CN210518071U - Self-locking permanent magnet synchronous servo motor with high integration level - Google Patents
Self-locking permanent magnet synchronous servo motor with high integration level Download PDFInfo
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- CN210518071U CN210518071U CN201921371693.XU CN201921371693U CN210518071U CN 210518071 U CN210518071 U CN 210518071U CN 201921371693 U CN201921371693 U CN 201921371693U CN 210518071 U CN210518071 U CN 210518071U
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Abstract
A self-locking permanent magnet synchronous servo motor with high integration level, comprising: stator module, rotor subassembly, casing subassembly, electric connector, electromagnetic lock, encoder, deep groove ball bearing. The electric connector sets up and is used for realizing electrical connection with external equipment in the outside of casing subassembly, and electromagnetic lock, encoder and stator module all realize electrical connection through cable and electric connector. The rotor assembly includes: a drive shaft; one end of the transmission shaft penetrates through the shell assembly to be connected with the encoder, the other end of the transmission shaft extends out of the shell assembly to be connected with an external movement mechanism, and the electromagnetic lock and the stator assembly are sequentially sleeved on the transmission shaft from one end to the other end of the transmission shaft; the axis of the transmission shaft and the axis of the electromagnetic lock are collinear; the electromagnetic lock is fixedly connected with the shell assembly; the deep groove ball bearing is used for limiting the axial positions of the electromagnetic lock and the transmission shaft. The utility model has the advantages of reliable operation, high specific power, small volume, high integration level and light weight.
Description
Technical Field
The utility model relates to a have high integration from locking permanent magnetism synchronous servo motor belongs to aerospace, industry electric power servo transmission technical field, concretely relates to motor-electromagnetic lock electromechanics actuates system with high specific power permanent magnetism synchronous motor.
Background
The electromechanical actuating system is widely applied to strategic weapon models by virtue of the advantages of high dynamic response, high reliability, high power density and the like, and the motor is used as a servo power element and forms an electromechanical actuator together with a speed reduction device (a gear box, a planetary roller screw and the like). The displacement (indirect measurement) of the electromechanical actuator and the rotation angle signal measurement of the servo motor are realized through the magnetic encoder, a closed-loop control algorithm is operated in the control driver, and the electromechanical actuator is controlled to drive the engine spray pipes or the air rudders at all stages to swing according to the control instruction requirements.
At present, a servo motor with a self-locking function can accurately control the position of an actuator, and is gradually applied to the position control link of an electric steering engine. However, most of the electromagnetic locks and the servo motors are simply integrated externally, the effective clearance of the electromagnetic locks is not well guaranteed, and the axial movement of the servo motor shaft may cause the failure of the electromagnetic locks due to the overlarge actual clearance.
SUMMERY OF THE UTILITY MODEL
The technical solution problem of the utility model is that: the defects of the prior art are overcome, the self-locking permanent magnet synchronous servo motor with high integration level is provided, the inner space of the servo motor is effectively utilized, the structural compactness and the integration of the self-locking servo motor are improved, the improved design is carried out on the structure of the servo motor, the motor rotor does not have obvious axial float, the effective gap of an electromagnetic lock is ensured, and the reliability of the self-locking servo motor is improved.
The technical scheme of the utility model is that:
a self-locking permanent magnet synchronous servo motor with high integration level, comprising: the device comprises a stator assembly, a rotor assembly, a shell assembly, an electric connector, an electromagnetic lock, an encoder and a deep groove ball bearing;
the electric connector is arranged outside the shell component and used for realizing electric connection with external equipment, and the electromagnetic lock, the encoder and the stator component are electrically connected with the electric connector through cables;
the rotor assembly includes: a drive shaft; one end of the transmission shaft penetrates through the shell assembly to be connected with the encoder, the other end of the transmission shaft extends out of the shell assembly to be connected with an external movement mechanism, and the electromagnetic lock and the stator assembly are sequentially sleeved on the transmission shaft from one end to the other end of the transmission shaft; the axis of the transmission shaft and the axis of the electromagnetic lock are collinear; the electromagnetic lock is fixedly connected with the shell assembly;
the deep groove ball bearing is used for limiting the axial positions of the electromagnetic lock and the transmission shaft.
The electromagnetic lock includes: the electromagnetic lock comprises an electromagnetic lock stator and an electromagnetic lock rotor; the deep groove ball bearing includes: a left bearing;
the electromagnetic lock stator and the electromagnetic lock rotor can rotate relatively around the axis of the transmission shaft;
the transmission shaft is the step shaft, and left bearing suit is on the transmission shaft, left side bearing is located casing subassembly with between the electromagnetic lock, the inner circle of left side bearing is used for the restriction the axial position of electromagnetic lock rotor makes the terminal surface of electromagnetic lock rotor is hugged closely the step face of step shaft, the outer lane of left side bearing are used for the restriction the axial position of electromagnetic lock stator makes the terminal surface of electromagnetic lock stator with the terminal surface of electromagnetic lock rotor keeps 0.1 ~ 0.25mm in the axial.
Preferably, the method further comprises the following steps: a gap adjusting shim; and the gap adjusting gasket is positioned between the end surface of the left bearing outer ring and the end surface of the electromagnetic lock stator, so that a certain gap is kept between the end surface of the electromagnetic lock stator and the end surface of the electromagnetic lock rotor in the axial direction.
Preferably, the key also comprises a flat key; the flat key is used for limiting the circumferential position between the electromagnetic lock and the transmission shaft.
The stator assembly includes: a stator winding, a stator core;
the stator iron core is fixedly connected with the shell assembly, and stator windings are uniformly distributed in the stator iron core in the circumferential direction; the stator winding is electrically connected with the electric connector through a cable.
The rotor assembly further includes: a permanent magnet and a stainless steel sleeve;
the permanent magnet and the stainless steel sleeve are arranged between the transmission shaft and the stator component, and the permanent magnet and the stainless steel sleeve are sleeved on the transmission shaft from inside to outside.
The rotor assembly further includes: a balance ring; and the axial positions of the permanent magnet and the stainless steel sleeve are limited by the balance ring and the step surface of the transmission shaft.
The housing assembly includes: the motor comprises an end cover bearing seat, an end cover, a motor shell and a shell bearing seat; the deep groove ball bearing further includes: a right bearing;
an end cap bearing seat is positioned between the left bearing and the housing assembly, the end cap bearing seat being configured to limit axial displacement of the left bearing;
the encoder, the end cover bearing seat and the left bearing are sequentially and fixedly connected along the axial direction, and the end cover bearing seat is used for limiting the axial displacement of the outer ring of the left bearing;
the shell bearing seat is connected with the other end of the transmission shaft through a right bearing, and the right bearing is used for limiting the axial position of the transmission shaft.
Preferably, the device further comprises a wave spring;
the wave spring is located between the housing bearing block and the right bearing.
The electromagnetic lock stator is connected with the end cover through a screw.
And the stator core is fixedly connected with the motor shell through a set screw.
Compared with the prior art, the utility model beneficial effect be:
the utility model discloses an electromagnetic lock and motor shaft internal integration adopt the electromagnetic lock stator to the spacing mode of motor bearing's axial, compare with prior art, the utility model discloses can prevent to cause the electromagnetic lock can't guarantee effective working air gap and become invalid because the motor shaft receives axial force pressure. On the other hand, effectively utilize motor inner structure and space, save the shifter of traditional externally mounted electromagnetic lock, directly carry out integrated installation with electromagnetic lock and motor end cover, rotor shaft, improve self-locking servo motor's compact structure nature.
Drawings
FIG. 1 is a schematic axial cross-sectional view of a motor;
FIG. 2 is a schematic axial cross-sectional view of the rotor assembly assembled with the end cap;
FIG. 3 is a schematic radial cross-section of a stator assembly;
fig. 4 is a partially enlarged view of the gap adjusting shim.
Detailed Description
The utility model relates to a have high integration self-locking permanent magnet synchronous servo motor, adopt concentrated winding structure to reduce the winding overhang and realize motor stator lightweight. Through designing motor shafting structure, realize that the servo motor body carries out inside with electromagnetic lock 2 and integrate to prevent that motor axial float from influencing the effective clearance of electromagnetic lock 2, reduce the servo motor volume greatly, improve compact structure nature and improve servo motor operational reliability.
The utility model provides a have from locking function motor comprises stator, rotor, end cover 5, transmission shaft 10, electromagnetic lock 2 etc.. The stator and the rotor are the main parts of the motor for realizing electromechanical energy conversion. The stator consists of a stator winding 6, a stator iron core 7 and a motor shell 8, and the rotor consists of a transmission shaft 10, a stainless steel sleeve 17 and a permanent magnet 16. The utility model discloses power density can reach more than 1.527kW/kg (contain the structure). The motor is a short-time working system, the volume can be reduced by properly improving the current density, the utility model discloses the medium current density is higher than 30A/mm2. The transmission shaft 10 and the electromagnetic lock 2 are designed coaxially, and the whole transmission shaft 10 system is designed at the same time, so that the effective clearance of the electromagnetic lock 2 is ensured through the rotor anti-channeling design.
The utility model is characterized in that:
1. the motor is integrated and designed: with motor body and 2 internal integrations of electromagnetic lock, realize motor structure compactness, reduce self-locking servo motor's volume and weight.
2. The anti-moving structure of the transmission shaft 10 is designed as follows: the interface structure of the motor and the electromagnetic lock 2 is designed, so that the axial direction of the transmission shaft 10 does not have obvious movement, an effective working air gap of the electromagnetic lock 2 is ensured, and the operation reliability of the servo motor is improved.
3. The light design of the medium-high speed motor: the servo motor is designed in a matching way of fractional slot pole slots, the size of the end part of the winding is reduced, and the motor design with small volume and light weight can be realized.
4. The assembly process of the electromagnetic lock 2 of the motor is optimally designed: in assembling process carries out motor and electromagnetic lock 2, assembles rotor and end cover 5 earlier, carries out real-time measurement to 2 actual clearances of electromagnetic lock to the gasket is added and is adjusted 2 clearances of electromagnetic lock between bearing and electromagnetic lock 2, makes 2 clearances of electromagnetic lock satisfy operation requirement.
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
The utility model relates to a have high integration self-locking permanent magnetism synchronous servo motor, as shown in figure 1 and figure 2, include: the electromagnetic lock comprises a stator assembly, a rotor assembly, a shell assembly, an electric connector 1, an electromagnetic lock 2, an encoder 4, a deep groove ball bearing, a wave spring 11, a gap adjusting gasket 13 and a flat key 14;
the electromagnetic lock 2 includes: the electromagnetic lock comprises an electromagnetic lock stator 2-1 and an electromagnetic lock rotor 2-2; the deep groove ball bearing includes: left bearing 121, right bearing 122.
The stator assembly includes: stator winding 6, stator core 7.
The electric connector 1 is arranged outside the shell assembly and used for realizing electric connection with external equipment, and the electromagnetic lock 2, the encoder 4 and the stator assembly are electrically connected with the electric connector 1 through cables;
the rotor assembly includes: the device comprises a transmission shaft 10, a balance ring 15, a permanent magnet 16 and a stainless steel sleeve 17;
one end of a transmission shaft 10 penetrates through the shell assembly to be connected with the encoder 4, the other end of the transmission shaft 10 extends out of the shell assembly to be connected with an external movement mechanism, and the electromagnetic lock 2 and the stator assembly are sequentially sleeved on the transmission shaft 10 from one end to the other end of the transmission shaft 10; the axis of the transmission shaft 10 and the axis of the electromagnetic lock 2 are collinear; the electromagnetic lock 2 is fixedly connected with the shell assembly; the flat key 14 is used for limiting the circumferential position between the electromagnetic lock 2 and the transmission shaft 10, and the deep groove ball bearing is used for limiting the axial position of the electromagnetic lock 2 and the transmission shaft 10.
The electromagnetic lock stator 2-1 and the electromagnetic lock rotor 2-2 can rotate relatively around the axis of the transmission shaft 10; the transmission shaft 10 is a stepped shaft, the left bearing 121 is sleeved on the transmission shaft 10, the left bearing 121 is located between the shell assembly and the electromagnetic lock 2, an inner ring of the left bearing 121 is used for limiting the axial position of the electromagnetic lock rotor 2-2, so that the end face of the electromagnetic lock rotor 2-2 is tightly attached to the stepped surface of the stepped shaft, and an outer ring of the left bearing 121 is used for limiting the axial position of the electromagnetic lock stator 2-1, so that a certain gap is maintained between the end face of the electromagnetic lock stator 2-1 and the end face of the electromagnetic lock rotor 2-2 in the axial direction.
As shown in fig. 4, a gap adjusting shim 13 is located between an end surface of the outer ring of the left bearing 121 and an end surface of the electromagnetic lock stator 2-1, so that a certain gap is maintained between the end surface of the electromagnetic lock stator 2-1 and the end surface of the electromagnetic lock rotor 2-2 in the axial direction.
The stator core 7 is fixedly connected with the shell assembly, and stator windings 6 are uniformly distributed in the stator core 7 in the circumferential direction; the stator winding 6 is electrically connected to the electrical connector 1 by a cable.
The permanent magnet 16 and the stainless steel sleeve 17 are arranged between the transmission shaft 10 and the stator component, and the permanent magnet 16 and the stainless steel sleeve 17 are sleeved on the transmission shaft 10 from inside to outside. The axial positions of the permanent magnet 16 and the stainless steel sleeve 17 are limited by the balance ring 15 and the step surface of the transmission shaft 10.
The housing assembly includes: end cover bearing frame 3, end cover 5, motor casing 8, casing bearing frame 9. An end cap bearing seat 3 is positioned between the left bearing 121 and the shell assembly, and the end cap bearing seat 3 is used for limiting the axial displacement of the left bearing 121;
the two ends of the motor shell 8 are respectively fixedly connected with an end cover 5 and a shell bearing seat 9, a through hole is formed in the center of the end cover 5, the encoder 4, the end cover 5, the end cover bearing seat 3 and the left bearing 121 are sequentially and fixedly connected along the axial direction, and the end cover bearing seat 3 is used for limiting the axial displacement of the outer ring of the left bearing 121; due to the limitation of the end cover bearing seat 3 to the left bearing 121, the whole shafting cannot generate the tendency of left movement.
The housing bearing seat 9 is connected to the other end of the transmission shaft 10 through a right bearing 122, and the right bearing 122 is used for limiting the axial position of the transmission shaft 10.
In order to prevent the deep groove ball bearing from generating heat to cause clamping stagnation in the running process of the motor, a wave spring 11 is arranged between the shell bearing block 9 and the bearing 12. The wave spring 11 is located between the housing bearing block 9 and the right bearing 122. When the wave spring 11 is compressed to enable the whole shafting to generate play rightwards, the electromagnetic lock stator 2-1 limits the left bearing 121, the trend that the whole shafting generates play rightwards is limited, therefore, the left and right play of the whole shafting of the shafting structure is a clearance between an inner ring and an outer ring of the deep groove ball bearing, the effective clearance of the electromagnetic lock 2 is 0.1-0.25 mm, and the effective clearance can cover the play clearance of the shafting. When the actual clearance configuration of electromagnetic lock 2 is reasonable, above-mentioned shafting structure can guarantee that electromagnetic lock 2 reliably works in effective clearance.
The electromagnetic lock stator 2-1 is connected with the end cover 5 through a screw. As shown in fig. 3, the stator core 7 and the motor housing 8 are fixedly connected by a set screw 19.
Those skilled in the art will appreciate that the details of the present invention not described in detail herein are well within the skill of those skilled in the art.
Claims (10)
1. A self-locking permanent magnet synchronous servo motor with high integration level is characterized by comprising: the device comprises a stator assembly, a rotor assembly, a shell assembly, an electric connector (1), an electromagnetic lock (2), an encoder (4) and a deep groove ball bearing;
the electric connector (1) is arranged outside the shell component and used for realizing electric connection with external equipment, and the electromagnetic lock (2), the encoder (4) and the stator component are electrically connected with the electric connector (1) through cables;
the rotor assembly includes: a drive shaft (10);
one end of a transmission shaft (10) penetrates through the shell assembly to be connected with the encoder (4), the other end of the transmission shaft (10) extends out of the shell assembly to be connected with an external movement mechanism, and the electromagnetic lock (2) and the stator assembly are sequentially sleeved on the transmission shaft (10) from one end to the other end of the transmission shaft (10); the axis of the transmission shaft (10) and the axis of the electromagnetic lock (2) are collinear; the electromagnetic lock (2) is fixedly connected with the shell assembly;
the deep groove ball bearing is used for limiting the axial positions of the electromagnetic lock (2) and the transmission shaft (10).
2. A self-locking permanent magnet synchronous servomotor with high integration according to claim 1, characterized in that the electromagnetic lock (2) comprises: the electromagnetic lock comprises an electromagnetic lock stator (2-1) and an electromagnetic lock rotor (2-2); the deep groove ball bearing includes: a left bearing (121);
the electromagnetic lock stator (2-1) and the electromagnetic lock rotor (2-2) can rotate relatively around the axis of the transmission shaft (10);
the transmission shaft (10) is a stepped shaft, a left bearing (121) is sleeved on the transmission shaft (10), the left bearing (121) is located between the shell assembly and the electromagnetic lock (2), the inner ring of the left bearing (121) is used for limiting the axial position of the electromagnetic lock rotor (2-2), so that the end face of the electromagnetic lock rotor (2-2) is tightly attached to the stepped face of the stepped shaft, the outer ring of the left bearing (121) is used for limiting the axial position of the electromagnetic lock stator (2-1), and a certain gap is kept between the end face of the electromagnetic lock stator (2-1) and the end face of the electromagnetic lock rotor (2-2) in the axial direction.
3. The self-locking permanent magnet synchronous servo motor with high integration according to claim 2, further comprising: a gap adjusting shim (13);
and the gap adjusting gasket (13) is positioned between the end surface of the outer ring of the left bearing (121) and the end surface of the electromagnetic lock stator (2-1), so that a certain gap is kept between the end surface of the electromagnetic lock stator (2-1) and the end surface of the electromagnetic lock rotor (2-2) in the axial direction.
4. A self-locking permanent magnet synchronous servo motor with high integration according to any one of claims 2 to 3, further comprising a flat key (14);
the flat key (14) is used for limiting the circumferential position between the electromagnetic lock (2) and the transmission shaft (10).
5. A self-locking permanent magnet synchronous servo motor with high integration according to claim 4, wherein the stator assembly comprises: a stator winding (6) and a stator core (7);
the stator iron core (7) is fixedly connected with the shell assembly, and stator windings (6) are uniformly distributed in the stator iron core (7) in the circumferential direction; the stator winding (6) is electrically connected with the electric connector (1) through a cable.
6. A self-locking permanent magnet synchronous servo motor with high integration according to claim 5, wherein the rotor assembly further comprises: a permanent magnet (16) and a stainless steel sleeve (17);
the permanent magnet (16) and the stainless steel sleeve (17) are arranged between the transmission shaft (10) and the stator assembly, and the permanent magnet (16) and the stainless steel sleeve (17) are sleeved on the transmission shaft (10) from inside to outside.
7. A self-locking permanent magnet synchronous servo motor with high integration according to claim 6, wherein the rotor assembly further comprises: a balance ring (15); the axial positions of the permanent magnet (16) and the stainless steel sleeve (17) are limited by the balance ring (15) and the step surface of the transmission shaft (10).
8. A self-locking permanent magnet synchronous servo motor with high integration according to claim 5, wherein the housing assembly comprises: the motor comprises an end cover bearing seat (3), an end cover (5), a motor shell (8) and a shell bearing seat (9); the deep groove ball bearing further includes: a right bearing (122);
an end cap bearing seat (3) is positioned between the left bearing (121) and the shell assembly, and the end cap bearing seat (3) is used for limiting the axial displacement of the left bearing (121);
the two ends of the motor shell (8) are respectively fixedly connected with an end cover (5) and a shell bearing seat (9), a through hole is formed in the center of the end cover (5), the encoder (4), the end cover (5), the end cover bearing seat (3) and the left bearing (121) are sequentially and fixedly connected along the axial direction, and the end cover bearing seat (3) is used for limiting the axial displacement of the outer ring of the left bearing (121);
the shell bearing seat (9) is connected with the other end of the transmission shaft (10) through a right bearing (122), and the right bearing (122) is used for limiting the axial position of the transmission shaft (10).
9. A self-locking permanent magnet synchronous servo motor with high integration according to claim 8, further comprising a wave spring (11);
the wave spring (11) is located between the housing bearing seat (9) and the right bearing (122).
10. The self-locking permanent magnet synchronous servo motor with high integration level of claim 9, wherein the electromagnetic lock stator (2-1) is connected with the end cover (5) through a screw; the stator iron core (7) and the motor shell (8) are fixedly connected through a set screw (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921371693.XU CN210518071U (en) | 2019-08-22 | 2019-08-22 | Self-locking permanent magnet synchronous servo motor with high integration level |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921371693.XU CN210518071U (en) | 2019-08-22 | 2019-08-22 | Self-locking permanent magnet synchronous servo motor with high integration level |
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| CN210518071U true CN210518071U (en) | 2020-05-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921371693.XU Active CN210518071U (en) | 2019-08-22 | 2019-08-22 | Self-locking permanent magnet synchronous servo motor with high integration level |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114157113A (en) * | 2021-12-08 | 2022-03-08 | 宿迁学院 | Permanent magnet synchronous motor with high power density |
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2019
- 2019-08-22 CN CN201921371693.XU patent/CN210518071U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114157113A (en) * | 2021-12-08 | 2022-03-08 | 宿迁学院 | Permanent magnet synchronous motor with high power density |
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