RU2543522C2 - Mechatronic device - Google Patents

Abstract

FIELD: electricity.

SUBSTANCE: invention is related to the area of electric engineering and may be used in electric drives of different mechanisms and actuators of automatic systems. Mechatronic device comprises synchronous motor with concentrated windings at stator poles with number of poles multiple to number of alternating current phases, winding-free rotor. Stator and rotor are made composite and consisting of two cylindrical core stacks with scalloped surface and even pitch. Number of teeth at rotor is less than number of teeth at stator. Stator packs are turned towards each other, at that angle of their scalloped surfaces shear is equal to 180°. Between core stacks of stator there is permanent magnet with axial magnetisation. Rotor is set in stator bore and may perform the following complicated movement: precession in regard to stator axis and rotary in regard to own axis of symmetry. In order to transmit rotary movement of rotor to output shaft there is a device transmitting offset rotary movement, for example a pivoting device or an elastic deformable link.

EFFECT: reduced level of torque pulsation, increased reduction ratio and expanded functional capabilities.

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Description

FIELD OF THE INVENTION

The present invention relates to electrical engineering and is intended for use in electric drives of various mechanisms and actuators of automatic systems.

State of the art

Known mechatronic devices containing an electric motor with a stator with concentrated windings at the poles with a different number of phases and rotors without windings and permanent magnets. Each phase of these motors is voltage-switched using an electrical circuit containing semiconductor elements and position sensors [1, 2, 3 and 4]. The disadvantages of these devices are the high level of pulsation of the moment, the large number and cost of semiconductor devices of the inverter switching the phase windings, the need for a position sensor and a small reduction coefficient. For example, an inverter switching the phase windings of a four-phase valve-induction motor according to [1], contains eight power transistors and eight power diodes and a position sensor.

SUMMARY OF THE INVENTION

The closest to the present invention is a mechatronic device described in [1]. The aim of the present invention is to reduce the level of ripple of the moment, reducing the cost by eliminating semiconductor devices and a position sensor, increasing the reduction coefficient, as well as expanding the functionality.

The purpose of reducing the level of ripple of the moment, reducing the cost by eliminating semiconductor devices and a position sensor is achieved by supplying concentrated windings uniformly distributed over the bore of 2m poles (m is the number of phases of the winding) of the stator of the mechatronic device, from an AC network. In this case, the windings create a bipolar circular rotating magnetic field in the working air gap between the stator and the rotor. The rotor performs motion synchronously with the frequency of the alternating current.

An increase in the reduction coefficient and expansion of the functionality of the mechatronic device is achieved by the fact that the stator is made of two cylindrical packages of magnetic cores with a toothed surface, a uniform pitch in the inner bore. The number of teeth in the stator bore is odd. Between the packages of the stator magnetic circuits there is a permanent magnet with axial magnetization, and the packages themselves are rotated relative to each other so that the angle of shift of their gear surfaces is 180 °. The rotor, which is also composed of two magnetic cores mounted on a soft magnetic core, is installed in the stator bore in such a way that it can make a complex movement: precessional motion about the stator axis and rotational motion about its own axis of symmetry.

To transmit rotational motion to the output shaft, a device is provided in the device capable of transmitting non-coaxial rotational motion, for example, an articulated device or an elastic deformable element. On the surface of the rotor magnetic circuits facing the stator, a gear surface is made with the same uniform pitch equal to the pitch of the gear surface on the stator. The number of teeth is one less than the number of teeth on the stator.

When connecting the stator windings to an AC source, the rotor makes a complex movement, interacting through the magnetic fields of the stator and a permanent magnet with the gear surface of the stator; this interaction causes torque and a reduction in rotor rotation. The reduction coefficient is equal to the number of teeth on the rotor. Simultaneously with the reduction of speed, a large value of the torque is achieved due to the interaction of a larger number of gear pairs in the active zone of the air gap.

In the absence of current in the stator windings, the interaction of the gear pairs of the stator and rotor in the active zone of the air gap due to the magnetic field of the permanent magnet causes a large braking torque. Thus, the expansion of the functionality of the mechatronic device is achieved.

List of figures, drawings and other materials

Figure 1 shows a longitudinal section of the proposed magnetic mechatronic device. In Fig 2. shows a cross section of the active part of the air gap of the mechatronic device - a diagram of the air gap between the stator and rotor magnetic circuits.

Information confirming the possibility of carrying out the invention

The proposed mechatronic device of figure 1 contains a cylindrical non-magnetic housing 1 with covers, inside of which are placed the stator magnetic circuits 2 with concentrated windings 3 at the poles with gear surfaces on the inner surface with an odd number of teeth Z1 and with the same pitch t _z . Between the stator magnetic circuits there is a permanent magnet 4 with axial magnetization. The stator magnetic cores are rotated 180 ° relative to each other. The rotor, made up of two identical magnetic cores 5 with a toothed surface of Z2 = (Z1-u1) even teeth with the same pitch t _z , is mounted on the soft core 6 in the stator bore with the ability to make a complex movement, for example, through a spherical bearing 7. Rotor one of the ends through the coupling, an elastic deformable device 8, for example a bellows, a membrane device, etc., is connected to the output shaft 9 for transmitting rotational motion. The other (opposite) end face of the rotor rests on a guide surface in the housing cover, providing a guaranteed gap between the gear surfaces of the stator and the rotor in such a way that the axis of symmetry of the stator OO and the axis of symmetry of the rotor O ₁ O ₁ in one of the planes (Fig. 1 - planes of the drawing) form an angle θ. Under the action of magnetic forces of attraction from the field of permanent magnets Ф _pm with deenergized stator windings in the air gap between the stator and rotor magnetic circuits, zones with minimum and maximum gaps are diametrically opposed and axially opposite. In this case, the rotor toothed magnetic circuit is in an eccentric position relative to the stator toothed magnetic circuit, as shown in Fig. 2. The main part of the magnetic flux will be concentrated in the zone of minimum air gap δ _min . The interaction of the gear surfaces of the stator and rotor in this zone causes the appearance of braking torque on the output shaft of the mechatronic device.

When the stator windings are connected to an alternating current source, a bipolar rotating magnetic field Ф _st appears in the working air gap, which rotates synchronously with the alternating current frequency, i.e. the mechatronic device electric motor is a synchronous electric motor. This magnetic field, combined with the magnetic field of a permanent magnet, creates a resulting magnetic field with a maximum magnetic flux in the zones of minimum clearance and with a minimum magnetic flux in the zone of maximum gaps. Under the influence of magnetic forces of attraction, the rotor will make a complex motion: precessional motion with the speed of the stator rotating field with a precession angle θ relative to the axis of symmetry of the stator (the axis of symmetry of the rotor O ₁ O ₁ performs precession movement relative to the axis of symmetry of the stator OO with the precession angle θ); due to the difference in the number of teeth on the stator and rotor, the latter will rotate relative to its own axis of symmetry of the OO by one tooth division per revolution of rotation of the stator field, transmitting this movement to the output shaft. The precession angle is 2-4 °.

The value of the torque depends on the magnetic flux of the resulting magnetic field, which does not change in time and in the air gap. Torque has no ripple.

In the proposed structural scheme of the mechatronic device, a high value of the reduction coefficient is achieved, equal to the number of teeth on the rotor.

The control circuit of the proposed mechatronic device does not use semiconductor elements and does not require a rotor position sensor.

The proposed mechatronic device has expanded functionality: in a de-energized state, it acts as an active brake.

Thus, the proposed mechatronic device ensures the achievement of the purpose of the invention - reducing the level of ripple of the moment, increasing the reduction coefficient, expanding the functionality and reducing the cost by eliminating semiconductor devices and a position sensor.

In order to improve the energy characteristics, it is possible that the active parts of the stator and rotor are conical, for example, with angles of half the value of the angle of precession θ.

Literature

1. Kuznetsov V.A., Kuzmichev V.A. Inductive induction motors. - M.: Publishing House MPEI, 2003, p.10-21.

2. Plakh G.K., Lozitsky O.E., Lugovents V.A., Protasov D.A., Mustafaev P.P. Low-speed high-torque valve induction jet engine for automated electric drives. Fifth international (fourteenth All-Russian) conference on automated electric drive. - SPb .: AEP-2007, September 18-21.

3. Description of the invention to the patent of the Russian Federation 2426211.

4. Description of the invention to the patent of the Russian Federation 2439769.

Claims (1)

A mechatronic device containing a synchronous motor with concentrated windings on the poles of the stator, which has a number of poles that is a multiple of the number of phases of alternating current, a windingless rotor, characterized in that the stator and rotor are made up of two cylindrical packages of magnetic cores with a toothed surface with a uniform pitch, the number of teeth there are fewer teeth on the stator on the rotor, a permanent magnet with axial magnetization is placed between the stator magnetic core packages, and the packages themselves are rotated relative to each other but in a way that the angle of their gear surfaces is 180 °, the rotor is mounted in the stator bore in such a way that it can make a complex movement: the precession movement about the stator axis and the rotational movement about its own axis of symmetry and is connected to the output shaft through a device capable of transmit misaligned rotational motion, for example, through an articulated device or an elastic deformable element.

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