CN217469569U - Stator and rotor structure of reluctance type spherical motor for restraining torque pulsation - Google Patents

Abstract

The utility model provides a spherical motor of magnetic resistance type suppresses torque pulsation's stator-rotor structure, vertically open the rectangular channel and open the semicircular groove all around with the rotor including the stator. The original motor is a reluctance spherical motor with a stator-rotor salient pole type structure, the main part of the reluctance spherical motor is composed of a stator body and a rotor body, the stator body comprises 24 stator poles, the upper layer, the middle layer and the lower layer are divided into three layers, the latitude of each layer is different by 33 degrees, 8 stator poles are uniformly distributed on each layer, the phase of each stator pole is different by 45 degrees, and the tail end of a stator core is provided with a pole shoe. The rotor in the rotor body is the same as the 8/6-pole switched reluctance motor, and the rotor teeth are uniformly distributed at intervals of 60 degrees and have 6 teeth in total. The utility model discloses vertically open rectangular channel and 6 rotor teeth through 24 stators to former motor respectively and open the half-round groove all around and reach and change air gap magnetic field, restrain torque ripple's purpose, and the stator-rotor punching simple structure of this structure, easily realize.

Description

Stator and rotor structure of reluctance type spherical motor for restraining torque pulsation

Technical Field

The utility model belongs to the technical field of the spherical motor of magnetic resistance type, concretely relates to spherical motor of magnetic resistance type restraines torque ripple's stator-rotor structure.

Background

For the traditional motor, multiple motors need to be controlled in a combined mode to complete multi-degree-of-freedom movement, so that the control complexity is increased, the size is overlarge, and the efficiency is reduced. The spherical motor can independently realize three-degree-of-freedom motion, so that the spherical motor has wide application prospects in the fields of machine arms, cameras, aerospace and the like.

Unlike permanent magnet spherical motors, reluctance spherical motors have evolved from switched reluctance motors, which follow the principle of minimum reluctance-the magnetic flux is always closed along the path of minimum reluctance, producing a tangential pull due to the distortion of the magnetic field. The synthesized torque is formed by superposing a series of pulse torques and is a non-constant value, so that the synthesized torque has large torque pulsation in the phase change process like a switched reluctance motor, the noise in the motor operation process can be increased, and the stable operation of the motor is influenced.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the utility model provides a spherical motor of magnetic resistance type suppresses torque pulsation's stator-rotor structure carries out optimal design to stator-rotor structure, changes air gap magnetic field, suppresses torque pulsation.

The utility model adopts the technical proposal that:

a reluctance type spherical motor stator and rotor structure for inhibiting torque pulsation comprises a stator magnetic yoke, a stator spherical shell, a stator iron core, a stator pole shoe, a winding coil, a rotor spherical shell, a base, universal balls, an output shaft, a flange, a connecting frame and a bolt; the stator spherical shell is formed by splicing two hemispherical shells and is fixedly arranged on the base, a stator magnetic yoke with a spherical structure is arranged in the stator spherical shell, three layers of stator cores made of the same material are fixed inside the stator spherical shell through bolts, the stator cores and stator pole shoes are fixed through winding coils with a centralized structure, and insulating layers are coated outside the winding coils; the rotor spherical shell is provided with a groove so as to facilitate embedding of the rotor, the rotor spherical shell and the rotor are hollow, and the output shaft and the rotor are fixedly connected by the connecting frame; the universal ball is fixed on the base and contacts with the supporting rotor spherical shell; the stator spherical shell is fixedly connected with the base, and the output shaft is connected with the flange and used for outputting electromagnetic torque; the tail end of each stator core is provided with a stator pole shoe with the outer surface being a spherical cambered surface, and the width and the height of the stator pole shoe are slightly larger than those of the stator core.

Furthermore, the stator is provided with longitudinal rectangular grooves, the longitudinal rectangular grooves are positioned on the stator pole shoes and are positioned at the longitudinal axis of the centers of the stator pole shoes, the longitudinal axis is taken as symmetry, the height of the longitudinal rectangular grooves is the same as that of the stator pole shoes, and the 24 stator pole shoes are provided with the longitudinal rectangular grooves, and the size and the position of the longitudinal rectangular grooves are consistent.

Furthermore, the reluctance type spherical motor comprises a stator body and a rotor body, wherein the stator body comprises a stator magnetic yoke, a stator spherical shell, a stator core, a stator pole shoe and a winding coil, 24 winding coils are respectively positioned on 24 stator cores and jointly form 24 stator poles with the stator pole shoe, the stator poles are divided into an upper layer, a middle layer and a lower layer, the latitude of each layer is different by 33 degrees, 8 stator poles are uniformly distributed on each layer, and the phase difference of each stator pole is 45 degrees; the stator core is made of an electrical pure iron DT4 material; the rotor body comprises a rotor and a rotor spherical shell, wherein rotor teeth of the rotor are uniformly distributed at intervals of 60 degrees, the number of the rotor teeth is 6, the rotor teeth are laminated and pressed by silicon steel sheets, and the surface of the rotor is a spherical cambered surface and is in a salient pole shape.

Furthermore, the rotor is opened all around has the semicircle groove, the semicircle groove with the cross section of rotor tooth is located rotor tooth all around as the center, just semicircle groove radius size equals, all opens semicircle groove around 6 rotor teeth, and radius size and rotor addendum point are unanimous to the perpendicular distance in semicircle groove centre of a circle all, every 60 evenly distributed.

Furthermore, the stator magnetic yoke is made of magnetic conductivity materials.

Further, there are 6 ball transfer units.

Compare with current magnetic resistance type spherical motor, the utility model discloses a technological effect as follows:

(1) the utility model discloses a 24 vertical rectangular channels of opening of stator has increased the air gap between the stator and the rotor, especially the air gap when the stator and the rotor utmost point coincide, makes peak torque reduce, under the prerequisite of sacrificing very little average torque, and torque pulsation reduces greatly, and torque pulsation obviously obtains restraining.

(2) The utility model discloses a 6 rotor teeth are opened half circular groove all around, have changed the air gap flux density direction on rotor core surface, make rotor tooth surface tangential air gap flux density increase, and radial air gap flux density reduces, has increased the average torque and the minimum torque of motor, reaches the purpose that reduces torque pulsation.

Drawings

Fig. 1 is a schematic view of the reluctance type spherical motor of the present invention.

Fig. 2 is the schematic diagram of the self-rotating movement of the reluctance type spherical motor stator when the rectangular slot is longitudinally opened.

Fig. 3 is a schematic diagram of the oblique movement of the motor stator when the rectangular slot is longitudinally opened.

Fig. 4 is a front-back spin torque waveform diagram of the stator longitudinal rectangular slot of the present invention.

Fig. 5 is a front and rear oblique torque waveform diagram of the stator with the longitudinal rectangular slot of the present invention.

Fig. 6 is a schematic view of the self-rotating movement of the rotor teeth when the semi-circular grooves are formed around the rotor teeth.

Fig. 7 is a schematic diagram of the tilting motion of the rotor teeth when the semicircular grooves are formed around the rotor teeth.

Fig. 8 is a front-back spin torque waveform diagram of the rotor teeth with semicircular grooves.

Fig. 9 is a front and rear oblique torque waveform diagram of the rotor teeth with semicircular grooves around.

The number designations in the figures are: the magnetic-field-type motor stator comprises a stator magnet yoke 1, a stator spherical shell 2, a stator core 3, a stator pole shoe 4, a winding coil 5, a rotor 6, a rotor spherical shell 7, a base 8, universal balls 9, an output shaft 10, a flange 11, a connecting frame 12, a bolt 13, a longitudinal rectangular groove 14 and a semicircular groove 15.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in 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. Furthermore, the technical features mentioned in the embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

As shown in fig. 1, the utility model discloses a spherical motor of magnetic resistance type suppresses torque ripple's stator-rotor structure includes stator yoke 1, stator spherical shell 2, stator core 3, stator pole shoe 4, winding coil 5, rotor 6, rotor spherical shell 7, base 8, universal ball 9, output shaft 10, flange 11, link 12 and bolt 13. A stator spherical shell 2 of the motor is formed by splicing two hemispherical shells and is fixedly installed on a base 8, a stator magnetic yoke 1 with a spherical structure is installed in the stator spherical shell and is made of magnetic conductivity materials, three layers of stator cores 3 made of the same materials are fixed inside the stator spherical shell through bolts 13, a winding coil 5 with a centralized structure is fixed on the stator cores 3 and a stator pole shoe 4, and an insulating layer is coated outside the winding coil 5. The rotor spherical shell 7 of the motor is grooved, so that the rotor 6 is embedded conveniently, and the rotor spherical shell 7 and the rotor 6 are designed to be hollow, so that the rotational inertia of a rotor body is reduced. For the output and measurement of the output torque, the connecting bracket 12 fastens the output shaft 10 to the rotor 6. The ball 9 is fixed to the base 8 by bolts. Six ball transfer units 9 support the rotor body in contact, which reduces the friction during operation of the rotor body. The stator spherical shell is fixedly connected with the base 8, and the output shaft 10 is connected with the flange 11 and used for outputting electromagnetic torque. The main part of the reluctance type spherical motor consists of a stator body and a rotor body. The stator body comprises a stator magnetic yoke 1, a stator spherical shell 2, a stator core 3, stator pole shoes 4 and winding coils 5, wherein 24 winding coils 5 are respectively positioned on 24 stator cores 3 and jointly form 24 stator poles with the stator pole shoes 4, the stator poles are divided into an upper layer, a middle layer and a lower layer, the latitude of each layer is different by 33 degrees, 8 stator poles are uniformly distributed on each layer, and the phase difference of each stator pole is 45 degrees; the stator iron cores 3 are made of electrical pure iron DT4 materials, the stator pole shoes 4 with the spherical cambered surfaces on the outer surfaces are installed at the tail ends of the stator iron cores 3, the width and the height of the stator pole shoes are slightly larger than those of the stator iron cores 3, and the air gaps at the relative contact positions of the stator and the rotor are smoother through the design. The rotor body comprises a rotor 6 and a rotor spherical shell 7, wherein 6 rotor teeth of the rotor 6 are uniformly distributed at intervals of 60 degrees and are laminated by silicon steel sheets, the surface of the rotor 6 is a spherical cambered surface, the shape of the spherical cambered surface is consistent with that of a rotor of the switched reluctance motor, and the rotor is in a salient pole shape.

As shown in fig. 2 and 3, the stator is provided with longitudinal rectangular slots 14, and since the ends of the stator core 3 are connected to the stator pole shoes 4, in view of structural limitations, the longitudinal rectangular slots 14 are located on the stator pole shoes 4 and located at the longitudinal axis of the center of the stator pole shoes 4, symmetrical to the longitudinal axis, and have the same height as the stator pole shoes 4, and 24 stator pole shoes 4 are provided with the longitudinal rectangular slots 14 and have the same size and position.

Electromagnetic torque under an ideal linear model

Inductance

Where i is the energization current, θ is the rotor position angle, N is the number of coil turns, R _m Is magnetic resistance. Since the core permeability is much greater than the air permeability, the core reluctance is much less than the air reluctance. When the stator poles and the rotor poles coincide, the inter-pole air gap is large, the magnetic resistance is large, the magnetic circuit is not saturated, when the stator is longitudinally provided with the rectangular slot, the inter-pole air gap is increased, and the magnetic resistance is increased. When the stator and rotor poles are completely aligned, the inter-pole air gap is small, the magnetic resistance is small, the inter-pole air gap is increased after slotting, the magnetic resistance is increased, and the magnetic resistance is smallCompared with the state without grooves, the magnetic resistance change has great influence, the magnetic resistance is obviously increased, the inductance is obviously reduced, the change rate of the inductance along with the rotor angle is reduced, and the electromagnetic torque is reduced, so when the rotor is completely aligned from the superposition position between the stator pole and the rotor pole, the peak torque is reduced, and the torque pulsation is reduced.

As shown in fig. 6 and 7, semicircular grooves 15 are formed around the rotor, the semicircular grooves 15 are positioned around the rotor teeth by taking the cross section of the rotor teeth as the center, the radius of the semicircular grooves 15 around are equal, the semicircular grooves 15 are formed around 6 rotor teeth, the radius is consistent with the vertical distance from the addendum point of the rotor to the center of the semicircular groove, and the semicircular grooves are uniformly distributed at intervals of 60 degrees.

According to the boundary condition of the magnetic field, when the magnetic lines pass through the boundary surfaces of different substances, the phenomenon of 'refraction', namely the edge effect of the magnetic field, can occur. In the reluctance motor, the surface of a rotor tooth is a boundary surface of two media of air and an iron core, and on the boundary surface of the air and the iron core, included angles of magnetic fluxes and a normal direction are different. When a traditional rotor tooth is close to one side of a stator winding which is conducted, a magnetic flux emergence angle is close to 90 degrees, at the moment, the radial magnetic density is large, the tangential magnetic density is small, the average torque is small, the vibration caused by radial force is large, and meanwhile, the torque pulsation is large. If the semi-circular grooves are formed on the periphery of the rotor teeth, the air gap flux density direction of the surface of the rotor core is changed, so that the tangential air gap flux density of the surface of the rotor teeth is increased, the radial air gap flux density is reduced, the average torque and the minimum torque of the motor are increased, and the torque pulsation of the motor is reduced.

As shown in fig. 2, it is a schematic diagram of the spin motion when the rectangular slot 14 is opened in the longitudinal direction of the stator of the reluctance type spherical motor, and is also a top view of the middle layer of the motor, the longitudinal rectangular slot 14 is located on the stator pole shoe 4, it can be clearly seen from the top view that the adjacent pair of coils are energized with the alignment position of the stator and the rotor as the starting point, under the action of the minimum reluctance principle, the rotor will rotate, and the spin motion can be completed by sequentially energizing the adjacent coils according to the principle.

As shown in fig. 3, which is a schematic diagram of the tilting movement when the motor stator is longitudinally provided with the rectangular slot 14, and is a front view of the motor ignoring front and rear stators, since the longitudinal rectangular slot 14 is located at the central longitudinal axis of the stator pole shoe 4, the longitudinal rectangular slot 14 cannot be seen from the tilting movement diagram, and at this time, the appearance is the same as that when the stator is not provided with the slot, and similarly, the adjacent pair of coils can be electrified to complete the tilting movement by taking the alignment position of the stator and the rotor as a starting point.

As shown in fig. 4, it is a waveform diagram of front and back spin torque of a longitudinally-opened rectangular slot 14 of a stator, a finite element is used to simulate the torque of the spin motion in 0-30 ° before and after the slot of the stator to obtain a static torque, the ampere-turns of a coil is 700, based on the static torque, because the step angle of the spin motion is 15 °, the torque of the next phase can be obtained by translating the spin torque by 15 °, the influence of the inductance of the coil on the energization of the coil is ignored, a synthetic torque can be obtained by putting the two-phase torque together, the intersection point of the two-phase torque is the minimum value of the synthetic torque, and the fluctuation condition of the torque can be seen, so that the pulsation of the spin torque after the slot of the stator is obviously reduced.

As shown in fig. 5, it is a waveform diagram of the front and back oblique torque of the rectangular slot 14 longitudinally opened in the stator, and the static torque is obtained by simulating the torque of the stator slot moving obliquely in the front and back directions of 0-33 ° by using finite elements, the number of ampere-turns of the coil is 700, here, the stepping angle is reduced by adopting a multi-phase energizing manner, the stepping angle is 16.5 °, the next phase torque can be obtained by translating the oblique torque by 16.5 °, the influence of the inductance of the coil on the energization of the coil is also ignored, the two phases of torques are put together to obtain the composite torque, the intersection point of the two phases of torques is the minimum value of the composite torque, the fluctuation situation of the torque can be seen, and the back oblique torque ripple of the stator slot is also reduced relatively obviously.

As shown in fig. 6, which is a schematic diagram of the spinning motion when the semicircular grooves 15 are formed around the rotor teeth, and is also a top view of the middle layer of the motor, the semicircular grooves 15 around the 6 rotor teeth can be clearly seen, and the motion principle is the same as that of fig. 2.

As shown in fig. 7, it is a schematic diagram of the oblique movement when the semicircular slots 15 are formed around the rotor teeth, and is also a front view when the front and rear stators of the motor are omitted, because the semicircular slots 15 are formed around the rotor, the slotting condition of the rotor teeth with aligned stator and rotor poles can be clearly seen, and the movement process is the same as that of fig. 3.

As shown in fig. 8, it is a front-back spin torque waveform diagram of a rotor tooth with semicircular grooves 15 around, and a static torque is obtained by simulating the torque of the rotor spinning within 0-30 ° before and after the rotor tooth is grooved by using finite elements, the number of ampere turns of the coil is 700, and the rest of the analysis process is the same as that in fig. 4, but the torque pulsation can be reduced while the average torque is increased by forming the semicircular grooves around the rotor.

As shown in fig. 9, which is a front-back inclined torque waveform diagram of a rotor tooth with semicircular grooves 15 formed around the periphery thereof, a static torque is obtained by simulating a torque of the rotor during front-back 0-33 ° inclined movement by using finite elements, the number of ampere turns of a coil is 700, and the rest of analysis processes are the same as those in fig. 5, but the average torque is increased and the torque ripple is reduced after the same rotor is grooved.

The stator and the rotor of the motor adopt a double-salient structure, and on the basis of the original reluctance type spherical motor, 24 stators are respectively and longitudinally provided with longitudinal rectangular grooves 14 and 6 rotor teeth are all provided with semicircular grooves 15.

The utility model discloses a further improvement is that, the vertical rectangular channel of 24 stators of simulation analysis vertically open different width and degree of depth is to suppressing torque ripple's effect, under the condition of considering stator structure restriction, selects best fluting width and degree of depth.

The utility model discloses a further improvement is, 6 rotor teeth of simulation analysis open all around the half slot of different radius sizes and the perpendicular distance of different rotor tooth summits to the half slot centre of a circle to the influence of suppression torque ripple, consider under the condition of rotor tooth structure restriction, select optimum parameter.

It will be understood by those skilled in the art that the foregoing is merely a preferred embodiment of the present invention, and is not intended to limit the invention to the particular forms disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.

Claims (6)

1. The utility model provides a spherical motor of reluctance type suppresses stator-rotor structure of torque ripple which characterized in that: the motor comprises a stator magnetic yoke, a stator spherical shell, a stator core, a stator pole shoe, a winding coil, a rotor spherical shell, a base, a universal ball, an output shaft, a flange, a connecting frame and a bolt; the stator spherical shell is formed by splicing two hemispherical shells and is fixedly arranged on the base, a stator magnetic yoke with a spherical structure is arranged in the stator spherical shell, three layers of stator cores made of the same material are fixed inside the stator spherical shell through bolts, the stator cores and stator pole shoes are fixed through winding coils with a centralized structure, and insulating layers are coated outside the winding coils; the rotor spherical shell is provided with a groove so as to facilitate embedding of the rotor, the rotor spherical shell and the rotor are hollow, and the output shaft and the rotor are fixedly connected by the connecting frame; the universal ball is fixed on the base and contacts with the supporting rotor spherical shell; the stator spherical shell is fixedly connected with the base, and the output shaft is connected with the flange and used for outputting electromagnetic torque; the tail end of each stator core is provided with a stator pole shoe with the outer surface being a spherical cambered surface, and the width and the height of the stator pole shoe are slightly larger than those of the stator core.

2. The reluctance type spherical motor torque ripple-suppressing stator-rotor structure according to claim 1, wherein: the stator is provided with longitudinal rectangular grooves, the longitudinal rectangular grooves are positioned on the stator pole shoes and are positioned at the longitudinal axis of the centers of the stator pole shoes, the longitudinal axis is taken as symmetry, the height of the longitudinal rectangular grooves is the same as that of the stator pole shoes, 24 stator pole shoes are provided with longitudinal rectangular grooves, and the size and the position of the longitudinal rectangular grooves are consistent.

3. The reluctance type spherical motor torque ripple-suppressing stator-rotor structure according to claim 2, wherein: the reluctance type spherical motor comprises a stator body and a rotor body, wherein the stator body comprises a stator magnetic yoke, a stator spherical shell, a stator iron core, a stator pole shoe and a winding coil, 24 winding coils are respectively positioned on 24 stator iron cores and form 24 stator poles together with the stator pole shoe, the stator poles are divided into an upper layer, a middle layer and a lower layer, the latitude of each layer is different by 33 degrees, 8 stator poles are uniformly distributed on each layer, and the phase difference of each stator pole is 45 degrees; the stator core is made of an electrical pure iron DT4 material; the rotor body comprises a rotor and a rotor spherical shell, wherein rotor teeth of the rotor are uniformly distributed at intervals of 60 degrees, the number of the rotor teeth is 6, the rotor teeth are laminated and pressed by silicon steel sheets, and the surface of the rotor is a spherical cambered surface and is in a salient pole shape.

4. The reluctance type spherical motor torque ripple suppressing stator-rotor structure according to claim 3, wherein: the rotor is opened all around has the semicircle groove, the semicircle groove with the cross section of rotor tooth is located rotor tooth all around as the center, just semicircle groove radius size equals, all opens semicircle groove around 6 rotor teeth, and radius size and rotor addendum point are unanimous to the perpendicular distance in semicircle groove centre of a circle all, every 60 evenly distributed.

5. The reluctance type spherical motor torque ripple-suppressing stator-rotor structure according to claim 1, wherein: the stator magnet yoke is made of magnetic conductivity materials.

6. The reluctance type spherical motor torque ripple-suppressing stator-rotor structure according to claim 1, wherein: there are 6 said ball transfer units.

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