Magnetic field modulation motor magnetic circuit structure for robot arm joint

Abstract

The invention discloses a magnetic field modulation motor magnetic circuit structure for a robot arm joint, and relates to the technical field of robots, more permanent magnets are adopted, more harmonic magnetic fields are generated through magnetic field modulation, although the harmonic magnetic fields cannot be seen, electromagnetic torque is actually generated to participate in the electromechanical energy conversion process, and the mechanical energy conversion efficiency is improved. Harmonic waves include third-order harmonic waves, fifth-order harmonic waves, seventh-order harmonic waves,... 2k + 1-order harmonic waves, generation of the harmonic waves actually enables the equivalent pole number of the motor to be increased, and therefore the rotating speed is reduced, electromagnetic speed reduction of a traditional servo motor can be achieved, the output rotating speed of a motor rotor shaft is reduced, torque is greatly improved, a speed reducer can be omitted, or the speed ratio of the speed reducer can be greatly reduced. Therefore, the technical threshold of mechanical manufacturing is reduced, low-speed direct drive and large-torque output of the motor are achieved, the transmission structure is greatly simplified, the weight of the transmission structure is reduced, and the dynamic response capacity and control precision of the system are improved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a magnetic circuit structure of a magnetic field modulation motor for a robot arm joint. Background technique [0002] As an important branch of the robot industry, industrial robots have the characteristics of high technical requirements, wide application scenarios, high maturity and fast growth rate. The servo motor system driven by robot joints, as the core component of the robot, its performance determines the stability of the robot action. In order to improve the stability and accuracy, the joint servo motor usually requires fast response speed, large starting torque to inertia ratio, wide and smooth speed regulation range, high efficiency, compact structure, high reliability, stability and large short-term overload capacity. [0003] In terms of robot joint arm power solutions, the current mainstream technical solution in the industry is still to use high-speed servo motors ...

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Problems solved by technology

[0005] For traditional permanent magnet servo motors, the number of N / S poles of the permanent magnets of the motor is equal to the number of poles of the motor. Since the speed of the synchronous motor is inversely proportional to the number of poles of the motor, this means that in a limited space, when the number of permanent magnets cannot When it is increased, the speed of the servo motor cannot be reduced, and the increase in torque reaches the limit. Therefore, the method of using a high-speed servo motor with a harmonic reducer has disadvantages such as complex transmission structure, larger volume, greater weight, and low transmission efficiency.

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