CN110336435B - Intelligent servo motor and robot - Google Patents
Intelligent servo motor and robot Download PDFInfo
- Publication number
- CN110336435B CN110336435B CN201910545848.5A CN201910545848A CN110336435B CN 110336435 B CN110336435 B CN 110336435B CN 201910545848 A CN201910545848 A CN 201910545848A CN 110336435 B CN110336435 B CN 110336435B
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- comparator
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- rotor
- transistor
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- 239000000725 suspension Substances 0.000 claims abstract description 13
- 238000004804 winding Methods 0.000 claims description 35
- 238000005339 levitation Methods 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 4
- 230000007423 decrease Effects 0.000 claims 1
- 230000005389 magnetism Effects 0.000 abstract 2
- 238000002955 isolation Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 10
- 238000006243 chemical reaction Methods 0.000 description 7
- 239000000203 mixture Substances 0.000 description 3
- 230000009466 transformation Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 239000013256 coordination polymer Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
Classifications
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- 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
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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
- H02K11/30—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
The utility model provides a servo motor, its includes the shell and sets up the rotor in the shell, set up first stator and the driver at rotor periphery, its characterized in that is provided with the magnetism shielding base in the shell in order to carry out magnetism isolation to the inside and outside space of base, and the rotor shaft passes through magnetic suspension bearing and sets up on the base along the axial of base, and magnetic suspension bearing is including setting up the second stator on the cavity inner wall in the base and the sleeve that is provided with the clearance between with the second stator, crisscross N polarity and the S polarity permanent magnet of being provided with on the sleeve. The intelligent servo motor provided by the invention has long service life and high rotating speed.
Description
Technical Field
The invention relates to an intelligent servo motor and a robot, in particular to a servo motor with small loss, and belongs to the technical field of motors.
Background
The servo motor provided by the prior art is a motor with a mechanical bearing, and comprises a stator and a rotor, wherein a winding for rotation is arranged in a groove of the stator, and when current is applied to the winding, the rotor rotates in the mechanical bearing.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide an intelligent servo motor and a robot, which have long service life and higher output rotating speed.
In order to achieve the aim of the invention, the invention provides a servo motor which comprises a shell, a rotor arranged in the shell, a first stator and a driver, wherein the first stator and the driver are arranged on the periphery of the rotor, and the servo motor is characterized in that a magnetic shielding base is arranged in the shell to magnetically isolate the space inside and outside the base, a rotor shaft is arranged on the base along the axial direction of the base through a magnetic suspension bearing, the magnetic suspension bearing comprises a second stator arranged on the inner wall of a cavity in the base and a sleeve with a gap between the second stator, and N-polarity permanent magnets and S-polarity permanent magnets are arranged on the sleeve in a staggered mode.
Preferably, the drive comprises at least a measuring unit for measuring the rotation angle of the rotor, a driving part for supplying an alternating current to the windings on the first stator to generate a rotating magnetic field and a driving part for supplying an alternating current to the windings on the second stator on the magnetic levitation bearing to generate a magnetic levitation supporting force, the driving part for generating the rotating magnetic field applying electric energy to the windings on the first stator according to the measured rotation angle, the driving part for generating the magnetic levitation supporting force applying electric energy to the windings on the second stator according to the measured rotation angle to levitate the rotor shaft on the base.
Preferably, the driving section that generates the magnetic levitation supporting force includes a converter that converts the position error Δθ * into the biaxial supporting force instructions F x * and F y * according to:
wherein A is a conversion coefficient, and r is the radius of the sleeve;
The supporting force current generator comprises a 2-axis/3-axis conversion unit, a current instruction generation unit and an inverter, wherein the 2-axis/3-axis conversion unit generates a three-axis supporting force instruction value F1, F2 and F3 according to the following formula:
the current command generating unit generates current command values id1, id2 and id3 proportional to F1, F2 and F3;
the inverter generates currents id1, id2, id3 for driving the three magnetic levitation windings according to the current command values id1, id2, id3.
Preferably, each power transistor of the inverter has a protection circuit.
To achieve the object, the invention also provides a robot comprising the servo motor of any one of the above.
Compared with the prior art, the servo motor provided by the invention has the advantages that as the rotor is magnetically suspended on the base, the resistance of the mechanical bearing does not need to be overcome when the rotor rotates, and the mechanical friction is small, so that the service life is long, the rotating speed is high, and the output power is high.
Drawings
FIG. 1 is a schematic diagram of the composition of a servo motor provided by the present invention;
FIG. 2 is a schematic diagram of the composition of the magnetic bearing provided by the invention;
FIG. 3 is a second stator winding current at a rotor shaft rotation angle of 0 degrees;
FIG. 4 is a schematic diagram showing the principle of magnetic bearing generating magnetic supporting force when the rotation angle of the rotor shaft is 0 degree;
FIG. 5 is a block diagram of a servo motor control system provided by the present invention;
Fig. 6 is a circuit diagram of an inverter provided by the present invention;
Fig. 7 is a protection circuit provided by the present invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless expressly stated otherwise, as understood by those skilled in the art. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The term "and/or" as used herein includes all or any element and all combination of one or more of the associated listed items.
It will be understood by those skilled in the art that all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms used in this specification should be understood as having a meaning that is consistent with their prior art, and unless specifically defined in this specification, should not be interpreted in an extreme sense.
Fig. 1 is a longitudinal sectional view of a servo motor provided by the present invention. As shown in fig. 1, the servo motor provided by the invention comprises a magnetic shielding base 5 for shielding a magnetic field outside the base and a housing 6 matched with the periphery of the base 5 to form a first cavity 7 in the base and the housing 6, wherein a first stator 9 and a rotor 8 arranged in the cavity formed by the first stator are arranged in the first cavity 7, the first stator comprises a first stator iron core 13 and a plurality of first armature windings, the first stator iron core 13 is provided with a plurality of first pole shoes which are protruded inwards along the radial direction of the shell and are arranged at equal intervals along the circumferential direction, and the plurality of first armature windings are wound on the first pole shoes; the rotor 8 is fixed to a shaft 4 provided at the center of the rotor, and the shaft 4 protrudes from one end of the housing 6. The first stator 9 is provided on the outer periphery of the rotor 8. The inner surface of the housing 6 has a plurality of recesses, and the first stator core is connected to at least a portion of the inner surface of the housing 6.
The base 5 is provided with a through hole for mounting the rotor shaft 4 in the axial direction, and the rotor shaft 4 is mounted on the base 5 in the axial direction of the base through a magnetic suspension bearing. A second cavity 10 is formed in the base 5, a magnetic suspension bearing is arranged in the second cavity 10, the magnetic suspension bearing comprises a second stator 1 and a second permanent magnet 2 arranged on the rotor shaft 4, the second stator 1 comprises a second stator core and a plurality of second armature windings, the second stator core 1 is provided with a plurality of second pole shoes which are arranged at equal intervals along the circumference inwards along the radial direction of the base, and the plurality of second armature windings are wound on the second pole shoes.
The rotor 8 includes a plurality of first permanent magnets of N-polarity and S-polarity arranged alternately, each of the first permanent magnets having an "L" shape having a base portion and a portion extending from the base portion. The base is substantially perpendicular to the centreline axis of the rotor shaft 4, and the portion extending from the base is substantially parallel to the centreline axis. The end of the base 5 is mounted near the rear end of the shaft 4.
The first stator 9 is mounted radially outside the rotor 8 with respect to the central axis of the rotor shaft 4. Thus, the first stator 9 is disposed between the rotor 8 and the housing 6. More specifically, the first armature winding is disposed adjacent the rotor outer 8, and the first core abuts the interior of the housing 6; the second armature winding of the stator of the magnetic bearing is arranged in the rotor and the second core is fixed in a cavity in the base 5. The core of the first stator 9 engages and extends to enclose the other internal components of the motor. The first armature winding is disposed on the first core and the second armature winding is disposed on the second core, which may be made of copper wire or other conductive filaments. A magnetic shielding layer is arranged on the base to magnetically isolate the inner space and the outer space of the base.
During operation of the servomotor, the rotor 8 rotates with the shaft 4. In particular, the rotor 8 is configured to rotate about the centerline axis relative to the first and second stators 9, 2 such that a gap is maintained between the rotor 8 and the first and second stators 9, respectively, to form a portion of the magnetic flux path. A first excitation current is applied to the first armature winding to cause each stator 9 to generate a rotating magnetic field to cause the rotor 8 to rotate pushing the rotor 8 to generate a working torque output; a second excitation current is applied to the second armature winding to generate a magnetic field for each of the two stators 2, thereby forming a magnetic levitation with the second permanent magnet 2.
Fig. 2 is a schematic diagram of the magnetic suspension bearing provided by the invention, as shown in fig. 2, the magnetic suspension bearing comprises a second stator 1 arranged on the inner wall of a base and a permanent magnet sleeve 4 provided with N-polarity and S-polarity magnets 12 in a staggered manner, and a gap 13 is arranged between the sleeve 4 and the second stator. The second stator core 1 has a plurality of second pole pieces 11 arranged at equal intervals in the circumferential direction inward in the radial direction of the base, and a plurality of second armature windings 15 are wound on the second pole pieces. A plurality of second pole windshields are wound with the second stator winding to generate the magnetic supporting force by applying the alternating current. The second stator 1 is divided into 3 sections 1, 2 and 3. In section 1, the current applied to the winding is id1; in section 2, the current applied to the winding is id2; in section 3, the current applied to the winding is id3. The permanent magnet sleeve 2 can be fitted over the motor rotor shaft 4 and secured thereto by means of fasteners.
The principle of generating the magnetic supporting force will be described below using a rotating coordinate system in connection with the description of fig. 3-4. Fig. 3 shows the second stator winding currents at 0 degree of rotation of the rotor shaft, and the three currents are independently controlled by id1, id2, and id3, respectively. Fig. 4 shows a schematic diagram of the principle of the magnetic bearing generating magnetic support force when the rotor shaft rotation angle is 0 degrees, as shown in fig. 4, in section 1, when id1 current is present, magnetic support forces F11, F12, F13 are generated, the sum of which generates magnetic support force F1 on rotor shaft 4 in the mechanical angle 0 degree direction. Similarly, the sum forces F2 and F3 generated in the segment portions 2 and 3, F2 generate magnetic support forces in the 120 degree direction of the mechanical angle, and F3 generates magnetic support forces in the 240 degree direction of the mechanical angle. As a result, the rotor shaft 4 is stably supported by the combined force F of F1, F2, F3. The magnetic supporting forces F1, F2, F3 are proportional to the currents id1, id2, id3 applied to the second stator, respectively, their direction being determined by the direction of the currents applied to the second stator windings.
Fig. 5 a block diagram of a control system for an intelligent servo motor according to the present invention, in fig. 5, the servo motor includes a portion 24A for generating a rotating magnetic field and a portion 24B for generating a magnetic levitation supporting force, which are coaxial. As shown in fig. 5, the control system of the intelligent servo motor includes a measuring unit, a driving part for supplying an alternating current to windings on a first stator to generate a rotating magnetic field, and a driving part for supplying an alternating current to windings on a second stator on a magnetic levitation bearing to generate a magnetic levitation supporting force. In the present invention, the measuring unit is preferably a position detecting unit 28, and the position detecting unit 28 is used for detecting the rotation angle θ of the rotor of the servo motor. The driving part generating the rotating magnetic field includes a position control unit 21, a speed control unit 22, and a current output unit 23; the position control unit 21 obtains a position error Δθ * from the input position command value θ * and the angle value θ detected by the position detection unit 28, and generates a speed command value ω *; the speed setting control unit 22 finds a speed error Δω * from the input speed command value ω * and the speed value ω detected by the differentiating unit 25, generates a current command value i q *, and then supplies the current output unit 23. The current output unit 23 includes a coordinate transformation unit 231, a 2-phase/3-phase transformation unit 232, and an inverter 233, wherein the coordinate transformation unit 231 transforms the current command value i q * into current command values i a and i b * according to the following equation (1):
The 2-phase/3-phase conversion unit 232 converts the current command values i a * and i b * into current command values i u *、iv * and i w according to the following *
The current command values i u *、iv * and i w * are output to the inverter 233 to generate currents i u、iv and i w that drive three sets of windings of the servo motor. Currents i u、iv and i w are applied to the three windings on the first stator to generate a rotating magnetic field, causing the rotor 8 to rotate.
The driving section that generates the magnetic levitation supporting force includes the converter 26 and the supporting force current generator 27, wherein the converter 26 converts the position error Δθ * into the biaxial supporting force instructions F x * and F y * according to the following expression (3):
wherein A is a conversion coefficient, and r is a sleeve radius.
The support force current generator 27 includes a 2-axis/3-axis conversion unit 271, a current instruction generation unit 272, and an inverter 273, wherein the 2-axis/3-axis conversion unit 271 generates three-axis support force instruction values f1×f2×f3×according to the following equation:
The current command generating unit 272 generates current command values id1, id2, id3 proportional to F1, F2, F3, and the inverter 273 generates currents id1, id2, id3 for driving the three magnetic levitation windings according to the current command values id1, id2, id3. The currents id1, id2 and id3 are applied to the three windings on the second stator to generate magnetic supporting force, so that the rotor shaft is movably arranged on the base through the magnetic suspension bearing, friction between the rotor shaft and the bearing is reduced, the service life of the servo motor is prolonged, and the servo motor is high in rotating speed and high in output power.
Fig. 6 is a circuit diagram of an inverter provided by the present invention, and as shown in fig. 6, the inverter provided by the present invention has power transistors, each of which is provided with the same protection circuit a, and their compositions are the same.
Fig. 7 is a schematic diagram of a protection circuit according to the present invention, in fig. 7, a current detection resistor R is connected in series to an emitter of a power transistor Q for measuring an emitter voltage Ve of the power transistor Q. In order to detect collector voltage Vc of power transistor Q1, voltage dividing resistors R1 and R2 are connected in series, and are connected to an inverting input terminal of comparator CP2 from a connection point thereof. The comparator CP1 is configured to detect an overcurrent, and an emitter of the power transistor Q is connected to a non-inverting terminal of the comparator CP1. The comparator CP2 is for detecting the unsaturated region of the transistor Q, and its inverting terminal is connected to the node connected to the voltage dividing resistors R1 and R2. The reference voltage of the comparator CP2 is determined by the diode voltage of the diode ZD. The reference voltage of the comparator CP1 is determined by the output voltage of the comparator CP 2. That is, collector potential Vc of power transistor Q is supplied to the non-inverting terminal of comparator CP2 via resistors R1 and R2, and the output voltage of comparator CP2 is divided by resistors R3 and R4 and supplied to comparator CP1. The comparator CP2 detects the unsaturated region of the power transistor Q, and when its output is inverted to "low", the reference voltage of the comparator CP1 drops substantially to zero. On the other hand, an output through the load resistor R5 is connected to the control circuit power supply E. In such a configuration, when the inverter 14 is normally operated, no overcurrent flows through the power transistor Q, and normal switching operation is performed between the cut-off region and the saturation region, the output of the comparator CP2 is "high", and the output of the comparator CP1 is "high". In this state, as described above, the on/off control of the power transistor Q is performed in accordance with the on/off of the auxiliary transistor Q1. When an overcurrent flows during the on state of the power transistor Q, and the terminal voltage of the resistor R rises beyond a set value, the output of the comparator CP1 is changed from "low" to "high" to turn on the thyristor SCR, so that the collector potential of the auxiliary transistor Q1 rises. This protection state is only continued during the control time during which the control signal S is on. When the control signal S1 reaches the off control time, the collector potential of the auxiliary transistor q1 becomes "low" or the thyristor SCR is turned on. The present invention provides a protection circuit capable of detecting dangerous states such as overcurrent without interrupting power supply to a load, and protecting a power transistor and the load. In addition, since the overcurrent detection means is provided in correspondence with each power transistor instead of the dc power supply line as in the conventional art, the occurrence of the dangerous state can be promptly and appropriately handled. Further, the power transistor can be prevented from operating in the unsaturated region, and the motor can be reliably protected.
According to another embodiment of the present invention, there is also provided an electric machine including the above-described servo motor, the electric machine including a robot.
It should be noted that the language used in the specification has been principally selected for readability and instructional purposes, and may not have been selected to delineate or circumscribe the inventive subject matter. Accordingly, many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the appended claims. The disclosure of the present invention is intended to be illustrative, but not limiting, of the scope of the invention, which is defined by the appended claims.
Claims (2)
1. The servo motor comprises a shell, a rotor arranged in the shell, a first stator and a driver, wherein the first stator and the driver are arranged on the periphery of the rotor, and the servo motor is characterized in that a magnetic shielding base is arranged in the shell to magnetically isolate the space inside and outside the base; the driver at least comprises a measuring unit, a driving part for providing alternating current for windings on the first stator to generate a rotating magnetic field and a driving part for providing alternating current for windings on the second stator on the magnetic suspension bearing to generate a magnetic suspension supporting force, wherein the measuring unit is used for measuring the rotating angle of the rotor, the driving part for generating the rotating magnetic field applies electric energy to the windings on the first stator according to the measured rotating angle, and the driving part for generating the magnetic suspension supporting force applies electric energy to the windings on the second stator according to the measured rotating angle to enable the rotor shaft to be magnetically suspended on the base; the driving part generating the magnetic levitation supporting force includes an inverter, each power transistor Q of which has a protection circuit; a resistor R for current detection is connected between an emitter of the power transistor Q and the ground, a resistor R1 and a resistor R2 are sequentially connected between a collector of the power transistor Q and the ground, a middle node connected with the resistor R1 and the resistor R2 is connected with an inverting input end of a comparator CP2, the inverting input end of the comparator CP2 is also connected with an anode of a first diode, a cathode of the first diode is connected with a non-inverting input end of the comparator CP2, a reference voltage of the comparator CP2 is determined by a diode voltage of a diode ZD, and an output voltage of the comparator CP2 is divided by the resistors R3 and R4 and is supplied to the inverting input end of the comparator CP 1; the emitter of the transistor Q is also connected with the non-inverting input end of the comparator CP1, and the output end of the comparator CP1 is connected with the control end of the thyristor SCR; the positive electrode of the thyristor SCR is connected with the collector electrode of the auxiliary transistor q1, and the negative electrode of the thyristor SCR is connected with the ground; the collector of the auxiliary transistor q1 is connected to a power supply E1 through a resistor R5, the emitter is grounded, and the base inputs a control signal S; the collector of the auxiliary transistor Q1 is also connected to the base of the transistor Q via an inverter; the comparator CP2 detects the unsaturated region of the power transistor Q, and when the output terminal thereof is inverted to "low", the reference voltage of the comparator CP1 decreases to zero; when the inverter is normally operated, no overcurrent flows in the power transistor Q, and normal switching operation is performed between the cut-off region and the saturation region; when the output of the comparator CP2 is "high", the output of the comparator CP1 is "high"; the power transistor Q is controlled to be turned on or off according to the on or off of the auxiliary transistor Q1; when an overcurrent flows during the on state of the power transistor Q, and the terminal voltage of the resistor R rises beyond a set value, the output of the comparator CP1 is changed from "low" to "high", the thyristor SCR is turned on, and the collector potential of the auxiliary transistor Q1 rises; when the control signal S is turned off, the collector potential of the auxiliary transistor q1 is "low" or the thyristor SCR is turned on.
2. A robot comprising the servo motor of claim 1.
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 |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910545848.5A CN110336435B (en) | 2019-06-23 | 2019-06-23 | Intelligent servo motor and robot |
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| CN110336435A CN110336435A (en) | 2019-10-15 |
| CN110336435B true CN110336435B (en) | 2024-04-19 |
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| CN201910545848.5A Active CN110336435B (en) | 2019-06-23 | 2019-06-23 | Intelligent servo motor and robot |
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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 |
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| Publication number | Publication date |
|---|---|
| CN110336435A (en) | 2019-10-15 |
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