A motor rotor with electromagnet for adjusting dynamic balance and a dynamic balance adjustment method

Abstract

The present invention discloses a motor rotor with electromagnets for adjusting dynamic balance and a dynamic balance adjustment method. Several dynamic balance adjustment modules are installed on the rotor body. The dynamic balance adjustment module is annular, and several electromagnets arranged equidistantly are arranged inside near the outer edge. The electromagnets are connected by arc-shaped iron sheets. The electromagnets and the arc-shaped iron sheets form an annular structure. An annular iron powder cavity filled with iron powder is connected with the electromagnets and the arc-shaped iron sheets. An acceleration sensor, a control circuit and a conductive slip ring are also arranged inside the dynamic balance adjustment module. The control circuit is respectively connected to each electromagnet and the acceleration sensor and controls the current of each electromagnet. The electromagnet changes the adsorption position of the iron powder by changing the magnetic field intensity. The present invention has a high degree of automation, significantly improves work efficiency, and can reduce the experience requirements of the staff. With iron powder as a mass balancing object, the adjustment accuracy is higher. An iron powder locking mechanism is provided to facilitate maintaining a dynamic balance state after balancing.

Description

Technical Field

[0001] The invention belongs to the technical field of motor rotors, and in particular relates to a motor rotor with an electromagnet for adjusting dynamic balance and a dynamic balance adjustment method. Background Art

[0002] The motor rotor is a general term for the rotating part of the motor, and there are many factors that cause rotor imbalance, such as: unevenness of the rotor material, imbalance of the coupling, asymmetry of the keyway, rotor processing error, corrosion, wear and thermal deformation of the rotor during movement, etc. The imbalance caused by these factors is generally random and cannot be calculated. It needs to be measured and corrected through gravity tests (static balance) and rotation tests (dynamic balance) to reduce it to the allowable range.

[0003] The essence of rotor dynamic balancing is to fill (reduce) the corresponding mass in the position where the mass is missing (excess), which involves two main variables, one is the amount of mass, and the other is where it is. When the existing rotor is subjected to dynamic balancing test and trimming, a trimming module is generally made according to the dynamic balancing test data, and then the trimming module is connected or bonded to a certain position of the motor rotor by bolts, and then a dynamic balancing test is performed to check whether the quality and position of the trimming module meet the requirements. If not, the quality of the trimming module or the position of the motor rotor is adjusted until it meets the requirements. This leads to the following problems: 1. Low degree of automation, low work efficiency, time-consuming and labor-intensive; 2. High requirements for staff experience. Summary of the invention

[0004] The purpose of the present invention is to provide a motor rotor with electromagnets for adjusting dynamic balance and a dynamic balance adjustment method in order to solve the above problems. The method has a high degree of automation, significantly improves work efficiency, and can reduce the experience requirements of the staff.

[0005] The technical solution of the present invention is achieved in this way.

[0006] A motor rotor with electromagnets for adjusting dynamic balance, characterized in that: a plurality of dynamic balance adjustment modules are installed on the rotor body; the dynamic balance adjustment module is annular, and a plurality of electromagnets arranged equidistantly are arranged inside near the outer edge, the electromagnets are connected by arc-shaped iron sheets, the electromagnets and the arc-shaped iron sheets form an annular structure, and an annular iron powder cavity filled with iron powder is communicated with the electromagnets and the arc-shaped iron sheets; an acceleration sensor, a control circuit and a conductive slip ring are also arranged inside the dynamic balance adjustment module, the control circuit is respectively connected to each electromagnet and the acceleration sensor and controls the current of each electromagnet, the electromagnet uses the change of the current to cause the change of the magnetic field strength to change the adsorption position of the iron powder; the control circuit is connected to the power supply and signal acquisition box outside the dynamic balance adjustment module through the conductive slip ring.

[0007] Furthermore, an isolation film for isolating iron powder is provided between the iron powder in the iron powder chamber and the electromagnet and the arc-shaped iron sheet, and the iron powder is stored between the flexible pad and the isolation film. A clamping end cover is provided on the other side of the flexible pad, and the clamping end cover generates relative movement with the flexible pad when driven by the end cover driving device.

[0008] Furthermore, four acceleration sensors are evenly arranged with the axis of the rotor body as the center, each acceleration sensor is a unidirectional acceleration sensor, and the four acceleration sensors are divided into two groups with two adjacent ones as a group. Each group of acceleration sensors measures the acceleration data in the directions of two mutually perpendicular coordinate axes X and Y respectively. The two groups of acceleration sensors back up each other and improve the measurement accuracy of sensor data.

[0009] Furthermore, the computer and the data recorder are connected to the control circuit via a signal acquisition box to display and store the data of the acceleration sensor and the current data of the electromagnet.

[0010] Furthermore, the power supply is a battery provided in the motor or is powered by a motor drive circuit through a wire.

[0011] The above-mentioned method for adjusting the dynamic balance of a motor rotor with an electromagnet for adjusting the dynamic balance comprises the following steps:

[0012] (1) Install the dynamic balancing adjustment module on the motor rotor body, connect it to the external power supply, signal acquisition box, computer and data recorder through the conductive slip ring inside the dynamic balancing adjustment module, and then install the motor on the fixed base;

[0013] (2) The control circuit of the dynamic balancing adjustment module is powered on, and starts recording and processing data, which is then transmitted back to the computer and data recorder;

[0014] (3) Start the motor and make it rotate continuously at the specified speed;

[0015] (4) The electromagnet in the dynamic balancing adjustment module drives the iron powder to start adjusting the dynamic balancing according to the calculated value of the acceleration sensor according to the preset algorithm; if it is a one-time dynamic balancing adjustment, then execute steps (5) to (7); if it is a continuous dynamic balancing adjustment, then execute steps (8) to (10);

[0016] (5) During the continuous motion adjustment of the rotor, the control circuit evaluates the adjustment effect in real time based on the values ​​obtained and calculated by the acceleration sensor. The adjustment action continues until the dynamic balance value meets the product requirements and stops;

[0017] (6) After the dynamic balancing adjustment is completed, the locking mechanism locks the adjusted mass balancing object;

[0018] (7) The motor stops rotating, and then the dynamic balancing adjustment module is powered off, and the dynamic balancing adjustment is completed;

[0019] (8) After the motor officially starts to work, the control circuit evaluates and adjusts in real time according to the values ​​obtained and calculated by the acceleration sensor during the continuous motion adjustment process. The adjustment action continues until the dynamic balance value meets the range of product requirements and then stops;

[0020] (9) After the dynamic balancing adjustment is completed, the mass balancing object is kept in place until the working state changes, the dynamic balance of the motor rotor assembly is affected by the external working environment or the load changes installed on the motor. The dynamic balancing adjustment module then readjusts the position of the mass balancing object according to the value fed back by the sensor until the dynamic balancing requirements are met;

[0021] (10) The motor stops rotating and the dynamic balancing adjustment module is powered off.

[0022] The principle of the present invention is that the electromagnets are evenly distributed along the outer extension of the rotor, and there is an arc-shaped iron sheet between two adjacent electromagnets. Each electromagnet adjusts the magnetic field strength of the electromagnet by controlling the magnitude of its own current, thereby controlling the density and distribution area of ​​the attracted iron powder, thereby achieving the purpose of dynamic balance adjustment; the arc-shaped iron sheet is used to conduct magnetism and limit the distribution range of the iron powder.

[0023] The beneficial effects of the present invention are as follows: 1. The present invention adjusts the magnetic field strength of the electromagnet by controlling the magnitude of the respective currents of the electromagnets, thereby controlling the density and distribution area of ​​the attracted iron powder, thereby achieving the purpose of dynamic balance adjustment. It has a high degree of automation, significantly improves work efficiency, and can reduce the experience requirements of the staff. 2. Using iron powder as a mass balancing object, the dynamic balance is adjusted by the distribution position of the iron powder, and the adjustment accuracy is higher. 3. An iron powder locking mechanism is provided to facilitate maintaining the dynamic balance state after balancing. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 The overall structure diagram of the motor rotor with electromagnet for dynamic balancing adjustment according to the present invention.

[0025] Figure 2 The figure is a schematic diagram of the internal structure of the dynamic balance adjustment module of the motor rotor with electromagnet for adjusting dynamic balance according to the present invention.

[0026] Figure 3 for Figure 2 AA partial view.

[0027] Figure 4 for Figure 2 AA partial view of another state.

[0028] Figure 5The present invention is a schematic diagram of the circuit structure of a dynamic balance adjustment module of a motor rotor with an electromagnet for adjusting dynamic balance.

[0029] Figure 6 The present invention is a flow chart of a method for adjusting the dynamic balance of a motor rotor with an electromagnet for adjusting the dynamic balance.

[0030] In the figure, 1. rotor body, 2. dynamic balancing adjustment module, 21. electromagnet, 22. arc-shaped iron sheet, 23. iron powder cavity, 24. iron powder, 25. shaft hole, 26. acceleration sensor, 27. isolation film, 28. flexible pad, 29. clamping end cover, 210. control circuit, 211. conductive slip ring, 3. power supply, 4. signal acquisition box, 5. computer and data recorder. DETAILED DESCRIPTION

[0031] The technical solution of the present invention is further described in detail below through embodiments and accompanying drawings.

[0032] like Figure 1-Figure 5 As shown, a motor rotor with electromagnets for adjusting dynamic balance, a dynamic balance adjustment module 2 is installed at each of the upper and lower ends of the rotor body 1; the dynamic balance adjustment module 2 is annular, with a shaft hole 25 in the center, and 12 electromagnets 21 arranged equidistantly are arranged inside near the outer edge, and the electromagnets 21 are connected by arc-shaped iron sheets 22, and the electromagnets 21 and the arc-shaped iron sheets 22 form an annular structure, and an annular iron powder cavity 23 filled with iron powder 24 is communicated with the electromagnets 21 and the arc-shaped iron sheets 22; the dynamic balance adjustment module 2 is also provided with an acceleration sensor 26, a control The control circuit 210 and the conductive slip ring 211 are connected to each electromagnet 21 and the acceleration sensor 26 respectively and control the current of each electromagnet 21. The electromagnet 21 uses the change of the current to cause the change of the magnetic field strength to change the adsorption position of the iron powder 24; the control circuit 210 is connected to the power supply 3 and the signal acquisition box 4 outside the dynamic balancing adjustment module 2 respectively through the conductive slip ring 211, and the computer and the data recorder 5 input the current value of each electromagnet 21 to the control circuit 210 through the signal acquisition box 4.

[0033] An isolation film 27 for isolating the iron powder 24 is provided between the iron powder 24 in the iron powder chamber 23 and the electromagnet 21 and the arc-shaped iron sheet 22. The iron powder 24 is stored between the flexible pad 28 and the isolation film 27. A clamping end cap 29 is provided on the other side of the flexible pad 28. The clamping end cap 29 generates relative motion with the flexible pad 28 under the drive of the end cap driving device. Figure 3 The dynamic balance adjustment module 2 is in an unfinished state, the flexible pad 28 does not compress the iron powder 24, and the iron powder 24 can move when the magnetic field strength of the electromagnet 21 changes. Figure 4The dynamic balancing adjustment module 2 is in a state after the dynamic balancing adjustment is completed, the end cover 29 is pressed down, and the flexible pad 28 is pressed down and then presses the iron powder 24 , thereby locking the position of the iron powder 24 .

[0034] Four acceleration sensors 26 are evenly arranged around the axis of the rotor body 1. Each acceleration sensor 26 is a unidirectional acceleration sensor. The four acceleration sensors 26 are grouped into two groups, with two adjacent ones forming a group. Each group of acceleration sensors measures acceleration data in the directions of two mutually perpendicular coordinate axes X and Y. The two groups of acceleration sensors serve as backups for each other and improve the measurement accuracy of sensor data.

[0035] The computer and data recorder 5 are connected to the control circuit 210 via the signal acquisition box 4 to display and store the data of the acceleration sensor and the current data of the electromagnet.

[0036] The power supply 3 is a battery installed in the motor or is powered by a motor drive circuit through a wire.

[0037] like Figure 6 As shown, the above-mentioned method for adjusting the dynamic balance of a motor rotor with an electromagnet for adjusting the dynamic balance comprises the following steps:

[0038] (1) Install the dynamic balancing adjustment module 2 on the motor rotor body 1, connect it to the external power supply 3, signal acquisition box 4, computer and data recorder 5 through the conductive slip ring 211 in the dynamic balancing adjustment module 2, and then install the motor on the fixed base;

[0039] (2) The control circuit 210 of the dynamic balancing adjustment module 2 is powered on, starts recording data and processing the data, and then transmits the data back to the computer and the data recorder 5;

[0040] (3) Start the motor and make it rotate continuously at the specified speed;

[0041] (4) The electromagnet in the dynamic balancing adjustment module drives the iron powder to start adjusting the dynamic balancing according to the calculated value of the acceleration sensor according to the preset algorithm; if it is a one-time dynamic balancing adjustment, then execute steps (5) to (7); if it is a continuous dynamic balancing adjustment, then execute steps (8) to (10);

[0042] (5) During the continuous movement adjustment of the rotor, the control circuit 210 evaluates the adjustment effect according to the values ​​obtained and calculated in real time by the acceleration sensor 26, and the adjustment action continues until the dynamic balance value meets the range of product requirements and then stops the adjustment action;

[0043] (6) After the dynamic balancing adjustment is completed, the locking mechanism of the iron powder 24 locks the adjusted mass balancing object (iron powder 24);

[0044] (7) The motor stops rotating, and then the dynamic balancing adjustment module is powered off, and the dynamic balancing adjustment is completed;

[0045] (8) After the motor officially starts to work, the control circuit 210 evaluates and adjusts in real time according to the values ​​obtained and calculated by the acceleration sensor during the continuous motion adjustment process. The adjustment action continues until the dynamic balance value meets the range of product requirements and then stops the adjustment action;

[0046] (9) After the dynamic balancing adjustment is completed, the mass balancing object is kept in place until the working state changes, the dynamic balance of the motor rotor assembly is affected by the external working environment or the load changes installed on the motor. The dynamic balancing adjustment module then readjusts the position of the mass balancing object according to the value fed back by the sensor until the dynamic balancing requirements are met;

[0047] (10) The motor stops rotating and the dynamic balancing adjustment module is powered off.

[0048] For example, the power motors used in vehicle platforms and unmanned aerial vehicle platforms are directly loaded with loads, and the loads themselves will not change due to the working environment and working status. In this case, only a one-time dynamic balance adjustment is required. However, in some scenarios, such as robotic arms, gimbal motors, robot drive motors, etc., the loads that these motors need to drive may change over time, and the dynamic balance may change due to changes in the action itself. In this case, continuous and real-time dynamic balance adjustment is required.

[0049] The above are preferred embodiments of the present invention. It should be noted that a person skilled in the art may make several improvements and modifications without departing from the principles of the present invention. These improvements and modifications are also considered to be within the protection scope of the present invention.

Claims

1. A motor rotor with electromagnet for dynamic balancing, characterized in that: A plurality of dynamic balancing adjustment modules are installed on the rotor body; the dynamic balancing adjustment module is annular, and a plurality of electromagnets are arranged equidistantly inside and near the outer edge, and the electromagnets are connected by arc-shaped iron sheets, and the electromagnets and the arc-shaped iron sheets form an annular structure, and the annular iron powder cavity filled with iron powder is communicated with the electromagnets and the arc-shaped iron sheets; an acceleration sensor, a control circuit and a conductive slip ring are also arranged inside the dynamic balancing adjustment module, and the control circuit is respectively connected to each electromagnet and the acceleration sensor and controls the current of each electromagnet, and the electromagnet uses the change of the current to cause the change of the magnetic field strength to change the adsorption position of the iron powder; the control circuit is connected to the power supply and signal acquisition box outside the dynamic balancing adjustment module through the conductive slip ring; An isolation film for isolating iron powder is provided between the iron powder in the iron powder chamber and the electromagnet and the arc-shaped iron sheet. The iron powder is stored between the flexible pad and the isolation film. A clamping end cap is provided on the other side of the flexible pad. The clamping end cap moves relative to the flexible pad when driven by the end cap driving device.

2. The motor rotor with electromagnet for adjusting dynamic balance according to claim 1, characterized in that: Four acceleration sensors are evenly arranged around the axis of the rotor body. Each acceleration sensor is a unidirectional acceleration sensor. The four acceleration sensors are grouped into two groups, with two adjacent acceleration sensors forming a group. Each group of acceleration sensors measures acceleration data in the directions of two mutually perpendicular coordinate axes X and Y, and the two groups of acceleration sensors serve as backup for each other.

3. The motor rotor with electromagnet for adjusting dynamic balance according to claim 1, characterized in that: The computer and the data recorder are connected to the control circuit via a signal acquisition box to display and store the data of the acceleration sensor and the current data of the electromagnet.

4. The motor rotor with electromagnet for adjusting dynamic balance according to claim 1, characterized in that: The power supply is a battery arranged in the motor or is powered by a motor drive circuit through a wire.

5. A method for adjusting the dynamic balance of a motor rotor with an electromagnet for adjusting the dynamic balance according to any one of claims 1 to 4, characterized in that: The method steps are: (1) Install the dynamic balancing adjustment module on the motor rotor body, connect it to the external power supply, signal acquisition box, computer and data recorder through the conductive slip ring in the dynamic balancing adjustment module, and then install the motor on the fixed base; (2) The control circuit of the dynamic balancing adjustment module is powered on, and data is recorded and processed, and then transmitted back to the computer and data recorder; (3) Start the motor and make it rotate continuously at the specified speed; (4) The electromagnet in the dynamic balance adjustment module drives the iron powder to start adjusting the dynamic balance according to the calculated value of the acceleration sensor according to the preset algorithm; if it is a one-time dynamic balance adjustment, steps (5)-(7) are executed; if it is a continuous dynamic balance adjustment, steps (8)-(10) are executed; (5) During the continuous motion adjustment of the rotor, the control circuit evaluates and adjusts in real time based on the values ​​obtained and calculated by the acceleration sensor. The adjustment action continues until the dynamic balance value meets the product requirements and stops; (6) After the dynamic balancing adjustment is completed, the locking mechanism locks the adjusted mass balancing object; (7) The motor stops rotating, and then the dynamic balancing adjustment module is powered off, and the dynamic balancing adjustment is completed; (8) After the motor officially starts to work, the control circuit evaluates and adjusts in real time according to the values ​​obtained and calculated by the acceleration sensor during the continuous motion adjustment process. The adjustment action continues until the dynamic balance value meets the range of product requirements and the adjustment action is stopped; (9) After the dynamic balancing adjustment is completed, the mass balancing object is kept in place until the working state changes, the dynamic balance of the motor rotor assembly is affected by the external working environment or the load changes installed on the motor. The dynamic balancing adjustment module then readjusts the position of the mass balancing object according to the value fed back by the sensor until the dynamic balancing requirements are met; (10) The motor stops rotating and the dynamic balancing adjustment module is powered off.

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