CN87214461U - Improved ac permanent magnetic brushless servomotor - Google Patents
Improved ac permanent magnetic brushless servomotor Download PDFInfo
- Publication number
- CN87214461U CN87214461U CN 87214461 CN87214461U CN87214461U CN 87214461 U CN87214461 U CN 87214461U CN 87214461 CN87214461 CN 87214461 CN 87214461 U CN87214461 U CN 87214461U CN 87214461 U CN87214461 U CN 87214461U
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- rotor
- motor
- photoelectric encoder
- utility
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Abstract
The utility model discloses an improved AC permanent magnetic brushless servomotor controlled by an electronic control device, which is used for driving mechanisms requiring high performance servo controlled servo-control such as robots, precision machine tools and other driving devices. The stators of the utility model adopt a non-machine base housing direct cooling mode, the magnetic density of the air gap is square wave, and a rotor permanent magnet is in a normal geometric shape and is fixed on the rotor in a cementation mode; the photoelectric encoder which is arranged at the axial end of the rotor is provided with only one photoelectric code disk, and the photoelectric encoder has two functions of delivering increment mode pulse signal and delivering pulse signal for position of magnetic pole of the rotor. The utility model has the advantages of small manufacture difficulty, less manufacturing procedure, simple interface with an electronic controller, easy installation and low cost.
Description
The utility model is an AC permanent-magnet brushless servo motor, and this motor is driven by electronic-controlled installation, is used for robot, precise numerical control machine and other similar this requirement in the servo-controlled driving mechanism of high-performance.
Usually has an out frame in the known servomotor, stator silicon chip iron core is fixed in the inwall of this support, for its outer surface of heat-sinking capability that increases motor has fin, this support generally adopts the forging type manufacturing, also has to adopt squash type or pull-toggle type to make.So not only manufacturing process is various but also complex process, and it is many to consume metal material.Another critical piece of motor is the rotor that permanent magnetism magnetic pole is housed, such rotor manufacturing promptly bothers and is complicated, such as the AC permanent-magnet motor that adopts the close distribution of sinusoidal wave magnetic, for producing sinusoidal wave air gap flux density, its magnetic pole boot upper shape is irregular, permanent magnetic material generally has the working properties of similar pottery, and irregular shape is brought difficulty to processing.The detector that is used to detect magnetic field position and rotating speed in this motor can share a high-resolution absolute position encoder.But it is higher to make this encoder cost.Also there is the brushless, permanently servomotor that adopts the square wave magnetic wave to distribute in past, and its stator is to continue to use support formula structure, and two detectors are installed on the axle usually, and one is used for the magnetic field position detection, and one is used for rotating speed and detects.Adopt two detectors except that the cost height, increase the difficulty that assembling is adjusted, and motor also increases length.
Task of the present utility model is a kind of novel AC permanent-magnet brushless servo motor of design, the cancellation out frame, its stator adopts no support shell direct cooling mode, and rotor magnetic pole has two kinds of signals of rotating speed of adorning an exportable magnetic field position of photoelectric encoder on regular shape (garden arc or the straight line) axle.Adopt this structure that the general structure of motor is oversimplified, cheap for manufacturing cost.
Solution of the present utility model is narrated respectively from three parts that motor mechanism becomes: stator adopts the directly no support shell of cooling, utilize the stator silicon steel sheet as support, from Fig. 4 stator assembly drawing, find out, make silicon steel sheet become as a whole by connecting rod 2 and welding behind stator silicon iron sheet 3 closed assemblies, form stator together with winding 1, stator end ring 4, slot liner 5.Can be designed to dentation for increasing the outer garden of area of dissipation stator silicon steel sheet.
Rotor permanent magnet adopts c watt of shape of a b as shown in Figure 1, φ is a magnetic line of force direction among the figure, wp is for extremely wide, and it is close to produce square wave crack magnetic in air gap when magnet performance is even, and this kind permanent magnet is bonded on the rotor core 3 with bonding agent 2 in Fig. 2 rotor assembly drawing.Thereby constitute the rotor main body.With the magnet 4 among Fig. 2, to tie up to roll and be with 5, gimbal 6 is assembled on the axle 1.
Be used to detect photoelectric encoder of detector employing of magnetic field position and rotating speed in this motor, this encoder only has an optical code disk, and the exportable two kinds of light pulse signals of this code-disc are again through two kinds of electric impulse signals of corresponding circuit output.One is the increment type pulse signal, and this signal generally has A, B two road pulse signals and one tunnel " 0 " position pulse signal of 90 ° of electrical degrees of mutual deviation.The revolution umber of pulse of A, B two road pulse signals can require decision according to the control precision of system.Another kind of pulse signal is the magnetic field position pulse signal.It sends three road pulse signals of 120 ° of electrical degrees of mutual deviation.The revolution umber of pulse is identical with the number of pole-pairs of motor.The corresponding motor pole of this pulse signal is equipped with definite relation with respect to the space bit of stator winding, thereby can be used for the detection of magnetic field position.The code-disc structure of photoelectric encoder is seen Fig. 3, and 1 is the increment type grating, and 2 is optical-electrical converter, and 3 for magnetic field position detects grating, and this grating belongs to the absolute position grating, and its number is seldom identical with the motor number of pole-pairs, thereby the code-disc manufacturing is required greatly to reduce.
The general assembly drawing of Fig. 5 modified model AC permanent-magnet brushless servo motor, two bearing end seats 1 of motor and 8 can be fixed on the support that silicon steel sheet forms by core through screw rod 2, and rotor assembly 3 is fixed on the seat of two ends.Stator pack piece installing 4 is contained in rotor outside 5 and is thermal relay, and 6 is brake, and 7 is plug, and 9 is code-disc, and 10 is outer cover.
Modified model AC permanent-magnet brushless servo motor adopts aforementioned structure, the motor overall structure is simplified be easy to assembling, and each manufacturing process of components reduces, and difficulty reduces, and reduces the motor manufacturing cost.Save raw material.This motor is equipped with corresponding electronic controller and forms drive system, speed ratio can 〉=1:2000, steady stability precision≤1/1000, moment ripple≤1.5%, the rotating shaft position positioning accuracy can≤1 '.
Fig. 1 is a rotor magnetic pole shape schematic diagram
Fig. 2 is the motor rotor installation diagram
Fig. 3 is a motor reel encoder code-disc structure chart
Fig. 4 motor stator installation diagram
Fig. 5 motor integral installation figure
Fig. 6 electric motor drive system fundamental diagram
Fig. 7 motor stator input current waveform figure
In conjunction with Fig. 6 utility model utilization example is described
Among Fig. 7 parts 1 be the AC permanent-magnet brushless servo motor it by the 1-1 stator, the 1-2 rotor, 1-3 photoelectric encoder three parts are formed.Offer the variable-frequency alternating current of motor by parts 2.
Fig. 1-3 photoelectric encoder sends two kinds of signals, to send pulse signal comprehensive through current waveform and phase place solver (parts 6) for the magnetic field position pulse generator for parts 1-3-2, obtain waveform as shown in Figure 7, the output that is obtained by multiplier (parts 5) is the current controling signal of variable-magnitude, and current amplitude is to be controlled by the output of current regulator (parts 7).The output signal of multiplier is delivered to pulse width modulator (parts 4-1,4-2,4-3) and is removed the switch of oxide-semiconductor control transistors (parts 2) through transistor base drive circuit (parts 3) again, thereby obtains needed electric current.
Ig is the current of electric command signal torque signals of also can saying so among Fig. 7, and it is by the output of parts 9 speed regulators, and If is a motor transient current feedback signal.The effect of parts 7 electric current demodulators is to make the actual current in the motor equal current instruction value.Ng is a speed command signal among Fig. 7, and it is the output signal of parts 11 position controls.Nf is a motor actual speed feedback signal, it is to be obtained through behind the speed regulator 9 by the pulse signal that increment in the shaft encoder or pulse generator (1-3-3) come, speed regulator is the size of ng and nf relatively, and the actual speed by motor equals to instruct rotating speed.Fig. 7 pg is a machine shaft position set-point.Pf is the motor shaft actual position value, and it is that the pulse signal that increment type pulse generator (1-3-3) comes in the shaft encoder obtains behind motor shaft position solver 12.Position demodulator (parts 11) is axle position set-point pg and axle position actual value pf relatively, exports different rotary speed instruction values and makes the rotating shaft of motor be in given position.
Claims (2)
1, a kind of follow-on AC permanent-magnet brushless servo motor that is driven by electronic-controlled installation is characterized in that:
A) stator adopts no support shell direct cooling mode;
B) air gap flux density is distributed as square wave or squarish ripple, and the rotor permanent magnet section is the square shape tile fragment that fan-shaped or is worn arc.And be fixed on the rotor with bonding mode.
C) the magnetic field position detector of rotor axle head and revolution detector adopt a photoelectric encoder.
2, motor according to claim 1 is characterized in that: an optical code disk is only arranged in the photoelectric encoder of rotor axle head, and the magnetic field position grating number on the code-disc is only identical with the rotor magnetic pole logarithm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 87214461 CN87214461U (en) | 1987-10-21 | 1987-10-21 | Improved ac permanent magnetic brushless servomotor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 87214461 CN87214461U (en) | 1987-10-21 | 1987-10-21 | Improved ac permanent magnetic brushless servomotor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN87214461U true CN87214461U (en) | 1988-06-15 |
Family
ID=4828778
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 87214461 Expired - Lifetime CN87214461U (en) | 1987-10-21 | 1987-10-21 | Improved ac permanent magnetic brushless servomotor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN87214461U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104535092A (en) * | 2014-12-28 | 2015-04-22 | 浙江风尚科技有限公司 | Servo motor encoder and signal generating method |
| CN106026536A (en) * | 2016-08-08 | 2016-10-12 | 成都茂源科技有限公司 | Method and device for collecting rotor position of permanent magnet synchronous motor of direct-drive type ball mill |
-
1987
- 1987-10-21 CN CN 87214461 patent/CN87214461U/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104535092A (en) * | 2014-12-28 | 2015-04-22 | 浙江风尚科技有限公司 | Servo motor encoder and signal generating method |
| CN106026536A (en) * | 2016-08-08 | 2016-10-12 | 成都茂源科技有限公司 | Method and device for collecting rotor position of permanent magnet synchronous motor of direct-drive type ball mill |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CX01 | Expiry of patent term |