CN103148124A - Duplex-winding hybrid excitation brake - Google Patents

Abstract

The invention discloses a duplex-winding hybrid excitation brake, belongs to the technical field of electromagnetic mechanisms and aims at solving the problems that the existing electromagnetic brake has a low brake torque, a lower residual-magnetism-phenomenon response speed and low reliability. The duplex-winding hybrid excitation brake comprises a brake armature, an outer iron core, a permanent magnet, an inner iron core, an inner winding, an outer winding, a fixing piece and a plurality of supporting rings, wherein the outer iron core and the inner iron core are coaxial parts with L-shaped sections; the L-shaped bottom of the outer iron core faces inwards along the radial direction; the L-shaped bottom of the inner iron core faces outwards along the radial direction; the permanent magnet is arranged between the bottom of the axial outer iron core and the inner iron core; an upper-opening annular area is enclosed by the outer iron core and the inner iron core; an inner winding and an outer winding are arranged in the annular area; the brake armature is of a circular ring structure which is coaxial with the outer iron core; a circular-ring shaped end surface of the brake armature faces towards the opening of the annular area; the brake armature is fixed on the fixing piece by the plurality of supporting springs; and the fixing piece is fixed on a motor bearing.

Description

Double winding composite excitation break

Technical field

The present invention relates to the double winding composite excitation break for space manipulator, belong to the electromagnetic mechanism technical field.

Background technique

Space manipulator can replace the space man in space work, building and safeguarding, the release of satellite etc. as the space station.When mechanical arm generation Loss of power failure, the mechanical arm in work is due to self inertia and armed lever gravity effect, stop motion immediately, thus mechanical arm will damage space man or equipment and instrument.Therefore in Chinese Space Manipulator Technology, mechanical arm loss protecting problem has become the hot issue of concern.

Mostly adopt electromagnetic brake in mechanical arm both at home and abroad at present, existing electromagnetic brake, by spring-compressed armature, armature and friction disk effect produce retarding torque after the field coil dead electricity.Because the spring pressure active area is limited, so retarding torque is little.

Existing break work has two working staties: energising hold mode and power-off brake state.If in break, winding breaks down, break will be transformed into the power-off brake state by the energising hold mode, and break stops drive motor motion in the joint, thereby affect the normal operation of mechanical arm, cause the poor reliability of space manipulator.

Electromagnetic brake is due to the impact that the remanent magnetism phenomenon is arranged, and when the remanent magnetism phenomenon was obvious, after the exciting winding dead electricity, break can not enter rapidly braking state.Therefore the existence of remanent magnetism phenomenon will affect the safety of space manipulator and surrounding devices thereof.

Existing electromagnetic brake mainly contains following deficiency: the equal volume retarding torque is low; The remanent magnetism phenomenon affects the break speed of response and even brakes failure; The problems such as the break reliability is low.

Summary of the invention

The equal volume retarding torque that the present invention seeks in order to solve existing electromagnetic brake existence is low; The remanent magnetism phenomenon affects the break speed of response and even brakes failure; The problem that the break reliability is low provides a kind of double winding composite excitation break.

Double winding composite excitation break of the present invention, it comprises break armature, outer iron core, permanent magnet, inner iron core, interior winding, outer winding, fixed block and Duo Gen supported spring,

Outer iron core and inner iron core are that the cross section is L shaped coaxial elements, the L shaped bottom of outer iron core is radially inside, the L shaped bottom of inner iron core is radially outside, be provided with permanent magnet between the bottom of outer iron core vertically and inner iron core, outer iron core and inner iron core surround the annular region of upward opening, be provided with interior winding and outer winding in this annular region

Break armature is and the circle structure of the coaxial setting of outer iron core, and the annulus end face of break armature is the opening setting towards annular region, and break armature is fixed on fixed block by many supported springs, and fixed block is fixed on motor bearings.

Advantage of the present invention: double winding composite excitation break of the present invention is acted on simultaneously by permanent magnet and exciting winding, completes the conversion of break braking state and hold mode by the mode of action that changes two magnetic fields.Composite excitation break equal volume can provide larger retarding torque, and does not have the brake failure problem that causes because of the remanent magnetism phenomenon.Doublewound design has improved the reliability of break, makes when a cover winding breaks down, and another set of winding can independently be born task, and does not affect the entire system performance.The double winding of break adopts reasonably design, and after the double winding of assurance switched, braking ability did not have notable difference.

Description of drawings

Fig. 1 is the body structure schematic diagram of double winding composite excitation break of the present invention, and inside and outside winding radially is set up in parallel;

Fig. 2 is the body structure schematic diagram of double winding composite excitation break of the present invention, and inside and outside winding is set up in parallel vertically;

Fig. 3 is the control circuit figure of double winding composite excitation break.

Embodiment

Embodiment one: present embodiment is described below in conjunction with Fig. 1 to Fig. 3, the described double winding composite excitation of present embodiment break, it comprises break armature 1-1, outer 1-2 unshakable in one's determination, permanent magnet 1-3, inner iron core 1-4, interior winding 1-6, outer winding 1-7, fixed block 1-8 and Duo Gen supported spring 1-5

Outer 1-2 unshakable in one's determination and inner iron core 1-4 are that the cross section is L shaped coaxial elements, the L shaped bottom of outer 1-2 unshakable in one's determination is radially inside, the L shaped bottom of inner iron core 1-4 is radially outside, be provided with permanent magnet 1-3 between the bottom of outer 1-2 unshakable in one's determination vertically and inner iron core 1-4, outer 1-2 unshakable in one's determination and inner iron core 1-4 surround the annular region of upward opening, be provided with interior winding 1-6 and outer winding 1-7 in this annular region

Break armature 1-1 is the circle structure with the coaxial setting of outer 1-2 unshakable in one's determination, the annulus end face of break armature 1-1 is the opening setting towards annular region, break armature 1-1 is fixed on fixed block 1-8 by many supported spring 1-5, and fixed block 1-8 is fixed on motor bearings.

In order to solve the problem of the poor reliability that in space manipulator, the break winding failure causes, the described double winding composite excitation of mode of execution break adopts Redundancy Design, is provided with interior winding 1-6 and outer winding 1-7 double winding.Double winding works in the cold standby state, when a cover winding breaks down, switches to another set of winding and substitutes work, and do not affect the overall performance of system.

Double winding composite excitation break is according to the electromagnet principle, the independent role in the magnetic field that produces by exciting winding (interior winding 1-6 or outer winding 1-7) and permanent magnet 1-3 and the conversion that acting in conjunction realizes the break working state, break bulk junction composition such as Fig. 1 or shown in Figure 2.Break work has two working staties: energising hold mode and power-off brake state.

Control circuit as shown in Figure 3.Control gear 2-2 carries out the PWM conversion to ac power supply 2-1 and produces the voltage U 1 of release armature separation and the voltage U 2 that break is in hold mode, has guaranteed the rapidity that mechanical arm can recover from fault.

When space manipulator works, the energising of break exciting winding, the magnetic field cancellation of its generation is fallen the magnetic field that permanent magnet 1-3 produces, and break armature 1-1 separates with the end face of outer 1-2 unshakable in one's determination and inner iron core 1-4 under the effect of supported spring 1-5, and break is in hold mode.When space manipulator generation disconnection fault, the magnetic field that exciting winding produces disappears, break armature 1-1 produces electromagnetic attraction under the magnetic fields of permanent magnet 1-3, the upper surface adhesive of the rubbing surface of break armature 1-1 and outer 1-2 unshakable in one's determination and inner iron core 1-4 enters braking state.According to Maxwell's suction formula, can obtain the suffered electromagnetic attraction of break armature 1-1 and be:

（1）

Wherein Be air gap place magnetic induction intensity, described air gap refers to the air gap between the end face of break armature 1-1 and outer 1-2 unshakable in one's determination and inner iron core 1-4,

Be area of contact,

Be air-gap flux,

Be air permeability.

Under the electromagnetic attraction effect, the end-face friction of the annulus end face of break armature 1-1 and outer 1-2 unshakable in one's determination and inner iron core 1-4 produces retarding torque

, retarding torque Space manipulator is produced braking action, retarding torque Size be:

（2）

Wherein

Be electromagnetic attraction,

Be the friction effective diameter,

Be the friction factor between the end face of the annulus end face of break armature 1-1 and outer 1-2 unshakable in one's determination and inner iron core 1-4.

Mounting type: break armature 1-1 is connected by supported spring 1-5 and together rotates with the joint of mechanical arm motor bearings, inside and outside iron core is fixed in mechanical arm on static part, by the end-face friction generation retarding torque of break armature 1-1 rubbing surface and outer 1-2 unshakable in one's determination and inner iron core 1-4.

Embodiment two: present embodiment is described further mode of execution one, and interior winding 1-6 and outer winding 1-7 are set up in parallel vertically or radially.

When interior winding 1-6 and outer winding 1-7 radially were set up in parallel, as shown in Figure 1, interior winding 1-6 and outer winding 1-7 satisfied condition , wherein:

Be the wire diameter of interior winding 1-6, Wire diameter for outer winding 1-7;

Be the average every circle length of interior winding 1-6,

Be the average every circle length of outer winding 1-7.

Structure shown in Figure 1 is applicable in mechanical arm that axial space has size restrictions, double winding adopts the winding method of arranging side by side, in order to guarantee that interior winding 1-6 and outer winding 1-7 have identical braking ability, winding parameter needs reasonably design, the number of turn and wire diameter that the appropriate design of winding is embodied in winding parameter are selected, the braking effect that produces when double winding works alone equates, the magnetomotive force that namely keeps double winding to produce

Equate.Therefore need to guarantee:

（3）

Wherein

(4)

（5）

To in formula (4) and formula (5) substitution formula (3) and after arranging be:

（6）

Formula (3) parameter declaration to the formula (5):

The number of turn for interior winding 1-6 coil;

The number of turn for outer winding 1-7 coil;

Be the terminal voltage of interior winding 1-6 or outer winding 1-7, interior winding 1-6 and outer winding 1-7 are in parallel, and terminal voltage both is equal, when break armature 1-1 separates with iron core, =U1 ,During hold mode,

=U2;

Equivalent resistance for interior winding 1-6 coil;

Equivalent resistance for outer winding 1-7 coil;

Be specific resistance;

Wire diameter for interior winding 1-6;

Wire diameter for outer winding 1-7;

Be the average every circle length of interior winding 1-6;

Be the average every circle length of outer winding 1-7.

When interior winding 1-6 and outer winding 1-7 were set up in parallel vertically, as shown in Figure 2, interior winding 1-6 and outer winding 1-7 satisfied condition , wherein:

Coil turn for interior winding 1-6;

Coil turn for outer winding 1-7.

Structure shown in Figure 2 is applicable in mechanical arm that radial space has size restrictions, and double winding adopts the winding method that is arranged above and below, and in order to guarantee double winding, break integral body is had identical impact, and double winding should satisfy:

Claims (4)

1. double winding composite excitation break, it is characterized in that, it comprises break armature (1-1), outer iron core (1-2), permanent magnet (1-3), inner iron core (1-4), interior winding (1-6), outer winding (1-7), fixed block (1-8) and many supported springs (1-5)

Outer iron core (1-2) and inner iron core (1-4) are L shaped coaxial elements for the cross section, the L shaped bottom of outer iron core (1-2) is radially inside, the L shaped bottom of inner iron core (1-4) is radially outside, be provided with permanent magnet (1-3) between the bottom of outer iron core (1-2) vertically and inner iron core (1-4), outer iron core (1-2) and inner iron core (1-4) surround the annular region of upward opening, be provided with interior winding (1-6) and outer winding (1-7) in this annular region

Break armature (1-1) is the circle structure with the coaxial setting of outer iron core (1-2), the annulus end face of break armature (1-1) is the opening setting towards annular region, break armature (1-1) is fixed on fixed block (1-8) by many supported springs (1-5), and fixed block (1-8) is fixed on motor bearings.

2. double winding composite excitation break according to claim 1, is characterized in that, interior winding (1-6) and outer winding (1-7) are set up in parallel vertically or radially.

3. double winding composite excitation break according to claim 2, is characterized in that, interior winding (1-6) and outer winding (1-7) are when radially being set up in parallel, and interior winding (1-6) and outer winding (1-7) satisfy condition

, wherein:

Be the wire diameter of interior winding (1-6),

Wire diameter for outer winding (1-7);

Be the average every circle length of interior winding (1-6),

Be the average every circle length of outer winding (1-7).

4. double winding composite excitation break according to claim 2, is characterized in that, interior winding (1-6) and outer winding (1-7) are when being set up in parallel vertically, and interior winding (1-6) and outer winding (1-7) satisfy condition

, wherein: Coil turn for interior winding (1-6);

Coil turn for outer winding (1-7).

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