阅读说明：本技术 一种伺服电机及其控制方法 (Servo motor and control method thereof ) 是由 邓志健 于 2019-10-29 设计创作，主要内容包括：本发明涉及一种伺服电机及其控制方法,属于伺服电机技术领域,其技术方案的要点是伺服电机包括定子、转子、与定子固定连接的电机外壳以及MCU,定子和电机外壳之间设置有导热铜管,导热铜管内部存储有冷却水；导热铜管料连通有进水管和出水管,定子内部设置有温度传感器；还包括冷却水箱,冷却水箱设置有进水口和出水口,出水管与进水口相连通,进水管与出水口相连通,冷却水箱的进水口和出水口处分别设置有进水管进水水泵和出水水泵；温度传感器对定子内部的温度进行检测,当检测温度值大于水冷温度阀值时,MCU控制进水水泵和出水水泵启动。本发明能够高效良好的在伺服电机进行工作时对定子内部进行降温。(The invention relates to a servo motor and a control method thereof, belonging to the technical field of servo motors, and the technical scheme is characterized in that the servo motor comprises a stator, a rotor, a motor shell fixedly connected with the stator and an MCU (microprogrammed control Unit), wherein a heat conduction copper pipe is arranged between the stator and the motor shell, and cooling water is stored in the heat conduction copper pipe; the heat conduction copper pipe is communicated with a water inlet pipe and a water outlet pipe, and a temperature sensor is arranged in the stator; the cooling water tank is provided with a water inlet and a water outlet, a water outlet pipe is communicated with the water inlet, a water inlet pipe is communicated with the water outlet, and a water inlet pump and a water outlet pump of the water inlet pipe are respectively arranged at the water inlet and the water outlet of the cooling water tank; the temperature sensor detects the temperature inside the stator, and when the detected temperature value is larger than the water-cooling temperature threshold value, the MCU controls the water inlet pump and the water outlet pump to be started. The invention can effectively cool the interior of the stator when the servo motor works.)

1. The utility model provides a servo motor, includes stator (1), rotor (2), with stator (1) fixed connection's motor housing (3) and MCU (4), its characterized in that: a heat conduction copper pipe (31) is arranged between the stator (1) and the motor shell (3), and cooling water is stored in the heat conduction copper pipe (31); the heat conduction copper pipe (31) is communicated with a water inlet pipe (311) and a water outlet pipe (312), and a temperature sensor (41) is arranged in the stator (1); the cooling water tank (5) is provided with a water inlet (51) and a water outlet (52), the water outlet pipe (312) is communicated with the water inlet (51), the water inlet pipe (311) is communicated with the water outlet (52), and the water inlet (51) and the water outlet (52) of the cooling water tank (5) are respectively provided with a water inlet pump (53) and a water outlet pump (54) of the water inlet pipe (311);

the temperature sensor (41) detects the temperature inside the stator (1), the detected temperature information is sent to the MCU (4), the MCU (4) identifies and judges the temperature information sent by the temperature sensor (41), and when the detected temperature value is larger than a water-cooling temperature threshold value, the MCU (4) controls the water inlet pump (53) and the water outlet pump (54) to be started.

2. A servo motor according to claim 1, wherein: the water inlet (51) of cooling water tank (5) are located cooling water tank (5) top, the inside from the top down of cooling water tank (5) is provided with a plurality of cooling tray (6), the end of a plate of cooling tray (6) is provided with a plurality of vertical water holes (61) of crossing that run through cooling tray (6).

3. A servo motor according to claim 2, wherein: the lateral wall of cooling water tank (5) of the both sides of cooling tray (6) is provided with thermovent (55) that run through cooling water tank (5), what thermovent (55) were located is provided with and cooling water tank (5) fixed connection's mounting bracket (56), be fixed with radiator fan (7) towards thermovent (55) on mounting bracket (56).

4. A servo motor according to claim 3, wherein: the refrigerator is characterized by further comprising a refrigerator (9), an indoor unit (91) of the refrigerator (9) is arranged in the cooling water tank (5), and an outdoor unit (92) of the refrigerator (9) is arranged outside the cooling water tank (5).

5. A servo motor according to claim 4, wherein: the cooling water tank (5) is provided with a water temperature detection sensor (81) and a temperature controller (8), and the water temperature detection sensor (81) is arranged inside the cooling water tank (5); the water temperature detection sensor (81) is used for detecting the water temperature inside the cooling water tank (5) and sending detected water temperature information to the temperature controller (8), the temperature controller (8) identifies and judges the water temperature information sent by the water temperature detection sensor (81), when the water temperature value is larger than a cooling threshold value, the temperature controller (8) controls the cooling fan (7) to stop rotating, and the temperature controller (8) controls the refrigerator (9) to perform refrigeration work.

6. A servo motor according to claim 1, wherein: the heat conduction copper pipe (31) is provided with two connecting threaded ports (313) protruding out of the peripheral surface of the motor shell, and connecting threaded mouths (314) in threaded engagement with the connecting threaded ports (313) are respectively fixed at the connecting ends of the water inlet pipe (311), the water outlet pipe (312) and the heat conduction copper pipe (31).

7. A servo motor according to claim 1, wherein: a heat dissipation shaft (21) which is coaxial with the stator (1) is fixed at one end of the rotor (2) far away from the output shaft of the rotor, and heat dissipation blades (22) are fixed on the heat dissipation shaft (21); the motor shell is characterized by further comprising a rear end cover (33) for isolating the radiating blades (22) from the outside, wherein the rear end cover (33) is fixedly connected with the motor shell, and a plurality of radiating holes (331) penetrating through the rear end cover (33) are formed in the circumferential surface of the rear end cover (33).

8. A servo motor according to claim 1, wherein: the temperature monitoring device is characterized in that the MCU (4) is connected with a buzzer (42), the MCU (4) identifies and judges temperature information sent by the temperature sensor (41), and when a detected temperature value is larger than a temperature alarm value, the MCU (4) controls the buzzer (42) to give an alarm to the outside.

9. A servo motor control method is characterized in that: a heat dissipation shaft (21) which is coaxial with the stator (1) is fixed at one end of the rotor (2) far away from the output shaft of the rotor, and a heat dissipation blade (22) is fixed on the heat dissipation shaft (21), so that air fluid heat dissipation is performed through the heat dissipation blade (22) when the servo motor outputs;

a heat conduction copper pipe (31) is arranged between the stator (1) and the motor shell, when the servo motor works, the temperature inside the electron is detected through a temperature sensor (41), the detected temperature is monitored through an MCU (4), and when the detected temperature value is greater than a water cooling temperature threshold value, a water inlet pump (53) and a water outlet pump (54) are controlled to be started to carry out water cooling circulation on the heat conduction copper pipe (31);

the water temperature of the cooling water tank (5) is detected through a water temperature detection sensor (81), and the water temperature value is monitored through a temperature controller (8); when the water temperature value is larger than the cooling threshold value, the temperature controller (8) controls the refrigerator (9) to refrigerate the water in the cooling water tank (5);

when the temperature value detected by the temperature sensor (41) to the interior of the stator (1) is larger than the temperature alarm value, the MCU (4) controls the buzzer (42) to alarm to the outside.

Technical Field

The invention relates to the technical field of servo motors, in particular to a servo motor and a control method thereof.

Background

A servo motor is a commonly used actuator in automatic control systems. The servo motor can control the speed and position accuracy accurately, and can convert the voltage signal into torque and rotating speed to drive a control object. The rotation speed of the rotor of the servo motor is controlled by the input signal, the servo motor can quickly respond, has the characteristics of small electromechanical time constant, high linearity, starting voltage and the like, and can convert the received electric signal into angular displacement or angular speed on the shaft of the motor for output.

When the servo motor is in operation, heat is generated inside the stator, especially when the output speed of the rotor is high. When the inside temperature of stator is outdated, can influence servo motor's normal work, consequently carry out the during operation at servo motor, need in time get rid of the inside heat of stator to cool down the stator is inside, reduce because of fixing a position the inside normal influence of generating heat to servo motor work.

In the conventional servo motor, a heat radiation fan is generally fixed at one end of a rotor, which is far away from an output shaft of the rotor, so that when the rotor rotates, the flow of air between the interior of a stator and the external environment is accelerated by the heat radiation fan, and the interior of the stator is cooled; however, when the power of the servo motor is large or the output rotation speed of the servo motor is large, the interior of the stator cannot be cooled well by the cooling fan.

Disclosure of Invention

One of the objects of the present invention is to provide a servo motor capable of efficiently cooling the inside of a stator when the servo motor is operated.

The above object of the present invention is achieved by the following technical solutions: a servo motor comprises a stator, a rotor, a motor shell fixedly connected with the stator and an MCU (microprogrammed control unit), wherein a heat conduction copper pipe is arranged between the stator and the motor shell, and cooling water is stored in the heat conduction copper pipe; the heat conduction copper pipe is communicated with a water inlet pipe and a water outlet pipe, and a temperature sensor is arranged in the stator; the cooling water tank is provided with a water inlet and a water outlet, the water outlet pipe is communicated with the water inlet, the water inlet pipe is communicated with the water outlet, and the water inlet and the water outlet of the cooling water tank are respectively provided with a water inlet pipe water inlet pump and a water outlet pump;

the temperature sensor detects the temperature inside the stator, the detected temperature information is sent to the MCU, the MCU identifies and judges the temperature information sent by the temperature sensor, and when the detected temperature value is larger than the water-cooling temperature threshold value, the MCU controls the water inlet pump and the water outlet pump to be started.

Through adopting above-mentioned technical scheme, detect the inside temperature of location through temperature sensor, monitor the inside temperature of stator through MCU, absorb the heat that is derived by the stator by the heat conduction copper pipe, when the detection temperature value is greater than water-cooling temperature threshold value, MCU control inlet tube intake water pump and play water pump carry out cold water circulation, thereby in time take away the heat of heat conduction copper pipe, and then can be good absorb the inside radiating heat of stator, and then cool down to the location is inside.

The invention is further configured to: the water inlet of the cooling water tank is positioned at the top of the cooling water tank, a plurality of cooling trays are arranged in the cooling water tank from top to bottom, and a plurality of water holes vertically penetrating through the cooling trays are formed in the tray bottom of the cooling trays.

Through adopting above-mentioned technical scheme, through the inside from the top down at cooling water tank be provided with a plurality of cooling tray, and then by the rivers that heat conduction copper pipe was taken out on each cooling tray flowed into uppermost cooling tray, and then by the bottom that the hole slowly flowed to cooling water tank that crosses of cooling tray to through the area of contact of increase rivers and air, and then can be good carry out the air cooling to endless rivers.

The invention is further configured to: the lateral wall of the cooling water tank of the both sides of cooling tray is provided with the thermovent that runs through cooling water tank, what the thermovent department was provided with cooling water tank fixed connection's mounting bracket, be fixed with the radiator fan towards the thermovent on the mounting bracket.

Through adopting above-mentioned technical scheme, through blowing at radiator fan to cooling tray to can be better cool off the rivers that flow through cooling tray.

The invention is further configured to: the refrigerator is characterized by further comprising a refrigerator, wherein an indoor unit of the refrigerator is arranged in the cooling water tank, and an outdoor unit of the refrigerator is arranged outside the cooling water tank.

Through adopting above-mentioned technical scheme, when can't satisfy the cooling requirement to coolant tank normal water through the air cooling, seal the thermovent through closing the door, and then cool down to coolant tank inside through the refrigerator to timely coolant tank inside water cools down.

The invention is further configured to: the cooling water tank is provided with a water temperature detection sensor and a temperature controller, and the water temperature detection sensor is arranged in the cooling water tank; the temperature detection sensor is used for detecting the temperature of water in the cooling water tank and sending detected water temperature information to the temperature controller, the temperature controller identifies and judges the water temperature information sent by the temperature detection sensor, when the water temperature value is larger than a cooling threshold value, the temperature controller controls the cooling fan to stop rotating, and the temperature controller controls the refrigerator to perform refrigeration work.

Through adopting above-mentioned technical scheme, be used for detecting the inside temperature of coolant tank through temperature detection sensor, monitor the detection temperature by the temperature controller, and then when the warm value is greater than the cooling threshold, carry out refrigeration work through temperature controller control refrigerator to can high-efficient intelligent water to coolant tank inside cools off.

The invention is further configured to: the heat conduction copper pipe is provided with two connection thread mouths protruding the circumferential surface of the motor shell, and connection thread mouths which are in thread engagement with the connection thread mouths are respectively fixed at the connection ends of the water inlet pipe, the water outlet pipe and the heat conduction copper pipe.

Through adopting above-mentioned technical scheme, inlet tube and outlet pipe are connected through connecting thread mouth and connecting thread hole's cooperation, and then can convenient and fast with inlet tube and outlet pipe and heat conduction copper pipe installation dismantlement, and then need not use water-cooling circulation at servo motor, perhaps when transporting servo motor, dismantle inlet tube and outlet pipe and heat conduction copper pipe to it is more convenient to the use of servo motor.

The invention is further configured to: a heat dissipation shaft which is coaxial with the stator is fixed at one end of the rotor, which is far away from the output shaft of the rotor, and a heat dissipation blade is fixed on the heat dissipation shaft; the motor shell is characterized by further comprising a rear end cover for isolating the radiating blades from the outside, the rear end cover is fixedly connected with the motor shell, and a plurality of radiating holes penetrating through the rear end cover are formed in the circumferential surface of the rear end cover.

Through adopting above-mentioned technical scheme, be fixed with the heat dissipation axle with the coaxial setting of stator through the one end of keeping away from its output shaft at the rotor to at the epaxial radiator vane that is fixed with of heat dissipation, and then when servo motor exports, accelerate the inside air flow with the external world of location through radiator vane, thereby better dispel the heat to the location inside.

The invention is further configured to: the MCU is connected with a buzzer, the MCU identifies and judges temperature information sent by the temperature sensor, and when the detected temperature value is greater than the temperature alarm value, the MCU controls the buzzer to give an alarm to the outside.

Through adopting above-mentioned technical scheme, MCU is connected with bee calling organ, and MCU discerns the judgement to the temperature information that temperature sensor sent, when the detection temperature value is greater than temperature alarm value, takes place the police dispatch newspaper to the external world through bee calling organ, and then the suggestion staff overhauls servo motor in time.

Another object of the present invention is to provide a servo motor control method, which can efficiently cool the interior of a stator when a servo motor is operated.

The above object of the present invention is achieved by the following technical solutions:

a servo motor control method comprises the steps that a heat dissipation shaft which is coaxial with a stator is fixed at one end, far away from an output shaft, of a rotor, and heat dissipation blades are fixed on the heat dissipation shaft, so that air fluid heat dissipation is carried out through the heat dissipation blades when the servo motor outputs;

the method comprises the following steps that a heat conduction copper pipe is arranged between a stator and a motor shell, when a servo motor works, the temperature inside an electron is detected through a temperature sensor, the detected temperature is monitored through an MCU (micro control unit), and when the detected temperature value is larger than a water cooling temperature threshold value, a water inlet water pump and a water outlet water pump are controlled to be started to carry out water cooling circulation on the heat conduction copper pipe;

detecting the water temperature of the cooling water tank through a water temperature detection sensor, and monitoring the water temperature value through a temperature controller; when the water temperature value is larger than the cooling threshold value, the temperature controller controls the refrigerator to refrigerate the water in the cooling water tank;

when the temperature value detected by the temperature sensor to the inside of the stator is larger than the temperature alarm value, the MCU controls the buzzer to give an alarm to the outside.

Through adopting above-mentioned technical scheme, detect the inside temperature of location through temperature sensor, and then monitor the detection temperature through MCU, under normal state, when the rotation through the rotor, drive radiator fan and rotate, and then through radiator fan inside with external air flow with the stator with higher speed, and then reduce the inside temperature of stator, when radiator fan's effect can't satisfy the inside heat dissipation requirement of stator, through starting into water pump and play water pump work, and then utilize the inside cold water circulation of heat dissipation copper pipe, in time take away the heat that is derived by the stator, thereby good cooling to the stator inside when servo motor carries out control work.

In conclusion, the beneficial technical effects of the invention are as follows:

1. the temperature inside the stator is detected through the temperature sensor, the temperature inside the stator is monitored through the MCU, the heat conducted out by the stator is absorbed by the heat conduction copper pipe, and when the detected temperature value is larger than a water cooling temperature threshold value, the MCU controls the water inlet pipe water inlet pump and the water outlet pump to carry out cold water circulation, so that the heat of the heat conduction copper pipe is taken away in time, the heat radiated inside the stator can be well absorbed, and the temperature inside the stator is cooled;

2. the water entering the cold cooling water tank slowly flows through the cooling tray and is matched with the cooling fan to blow the cooling tray, so that the water entering the cooling water tank can be well cooled;

3. be used for detecting the inside temperature of coolant tank through temperature detection sensor, monitor the detection temperature by the temperature controller, and then when the temperature value is greater than the cooling threshold, carry out refrigeration work through temperature controller control refrigerator to can high-efficient intelligent water to coolant tank inside cools off.

Drawings

FIG. 1 is a schematic structural diagram of a servo motor;

FIG. 2 is a schematic view showing the structure of a heat conducting copper tube;

FIG. 3 is a schematic structural view of a heat dissipating fin;

FIG. 4 is a control functional block diagram of the MCU;

FIG. 5 is a schematic structural view showing a connection relationship between the threaded connector and the threaded connection port;

FIG. 6 is a schematic view showing the structure of a cooling water tank;

FIG. 7 is a schematic view of a cooling tray;

fig. 8 is a control function block diagram of the thermostat.

In the figure, 1, a stator; 2. a rotor; 21. a heat-dissipating shaft; 22. a heat dissipating fin; 3. a motor housing; 31. a heat conducting copper pipe; 311. a water inlet pipe; 312. a water outlet pipe; 313. connecting a threaded port; 314. connecting the threaded nozzle; 32. a front end cover; 33. a rear end cap; 331. heat dissipation holes; 332. mounting a bearing; 34. a bearing chamber; 4. MCU; 41. a temperature sensor; 42. a buzzer; 5. a cooling water tank; 51. a water inlet; 52. a water outlet; 53. a water inlet pump; 54. a water outlet pump; 55. a heat dissipation port; 56. a mounting frame; 6. cooling the tray; 61. water passing holes; 7. a heat radiation fan; 8. a temperature controller; 81. a water temperature detection sensor; 9. a refrigerator; 91. an indoor unit; 92. an outdoor unit.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.