CN109494928A - A kind of servo motor and its control method of shaft slow-roll stabilization - Google Patents
A kind of servo motor and its control method of shaft slow-roll stabilization Download PDFInfo
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- CN109494928A CN109494928A CN201811477553.0A CN201811477553A CN109494928A CN 109494928 A CN109494928 A CN 109494928A CN 201811477553 A CN201811477553 A CN 201811477553A CN 109494928 A CN109494928 A CN 109494928A
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- Prior art keywords
- main shaft
- electromagnetism
- shaft
- brake
- stabilising arrangement
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/102—Structural association with clutches, brakes, gears, pulleys or mechanical starters with friction brakes
- H02K7/1021—Magnetically influenced friction brakes
- H02K7/1023—Magnetically influenced friction brakes using electromagnets
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/22—Optical devices
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K9/00—Arrangements for cooling or ventilating
- H02K9/02—Arrangements for cooling or ventilating by ambient air flowing through the machine
- H02K9/04—Arrangements for cooling or ventilating by ambient air flowing through the machine having means for generating a flow of cooling medium
- H02K9/06—Arrangements for cooling or ventilating by ambient air flowing through the machine having means for generating a flow of cooling medium with fans or impellers driven by the machine shaft
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K9/00—Arrangements for cooling or ventilating
- H02K9/22—Arrangements for cooling or ventilating by solid heat conducting material embedded in, or arranged in contact with, the stator or rotor, e.g. heat bridges
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention discloses the servo motors and its control method of a kind of shaft slow-roll stabilization, including motor body and main shaft, installation frame is provided with outside motor body, heat dissipating housing is provided on installation frame, brake chamber, stablize mounting shell and speed detector, radiator is provided in heat dissipating housing, brake gear is provided in brake chamber, stablize in mounting shell and is provided with stabilising arrangement, radiator, brake gear and stabilising arrangement are connected with speed detector, stabilising arrangement includes electromagnetism ring and fixed ring, electromagnetism ring is fixed on main shaft, Fixing shrink ring is located at the outside of electromagnetism ring, fixed ring is all without contact with electromagnetism ring and main shaft, electromagnetism ring is provided on the inner wall of fixed ring, the magnetism of two electromagnetism rings is identical, by way of contactless stable main shaft, on the basis of guaranteeing to main shaft stable rotation, it avoids causing main shaft Damage realizes lossless stable main shaft, ensure that servo motor service performance and service life.
Description
Technical field
The present invention relates to servo motor technical field, the specially a kind of servo motor and its controlling party of shaft slow-roll stabilization
Method.
Background technique
Servo motor refers to the engine that mechanical organ operating is controlled in servo-system, is that a kind of subsidy motor becomes indirectly
Speed variator.Servo motor can make control speed, position precision is very accurate, voltage signal can be converted to torque and revolving speed with
Drive control object.Servo motor rotor revolving speed is controlled by input signal, and energy fast reaction is used in automatic control system
Make executive component, and there are the characteristics such as electromechanical time constant small, the linearity is high, pickup voltage, the electric signal received can be turned
Change the angular displacement or angular speed output on motor reel into.It is divided into direct current and AC servomotor two major classes, main feature
It is, when signal voltage is zero without rotation phenomenon, revolving speed uniform descent with the increase of torque.
In the servo motor course of work, shaft, which is shaken, can cause a deviation from original center work shaking rotation, with figure
For the rotating effect figure that shape shows in cone, this will generate shadow to the working efficiency and operating accuracy of entire servo motor
It rings, while can also generate the various drawbacks such as noise, energy consumption, service efficiency and the service life of servo motor greatly reduces.
In the prior art, it in order to solve the problems, such as machine shaft circular runout, is directly contacted by setting with shaft
Locating part, to prevent shaft mobile, since under this kind setting, the rotation of shaft is hindered, and influences servo motor performance, together
When shaft can rub when being contacted with locating part impaired, be destroyed machine shaft, reduce the service life of servo motor, simultaneously
Machine shaft influences motor service performance since continuous frictional, temperature can constantly rise.
Summary of the invention
In order to overcome the shortcomings of prior art, the present invention provides servo motor and its control of a kind of shaft slow-roll stabilization
Method processed on the basis of guaranteeing to main shaft stable rotation, avoids causing main shaft by way of contactless stable main shaft
Damage realizes lossless stable main shaft, ensure that servo motor service performance and service life, can effectively solve that background technique mentions
Out the problem of.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of servo motor of shaft slow-roll stabilization, including motor body and main shaft, the main shaft is by motor body
Extend, installation frame is provided with outside the motor body, heat dissipating housing, brake chamber, stabilization are provided on the installation frame
Mounting shell and speed detector are provided with radiator in the heat dissipating housing, brake gear, institute are provided in the brake chamber
It states and is provided with stabilising arrangement in stable mounting shell, the radiator, brake gear and stabilising arrangement are and speed detector
It is connected；
The both ends of the stable mounting shell are provided with the axis hole passed through for main shaft, set on the outer wall of the stable mounting shell
It is equipped with magnetic shield, the stabilising arrangement includes electromagnetism ring and fixed ring, the annular setting on the main shaft for stablize mounting shell
There is electromagnetism mounting groove, the electromagnetism ring is fixed in electromagnetism mounting groove, and the Fixing shrink ring is located at the outside of main shaft and electromagnetism ring,
The fixed ring is all without contact with electromagnetism ring and main shaft, and electromagnetism ring, two electromagnetism are provided on the inner wall of the fixed ring
The magnetism of ring is identical.
Further, the main shaft is extended by the other end of motor body, while the end of motor body is provided with pair
Stablize shell, secondary stablize is provided with secondary stabilising arrangement in shell, the structure of the pair stabilising arrangement is identical as stabilising arrangement,
The two mirror settings.
Further, the radiator includes thermally conductive circle and cooling pipe, and the thermally conductive circle is socketed on main shaft, described to lead
Gas ket outwardly extends multiple radiating vanes, multiple radiating vanes along main shaft radially uniform setting, it is described
Cooling pipe has that multiple and quantity is identical as the quantity of radiating vane, and the cooling pipe extends heat dissipating housing and is connected with high speed air inlet
Pipe, the outlet end of the cooling pipe faces radiating vane, and the rotation side of the air-out direction of the cooling pipe and radiating vane
To consistent.
Further, the outside of the cylindrical structure of the heat dissipating housing, the heat dissipating housing is fixedly connected with installation frame, institute
The both ends for stating heat dissipating housing are provided with the axis hole passed through for wearing main shaft, contactless between the main shaft and heat dissipating housing.
It further, is vacuum environment inside the brake chamber, the both ends of the brake chamber are provided with to be passed through for main shaft
Axis hole, be connected between the main shaft and brake chamber by airtight bearing, be provided with magnetic shield on the outer wall of the brake chamber
Layer.
Further, the brake gear includes that the multiple braking vanes to brake on indoor main shaft, the brake is arranged in
Plate is provided with electromagnetism mounting plate, the number of the electromagnetism mounting plate on the inner wall of the brake chamber along the radially uniform setting of main shaft
Amount is identical as the quantity of braking vane, and the forward direction of braking vane, and the electromagnetism mounting plate and brake is arranged in the electromagnetism mounting plate
The rotary motion trace of plate is contactless, and the front setting of the braking vane is magnetic brake block, be provided on the electromagnetism mounting plate with
The magnetic identical electromagnetic plate of magnetic brake block.
Further, the speed detector includes test disks and laser, and the test disks are set in main shaft
On, it is provided with multiple detection slots on the test disks surface, radially uniform along test disks of multiple detection slots
Every being provided with testing stand in setting, the installation frame, the laser is fixed on testing stand, the output end of the laser
Face test disks.
The present invention also provides a kind of control methods of shaft slow-roll stabilization servo motor, which is characterized in that including as follows
Step:
Step 100, starting motor, make the main axis of motor；
Step 200, the velocity of rotation for detecting electric machine main shaft；
Step 300, starting stabilising arrangement, and according to the working strength of the velocity of rotation of main shaft adjusting stabilising arrangement, make to lead
Axis slow-roll stabilization.
Further, the detailed process of step 300 are as follows:
Step 301, starting stabilising arrangement, the magnetism of two electromagnetism rings is identical, to generate repulsion, fixed ring position is solid
It is fixed, so that main shaft is stablized in fixed ring；
Step 402, the revolving speed of main shaft are faster, and the amplitude that main shaft moves radially is bigger, and required its keeps stable repulsion
It is bigger, according to the revolving speed of main shaft, the intensity of stabilising arrangement is controlled, the power Xiang Shi for moving radially repulsion with driving spindle always
Match, so that main shaft be made to keep stablizing.
Compared with prior art, the beneficial effects of the present invention are:
(1) present invention is by setting stabilising arrangement, and there are two electromagnetism ring, an electromagnetism ring is fixed on the interior setting of stabilising arrangement
On main shaft, another is mounted in fixed ring, and the magnetic identical one side of two electromagnetism rings is opposite, so producing between two electromagnetism rings
Raw repulsion, since main shaft is threaded through in fixed ring, when using above-mentioned setting, main shaft is fixed in fixed ring, to make to lead
The slow-roll stabilization of axis；
(2) in stabilising arrangement of the invention, due to, without directly contacting, will not influence main shaft between main shaft and fixed ring
Rotation avoids abrasion caused by contacting meeting main shaft with main shaft, friction temperature is also avoided to increase the influence to main shaft service performance,
Simultaneously by way of contactless stable main shaft, avoids impacting the rotation of main shaft, ensure that servo motor usability
Energy.Also, by the opposite mirror settings pair stabilising arrangement in stabilising arrangement, the two collective effect reinforces the stabilization to main shaft
Ability；
(3) for the present invention by setting speed detector, speed detector is able to detect the revolving speed of main shaft, and stablizes dress
Two electromagnetism rings are electromagnet in setting, and the size by changing its electrical current can control device magnetism size, and then control steady
Determine the size for the power that device constrains main shaft.The revolving speed of main shaft is faster simultaneously, and the amplitude that main shaft moves radially is bigger, that is to say
The power that driving spindle moves radially is bigger, and the repulsion that required main shaft keeps stable is bigger, by speed detector and stabilization
Device is combined together, and according to the revolving speed of main shaft, adjusts the magnetism of control electromagnetism ring, make stabilising arrangement to the restraining force of main shaft with
The power that driving spindle moves radially is adapted or the restraining force of main shaft is greater than the power that driving spindle moves radially, so that main shaft be made to begin
Stablize eventually.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the structural schematic diagram of radiator of the present invention；
Fig. 3 is the structural schematic diagram of self-regulation device of the present invention；
Fig. 4 is the side structure schematic view of self-regulation device of the present invention；
Fig. 5 is the structural schematic diagram of brake gear of the present invention；
Fig. 6 is the structural schematic diagram of auxiliary brake component of the present invention；
Fig. 7 is inside the heat sink separation structure schematic diagram of the present invention；
Fig. 8 is the structural schematic diagram of stabilising arrangement of the present invention；
Fig. 9 is the structural schematic diagram of speed detector of the present invention；
Figure 10 is the side structure schematic view of test disks of the present invention.
Figure label:
1- radiator；2- brake gear；3- stabilising arrangement；4- speed detector；5- self-regulation device；6- auxiliary is stopped
Vehicle component；7- pair stabilising arrangement；8- motor body；9- main shaft；10- installation frame；11- heat dissipating housing；12- brake chamber；13- stablizes
Mounting shell；
The thermally conductive circle of 101-；102- cooling pipe；103- radiating vane；104- high speed air inlet pipe；
201- braking vane；202- electromagnetism mounting plate；203- magnetism brake block；204- electromagnetic plate；
301- electromagnetism ring；302- fixed ring；303- electromagnetism mounting groove；
401- test disks；402- laser；403- detection slot；404- testing stand；
501- self-regulation bracket；502- clamping plate；503- sliding groove；504- sliding seat；505- anticreep card slot；506- Anti-release clamp
Plate；507- self-regulation lead screw；508- nut seat；509- self-powered moving gear；510- mainshaft gear；
601- brake frame；602- brake pipe；603- triple valve.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figures 1 to 10, the present invention provides a kind of servo motor, including motor body 8 and main shaft 9, main shafts 9
By extending in motor body 8, installation frame 10 is provided with outside motor body 8, be provided on installation frame 10 heat dissipating housing 11,
Brake chamber 12 stablizes mounting shell 13 and speed detector 4, and radiator 1, setting in brake chamber 12 are provided in heat dissipating housing 11
Have a brake gear 2, stablize and be provided with stabilising arrangement 3 in mounting shell 13, radiator 1, brake gear 2 and stabilising arrangement 3 with
Speed detector 4 is connected.
As shown in Figure 1, Figure 2, shown in Fig. 6 and Fig. 7, in the present invention, the cylindrical structure of heat dissipating housing 11, the outside of heat dissipating housing 11
It is fixedly connected with installation frame 10, the both ends of heat dissipating housing 11 are provided with the axis hole passed through for wearing main shaft 9, main shaft 9 and heat dissipation
It is contactless between cover 11, so the setting of heat dissipating housing 11 does not interfere with the rotation of main shaft 9, while main shaft 9 will not be made due to rubbing
Wipe fever.Radiator 1 includes thermally conductive circle 101, and thermally conductive circle 101 is socketed on main shaft 9, thermally conductive circle 101 and 9 one of main shaft at
Type, therebetween there is no relative movement, thermally conductive circle 101 outwardly extends multiple radiating vanes 103, and multiple dissipates
Hot flabellum 103 is along the radially uniform setting of main shaft 9, and radiating vane 103 is made of the preferable material of heating conduction, on main shaft 101
Heat go out to be transferred to thermally conductive circle 101, then 101 be transferred on radiating vane 103 by thermally conductive circle, pass through above-mentioned setting, heat emission fan
The many bigger than the surface area of main shaft 9 of leaf 103, it is possible to reinforce the heat-sinking capability of main shaft 9.
It is worth noting that radiator 1 further includes cooling pipe 102, cooling pipe 102 has multiple and quantity and radiating vane
103 quantity is identical, and the outlet end of cooling pipe 102 faces radiating vane 103, at the same cooling pipe 102 not with radiating vane 103
Contact, on the one hand avoid main shaft 9 and the rotation of radiating vane 103 from being interfered, on the other hand prevent 1 structure of radiator by
It destroys.Cooling pipe 102 extends heat dissipating housing 11 and is connected with high speed air inlet pipe 104, and the outlet end of cooling pipe 102 faces heat dissipation
Flabellum 103, and the air-out direction of cooling pipe 102 is consistent with the rotation direction of radiating vane 103.
When radiator 1 works, the gas of high-speed mobile is injected into high speed air inlet pipe 104, the gas is along high speed
Air inlet pipe 104 is moved in cooling pipe 102, then is sprayed by the outlet end of cooling pipe 102, and gas can be towards heat emission fan after ejection
Leaf 103 is mobile, and when gas and radiating vane 103 contact, heat is transferred in gas by radiating vane 103, arbitrarily with heat dissipation
The operation of device 1, the temperature on radiating vane 103 constantly decline, and according to the second law of thermodynamics, heat is always spontaneously from temperature
High object transfer is spent to colder object, and in above process, operative temperature of the radiating vane 103 due to radiator 1
It is lower, so the heat on main shaft 9 can be transferred to radiating vane 103, then is distributed by radiating vane 103 into the air-flow of process,
If you need to the temperature for constantly reducing main shaft 9.
It should be pointed out that it can also be further strengthened on the basis of not changing 1 structure of radiator to main shaft 9
Cooling effect: by injecting cryogenic gas into high speed air inlet pipe 104, accelerate heat from radiating vane 103 and be transferred to air-flow
Efficiency, to reinforce the lowering ability of radiator 1.Simultaneously because the outside of radiator 1 is provided with heat dissipating housing 11, can make
It in cold air rests on, makes full use of cold air moral greatly, avoids wasting, since provided with axis hole, cold air can be on heat dissipating housing 11
It goes out from axis hole, also solves the problems, such as the discharge of cold air.
It should also be noted that, main shaft 9 will drive the rotation of radiating vane 103 in radiator 1 of the invention when rotating,
Since there are air in 103 transport zones of radiating vane, so the rotation of radiating vane 103 will receive the obstruction of air, institute
To receive the situation relative to not set radiating vane 103, the main shaft 9 in the present invention will receive certain resistance in rotation,
And then it will affect the output performance of motor.In order to avoid the generation of above situation, as shown in Figure 1, cooling pipe 102 in the present invention
Air-out direction is consistent with the rotation direction of radiating vane 103, and the wind velocity out of cooling pipe 102 and 103 tail portion of radiating vane
Linear velocity is fast, and the air-flow that cooling pipe 102 is blown out can provide certain motive force to the rotation of radiating vane 103, eliminates air resistance
Influence of the power to motor performance.
As shown in Figure 2, Figure 3 and Figure 4, in the present invention, the mobile self-regulated of driving cooling pipe 102 is provided in heat dissipating housing 11
Regulating device 5, self-regulation device 5 include the self-regulation bracket 501 that 11 inside both ends of heat dissipating housing are arranged in, the self-regulation bracket at both ends
Setting is sliding groove 503 between two clamping plates 502, can move in sliding groove 503 there are two parallel clamping plate 502 between 501
Dynamic to be provided with sliding seat 504, cooling pipe 102 is fixed by the bracket on sliding seat 504, and the inside of clamping plate 502 is provided with anticreep
Card slot 505, the two sides of sliding seat 503 are provided with anticreep snap-gauge 506 corresponding with anticreep card slot 505, by the way that Anti-release clamp is arranged
Plate 506 and anticreep card slot 505, do not influence sliding seat 503 it is mobile in sliding groove 503 in the case where, avoid sliding seat 503 from
It falls off in sliding groove 502, ensure that the integrality of self-regulation device 5.
In the radiator 1 of invention, the air outlet of cooling pipe 102 is against radiating vane 103, air-flow and radiating vane
The temperature of 103 contact point necessarily reduces faster, so that the cooling effect of entire radiating vane 103 is uneven, affects whole
The cooling effect of a main shaft 9, in order to improve above situation, the present invention is provided with self-regulation device 5 in heat dissipating housing 11.In self-regulated
In regulating device 5, sliding seat 503 can slide in sliding groove 503, and the adjacent cooling pipe 102 passes through 511 phase of circular arc bracket
Connect, and the circular arc bracket 511 is fixed on sliding seat 504, when sliding seat 503 can move in sliding groove 503, cooling
Pipe 102 also just moves, while the also just constantly variation of the position of the contact point of air-flow and radiating vane 103, passes through this change
Change can be such that the cooling effect of radiating vane 103 becomes uniformly, to enhance the heat-sinking capability of radiator 1.
As shown in figure 4, in the present invention, self-regulation device 5 further include rotatably be threaded through two self-regulation brackets 501 it
Between self-regulation lead screw 507, self-regulation lead screw 507 be reciprocal lead screw, be self-regulated lead screw 507 on be provided with nut seat 508, nut
Seat 508 is connected with the bottom of sliding seat 504, and self-regulation bracket 501 is extended in one end of self-regulation lead screw 507, and is arranged thereon
There is self-powered moving gear 509, the mainshaft gear 510 engaged with self-powered moving gear 509 is provided on main shaft 9.
In above-mentioned self-regulation device 5, self-powered moving gear 509 is engaged with mainshaft gear 510, so when main shaft 9 rotates
When can brandish the rotation of self-powered moving gear 509, the lead screw 507 that makes to be self-regulated rotates, and then keeps nut seat 508 mobile.It is filled in self-regulation
It sets in 5, self-regulation lead screw 507 is parallel with sliding groove 502, and the lead screw 507 that is self-regulated is located at the underface of sliding groove 502, nut
Seat 508 also is located at immediately below sliding seat 504, when nut seat 508 is mobile, it is mobile to will drive sliding seat 504, and then make cooling pipe
102 is mobile.
It is worth noting that on the one hand the power that self-regulation device 5 is run passes through this kind of list from the rotation of main shaft 9
The design of a variety of device runnings of one power source drive, can achieve and simplify servo motor structure, reduce entire servo motor space
On the other hand the purpose of occupancy can be such that the running of self-regulation device 5 and the rotation of main shaft 9 carries out simultaneously by this kind setting,
Just cool down to main shaft 9 when heat just generates on main shaft 9, effective protection servo motor.On the other hand, it is self-regulated
The power of device 9 from main shaft 9 rotation, then also meaning that the presence of self-regulation device 5 can make the rotation hand of main shaft 9
It is obstructed, that is to say that self-regulation device 5 can apply resistance to main shaft 9.
By above description it is found that when the main shaft 9 in the present invention rotates, will receive three kinds of external force influences, these three external force
The resistance and radiator 1 that resistance, the self-regulation device 5 that respectively air applies radiating vane 103 apply main shaft 9 are blown
The motive force that air-flow out applies radiating vane 103, the resistance and self-regulation device that wherein air applies radiating vane 103
The resistance that 5 pairs of main shafts 9 apply is related with the velocity of rotation of main shaft 9, and the more fast then resistance of speed is bigger, but the variation of this resistance
It is the regular (changing rule that such as air drag is complied with convention are as follows: be F=1/2 (ρ v2KA), wherein F is resistance, and ρ is air of tool
Density, normal dry air can use 1.293g/l, can monitor on the spot under specific condition, and v is object to the relatively fast of fluid
Degree, K is coefficient of air resistance, which is usually the feature area of experiment value and object, and object smooth degree and global shape have
It closes, A is area, it can be seen that, speed directly affects resistance).
Two kinds of resistances are related with the revolving speed of main shaft 9 in above-mentioned three kinds of external force as a result, can extrapolate above-mentioned two according to speed
The size of kind resistance, while both resistances will not change when 9 revolving speed of main shaft is constant, and motive force therein is then filled with heat dissipation
The speed for setting 1 outlet air is related, by injecting the i.e. controllable motive force of air-flow different in flow rate into radiator 1, and then controls
Motive force is offseted with two kinds of resistances, so that the rotation of main shaft 9 is not influenced by external force.
Radiator 1 is connected with speed detector 4 in the present invention, and speed detector 4 can detect turning for shaft 9 moment
Speed can extrapolate the resistance that main shaft 9 is subject to according to the revolving speed of main shaft 9, push away in instead being released according to resistance and needed for resistance
The size of power, then radiator 1 blow out the air-flow of certain wind speed, influence the rotation of main shaft 9 by external force.
It is emphasized that without directly contacting between radiator 1 and main shaft 9 in the present invention, avoid common straight
It connects contact cooling device to impact the rotation of main shaft 9, while main shaft 9 will not be made to wear.In addition in air cooling equipment, gas
The speed that stream flows through body surface is faster, then the cooling rate of object is also faster, thus to the radiator 1 in the present invention into
When row design, common methods are will cool down air-flow and 103 convection current of radiating vane, that is to say flow direction and the radiating vane of air-flow
The linear velocity of 103 ends is contrary, so that the opposite speed of moving of the two be made to reach in the case where not changing air flow rate
Maximum value enhances the heat-sinking capability of radiator 1.But this kind setting can make the rotation of radiating vane 103 by biggish obstruction,
The rotation of main shaft 9 can be made further to be obstructed in conjunction with mentioned-above two kinds of resistances, influence the service performance of servo motor.
In order to avoid above situation, and for by the present invention radiator 1, self-regulation device 5 and turn
Speed detector 4 organically combines, 103 end of flow direction and radiating vane for the air-flow that cools down in radiator 1 of the present invention
The linear velocity direction at end is consistent, and the flowing velocity for the air-flow that cools down is greater than the linear velocity of 103 end of radiating vane, makes radiating vane
103 motive forces big by air-flow, are balanced various resistances in the case where not influencing 1 temperature reduction performance of radiator, increase
The reliability of strong servo motor.
As shown in figure 5, in the present invention, brake gear 2 includes multiple brakes on the main shaft 9 being arranged in brake chamber 12
Plate 201, braking vane 201 are provided with electromagnetism mounting plate 202, electromagnetism on the inner wall of brake chamber 12 along the radially uniform setting of main shaft 9
The quantity of mounting plate 202 is identical as the quantity of braking vane 201, and the forward direction of braking vane 201, and electricity is arranged in electromagnetism mounting plate 202
Abampere loading board 202 and the rotary motion trace of braking vane 201 are contactless, and the brake block 203 that is magnetic, electricity is arranged in the front of braking vane 201
It is provided in abampere loading board 202 and the magnetic identical electromagnetic plate 204 of magnetic brake block 201.
In the prior art, it is usually carried out using the means of physical contact using the frictional force generated when generating and contacting
Slow down.When using above-mentioned means to brake to shaft, shaft can be made by biggish damage, the source of damage has two
Kind, one is direct contacts to damage caused by shaft, and second is the heat frictionally generated, and shaft temperature is increased,
Change or destroy the performance of shaft.In order to mitigate damage, people are usually arranged wear-resisting backing plate on the surface of shaft, avoid object
It is directly contacted with shaft, but the temperature of shaft increases when this mode is not avoided that friction.
In order to solve to avoid above-mentioned drawback, each component in brake gear 2 in the present invention does not connect with main shaft 9
Touching.Simultaneously in this brake gear 2, there is magnetic identical electromagnetic plate 204 in brake gear 2 and magnetic brake block 203, magnetism are stopped
The position of vehicle piece 203 is fixed, and electromagnetic plate 204 is mounted on braking vane 201, drives braking vane 201 to rotate when main shaft 9 rotates, and
When braking vane 201 turns to face electromagnetism mounting plate 202, electromagnetic plate 204 and magnetic brake block 203 are opposite, identical using the two
The mutually exclusive principle of magnetic pole reduces by 9 revolving speed of main shaft to reach, to make the purpose of 9 Quick brake of main shaft, due to brake gear 2
In be provided with multiple electromagnetic plates 204, while being also provided with multiple magnetic brake blocks 203, reinforce above-mentioned repulsion, to enhance brake
The braking effect of vehicle device 2.
As shown in figure 5, being vacuum environment inside brake chamber 12 in the present invention.Due to edge in brake gear 2 of the invention
Main shaft 9 has been arranged radially multiple braking vanes 201, normal item extremely under, the presence of braking vane 201 can make the active of main shaft 9 by
To the obstruction of air, the occurrence of in order to avoid this kind, brake chamber 12 of the invention is designed as vacuum environment, vacuum environment
Both ends are provided with the axis hole passed through for main shaft 9, are connected between main shaft 9 and brake chamber 12 by airtight bearing, due to airtight axis
It holds and has very strong air-tightness, it is ensured that brake chamber 12 is in vacuum environment, while being provided with magnetic on the outer wall of brake chamber 12
Property shielded layer, can influence to avoid internal magnetic field to servo motor.
It is worth noting that brake chamber 12 can also be not necessarily vacuum environment in the present invention, stopped due to magnetic in brake gear 2
Vehicle piece 203 is electromagnet, the direction-agile of magnetic size and magnetic pole, when 12 non-vacuum environments of brake chamber, braking vane 201
Rotation hindered by air, change the magnetism of magnetic brake block 203 at this time, so that the magnetism and electromagnetism of magnetic brake block 203
The magnetism of piece 204 is on the contrary, the two will attract each other, so that motive force is provided for braking vane 201, and due to magnetic brake block
203 magnetic size also can control, so motive force and air drag can be made to offset by adjusting its magnetic size, and then keep away
The rotation for exempting from main shaft 9 is affected.
It should be further noted that the magnetism due to magnetic brake block 203 is controllable, in conjunction with 4 couples of masters of Rotating speed measring shaft
The detection of 9 revolving speed of axis, when main shaft 9 stops operating, brake gear 2 can also be operated, and prevent repulsion continuous action from keeping main shaft 9 reversed
Rotation.While the magnetism based on magnetic brake block 203 is controllable, so brake gear 2 makes main shaft 9 stop the required time completely
It is just controllable, braking time can be made to shorten by enhancing the magnetism of magnetic brake block 203, reach and reinforce 2 performance of brake gear
Purpose.
As shown in Figure 6 and Figure 7, in the present invention, brake gear 2 further includes the auxiliary brake group being arranged in heat dissipating housing 11
Part 6, auxiliary brake component 6 include the brake frame 601 being fixed in heat dissipating housing 11, are provided with brake pipe 602 on brake frame 601,
The outlet end of brake pipe 602 faces radiating vane 103, and the rotation side of the air-out direction of brake pipe 602 and radiating vane 103
To on the contrary, brake pipe 602 is connected with high speed air inlet pipe 104, triple valve 603, brake pipe 602 are provided in high speed air inlet pipe 104
It is connected by triple valve 603 with high speed air inlet pipe 104 with cooling pipe 102.
In the present invention, auxiliary brake component 6 is combined together with radiator 1, will flow to the gas of cooling pipe 102 originally
Stream is allowed to flow to brake pipe 602 by triple valve, 103 end of its moving direction and radiating vane when air-flow is sprayed from brake pipe 602
The linear velocity direction at end is opposite, so air-flow can hinder the rotation of radiating vane 103, and then the rotation of main shaft 9 is hindered, to reach
To the purpose braked to main shaft 9.
It in the above description, can be the flow direction change of cooling air-flow when auxiliary brake component 6 operates, air-flow is to main shaft
9 motive force becomes resistance, but relative velocity is still had between air-flow and radiating vane 103, so still having cooling effect
Fruit, simultaneously because the relative velocity of the two becomes the sum of speed from the difference of original speed, relative velocity becomes larger, and enhances heat dissipation
The cooling effect of device 1.The promotion of above-mentioned cooling effect is realized under the premise of increasing 9 rotary resistance, although in servo
Motor cannot use (performance that will affect motor) under the premise of working normally, but can make when electric machine main shaft 9 stops operating
With.
It should be noted that above-mentioned auxiliary brake component 6 was reversely blown using air-flow, air drag is formed, main shaft 9 is made
Revolving speed it is slack-off, achieve the purpose that brake, also kept away and directly contacted with main shaft 9, avoid main shaft 9 impaired.But auxiliary brake group
It is under the premise of being vacuum environment based on brake chamber 12, because injecting gas into brake chamber 12 that part 6, which is arranged in heat dissipating housing 11,
Stream will destroy the vacuum environment inside brake chamber 12.
And when brake chamber 12 is non-vacuum environment, auxiliary brake component 6 can be set up directly in brake chamber 12.?
Under this condition, 6 include the brake frame 601 being fixed on inside brake chamber 12, is provided with brake pipe 602, brake pipe on brake frame 601
602 outlet end faces braking vane 2, and the air-out direction of brake pipe 602 is opposite with the rotation direction of braking vane 2.At this point, stopping
2 auxiliary brake component 6 of sweep is independent of each other with radiator 1, the air-flow when auxiliary brake component 6 operates, in radiator 1
Proper flow.Meanwhile being directly connected by pipeline with brake pipe 602, air-flow is injected into pipeline, air-flow enters brake pipe 602,
Braking vane 2 is sprayed to again, is hindered the rotation of main shaft 9 by hindering the rotation of braking vane 2, is achieved the purpose that brake.
As shown in figure 8, in the present invention, stabilising arrangement 3 includes electromagnetism ring 301 and fixed ring 302, positioned at stablizing mounting shell
Annular is provided with electromagnetism mounting groove 303 on 13 main shaft 9, and electromagnetism ring 301 is fixed in electromagnetism mounting groove 303, and 302 sets of fixed ring
Be located at the outside of main shaft 9 and electromagnetism ring 301, fixed ring 302 is all without contact with electromagnetism ring 301 and main shaft 9, fixed ring 302 it is interior
Electromagnetism ring 301 is provided on wall, the magnetism of two electromagnetism rings 301 is identical.
In the prior art, it in order to solve the problems, such as machine shaft circular runout, is directly contacted by setting with shaft
Locating part, to prevent shaft mobile, since under this kind setting, the rotation of shaft is hindered, and influences servo motor performance, together
When shaft can rub when being contacted with locating part impaired, be destroyed machine shaft, reduce the service life of servo motor, simultaneously
Machine shaft influences its service performance since continuous frictional, temperature can constantly rise.
In order to avoid above-mentioned problem under the premise of 9 stability of main shaft, the stabilising arrangement 3 in the present invention passes through non-contact
The method of formula stablizes main shaft 9.In stabilising arrangement 3, two electromagnetism rings 301 are the main components for realizing that main shaft 9 is stable, wherein
One electromagnetism ring 301 is arranged on main shaft 9, another is then arranged on the inner wall of fixed ring 302, and fixed ring 302 is set in
Main shaft 9, and its position is overlapped with the position of electromagnetism mounting groove 303, so the position of two electromagnetism rings 301 is opposite.Two electromagnetism
The diameter of ring 301 is different and magnetic identical, so the two is mutually exclusive and contactless, since two electromagnetism rings 301 are annular shape
Structure, so the surrounding of main shaft 9 repels it, and then makes main shaft 9 in the center point of fixed ring 302, since fixed ring 302 is logical
It crosses bracket to be fixed in stable mounting shell 13, position remains unchanged, so the position of shaft 9 is also maintained for constant, and then makes
Main shaft 9 keeps stablizing.
It is worth noting that two electromagnetism rings, 301 electromagnet in stabilising arrangement 3 of the present invention, magnetic size can be with
Adjust control.And the speed that main shaft 9 rotates is faster, the amplitude that main shaft 9 moves radially is bigger, and required its keeps stable reprimand
Power is bigger.So stabilising arrangement 3 is combined with speed detector 4, according to the revolving speed of main shaft 9, control electromagnetism ring is adjusted
301 magnetism, the power for moving radially repulsion with driving spindle 9 always are adapted, so that main shaft be made to keep stablizing
As shown in Figure 1, in the present invention, main shaft 9 is extended by the other end of motor body 8, at the same motor body 8 should
End is provided with secondary stable shell 16, and pair, which is stablized in shell 16, is provided with secondary stabilising arrangement 7, the structure and stabilization of secondary stabilising arrangement 7
Device 3 is identical, the two mirror settings.It is arranged by this kind, stabilising arrangement 3 and secondary stabilising arrangement 7 pile setting motor body 2
Both ends, and main shaft 9 is stablized at both ends, reinforce the stabilizing power to main shaft 9.Stablize mounting shell 13 in the present invention simultaneously
Both ends are provided with the axis hole passed through for main shaft 9, stablize and are provided with magnetic shield on the outer wall of mounting shell 13, can be to avoid interior
Influence of the portion magnetic field to servo motor.
As shown in Fig. 1, Fig. 9 and Figure 10, in the present invention, speed detector 4 includes test disks 401 and laser
402, test disks 401 are set on main shaft 9, and multiple detection slots 403, multiple detections are provided on 401 surface of test disks
Slot 403 is provided with testing stand 404 on installation frame 10 along the evenly spaced radial setting of test disks 401, and laser 402 is solid
It is scheduled on testing stand 404, the output end of laser 402 faces test disks 401.
In speed detector 4, laser 402 can emit and receive laser, using emit and receive laser when
Between difference calculate the distance between laser 402 and disk 401.Due to being arranged at intervals with detection slot 403 on detection circle 401,
When laser injects detection slot 403, the route of laser is elongated, causes the time for emitting and receiving laser elongated, works as laser irradiation
When to region between two detection slots 403, the route of laser becomes section, and the time for emitting and receiving laser is caused to become section, so
By observation transmitting and receive laser time have it is unchanged you can get it whether test disks 401 (that is to say main shaft 9) rotate,
Time change interval outstanding person by emitting and receiving laser can extrapolate the rotation speed of test disks 401 (that is to say main shaft 9)
Degree.
It is worth noting that radiator, brake gear 2 and stabilising arrangement 3 are and speed detector in the present invention
4 are connected, and speed detector 4 is the important component that above-mentioned three kinds of devices are realized.
The present invention also provides a kind of control methods of servo motor, include the following steps:
Step 100, starting motor, rotate the main shaft 9 of motor；
Step 200, the velocity of rotation for detecting main shaft 9；
Step 300, starting radiator 1, cool down 9 temperature of main shaft；
Step 400 adjusts out wind velocity according to 9 velocity of rotation of main shaft, so that motive force and resistance are offset, guarantees main shaft 9
Normal rotation；
In this step, the rotation of main shaft 9 can be such that radiating vane 103 rotates, and air can hinder the rotation of radiating vane 103,
Generate the first resistance；The rotation of main shaft 9 will drive the running of self-regulation device 5, i.e., self-regulation device 5 forms the rotation of main shaft 9
Second of resistance；Radiator 1 is dried to radiating vane 103, and wind velocity is greater than the movement speed of radiating vane 103 out, thus
Motive force is provided to the rotation of main shaft 9；Wind velocity is adjusted out according to 9 velocity of rotation of main shaft, so that motive force is supported with two kinds of resistances
Disappear, guarantees the normal rotation of main shaft 9；
Step 500, starting stabilising arrangement 3 control the working strength of stabilising arrangement 3, make repulsion according to the revolving speed of main shaft 9
Always the power moved radially with driving spindle 9 is adapted, so that main shaft 9 be made to keep stablizing；
In this step, the magnetism of two electromagnetism rings 301 is identical to generate repulsion, and 302 position of fixed ring is fixed, makes to lead
Axis 9 is stablized in fixed ring；The revolving speed of main shaft 9 is faster, and the amplitude that main shaft 9 moves radially is bigger, and required its keeps stable
Repulsion is bigger, according to the revolving speed of main shaft 9, controls the intensity of stabilising arrangement 3, moves radially repulsion with driving spindle 9 always
Power be adapted, thus make main shaft 9 keep stablize
Step 600 closes motor, and the main shaft 9 of motor is made to stop operating；
Step 700, starting brake gear 2, electromagnetic plate 204 and electromagnetic brake plate 203 are oppositely arranged, and the two magnetism is identical,
To generate repulsion, makes the reduction of 9 revolving speed of main shaft, restart auxiliary brake component 6, dry to radiating vane 103, and blowing direction
With 103 moving direction of radiating vane on the contrary, making the reduction of 9 revolving speed of main shaft；
Step 800, the working strength that brake gear 2 is adjusted according to the velocity of rotation of main shaft 9, are zero in 9 revolving speed of main shaft,
It is that the rear brake device 2 that stops operating of electric machine main shaft 9 stops operating, prevents main shaft 9 from inverting.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (9)
1. a kind of servo motor of shaft slow-roll stabilization, it is characterised in that: including motor body (8) and main shaft (9), the master
Axis (9) is provided with installation frame (10), the installation frame outside the motor body (8) by extending in motor body (8)
(10) it is provided with heat dissipating housing (11) on, brake chamber (12), stablizes mounting shell (13) and speed detector (4), the heat dissipating housing
(11) it is provided with radiator (1), is provided with brake gear (2) in the brake chamber (12), the stable mounting shell (13) in
It is inside provided with stabilising arrangement (3), the radiator (1), brake gear (2) and stabilising arrangement (3) are and speed detector
(4) it is connected；
The both ends of the stable mounting shell (13) are provided with the axis hole passed through for main shaft (9), the stable mounting shell (13)
Magnetic shield is provided on outer wall, the stabilising arrangement (3) includes electromagnetism ring (301) and fixed ring (302), is located at and stablizes peace
It fills annular on the main shaft (9) of shell (13) to be provided with electromagnetism mounting groove (303), the electromagnetism ring (301) is fixed on electromagnetism mounting groove
(303) in, the fixed ring (302) is set in the outside of main shaft (9) and electromagnetism ring (301), the fixed ring (302) and electromagnetism
Ring (301) and main shaft (9) are all without contact, and are provided with electromagnetism ring (301) on the inner wall of the fixed ring (302), two electricity
The magnetism of magnet ring (301) is identical.
2. a kind of servo motor of shaft slow-roll stabilization according to claim 1, it is characterised in that: the main shaft (9) by
The other end of motor body (8) extends, while the end of motor body (8) is provided with secondary stable shell (16), described secondary steady
It is provided with secondary stabilising arrangement (7) in fixed shell (16), the structure of the pair stabilising arrangement (7) is identical as stabilising arrangement (3), the two
Mirror settings.
3. a kind of servo motor of shaft slow-roll stabilization according to claim 1, it is characterised in that: the radiator
It (1) include thermally conductive circle (101) and cooling pipe (102), the thermally conductive circle (101) is socketed on main shaft (9), the thermally conductive circle
(101) outwardly extend multiple radiating vanes (103), radial direction of multiple radiating vanes (103) along main shaft (9)
It is uniformly arranged, the cooling pipe (102) has that multiple and quantity is identical as the quantity of radiating vane (103), the cooling pipe (102)
Extend heat dissipating housing (11) and be connected with high speed air inlet pipe (104), the outlet end of the cooling pipe (102) faces radiating vane
(103), and the air-out direction of the cooling pipe (102) is consistent with the rotation direction of radiating vane (103).
4. a kind of servo motor of shaft slow-roll stabilization according to claim 1, it is characterised in that: the heat dissipating housing (11)
The outside of cylindrical structure, the heat dissipating housing (11) is fixedly connected with installation frame (10), the both ends of the heat dissipating housing (11)
It is provided with the axis hole passed through for wearing main shaft (9), it is contactless between the main shaft (9) and heat dissipating housing (11).
5. a kind of servo motor of shaft slow-roll stabilization according to claim 1 and, it is characterised in that: the brake chamber
(12) internal is vacuum environment, and the both ends of the brake chamber (12) are provided with the axis hole passed through for main shaft (9), the main shaft
(9) it is connected between brake chamber (12) by airtight bearing, is provided with magnetic shield on the outer wall of the brake chamber (12).
6. a kind of servo motor of shaft slow-roll stabilization according to claim 1, it is characterised in that: the brake gear
It (2) include the multiple braking vanes (201) being arranged on the main shaft (9) in brake chamber (12), the braking vane (201) is along main shaft
(9) radially uniform setting is provided with electromagnetism mounting plate (202) on the inner wall of the brake chamber (12), the electromagnetism mounting plate
(202) quantity is identical as the quantity of braking vane (201), the electromagnetism mounting plate (202) setting braking vane (201) just
To, and the electromagnetism mounting plate (202) and the rotary motion trace of braking vane (201) are contactless, the front of the braking vane (201) is set
It is equipped with magnetic brake block (203), is provided on the electromagnetism mounting plate (202) and the magnetic identical electricity of magnetic brake block (201)
Magnetic sheet (204).
7. a kind of servo motor of shaft slow-roll stabilization according to claim 1, it is characterised in that: the Rotating speed measring dress
Setting (4) includes test disks (401) and laser (402), and the test disks (401) are set on main shaft (9), the detection
It is provided with multiple detection slots (403) on disk (401) surface, diameter of multiple detection slots (403) along test disks (401)
It is arranged to uniform intervals, is provided with testing stand (404) on the installation frame (10), the laser (402) is fixed on detection
On frame (404), the output end of the laser (402) faces test disks (401).
8. a kind of control method of shaft slow-roll stabilization servo motor, which comprises the steps of:
Step 100, starting motor, rotate the main shaft (9) of motor；
Step 200, the velocity of rotation for detecting electric machine main shaft (9)；
Step 300 starts stabilising arrangement (3), and the working strength of stabilising arrangement (3) is adjusted according to the velocity of rotation of main shaft (9),
Make main shaft (3) slow-roll stabilization.
9. a kind of control method of shaft slow-roll stabilization servo motor according to claim 8, it is characterised in that: step
300 detailed process are as follows:
The magnetism of step 301, starting stabilising arrangement (3), two electromagnetism rings (301) is identical, so that repulsion is generated, fixed ring
(302) position is fixed, so that main shaft (9) is stablized in fixed ring；
Step 402, the revolving speed of main shaft (9) are faster, and the amplitude that main shaft (9) moves radially is bigger, and required its keeps stable reprimand
Power is bigger, according to the revolving speed of main shaft (9), controls the intensity of stabilising arrangement (3), keeps repulsion radial with driving spindle (9) always
Mobile power is adapted, so that main shaft (9) be made to keep stablizing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811477553.0A CN109494928B (en) | 2018-12-05 | 2018-12-05 | Servo motor with stable rotation of rotating shaft and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811477553.0A CN109494928B (en) | 2018-12-05 | 2018-12-05 | Servo motor with stable rotation of rotating shaft and control method thereof |
Publications (2)
| Publication Number | Publication Date |
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| CN109494928A true CN109494928A (en) | 2019-03-19 |
| CN109494928B CN109494928B (en) | 2020-06-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811477553.0A Expired - Fee Related CN109494928B (en) | 2018-12-05 | 2018-12-05 | Servo motor with stable rotation of rotating shaft and control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114572010A (en) * | 2022-05-05 | 2022-06-03 | 深圳弘富源科技有限公司 | Energy-saving buffer for new energy automobile |
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| CN206977243U (en) * | 2017-07-07 | 2018-02-06 | 安徽凌坤智能科技有限公司 | Servomotor brake gear |
| CN108087425A (en) * | 2018-01-20 | 2018-05-29 | 营口万意达智能装备科技有限公司 | A kind of servomotor magnetic thrust bearing |
| CN207782605U (en) * | 2018-01-20 | 2018-08-28 | 辽宁万意达智能装备科技有限公司 | A kind of servo motor |
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2018
- 2018-12-05 CN CN201811477553.0A patent/CN109494928B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204231114U (en) * | 2014-08-15 | 2015-03-25 | 浙江中科德润科技有限公司 | One-piece type servo drive system |
| CN204761236U (en) * | 2015-05-18 | 2015-11-11 | 东莞市均利自动化科技有限公司 | Anti -jamming servo motor |
| CN206977243U (en) * | 2017-07-07 | 2018-02-06 | 安徽凌坤智能科技有限公司 | Servomotor brake gear |
| CN108087425A (en) * | 2018-01-20 | 2018-05-29 | 营口万意达智能装备科技有限公司 | A kind of servomotor magnetic thrust bearing |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114572010A (en) * | 2022-05-05 | 2022-06-03 | 深圳弘富源科技有限公司 | Energy-saving buffer for new energy automobile |
| CN114572010B (en) * | 2022-05-05 | 2022-07-05 | 深圳弘富源科技有限公司 | Energy-saving buffer for new energy automobile |
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| CN109494928B (en) | 2020-06-02 |
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