Classifications

• • H—ELECTRICITY
  • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
  • H02K—DYNAMO-ELECTRIC MACHINES
  • H02K1/00—Details of the magnetic circuit
  • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
  • H02K1/22—Rotating parts of the magnetic circuit
  • H02K1/27—Rotor cores with permanent magnets
  • H02K1/2793—Rotors axially facing stators
  • H02K1/2795—Rotors axially facing stators the rotor consisting of two or more circumferentially positioned magnets
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
  • B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
  • B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
  • B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
  • B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
  • B65H75/44—Constructional details
  • B65H75/4481—Arrangements or adaptations for driving the reel or the material
  • B65H75/4486—Electric motors
• • H—ELECTRICITY
  • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
  • H02K—DYNAMO-ELECTRIC MACHINES
  • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
  • H02K11/30—Structural association with control circuits or drive circuits
  • H02K11/33—Drive circuits, e.g. power electronics
• • H—ELECTRICITY
  • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
  • H02K—DYNAMO-ELECTRIC MACHINES
  • H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
  • H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
  • H02K21/24—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets axially facing the armatures, e.g. hub-type cycle dynamos
• • H—ELECTRICITY
  • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
  • H02K—DYNAMO-ELECTRIC MACHINES
  • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
  • H02K7/003—Couplings; Details of shafts
• • H—ELECTRICITY
  • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
  • H02K—DYNAMO-ELECTRIC MACHINES
  • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
  • H02K7/14—Structural association with mechanical loads, e.g. with hand-held machine tools or fans
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
  • B65H2555/00—Actuating means
  • B65H2555/20—Actuating means angular
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
  • B65H2701/00—Handled material; Storage means
  • B65H2701/30—Handled filamentary material
• • G—PHYSICS
  • G02—OPTICS
  • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
  • G02B6/00—Light guides; Structural details of arrangements comprising light guides and other optical elements, e.g. couplings
  • G02B6/44—Mechanical structures for providing tensile strength and external protection for fibres, e.g. optical transmission cables
  • G02B6/4439—Auxiliary devices
  • G02B6/4457—Bobbins; Reels
• • H—ELECTRICITY
  • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
  • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
  • H02G11/00—Arrangements of electric cables or lines between relatively-movable parts
  • H02G11/02—Arrangements of electric cables or lines between relatively-movable parts using take-up reel or drum
• • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
  • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
  • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
  • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

Definitions

• the invention relates to a device for winding / unwinding a link suitable for transporting a fluid or transmitting energy and / or signals.
• the first element could be a cabinet fixed to the floor, a robot frame, etc. and the second element can be a trolley or a gantry rolling on the ground, an arm of a robot, etc.
• the aforementioned energy and / or signals are transmitted through an electric cable, an optical fiber or a bundle of optical fibers, a mechanical cable, a hydraulic or pneumatic conduit or any other suitable means. , generally referred to in this text as a “link”.
• a reel must adapt as closely as possible to the applications for which it is used, these being very varied.
• the link the installation height, the speeds and accelerations of movement of the second element relative to the first element, the sizing of the drive unit must be adapted.
• a particularity of the winders is the low speed of rotation of the reel but the need to deliver a high torque.
• a first type of drive unit comprises the association of a motor with a magnetic coupler, as described for example in documents FR2102600, FR2607333 and FR2899399.
• This design allows a certain modularity from identical motors and couplers, insofar as several motor groups couplers can be mounted on the same reducer to adjust the torque according to the application.
• a second type of drive unit consists of a combination of a variable frequency motor and an electronic control unit. This type of drive unit does not benefit from the modularity of the first type insofar as the motor must be chosen with the power required for the application.
• Another type of drive unit is an axial flow motor as for example described in EP3072220.
• An object of the invention is to design a new type of drive for a reel, making it possible to provide high torque at low speed.
• the invention provides a winding / unwinding device for a link suitable for transporting a fluid or transmitting energy and / or signals, comprising:
• At least one synchronous motor with permanent magnets with direct drive comprising a stator carrying windings adapted to be supplied electrically in three-phase and a rotor carrying the permanent magnets opposite the stator windings.
• At least one rotor of said at least one motor is formed by a central disc of the coil.
• At least one rotor of said at least one synchronous motor is rigidly integral with the shaft.
• the permanent magnets are arranged through said at least one rotor so as to each have a north face on one side of said rotor and a south face on the opposite side of the same rotor.
• each permanent magnet is trapezoidal in shape, with the height of each permanent magnet extending radially from the longitudinal axis.
• the magnets are juxtaposed to form a crown.
• the radial extension of the crown of the magnets is substantially equal to the height of the coils.
• the motor is axial flow.
• the device may further include an electronic speed variator suitable for varying the supply current of the stator windings.
• the device advantageousously further comprises a rotating joint coupled to one end of the hollow shaft opposite the spool and a control / command system comprising a processing unit coupled or integrated with the electronic speed variator to control each motor as a function in particular of the position rewinder and operating phase.
• FIG. 1 is an overall view of a winding / unwinding device according to one embodiment of the invention.
• FIG. 2 is a sectional view of the winding / unwinding device of Figure 1;
• FIG. 3 is a perspective view of the winding / unwinding device of Figure 1 with a partial section at the level of the motor, according to a first embodiment of the motor;
• Figure 4 is a view similar to that of Figure 3 with a second embodiment of the engine
• FIG. 5 is a view similar to that of Figures 3 and 4 with a third embodiment of the engine
• FIG. 6 is a sectional view of the winding / unwinding device according to another embodiment of the invention.
• FIG. 7 is a perspective view of a winding / unwinding device according to another embodiment of the invention, with a partial section at the stator;
• Figure 8 is a view similar to that of Figure 7 with two juxtaposed motors
• Figure 9 is a view similar to that of Figures 7 and 8 with three juxtaposed motors;
• Figure 10 is a view similar to that of Figures 7-9 with four juxtaposed motors.
• FIG. 1 is an overview of a device for winding / unwinding a link according to one embodiment of the invention.
• the link can be an electrical cable, an optical fiber or a bundle of optical fibers, a mechanical cable, a hydraulic or pneumatic conduit or any other suitable means for transmitting energy and / or signals.
• One of these elements can be, in particular but not limited to, a cabinet fixed to the floor or a frame of a robot.
• the other of these elements can be, in particular but not limited to: a trolley or a gantry rolling on the ground, or even an arm of a robot.
• the winding / unwinding device (also called a "winder” in the remainder of the text) comprises a support which is adapted to be rigidly secured to one of the elements.
• the winder also includes a spool 2 adapted to receive the link in coiled form.
• the coil includes:
• the cheeks of the coil may be solid, each set of arms being replaced by a disc of equivalent diameter.
• ferrules which may be an integral part of the mandrel or of the cheeks, namely:
• each ferrule is attached to at least one arm of a respective cheek at a second distance from the mandrel, greater than the first distance.
• the coil comprises a bearing surface adapted to receive the turns of the link, the inner turn being in contact with said bearing surface.
• Said bearing surface may in particular form part of the mandrel or of the inner shell.
• the flange that is to say the distance between the two cheeks, is defined as a function of the width of the link to be wound on the spool.
• the interflask is adjusted so that the distances between the cheeks are adapted to the link wound at the level of the proximal and distal ends of the arms.
• the flange and the length of the arms, which define the capacity of the spool, are chosen according to the maximum length of the link that can be wound on the spool.
• the outside diameter of the coil can typically be in the range of 3 to 8 m.
• the spool 2 is rigidly secured to one end of a shaft 3 which is mounted so as to be able to rotate relative to the support by means of bearings 30.
• the shaft 3 is hollow, so as to allow the passage of the link between the coil 2 and the rotary joint (not shown) which is located on the side of the shaft opposite to the coil .
• the link is protected from the elements surrounding the reel and does not risk being damaged by them.
• the hollow shaft itself can constitute a conduit for the fluid, connections with the link then being provided at the ends of the shaft.
• the end of the hollow shaft opposite the spool is coupled to a hollow shaft of the rotary joint (not shown) coaxial with the hollow shaft 3.
• the shaft and the coil are rotated about the longitudinal axis X of the shaft 3 by at least one direct-drive permanent magnet synchronous motor.
• This type of motor is also called a "direct drive motor" in English terminology.
• Said at least one motor comprises a stator 1 which is rigidly secured to the support.
• the stator 1 is formed integrally with the support, but it could be formed from a separate piece rigidly linked to the support.
• the stator 1 supports a plurality of windings 10 supplied in three phase arranged around the X axis to produce a magnetic field along the X axis whose polarity alternates depending on the direction of the current flowing through the windings. More precisely, the stator 1 comprises a plurality of magnetic sheets 100 separated from each other by radial notches and each coil consists of a set 101 of turns of electrically conductive wires slipped into said notches.
• the motor also comprises a rotor movable in rotation with respect to the stator 1.
• the rotor supports a plurality of permanent magnets 11.
• the turns of the coils 10 are arranged in a substantially radial direction so as to create an axial magnetic field opposite the permanent magnets 11 of the rotor.
• the rotor is constituted by a disc 24 integral with the coil on which the magnets are fixed. permanent.
• said disc can be merged with the mandrel 20.
• the magnets advantageously have a substantially trapezoidal shape, with a height oriented radially with respect to the X axis, the narrowest base being positioned closer to the X axis than the lower base. large.
• the bases of the magnets can be straight or curved.
• the permanent magnets can thus be juxtaposed to form a crown coaxial with the X axis, facing the coils.
• the stator 1 comprises coils 10 of different heights
• the rotor comprises trapezoidal permanent magnets 11 arranged in a ring whose width, which corresponds to the height of the magnets, is preferably less. or equal to the height of the coils (the height of a coil being measured in the radial direction with respect to the X axis).
• the rotor 41, 42 comprises a disc on one face of which the permanent magnets 11 are fixed, said disc not forming part of the coil 2 but being rigidly integral with the hollow shaft 3.
• the rotor can be formed integrally with the hollow shaft, or else be rigidly fixed thereto, for example by splines, keys, or any other fixing means .
• the stator 1 is arranged around the rotor 41, 42 and the hollow shaft 3 by means of bearings 30 allowing rotation of the hollow shaft and the rotor 41, 42 relative to the stator 1.
• the stator 1 comprises a surface facing the face of the rotor carrying the permanent magnets, said surface supporting a plurality of windings 101-104 supplied in three-phase arranged around the X axis to produce a magnetic field along the X axis, the size of which is polarity alternates according to the direction of the current flowing through the windings.
• the stator 1 comprises a plurality of magnetic sheets separated from each other by radial notches and each coil 101-104 consists of a set of turns of electrically conductive wires slipped into said notches.
• this arrangement of the rotor and the stator makes it possible to juxtapose several motors along the X axis, each motor associating one face of a rotor carrying the permanent magnets and the face of the stator facing each other, supporting the coils.
• each rotor can be common to two adjacent motors, a first face bearing the permanent magnets belonging to a first motor and a second face, opposite the first and also bearing the permanent magnets, belonging to a second motor.
• other rotors can be added which, combined with respective faces of the stator, each contribute to two additional motors.
• FIG. 6 thus illustrates an embodiment with four motors 51-54, comprising two rotors 41, 42 supporting permanent magnets 111-114 on their two faces, each face of a rotor being opposite a respective face of the stator comprising windings 101-104.
• FIG. 6 allows the number of motors to be varied between 1 and 4, depending on the number of faces of the rotors 41, 42 which are provided with permanent magnets and respective stator faces which are provided with windings.
• additional motors could be added by providing one or more additional rotors coaxial with rotors 41, 42, and respective additional stator faces.
• FIG. 7 illustrates an embodiment comprising a rotor 41 comprising magnets 111 on a face facing a surface of the stator 1 comprising the windings 101, forming a motor 51.
• the rotor 41 is rigidly secured to the shaft 3 and coaxial with the coil.
• FIG. 8 illustrates an embodiment comprising a rotor 41 comprising magnets 111 on a face facing the surface of the stator 1 comprising the windings 101, forming a motor 51, and magnets 112 on the opposite face of the rotor 41 facing a second surface of the stator 1 comprising the windings 102, forming a second motor 52.
• the magnets can, for example, be glued to the surfaces of the rotor 41.
• a single set of magnets can be used for two adjacent motors.
• the magnets are arranged in the rotor 41 so that a magnet has a north face on a first side of the rotor 41 and a south face on the other side of the same rotor 41, and a magnet adjacent has a south face on the first side of rotor 41 and the north face on the other side of rotor 41.
• the north and south faces alternate on each side of rotor 41.
• the first motor formed by the rotor 41 therefore comprises magnets on a crown, alternately presenting a north face and a south face. On the opposite face of the same rotor 41, there is a ring of magnets having the opposite polarity. By shifting the stator windings on either side of the rotor by a magnet pitch, torque is doubled compared to a ring of magnets used on one side only.
• each magnet thus has a face used by the first motor 51, while its opposite face is used by the second motor 52.
• the rotor 41 can be made of sheet metal having reservations in the shape of the magnets, in which the magnets 111 -114 are arranged so as to pass through the rotor 41.
• the rotor 42 is not used to form a motor and therefore does not carry permanent magnets. It would of course be possible to do away with this rotor 42 in order to increase the compactness of the device.
• FIG. 9 illustrates an embodiment comprising the motors 51 and 52 and a second rotor 42 comprising magnets 113 on a face facing the surface of the stator 1 comprising the coils 103, forming a third motor 53.
• FIG. 10 illustrates an embodiment comprising the motors 51 and 52 and a second rotor 42 comprising magnets 113 on a face facing a third surface of the stator 1 comprising the coils 103, forming a third motor 53, and magnets 114 on its opposite face facing a fourth surface of stator 1 comprising the coils 104, forming a fourth motor 54.
• the motors 53 and 54 can be formed by the same set of magnets arranged through the rotor 42 so as to present, each one a north face on one side of the rotor 42 and a south face on the other side of the rotor. same rotor 42, by alternating the north and south faces of the adjacent magnets on each side of the rotor.
• the number of rotors is purely illustrative and not limiting, a person skilled in the art will know how to adapt it according to the parameters of the winding device and the necessary torque.
• the permanent magnets 111-114 advantageously have a substantially trapezoidal shape, with a height oriented radially with respect to the X axis, the base la narrower being positioned closer to the X axis than the wider base.
• the bases of the magnets can be straight or curved.
• the permanent magnets can thus be juxtaposed to form a crown coaxial with the X axis, facing the coils.
• Each motor is controlled by an electronic speed variator (not shown) adapted to vary the voltage, frequency and current supplying the windings of stator 1.
• Said windings produce a magnetic field rotating at a speed proportional to the frequency d power supply, causing a rotation of the rotor (s), the permanent magnets of which produce a magnetic field.
• the current supplying the windings can be controlled, so as to vary the magnetic field and therefore adapt the torque produced by the motor.
• the electronic speed variator is part of the reel control / command system, which also includes a processing unit coupled or integrated into the variator to control the motor in particular according to the position of the reel and the operating phase. .
• Said control / command system further comprises sensors suitable for measuring the electric current flowing through the motor windings.
• the processing unit comprises at least one processor configured to implement calculation algorithms taking account of input data supplied in particular by the sensors and a memory in which are recorded the parameters necessary for the execution of the algorithms.
• the processing unit is integrated directly into the drive; in other embodiments, the processing unit is integrated in a programmable logic controller external to the variator (for example that of the machine to which the reel is connected).
• the processing unit and the drive can be arranged inside a cabinet located near the rewinder.
• An advantage of such a motor or set of direct drive motors is that it makes it possible to avoid the use of any transmission element, such as a reduction gear, and therefore overcomes all the problems generated by such a reducer, such as in particular possible failures and operating clearances of the reducer, as well as the losses that it causes by its efficiency.
• such a motor or set of motors makes it possible to generate shorter torques that are greater than current asynchronous motor technologies, which proves to be important in making it possible to reduce the braking time of the reel when stopped. emergency (at constant engine power) or to pass more quickly above the feed point of the reel, this requiring a strong overtorque, compared to the torque generated in current use, over a short period (typically less at 5 seconds).
• the winder according to the invention benefits from the large dimension of the coil to allow an arrangement of a large number of permanent magnets, and to place said magnets at a significant distance from the X axis, in order to provide the desired torque.
• the spool rotational speed is typically around 30 rpm, but more generally can range from almost zero to 100 rpm.
• the torque produced by the motor can reach 8000 Nm.
• the winding architecture according to the invention lends itself to a certain modularity, both in terms of the size and / or number of the coils and of the size of the permanent magnets.
• the stator 1 comprises coils 10 having a height h 1, the top of the coils in the direction radial being at a distance d from the X axis, and the height of the magnets 11 is substantially equal to the total thickness of the coil, the magnets being arranged opposite the coils.
• the stator 1 comprises coils 10 having a height h2 less than h1.
• the top of the coils in the radial direction is the same distance d from the X axis as in the coils of Figure 3, and the wide base of the magnets 11 is located the same distance from the X axis as the coils. magnets of the rotor of Figure 3 to maximize the torque generated.
• the stator 1 comprises coils 10 having a height h3 less than h2.
• the top of the coils in the radial direction is the same distance d from the X axis as in the coils of Figures 3 and 4, and the wide base of the magnets 11 is located the same distance from the X axis as the rotor magnets of Figures 3 and 4 in order to maximize the torque generated.
• each magnet in the form of two or more trapezoidal portions juxtaposed in the radial direction, the sum of the heights of which forms the total height of the magnet.
• magnets of maximum height using all of the trapezoidal portions, or to form magnets of minimum or intermediate height by using only part of the trapezoidal portions and arranging them in a ring.
• the illustrated embodiments are given for illustration only; those skilled in the art may use any other number of turns for the winding and size and number of magnets accordingly, depending on the application and the torque and speed required.
• Those skilled in the art will also be able to adapt the turns for the winding 101-104 and size the size and the number of magnets 111-114 in the same way for an embodiment in which one or more rotors 41, 42 are integral. shaft 3 as shown in Figures 6-10.
• the size and the number of turns for the windings 101-104 and the number of magnets 111-114 may be different or identical for the several motors 51-54 formed by the rotors and the surfaces of the stator 1.
• the motor could, according to an alternative, be radial flow.
• the rotor would comprise a drum integral with the mandrel 20 carrying the permanent magnets and the stator 1 would carry windings supplied in three-phase orienting the field radially.
• the magnets could be placed inside or outside the coils.

Landscapes

• Engineering & Computer Science (AREA)
• Power Engineering (AREA)
• Microelectronics & Electronic Packaging (AREA)
• Permanent Magnet Type Synchronous Machine (AREA)
• Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
• Replacement Of Web Rolls (AREA)
• Winding Of Webs (AREA)
• Storing, Repeated Paying-Out, And Re-Storing Of Elongated Articles (AREA)

Applications Claiming Priority (2)

Publications (1)

Family

ID=72644322

Family Applications (1)

Country Status (9)

Family Cites Families (7)

• 2020
  • 2020-05-19 FR FR2005124A patent/FR3110783B1/fr active Active
• 2021
  • 2021-05-18 CN CN202180036850.5A patent/CN115668709A/zh active Pending
  • 2021-05-18 JP JP2022566327A patent/JP2023526906A/ja active Pending
  • 2021-05-18 US US17/925,874 patent/US20230192440A1/en active Pending
  • 2021-05-18 EP EP21732476.3A patent/EP4154391A1/fr active Pending
  • 2021-05-18 CA CA3181800A patent/CA3181800A1/fr active Pending
  • 2021-05-18 WO PCT/FR2021/050865 patent/WO2021234272A1/fr active Application Filing
  • 2021-05-18 BR BR112022023510A patent/BR112022023510A2/pt unknown
  • 2021-05-18 KR KR1020227038626A patent/KR20230010633A/ko unknown

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