CN110581614A - Servo limited angle torque motor - Google Patents
Servo limited angle torque motor Download PDFInfo
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- CN110581614A CN110581614A CN201910764091.9A CN201910764091A CN110581614A CN 110581614 A CN110581614 A CN 110581614A CN 201910764091 A CN201910764091 A CN 201910764091A CN 110581614 A CN110581614 A CN 110581614A
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- torque motor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/16—Stator cores with slots for windings
- H02K1/165—Shape, form or location of the slots
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
- H02K1/2706—Inner rotors
- H02K1/272—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis
- H02K1/274—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets
- H02K1/2753—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets the rotor consisting of magnets or groups of magnets arranged with alternating polarity
- H02K1/276—Magnets embedded in the magnetic core, e.g. interior permanent magnets [IPM]
- H02K1/2766—Magnets embedded in the magnetic core, e.g. interior permanent magnets [IPM] having a flux concentration effect
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/28—Means for mounting or fastening rotating magnetic parts on to, or to, the rotor structures
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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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K26/00—Machines adapted to function as torque motors, i.e. to exert a torque when stalled
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Iron Core Of Rotating Electric Machines (AREA)
Abstract
the invention discloses a servo limited corner torque motor which comprises a stator core, a rotor, a corner detection device and a structural support part, wherein the stator core is matched with the rotor based on stator teeth to generate a magnetic line of force loop with low magnetic resistance uniformly distributed, and the rotor generates excitation magnetomotive force with uniform amplitude in the circumferential direction of an air gap based on radially magnetized magnetic steel to form the magnetic line of force loop with low magnetic resistance and output torque. The top of the stator tooth in the stator core is designed to be crescent and is matched with the tile-shaped long strip-shaped magnetic steel with a certain polar arc size and equal thickness along the radial direction of the rotor, so that magnetic lines of force generated by the magnetic steel are uniformly distributed on the top of the stator tooth and form a low-reluctance magnetic line loop, the local saturation of the tooth part caused by the improper shape of the tooth part is eliminated, the tooth-groove-free area of the limited-angle motor is maximized, and the cogging torque fluctuation of the rotor rotating in the working angle range is almost completely eliminated.
Description
Technical Field
The invention belongs to the field of motors, and particularly relates to a servo limited-angle torque motor.
Background
The limited corner torque motor can rotate in a certain corner range and has certain torque output, and the motor can be directly used as a driving element of a servo control system and has the advantages of simple and reliable structure, easy control, good dynamic response and the like. However, in some application occasions, such as a hydraulic valve, a certain torque is required to drive the oil valve in the opening process, the flow rate of hydraulic oil needs to be controlled according to the opening size of the oil valve, in addition, the resistance generated by oil in the opening process of the oil valve is in inverse proportion to the opening angle size of the oil valve, the requirement on the existing output torque of the motor in the whole process is met, and meanwhile, the hydraulic valve also has the characteristics of a servo motor. However, most of the existing limited-angle torque motors have the defects of large air gap, small torque-to-volume ratio, large torque deviation in a rotation angle range and the like, and cannot meet the requirements of a high-precision servo driving system.
Patent CN207426941U proposes a valve-used servo limited angle torque motor. The servo limited angle torque motor for the valve adopts a tooth groove type structural design, and the tooth groove type structural motor is short in air gap length, high in air gap magnetic density and capable of outputting high torque. In order to reduce torque fluctuation caused by a tooth space structure and meet the requirements of a servo motor, an armature core of the torque motor adopts a skewed slot structure, and small teeth are arranged on the teeth. The skewed slot structure causes the full rate of the winding slot of the motor to be only about 0.2, which is far lower than the full rate of the common winding slot of 0.6, namely, the number of winding turns is limited, and further, the electric load and the torque output capacity of the motor are limited. Meanwhile, the small tooth structure makes the shape of the stator core complex, the processing precision is difficult to guarantee, the detailed size of the small tooth structure is easy to generate a non-uniform magnetic line loop, so that a space with non-uniform magnetic conductivity is generated, the influence on reducing torque fluctuation is large, the torque fluctuation inhibiting effect is greatly reduced due to processing errors, the actual product performance of the motor is difficult to control, and the reliability of the motor is influenced.
in summary, it is an urgent need to solve the problem of providing a servo limited-rotation-angle torque motor with small torque fluctuation.
Disclosure of Invention
aiming at the defects of the prior art, the invention aims to provide a servo limited-angle torque motor, which aims to solve the problem of large torque fluctuation caused by a stator core adopting a small-tooth structure in the prior art.
In order to achieve the aim, the invention provides a servo limited corner torque motor which comprises a stator core, a rotor, a corner detection device and a structural support component, wherein the rotor core is arranged on the stator core;
The structure supporting component comprises a shell, an end cover and a bearing, wherein a stator core is sleeved in the shell, the end cover is arranged at the port of the shell, a rotor is assembled between the end cover and the shell through the bearing, the rotor is positioned on the inner side of the stator core, and a corner detection device is arranged between the rotor and the end cover;
The stator iron core is used for generating low-reluctance magnetic line loops which are uniformly distributed based on the matching of the stator teeth and the rotor;
The rotor is used for generating excitation magnetomotive force with uniform amplitude in the circumferential direction of an air gap based on the radial magnetized magnetic steel to form a low-reluctance magnetic line loop and output torque;
the corner detection device is used for monitoring the corner position of the motor in real time to control the rotation angle of the torque motor;
The structural support member is used to provide mechanical support for the motor, to secure and protect other internal components.
Further preferably, an even number of magnetic steels are uniformly distributed on the circumferential direction of the magnetic yoke of the rotor.
Further preferably, the magnetic steel is magnetized in the radial direction, the polarities of the magnetic steel are distributed in a staggered mode, the magnetic steel is tile-shaped and long-strip-shaped, the magnetic steel is equal in position along the radial thickness of the rotor, the polar arcs of the magnetic steel are equal, and the polar arc coefficients are larger than or equal to 0.95. The magnetic steel can generate excitation magnetomotive force with the same amplitude and the same polarity cycle alternating everywhere along the circumferential direction of the air gap, so that the magnetic flux change passing through the stator tooth part in the rotating process of the rotor is greatly reduced, and the torque fluctuation caused by the magnetic flux change is eliminated.
further preferably, a plurality of stator teeth are uniformly distributed on the inner side of the stator core, a plurality of stator slots are formed among the stator teeth, and the number of the stator teeth is equal to that of the magnetic steel, so that the rotor can obtain the maximum rotatable angle, the area of the stator slots can be effectively increased, and the electric load level of the motor can be effectively improved.
Further preferably, the top of each stator tooth is crescent, so that magnetic field saturation can be effectively reduced, cogging torque can be reduced, and the angle of a non-cogging region can be widened.
Further preferably, two edges of the top of each stator tooth are parallel edges, magnetic leakage flux of the edges of the tops of adjacent stator teeth can be effectively avoided, the length of the edge edges of the tops of the stator teeth is 0.9-1.1 times of the length of an air gap, and the motor torque fluctuation weakening effect is optimal in the range.
Further preferably, the arc length of the arc on the side, close to the air gap, of the top of each stator tooth is equal to or different from the arc length of the outer surface of the magnetic steel in the rotor by no more than 5%, so that the tooth-slot-free area of the limited-angle motor is the largest.
through the technical scheme, compared with the prior art, the invention can obtain the following beneficial effects:
1. The invention provides a servo limited-angle torque motor, which is characterized in that the top of a stator tooth in a stator core is designed to be crescent and matched with tile-shaped strip-shaped magnetic steel with a certain pole arc size and equal thickness in the radial direction of a rotor, so that magnetic lines of force generated by the magnetic steel are uniformly distributed on the top of the stator tooth and form a low-reluctance magnetic line loop, the local saturation of the tooth part caused by the improper shape of the tooth part is greatly eliminated, the cogging torque fluctuation of the rotor rotating in a working angle range is almost completely eliminated, the high-precision servo control requirement is met, and the problem of large torque fluctuation caused by the adoption of a small tooth structure in the prior art is solved.
2. according to the servo limited-angle torque motor provided by the invention, the edges of two sides of the top of each stator tooth in the stator core are of a parallel structure, so that the magnetic leakage flux of the edges of the tops of adjacent stator teeth can be effectively avoided.
3. According to the servo limited-angle torque motor provided by the invention, the arc length of the outer side of the top of the stator tooth in the stator core is basically equal to that of the magnetic steel, so that the tooth-groove-free area of the limited-angle torque motor is the largest.
4. The servo limited corner torque motor provided by the invention monitors the angle of the motor in real time through the corner detection device arranged between the rotor and the end cover, achieves the purpose of controlling the rotation angle of the motor, improves the control precision of the motor, does not need to additionally add related equipment for detecting the angular position of the rotor, and greatly reduces the volume of the technical scheme of the invention.
5. The servo limited corner torque motor provided by the invention adopts a tooth space structure, the air gap length is small, the air gap magnetic density is large, and the tooth space is not additionally reduced by a skewed slot, so that more leads can be arranged in a stator slot, namely, the electric load of the motor can be far higher than that of the motor in the prior art under the same heat dissipation condition. Based on the technical scheme, the output torque of the servo limited-angle torque motor is far higher than that of the traditional limited-angle torque motor, the output torque characteristic is excellent, the rotor inertia is small, and the requirement of a high-precision servo motor is met.
Drawings
FIG. 1 is an axial cross-sectional view of a motor provided by the present invention;
FIG. 2 is a two-dimensional electromagnetic structure diagram of a motor provided by the present invention;
FIG. 3 is a magnetic force line distribution diagram of the magnetic steel of the motor provided by the present invention; wherein, the figure (a) is the distribution diagram of the magnetic force lines of the motor magnetic steel provided by the invention in the air, and the figure (b) is the distribution diagram of the magnetic force lines of the motor magnetic steel provided by the invention in the crescent stator teeth;
FIG. 4 is a graph of motor no-load cogging torque using the present invention and the prior art, respectively; wherein, the graph (a) is the motor no-load cogging torque graph obtained by adopting the invention, and the graph (b) is the motor no-load cogging torque graph obtained by adopting the prior art;
FIG. 5 is a graph of the output torque of the motor provided by the present invention;
Fig. 6 is a graph of the average output torque of the motor provided by the invention along with the change of current.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In order to achieve the above object, the present invention provides a servo limited rotation angle torque motor, whose axial cross-sectional view and two-dimensional electromagnetic structure diagram are respectively shown in fig. 1 and fig. 2, comprising an electromagnetic structure stator core 1, a rotor 2, an armature set 3, a rotation angle detection device 4 and structural support components 5-7;
The structural support component comprises a machine shell 5, an end cover 6 and bearings 7, a stator core 1 is sleeved in the machine shell 5, four stator teeth 11 which are arranged at equal angles along the circumferential direction are arranged on the inner side of the stator core 1, armature windings 3 are wound on the four stator teeth respectively, the end cover 6 is arranged at the port of the machine shell 5 and fixedly connected with each other through bolts, and a rotating shaft 21 of a rotor 2 is assembled between the end cover 6 and the machine shell 5 through the two bearings 7, so that the rotor is located on the inner side of the stator core 1 and can rotate. The rotation angle detection device comprises a linear hall sensor 41 and an annular hall frame 42, wherein the annular hall frame 42 is arranged at the bottom of the casing 5, the linear hall sensor is fixed on the annular hall frame 42, and the specific position is determined according to the operation angle range of the torque motor during specific installation. The linear Hall sensor is used for sensing the magnetic field intensity of the magnetic steel, the three-purpose meter can be used for measuring the Hall output voltage, the shape of the tracking magnetic steel and the distance between the tracking magnetic steel and the Hall are optimized according to the characteristics of the linear Hall, the magnetic field sensed by the Hall is guaranteed to be linear, the linearity of an output signal is improved, and the control precision of the motor is improved.
specifically, the stator core 1 is used for generating a low-reluctance magnetic line loop which is uniformly distributed based on the matching of stator teeth and a rotor; the rotor 2 is used for generating excitation magnetomotive force with uniform amplitude in the circumferential direction of an air gap based on the radial magnetized magnetic steel to form a low-reluctance magnetic line loop and output torque; the armature winding 3 is arranged on the tooth part of the stator core, and when current is introduced, a magnetic field can be generated in the motor to form magnetic flux, and the magnetic flux interacts with the magnetic field generated by the magnetic steel in the rotor to generate torque. Furthermore, the direction and the size of the output torque can be changed by changing the polarity and the amplitude of the current, and the rotation angle detection device 4 is used for monitoring the rotation angle position of the motor in real time to control the rotation angle of the torque motor; the structural support members 5-7 serve to provide mechanical support for the motor, to secure and to protect the other components within.
Specifically, the rotor includes a rotating shaft 21, a magnetic yoke 22, and a magnetic steel 23, in this embodiment, the rotating shaft 21 is processed by a non-magnetic material, and is used to fix the magnetic yoke and the magnetic steel, and as an output shaft to output torque outwards; the magnetic yoke 22 is formed by processing soft iron materials (such as silicon steel sheets, electrical steel and the like) with good magnetic conductivity and low coercive force, and is used for connecting the rotating shaft and the magnetic steel and providing a passage for a magnetic line loop of a motor magnetic line; the magnetic steel 23 is made of a high-performance permanent magnet material (such as samarium cobalt, neodymium iron boron and the like) and is used for generating a continuous and stable magnetic field, forming magnetic flux in the motor to provide induction magnetic flux for the rotation angle detection device, and generating torque through interaction with the magnetic field generated by the energized winding. Specifically, two adjacent magnetic steels close to the linear hall 41 in the corner detection device provide an induction magnetic flux for the linear hall 41, so that the linear hall 41 outputs a corresponding voltage signal, and the displacement of the rotor can be determined through calculation, thereby monitoring the corner position of the motor in real time to achieve the purpose of controlling the rotation angle of the torque motor; the other two magnetic steels are far away from the linear Hall 41 so as not to interfere the work of the rotation angle detection device. The magnet yoke 22 is sleeved and fixed on the rotating shaft 21, an even number of magnetic steels 23 magnetized in the radial direction are uniformly distributed on the magnet yoke 22 in the circumferential direction, in this embodiment, the number of the magnetic steels 23 is 4, the magnetizing directions are the radial directions of the rotating shaft 21, and the polarities of the four magnetic steels are distributed in a staggered manner. Specifically, the four pieces of magnetic steel 23 are tile-shaped strip-shaped, and the thickness of the four pieces of magnetic steel is equal everywhere along the radial direction of the rotor, specifically, the traditional magnetic steel adopts a bread-type permanent magnet, the magnetic is charged in parallel, and the magnetomotive force in an air gap changes in a sine mode; according to the invention, the tile-shaped magnetic steel with the same radial thickness at all positions is adopted for radial magnetization, the magnetomotive force in the air gap is changed by square waves, and the magnetic steel generates the excitation magnetomotive force with the same amplitude at all positions along the circumferential direction in the air gap, so that the change of magnetic force lines of a tooth part in the moving process of a rotor can be reduced, and further the torque fluctuation caused by the change of the magnetic flux is eliminated. Further, the four tile-shaped long-strip magnetic steels have the same pole arc and are close to the pole arc coefficient of 1, and preferably, the pole arc coefficient of the magnetic steels can be more than 0.95 in consideration of the processing and positioning requirements.
Specifically, a plurality of stator teeth 11 are uniformly distributed on the inner side of the stator core 1 at equal angles, and the number of the stator teeth 11 is equal to that of the magnetic steel 23, so that the rotor can effectively increase the area of the stator slot while obtaining the maximum rotatable angle, thereby improving the electric load level of the motor. In the embodiment, the number of the stator teeth and the number of the magnetic steel 23 are 4, four stator slots 13 are formed between the four stator teeth 11, each stator tooth 11 is provided with a crescent-shaped stator tooth top 111, two edges of each stator tooth top 111 are parallel edges, and the side length is close to the air gap length; coils of the armature windings 3 which are connected in series are wound on the stator teeth 11 respectively, and the winding directions of two adjacent coils are opposite; the rotor is positioned on the inner side of the stator core 1, four radial magnetized magnetic steels 23 are axially arranged on the rotor, the magnetic steels 23 are tile-shaped with radial height equal at each position, and the polarities of the four magnetic poles are distributed in a staggered manner; when the armature winding 3 is electrified, the generated magnetic field interacts with the magnetic field of the rotor to drive the rotor to rotate in the stator core 1 towards one direction, and the rotation direction of the rotor can be changed by changing the electrified polarity of the armature winding 3, so that the rotor can do reciprocating rotation motion with a certain rotation angle in the stator core 1 by repeatedly changing and controlling the electrified polarity of the armature winding 3. Further, each stator tooth top 111 is crescent-shaped; the two edges of the top 111 of the crescent stator tooth are of a parallel structure, the edge side length of the top of the stator tooth is close to the length of an air gap, specifically, the edge side length of the top of the stator tooth is 0.9-1.1 times of the length of the air gap, and the motor torque fluctuation weakening effect is optimal in the value range. Further, the arc length of the arc on the side of each stator tooth top 111 close to the air gap is equal to the arc length of the outer surface of the magnetic steel 23 or the difference is not more than 5%.
Specifically, the top 111 of the stator tooth is crescent, and fits the magnetic steel to generate the natural trend of the magnetic force line, so as to effectively reduce the saturation of the magnetic field, reduce the cogging torque, and widen the angle of the cogging-free area, as shown in fig. 3, the distribution diagram of the magnetic force line of the motor magnetic steel provided by the present invention is shown in fig. 3, wherein, the diagram (a) is the distribution diagram of the magnetic force line of the motor magnetic steel provided by the present invention in the air, the diagram (b) is the distribution diagram of the magnetic force line of the motor magnetic steel provided by the present invention in the crescent stator tooth, and when there is no tooth part, the magnetic force line generated by the adjacent magnetic steel with opposite polarity in the outside air is semicircular, as shown in the. In order to fit the trend of magnetic lines of force, the top 111 of the stator tooth is crescent, so that the magnetic steel generates magnetic lines of force which are uniformly distributed on the top of the stator tooth and form a loop, thereby greatly eliminating the local saturation of the tooth part caused by the improper shape of the tooth part, and further almost completely eliminating the cogging torque fluctuation of the rotor rotating in the working angle range, as shown in the diagram (b) in fig. 3; the edges of two sides of the top 111 of the stator tooth are in a parallel structure, so that magnetic leakage flux of the edges of the tops of the adjacent stator teeth can be effectively avoided; in addition, the arc length of the arc on the side, close to the air gap, of the top 111 of the stator tooth is equal to the arc length of the outer surface of the magnetic steel 23 or the difference is not more than 5%, so that the tooth-slot-free area of the limited-angle motor is the largest.
Specifically, through optimizing the thickness and the polar arc of the magnetic steel 23 in the rotor and the shape of the top 12 of the stator tooth in the stator core 1, the no-load cogging torque performance of the motor of the invention is excellent, and the (a) diagram and the (b) diagram in fig. 4 are graphs of the no-load cogging torque of the motor obtained by respectively adopting the invention and the prior art, wherein the abscissa is a rotation angle and the ordinate is cogging torque, and as can be seen from fig. 4, although the motor of the prior art reduces the amplitude of the full-period cogging torque, the cogging torque in the working range is not fundamentally eliminated, but the torque of the motor of the invention has almost no deviation and is close to zero in a limited corner working area, namely almost no cogging exists, the requirement of high-precision servo control is met, and the influence of the cogging structure on the output torque is greatly eliminated.
furthermore, the motor of the invention has excellent load output torque characteristic, the torque curve family output by the motor is shown in fig. 5, wherein the abscissa is a rotation angle, the ordinate is an output torque, when the motor is supplied with different currents (corresponding to different current values marked after different curves in fig. 5), each torque curve is close to horizontal within the range of 40 degrees of a rated working angle, namely within the working range, the rotor can output invariable torque under different angles, and the specific output size deviation is not more than 5 percent, so that the characteristic ensures the output stability of the motor in the use process and avoids the shake in the rotation process; meanwhile, a curve graph of the average output torque of the motor along with the current change is shown in fig. 6, wherein the abscissa is the amplitude of the current introduced into the winding, and the ordinate is the average output torque, and the output torque is in direct proportion to the current, so that the whole control system is closer to linearity, namely the output torque can be changed in a constant amplitude manner by changing a current control signal, the control complexity is reduced, the system reliability is improved, and the available occasions of the invention are increased.
the invention provides a servo limited-angle torque motor, which realizes no tooth groove influence in a limited-angle range by optimizing the shape of the top of a stator tooth in a stator core and matching with magnetic steel with a certain pole arc size, and meets the requirement of high-precision servo control. In addition, the invention adopts a tooth space structure, the air gap length is small, the air gap magnetic density is large, and simultaneously, a skewed slot is not needed to additionally reduce the tooth space, so that more leads can be arranged in the stator slot, namely, the electric load of the motor can be far higher than that of the motor in the prior art under the same heat dissipation condition. Based on the technical scheme, the output torque of the servo limited-angle torque motor is far higher than that of the traditional limited-angle torque motor, the output torque characteristic is excellent, the rotor inertia is small, and the requirement of a high-precision servo motor is met.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (7)
1. A servo limited corner torque motor is characterized by comprising a stator core, a rotor, a corner detection device and a structural support component;
The structure supporting part comprises a machine shell, an end cover and a bearing, wherein the stator core is sleeved in the machine shell, the end cover is arranged at the port of the machine shell, the rotor is assembled between the end cover and the machine shell through the bearing, the rotor is positioned on the inner side of the stator core, and the corner detection device is arranged between the rotor and the end cover;
The stator iron core is used for generating uniformly distributed low-reluctance magnetic line loops based on the matching of the stator teeth and the rotor;
The rotor is used for generating excitation magnetomotive force with uniform amplitude in the circumferential direction of an air gap based on the radial magnetized magnetic steel to form a low-reluctance magnetic line loop and output torque;
the corner detection device is used for monitoring the corner position of the motor in real time to control the rotation angle of the torque motor;
The structural support member is used to provide mechanical support for the motor, to secure and protect other internal components.
2. The servo limited rotation angle torque motor as claimed in claim 1, wherein an even number of magnetic steels are uniformly distributed on the circumferential direction of the magnetic yoke of the rotor.
3. The servo limited rotation angle torque motor as claimed in claim 2, wherein the magnetic steel is radially magnetized, the polarities of the magnetic steels are distributed in a staggered manner, the magnetic steel is tile-shaped and long-strip-shaped, the thickness of the magnetic steel along the radial direction of the rotor is equal everywhere, the pole arc coefficients of the magnetic steels are equal, and the pole arc coefficients are greater than or equal to 0.95.
4. the servo limited angle torque motor as recited in claim 1, wherein a plurality of stator teeth are uniformly distributed on the inner side of said stator core, wherein the number of stator teeth is equal to the number of said magnetic steels.
5. The servo limited angle torque motor of claim 4, wherein the top of the stator teeth are crescent shaped.
6. the servo limited rotation angle torque motor as claimed in claim 4, wherein two edges of the top of the stator teeth are parallel edges, and the length of the edge of the top of the stator teeth is 0.9-1.1 times the length of the air gap.
7. The servo limited rotation angle torque motor as claimed in claim 4, wherein the arc length of the arc on the side of the top of the stator teeth close to the air gap is equal to or differs by no more than 5% from the arc length of the outer surface of the magnet steel in the rotor.
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| CN201910764091.9A CN110581614B (en) | 2019-08-19 | 2019-08-19 | Servo limited angle torque motor |
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| CN201910764091.9A CN110581614B (en) | 2019-08-19 | 2019-08-19 | Servo limited angle torque motor |
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| CN110581614B CN110581614B (en) | 2021-02-05 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114123565A (en) * | 2021-11-01 | 2022-03-01 | 西安航天精密机电研究所 | Limited corner torque motor with rotor free of radial runout |
| CN114123699A (en) * | 2021-11-16 | 2022-03-01 | 华中科技大学 | Servo dual-redundancy limited-angle torque motor |
| CN114123563A (en) * | 2021-10-18 | 2022-03-01 | 西安航天精密机电研究所 | Limited corner torque motor with low torque fluctuation |
| WO2023179856A1 (en) * | 2022-03-23 | 2023-09-28 | Riester Familien-Holding KG | Actuator |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114123563A (en) * | 2021-10-18 | 2022-03-01 | 西安航天精密机电研究所 | Limited corner torque motor with low torque fluctuation |
| CN114123563B (en) * | 2021-10-18 | 2023-01-10 | 西安航天精密机电研究所 | Limited corner torque motor with low torque fluctuation |
| CN114123565A (en) * | 2021-11-01 | 2022-03-01 | 西安航天精密机电研究所 | Limited corner torque motor with rotor free of radial runout |
| CN114123565B (en) * | 2021-11-01 | 2022-12-20 | 西安航天精密机电研究所 | Limited corner torque motor with rotor free of radial runout |
| CN114123699A (en) * | 2021-11-16 | 2022-03-01 | 华中科技大学 | Servo dual-redundancy limited-angle torque motor |
| WO2023179856A1 (en) * | 2022-03-23 | 2023-09-28 | Riester Familien-Holding KG | Actuator |
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