CN201025699Y - Digital control turning table driven directly by dual synchronization toque electromotor - Google Patents

Abstract

A numerical control turntable directly driven by bisynchronous torque motor belongs to motor application technical field. The utility model comprises a turntable base, a turntable working surface, a motor refrigeration structure, an outer rotor permanent magnetic synchronization ring shaped torque motor and an inner rotor permanent magnetic synchronization ring shaped torque motor, the base of the turntable is a ring shaped structure with an inverse T-shaped section, the base of the turntable and the turntable working surface are connected by a bearing, the turntable working surface is a table surface provided with an inner ring and an outer ring, the inner ring side of the base of the turntable is provided with the ring shaped motor refrigeration structure, an inner rotor permanent synchronization ring shaped torque motor is arranged between the inner ring side of the motor refrigeration structure and the inner ring of the turntable working surface, and an outer rotor permanent synchronization ring shaped torque motor is arranged between the outer ring side and the outer ring of the turntable working surface. The utility model has relatively good dissipation effect, solves the dissipation problem of large torque turntable, improves the torque density of the numerical control turntable and the working life of the motor, and improves the rotation acceleration and responding speed of the turntable, and the dynamic rigidity and control precision of the system.

Description

The numerical control rotating platform of two synchronising torque motor direct-drive

Technical field

The utility model belongs to the motor application technical field, particularly the numerical control rotating platform of a kind of pair of synchronising torque motor direct-drive.

Background technology

In the numerical control of machine tools turntable drives, traditional type of drive normally rotating servo motor adds worm couple (gear pair) mechanism, owing to there is mechanical drive train, though static rigidity is preferably arranged, but when finishing motion such as startup, acceleration, deceleration, counter-rotating and parking, can produce strain, friction and backlass etc., cause mechanical oscillation, motion low-response, dynamic rate difference and other nonlinearity erron, be difficult to realize high-precision processing.

Modern high-grade, digitally controlled machine tools numerical control rotating platform adopts permanent magnetic ring-shaped moment motor " directly to drive " technology, realizes " zero transmission ", is one of important channel that addresses the above problem." directly drive " operational factor restrictions such as having eliminated mechanical drive train error that the intermediate mechanical transmission mechanism causes and speed, acceleration because numerical control rotating platform, can directly provide driving torque, have characteristics such as loss is low, electrical time constant is little, response speed is fast to actuator.But, when adopting " directly driving " technology, the phenomenon that also can bring control system and control strategy complexity, static rigidity to reduce.Particularly high-grade large-scale machining tool turntable requires that the motor-driven torque is big, dynamic response is fast, control precision is high, installation volume is little, simultaneously the torque and the torque density of motor is also had higher requirement.So adding the turntable of worm and gear auxiliary structure, traditional rotating servo motor can not satisfy modern heavy duty machine tools to the big torque of turntable, high-precision double requirements.Even existing torque motor directly drives numerical control rotating platform, also to further simplify control strategy, improve the turntable torque density.

Under traditional control method, two motors of turntable need to be controlled respectively by two servo controllers, except controller needs two, because two same rigidity turntables of motor-driven, requiring must have rational power division between two motors, and requires realization " Synchronization Control ".Resolve this problem, also must take communication between two controllers, interconnected etc. drive complicated control strategy synchronously.

The utility model content

For solving the problem of above-mentioned existence, in conjunction with the turntable structure characteristics, the utility model provides the numerical control rotating platform of a kind of pair of synchronising torque motor direct-drive.

The utility model comprises turret base, the turntable working face, the motor cooling structure, synchronous annular torque motor of external rotor permanent magnet and the synchronous annular torque motor of internal rotor permanent-magnetic, hereinafter to be referred as external rotor electric machine and inner rotor motor, turret base is that the cross section is the loop configuration of inverted T shape, turret base is connected by bearing with the turntable working face, the turntable working face is the table top that has interior ring and outer shroud, the ring side is equipped with the annular generator cooling structure in turret base, interannular is equipped with inner rotor motor in the interior ring side of motor cooling structure and turntable working face, and interannular is equipped with external rotor electric machine outside outer rim side and turntable working face.

The motor cooling structure comprises air ring and coolant jacket, all has the spirality cooling passage on the inboard of air ring and outer surface, in the air ring both sides coolant jacket is installed.

For guaranteeing the reliability and the simplicity of turntable motor drive controlling, described two motors adopt the series connection synchronous driving mode, and the stack of the back electromotive force same-phase of the every phase winding correspondence of two motors; Promptly the number of magnetic poles of two motors is identical, and winding construction form correspondence is identical, and the direction of rotation of winding phase sequence and rotating magnetic field is identical, and each phase stator winding radial axis is corresponding to overlap the dead in line of inner and outer rotors permanent magnetism magnetic pole.

The winding connection of two motors is two kinds of star " Y " and dihedrals " Δ ", and when adopting star " Y " connection, having a motor windings at least is 6 binding posts lead-in wire modes; When adopting dihedral " Δ " connection, require two motor windings to be 6 binding post lead-in wire modes.

Simultaneously, two motors also must carry out supporting design, and specific requirement is as follows:

1, guarantee rational power division, two motor windings adopt series system, so two motor stator winding lead wire gauges (lead net sectional area) must be identical, to guarantee same current density.

2, the stator outer diameter of external rotor electric machine is D1, and the diameter of stator bore of inner rotor motor is D2, and under rated speed, every phase back electromotive force of corresponding motor stator winding is respectively E ₁And E ₂, then should have:

When phase winding flows through electric current I _φThe time, then outer, inner rotor motor electromagnetic power is respectively P _E1And P _E2Be respectively:

P _e1＝3I _φE ₁

P _e2＝3I _φE ₂

So two power of motor distribution ratios are

That is: $\frac{P_{e1}}{{\mathrm{<figure-callout\; id="1"\; label="D"\; filenames="Y20072001083400071.png"\; state="\{\{state\}\}">D</figure-callout>}}_1}=\frac{P_{e2}}{D_2}---\left(3\right)$

As seen, adopt above-mentioned design, guaranteed two powers of motor " line density ".Thereby realized the automatic equalization of two powers of motor.

3, except that satisfying expression formula (1), inside and outside rotor electric machine back electromotive force sum is

E＝E ₁+E ₂(4)

Also must control desired back electromotive force parameter E with table servo _eBe complementary, promptly have:

E≤E _e(5)

Only in this way could realize the parameter matching of motor and its controller, improve the overall permanence of numerical control rotating platform drive system.

The beneficial effects of the utility model:

1. utilize the high accuracy permanent magnet torque motor directly to drive numerical control rotating platform, cancelled traditional turntable worm wheel and worm rod pair driving mechanism, eliminated the transmission mechanism friction, wearing and tearing, factors such as gap are to the influence of numerical control rotating platform precision.Simultaneously, owing to adopt two synchronous permanent-magnet torque motors directly to drive the torque density that has increased numerical control rotating platform, improved the rotation acceleration of turntable, response speed and system dynamics rigidity.

2. adopt two synchronising torque motor tandem drive modes, two motor stator winding are connected in series the back by a servo controller driving, simplified control system, simultaneously, because two electric machine structure correspondences, what feed is the electric current of same amplitude and phase place, so solved the Synchronization Control policing issue of two motors automatically,, designed suitable back electromotive force again according to foregoing specialized designs method, satisfy expression formula (3) and (4), just can realize the reasonable distribution of power of motor automatically.

3. the utility model adopts two torque motor type of drive, between the stator winding of two motors, be separated with the stainless steel water-cooling structure, make full use of the inner space of numerical control rotating platform circulus, more help motor radiating, because the secondary p-m rotor side of permanent magnet torque motor power loss is very little, having only the mechanical friction loss is power source.The main body that the motor feels hot is stator winding resistance loss (copper loss) and core loss, directly stator water-cooling is dispelled the heat with water-cooling structure, has better radiating effect, solved the heat dissipation problem of big torque turntable, thereby the torque density and the motor that have further improved numerical control rotating platform move useful life, have also reduced the influence of temperature rise to the turntable precision, it is little to make described turntable have a volume, torque is big, and dynamic response is fast, advantages such as control strategy simplification.

4. owing to adopted this structure, two motor magnetic linkages have relative independence, and circuit has association (coupling) property.Two motor magnetic circuits are independent, overcome because of the magnetic circuit caused controlling models error that intercouples, and improved control precision.And magnetic circuit separate after, cogging torque that two motors are produced pulsation (torque pulsation of magneto mainly is a cogging torque fluctuation composition) is relatively independent.

Description of drawings

Fig. 1 is a structural representation of the present utility model;

Fig. 2 is that the inner and outer rings motor is installed the counter structure schematic diagram;

Fig. 3 is two motor tandem drive mode winding connection diagrams in the utility model, (a) is outer shroud motor three phase winding schematic diagrames, (b) is interior ring motor windings schematic diagram, (c) is two motors series connection winding connection diagram;

Fig. 4 is a motor windings mode of connection schematic diagram, and wherein (a) is outer shroud motor windings outlet schematic diagram, (b) is " Y " shape connection schematic diagram, (c) is interior ring motor windings outlet schematic diagram, (d) is " Δ " shape connection schematic diagram; 1. turntable work tops among the figure, 2. inner rotor motor rotor, 3. inner rotor motor stator, 4. motor cooling structure, 5. external rotor electric machine stator, 6. External rotor electric machine rotor, 7. bearing, 8. turret base, 9. cooling duct, 10. External rotor electric machine rotor yoke, 11. external rotor electric machine stator C phase winding, 12. external rotor electric machine stator B phase winding, 13. external rotor electric machine stator A phase windings, 14. External rotor electric machine rotor permanent magnets, 15. external rotor electric machine stator A phase winding axis, 16. External rotor electric machine rotor permanent magnet N pole axis line, 17. inner rotor motor rotor permanent magnet N pole axis lines, 18. inner rotor motor stator A phase winding axis, 19. inner rotor motor rotor permanent magnet, 20. the inner rotor motor rotor yoke iron, 21. inner rotor motor stator A phase windings, 22. inner rotor motor stator B phase windings, 23. inner rotor motor stator C phase winding, 24. in, the external rotor electric machine stator core, 25. interior rings, 26. outer shrouds, 27. air ring, 28. coolant jacket, 29. cooling passages, α are the phase angle between A phase winding axis and N utmost point permanent magnet pole axis.

Embodiment

Below in conjunction with drawings and Examples the utility model is described further:

Embodiment: as shown in Figure 1, the utility model comprises turret base 8, turntable working face 1, the motor cooling structure, the synchronous annular torque motor of external rotor and internal rotor permanent-magnetic, turret base 8 is that the cross section is the loop configuration of inverted T shape, turret base 8 is connected by bearing respectively horizontal and vertical with turntable working face 1, turntable working face 1 is the table top that has interior ring 25 and outer shroud 26, the ring side is equipped with ring stainless steel motor cooling structure in turret base 8, this motor cooling structure comprises air ring 27 and coolant jacket 28, on the inboard of air ring 27 and outer surface, all have spirality cooling passage 29, between the twice spirality cooling passage of top, have through hole, coolant jacket 28 is installed in air ring 27 both sides; The coolant jacket 28 of ring side and 25 on the interior ring of turntable working face 1 are equipped with inner rotor motor in the motor cooling structure, at the coolant jacket 28 of outer rim side and 26 of the outer shrouds of turntable working face 1 external rotor electric machine are installed.Being embedded with inside and outside rotor electric machine stator core 24, two rotors respectively outside in two coolant jackets 28 of motor cooling structure is connected with outer shroud 26 with the interior ring 25 of turntable working face 1 respectively.

The inside and outside rotor electric machine of this example is 40 utmost points, 48 grooves, turntable nominal torque 1100Nm, 85 rev/mins of maximum speeds, peak torque 2300Nm, rated current 20A, peak current 58A.Bearing 7 adopts the general bearing of turntable.As shown in Figure 2, two motors adopt the series connection synchronous driving mode, and promptly the number of magnetic poles of two motors is identical, and winding construction form correspondence is identical, and the direction of rotation of winding phase sequence and rotating magnetic field is identical; And the stack of the back electromotive force same-phase of the every phase winding correspondence of two motors, promptly each phase stator winding radial axis is corresponding overlaps the dead in line of inner and outer rotors permanent magnetism magnetic pole.Its series connection winding connection mode as shown in Figure 3.When two motor windings adopted star " Y " connection, as shown in Figure 3, Figure 4, the inner rotor motor winding was 6 binding posts, and the external rotor electric machine winding is 3 binding posts, and vice versa.When adopting dihedral " Δ " connection, require two motor windings to be 6 binding post lead-in wire modes.

Two motor stator winding lead wire gauges are identical in this example, and promptly the lead net sectional area is identical, to guarantee same current density.Every phase back electromotive force of two motor stator winding is respectively E ₁And E ₂, the stator outer diameter of external rotor electric machine is D1, and the diameter of stator bore of inner rotor motor is D2, and outer, inner rotor motor electromagnetic power is respectively P _E1And P _E2, then should have:

$\frac{E_1}{{\mathrm{<figure-callout\; id="2"\; label="E"\; filenames="Y20072001083400071.png"\; state="\{\{state\}\}">E</figure-callout>}}_2}=\frac{D_1}{{\mathrm{<figure-callout\; id="2"\; label="D"\; filenames="Y20072001083400071.png"\; state="\{\{state\}\}">D</figure-callout>}}_2};$ $\frac{P_{e1}}{{\mathrm{<figure-callout\; id="1"\; label="D"\; filenames="Y20072001083400071.png"\; state="\{\{state\}\}">D</figure-callout>}}_1}=\frac{P_{e2}}{{\mathrm{<figure-callout\; id="2"\; label="D"\; filenames="Y20072001083400071.png"\; state="\{\{state\}\}">D</figure-callout>}}_2}$

As seen, adopt above-mentioned design, guaranteed two powers of motor " line density ", thereby realized the automatic equalization of two powers of motor.Except that satisfying expression formula (1), inner and outer rotors counter electromotive force of motor sum is

E＝E ₁+E ₂

Also must control desired back electromotive force parameter E with table servo _eBe complementary, promptly have:

E≤E _e

Only in this way could realize the parameter matching of motor and its controller, improve the overall permanence of numerical control rotating platform drive system.

Claims (5)

1. the numerical control rotating platform of two synchronising torque motor direct-drive, it is characterized in that comprising turret base, the turntable working face, the motor cooling structure, synchronous annular torque motor of external rotor permanent magnet and the synchronous annular torque motor of internal rotor permanent-magnetic, turret base is that the cross section is the loop configuration of inverted T shape, turret base is connected by bearing with the turntable working face, the turntable working face is the table top that has interior ring and outer shroud, the ring side is equipped with the annular generator cooling structure in turret base, interannular is equipped with the synchronous annular torque motor of internal rotor permanent-magnetic in the interior ring side of motor cooling structure and turntable working face, and interannular is equipped with the synchronous annular torque motor of external rotor permanent magnet outside outer rim side and turntable working face.

2. the numerical control rotating platform of according to claim 1 pair of synchronising torque motor direct-drive is characterized in that described two motors adopt the series connection synchronous driving mode, and the stack of the back electromotive force same-phase of the every phase winding correspondence of two motors; Promptly the number of magnetic poles of two motors is identical, and winding construction form correspondence is identical, and the direction of rotation of winding phase sequence and rotating magnetic field is identical, and each phase stator winding radial axis is corresponding to overlap the dead in line of inner and outer rotors permanent magnetism magnetic pole.

3. the numerical control rotating platform of according to claim 1 pair of synchronising torque motor direct-drive is characterized in that described two motor stator winding lead wire gauges are identical, and promptly the lead net sectional area is identical, and two power of motor distribution ratios are:

$\frac{P_{e1}}{D_1}=\frac{P_{e2}}{D_2}$

The pass of every phase back electromotive force of two motor stator winding is:

$\frac{E_1}{E_2}=\frac{D_1}{D_2},$ E＝E ₁+E ₂，

Wherein: D ₁Be the air-gap diameter of the synchronous annular torque motor of external rotor permanent magnet, D ₂Air-gap diameter for the synchronous annular torque motor of internal rotor permanent-magnetic; P _E1Be the synchronous annular torque motor electromagnetic power of external rotor permanent magnet, P _E2Be the synchronous annular torque motor electromagnetic power of internal rotor permanent-magnetic, E ₁Be every phase back electromotive force of the synchronous annular torque motor stator winding of external rotor permanent magnet, E ₂Be every phase back electromotive force of the synchronous annular torque motor stator winding of internal rotor permanent-magnetic, E is inside and outside rotor permanent-magnet synchronous toroidal torque counter electromotive force of motor sum.

4. the numerical control rotating platform of according to claim 1 pair of synchronising torque motor direct-drive, the winding connection that it is characterized in that described two motors is two kinds of star " Y " and dihedrals " Δ ", when adopting star " Y " connection, having a motor windings at least is 6 binding post lead-in wire modes; When adopting dihedral " Δ " connection, require two motor windings to be 6 binding post lead-in wire modes.

5. the numerical control rotating platform of according to claim 1 pair of synchronising torque motor direct-drive, it is characterized in that described motor cooling structure comprises air ring and coolant jacket, on the inboard of air ring and outer surface, all have the spirality cooling passage, coolant jacket is installed in the air ring both sides.

Images