Anti-vibration motor

Abstract

The invention discloses an anti-shake motor, which relates to the technical field of motors and comprises a motor rotor, a motor stator, a magnet, a control board, a control module, an angle measurement sensor and an inertia measurement sensor; the motor rotor is rotatably sleeved on the motor stator, and the motor stator is also provided with a control board; the control board is also provided with an angle measurement sensor, an inertia measurement sensor and a control module; the motor rotor, the motor stator, the magnet and the angle measurement sensor are arranged along the same axis; the control module is respectively connected to the angle measurement sensor and the inertia measurement sensor for communication; the magnet is used as a reference for the angle measurement sensor to measure the angle; the angle measurement sensor is used to detect the angle value between the motor rotor and the motor stator, and send the detected angle value to the control module; compared with the prior art, the stabilization accuracy of the motor is improved, thereby improving the stability performance of the platform where the motor is located.

Description

Technical Field

[0001] The present invention relates to the technical field of motors, and in particular to an anti-shake motor. Background Art

[0002] With the development of science and technology, the popularization and application of various intelligent related devices, people have increasingly higher requirements for the accuracy of anti-shake and stabilization in various environments.

[0003] For example, artificial intelligence robot motion joints, various stable platforms for vehicles, ships, aviation and civilian use, etc.

[0004] At present, most stabilization structures are based on spring-like shock absorption. For example, some multi-axis electronic stabilizers for cameras only perform sensor measurements on the load side of the platform and perform electronic compensation. Although this can correct most jitters, the jitter of each axis motor still exists after stabilization, and it is impossible to perform anti-shake with higher level precision.

[0005] For another example, the invention disclosed in Chinese invention CN107968517A discloses a motor shock-absorbing base, including a first shock-absorbing zone, a second shock-absorbing zone, a third shock-absorbing zone and a fourth shock-absorbing zone, the end faces of the first shock-absorbing zone, the second shock-absorbing zone, the third shock-absorbing zone and the fourth shock-absorbing zone are fixedly connected with shock-absorbing columns, the top ends of the shock-absorbing columns are fixedly connected with shock-absorbing top blocks, buffer grooves are provided between the shock-absorbing columns, the lower end face of the middle shock-absorbing plate is fixedly connected with the bottom shock-absorbing plate, the end face of the middle shock-absorbing plate is provided with a through hole, a second circular groove is provided at the center of the bottom end face of the bottom shock-absorbing plate, and a first circular groove arranged on the bottom end face of the bottom shock-absorbing plate is provided on the periphery of the second circular groove; the invention reduces the impact of motor jitter through the shock-absorbing base, but is large in size and is not suitable for handheld devices. Summary of the invention

[0006] In view of the above-mentioned defects in the prior art, the existing motor is unable to eliminate the vibration itself.

[0007] In order to solve the above problems, an anti-shake motor is provided, which includes a motor rotor, a motor stator, a magnet, a control board, a control module, an angle measurement sensor and an inertial measurement sensor;

[0008] The motor rotor is rotatably mounted on the motor stator, and a control panel is also arranged on the motor stator; the control panel is also provided with an angle measurement sensor, an inertial measurement sensor and a control module;

[0009] The motor rotor, the motor stator, the magnet, the control board and the angle measurement sensor are arranged in sequence along the same axis;

[0010] The control module is communicatively connected with the angle measurement sensor and the inertial measurement sensor respectively;

[0011] The magnet is arranged on the motor rotor, and the magnet is used as a reference for the angle measurement sensor to measure the angle; the angle measurement sensor is used to detect the angle value between the motor rotor and the motor stator at a preset frequency, and the angle measurement sensor is also used to send the angle value signal to the control module, and the control module calculates the rotor angular velocity by the following formula: rotor angular velocity = angle change value / detection period, the detection period is the inverse of the preset frequency, and the angle change value is the difference between the angle values ​​detected by the motor rotor and the motor stator within the detection period;

[0012] The inertial measurement sensor is used to detect the stator rotation direction and stator angular velocity of the motor stator in the circumferential direction; and send the stator rotation direction signal and the stator angular velocity signal to the control module;

[0013] After receiving the stator rotation direction signal and the stator angular velocity signal, the control module controls the motor rotor to rotate at the stator angular velocity and in a direction opposite to the stator rotation direction;

[0014] The control module is also used to compare the rotor angular velocity with the stator angular velocity:

[0015] When the rotor angular velocity is less than the stator angular velocity, the control module controls the motor rotor to increase the rotor angular velocity until the rotor angular velocity is equal to the stator angular velocity;

[0016] When the rotor angular velocity is greater than the stator angular velocity, the control module controls the motor rotor to reduce the rotor angular velocity until the rotor angular velocity is equal to the stator angular velocity.

[0017] By detecting the shaking speed and direction of the motor itself, and then controlling the motor to move in the opposite direction to offset the impact of the motor shaking, the stabilization accuracy of the motor is improved, thereby improving the stability of the platform where the motor is located;

[0018] The control module also compares the rotor angular velocity with the stator angular velocity and adjusts the rotor angular velocity in real time, thereby reducing the difference between the rotor angle and the stator angular velocity and further improving the accuracy of anti-shake.

[0019] Because the motor can eliminate vibration by itself, the platform using this motor gets rid of or reduces the dependence on external vibration reduction devices such as vibration reduction bases, so that when this motor is used in small platforms such as handheld camera stabilizers, the weight of such small platforms is lighter.

[0020] Wherein, the magnet is a radial two-pole magnetized magnet.

[0021] Among them, the angle measurement sensor is an absolute angle measurement sensor.

[0022] Among them, the angle measurement sensor is a relative angle measurement sensor.

[0023] Among them, the inertial measurement sensor is a MEMS gyroscope acceleration sensor.

[0024] Among them, the absolute angle measurement sensor is a magnetic encoding sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 The present invention is a three-dimensional Figure 1 ;

[0026] Figure 2 is an exploded view of the present invention;

[0027] Figure 3 The present invention is a three-dimensional Figure 2 ;

[0028] In the figure, 1 is the motor rotor; 2 is the motor stator; 3 is the magnet; 4 is the control board; 5 is the angle measurement sensor; 6 is the inertial measurement sensor; 7 is the operation processing module; and 8 is the drive module. DETAILED DESCRIPTION

[0029] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0030] Embodiment 1:

[0031] like Figure 1 and Figure 2 As shown, the motor includes a motor rotor 1, a motor stator 2, a magnet 3, a control board 4, a control module, an angle measurement sensor 5 and an inertial measurement sensor 6;

[0032] The motor rotor 1 is rotatably sleeved on the motor stator 2, and the motor stator 2 is also provided with a control board 4; the control board 4 is also provided with an angle measurement sensor 5, an inertial measurement sensor 6 and a control module;

[0033] The control module includes a calculation processing module 7 and a driving module 8;

[0034] The motor rotor 1, the motor stator 2, the magnet 3 and the angle measurement sensor 5 are arranged along the same axis;

[0035] The calculation processing module 7 is respectively connected to the angle measurement sensor 5 and the inertial measurement sensor 6 for communication;

[0036] The magnet 3 is a radially dipole magnet. A person skilled in the art can select the shape of the magnet 3 according to actual needs. In the present embodiment, the magnet 3 is an annular magnet. The magnet 3 is arranged on the motor rotor 1. The magnet 3 is used as a reference for the angle measurement sensor 5 to measure the angle. The angle measurement sensor 5 is used to detect the angle value between the motor rotor 1 and the motor stator 2, and send the detected angle value to the operation processing module 7.

[0037] In this embodiment, the angle measurement sensor 5 is a magnetic pole absolute angle sensor, which adopts a magnetic encoding sensor; the operation processing module 7 calculates the rotor angular velocity by the following formula:

[0038] Angle change value / detection cycle;

[0039] For example, if the preset frequency of the angle measurement sensor 5 is set to 1K, the detection period is 0.001s, and the angle change value is the angle of rotation of the motor rotor relative to the motor stator within this 0.001s. The motor rotor rotates 0.005° relative to the motor stator within this 0.001 second, and the rotor angular velocity is 0.005° / 0.001s=5° / s;

[0040] The inertial measurement sensor 6 is used to detect the stator rotation direction and stator angular velocity of the motor stator 2 in the circumferential direction; and send the detected stator rotation direction and stator angular velocity to the calculation processing module 7;

[0041] like Figure 3 As shown, when the inertial measurement sensor 6 detects the vibration of the motor stator 2 in the circumferential direction, the inertial measurement sensor 6 sends the stator rotation direction and the stator angular velocity to the calculation processing module 7. For the convenience of description, in this embodiment, it is assumed that the stator rotation direction is clockwise and the stator angular velocity is a° / s.

[0042] After the calculation processing module 7 receives the stator rotation direction and stator angular velocity from the inertial measurement sensor 6, the calculation processing module 7 sends a driving signal for the motor rotor to rotate counterclockwise at an angular velocity of a° / s;

[0043] After the driving module 8 receives the driving signal, the driving module 8 drives the motor rotor to rotate counterclockwise at an angular velocity of a° / s;

[0044] However, due to friction or component accuracy, even if the calculation processing module 7 issues a command for the motor rotor to rotate at an angular velocity of a° / s, the actual rotor angle of the motor rotor may be higher or lower than a° / s;

[0045] Therefore, in order to further improve the accuracy of motor de-jittering, the calculation processing module 7 also compares the rotor angular velocity with the stator angular velocity:

[0046] When the rotor angular velocity is less than the stator angular velocity, the operation processing module 7 increases the rotor angular velocity so that the rotor angular velocity is equal to the stator angular velocity;

[0047] When the rotor angular velocity is greater than the stator angular velocity, the operation processing module 7 reduces the rotor angular velocity so that the rotor angular velocity is equal to the stator angular velocity;

[0048] When the stator angular velocity is equal to 0, the operation processing module 7 controls the motor rotor to stop rotating.

[0049] By detecting the shaking speed and direction of the motor itself and then controlling the motor's reverse movement to offset the impact of the motor shaking, the motor's stabilization accuracy is improved, thereby improving the stability of the platform where the motor is located.

[0050] Embodiment 2:

[0051] The difference between this embodiment and embodiment 1 is that the inertial measurement sensor 6 is arranged on the motor stator 2, the inertial measurement sensor 6 is electrically connected to the processing module 7 through a wire, and the angle measurement sensor 5 is a relative angle measurement sensor, which can also achieve the effect of increasing the stability of the motor.

[0052] The above implementation modes are only used to illustrate the present invention, but not to limit the present invention. Ordinary technicians in the relevant technical field can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, all equivalent technical solutions also belong to the scope of the present invention. The patent protection scope of the present invention should be defined by the claims.

Claims

1. An anti-vibration motor, characterized in that: The motor comprises a motor rotor (1), a motor stator (2), a magnet (3), a control board (4), a control module, an angle measurement sensor (5) and an inertial measurement sensor (6); The motor rotor (1) is rotatably sleeved on the motor stator (2); a control panel (4) is also provided on the motor stator (2); an angle measurement sensor (5), an inertial measurement sensor (6) and a control module are also provided on the control panel (4); The motor rotor (1), the motor stator (2), the magnet (3), the control board (4) and the angle measurement sensor (5) are arranged in sequence along the same axis; The control module is communicatively connected to the angle measurement sensor (5) and the inertial measurement sensor (6) respectively; The magnet (3) is arranged on the motor rotor (1), and the magnet (3) is used as a reference for the angle measurement sensor (5) to perform angle measurement; the angle measurement sensor (5) is used to detect the angle value between the motor rotor (1) and the motor stator (2) at a preset frequency, and the angle measurement sensor (5) is also used to send an angle value signal to the control module, and the control module calculates the rotor angular velocity by the following formula: rotor angular velocity = angle change value / detection period, the detection period is the inverse of the preset frequency, and the angle change value is the difference between the angle values ​​detected by the motor rotor (1) and the motor stator (2) within the detection period; The inertial measurement sensor (6) is used to detect the stator rotation direction and stator angular velocity of the motor stator (2) in the circumferential direction; and sending the stator rotation direction signal and the stator angular velocity signal to the control module; After receiving the stator rotation direction signal and the stator angular velocity signal, the control module controls the motor rotor (1) to rotate at the stator angular velocity and in a direction opposite to the stator rotation direction; The control module is also used to compare the rotor angular velocity with the stator angular velocity: When the rotor angular velocity is less than the stator angular velocity, the control module controls the motor rotor (1) to increase the rotor angular velocity until the rotor angular velocity is equal to the stator angular velocity; When the rotor angular velocity is greater than the stator angular velocity, the control module controls the motor rotor (1) to reduce the rotor angular velocity until the rotor angular velocity is equal to the stator angular velocity; The magnet (3) is a radial two-pole magnet; The inertial measurement sensor (6) is a MEMS gyroscope acceleration sensor.

2. The anti-vibration motor according to claim 1, characterized in that: The angle measurement sensor (5) is an absolute value angle measurement sensor.

3. The anti-vibration motor according to claim 1, characterized in that: The angle measurement sensor (5) is a relative angle measurement sensor.

4. The anti-vibration motor according to claim 2, characterized in that: The absolute angle measurement sensor is a magnetic encoding sensor.

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