EP4082104A1

EP4082104A1 - Brush-commutated dc electric motor with improved vibration behaviour

Info

Publication number: EP4082104A1
Application number: EP20830268.7A
Authority: EP
Inventors: Jens Schulze; Eugen Elmiger; Kacper Emmrich
Original assignee: Maxon International AG
Current assignee: Maxon International AG
Priority date: 2019-12-23
Filing date: 2020-12-23
Publication date: 2022-11-02
Also published as: WO2021130312A1; EP3843251A1; US20230013171A1; CN114868326A

Abstract

The present invention relates to a brush-commutated DC electric motor, having a stator, which comprises a permanent magnet with a number p of pole pairs, and having a rotor, which can rotate in relation to the stator and has a hollow-cylindrical iron-free winding with a geometric axis and a number Q of sub-coils, and also has a collector with a number K of collector laminations, wherein the sub-coils are arranged distributed over the periphery of the rotor, and wherein the brush-commutated DC electric motor further has at least one pair of brushes which are in contact with the collector and by means of which the sub-coils are energized. According to the invention, provision is made for the arrangement of the brushes and the interconnection of the sub-coils to be selected in such a way that in each case a number n≥2 of sub- coils, which each are arranged offset by 360°/n in a rotationally symmetrical manner with respect to the axis of the rotor, are always supplied with the same current at the same time.

Description

Brush-commutated DC electric motor with improved vibration behavior

The present invention relates to a brush-commutated DC electric motor according to the preamble of independent claim 1.

A brush-commutated DC electric motor of the generic type has a stator, wel cher comprises a permanent magnet, with a number p of pole pairs, and a rotatable relative to the stator rotor, which has a hollow cylindrical ironless winding with a geometric axis and a number Q of partial coils , and a collector with a number K of collector lamellas, the partial coils being arranged distributed over the circumference of the rotor, and the brush-commutated DC electric motor also having at least one pair of brushes which are in contact with the collector and via which the Part coils are energized.

The stator of such a brush-commutated electric motor can have a cylindrical permanent magnet which is arranged inside the hollow cylindrical ironless winding. On the outside there is usually a magnetically conductive yoke that also serves as the housing of the electric motor. Due to the ironless winding, such electric motors do not have a cogging torque, so that a jerk-free run is possible even at low speeds. This is accompanied by low vibrations and noises. Due to the lack of iron in the rotor, there are no iron losses and a constant applied magnetization takes place. This leads to a high degree of efficiency. In addition, the generated torque remains proportional to the motor current even with high currents. The low mass inertia of the rotor is also an advantage, which leads to high dynamics and short run-up times.

Although brush-commutated DC electric motors are widely used and usually have good operating behavior, it has been shown in practice that oscillations occur at times in the area of the collector, which modulates the current, which in turn leads to a This feedback leads to amplification of the vibrations. With brush-commutated DC electric motors, during commutation, the current in a coil section is initially brought to a standstill by short-circuiting the same via the brush and then built up again with the opposite sign. Particularly in the case of two-pole motors with stringed or skewed partial coils, a dia metrically resulting force or a torque acting transversely to the axis of rotation is associated with the current. Both effects can deflect the rotor in the radial direction at the location of the collector. A brush-commutated DC electric motor according to the preamble of independent claim 1 is known for example from EP 3171498 B1. This document is concerned with the attempt to counteract the effects explained above by arranging the coil plane of a sub-coil rotated by a correction angle between 45 ° and 135 ° around the axis of the rotor to the collector plane of the associated collector lamellas. However, it has been shown that the oscillations and the resulting modulation of the current cannot be completely prevented as a result.

The present invention has therefore set itself the task of providing a brush-commutated DC electric motor of the generic type in which the problems described are prevented as completely as possible.

The object is achieved by the features of independent claim 1. Accordingly, in a brush-commutated DC electric motor according to the preamble of independent claim 1, there is an inventive solution to the object if the arrangement of the brushes and the interconnection of the sub-coils are chosen such that in each case a number n> 2 of sub-coils, which are arranged rotationally symmetrically offset from one another by 360 ° / n with respect to the axis of the rotor, are always subjected to the same current at the same time. This is to be understood in such a way that each of the n> 2 sub-coils, which are rotationally symmetrically offset to one another, is mapped onto itself by a rotation of 360 ° / n around the axis of the rotor. An exact mapping of a sub-coil on itself is of course only possible if the sub-coils have a uniform shape in accordance with the preferred embodiment explained below. With the "same current" is meant the amount of current. The partial coils through which the “same current” flows can therefore be connected either in series or in parallel.

In an advantageous embodiment, the partial coils have a uniform shape, at least in one projection onto a jacket of the hollow cylindrical ironless winding.

In order to avoid vibrations as completely as possible, it is advantageous if the shape of the individual coil sections is completely uniform. The uniform shape of the partial coils is completely variable. Suitable shapes are known from EP 1780871 A1, DE 1801263 A1 and DE 1188709 B, for example. The n part-coils arranged rotationally symmetrically to one another and subjected to the same current at the same time can be traversed by the current in the same direction. However, embodiments are also possible in which the n sub-coils arranged rotationally symmetrically to one another and subjected to the same current at the same time are in opposite directions from the current are flowed through. Graphite brushes are preferably used as brushes. The hollow cylindrical ironless winding is preferably self-supporting, and the partial coils are preferably not wound onto a core or the like.

Further preferred embodiments of the present invention are the subject of the subclaims Un.

In order to apply the same current to the n sub-coils, according to one embodiment of the present invention it can be provided that the n sub-coils which are arranged rotationally symmetrically to one another and are always energized at the same time are connected in series. The connection of the series-connected partial coils can be implemented via the coil wire itself or via the collector. In the latter case, the connection of the series-connected partial coils is preferably implemented via a collector circuit board of the collector.

The application of the same current can also be achieved in that the beginning and end of the n sub-coils are each at the same electrical potential, provided that the sub-coils are always traversed by a magnetic flux of the same amplitude and phase due to symmetry. According to an alternative embodiment of the present invention, it can thus be provided that the n each of the n sub-coils, which are arranged rotationally symmetrically to one another and are always energized at the same time, are connected in parallel.

The invention is particularly suitable for brush-commutated DC electric motors with a single pole pair. According to one embodiment of the present invention, the number p of pole pairs is thus equal to 1, the collector having an odd number K> 3 of collector lamellae, the number Q of sub-coils being 2-K, and the number n of each being rotationally symmetrical sub-coils 2 arranged to one another and always energized at the same time is. The two partial coils, which are energized at the same time, are diametrically opposite one another and are preferably connected in series. According to a particularly preferred and easy to implement embodiment of the present invention, each coil section is connected at one end to a collector lamella and at the other end to the diametrically opposite coil section.

The invention is also suitable for brush-commutated DC electric motors with more than one pole pair. According to one embodiment of the present invention, the number p of pole pairs is thus greater than 1, the collector having a number K = kp of collector lamellas, where k is an odd number> 3, the number Q of sub-coils being qp, where the Number q is either the number k or twice the number k, and where the number n of the sub-coils arranged rotationally symmetrically to one another and always energized at the same time corresponds to the number p if q = k, or corresponds to twice p if q = 2 k, with a number p of collector lamellae, which are related to the axis of the rotor are also arranged rotationally symmetrically offset from one another by 360 ° / p, and are conductively connected to one another on the rotor side.

According to a further particularly preferred embodiment of the present invention, the two brushes of the pair of brushes each have a width that corresponds to the sum of half a collector pitch and the distance between two collector lamellas, the two brushes being arranged in such a way that the start of commutation The transition of one brush in the pair takes place at the same time as the commutation process of the other brush in the pair is completed. This further reduces the negative effects explained above. The width of the brush means the width directly on the circumference of the collector, i.e. on the contact surface between the brush and the collector. The actual width thus corresponds to the chord resulting from half the division and distance.

In the case of brush-commutated DC electric motors with more than a single pole pair, a further particularly preferred embodiment of the present invention can provide that the pair of brushes is a first pair of brushes, the brush-commutated DC electric motor also having at least one further pair of brushes which are also in contact with the collector, the two brushes of the further pair of brushes each having a width which is less than the width of the brushes of the first pair of brushes. It is particularly advantageous if the brushes of the at least one further pair of brushes are made of a material which has a higher conductivity than the material from which the brushes of the first pair of brushes are made.

As a result, the current is reduced more before the end of the commutation, which reduces the tendency to spark. In addition, additional losses due to the induced voltage that has already started are reduced during commutation with the better conductive material. By using a brush with a material of higher conductivity, the losses due to the brush contact resistance are also reduced.

According to a further particularly preferred embodiment of the present invention, it is provided that all sub-coils have the same shape. This is the most effective way of avoiding the negative effects described at the beginning. As already mentioned above, the invention is particularly suitable for brush-commutated DC electric motors whose rotor has partial coils which are long and / or inclined with respect to the axis of the rotor.

Embodiments of the present invention are explained in more detail below with reference to drawings.

Show it:

Figure 1: a schematic exploded view of a brush commutated DC

Electric motor,

FIG. 2: a schematic representation of the partial coil interconnection of a two-pole brush-commutated DC electric motor according to a first exemplary embodiment of the present invention,

FIG. 3: the illustration from FIG. 2 with additionally shown brushes, FIG. 4: a development of the hollow cylindrical ironless winding of the exemplary embodiment from FIGS. 2 and 3 with an illustration of the winding geometry and the associated interconnection of the individual sub-coils,

FIG. 5: a schematic representation of the partial coil interconnection of a four-pole brush-commutated DC electric motor according to a second embodiment of the present invention, and FIG

FIG. 6: a schematic representation of the partial coil interconnection of a four-pole brush-commutated DC electric motor according to a third exemplary embodiment of the present invention.

For the following statements, the same parts are denoted by the same reference symbols. If a figure contains reference numerals that are not discussed in more detail in the associated description of the figures, reference is made to the previous or subsequent figure descriptions.

1, the general structure of a brush-commutated DC electromotor 4 will first be explained. The essential components of a DC electric motor 4 with ironless winding are the stator 5 and the rotor 7, which is rotatably mounted with respect to the stator Stator 5 are essential components of a permanent magnet 6, which can be designed as a hollow cylinder, a flange 13 that positions the permanent magnet 6, a magnetic yoke 16 made of iron and used as a housing, and a further flange 14, which acts as a brush or housing cover serves and on which two collector brushes 3a and 3b are pivotably attached in the embodiment shown. The positioning of the permanent magnet 6 to the flange 13 takes place in the illustrated case by means of a sleeve 11. In the flanges 13 and 14 ball bearings 15 are arranged, which serve for the rotatable La support of the shaft 12 of the rotor 7. In addition to the shaft 12 with its geometric axis 9, the rotor 7 comprises as essential components a self-supporting hollow cylindrical, ironless winding 8 and a collector consisting of several collector lamellas and connected to the winding 10. The self-supporting hollow cylindrical ironless winding 8 rotates in the air gap between the The outer surface of the permanent magnet 6 and the inner surface of the yoke 16.

The hollow cylindrical ironless winding 8 consists of several sub-coils of the same shape. According to the invention it is provided that the arrangement of the brushes and the interconnection of the partial coils are selected such that a number n> 2 of partial coils, which are arranged rotationally symmetrically offset from one another by 360 ° / n with respect to the axis of the rotor, are at the same time Time can be applied with the same current.

An exemplary embodiment for this is illustrated by the schematic representation of the coil circuit in FIGS. 2 and 3. In the embodiment shown, the stator, not shown, has a diametrically magnetized two-pole permanent magnet. The rotor has a total of ten sub-coils (2a, 2b, 2c, 2d, 2e, 2f, 2g, 2h, 2i, 2j), the collector having five collector lamellas (1a, 1b, 1c, 1d, 1e). The partial coils form five pairs (2a, 2f), (2c, 2h), (2e, 2j), (2g, 2b), (2i, 2d) of partial coils which are arranged point-symmetrically with respect to the rotor axis and which are connected in series with one another are. For this purpose, each coil section is connected at one end to a collector lamella and at the other end to the diametrically opposite coil section. Partial coils lying diametrically opposite one another are therefore always traversed by the same current due to the compulsory switching. It should be noted that the illustration is only of a schematic nature. The partial coils are represented by the symbol for coils. In the illustration, all connections to the collector lamellas are to be understood as electrical connections, but all line crossings are not to be understood as electrical connections. The current is supplied via the two collector brushes 3a and 3b shown in FIG. 3, which are preferably designed as graphite brushes. It is particularly advantageous if the two brushes 3a and 3b each have a width which corresponds to the sum of half a collector pitch and the distance between two collector lamellas, the brushes 3a, 3b being arranged in such a way that the start of the commutation process of the one brush takes place at the same time as the commutation process of the other brush is completed.

FIG. 4 shows a development of the hollow cylindrical ironless winding of the exemplary embodiment from FIGS. 2 and 3 with a representation of the winding geometry and the associated interconnection of the individual sub-coils. The solid lines show the connections between the collector lamellas (1a, 1b, 1c, 1 d, 1 e) and the partial coils (2a, 2b, 2c, 2d, 2e, 2f, 2g, 2h, 2i, 2j). The dashed lines illustrate the electrical connections between the sub-coils of each sub-coil pair. The connections between the sub-coils of each sub-coil pair can be made via the coil wire itself or via the collector circuit board. For the coil pair (2a, 2f), the current direction in the two sub-coils (2a, 2f) arranged rotationally symmetrically offset from one another by 180 ° is illustrated by the two arrows shown in FIG. The two partial coils (2a, 2f) in this embodiment, when looking at the respective partial coil from the outside on the jacket of the hollow cylindrical ironless winding, consequently flows through the current in opposite directions, i.e. one of the two partial coils in the original sense and the the other of the two sub-coils counterclockwise.

FIG. 5 shows a circuit diagram for the rotor of a four-pole DC electric motor according to the invention with ten collector segments (1a, 1b, 1c, 1d, 1e, 1 f, 1g, 1h, 1 i, 1 j) and ten sub-coils (2a, 2b , 2c, 2d, 2e, 2f, 2g, 2h, 2i, 2j). The sub-coils form five pairs (2a, 2f), (2c, 2h), (2e, 2j), (2g, 2b), (2i, 2d) of sub-coils arranged point-symmetrically with respect to the rotor axis, which are arranged in series with one another are connected and the two ends of which are conductively connected to a pair of collector lamellas. The opposite collector lamellae are connected to one another in five pairs (1a, 1 f), (1c, 1h), (1e, 1 j), (1g, 1b), (1 i, 1d), so that they are connected to one another by means of switching are at the same electrical potential. In this exemplary embodiment, the partial coils of a partial coil pair are traversed by the current in the same direction as in the exemplary embodiment from FIGS. Since opposite collector lamellas are connected to one another, even the four-pole electric motor shown can generally be operated with just one pair of brushes. In the preferred embodiment shown, the DC electric motor is equipped with two pairs of brushes. In general, it is preferable to use as many pairs of brushes as there are pole pairs. In the exemplary embodiment shown, the first pair of brushes 3a, 3b is designed analogously to the exemplary embodiment from FIG. 3 so that the width of the brushes 3a, 3b corresponds approximately to the sum of half a collector pitch and the distance between two collector lamellas, the two brushes 3a , 3b are arranged in such a way that the start of the commutation process of one brush 3a takes place at the same time as the end of the commutation process of the respective other brush 3b. The brushes 3a, 3b of the first pair of brushes are made of a material with a relatively low conductance. The second pair of brushes 3c, 3d is made somewhat narrower and consists of a material with a higher conductance. As a result, the current is reduced more before the end of the commutation, which reduces the tendency to spark. In addition, additional losses due to the induced voltage that has already set in are reduced during commutation with the better conductive material. By using a brush with a material of higher conductivity, the losses due to the brush transition resistance are also reduced.

Finally, FIG. 6 shows a modification of the exemplary embodiment from FIG. 4. The partial coil pairs are not connected in series but in parallel here.

List of reference symbols

1a to 1j collector lamellas 2a to 2j sub-coils 3a to 3d brushes

4 brush-commutated DC electric motor

5 stator

6 permanent magnet

7 rotor

8 hollow cylindrical ironless winding

9 axis

10 collector

11 sleeve

12 wave

13 flange

14 flange (brush cover)

15 ball bearings

16 housing (magnetic return)

Claims

Expectations

1. Brush-commutated DC electric motor (4), with a stator (5) which comprises a permanent magnet (6), with a number p of pole pairs, and with a rotor (7) which is rotatable with respect to the stator (5) and which has a Hollow-cylindrical ironless winding (8) with a geometric axis (9) and a number Q of partial coils (2a-2j), as well as a collector (10) with a number K of collector lamellas (1 a-1 j), the partial coils ( 2a-2j) are arranged distributed over the circumference of the rotor (7), and wherein the brush-commutated DC electric motor (4) furthermore has at least one pair of brushes (3a-3d) which are in contact with the collector (10) and via which the sub-coils (2a-2j) are energized, characterized in that the arrangement of the brushes (3a-3d) and the interconnection of the sub-coils (2a-2j) are selected in such a way that a number n> 2 of sub-coils ( 2a-2j), which are offset relative to one another in a rotationally symmetrical manner by 360 ° / n in relation to the axis (9) of the rotor (7) which are arranged, always have the same current applied to them at the same time.

2. Brush-commutated DC electric motor (4) according to claim 1, characterized in that the partial coils (2a-2j) have a uniform shape, at least in a projection onto a jacket of the hohlzylindri's ironless winding (8).

3. Brush-commutated DC electric motor (4) according to claim 1 or 2, characterized in that the n each of the n sub-coils (2a-2j) which are arranged rotationally symmetrically to one another and are always energized at the same time are connected in series.

4. Brush-commutated DC electric motor (4) according to claim 1 or 2, characterized in that the n each of the n sub-coils (2a-2j) which are arranged rotationally symmetrically to one another and are always energized at the same time are connected in parallel.

5. Brush-commutated DC electric motor (4) according to one of claims 1 to 3, characterized in that the number p of pole pairs is equal to 1, the collector (10) having an odd number K> 3 of collector segments (1a-1j) , wherein the number Q of partial coils (2a-2j) is equal to 2-K, and the number n of the partial coils (2a-2j) which are arranged rotationally symmetrically to one another and are always energized at the same time is 2.

6. Brush-commutated DC electric motor (4) according to claim 5, characterized in that each coil section (2a-2j) at one end with a collector lamella (1 a-1 j) and at the other end with the diametrically opposite coil section ( 2a-2j) is connected.

7. Brush-commutated DC electric motor (4) according to one of claims 1 to 4, characterized in that the number p of pole pairs is greater than 1, the collector (10) having a number K = kp of collector segments (1 a-1 j) where k is an odd number> 3, the number Q of sub-coils (2a-2j) is equal to qp, where the number q corresponds to either the number k or twice the number k, and where the number n of each is rotationally symmetrical Partial coils (2a-2j) arranged in relation to one another and always energized at the same time correspond to the number p if q = k, or corresponds to twice p if q = 2 k, with a number p of collector lamellas (1 a-1 j), which are also arranged rotationally symmetrically offset from one another by 360 ° / p with respect to the axis (9) of the rotor (7), and are conductively connected to one another on the rotor side.

8. Brush-commutated DC electric motor (4) according to one of claims 1 to 7, characterized in that the two brushes (3a, 3b) of the pair of brushes each have a width that is the sum of half a collector pitch and the distance between two Collector lamellas (1 a-1 j), the two brushes (3a, 3b) being arranged in such a way that the start of the commutation process of one brush (3a, 3b) of the pair coincides with the completion of the commutation process of the other brush (3a , 3b) of the couple.

9. Brush-commutated DC electric motor (4) according to claim 7 in conjunction with claim 8, characterized in that the pair of brushes (3a, 3b) is a first pair of brushes (3a, 3b), the brush-commutated DC electric motor ( 4) furthermore has at least one further pair of brushes (3c, 3d) which are also in contact with the collector (10), the two brushes (3c, 3d) of the further pair of brushes (3c, 3d) each having a width which is less than the width of the brushes (3a, 3b) of the first pair of brushes (3a, 3b).

10. Brush-commutated DC electric motor (4) according to claim 9, characterized in that the brushes (3c, 3d) of the at least one further pair of brushes (3c, 3d) are made of a material which has a higher conductance than the material, of which the brushes (3a, 3b) of the first pair of brushes (3a, 3b) are made.

11. Brush-commutated DC electric motor (4) according to one of claims 1 to 10, characterized in that all sub-coils (2a-2j) have the same shape.

12. Brush-commutated DC electric motor (4) according to one of claims 1 to 11, characterized in that the sub-coils (2a-2j) with respect to the axis (9) of the rotor (7) longs and / or are designed beveled.