CN209170079U - A kind of servo motor of embedded spoke type p-m rotor - Google Patents
A kind of servo motor of embedded spoke type p-m rotor Download PDFInfo
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- CN209170079U CN209170079U CN201822187845.2U CN201822187845U CN209170079U CN 209170079 U CN209170079 U CN 209170079U CN 201822187845 U CN201822187845 U CN 201822187845U CN 209170079 U CN209170079 U CN 209170079U
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Abstract
The utility model discloses a kind of servo motor of embedded spoke type p-m rotor, rotor-side embeds spoke type permanent magnet, the polyhedron being made of surface, the bottom surface opposite with surface, left side, right side and two end faces.The left and right side is symmetrical, and left side and right side are the warpage face that multiple planes are constituted, and the broken line on warpage face is parallel with shaft.The utility model, rotor-side permanent magnetism body side surface is that warpage face improves rotor side pole embrace compared with rectangular configuration rotor-side permanent magnet, so that the reluctance torque of motor is more improved, to improve the torque density and overload capacity of motor.In addition permanent magnet dosage is reduced, further reduced motor manufacturing cost.In Small And Medium Capacity servo motor field, there is more greater trochanter core area close to shaft side, convenient for rotor core close to shaft side every bore slot flexible setting.
Description
Technical field
The present invention relates to a kind of permanent-magnet servo motor, the servo motor of specifically a kind of embedded spoke type p-m rotor.
Background technique
Permanent magnet motor structure is flexible, power density and power factor with higher, is widely used to various different rule
The product servo of lattice.Durface mounted permanent magnet (Surface-mounted Permanent Magnet, SPM) motor, not only structure letter
It is single, it is easy to mass production, and torque ripple is small, is easy to realize it control.In permanent magnet surfaces, often to use
Stainless steel sleeve pipe or high strength fibre, air gap is relatively large between rotor.In order to which the torque for further increasing motor is close
Degree and overload capacity, international some advanced product servos start to gradually adopt built-in permanent magnetic (Interior Permanent
Magnet, IPM) design of electrical motor scheme.Not only air gap is relatively small for such motor, but also has reluctance torque, has higher
Torque density and constant power speed range.As parallel magnetic circuit canonical topology, two adjacent magnetic pole permanent magnets of spoke type rotor
Parallel connection provides every pole magnetic flux, and permanent magnet utilization rate is higher.
Chinese magneto scholar Tang Renyuan academician systematically discussed embedded tangential ipm motor in 1997, which turns
Sub- permanent magnet is rectangular configuration in two-dimensional space (three-dimensional space is cuboid), it is indicated that one pole span of motor of this kind of topological structure
Under magnetic flux provided by two neighboring magnetic pole parallel, can get biggish every pole magnetic flux.When motor pole number is more, due to having two
A permanent magnetism body section provides every pole magnetic flux to air gap, and spoke type ipm motor can further improve air gap flux density, to provide enough
Every pole magnetic flux.Especially spoke type ipm motor reluctance torque with higher, the accounting in total electromagnetic torque are even high
Up to 40%, be conducive to improve motor overload ability and power density, and the constant power speed range of motor can be further expanded.So
And such topology have biggish leakage field ratio, therefore design when need to carry out it is necessary every magnetic be arranged.
In servo motor field, rotor-side mainstay scheme is still SPM scheme at present.But has Japan in recent years
Servo motor enterprise gradually releases spoke type ipm motor product, and stator side uses 12 slot fractional-slot concentratred winding closed slots
Tooth yoke separate design scheme, rotor-side use five pairs of spoke type p-m rotors, and close to shaft side setting pentagon every bore,
Permanent magnet is rectangle in the two-dimensional section of rotor.Compared with same specification product, air gap phase between this kind of product stator and rotor
To smaller, motor axial length is relatively small, and by the reluctance torque of output motor, the overload capacity of motor is further mentioned
It rises, torque density with higher and significant competitiveness in similar product.However, due to the utilization of rectangular permanent magnet, relatively
The pole embrace of motor is reduced, thus the rotor can also further improve, to improve the torque density of motor.
Summary of the invention
It is an object of the present invention to overcome defect of the existing technology, a kind of embedded spoke type p-m rotor is proposed
Servo motor, be the spoke type permanent magnetism that spoke type rectangular permanent magnet is changed to that cross section is polygon by existing rotor lateral section
Body relatively increases the pole embrace of motor, so that the torque density of motor is improved.
The present invention embeds the servo motor of spoke type p-m rotor, including stator, rotor and shaft, the rotor are sleeved on
In shaft, the rotor embeds spoke type rotor-side permanent magnet.The spoke type rotor-side permanent magnet is by close to air gap side
The polyhedron that surface, the bottom surface opposite with surface (close to shaft), left side, right side and two end faces are constituted, surface and bottom
Face is parallel, and two end faces are parallel to each other.It is characterized in that: the left side and right side are symmetrical, left side and right side are equal
For the warpage face that multiple planes are constituted, the broken line on warpage face is parallel with shaft.
Preferred embodiment first is that: the left side and right side of the spoke type rotor-side permanent magnet are that two planes are constituted
Warpage face, the cross section (face vertical with shaft) of spoke type rotor-side permanent magnet is hexagonal.
Preferred embodiment second is that: the left side and right side of the spoke type rotor-side permanent magnet are that three planes are constituted
Warpage face, the cross section of spoke type rotor-side permanent magnet is in octagon.
Preferred embodiment third is that: the left side and right side of the spoke type rotor-side permanent magnet are that four planes are constituted
Warpage face, the cross section of spoke type rotor-side permanent magnet is octagonal.
Technical solution of the present invention, the left side and right side of the spoke type rotor-side permanent magnet may each be more flat
The warpage face that face is constituted.
The present invention embeds the servo motor of spoke type p-m rotor, and spoke type rotor-side permanent magnetism body side surface is warpage face, with
Rectangular configuration rotor-side permanent magnet is compared, and rotor side pole embrace is improved, so that the reluctance torque of motor is able to more
It improves, to improve the torque density and overload capacity of motor.In addition permanent magnet dosage is reduced, to further decrease motor
Manufacturing cost, and utilize limited rare earth resources to greatest extent, and reduce to a certain extent environmental pollution and its restoration and protection at
This.In Small And Medium Capacity servo motor field, there is more greater trochanter core area close to shaft side, convenient for rotor core close to shaft
Setting of the side every bore.
Detailed description of the invention
Fig. 1 is the servo motor sectional schematic diagram of the embedded spoke type p-m rotor of the present invention.
Fig. 2 is the servo motor rotor and spoke type rotor-side magnet structure of the embedded spoke type p-m rotor of the present invention
The cross section of schematic diagram, spoke type rotor-side permanent magnet is rendered as hexagon.Wherein, Fig. 2 (a) is rotor-side permanent magnet cross-section diagram
(a 1<a 2,b 1 = b 2), Fig. 2 (b) is rotor cross-section diagram.In figurea 1Witha 2Only position instruction is not representing representative put down
The projection of face width.
Fig. 3 is the servo motor rotor and spoke type rotor-side magnet structure of the embedded spoke type p-m rotor of the present invention
The cross section of schematic diagram, spoke type rotor-side permanent magnet is rendered as hexagon.Wherein, Fig. 3 (a) is rotor-side permanent magnet cross-section diagram
(a 1>a 2,b 1 = b 2), Fig. 3 (b) is rotor cross-section diagram.In figurea 1Witha 2Only position instruction is not representing representative put down
The projection of face width.
Fig. 4 is the servo motor rotor and spoke type rotor-side magnet structure of the embedded spoke type p-m rotor of the present invention
The cross section of schematic diagram, spoke type rotor-side permanent magnet is rendered as hexagon.Wherein, Fig. 4 (a) is rotor-side permanent magnet cross-section diagram
(a 1 = a 2,b 1 = b 2), Fig. 4 (b) is rotor cross-section diagram.In figurea 1Witha 2Only position instruction is not representing representative put down
The projection of face width.
Fig. 5 is the servo motor rotor and spoke type rotor-side magnet structure of the embedded spoke type p-m rotor of the present invention
The cross section of schematic diagram, spoke type rotor-side permanent magnet is rendered as octagon.Wherein, Fig. 5 (a) is rotor-side permanent magnet cross-section diagram
(a 1<a 2,a 3 =(a 1+a 2),b 1 = b 2), Fig. 5 (b) is rotor cross-section diagram.In figurea 1Witha 2Only position instruction is not table
Show the projection of representative plane width.
Fig. 6 is the servo motor rotor and spoke type rotor-side magnet structure of the embedded spoke type p-m rotor of the present invention
The cross section of schematic diagram, spoke type rotor-side permanent magnet is rendered as octagon.Wherein, Fig. 6 (a) is rotor-side permanent magnet cross-section diagram
(a 1>a 2,a 3 =(a 1+a 2),b 1 = b 2), Fig. 6 (b) is rotor cross-section diagram.In figurea 1Witha 2Only position instruction is not table
Show the projection of representative plane width.
Fig. 7 is the servo motor rotor and spoke type rotor-side magnet structure of the embedded spoke type p-m rotor of the present invention
The cross section of schematic diagram, spoke type rotor-side permanent magnet is rendered as octagon.Wherein, Fig. 7 (a) is rotor-side permanent magnet cross-section diagram
(a 1= a 2,a 3 =(a 1+a 2),b 1 = b 2), Fig. 7 (b) is rotor cross-section diagram.In figurea 1Witha 2Only position instruction is not table
Show the projection of representative plane width.
Fig. 8 is the servo motor rotor and spoke type rotor-side magnet structure of the embedded spoke type p-m rotor of the present invention
The cross section of schematic diagram, spoke type rotor-side permanent magnet is rendered as decagon.Wherein, Fig. 8 (a) is rotor-side permanent magnet cross-section diagram
(a 1=a 2=a 3=a 4,b 1 = b 2), Fig. 8 (b) is rotor cross-section diagram.In figurea 1、a 2、a 3、a 4Only position instruction is not representing institute
The projection of the plane width of representative.
Fig. 9 is the servo motor rotor and spoke type rotor-side magnet structure of the embedded spoke type p-m rotor of the present invention
The cross section of schematic diagram, spoke type rotor-side permanent magnet is rendered as dodecagon.Wherein, Fig. 9 (a) is rotor-side permanent magnetism body section
Figure (a 1=a 2=a 3=a 4,a 5=a 1+a 2+a 3+a 4), Fig. 9 (b) is rotor cross-section diagram.In figurea 1、a 2、a 3、a 4Only position instruction,
It is not representing the projection of representative plane width.
Specific embodiment
Below with reference to embodiment and attached drawing, invention is further described in detail.
As shown in Figure 1, the present invention embeds the servo motor of spoke type p-m rotor, including stator, rotor and shaft, it is described
Rotor is sleeved in shaft.Stator side uses 12 slot fractional-slot concentratred winding design schemes, and rotor-side uses 5 pairs of spoke type permanent magnetism
Rotor.The spoke type rotor-side permanent magnet is by surface, the bottom surface opposite with surface (close to shaft), left side, right side
The polyhedron constituted with two end faces, surface is parallel with bottom surface, and two end faces are parallel to each other.In figure, 3 be stator core, and 4 be electricity
Pivot winding.
Embodiment 1:
It is spoke type ipm motor rotor-side permanent magnet 1, the permanent magnet is left and right as shown in Fig. 2 (a), Fig. 3 (a), Fig. 4 (a)
Side be made of two planes warpage face (m=2), the broken line in warpage face is parallel with shaft 5, and the permanent magnet cross section is hexagonal.
The width dimensions of two planes are respectivelya 1Witha 2, meeta 1<a 2Ora 1>a 2Ora 1=a 2.The permanent magnet surfaces width isb 2,
Bottom width isb 1, meetb 1<b 2Orb 1>b 2Orb 1=b 2.Therefore, topological selection schemenMeet relationshipn=3 m , in formulam=2
(quantity for constituting the plane in warpage face), therefore share 9 kinds of topological selection schemes.
It is spoke type ipm motor rotor core 2,2 providing holes of rotor core as shown in Fig. 2 (b), Fig. 3 (b), Fig. 4 (b)
Slot is uniformly distributed along rotor surface is radial, and shape is adapted to magnet structure, for placing the different direction of magnetizations
Permanent magnet.The part of close rotor surface is the main magnetic flux path of permanent magnet between two hole slots, and is leaned between two hole slots
The part of nearly shaft is mainly inoperative magnetic flux path, and area is further widened, and can add necessary setting every magnetic as needed
It sets.
Embodiment 2:
It is spoke type ipm motor rotor-side permanent magnet 1, the permanent magnet is left and right as shown in Fig. 5 (a), Fig. 6 (a), Fig. 7 (a)
Side be made of three planes warpage face (m=3), the broken line in warpage face is parallel with shaft 5, which is in octagon.
Warpage face is by the plane width of shaft sidea 1, it is close to the plane width of air gap sidea 2, meeta 1<a 2Ora 1>a 2Ora 1=a 2, also need to meeta 3< (a 1+a 2) ora 3=(a 1+a 2) ora 3> (a 1+a 2).The permanent magnet surfaces width isb 2, bottom width isb 1, meetb 1<b 2Orb 1>b 2Orb 1=b 2.Therefore, topological selection schemenMeet relationshipn=3 m , in formulam=3, therefore share 27
The topological selection scheme of kind.
It is spoke type ipm motor rotor core 2 as shown in Fig. 5 (b), Fig. 6 (b), Fig. 7 (b), hole slot is arranged in rotor core,
It is uniformly distributed along rotor surface is radial, and shape is adapted to magnet structure, for placing the different direction of magnetizations
Permanent magnet.The part of close rotor surface is the main magnetic flux path of permanent magnet between two hole slots, and close between two hole slots
The part of shaft is mainly inoperative magnetic flux path, and area is further widened, and can be added as needed necessary every magnetic setting.
Embodiment 3:
It as shown in Figure 8 (a), is spoke type ipm motor rotor-side permanent magnet 1, the permanent magnet left and right side is by four planes
Composition warpage face (m=4), the broken line in warpage face is parallel with shaft 5, and the permanent magnet cross section is octagonal.Shaft side is leaned in warpage face
Plane width bea 1, the width of plane adjacent thereto isa 3, meeta 1<a 3Ora 1=a 3Ora 1>a 3, warpage face is close to gas
The plane width of gap side isa 2, the width of plane adjacent thereto isa 4, meeta 2<a 4Ora 2=a 4Ora 2>a 4, also need to meet
(a 1+a 3) < (a 2+a 4) or (a 1+a 3)=(a 2+a 4) or (a 1+a 3) > (a 2+a 4).The permanent magnet surfaces width isb 2, bottom surface is wide
Degree isb 1, meetb 1<b 2Orb 1=b 2Orb 1>b 2.Therefore, topological selection schemenMeet relationshipn=3 m , in formulam=4, therefore altogether
There are 81 kinds of topological selection schemes.
It as shown in Figure 8 (b), is spoke type ipm motor rotor core 2, rotor core is arranged hole slot, is in along rotor surface
It is radial to be uniformly distributed, and shape is adapted to magnet structure, for placing the permanent magnet of the different direction of magnetizations.Two hole slots
Between close to the part of rotor surface be the main magnetic flux path of permanent magnet, and be mainly close to the part of shaft between two hole slots
Inoperative magnetic flux path, area are further widened, and can be added as needed necessary every magnetic setting.
Embodiment 4:
It as shown in Fig. 9 (a), is spoke type ipm motor rotor-side permanent magnet 1, the permanent magnet left and right side is by five planes
Composition warpage face (m=5), the broken line in warpage face is parallel with shaft 5, which is in dodecagon.Shaft is leaned in warpage face
The plane width of side isa 1, plane width adjacent thereto isa 3, meeta 1<a 3Ora 1=a 3Ora 1>a 3, warpage face is close to gas
The plane width of gap side isa 2, plane width adjacent thereto isa 4, meeta 2<a 4Ora 2=a 4Ora 2>a 4, also need to meet (a 1
+a 3) < (a 2+a 4) or (a 1+a 3)=(a 2+a 4) or (a 1+a 3) > (a 2+a 4), the plane width among warpage face isa 5, meeta 5
< (a 1+a 2+a 3+a 4) ora 5=(a 1+a 2+a 3+a 4) ora 5> (a 1+a 2+a 3+a 4).The permanent magnet surfaces width isb 2, bottom surface is wide
Degree isb 1, meetb 1<b 2Orb 1=b 2Orb 1>b 2.Therefore, topological selection schemenMeet relationshipn=3 m , in formulam=5, therefore altogether
There are 243 kinds of topological selection schemes.
It as shown in Figure 9 (b), is spoke type ipm motor rotor core 2, rotor core is arranged hole slot, is in along rotor surface
It is radial to be uniformly distributed, and shape is adapted to magnet structure, for placing the permanent magnet of the different direction of magnetizations.Two hole slots
Between close to the part of rotor surface be the main magnetic flux path of permanent magnet, and be mainly close to the part of shaft between two hole slots
Inoperative magnetic flux path, area are further widened, and can be added as needed necessary every magnetic setting.
Spoke type permanent-magnet structure topology design scheme described in above-described embodiment can be applied not only to rotation internal rotor permanent-magnetic
It in motor, can also be applied in outer-rotor permanent magnet motor, apply also in linear motor.Belong to the protection that the present invention limits
Range.
Claims (5)
1. a kind of servo motor of embedded spoke type p-m rotor, including stator, rotor and shaft, the rotor are sleeved on shaft
On, the rotor embeds spoke type rotor-side permanent magnet；The spoke type rotor-side permanent magnet be by close to air gap side surface, with
The polyhedron prism that the opposite bottom surface in surface, left side, right side and two end faces are constituted, surface is parallel with bottom surface, two ends
Face is parallel to each other；It is characterized in that: the left side and right side are symmetrical, left side and right side are that multiple planes are constituted
Warpage face, the broken line on warpage face is parallel with shaft.
2. the servo motor of a kind of embedded spoke type p-m rotor according to claim 1, it is characterized in that: the spoke type
The left side and right side of rotor-side permanent magnet be two planes constitute warpage face, spoke type rotor-side permanent magnet it is cross-section
Face is hexagonal.
3. the servo motor of a kind of embedded spoke type p-m rotor according to claim 1, it is characterized in that: the spoke type
The left side and right side of rotor-side permanent magnet be three planes constitute warpage face, spoke type rotor-side permanent magnet it is cross-section
Face is in octagon.
4. the servo motor of a kind of embedded spoke type p-m rotor according to claim 1, it is characterized in that: the spoke type
The left side and right side of rotor-side permanent magnet be four planes constitute warpage face, spoke type rotor-side permanent magnet it is cross-section
Face is octagonal.
5. the servo motor of a kind of embedded spoke type p-m rotor according to claim 1, it is characterized in that: the rotor is
Internal rotor or outer rotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201822187845.2U CN209170079U (en) | 2018-12-25 | 2018-12-25 | A kind of servo motor of embedded spoke type p-m rotor |
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| CN201822187845.2U CN209170079U (en) | 2018-12-25 | 2018-12-25 | A kind of servo motor of embedded spoke type p-m rotor |
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| CN209170079U true CN209170079U (en) | 2019-07-26 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109474096A (en) * | 2018-12-25 | 2019-03-15 | 南京埃斯顿自动化股份有限公司 | A kind of servo motor of embedded spoke type p-m rotor |
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2018
- 2018-12-25 CN CN201822187845.2U patent/CN209170079U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109474096A (en) * | 2018-12-25 | 2019-03-15 | 南京埃斯顿自动化股份有限公司 | A kind of servo motor of embedded spoke type p-m rotor |
| WO2020133874A1 (en) * | 2018-12-25 | 2020-07-02 | 南京埃斯顿自动化股份有限公司 | Servo motor having interior spoke-type permanent magnet rotor |
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