CN110311523A - A kind of Robot Force torque motor with adjustment of field excitation formula rotor - Google Patents
A kind of Robot Force torque motor with adjustment of field excitation formula rotor Download PDFInfo
- Publication number
- CN110311523A CN110311523A CN201910565962.4A CN201910565962A CN110311523A CN 110311523 A CN110311523 A CN 110311523A CN 201910565962 A CN201910565962 A CN 201910565962A CN 110311523 A CN110311523 A CN 110311523A
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- Prior art keywords
- rotor
- iron core
- support
- core
- foundation system
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K15/00—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
- H02K15/02—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines of stator or rotor bodies
- H02K15/03—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines of stator or rotor bodies having permanent magnets
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
- H02K21/02—Details
- H02K21/04—Windings on magnets for additional excitation ; Windings and magnets for additional excitation
- H02K21/042—Windings on magnets for additional excitation ; Windings and magnets for additional excitation with permanent magnets and field winding both rotating
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Permanent Field Magnets Of Synchronous Machinery (AREA)
- Iron Core Of Rotating Electric Machines (AREA)
Abstract
The present invention provides a kind of Robot Force torque motor with adjustment of field excitation formula rotor, which includes rotor core, excitation regulation device, and insulation vibration-absorptive material.Leakage magnetic circuit design of the invention is more perfect, and magnetism isolating effect is more excellent, can completely eliminate leakage field substantially.The present invention can freely change the intensity in magnetic field using rotor windings, realize and increase magnetic, weak magnetic function, solve the problems, such as prior art in high speed, low speed operation.The elastic damping effect that the insulation damping rubber of perfusion has can also weaken the radial electromagnetic force and torque ripple that load is passed to by rotor core, improve noise result.Rotor windings and iron core are formed integrated design by encapsulating by the present invention, additionally it is possible to guarantee the overall structural strength of rotor.
Description
Technical field
The present invention relates to a kind of torque motors for anthropomorphic robot, especially with the machine of adjustment of field excitation formula rotor
Manpower torque motor.
Background technique
Anthropomorphic robot has not only occurred from the future technology on screen, pursues already by each scientific and technological power.With work
Industry robot is different, and anthropomorphic robot simulates mankind's activity, and movement operating condition is more complicated.High speed is run, bearing a heavy burden moves ahead, to machine
The requirement of people's driving motor is more harsh.
Permanent magnet synchronous motor uses permanent magnet excitation mode, and performance advantage is significant, is to meet anthropomorphic robot driving at present
Only selection.And the continuous promotion to high torque density electrical machine performance requirement, promote project planner to high-performance magnetic material
With the pursuit of technological change.By the use of neodymium iron boron magnetic materials, magneto can obtain very high air gap flux density, however neodymium
Iron boron material is rare, expensive, keeps the competitiveness of product limited, the magneto of embedded structure comes into being, and becomes mesh
Preceding solution performance best means contradictory with cost.
However, the permanent magnet synchronous motor of embedded structure in the prior art still has following problems.
On the one hand, there are leakage magnetic circuits for the rotor structure of IPM synchronous motor in the prior art itself, this can make
It is wasted at the part of magnetic property.
On the other hand, permanent magnet machine rotor side in the prior art is permanent magnet excitation, and magnetic flux can not be adjusted freely.According to
The output torque calculation formula of motor: T=CTΦIa, wherein CTIt is the torque constant of motor, Φ is the magnetic with stator winding linkage
It is logical, IaIt is winding current, in low-speed and large-torque operation, fully relies on the increase of stator side winding current to promote the band of motor
Loading capability causes stator side instantaneously to generate heat seriously.The magnetic flux that the high current of stator side generates simultaneously is distorted air-gap flux,
Motor generates noise.When electric current is more than the demagnetization current of motor, magnetic material causes motor there are also the risk that irreversible demagnetization occurs
Irreversible damage.In high speed light loading operation, the highest running speed of motor also will limit, complicated control algolithm is needed
Weak magnetic is just able to satisfy.
Summary of the invention
It is somebody's turn to do the purpose of the present invention is to provide a kind of for the adjustment of field excitation formula rotor-support-foundation system of Robot Force torque motor, manufacture
The method of rotor-support-foundation system, and the Robot Force torque motor with adjustment of field excitation formula rotor.
Technical scheme is as follows.
First aspect present invention provides a kind of rotor-support-foundation system of magneto, including rotor core, excitation regulation device,
And insulation vibration-absorptive material；
The rotor core includes substantially cylindrical interior iron core, and substantially cylindrical outer iron core；In described
Iron core and outer iron core coaxial arrangement, have magnet isolation tank and multiple connecting bridges between the two；
The excitation regulation device is mounted in the magnet isolation tank, for the magnetic flux to the rotor-support-foundation system carry out increase magnetic or
Weak magnetic.
Preferably, the outer iron core includes multiple basic in the cricoid outer main part of fan, and is located at two neighboring outer master
The outer magnetic bridge portion of partition between body portion.
Preferably, the excitation regulation device includes rotor windings, and the outer circumference direction along the interior iron core exists
It is tortuous between the connecting bridge to extend.
Preferably, the rotor windings are the solid copper bar being mounted in magnet isolation tank.
Preferably, the rotor core and the excitation regulation device can be connected as one by the insulation vibration-absorptive material
Body.
Preferably, the insulation vibration-absorptive material includes insulation damping rubber.
Second aspect of the present invention provides a kind of method of rotor-support-foundation system for manufacturing magneto, includes the following steps:
Rotor iron core lamination is provided；
The rotor iron core lamination is laminated to form rotor core, the rotor core；
Dispersion winding is mounted in the magnet isolation tank of the rotor core；
The insulation damping rubber of thermal state fluid is poured into the gap between the rotor core and the dispersion winding, is made described
Disperse winding, rotor core and integral structure is formed by the insulation damping rubber；
By each dispersion winding welding, surface insulation processing is carried out；
It will pick out from beginning to end after dispersion winding connection, connect by collector ring with external circuit.
Preferably, the dispersion winding is solid copper bar；Described by the step of each dispersion winding welding is along described
The mode that the outer circumference direction complications of interior iron core extend is sequentially connected.
Preferably, described the step of providing rotor iron core lamination further includes forming the outer of partition in the rotor iron core lamination
Magnetic bridge portion.
Third aspect present invention provides a kind of magneto, including stator system, stator winding, and according to the above skill
Rotor-support-foundation system described in any one of art scheme.
Compared with prior art, joint of robot of the invention is had the following advantages with motor:
Leakage magnetic circuit design is more perfect, and magnetism isolating effect is more excellent, can completely eliminate leakage field substantially.
The intensity in magnetic field can freely be changed using rotor windings, realize and increase magnetic, weak magnetic function, solve prior art
The problem of in high speed, low speed operation.
The elastic damping effect that the insulation damping rubber of perfusion has, can also weaken the diameter that load is passed to by rotor core
To electromagnetic force and torque ripple, improve noise result.
Rotor windings and iron core are formed into integrated design by encapsulating, additionally it is possible to guarantee the overall structural strength of rotor.
Detailed description of the invention
Fig. 1 is the rotor iron core lamination of the prior art and its scheme schematic diagram for dropping leakage field.
Fig. 2 is rotor iron core lamination according to the present invention and its improvement schematic diagram for dropping leakage field.
Fig. 3 is rotor-support-foundation system three-dimensional figure according to the present invention.
Fig. 4 is rotor-support-foundation system longitudinal section view according to the present invention.
Fig. 5 is rotor windings connected mode schematic diagram according to the present invention.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
As long as in addition, the non-structure each other of technical characteristic involved in invention described below different embodiments
It can be combined with each other at conflict.
Shown in FIG. 1 is rotor iron core lamination schematic diagram in the prior art, is being dropped at two indicated in Fig. 1 for former scheme
Design improvement in terms of leakage field.Including the outer magnetic bridge at A on the outside of rotor iron core lamination, and it is located at close to rotor iron
Interior magnetic bridge at the B of in-core side.Technical solution in Fig. 1 reduces leakage magnetic circuit by outer magnetic bridge and interior magnetic bridge, increases leakage field
The magnetic resistance on road achievees the effect that reduce leakage field.
Embodiment 1
Present embodiments provide a kind of adjustment of field excitation formula rotor-support-foundation system for torque motor.
As in Figure 2-4, the present invention on the basis of rotor iron core lamination of the technical solution of Fig. 1 by carrying out leakage magnetic circuit
Curve guide impeller further decreases leakage field.In rotor core system according to the present invention shown in Fig. 2, outer magnetic bridge is separated, interior
Magnetic bridge is left the connecting bridge of more small size.Thereby it is ensured that the integraty of rotor iron core lamination, also high degree subtracts
Small leakage magnetic circuit.
In the design basis of rotor iron core lamination shown in Fig. 2, increase by one for adjusting in the connecting bridge in rotor core
Save the excitation regulation device of excitation.
As shown in Fig. 2, rotor-support-foundation system according to the present invention includes rotor core, excitation regulation device, and insulation damping
Material.
The rotor core includes substantially cylindrical interior iron core, and substantially cylindrical outer iron core；In described
Iron core and outer iron core coaxial arrangement, have magnet isolation tank and multiple connecting bridges between the two.
The excitation regulation device is mounted in the magnet isolation tank, for the magnetic flux to the rotor-support-foundation system carry out increase magnetic or
Weak magnetic.
In a preferred embodiment, the outer iron core includes multiple basic in the cricoid outer main part of fan, Yi Jiwei
The outer magnetic bridge portion of partition between two neighboring outer main part.
In a preferred embodiment, the excitation regulation device includes rotor windings, along the interior iron core
Outer circumference direction is tortuous between the connecting bridge to be extended.
In a preferred embodiment, the rotor windings are the solid copper bar being mounted in magnet isolation tank.
In a preferred embodiment, the insulation vibration-absorptive material can be by the rotor core and the adjustment of field excitation
Device is connected as one.
In a preferred embodiment, the insulation vibration-absorptive material includes insulation damping rubber.
Embodiment 2
A kind of method for present embodiments providing rotor-support-foundation system for manufacturing magneto, includes the following steps:
Rotor iron core lamination is provided；
The rotor iron core lamination is laminated to form rotor core, the rotor core；
Dispersion winding is mounted in the magnet isolation tank of the rotor core；
The insulation damping rubber of thermal state fluid is poured into the gap between the rotor core and the dispersion winding, is made described
Disperse winding, rotor core and integral structure is formed by the insulation damping rubber；
By each dispersion winding welding, surface insulation processing is carried out；
It will pick out from beginning to end after dispersion winding connection, connect by collector ring with external circuit.
In a preferred embodiment, the dispersion winding is solid copper bar；The step by each dispersion winding welding
It suddenly is sequentially connected in a manner of extending along the outer circumference direction complications of the interior iron core.
In a preferred embodiment, the step of offer rotor iron core lamination further includes rushing in the rotor core
Piece forms the outer magnetic bridge portion of partition.
Rotor windings manufacturing method according to the present embodiment is will to disperse winding, rotor core to limit with tooling, and by magnetic
Watt inject rotor core in, then using hot process for filling colloid connect.Wherein, the hot process for filling colloid of use is by thermal state fluid
Insulation damping rubber pours into iron core and disperses the gap of winding, so that dispersion winding, iron core is passed through the insulating cement poured into and forms integration
Structure ensure that the structural strength of rotor entirety.Pass through finite element simulation, it is known that intensity meet demand, and also actual sample passes through
High-speed test (HST) is crossed, has no malformation failure of removal.Meanwhile the damping rubber that insulate is un-conducted magnetic material with rotor windings, it can
Effectively completely cut off leakage magnetic circuit.
After dispersing winding and rotor core integrated injection molding, by each dispersion winding welding, surface insulation processing, weldering are carried out
Winding three-dimensional figure and winding type of attachment two-dimensional development figure after the completion of connecing is as shown in Figure 5.Each dispersion winding is in each connection
The tortuous mode extended is sequentially connected between bridge.It picks out, is connect by collector ring with external circuit, by changing from beginning to end after winding connection
Accommodation enters the size of electric current, direction, can freely realize weak magnetic, increase magnetic.
The insulation damping rubber being perfused at connecting bridge simultaneously has elastic damping effect, can effectively weaken and pass through rotor core
The radial electromagnetic force and torque ripple of load are passed to, noise result is improved.
Claims (10)
1. a kind of rotor-support-foundation system of magneto, including rotor core, excitation regulation device, and insulation vibration-absorptive material；
The rotor core includes substantially cylindrical interior iron core, and substantially cylindrical outer iron core；The interior iron core
It is coaxially disposed with outer iron core, there is magnet isolation tank and multiple connecting bridges between the two；
The excitation regulation device is mounted in the magnet isolation tank, carries out increasing magnetic or weak for the magnetic flux to the rotor-support-foundation system
Magnetic.
2. the rotor-support-foundation system of magneto according to claim 1, which is characterized in that the outer iron core includes multiple basic
In the cricoid outer main part of fan, and the outer magnetic bridge portion of the partition between two neighboring outer main part.
3. the rotor-support-foundation system of magneto according to claim 1, which is characterized in that the excitation regulation device includes turning
Sub- winding extends along the outer circumference direction of the interior iron core is tortuous between the connecting bridge.
4. the rotor-support-foundation system of magneto according to claim 3, which is characterized in that the rotor windings be mounted on every
Solid copper bar in magnetic slot.
5. the rotor-support-foundation system of magneto described in any one of -4 according to claim 1, which is characterized in that the insulation damping
The rotor core and the excitation regulation device can be connected as one by material.
6. the rotor-support-foundation system of magneto according to claim 5, which is characterized in that the insulation vibration-absorptive material includes exhausted
Edge damping rubber.
7. a kind of method for the rotor-support-foundation system for manufacturing magneto, includes the following steps:
Rotor iron core lamination is provided；
The rotor iron core lamination is laminated to form rotor core, the rotor core；
Dispersion winding is mounted in the magnet isolation tank of the rotor core；
The insulation damping rubber of thermal state fluid is poured into the gap between the rotor core and the dispersion winding, makes the dispersion
Winding, rotor core form integral structure by the insulation damping rubber；
By each dispersion winding welding, surface insulation processing is carried out；
It will pick out from beginning to end after dispersion winding connection, connect by collector ring with external circuit.
8. the method for the rotor-support-foundation system of manufacture magneto according to claim 7, which is characterized in that the dispersion winding
For solid copper bar；It is described by the step of each dispersion winding welding be with along the outer circumference direction complications of the interior iron core extend
Mode be sequentially connected.
9. the method for the rotor-support-foundation system of manufacture magneto according to claim 7, which is characterized in that the offer rotor
The step of core stamping further includes forming the outer magnetic bridge portion of partition in the rotor iron core lamination.
10. a kind of magneto, including stator system and rotor-support-foundation system according to claim 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910565962.4A CN110311523A (en) | 2019-06-27 | 2019-06-27 | A kind of Robot Force torque motor with adjustment of field excitation formula rotor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910565962.4A CN110311523A (en) | 2019-06-27 | 2019-06-27 | A kind of Robot Force torque motor with adjustment of field excitation formula rotor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110311523A true CN110311523A (en) | 2019-10-08 |
Family
ID=68077542
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910565962.4A Pending CN110311523A (en) | 2019-06-27 | 2019-06-27 | A kind of Robot Force torque motor with adjustment of field excitation formula rotor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110311523A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107482811A (en) * | 2017-09-30 | 2017-12-15 | 广东威灵电机制造有限公司 | For built-in motor rotor core and there is its built-in motor |
| CN108809032A (en) * | 2017-05-04 | 2018-11-13 | 通用电气公司 | The motor based on permanent magnet of torque with raising |
| CN208226708U (en) * | 2018-06-15 | 2018-12-11 | 广东威灵电机制造有限公司 | Rotor assembly and motor |
| CN109194077A (en) * | 2018-09-11 | 2019-01-11 | 华中科技大学 | A kind of pole-changing control magneto |
-
2019
- 2019-06-27 CN CN201910565962.4A patent/CN110311523A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108809032A (en) * | 2017-05-04 | 2018-11-13 | 通用电气公司 | The motor based on permanent magnet of torque with raising |
| CN107482811A (en) * | 2017-09-30 | 2017-12-15 | 广东威灵电机制造有限公司 | For built-in motor rotor core and there is its built-in motor |
| CN208226708U (en) * | 2018-06-15 | 2018-12-11 | 广东威灵电机制造有限公司 | Rotor assembly and motor |
| CN109194077A (en) * | 2018-09-11 | 2019-01-11 | 华中科技大学 | A kind of pole-changing control magneto |
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Application publication date: 20191008 |
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