CN110336435A - A kind of Intelligent servo motor and robot - Google Patents
A kind of Intelligent servo motor and robot Download PDFInfo
- Publication number
- CN110336435A CN110336435A CN201910545848.5A CN201910545848A CN110336435A CN 110336435 A CN110336435 A CN 110336435A CN 201910545848 A CN201910545848 A CN 201910545848A CN 110336435 A CN110336435 A CN 110336435A
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- Prior art keywords
- stator
- pedestal
- servo motor
- current
- magnetic suspension
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 32
- 239000000725 suspension Substances 0.000 claims abstract description 31
- 238000002955 isolation Methods 0.000 claims abstract description 4
- 238000004804 winding Methods 0.000 claims description 32
- 230000005284 excitation Effects 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 230000009466 transformation Effects 0.000 claims description 5
- 238000001514 detection method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 239000000203 mixture Substances 0.000 description 6
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000000873 masking effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/044—Active magnetic bearings
- F16C32/0474—Active magnetic bearings for rotary movement
-
- 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
- H02K11/30—Structural association with control circuits or drive circuits
- H02K11/33—Drive circuits, e.g. power electronics
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K16/00—Machines with more than one rotor or stator
- H02K16/04—Machines with one rotor and two stators
-
- 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
- H02K7/08—Structural association with bearings
- H02K7/09—Structural association with bearings with magnetic bearings
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Magnetic Bearings And Hydrostatic Bearings (AREA)
Abstract
A kind of servo motor, it includes shell and setting rotor inside the shell, the first stator and driver that rotor outer periphery is arranged in, it is characterized in that, it is provided with magnetic screen pedestal inside the shell to carry out Magnetic isolation to pedestal interior or exterior space, armature spindle passes through magnetic suspension bearing being axially set on pedestal along pedestal, magnetic suspension bearing includes the second stator being arranged on pedestal internal cavity inner wall and is provided with the sleeve in gap between the second stator, and N polarity and S polarity permanent magnet are staggeredly equipped on sleeve.Intelligent servo motor provided by the invention, the service life is long, and revolving speed is fast.
Description
Technical field
The present invention relates to a kind of Intelligent servo motor and robots, more particularly to the servo motor that loss is small, belong to motor
Technical field.
Background technique
The servo motor that the prior art provides is the motor of mechanical bearing comprising stator and rotor, in stator
It is equipped with the winding of rotation in slot, applies electric current in the windings, then rotor rotates in mechanical bearing, and this servo motor lacks
Point is the serious wear of mechanical bearing, and electrical machinery life is short, and revolving speed is lower.
Summary of the invention
In order to overcome the shortcomings of the prior art, goal of the invention of the invention is to provide a kind of Intelligent servo motor and robot,
Its service life is long, and output revolving speed is higher.
To realize that the goal of the invention, the present invention provide a kind of servo motor comprising shell and setting are inside the shell
Rotor, the first stator and driver of rotor outer periphery are set, which is characterized in that be provided with inside the shell magnetic screen pedestal with
Magnetic isolation is carried out to pedestal interior or exterior space, armature spindle passes through magnetic suspension bearing being axially set on pedestal along pedestal, magnetic suspension
Bearing includes the second stator being arranged on pedestal internal cavity inner wall and is provided with the sleeve in gap, sleeve between the second stator
On be staggeredly equipped with N polarity and S polarity permanent magnet.
Preferably, driver includes at least measuring unit, for providing alternating current to the winding on the first stator to produce
Give birth to the drive part of rotating excitation field and for providing alternating current to the winding on the second stator on magnetic suspension bearing to generate
The drive part of magnetic suspension support force, the measuring unit are used to measure the rotation angle of rotor, generate the driving portion of rotating excitation field
Point electric energy is applied to the winding on the first stator according to measured rotation angle, generate the drive part of magnetic suspension support force according to
Measured rotation angle, which applies electric energy to the winding on the second stator, floats on armature spindle magnetcisuspension on pedestal.
Preferably, the drive part for generating magnetic suspension support force includes converter and support force current generator, converter
According to the following formula by location error Δ θ*It is transformed to two axis support forces instruction Fx *And Fy *:
In formula, A is conversion coefficient, and r is the radius of sleeve；
Support force current generator includes 2 axis/3 principal axis transformation units, current-order generation unit and inverter, wherein 2
Axis/3 principal axis transformation units generate three axis support force instruction value F1*, F2*, F3* according to the following formula:
Current-order generation unit generates and F1*, F2*, F3* proportional current instruction value id1*, id2*, id3*；
Inverter generates the electric current id1 of driving three windings of magnetic suspension according to current instruction value id1*, id2*, id3*,
Id2, id3.
Preferably, each power transistor of inverter has protection circuit.
To realize the goal of the invention, the present invention also provides a kind of robots comprising any of the above-described servo electricity
Machine.
Compared with prior art, servo motor provided by the invention is due to floating on rotor magnetic magnetcisuspension on pedestal, in rotor
When rotation, the resistance for overcoming mechanical bearing is not needed, and mechanical friction is small, therefore, the service life is long, revolving speed height and output power.
Detailed description of the invention
Fig. 1 is the composition schematic diagram of servo motor provided by the invention；
Fig. 2 is the composition schematic diagram of magnetic suspension bearing provided by the invention；
Fig. 3 is the second stator winding current when armature spindle rotation angle is 0 degree；
Fig. 4 indicates the schematic illustration of magnetic suspension bearing generation magnetic support force when armature spindle rotation angle is 0 degree；
The servo control system composition block diagram of offer Fig. 5 of the invention；
Fig. 6 is the circuit diagram of inverter provided by the invention；
Fig. 7 is protection circuit provided by the invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and illustrated embodiment for explaining only the invention, and cannot be construed to limit of the invention
System.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singular " one " used herein, " one
It is a ", " described " and "the" may also comprise plural form.It is to be further understood that being arranged used in specification of the invention
Diction " comprising " refer to that there are the feature, integer, step, operation, element and/or component, but it is not excluded that in the presence of or addition
Other one or more features, integer, step, operation, element, component and/or their combination.It should be understood that when we claim
When element is "connected" to another element, it can be directly connected to other elements, or there may also be intermediary elements.Here
The wording "and/or" used includes one or more associated wholes for listing item or any cell and all combinations.
Those skilled in the art of the present technique are appreciated that all terms used herein, and (including technical term and section are academic
Language), there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.It should also be understood that
Term used in present specification, it should be understood that have with the consistent meaning of the prior art, unless in present specification quilt
Otherwise specific definitions will not be explained with the meaning of extramalization.
Fig. 1 is the longitudinal sectional view of servo motor provided by the invention.As shown in Figure 1, servo motor provided by the invention
Including the magnetic screen pedestal 5 for shielding the magnetic field outside pedestal and the shell 6 matched with the periphery of pedestal 5 in pedestal and outside
The first cavity 7 is formed in shell 6, turn that the first stator 9 is provided in the first cavity 7 and is arranged in the cavity of the first stator formation
Son 8, first stator include the first stator core 13 and multiple first armature winding, and first stator core 13 has edge
Shell radially-inwardly prominent and multiple first pole shoes being circumferentially equidistantly spaced from, multiple first armature winding are wrapped in the
On one pole shoe；The rotor 8 is fixed on the axis 4 for being set to rotor center, and the axis 4 is stretched out from one end of shell 6.First
Stator 9 is set to the periphery of rotor 8.6 inner surface of shell has multiple recesses, in first stator core and shell 6
At least part on surface connects.
The axially disposed through-hole having for installing armature spindle 4 of pedestal 5, armature spindle 4 is by magnetic suspension bearing along base
Seat it is axially mounted on pedestal 5.The second cavity 10 is formed in pedestal 5, and magnetic suspension bearing is set in the second cavity 10,
It stator 1 and the second permanent magnet 2 for being arranged on armature spindle 4 that magnetic suspension bearing, which includes second, and second stator 1 includes second fixed
Sub- iron core and multiple second armature winding, second stator core 1 have the radially-inwardly circumferentially cloth at equal intervals along pedestal
Multiple second pole shoes set, multiple second armature winding are wrapped on the second pole shoe.
Rotor 8 include it is multiple be staggered be in N polarity and polar first permanent magnet of S, each first permanent magnet " L "
Shape, with base portion and from base portion extend part.Base portion is substantially perpendicular to the cener line of armature spindle 4, from base portion
What is extended is substantially parallel to cener line.The end of pedestal 5 is mounted near the rear end of axis 4.
First stator 9 is mounted on the radial outside of rotor 8 relative to the central axis of armature spindle 4.Therefore, the first stator 9
It is arranged between rotor 8 and shell 6.More specifically, the first armature winding is arranged near 8 outside rotor, and the first iron core is adjacent
Connect the inside of shell 6；Second armature winding of the stator of magnetic suspension bearing is arranged in rotor, and the second iron core is fixed on pedestal
In cavity in 5.The iron core of first stator 9 is engaged and is extended to surround other internal parts of motor.First armature winding is set
It sets on the first iron core, the second armature winding is arranged on the second iron core, they can be made by copper wire or other conductive filaments.Base
It is provided with magnetic masking layer on seat, Magnetic isolation is carried out with pedestal interior or exterior space.
During servo motor work, rotor 8 rotates together with axis 4.Particularly, rotor 8 is configured to fixed relative to first
Son 9 and the second stator 2 are rotated around cener line, so that keeping between the first stator 9 and the second stator respectively in rotor 8
Gap is to form a part of magnetic flux path.First exciting current is applied to the first armature winding so that each stator 9 generates rotation
Turn magnetic field to make 8 rotation forces rotor 8 of rotor to generate operation torque output；Second exciting current be applied to the second armature around
Group is so that every two stator 2 generates magnetic field, to make to form magnetic suspension with the second permanent magnet 2.
Fig. 2 is the composition schematic diagram of magnetic suspension bearing provided by the invention, as shown in Fig. 2, magnetic suspension bearing includes setting
The inner wall of pedestal the second stator 1 and be staggeredly equipped with the permanent magnet sleeve 4 of N polarity and S polarity magnet 12, sleeve 4 with
Gap 13 is provided between second stator.Second stator core 1 has being radially-inwardly circumferentially equidistantly spaced from along pedestal
Multiple second pole shoes 11, multiple second armature winding 15 are wrapped on the second pole shoe.It is fixed that multiple diode boot Chan are wound with second
Sub- winding, by applying alternating current to generate magnetic bearing power.Second stator 1 is divided into 3 sections 1, section 2 and section 3.?
It is id1 to the electric current around application in section 1；It is id2 to the electric current around application in section 2；In section 3, to around application
Electric current be id3.Permanent magnet sleeve 2 can be covered on rotor axis of electric 4 and is fixed thereon by fastener.
In the following, illustrating in conjunction with Fig. 3-4 using the principle for speaking frankly bright generation magnetic support force for rotating coordinate system.Fig. 3 be
Armature spindle rotates the second stator winding current when angle is 0 degree, is set to id1, id2, id3, three electric currents independently
Ground is controlled.Fig. 4 indicates the schematic illustration of magnetic suspension bearing generation magnetic support force when armature spindle rotation angle is 0 degree, such as
Shown in Fig. 4, in section 1, when there are id1 electric current, magnetic support force F11, F12, F13 are generated, their sum is in mechanical angle 0
It spends on direction and magnetic support force F1 is generated to armature spindle 4.Similarly, generating in segmented portion 2 and 3 and power F2 and F3, F2 is in machine
120 degree of directions of tool angle generate magnetic support force, and F3 generates magnetic support force in 240 degree of directions of mechanical angle.As a result, by F1,
The resultant force F of F2, F3 steadily support armature spindle 4.Magnetic support force F1, F2, F3 respectively with the electric current id1 that is applied to the second stator,
Id2, id3 are proportional, their direction is determined by the current direction for being applied to the second stator winding.
The composition block diagram of the control system of the Intelligent servo motor of offer Fig. 5 of the invention, in Fig. 5, servo motor includes
Part 24B for generating the part 24A of rotating excitation field and for generating magnetic suspension support force, they are coaxial.As shown in figure 5,
The control system of Intelligent servo motor includes measuring unit, for providing alternating current to the winding on the first stator to generate rotation
Turn the drive part in magnetic field and for providing alternating current to the winding on the second stator on magnetic suspension bearing to generate magnetcisuspension
The drive part of over draft support force.In the present invention, measuring unit optimum position detection unit 28, the position detection unit 28 is used for
Detect the rotation angle, θ of servo motor rotor.The drive part for generating rotating excitation field includes position control unit 21, speed control
Unit 22 and current output unit 23；Position control unit 21 is according to the position command value θ of input*It is examined with position detection unit 28
The angle value θ of survey finds out location error Δ θ*, and formation speed instruction value ω*；Speed sets control unit 22 according to the speed of input
Spend instruction value ω*The velocity amplitude ω detected with difference unit 25, finds out velocity error Δ ω*, and generate current instruction value iq *And
Current output unit 23 is provided afterwards.Current output unit 23 includes coordinate conversion unit 231,2 phases/3 phase inversion units 232 and inverse
Become device 233, wherein coordinate conversion unit 231 according to the following formula (1) by current instruction value iq *It is transformed to current instruction value iaAnd i *b *:
2 phases/3 phase inversion units 232 are according to the following formula by current instruction value ia *And ib *It is transformed to current instruction value iu *、 iv *With
iw *
Current instruction value iu *、iv *And iw *It is output to inverter 233, with three groups of windings of generation driving servo motor
Electric current iu、ivAnd iw.Electric current iu、ivAnd iwThree windings being applied on the first stator revolve rotor 8 to generate rotating excitation field
Turn.
The drive part for generating magnetic suspension support force includes converter 26 and support force current generator 27, wherein conversion
Device 26 according to the following formula (3) by location error Δ θ*It is transformed to two axis support forces instruction Fx *And Fy *:
In formula, A is conversion coefficient, and r is sleeve radius.
Support force current generator 27 includes 2 axis/3 principal axis transformation units 271, current-order generation unit 272 and inverter
273, wherein 2 axis/3 principal axis transformation units 271 generate three axis support force instruction value F1*, F2*, F3* according to the following formula:
Current-order generation unit 272, generation and F1*, F2*, F3* proportional current instruction value id1*, id2*, id3*,
Inverter 273 generates the electric current id1, id2 of driving three windings of magnetic suspension according to current instruction value id1*, id2*2, id3*,
id3.Electric current id1, three windings that id2, id3 are applied on the second stator are to generate magnetic support force, so that armature spindle be made to pass through
Magnetic suspension bearing is movably set on pedestal, reduces the friction between armature spindle and bearing, and then improve servo motor
Service life, and revolving speed is high, output power.
Fig. 6 is the circuit diagram of inverter provided by the invention, as shown in fig. 6, inverter provided by the invention has power
Transistor is provided with identical protection circuit A on each power transistor, their composition is identical.
Fig. 7 is protection circuit provided by the invention, and in Fig. 7, electric current inspection is connected in series on the emitter of power transistor Q
It surveys and uses resistance R, for measuring the emitter voltage Ve of power transistor Q.In addition, in order to detect the collector of power transistor Q1
Voltage Vc is connected in series divider resistance R1, R2, the inverting input terminal of comparator CP2 is connected to from its tie point.Comparator CP1
For detection of excessive current, the emitter of power transistor Q is connected to the in-phase end of comparator CP1.Comparator CP2 is for detecting
The unsaturation region of transistor Q, reverse side are connected to the node being connected with divider resistance R1 and R2.The benchmark of comparator CP2
Voltage is determined by the diode voltage of diode ZD.The reference voltage of comparator CP1 is determined by the output voltage of comparator CP2.
That is, the collector potential Vc of power transistor Q is supplied to the in-phase end of comparator CP2 through resistance R1 and R2, comparator CP2's
Output voltage carries out partial pressure by resistance R3 and R4 and is supplied to comparator CP1.The unsaturation of comparator CP2 detection power transistor Q
Region, when its output is reversed to " low ", the reference voltage of comparator CP1 is reduced essentially to zero.On the other hand, it is controlling
The circuit output being connected on power supply E through load resistance R5.In such a configuration, when phase inverter 14 work normally,
Without flow through overcurrent in power transistor Q, and when cutting off progress normally switch work between region and zone of saturation,
The output of comparator CP2 is " height ", and the output of comparator CP1 is " height ".In this state, as described above, according to auxiliary crystalline substance
The turn-on deadline of body pipe q1 carries out ON-OFF control to power transistor Q.Overcurrent is flowed through when power transistor Q conducting,
When the terminal voltage of resistance R is more than setting value and rises, the output of comparator CP1 switchs to " height " from " low ", makes thyristor SCR
Conducting, so the collector potential of the auxiliary collector potential of transistor q1 rises.The guard mode only connects in control signal S
Continue during the logical control time.When controlling signal S1 becomes the cut-off control time, the collector electricity of auxiliary transistor q1
Position becomes " low " or thyristor SCR is connected.The present invention, which provides, this protects circuit that can not interrupt to the confession of the electric power of load
The state of the danger such as detection of excessive current in the case where giving protects power transistor and load.In addition, due to not being as previous
Excessive current detection unit is set on direct current supply line, but is arranged in correspondence with each power transistor, so can be rapid
And deal adequately with the generation of precarious position.In turn, power transistor can be prevented in unsaturation regional work, it can be reliably
Protect motor.
According to a further embodiment of the invention, a kind of motor machine is also provided comprising above-mentioned servo motor, it is described electronic
Machine includes robot.
It should be noted that language used in this specification primarily to readable and introduction purpose and select, and
It is not configured to explanation or defining the subject matter of the present invention and selects.Therefore, without departing from the scope of the appended claims and
In the case where spirit, many modifications and changes are obvious for those skilled in the art.It is right
In the scope of the present invention, the disclosure done to the present invention is illustrative and not restrictive, protection model of the presently claimed invention
It encloses and is defined by the appended claims.
Claims (5)
1. a kind of servo motor comprising shell and setting rotor inside the shell, the first stator that rotor outer periphery is arranged in
And driver, which is characterized in that be provided with magnetic screen pedestal inside the shell to carry out Magnetic isolation, armature spindle to pedestal interior or exterior space
By magnetic suspension bearing being axially set on pedestal along pedestal, magnetic suspension bearing includes being arranged on pedestal internal cavity inner wall
Second stator and the sleeve that gap is provided between the second stator are staggeredly equipped with N polarity and S polarity permanent magnetic on sleeve
Body.
2. servo motor according to claim 1, which is characterized in that driver includes at least measuring unit, for the
Winding on one stator provides alternating current to generate the drive part of rotating excitation field and for second on magnetic suspension bearing
Winding on stator provides alternating current to generate the drive part of magnetic suspension support force, and the measuring unit is for measuring rotor
Rotation angle, generate the drive part of rotating excitation field according to measured rotation angle and apply electric energy to the winding on the first stator,
The drive part for generating magnetic suspension support force, which applies electric energy to the winding on the second stator according to measured rotation angle, makes rotor
Axis magnetcisuspension floats on pedestal.
3. servo motor according to claim 2, which is characterized in that the drive part for generating magnetic suspension support force includes turning
Parallel operation and support force current generator, converter is according to the following formula by location error Δ θ*It is transformed to two axis support forces instruction Fx *With
Fy *:
In formula, A is conversion coefficient, and r is the radius of sleeve；
Support force current generator includes 2 axis/3 principal axis transformation units, current-order generation unit and inverter, wherein 2 axis/3 axis
Converter unit generates three axis support force instruction value F1*, F2*, F3* according to the following formula:
Current-order generation unit generates and F1*, F2*, F3* proportional current instruction value id1*, id2*, id3*；
Inverter generates the electric current id1, id2 of driving three windings of magnetic suspension according to current instruction value id1*, id2*, id3*,
id3。
4. servo motor according to claim 3, which is characterized in that each power transistor of the inverter, which has, to be protected
Protection circuit.
5. a kind of robot, which is characterized in that including any servo motor of claim 1-4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910545848.5A CN110336435B (en) | 2019-06-23 | 2019-06-23 | Intelligent servo motor and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910545848.5A CN110336435B (en) | 2019-06-23 | 2019-06-23 | Intelligent servo motor and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110336435A true CN110336435A (en) | 2019-10-15 |
| CN110336435B CN110336435B (en) | 2024-04-19 |
Family
ID=68142641
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910545848.5A Active CN110336435B (en) | 2019-06-23 | 2019-06-23 | Intelligent servo motor and robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN110336435B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04236188A (en) * | 1991-01-14 | 1992-08-25 | Toshiba Corp | Self-levitation motor system |
| CN101247056A (en) * | 1999-04-22 | 2008-08-20 | 株式会社美姿把 | Actuating electric generator |
| WO2011114912A1 (en) * | 2010-03-15 | 2011-09-22 | 学校法人東京理科大学 | Bearingless motor |
| CN203166490U (en) * | 2013-03-29 | 2013-08-28 | 王陈宁 | IGBT (Insulated Gate Bipolar Transistor) over-current protection device |
| CN103997176A (en) * | 2014-05-26 | 2014-08-20 | 江苏大学 | Bearingless brushless direct-current motor and levitation force control method |
| CN107181420A (en) * | 2016-03-10 | 2017-09-19 | 富士电机株式会社 | Inverter driving apparatus and semiconductor module |
| CN109474152A (en) * | 2018-11-17 | 2019-03-15 | 王俊炜 | A kind of starting electric motor and controller circuit |
| CN109962594A (en) * | 2019-05-05 | 2019-07-02 | 大国重器自动化设备(山东)股份有限公司 | Double output shaft servo motor for robot |
| CN110011504A (en) * | 2019-05-05 | 2019-07-12 | 大国重器自动化设备(山东)股份有限公司 | Single output shaft servo motor for robot |
| CN210405050U (en) * | 2019-06-23 | 2020-04-24 | 大国重器自动化设备(山东)股份有限公司 | Intelligent servo motor and robot |
-
2019
- 2019-06-23 CN CN201910545848.5A patent/CN110336435B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04236188A (en) * | 1991-01-14 | 1992-08-25 | Toshiba Corp | Self-levitation motor system |
| CN101247056A (en) * | 1999-04-22 | 2008-08-20 | 株式会社美姿把 | Actuating electric generator |
| WO2011114912A1 (en) * | 2010-03-15 | 2011-09-22 | 学校法人東京理科大学 | Bearingless motor |
| CN203166490U (en) * | 2013-03-29 | 2013-08-28 | 王陈宁 | IGBT (Insulated Gate Bipolar Transistor) over-current protection device |
| CN103997176A (en) * | 2014-05-26 | 2014-08-20 | 江苏大学 | Bearingless brushless direct-current motor and levitation force control method |
| CN107181420A (en) * | 2016-03-10 | 2017-09-19 | 富士电机株式会社 | Inverter driving apparatus and semiconductor module |
| CN109474152A (en) * | 2018-11-17 | 2019-03-15 | 王俊炜 | A kind of starting electric motor and controller circuit |
| CN109962594A (en) * | 2019-05-05 | 2019-07-02 | 大国重器自动化设备(山东)股份有限公司 | Double output shaft servo motor for robot |
| CN110011504A (en) * | 2019-05-05 | 2019-07-12 | 大国重器自动化设备(山东)股份有限公司 | Single output shaft servo motor for robot |
| CN210405050U (en) * | 2019-06-23 | 2020-04-24 | 大国重器自动化设备(山东)股份有限公司 | Intelligent servo motor and robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110336435B (en) | 2024-04-19 |
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