A planar ring-shaped AC servo motor

Abstract

The present invention discloses a planar annular AC servo motor, comprising a stator and a rotor; the stator comprises an annular stator base and a planar annular end cover, an annular stator disc core is fixedly arranged on the annular stator base, a wound three-phase stator winding is embedded in the pitch groove of the annular stator disc core, a tubular support shaft is arranged at the center of the annular stator base, and the planar annular end cover is fixedly connected to one end of the support shaft away from the annular stator base; the rotor is an annular plane rotor, the top surface of the annular plane rotor is rotatably matched with the planar annular end cover through a planar pressure bearing, an annular rotor disc core is fixedly arranged on the bottom surface of the annular plane rotor, a guide bar rotor winding is embedded in the annular rotor disc core, and the bottom surface of the annular rotor disc core is rotatably matched with the annular stator base through a planar pressure bearing. The present invention has a simple structure, a small volume, and low power loss.

Description

Technical Field

[0001] The invention relates to the technical field of motors, and in particular to a planar annular AC servo motor. Background Art

[0002] Conventional planar annular motor applications usually use a common motor to drive a planar disc using a transmission shaft and an annular friction wheel, or a common motor to drive a planar disc using a gear machine and an annular rack structure, or a common motor to indirectly drive a planar disc using a pulley transmission mechanism.

[0003] Since the working surface of the planar ring motor is often narrow, ordinary motors cannot drive it directly and can only be driven indirectly through a mechanical transmission mechanism, such as: the drive of the ring rack and gear of the rotating exhibit bottom tray, the drive of the mechanical wrist, the drive of the rotation torque in the narrow space between the two planes, etc. The use of complex mechanical transmission mechanisms not only brings unnecessary friction and power loss, but also has high process requirements for machining gear racks. Summary of the invention

[0004] The purpose of the present invention is to solve the problems existing in the above-mentioned prior art and to provide a planar annular AC servo motor with simple structure, small size and low power loss.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] The present invention provides a planar annular AC servo motor, comprising a stator and a rotor; the stator comprises an annular stator base and a planar annular end cover, an annular stator disc core is fixedly arranged on the annular stator base, a wound three-phase stator winding is embedded in the pitch groove of the annular stator disc core, a support shaft is arranged at the center of the annular stator base, and the planar annular end cover is threadedly connected to one end of the support shaft away from the annular stator base;

[0007] The rotor is an annular planar rotor, the top surface of which is rotatably matched with the planar annular end cover via a planar pressure bearing, an annular rotor disc core is fixedly arranged on the bottom surface of the annular planar rotor, a bar-type rotor winding is embedded in the annular rotor disc core, the bar-type rotor winding comprises a first copper ring, a second copper ring and a plurality of bars connected to the first copper ring at one end and to the second copper ring at the other end, the diameter of the first copper ring is smaller than the diameter of the second copper ring, and the bottom surface of the annular rotor disc core is rotatably matched with the annular stator base via a planar pressure bearing.

[0008] Preferably, a planar magnetic field air gap is provided between the annular rotor disc core and the annular stator disc core.

[0009] Preferably, it also includes a planar torque ring washer fixedly connected to the top surface of the annular planar rotor, and the end surface of the planar torque ring washer away from the annular planar rotor is used to connect with the load surface.

[0010] Preferably, the wound three-phase stator winding is electrically connected to a power inverter, and the power inverter can adjust the frequency of the three-phase AC power supply in the wound three-phase stator winding, thereby adjusting the rotation speed of the rotating magnetic field in the wound three-phase stator winding.

[0011] Compared with the prior art, the present invention has achieved the following technical effects:

[0012] The planar annular AC servo motor of the present invention has a simple structure, a small size and low power loss. The planar annular AC servo motor of the present invention can directly perform electromagnetic drive on a narrow working surface, and uses a power inverter to provide a variable frequency AC power supply to control the rotation of the planar annular rotor to generate the torque and speed required by the load plane, thereby simplifying the mechanical transmission mechanism, reducing the size of the equipment and reducing power loss. Since the support shaft at the center of the planar annular AC servo motor of the present invention is tubular and hollow, it is particularly suitable for the cable distribution of numerous sensors on the robot wrist. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0014] Figure 1 It is a structural schematic diagram of the planar annular AC servo motor of the present invention;

[0015] Figure 2 The structure of the stator in the planar annular AC servo motor of the present invention is schematically shown. Figure 1 ;

[0016] Figure 3 The structure of the stator in the planar annular AC servo motor of the present invention is schematically shown. Figure 2 ;

[0017] Figure 4 The structure of the rotor in the planar annular AC servo motor of the present invention is schematically shown. Figure 1 ;

[0018] Figure 5 The structure of the rotor in the planar annular AC servo motor of the present invention is schematically shown. Figure 2 ;

[0019] Figure 6The structure of the rotor in the planar annular AC servo motor of the present invention is schematically shown. Figure 3 ;

[0020] Figure 7 A schematic diagram of magnetic field distribution in a planar annular AC servo motor of the present invention;

[0021] Among them: 1. annular stator base; 2. support shaft; 3. flat annular end cover; 4. annular stator disc core; 401. first pitch slot; 5. wound three-phase stator winding; 6. planar magnetic field air gap; 7. annular rotor disc core; 701. second pitch slot; 8. annular flat rotor; 9. planar pressure bearing; 10. planar torque ring gasket; 11. bearing shell; 12. guide bar rotor winding; 121. first copper ring; 122. guide bar; 123. second copper ring. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] The purpose of the present invention is to provide a solution to the problems existing in the above-mentioned prior art, and to provide a planar annular AC servo motor with simple structure, small size and low power loss.

[0024] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] like Figures 1 to 6 As shown: This embodiment provides a planar annular AC servo motor, comprising a stator and a rotor; the stator comprises an annular stator base 1 and a planar annular end cover 3, an annular stator disc core 4 is fixedly arranged on the annular stator base 1, a wound three-phase stator winding 5 is embedded in the first pitch slot 401 of the annular stator disc core 4, a support shaft 2 is arranged at the center of the annular stator base 1, and the planar annular end cover 3 is threadedly connected to one end of the support shaft 2 away from the annular stator base 1;

[0026] The rotor is an annular planar rotor 8, the top surface of which is rotatably matched with the planar annular end cover 3 through a planar pressure bearing 9, an annular rotor disc core 7 is fixedly arranged on the bottom surface of the annular planar rotor 8, a bar-type rotor winding 12 is embedded in the annular rotor disc core 7, the bar-type rotor winding 12 comprises a first copper ring 121, a second copper ring 123 and a plurality of bars 122 connected to the first copper ring 121 at one end and to the second copper ring 123 at the other end, the diameter of the first copper ring 121 is smaller than the diameter of the second copper ring 123, a plurality of bars 122 distributed in an annular shape form a rotor winding closed loop, the bar-type rotor winding 12 is in the shape of a thin sheet as a whole and is embedded in the second pitch slot 701 of the annular rotor disc core 7, the bottom surface of the annular rotor disc core 7 is rotatably matched with the annular stator base 1 through a planar pressure bearing 9. A bearing bush 11 is provided on the inner ring of the annular flat rotor 8 , and the bearing bush 11 is a copper sleeve sleeved on the support shaft 2 .

[0027] There is a planar magnetic field air gap 6 between the annular rotor disc core 7 and the annular stator disc core 4. The wound three-phase stator winding 5 is electrically connected to the power inverter, and the power inverter can adjust the frequency of the three-phase AC power supply in the wound three-phase stator winding 5, thereby adjusting the speed of the rotating magnetic field in the wound three-phase stator winding 5.

[0028] The planar annular AC servo motor of this embodiment further comprises a planar torque ring washer 10 fixedly connected to the top surface of the annular planar rotor 8, and the end surface of the planar torque ring washer 10 away from the annular planar rotor 8 is used for connecting to the load surface.

[0029] The working process of the planar annular AC servo motor of this embodiment is as follows:

[0030] When a three-phase AC power supply is passed through the wound three-phase stator winding 5, a rotating magnetic field is generated on the stator plane, and the rotating magnetic field speed n0=60f / p, where f is the power frequency and p is the number of magnetic pole pairs. The rotating magnetic field speed n0 can be adjusted by adjusting the power frequency through the power inverter;

[0031] The rotating magnetic field and the thin film annular trapezoidal conductive bars 122 on the annular rotor disk core 7 move relative to each other, generating an induced current in the trapezoidal conductive bars 122. The magnetic field of the induced current in the trapezoidal conductive bars 122 interacts with the rotating magnetic field, generating an electromagnetic torque between the annular stator disk core 4 and the annular rotor disk core 7, pushing the annular rotor disk core 7 to rotate in the direction of the annular rotating magnetic field. The annular rotor disk core 7 drives the annular planar rotor 8 to rotate, and the annular planar rotor 8 drives the load surface, i.e. the load surface, to rotate through the planar torque ring washer 10.

[0032] Electromagnetic force F = bli, where b is the effective value of the magnetic induction intensity in the magnetic air gap, l is the radial effective length of the annular magnetic field, l = r max -r min , i is the effective value of the current in the conductor bar 122, and the rotor disk speed n = (1-s)n0, where s is the slip rate.

[0033] In the description of the present invention, it should be noted that the orientations or positional relationships indicated by terms such as “center”, “top” and “bottom” are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0034] The present specification uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A planar annular AC servo motor, characterized in that: The invention comprises a stator and a rotor; the stator comprises an annular stator base and a flat annular end cover, the annular stator base is fixedly provided with an annular stator disc core, the pitch grooves of the annular stator disc core are embedded with a wound three-phase stator winding, a support shaft is arranged at the center of the annular stator base, and the flat annular end cover is threadedly connected with one end of the support shaft away from the annular stator base; The rotor is an annular planar rotor, the top surface of the annular planar rotor is rotatably matched with the planar annular end cover through a planar pressure bearing, an annular rotor disc core is fixedly arranged on the bottom surface of the annular planar rotor, a bar-type rotor winding is embedded in the annular rotor disc core, the bar-type rotor winding comprises a first copper ring, a second copper ring and a plurality of bars connected to the first copper ring at one end and to the second copper ring at the other end, the diameter of the first copper ring is smaller than the diameter of the second copper ring, and the bottom surface of the annular rotor disc core is rotatably matched with the annular stator base through a planar pressure bearing; There is a planar magnetic field air gap between the annular rotor disk core and the annular stator disk core; it also includes a planar torque ring washer fixedly connected to the top surface of the annular planar rotor, and the end surface of the planar torque ring washer away from the annular planar rotor is used to connect with the load surface; the wound three-phase stator winding is electrically connected to the power inverter, and the power inverter can adjust the frequency of the three-phase AC power supply in the wound three-phase stator winding, thereby adjusting the speed of the rotating magnetic field in the wound three-phase stator winding.

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