A limited angle torque motor structure

Abstract

The application provides a limited rotation torque motor structure, which mainly solves the technical problem that the existing limited rotation torque motor cannot meet the low electromagnetic torque fluctuation requirement of an electrical servo system due to the existence of armature reaction, which causes the electromagnetic torque of the limited rotation torque motor to decrease with the increase of the rotor rotation angle position, and causes the electromagnetic torque fluctuation of the limited rotation torque motor to increase. The limited rotation torque motor structure comprises a stator and a rotor. The stator comprises a machine shell, a stator core and N windings. The stator core is coaxially arranged in the machine shell, and the N windings are uniformly wound on the stator core in the circumferential direction, and the winding directions of two adjacent windings are opposite. The rotor comprises an inner magnetic conducting ring, M axial magnetic enhancement assemblies and N main driving magnetic steels which are respectively arranged corresponding to the N windings. The N main driving magnetic steels are uniformly connected to the inner magnetic conducting ring in the circumferential direction. The M axial magnetic enhancement assemblies are respectively arranged in intervals and connected to the outer circumferential surface of the inner magnetic conducting ring.

Description

Technical Field

[0001] This invention relates to a motor structure, specifically a finite angle torque motor structure. Background Technology

[0002] As a special type of servo motor, the finite torque motor can directly drive the load to move quickly and position precisely within a certain angle range. Due to its simple structure, cogging torque, and low cost, it is widely used in various high-precision electrical servo systems in military and civilian applications.

[0003] like Figure 1 As shown, in the prior art, the rotor of a finite torque motor typically uses radially magnetized magnets 01 uniformly mounted on an inner magnetic ring 02, and then the electromagnetic torque of the finite torque motor is controlled by adjusting the pole arc angle of the magnets 02.

[0004] However, due to the presence of armature reaction, the electromagnetic torque of existing finite torque motors decreases as the rotor angle position increases, resulting in increased electromagnetic torque fluctuations and failing to meet the low electromagnetic torque fluctuation requirements of electrical servo systems. Summary of the Invention

[0005] The purpose of this invention is to solve the technical problem that existing finite torque motors, due to the presence of armature reaction, cause the electromagnetic torque of the finite torque motor to decrease as the rotor angle position increases, resulting in increased electromagnetic torque fluctuations and failing to meet the low electromagnetic torque fluctuation requirements of electrical servo systems. Therefore, this invention provides a finite torque motor structure.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] A finite-angle torque motor structure, characterized in that it includes a stator and a rotor;

[0008] The stator includes a housing, a stator core, and N windings, where N is an integer multiple of 2;

[0009] The stator core is coaxially disposed inside the housing, and N windings are evenly wound on the stator core along the circumferential direction. The winding directions of two adjacent windings are opposite, and there is a gap along the circumferential direction.

[0010] The rotor includes an inner magnetic ring, M axial magnetizing components, and N main drive magnets corresponding to N windings, where 1≤M≤N;

[0011] N main drive magnets are uniformly connected to the inner magnetic ring along the circumferential direction. The outer surface of the main drive magnet is in clearance fit with the winding. When the main drive magnet is in the zero position, the radial axis of symmetry of the main drive magnet coincides with the radial axis of symmetry of the corresponding winding. There is a gap between two adjacent main drive magnets along the circumferential direction, and the radial magnetic pole directions of two adjacent main drive magnets are opposite.

[0012] M axial magnetizing components are respectively disposed within the interval and connected to the outer circumferential surface of the inner magnetic ring.

[0013] Furthermore, the axial magnetizing assembly includes an auxiliary magnetic shoe arranged along the axial direction and two auxiliary magnets symmetrically arranged on both sides of the winding along the axial direction;

[0014] The auxiliary magnetic shoe is connected to the inner magnetic ring, and one end of the two auxiliary magnets is connected to the two ends of the auxiliary magnetic shoe respectively. The other end of the two auxiliary magnets is in clearance fit with the winding.

[0015] Furthermore, by setting the rotation position of the axial magnetizing component, the magnetizing torque of the axial magnetizing component under the rotor's limit rotation angle can be controlled. When the auxiliary magnet is in the zero position, an angle β is set between it and the adjacent main drive magnet along the radial axis of symmetry. The range of β is (0.65~0.85)*180 / N.

[0016] Furthermore, in order to further control the magnetizing torque generated by the axial magnetizing assembly at the rotor's extreme position, the dimensions of the auxiliary magnet are designed to meet the following parameters: the pole arc angle θ of the auxiliary magnet is (0.1~0.2)*180 / N, the radius R1 of the inner circumference is (R01+1~3)mm, the radius R2 of the outer circumference is (R02-1~3)mm, and the axial thickness b is 1.5mm~3mm; R01 is the inner diameter of the stator core, and R02 is the outer diameter of the stator core.

[0017] Furthermore, the auxiliary magnetic shoe has a U-shaped structure, including a first sub-magnetic shoe arranged along the axial direction and two second sub-magnetic shoes arranged along the radial direction;

[0018] The middle part of the first sub-magnetic shoe is connected to the inner magnetic ring, one end of the two second sub-magnetic shoes is connected to the two ends of the first sub-magnetic shoe, and the two auxiliary magnets are connected to the other end of the two second sub-magnetic shoes on the side that are close to each other.

[0019] Furthermore, the outer circumferential surface of the inner magnetic ring is provided with a mounting groove corresponding to the first sub-magnetic shoe, and the first sub-magnetic shoe is connected in the mounting groove.

[0020] Furthermore, the main drive magnet and the inner magnetic ring, the first sub-magnetic shoe and the inner magnetic ring, and the auxiliary magnet and the second sub-magnetic shoe are all connected by adhesive.

[0021] Furthermore, the auxiliary magnetic shoe, stator core, and inner magnetic ring are made of soft magnetic materials, while the main drive magnet and auxiliary magnet are both made of hard magnetic materials.

[0022] Furthermore, M = N = 4.

[0023] Compared with the prior art, the beneficial effects of the present invention are:

[0024] 1. This invention, by setting an axial magnetizing component, generates a weakening magnetic torque when the rotor starts to rotate. As the rotor angle gradually increases, the axial magnetizing component generates a magnetizing torque. The weakening magnetic torque and magnetizing torque generated by the axial magnetizing component compensate for the electromagnetic torque generated by the finite angle torque motor, thereby reducing the electromagnetic torque fluctuation of the finite angle torque motor and meeting the low electromagnetic torque fluctuation requirements proposed by the electrical servo system.

[0025] 2. By adjusting the position of the axial magnetizing component on the inner magnetic ring, that is, by adjusting the angle β between the axial magnetizing component along its rotation direction and the radial axis of symmetry of the adjacent main drive magnet, the magnetizing torque of the axial magnetizing component under the rotor's extreme rotation angle can be adjusted, thereby increasing the adjustability of the magnetizing torque and thus increasing the applicability of the invention.

[0026] 3. By setting the structural dimensions of the auxiliary magnet, the present invention can adjust the magnetizing torque of the axial magnetizing component at the rotor's limit angle, further increasing the adjustability of the magnetizing torque and thus increasing the applicability of the present invention. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of an existing finite angle torque motor structure;

[0028] Figure 2 This is a schematic diagram of an embodiment of a finite angle torque motor structure according to the present invention;

[0029] Figure 3 yes Figure 2 A schematic diagram of the axial structure;

[0030] Figure 4 yes Figure 2 A schematic diagram of the radial structure;

[0031] Figure 5 This is a schematic diagram of the axial magnetizing component in an embodiment of a finite angle torque motor structure according to the present invention;

[0032] Figure 6 This is a schematic diagram of the axial structure of the auxiliary magnet in an embodiment of a finite angle torque motor structure of the present invention;

[0033] Figure 7 This is a schematic diagram of the radial structure of the auxiliary magnet in an embodiment of a finite angle torque motor structure of the present invention;

[0034] Figure 8 This is a simulation result diagram of a finite angle torque motor structure according to the present invention.

[0035] In the diagram, 01 represents the magnet, and 02 represents the inner magnetic ring.

[0036] 1-Stator, 11-Casing, 12-Stator core, 13-Winding;

[0037] 2-Rotor, 21-Inner magnetic ring, 22-Main drive magnet, 23-Axial magnetizing assembly, 231-Auxiliary magnetic shoe, 232-Auxiliary magnet. Detailed Implementation

[0038] To make the objectives, advantages, and features of the present invention clearer, the following detailed description of a finite-angle torque motor structure proposed by the present invention, in conjunction with the accompanying drawings and specific embodiments, will further illustrate these points. The advantages and features of the present invention will become clearer according to the following specific embodiments. It should be noted that the accompanying drawings are all in a very simplified form and use non-precise proportions, and are only used to conveniently and clearly assist in illustrating the objectives of the embodiments of the present invention; furthermore, the structures shown in the drawings are often part of the actual structures.

[0039] In the description of this invention, it should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0040] like Figures 2-7 As shown, the present invention discloses a finite angle torque motor structure, comprising a stator and a rotor.

[0041] like Figures 2-4As shown, the stator 1 includes a housing 11, a stator core 12, and N windings 13; N is an integer multiple of 2; in this embodiment, N is 4. Of course, in other embodiments of the present invention, those skilled in the art can also select an appropriate number of windings 13 based on factors such as the size of the housing 11 and the performance of the motor. The housing 11 is used to provide installation positions for the relevant components of the present invention. In this embodiment, the housing 11 is a hollow cylindrical structure. In this embodiment, the stator core 12 is a circular ring structure. The stator core 12 is coaxially arranged inside the housing 11 and fixedly connected to the housing 11. The four windings 13 are evenly wound in the winding area of ​​the stator core 12 along the circumferential direction. The winding directions of two adjacent windings 13 are opposite, and there is a gap along the circumferential direction. The stator core 12 is made of soft magnetic alloy and is energized by the windings 13. Under the action of the generated energizing current, it drives the rotor to rotate. The rotation direction of the rotor 2 can be changed by switching the positive and negative directions of the input voltage of the windings 13.

[0042] like Figure 2 and Figure 3 As shown, the rotor 2 includes an inner magnetic ring 21, M axial magnetizing components 23, and N main drive magnets 22 corresponding to N windings 13, where 1 ≤ M ≤ N. The inner magnetic ring 21 is made of soft magnetic material, and the main drive magnets 22 are made of hard magnetic material. By setting different numbers of axial magnetizing components 23, the electromagnetic torque fluctuation performance can be controlled. The more axial magnetizing components 23 there are, the lower the electromagnetic torque fluctuation. Therefore, in this embodiment, the preferred value of M is equal to the value of N, both being 4. Of course, in other embodiments of the present invention, those skilled in the art can determine the optimal value based on cost, performance, and structural complexity. The number of axial magnetizing components 23 can be arbitrarily selected within the range of values ​​of M, taking into account factors such as degree of magnetization. The radial cross-section of the main drive magnet 22 is fan-shaped, and its outer circumferential surface corresponds to the inner circumferential surface of the stator core 12. The main drive magnet 22 is fitted with the winding with a gap. Four main drive magnets 22 are evenly connected to the inner magnetic ring 21 along the circumferential direction. The main drive magnets 22 and the inner magnetic ring 21 are connected by adhesive. There is a gap between two adjacent main drive magnets 22 along the circumferential direction. In the initial state, the radial axis of symmetry of the main drive magnet 22 coincides with the axis of symmetry of the corresponding winding 13. The radial magnetic pole directions of two adjacent main drive magnets 22 are opposite.

[0043] like Figure 2 and Figure 3 As shown, four axial magnetizing components 23 are respectively arranged in the interval (i.e., one axial magnetizing component 23 is arranged in each interval) and connected to the outer circumferential surface of the inner magnetic ring 21. Through the axial magnetizing components 23, the electromagnetic torque fluctuation of the finite angle torque motor can be compensated, thereby reducing the electromagnetic torque fluctuation of the finite angle torque motor and achieving the purpose of low electromagnetic torque fluctuation.

[0044] like Figure 5 As shown, the axial magnetizing assembly 23 includes an auxiliary magnetic shoe 231 arranged axially and two auxiliary magnets 232 symmetrically arranged on both sides of the winding 13 axially. The auxiliary magnetic shoe 231 is made of soft magnetic material, while the auxiliary magnets 232 are all made of hard magnetic material. An angle β is set between the auxiliary magnets 232 and the adjacent main drive magnets 22 along their rotation direction and the radial axis of symmetry. The range of β is (0.65~0.85)*180 / N. Since a value of β that is too large will miss the peak stall torque and fail to reduce torque fluctuation, and a value that is too small will affect the normal torque output, those skilled in the art can also select other angle values ​​of β within the range of β and adjust the angle β to control the electromagnetic torque fluctuation. In this embodiment, the auxiliary magnetic shoe 231 has a U-shaped structure, including a first sub-magnetic shoe arranged axially and a radially arranged... Two second sub-magnetic shoes are provided. The outer circumferential surface of the inner magnetic ring 21 has a mounting groove corresponding to the first sub-magnetic shoe. The middle part of the first sub-magnetic shoe is connected to the mounting groove and is glued to the inner magnetic ring 21. One end of each of the two second sub-magnetic shoes is connected to the two ends of the first sub-magnetic shoe. One end of each of the two auxiliary magnets 232 is connected to the other end of each of the two second sub-magnetic shoes on the side closest to each other. The auxiliary magnets 232 and the second sub-magnetic shoes are glued together. The other end of each auxiliary magnet 232 is clearance-fitted with the winding 13. It should be noted that the specific structure of the auxiliary magnetic shoe 231 described above is only a preferred embodiment of the present invention. In other embodiments of the present invention, those skilled in the art can also reasonably design the auxiliary magnetic shoe 231 to meet the requirements for setting the two auxiliary magnets 232 in the present invention.

[0045] like Figure 6 and Figure 7 As shown, since the values ​​of the pole arc angle θ and axial thickness b of the auxiliary magnet 232 are different, they will affect the electromagnetic torque fluctuation performance. Therefore, the structural requirements of the auxiliary magnet 232 in this invention are as follows: the pole arc angle θ of the auxiliary magnet 232 is (0.1~0.2)*180 / N, the radius R1 of the inner circumference is (0.1~0.2)*180 / N, the radius R2 of the outer circumference is (R02-1~3)mm, and the axial thickness b is 1.5mm~3mm; R01 is the inner diameter of the stator core 12, and R02 is the outer diameter of the stator core 12.

[0046] Simulation results are as follows Figure 8 As shown, by adopting a finite angle torque motor structure of the present invention, torque fluctuation can be effectively reduced.

[0047] It should be noted that the adhesive connection method provided in the embodiments of the present invention is only a preferred solution of the present invention, and those skilled in the art may choose other connection methods in the prior art to replace it.

Claims

1. A finite-angle torque motor structure, characterized in that: It includes a stator (1) and a rotor (2); The stator (1) includes a housing (11), a stator core (12), and N windings (13), where N is an integer multiple of 2; The stator core (12) is coaxially disposed inside the housing (11), and N windings (13) are evenly wound on the stator core (12) along the circumferential direction. The winding directions of two adjacent windings (13) are opposite, and there is a gap along the circumferential direction. The rotor (2) includes an inner magnetic ring (21), M axial magnetizing components (23) and N main drive magnets (22) respectively arranged corresponding to N windings (13), where 1≤M≤N; N main drive magnets (22) are uniformly connected to the inner magnetic ring (21) along the circumferential direction. The outer surface of the main drive magnet (22) is in clearance fit with the winding (13). When the main drive magnet (22) is in the zero position, the radial axis of symmetry of the main drive magnet (22) coincides with the radial axis of symmetry of the corresponding winding (13). There is a gap between two adjacent main drive magnets (22) along the circumferential direction, and the radial magnetic pole directions of two adjacent main drive magnets (22) are opposite. M axial magnetizing components (23) are respectively disposed within the interval and connected to the outer circumferential surface of the inner magnetic ring (21); The axial magnetizing assembly (23) includes an auxiliary magnetic shoe (231) arranged along the axial direction and two auxiliary magnets (232) symmetrically arranged on both sides of the winding (13) along the axial direction; The auxiliary magnetic shoe (231) is connected to the inner magnetic ring (21), and one end of the two auxiliary magnets (232) is connected to the two ends of the auxiliary magnetic shoe (231) respectively. The other end of the two auxiliary magnets (232) is in clearance fit with the winding (13).

2. The finite angle torque motor structure according to claim 1, characterized in that: When the auxiliary magnet (232) is in the zero position, an angle β is provided between it and the adjacent main drive magnet (22) along the radial axis of symmetry. The range of β is (0.65~0.85)*180 / N, which is used to adjust the magnetizing torque of the axial magnetizing component (23) when the rotor (2) is in the extreme position.

3. The finite angle torque motor structure according to claim 2, characterized in that: The auxiliary magnet (232) has a pole arc angle θ of (0.1~0.2)*180 / N, an inner circumferential radius R1 of [R01+(1~3)]mm, an outer circumferential radius R2 of [R02-(1~3)]mm, and an axial thickness b of 1.5mm~3mm; R01 is the inner diameter of the stator core (12), and R02 is the outer diameter of the stator core (12).

4. A finite-angle torque motor structure according to claim 2 or 3, characterized in that: The auxiliary magnetic boot (231) has a U-shaped structure, including a first sub-magnetic boot arranged along the axial direction and two second sub-magnetic boots arranged along the radial direction; The middle part of the first sub-magnetic shoe is connected to the inner magnetic ring (21), one end of the two second sub-magnetic shoes is connected to the two ends of the first sub-magnetic shoe, and the two auxiliary magnets (232) are connected to the other end of the two second sub-magnetic shoes on the side close to each other.

5. The finite angle torque motor structure according to claim 4, characterized in that: The outer circumferential surface of the inner magnetic ring (21) is provided with a mounting groove corresponding to the first sub-magnetic shoe, and the first sub-magnetic shoe is connected to the mounting groove.

6. The finite angle torque motor structure according to claim 5, characterized in that: The main drive magnet (22) and the inner magnetic ring (21), the first sub-magnetic shoe and the inner magnetic ring (21), and the auxiliary magnet (232) and the second sub-magnetic shoe are all connected by adhesive.

7. The finite angle torque motor structure according to claim 6, characterized in that: The auxiliary magnetic shoe (231), stator core (12) and inner magnetic ring (21) are all made of soft magnetic material, while the main drive magnet (22) and auxiliary magnet (232) are both made of hard magnetic material.

8. The finite angle torque motor structure according to claim 7, characterized in that: The M=N=4.

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