of rotor fluting |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020057146A1 (en) * | 2018-09-21 | 2020-03-26 | 南京埃斯顿自动化股份有限公司 | Built-in permanent magnet servo motor having rotor slots |
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| Publication number | Publication date |
|---|---|
| WO2020057146A1 (en) | 2020-03-26 |
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