CN209562362U - Bidirectional Rotary Torque Motor - Google Patents

Abstract

Bidirectional rotary torque motor, the armature and output shaft are installed in the yoke, and the output shaft is connected with the reset torsion spring; the yoke is composed of the first yoke, the second yoke, the third yoke and the fourth yoke arranged coaxially , the yoke magnetic poles are evenly distributed around the circumference of each yoke ring; control coils are respectively placed along the interface between the first yoke and the second yoke, and between the third yoke and the fourth yoke to form a control magnetic flux ; A magnetic isolation block is placed between the second yoke and the third yoke; the armature is uniformly distributed with armature magnetic poles along the circumferential direction, and the end face of the armature magnetic pole includes an arc-shaped tooth surface and a side elevation, and the tooth surface and the side of the stator magnetic pole are formed. Axial air gap; the position of the side elevation of the first armature is opposite to the position of the side elevation of the second armature, so that the axial air gap is symmetrically distributed on both sides of the yoke teeth; The armature teeth of an armature lead or lag the yoke teeth of the yoke by an angle respectively.

Description

Bidirectional Rotary Torque Motor

technical field

The utility model relates to a bidirectional rotary torque motor.

Background technique

The rotary valve is a kind of reversing valve that uses the rotary motion to change the relative position of the valve core and the valve sleeve, so as to change the flow path inside the rotary valve, and finally realize the opening and closing or reversing of the flow path. Rotary valves can be driven manually, mechanically or directly by motors, motors and rotating electromagnets for precise servo/proportional control. Compared with spool valve or poppet valve, rotary valve has the advantages of high reliability, simple structure, high working frequency, and strong resistance to oil pollution. It can be widely used in hydraulic systems of high-speed switching, high-speed excitation and high-speed reversing. , especially when the number of throttle grooves of the spool valve sleeve is large, the single-stage rotary valve can obtain a larger rated flow than the multi-stage spool valve. However, in the existing electro-hydraulic servo/proportional control system, the application of rotary valve is far less extensive than that of slide valve. The reasons are: first, the processing of the throttle groove/window of the rotary valve is more complicated, and the second is that the rotary electromagnet used to drive the rotary valve is much more difficult to obtain proportional control characteristics than the direct-acting proportional electromagnet. Magnetic ring structure, the magnetic circuit is divided into two axial and radial paths at the magnetic isolation ring during excitation, and the horizontal stroke-thrust characteristics required by proportional control can be obtained after synthesis. It is not a big problem for batch automated production, and the rotating electromagnet often needs to be specially optimized for the shape of the yoke teeth and the armature teeth to obtain a relatively flat torque-angle characteristic, which greatly limits its practical application.

In order to popularize and apply rotary valves in electro-hydraulic servo/proportional systems, a lot of research has been done on the optimization of the magnetic circuit topology and moment-angle characteristics of rotating electromagnets. Torque motors, which are widely used in nozzle flapper valves and jet tube servo valves, can also obtain proportional position control characteristics through reasonable design of elastic elements. However, because their magnetic circuits are based on axial air gaps, it is difficult to obtain large working angle. The improved torque motor based on the radial working air gap proposed by Montagu of General Inspection Company of the United States further expands its working angle range, and it has positive electromagnetic stiffness, which can obtain proportional position control characteristics without adding elastic elements. . In order to obtain a flat moment-angle characteristic curve, Hitachi's Fumio specially designed the shape of the permanent magnet on the armature of the moving magnet torque motor. This compensates for the torque ripple associated with the rotation of the armature. The permanent magnet torque motor designed by Jiro Jinto of Denso Company in Japan, the two magnetic poles composed of discrete permanent magnets are asymmetrically arranged on the outside of the rotating shaft with a difference of half the magnetic pole angle, so as to compensate for the outer circumference of the polygonal magnetic poles. Torque pulsation to obtain smooth torque-angle characteristics. The electric excitation torque motor developed by Zhang Guangqiong of Zhejiang University and others has specially designed the shape of the stator magnetic pole and the armature pole surface, and changes the torque angle characteristics of the motor by controlling the magnetic flux saturation at the tip of the stator magnetic pole shoe. Cui Jian et al. proposed a dynamic magnetic rotary proportional electromagnet based on a radial working air gap, which is based on a differential magnetic circuit and has positive electromagnetic stiffness, but its structure is complex, which is not conducive to industrial application and large-scale mass production.

SUMMARY OF THE INVENTION

In order to overcome the shortcomings of the existing rotating electromagnets, such as difficulty in obtaining horizontal torque-angle characteristics, complex structure, and unfavorable industrial application and large-scale mass production, the utility model provides a hybrid air gap-based hybrid air gap with horizontal torque-angle characteristics. It is a bidirectional rotary torque motor with simple structure.

The basic principle of the utility model is as follows: the commonly used working air gaps in electro-mechanical converters include radial air gaps and axial air gaps. Increase (the fixed armature is gradually aligned), the output torque will decrease, that is, the slope of its moment-angle characteristic curve is negative; while the axial air gap has a narrow working range, but the output torque increases with the increase of the misalignment angle, that is, its torque The slope of the angular characteristic curve is positive. Therefore, the working air gap of the present invention is divided into two parts, the main working air gap is a radial air gap, and an axial air gap is added on the basis of the radial air gap. The torques generated by the radial air gap and the axial air gap are mutually modulated. After reasonable parameter optimization, a near-horizontal moment-angle characteristic curve can be obtained, and a proportional position control characteristic can be obtained by adding a return torsion spring.

The technical scheme adopted by the utility model to solve its technical problems is:

Bidirectional rotary torque motor, as shown in Figure 1 and Figure 2, the front and rear sides of the yoke are respectively equipped with a front end cover 2 and a rear end cover 9, a first armature 3 and a second armature 10 are installed in the yoke, and the second armature is installed. 3 and the second armature 10 are provided with an output shaft 1, and the output shaft 1 is connected to the return torsion spring 11. The yoke is composed of a first yoke 4, a second yoke 5, a third yoke 7 and a fourth yoke 8 that are coaxially arranged, and N yoke teeth are evenly distributed around the circumference of each yoke ring. The iron teeth form the magnetic poles 41 of the yoke, and the yoke teeth of each yoke are axially aligned, which is beneficial to increase the output torque. Between the first yoke 4 and the second yoke 5, as well as between the yoke 7 and the yoke 8, there are symmetrical grooves along the interface, which are assembled to form an annular groove 42, and the annular groove is placed with a control coil to form a control magnetic field. Pass. A magnetic isolation block 6 is placed between the second yoke 5 and the third yoke 7 .

The first armature 3 and the second armature 10 are coaxially spliced together. The first armature 3 and the second armature 10 are evenly distributed with N armature teeth along the circumferential direction. The armature teeth form an armature magnetic pole. The arc-shaped tooth surface 31 and the side elevation 32, the tooth surface 31 and the radial end surface of the yoke magnetic pole 41 form a radial air gap; the side elevation 32 is located at the end of the tooth surface 31, and the side elevation 32 and the yoke magnetic pole The sides of 41 form an axial air gap. The position of the side elevation 32 of the first armature 3 on the tooth surface 31 is opposite to the position of the side elevation 32 of the second armature 10 on the tooth surface 31, so that the axial air gap is symmetrically distributed on both sides of the yoke teeth; For the electromagnet to work normally, it is necessary to change the way that the armature is axially staggered, that is, the armature teeth of the second armature 10 need to advance the yoke teeth of the yoke by an angle in the clockwise direction, and the armature teeth of the first armature 3 are clockwise. The direction is the same angle behind the yoke teeth of the yoke.

Preferably, the first armature 3 and the second armature 10 adopt a hollow cup structure, which reduces the moment of inertia and helps to increase the response speed.

Preferably, the return torsion spring 11 includes a spring 111 , a spring cover 112 and a coupling 113 , the spring cover 112 is connected to the rear end cover 9 , the spring 111 is installed on the spring cover 112 , and the coupling 113 is installed on the spring 111 , the rear end of the output shaft 1 is fixed in the central hole of the coupling 113 . The output shaft 1 is fixed on the first armature 3 and the second armature 10 . When the rotary torque motor rotates clockwise and counterclockwise, since the torque motor does not have the characteristic of negative spring stiffness, it is necessary to add a return torsion spring 11 to return the armature to the neutral position.

Preferably, the first yoke 4 , the second yoke 5 , the third yoke 7 and the fourth yoke 8 have 8 yoke magnetic poles evenly distributed around the circumference, and each yoke magnetic pole is separated by 45°, and the first armature 3 Eight armature poles are uniformly distributed along the circumferential direction of the second armature 10 .

Preferably, the front end cover 2 , the magnetic isolation block 6 , the rear end cover 9 and the output shaft 1 are made of non-magnetic metal materials, while the first armature 3 , the second armature 10 , the first yoke 4 , the The second yoke 5 , the third yoke 7 and the fourth yoke 8 are made of metal soft magnetic material with high magnetic permeability.

The axis lines of each yoke, each armature and the output shaft of the utility model are located on the same straight line, that is, they are arranged coaxially.

The beneficial effects of the present utility model are mainly manifested in:

1. The hybrid working air gap is used to obtain horizontal torque-rotation angle characteristics. The working air gap of the utility model is divided into two parts, the main working air gap is a radial air gap, and an axial air gap is added on the basis of the radial air gap. The torques generated by the radial air gap and the axial air gap are mutually modulated. After reasonable parameter optimization, a near-horizontal moment-angle characteristic curve can be obtained, and a proportional position control characteristic can be obtained by adding a return torsion spring.

2. Fast response speed and large output torque. Compared with the cylindrical structure of the armature of other rotary proportional electromagnets, the armature of the solution provided by the present invention is a hollow cup structure, and the moment of inertia is small, which is beneficial to obtain a higher dynamic response speed. The multi-pole structure design is beneficial to improve the output torque.

3. Using double coil excitation, the control method is more flexible. Compared with the single-phase excitation structure, although the double-coil excitation increases the complexity of the drive circuit, the control methods are more diversified when the bidirectional rotation of the output shaft is realized.

4. Simple structure and low cost. Compared with other rotary proportional electromagnets, the solution provided by the utility model has a small number of parts, is easy to process and assemble, and has a low manufacturing cost, which is beneficial to practical industrial application and large-scale mass production.

Description of drawings

Fig. 1 is the schematic diagram of the present utility model;

Fig. 2 is the assembly schematic diagram of the present utility model;

3 is a schematic diagram of the armature structure of the present invention;

Fig. 4 is the front end cover structure schematic diagram of the present invention;

5 is a schematic structural diagram of the first armature of the present invention;

Fig. 6 is the yoke iron structure schematic diagram of the present utility model;

7 is a schematic structural diagram of a magnetic isolation block of the present invention;

8 is a schematic diagram of the structure of the rear end cover of the present invention;

9 is a schematic structural diagram of the second armature of the present invention;

Fig. 10 is the structural representation of the reset torsion spring of the present invention;

Fig. 11 is a schematic diagram of moment-angle characteristic curves of radial air gap, axial air gap and mixed air gap;

Fig. 12 is the working principle schematic diagram of the present invention;

Figure 13 is a schematic diagram of the working principle of the present invention, the left control coil is fed with a forward unilateral current, and the right control coil is not passed current;

Fig. 14 is a schematic diagram of the working principle of the present invention, the right control coil is supplied with a forward unilateral current, and the left control coil is not supplied with current.

Detailed ways

The present utility model will be further described below in conjunction with the accompanying drawings.

1 to 12, the bidirectional rotary torque motor, the front and rear sides of the yoke are respectively equipped with a front end cover 2 and a rear end cover 9, and a first armature 3 and a second armature 10 are installed in the yoke, and the first armature 3 and The output shaft 1 is mounted on the second armature 10 , and the output shaft 1 is connected to the return torsion spring 11 .

The yoke of the present utility model is composed of a first yoke 4, a second yoke 5, a third yoke 7 and a fourth yoke 8, and eight yoke teeth are evenly distributed around the circumference of each yoke ring, and the yoke teeth form The yoke magnetic poles 41, each yoke magnetic pole 41 is separated by 45°, and the yoke teeth of each yoke are axially aligned, which is beneficial to increase the output torque. Between the yoke 4 and the yoke 5, and between the yoke 7 and the yoke 8, symmetrical grooves are respectively formed along the interface, which are assembled to form an annular groove 42, and the annular groove is placed with a control coil to form a control magnetic flux. A magnetic isolation block 6 is placed between the second yoke 5 and the third yoke 7 .

The armature 3 and the armature 10 have 8 armature teeth evenly distributed along the circumferential direction, the armature teeth form the armature magnetic pole, the end face of each armature magnetic pole is composed of two parts, the first part is the circular arc tooth surface 31, which is connected with the yoke magnetic pole 41. The radial end faces of the s constitute the radial air gap. The second part is the side elevation 32 , which is distributed at the end of the tooth surface 31 and forms an axial air gap with the side surface of the yoke magnetic pole 41 . The rectangular surface 32 of the first armature 3 is at one end of the tooth surface 31, and the rectangular surface 32 of the second armature 10 is at the other end of the tooth surface 31, so that the axial air gaps are symmetrically distributed on both sides of the yoke teeth. To work normally, it is necessary to change the way the armature is axially staggered, that is, the armature teeth of the second armature 10 need to be 1/4 pitch angle ahead of the yoke teeth of the yoke in the clockwise direction, and the armature teeth of the first armature 3 are 1/4 pitch angle behind the yoke teeth of the yoke in the clockwise direction. The armature adopts a hollow cup structure, which reduces the moment of inertia and helps to increase the response speed.

The return torsion spring 11 includes a spring 111, a spring cover 112, a coupling 113, the spring cover 112 is connected to the rear end cover 9, the spring 111 is installed on the spring cover 112, the coupling 113 is installed on the spring 111, and the output shaft The rear end of 1 is fixed in the central hole of the coupling 113 . The output shaft 1 is fixed on the first armature 3 and the second armature 10 . When the rotary torque motor rotates clockwise and counterclockwise, since the torque motor does not have the characteristic of negative spring stiffness, it is necessary to add a return torsion spring 11 to return the armature to the neutral position.

The front end cover 2, the rear end cover 9 and the output shaft 1 are made of non-magnetic metal materials, while the armature 1, the first yoke 4, the second yoke 5, the third yoke 7 and the fourth yoke 8 Made of metal soft magnetic material with high magnetic permeability.

As shown in FIG. 12 , when the control coil is not energized, there is no magnetic flux in the air gap, and under the action of the return torsion spring 11 , the first armature 3 and the second armature 10 are in the initial position of the neutral position.

When the left control coil passes the forward unilateral current as shown in FIG. 13 and the right control coil does not pass current, the first magnetic pole g1 and the second yoke 5 between the first yoke 4 and the first armature 3 The excitation magnetic field is generated under the working air gap of the second magnetic pole g2 between the first armature 3 and the first armature 3, and the first armature 3 rotates counterclockwise under the action of the electromagnetic torque. At this time, the torques generated by the radial air gap and the axial air gap are mutually Modulation enables the electromagnet to obtain a nearly horizontal moment-angle characteristic, and the magnitude of the output torque can be adjusted by controlling the magnitude of the current. When used with a linear spring, a position control effect proportional to the current can be obtained.

When the right control coil passes the forward unilateral current as shown in FIG. 14 and the left control coil does not pass current, the third magnetic pole g3 and the fourth yoke 8 between the third yoke 7 and the second armature 10 The excitation magnetic field is generated under the working air gap of the fourth magnetic pole g4 between the second armature 10 and the second armature 10, and the second armature 10 rotates clockwise under the action of the electromagnetic torque. At this time, the torques generated by the radial air gap and the axial air gap are mutually modulated. The electromagnet can obtain a nearly horizontal moment-angle characteristic, and the magnitude of the output torque can be adjusted by controlling the magnitude of the current. When used with a linear spring, a position control effect proportional to the current can be obtained.

The above-mentioned specific embodiments are used to explain the present utility model rather than limit the present utility model. Within the spirit of the present utility model and the protection scope of the claims, any modifications and changes made to the present utility model shall fall within the scope of the present utility model. protected range.

Claims (5)

1. Bidirectional rotary torque motor, characterized in that: the front and rear sides of the yoke are respectively equipped with a front end cover (2) and a rear end cover (9), and a first armature (3) and a second armature (10) are installed in the yoke ), the first armature (3) and the second armature (10) are provided with an output shaft (1), and the output shaft (1) is connected to the return torsion spring (11); the yoke is composed of the coaxially arranged first yoke (4) The second yoke (5), the third yoke (7) and the fourth yoke (8) are composed of N yoke teeth evenly distributed around the circumference of each yoke ring, and the yoke teeth form the magnetic poles of the yoke (41), the yoke teeth of each yoke are axially aligned; between the first yoke (4) and the second yoke (5), and between the third yoke (7) and the fourth yoke (8) There are symmetrical grooves along the interface between them, which are combined to form an annular groove, and the annular groove is placed with a control coil to form a control magnetic flux; a magnetic isolation block is placed between the second yoke (5) and the third yoke (7). (6); The first armature (3) and the second armature (10) are coaxially spliced, the first armature (3) and the second armature (10) are evenly distributed with N armature teeth along the circumferential direction, and the armature teeth form the magnetic poles of the armature. The end surface of the magnetic pole includes a circular arc tooth surface (31) and a side elevation (32), the tooth surface (31) and the radial end surface of the yoke magnetic pole (41) form a radial air gap; the side elevation (32) is located at The end of the tooth surface (31) forms an axial air gap with the side surface of the yoke magnetic pole (41); the side elevation (32) of the first armature (3) is at the position of the tooth surface (31) and the second armature ( 10) The position of the side elevation (32) of the tooth surface (31) is opposite, so that the axial air gap is symmetrically distributed on both sides of the yoke teeth; the armature of the second armature (10) leads the yoke in the clockwise direction. The yoke teeth are at an angle, and the armature teeth of the first armature (3) lag behind the yoke teeth of the yoke by the same angle in the clockwise direction. 2. The bidirectional rotary torque motor according to claim 1, characterized in that: the first yoke (4), the second yoke (5), the third yoke (7) and the fourth yoke (8) Eight yoke magnetic poles are evenly distributed around the circumference, and each stator pole is separated by 45°, and the first armature (3) and the second armature (10) have eight armature magnetic poles evenly distributed in the circumferential direction. 3. The bidirectional rotary torque motor according to claim 1 or 2, wherein the return torsion spring (11) comprises a spring (111), a spring cover (112), a coupling (113), and a spring cover (112) Connect the rear end cover (9), the spring (111) is installed on the spring cover (112), the coupling (113) is installed on the spring (111), and the rear end of the output shaft (1) is fixed on the in the center hole of the coupling (113); the output shaft (1) is fixed on the first armature (3) and the second armature (10). 4 . The bidirectional rotary torque motor according to claim 3 , wherein the first armature ( 3 ) and the second armature ( 10 ) adopt a hollow cup structure. 5 . 5. The bidirectional rotary torque motor according to claim 4, characterized in that: the front end cover (2), the magnetic isolation block (6), the rear end cover (9) and the output shaft (1) are made of non-magnetic metal Made of materials, the first armature (3), the second armature (10), the first yoke (4), the second yoke (5), the third yoke (7) and the fourth yoke (8) Made of high permeability metal soft magnetic material.