CN110138128B - Permanent magnet servo motor capable of precisely positioning and swinging and manufacturing method thereof - Google Patents
Permanent magnet servo motor capable of precisely positioning and swinging and manufacturing method thereof Download PDFInfo
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- CN110138128B CN110138128B CN201910431519.8A CN201910431519A CN110138128B CN 110138128 B CN110138128 B CN 110138128B CN 201910431519 A CN201910431519 A CN 201910431519A CN 110138128 B CN110138128 B CN 110138128B
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- 238000004519 manufacturing process Methods 0.000 title claims description 10
- 230000005291 magnetic effect Effects 0.000 claims description 27
- 238000004080 punching Methods 0.000 claims description 22
- 229910000831 Steel Inorganic materials 0.000 claims description 7
- 239000010959 steel Substances 0.000 claims description 7
- 238000004804 winding Methods 0.000 claims description 7
- 239000000463 material Substances 0.000 claims description 4
- 230000001105 regulatory effect Effects 0.000 claims description 4
- 239000003990 capacitor Substances 0.000 claims description 3
- 230000004907 flux Effects 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 claims 1
- 230000009471 action Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000009826 distribution Methods 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
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- 239000003302 ferromagnetic material Substances 0.000 description 1
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- 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
- H02K1/24—Rotor cores with salient poles ; Variable reluctance rotors
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- 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
- H02K1/2706—Inner rotors
- H02K1/272—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis
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- 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
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K15/00—Processes or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K3/00—Details of windings
- H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
- H02K3/28—Layout of windings or of connections between windings
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
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- 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
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
- H02K2213/03—Machines characterised by numerical values, ranges, mathematical expressions or similar information
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- Microelectronics & Electronic Packaging (AREA)
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- Manufacture Of Motors, Generators (AREA)
Abstract
The invention relates to the field of motors, and particularly discloses a precisely positioned and swinging permanent magnet servo motor which comprises a motor shell; the front end of the outer side of the motor shell is provided with an end cover, and the end cover is fixedly installed with the front end of the motor shell through the matching action of a fixing bolt and a cross countersunk head screw; a circular groove is formed in the end cover, a rotating shaft is arranged in the motor shell, the rear end of the rotating shaft is fixedly installed in the motor shell through a second shaft seal, and the front end of the rotating shaft penetrates through the first shaft seal and then is limited in the circular groove; the permanent magnet servo motor with the precise positioning swing function is reasonable in structural design and high in practicability, solves the problem of precise control of the swing angle of the precise positioning swing permanent magnet servo motor in the prior art, can meet the control requirement of the swing angle in practical application, does not generate action deviation and misoperation, and is worthy of popularization and use in the field of motors.
Description
Technical Field
The invention relates to the field of motors, in particular to a permanent magnet servo motor capable of precisely positioning and swinging and a manufacturing method thereof.
Background
Fast responsiveness is one of the indicators of the dynamic quality of the servo system, and requires that the response of the tracking command signal is fast, typically within 200 ms, even less than tens of ms. The rapidity of response is mainly reflected in mechanical and electrical time constants, within milliseconds, even less than tens of milliseconds.
The mechanical time constant is proportional to the magnitude of the mechanical time constant of the armature resistance and the rotational inertia of the motor, and in order to reduce the mechanical time constant, it is preferable to use an elongated armature to obtain the smallest possible rotational inertia. The mechanical time constant is also proportional to the magnitude of the armature resistance, thus minimizing the armature resistance. And armature resistance is proportional to the magnitude of armature winding inductance, thereby minimizing armature resistance. The size of the armature winding inductance directly influences the size of the electrical time constant, and the smaller the inductance design is, the smaller the electrical time constant is, and the faster the reaction speed is. After the winding wire gauge and the arrangement are set in the stator design, the rotor moment of inertia and the stator resistance are displayed, and meanwhile, the weight distribution, the end distribution, the slot filling rate and the like of each part of the motor are included.
The magnetoelectric device which swings at a certain angle is frequently used in industrial production, in particular to the swinging magnetoelectric device which accurately positions the angle; but it is difficult to achieve precise positioning in actual design and production.
In view of the above problems in the prior art, the present invention is directed to a permanent magnet servo motor with precise positioning and swinging and a manufacturing method thereof.
Disclosure of Invention
The invention aims to provide a permanent magnet servo motor capable of precisely positioning and swinging and a manufacturing method thereof, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a precision positioning oscillating permanent magnet servo motor comprising: the front end of the outer side of the motor shell is provided with an end cover, and the end cover is fixedly installed with the front end of the motor shell through the cooperation of a fixing bolt and a cross countersunk head screw; a speed regulating switch is arranged on the middle surface of the outer side of the motor shell and is divided into four gears of 0, 1,2 and 3; the motor comprises a motor shell, and is characterized in that a circular groove is formed in the end cover, a rotating shaft is arranged in the motor shell, the rear end of the rotating shaft is fixedly arranged in the motor shell through a second shaft seal, and the front end of the rotating shaft penetrates through the first shaft seal and then is limited in the circular groove.
As a further scheme of the invention: an output sector gear is arranged on the part of the rotating shaft in the circular groove, and the movable range of the output sector gear is limited between 0 and 90 degrees.
As a further scheme of the invention: stators are arranged on the upper side and the lower side of the inner wall of the motor shell, and a rotor is arranged on a rotating shaft in the motor shell.
As a further scheme of the invention: the rotor comprises two rotor punching sheets with the same structure, the rotor punching sheets are formed by stacking 35ww310 punching sheets, and winding coils are wound inside the rotor punching sheets.
As a further scheme of the invention: the manufacturing material of the rotor punching sheet is magnetic steel, and the thickness of the rotor punching sheet is 2 mm.
As a further scheme of the invention: the included angle formed between the upper side face and the lower side face of each rotor punching sheet is 120 degrees, the horizontal line of the 120-degree magnetic pole included angle formed between the two rotor punching sheets is horizontal to the magnetic flux path of the stator magnetic pole, and the angle bisector of the two magnetic pole included angles vertically penetrates into the stator.
As a further scheme of the invention: five wires are connected to the rotor and respectively serve as a live wire, a zero line, a first power line, a ground wire and a second power supply incoming wire.
As a further scheme of the invention: the zero line is electrically connected with the second power supply inlet wire and the capacitor; live wire, ground wire and first power cord connect gradually on the three gear of 1,2, 3 of speed governing switch, 0 gear electric connection second power inlet wire.
As a further scheme of the invention: the manufacturing method of the precise positioning swinging permanent magnet servo motor mainly comprises the following steps:
firstly, calculating the magnetic steel performance parameter requirement of a permanent magnet servo motor stator according to the required torque and the control swing angle;
secondly, calculating the number of turns of a coil of a rotor magnetic pole and the area of a lead according to the determined data of the stator, and determining the material of a rotor punching sheet;
and thirdly, penetrating the manufactured stator and the manufactured rotor into the stator and the rotor for assembly according to corresponding design angles, and swinging.
Compared with the prior art, the invention has the beneficial effects that:
the permanent magnet servo motor with the precise positioning and swinging functions is reasonable in structural design and strong in practicability, and solves the problem of precise control of the swinging angle of the precise positioning and swinging permanent magnet servo motor in the prior art, so that the precise positioning and swinging permanent magnet servo motor can meet the control requirement of the swinging angle in practical application and does not generate action deviation and misoperation; in addition, the driving device can be widely applied to driving of a large waveguide switch, replaces an original gear speed change mechanism, and is worth popularizing and using in the field of motors.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention.
Fig. 1 is a schematic structural diagram of a precision positioning and swinging permanent magnet servo motor.
Fig. 2 is a left side view of a precision positioning oscillating permanent magnet servo motor.
Fig. 3 is a schematic structural diagram of an internal rotor of a precision positioning and swinging permanent magnet servo motor.
Fig. 4 is a schematic diagram of an internal stator structure of a precision positioning and swinging permanent magnet servo motor.
Fig. 5 is a schematic diagram of the electromotive force generation principle of a precision positioning swinging permanent magnet servo motor.
In the figure: the motor comprises an end cover 1, a circular groove 2, a rotating shaft 3, a first shaft seal 4, a cross countersunk head screw 5, a motor shell 6, a stator 7, a rotor 8, an output sector gear 9, a fixing bolt 10, a live wire 11, a zero line 12, a first power line 13, a second shaft seal 14, a rotor punching sheet 15, a winding coil 16, a ground wire 17 and a second power line 18.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, 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.
Referring to fig. 1 to 5, a precision positioning and swinging permanent magnet servo motor includes: the front end of the outer side of the motor shell 6 is provided with an end cover 1, and the end cover 1 is fixedly installed at the front end of the motor shell 6 under the matching action of a fixing bolt 10 and a cross countersunk head screw 5; a speed regulating switch is arranged on the middle surface of the outer side of the motor shell 6 and is divided into four gears of 0, 1,2 and 3; a circular groove 2 is formed in the end cover 1, a rotating shaft 3 is arranged in the motor shell 6, the rear end of the rotating shaft 3 is fixedly installed in the motor shell 6 through a second shaft seal 14, and the front end of the rotating shaft 3 penetrates through a first shaft seal 4 and then is limited in the circular groove 2; an output sector gear 9 is arranged on the part of the rotating shaft 3 in the circular groove 2, and the movable range of the output sector gear 9 is limited between 0 and 90 degrees.
Further, the rotor 8 comprises two rotor sheets 15 with the same structure, the rotor sheets 15 are formed by stacking 35ww310 sheets, and a winding coil 16 is wound inside each rotor sheet 15.
Further, the rotor sheet 15 is made of magnetic steel, and the thickness of the rotor sheet 15 is 2 mm.
Specifically, the included angles formed between the upper side surfaces and the lower side surfaces of the two rotor punching sheets 15 are both 120 °, the horizontal line of the 120-degree magnetic pole included angle formed between the two rotor punching sheets 15 is horizontal to the magnetic flux path of the stator magnetic pole, and the angle bisector of the two magnetic pole included angles vertically penetrates into the stator 7.
Furthermore, five wires, namely a live wire 11, a zero wire 12, a first power line 13, a ground wire 17 and a second power incoming wire 18, are connected to the rotor 8.
Specifically, the zero line 12 is electrically connected with the second power inlet line 18 through a capacitor; the live wire 11, the ground wire 17 and the first power line 13 are sequentially connected to three gears 1,2 and 3 of the speed regulation switch, and the gear 0 is electrically connected to the second power inlet wire 18.
The manufacturing method of the precise positioning swinging permanent magnet servo motor mainly comprises the following steps:
firstly, calculating the magnetic steel performance parameter requirement of a permanent magnet servo motor stator 7 according to the required torque and the control swing angle;
secondly, calculating the number of turns of a coil of a magnetic pole of the rotor 8, the area of a lead, the material of the rotor punching sheet 15 and the like according to the determined data of the stator 7;
and thirdly, penetrating and assembling the manufactured stator 7 and the rotor 8 according to corresponding design angles, and swinging.
The basis for determining the torque required by the common magnetoelectric swinging device and the angle of the control swing part is as follows:
electromagnetic power:
electromagnetic torque
No load loss P0: bearing friction, core eddy current loss;
on-axis output power P2＝Pem-P0
Power balance equation (neglecting excitation losses): p1＝Pcu+Pem＝Pcu+P0+P2
∵
∴T＝Tem-T0
Namely, the output torque on the shaft is electromagnetic torque-no-load torque; the idling torque is usually taken into account as a load torque in the mechanical load torque; considering the electromagnetic torque as the output torque on the motor shaft, we refer to:
electromagnetic torque: t ═ Tem
The basis for determining the magnetic steel performance parameter requirement of the motor stator 7 is as follows: the stator 7 is composed of 2 pieces of permanent magnet parallel magnetic field used to establish the positioning magnetic field, because of the existence of non-linear ferromagnetic material, there is a need to distinguish the inductance parameter into apparent inductance and incremental inductance, because the incremental inductance parameter is the key parameter to accurately describe the dynamic characteristics of the motor. Meanwhile, the inductance is also a key parameter required by the design of the controller;
according to the Faraday's law of electromagnetic induction, the back-emf across the coil is:
for a cored solenoid, λ is a function of i only, and so
It can be written as d λ/di, however for more general magnetic circuits λ is dependent on the composition of the magnetic circuit in addition to being a function of the current i, e.g. multiple excitation coils, or multiple cores may be present, so λ is a function of a multiple variable rather than a variable, so the partial differential sign should be preserved. If the magnetic circuit is linear, the lambda-i curve is a straight line, wherever the actual operating point is,
the obtained values are all constants, namely, an inductance formula defined by physics is obtained.
In the description of the invention, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (5)
1. A precision positioning oscillating permanent magnet servo motor comprising: a motor housing (6), characterized in that: the front end of the outer side of the motor shell (6) is provided with an end cover (1), and the end cover (1) is fixedly installed at the front end of the motor shell (6) through the matching effect of a fixing bolt (10) and a cross countersunk head screw (5); a speed regulating switch is arranged on the middle surface of the outer side of the motor shell (6), and the speed regulating switch is divided into four gears of 0, 1,2 and 3; the end cover (1) is internally provided with a circular groove (2), the motor shell (6) is internally provided with a rotating shaft (3), the rear end of the rotating shaft (3) is fixedly arranged in the motor shell (6) through a second shaft seal (14), and the front end of the rotating shaft (3) penetrates through a first shaft seal (4) and then is limited in the circular groove (2); stators (7) are arranged on the upper side and the lower side of the inner wall of the motor shell (6), and a rotor (8) is arranged on a rotating shaft (3) in the motor shell (6); an output sector gear (9) is arranged on the part of the rotating shaft (3) in the circular groove (2), and the movable range of the output sector gear (9) is limited between 0 and 90 degrees; the rotor (8) comprises two rotor punching sheets (15) with the same structure, and the rotor punching sheets (15) are formed by stacking 35ww310 punching sheets; a winding coil (16) is wound inside the rotor punching sheet (15); an included angle formed between the two rotor punching sheets (15) is 120 degrees, a horizontal line of a 120-degree magnetic pole included angle formed between the two rotor punching sheets (15) close to the ground wire (17) is horizontal to a magnetic flux path of the stator magnetic pole, and an angle bisector of the 120-degree magnetic pole included angle vertically penetrates into the stator (7).
2. The fine positioning oscillating permanent magnet servo motor of claim 1, wherein: the rotor punching sheet (15) is made of magnetic steel, and the thickness of the rotor punching sheet (15) is 2 mm.
3. The fine positioning oscillating permanent magnet servo motor of claim 1, wherein: five wires are connected to the rotor (8), and are respectively a live wire (11), a zero wire (12), a first power wire (13), a ground wire (17) and a second power wire inlet (18).
4. The fine positioning oscillating permanent magnet servo motor of claim 3, wherein: the zero line (12) is electrically connected with a second power inlet wire (18) through a capacitor; live wire (11), ground wire (17) and first power cord (13) connect in proper order on the three gear of 1,2, 3 of speed governing switch, and 0 gear electric connection second power inlet wire (18).
5. A method for manufacturing a precision positioning swinging permanent magnet servo motor according to any one of claims 1-4, characterized by comprising the following steps:
firstly, calculating the magnetic steel performance parameter requirement of a permanent magnet servo motor stator (7) according to the required torque and the control swing angle;
secondly, calculating the number of turns of a coil of a magnetic pole of the rotor (8) and the area of a wire according to the determined data of the stator (7), and determining the material of the rotor punching sheet (15);
and thirdly, penetrating and assembling the manufactured stator (7) and the rotor (8) according to a corresponding design angle, and swinging.
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| CN110138128B true CN110138128B (en) | 2021-12-07 |
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| CN112865407B (en) * | 2021-01-20 | 2022-06-07 | 西湖大学 | Motor energy storage braking device and navigation device |
| CN112688457B (en) * | 2021-01-21 | 2025-09-19 | 珠海格力电器股份有限公司 | Motor rotor and magnetic suspension motor |
| CN113525642B (en) * | 2021-05-21 | 2022-11-01 | 西湖大学 | A driving device for an aircraft and the aircraft |
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| KR20160009774A (en) * | 2014-07-16 | 2016-01-27 | 주식회사 에스엔이노베이션 | Switched reluctance motor |
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| US20130305856A1 (en) * | 2012-05-15 | 2013-11-21 | Milan Klimes | Actuator |
| CN104377878A (en) * | 2013-08-14 | 2015-02-25 | 毕严富 | Alternating-current self-speed-regulation electromotor |
| CN203859629U (en) * | 2014-03-12 | 2014-10-01 | 奇瑞汽车股份有限公司 | Speed reducer |
| CN205701751U (en) * | 2016-04-15 | 2016-11-23 | 张金发 | A kind of chemistry test tube high-efficiency washing device |
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| KR20160009774A (en) * | 2014-07-16 | 2016-01-27 | 주식회사 에스엔이노베이션 | Switched reluctance motor |
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