CN204761194U - Be applied to robot joint's high performance compact servomotor - Google Patents
Be applied to robot joint's high performance compact servomotor Download PDFInfo
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- CN204761194U CN204761194U CN201520485095.0U CN201520485095U CN204761194U CN 204761194 U CN204761194 U CN 204761194U CN 201520485095 U CN201520485095 U CN 201520485095U CN 204761194 U CN204761194 U CN 204761194U
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Abstract
The utility model discloses a be applied to robot joint's high performance compact servomotor, this servomotor include stator, rotor, sensor, shell and end cover, the structure that a cheng yuan is pieced together in the wire winding of stator adoption monomer, the rotor adopts the whole annular magnet steel who magnetizes of multipolar logarithm, and the outer circumference of annular magnet steel is equipped with the stator, and the outer circumference of stator is equipped with the shell, and the shell both ends are sealed with the end cover, and shaft ends is equipped with the sensor. The utility model has the advantages that reduce the volume of robot, improve production efficiency, improve servomotor's power density, improve the servo's of robot control accuracy.
Description
Technical field
The utility model relates to a kind of servomotor, particularly a kind of compact high performance servomotor being applied to joint of robot.
Technical background
At present, robot to flexible, light, high accuracy, manageable future development, this with regard to require the servomotor being arranged on robot arm joint place possess volume little, exert oneself large, control accurately, the feature of fast response time.But the stator of traditional servo motor adopts the mode of artificial coiling at present, and copper factor is low, and End winding takes up room greatly, makes servomotor volume larger; And rotor magnetic steel adopts the mode first magnetizing and bond afterwards usually, because magnet steel has magnetic, certain machine error can be produced during bonding, because turning cutting tool is metal material, cannot carry out the overall processing of rotor after magnet steel bonding again, the axiality of rotor is lower, and the void dimension of compact high performance servomotor is usually less, if rotor machining precision is lower, the danger that rotor collision occurs during motor running can be caused; In addition, due to the existence of stator teeth groove, during motor running, stator teeth groove and rotor magnetic pole interphase interaction can produce slot effect, make the induced electromotive force in stator winding produce higher harmonic components, when causing motor running, torque pulsation is comparatively large, reduces the control precision of servo system.Above-mentioned defect needs to improve.
Utility model content
Technical problem to be solved in the utility model is the servomotor that will provide a kind of compact high performance, is applied to robot arm joint place, can reduce the volume of robot, increases power density, increases moment, improves control precision.
In order to solve above technical problem, the utility model provides a kind of compact high performance servomotor being applied to joint of robot, comprise stator, rotor, transducer, shell and end cap, described stator adopts the structure of monomer coiling piece Cheng Yuan, the annular magnetic steel that described rotor adopts multipole logarithm entirety to magnetize, annular magnetic steel excircle is equipped with stator, and stator excircle is equipped with shell, shell two ends end cap is closed, and roller end is equipped with transducer.
Described stator adopts the structure of monomer coiling piece Cheng Yuan, for the piece monomer unshakable in one's determination after coiling is spliced into circle, utilizes laser welding technology to be welded stitching portion, forms a complete stator.
Described piece monomer unshakable in one's determination, for drum iron-core lamination closed assembly becomes piece monomer unshakable in one's determination, after installing insulating paper and insulation framework, is put on automatic coil winding machine and carries out automatic winding.
The annular magnetic steel that described rotor adopts multipole logarithm entirety to magnetize, for the annular magnetic steel do not magnetized is bonded in rotating shaft, again fine finishining is carried out to rotor each section of outer surface, after the circularity guaranteeing rotor magnetic steel and rotating shaft each section of outer surface and axiality, then the rotor packaging magnet steel is put into magnet charger and carry out multipole logarithm entirety and magnetize.
Due to the structure that described rotor adopts annular magnetic steel entirety to magnetize, the machining accuracy of rotor outer circle is higher, and compared with tile type magnet steel, adopt the motor of annular magnetic steel structure without the need at magnet steel cylindrical take-up strap band, therefore the size of motor air gap suitably can be reduced when design of electrical motor, reach the object increasing air-gap field energy storage and reduce leakage field, thus improve the power density of servomotor.The air gap flux density of described compact high performance servomotor is comparatively large, and the relating to parameters such as the void dimension of air gap flux density and motor, permanent magnet performance, therefore determine that the foundation of monolateral void dimension σ is:
σ≤Φm/Kσ（1）
Wherein: Φ m is the magnetic flux that permanent magnet sends;
K σ is the parameter relevant with magnet steel shape with motor length, pole span.
Adopt the mode that magnetizes of oblique pole during described magnetizing, oblique polar angle degree θ is:
θ=2π/N（2）
In formula: N is the least common multiple of stator tooth number Z and rotor magnetic pole logarithm 2p.
According to the Parameter analysis of motor space vector, when skewed-rotor angle is θ, the first-harmonic skew coefficient lambda of rotor magnetic pole is:
λ=sin(p·θ)/(p·θ)（3）
For high order harmonic component, oblique polar angle degree is equivalent to the product of harmonic number and the oblique polar angle degree of reality, and therefore, the high order harmonic component skew coefficient lambda i of rotor magnetic pole is:
λi=sin(p·i·θ)/(p·i·θ)（i=3,5,7······）（4）
Described transducer adopts multi-turn absolute optical encoder, during assembling, transducer is directly installed on roller end, owing to carrying out fine finishining to rotor before magnet steel does not magnetize, therefore rotor each section of circularity and axiality higher, the quality of fit of rotating shaft and transducer is also higher, make sensor feedback signal more accurate, thus the control precision of robot servo's system can be improved.
Superior effect of the present utility model is:
1) stator adopts assembled piece type structure, when carrying out coiling, operating space is comparatively large, in groove winding and End winding can marshalling compact, copper factor is high and winding overhang is less, thus improve the utilance in motor interior space, make motor overall structure compacter.Be applied in joint of robot place, the volume of robot can be reduced, to reach the object of robot movable dexterity;
2) stator adopts assembled piece type structure, and utilizes coil winding machine to carry out automatic winding, can enhance productivity, and is applicable to batch production;
3) rotor adopts the mode that multipole logarithm entirety magnetizes, before not magnetizing, carry out the turnery processing of rotor, improve rotor size precision, solving on the one hand metal knife cannot the problem of turning magnetic parts, on the other hand, the danger producing collision when motor runs between rotor is avoided;
4) rotor adopts the structure that annular magnetic steel entirety magnetizes, the machining accuracy of rotor outer circle is higher, and compared with tile type magnet steel, adopt the motor of annular magnetic steel structure without the need at magnet steel cylindrical take-up strap band, therefore the size of motor air gap suitably can be reduced when design of electrical motor, reach the object increasing air-gap field energy storage and reduce leakage field, thus improve the power density of servomotor;
5) rotor adopts oblique electrode structure, can weaken slot effect, suppresses the higher harmonic components of induced electromotive force in stator winding, thus reduces torque pulsation, improves the control precision of robot servo's system;
6) transducer adopts multi-turn absolute optical encoder, and rotor, at the advance row turnery processing that magnetizes, improves the quality of fit of transducer and rotor, makes sensor feedback signal more accurate, thus can improve the control precision of robot servo's system.
Accompanying drawing explanation
The Figure of description forming a application's part is used to provide further understanding of the present utility model, and schematic description and description of the present utility model, for explaining the utility model, is not formed improper restriction of the present utility model.In the accompanying drawings:
Fig. 1 is the utility model structural representation;
Fig. 2 is stator processing flow chart of the present utility model;
Fig. 3 is rotor structure schematic diagram of the present utility model;
Fig. 4 is magnetizing schematic diagram of the present utility model;
Number in the figure illustrates:
1-stator; 2-rotor;
3-transducer; 4-shell;
5-end cap;
101-drum iron-core lamination; 102-piece monomer unshakable in one's determination;
103-insulating paper; 104-insulation framework;
201-annular magnetic steel; 202-rotating shaft.
Embodiment
Below in conjunction with accompanying drawing, embodiment of the present utility model is described in detail, but the multitude of different ways that the utility model can be defined by the claims and cover is implemented.
The utility model is described in detail below in conjunction with accompanying drawing.
Fig. 1 shows structural representation of the present utility model.As shown in Figure 1, the utility model provides a kind of compact high performance servomotor being applied to joint of robot, comprise stator 1, rotor 2, transducer 3, shell 4 and end cap 5, described stator 1 adopts the structure of monomer coiling piece Cheng Yuan, coil winding machine is utilized to carry out automatic winding, the annular magnetic steel that described rotor 2 adopts multipole logarithm entirety to magnetize, and adopt the mode of oblique pole, described transducer 3 adopts multi-turn absolute optical encoder.
Described stator 1 is made up of several piece monomers 102 unshakable in one's determination; stator processing flow process as shown in Figure 2; first drum iron-core lamination 101 closed assembly is become piece monomer 102 unshakable in one's determination; again insulating paper 103 and insulation framework 104 are in place; realize the object of insulation protection; then the piece monomer 102 unshakable in one's determination after insulation is placed on automatic coil winding machine and carries out automatic winding; then the piece monomer 102 after coiling is spliced into circle; stitching portion welds by recycling laser welding technology, forms a complete stator 1.
As shown in Figure 3, described rotor 2 adopts annular magnetic steel 201, described annular magnetic steel 201 is sintered neodymium iron boron material, the annular magnetic steel 201 do not magnetized is enclosed within rotating shaft 202, blend compounds water bonding firmly, after glue is air-dry, the circularity of each section and axiality are checked, especially magnet steel section, export shaft part, the circularity of bearing installation end and transducer construction section and axiality, the part lower to precision is processed, after the circularity guaranteeing annular magnetic steel 201 and rotating shaft 202 each sections of outer surfaces and axiality, again the rotor 2 packaging magnet steel is put into magnet charger to carry out multipole logarithm entirety and magnetize.
Due to the structure that described rotor 2 adopts annular magnetic steel 201 entirety to magnetize, the machining accuracy of rotor 2 cylindrical is higher, and compared with tile type magnet steel, adopt the motor of annular magnetic steel structure without the need at magnet steel cylindrical take-up strap band, therefore the size of motor air gap suitably can be reduced when design of electrical motor, reach the object increasing air-gap field energy storage and reduce leakage field, thus improve the power density of servomotor.The air gap flux density of described compact high performance servomotor is comparatively large, and the relating to parameters such as the void dimension of air gap flux density and motor, permanent magnet performance, therefore determine that the foundation of monolateral void dimension σ is:
σ≤Φm/Kσ
In formula: Φ m is the magnetic flux that permanent magnet sends;
K σ is the parameter relevant with magnet steel shape with motor effective length, pole span.
The mode that described rotor 2 adopts entirety to magnetize, improves circularity and the axiality of each section of rotor, therefore works as when motor designs and reduces void dimension, in the present embodiment, the monolateral void dimension of servomotor is designed to 0.3mm.
Described rotor 2 adopts the mode that magnetizes of oblique pole when magnetizing, oblique pole angle [alpha] is:
α=360°/N，
In formula: N is the least common multiple of stator tooth number Z and rotor magnetic pole logarithm 2p.
As shown in Figure 3, in the present embodiment, stator number of teeth Z=12, magnetic pole logarithm 2p=8, least common multiple N=24, according to the method described above, gets oblique polar angle degree θ=π/12, known by calculating: the first-harmonic skew coefficient of rotor magnetic pole is that λ=sin (4 π/12)/(4 π/12)=0.827,3,5,7 time skew coefficient is respectively λ 3=0, λ 5=-0.165, λ 7=0.118.
In the every phase winding of motor, the effective value of induced electromotive force is:
Ei＝4.44fwλiΦ（i=1,3,5,7······）（5）
In formula: f is the frequency of motor;
W is the number of turn that is often in series;
Φ is main flux.
From formula (4): the induced electromotive force in winding is directly proportional to the skew coefficient of rotor magnetic pole.
As can be seen from above-mentioned analysis: rotor adopt tiltedly extremely after, the higher harmonic components of induced electromotive force obtains good suppression, reaches the object improving EMF waveform, thus torque pulsation when reducing motor running.
After stator 1 and rotor 2 machine, stator 1, rotor 2 and other parts are assembled, then the installation of transducer 3 is carried out, transducer of the present utility model adopts multi-turn absolute optical encoder, during assembling, transducer 3 is directly installed on rotating shaft 202 end, owing to processing rotor 2 before magnet steel does not magnetize, therefore rotor 2 each sections of circularity and axiality higher, rotating shaft 202 is also higher with the quality of fit of transducer 3, make transducer 3 feedback signal more accurate, thus the control precision of robot servo's system can be improved.
The foregoing is only preferred embodiments of the present utility model, be not limited to the utility model, for a person skilled in the art, the utility model can have various modifications and variations.All within spirit of the present utility model and principle, any amendment done, equivalent replacement, improvement etc., all should be included within protection range of the present utility model.
Claims (7)
1. one kind is applied to the compact high performance servomotor of joint of robot, it is characterized in that: this servomotor comprises stator, rotor and transducer, described stator adopts the structure of monomer coiling piece Cheng Yuan, the annular magnetic steel that described rotor adopts multipole logarithm entirety to magnetize, annular magnetic steel excircle is equipped with stator, stator excircle is equipped with shell, and shell two ends end cap is closed, and roller end is equipped with transducer.
2. the compact high performance servomotor being applied to joint of robot according to claim 1, is characterized in that: described stator adopts the structure of monomer coiling piece Cheng Yuan, for the piece monomer welding unshakable in one's determination after coiling is spliced into circle.
3. the compact high performance servomotor being applied to joint of robot according to claim 2, is characterized in that: described piece monomer unshakable in one's determination, for drum iron-core lamination closed assembly becomes piece monomer unshakable in one's determination, and automatic winding after installing insulating paper and insulation framework.
4. the compact high performance servomotor being applied to joint of robot according to claim 1, it is characterized in that: the annular magnetic steel that described rotor adopts multipole logarithm entirety to magnetize, for the annular magnetic steel do not magnetized is bonded in rotating shaft, after the circularity of rotor each section of outer surface and axiality fine finishining, carry out multipole logarithm entirety and magnetize.
5. a kind of compact high performance servomotor being applied to joint of robot according to claim 4, it is characterized in that: described rotor adopts the mode that magnetizes of oblique pole, oblique pole angle [alpha] is:
α=360°/N，
In formula: N is the least common multiple of stator tooth number Z and rotor magnetic pole logarithm 2p.
6. the compact high performance servomotor being applied to joint of robot according to claim 1, it is characterized in that: monolateral void dimension σ≤Φ m/K σ of described servomotor, wherein Φ m is the magnetic flux that permanent magnet sends, and K σ is the parameter relevant with magnet steel shape with motor length, pole span.
7. the compact high performance servomotor being applied to joint of robot according to claim 1, is characterized in that: described transducer is multi-turn absolute optical encoder.
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| CN201520485095.0U CN204761194U (en) | 2015-07-08 | 2015-07-08 | Be applied to robot joint's high performance compact servomotor |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105743236A (en) * | 2016-04-26 | 2016-07-06 | 佛山市得毅工业科技有限公司 | Non-alveolar splicing stator of servo motor and assembly process of non-alveolar splicing stator |
| CN108712032A (en) * | 2018-07-11 | 2018-10-26 | 赵欣 | A kind of production method and special stater iron core press-loading apparatus of high-precision servo motor |
| CN112018910A (en) * | 2020-08-27 | 2020-12-01 | 新动力电机（荆州）有限公司 | Servo motor |
-
2015
- 2015-07-08 CN CN201520485095.0U patent/CN204761194U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105743236A (en) * | 2016-04-26 | 2016-07-06 | 佛山市得毅工业科技有限公司 | Non-alveolar splicing stator of servo motor and assembly process of non-alveolar splicing stator |
| CN108712032A (en) * | 2018-07-11 | 2018-10-26 | 赵欣 | A kind of production method and special stater iron core press-loading apparatus of high-precision servo motor |
| CN108712032B (en) * | 2018-07-11 | 2023-08-01 | 江西拓又达科技集团有限公司 | Manufacturing method of high-precision servo motor and special stator core press-fitting device |
| CN112018910A (en) * | 2020-08-27 | 2020-12-01 | 新动力电机（荆州）有限公司 | Servo motor |
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