Drive motor

Abstract

The invention provides a driving motor which comprises a casing with two open ends, a front cover, a rear cover, a stator and a rotor, the stator and the rotor are fixed in the casing, and the stator drives the rotor to rotate. The driving motor also comprises a controller assembly which is fixed in the housing and is separated from the stator, a Hall sensor which is stacked and fixed on one side, close to the rotor, of the controller assembly, and Hall magnetic steel which is sleeved and fixed on the rotating shaft and is arranged along the axial direction of the rotating shaft together with the permanent magnet. The magnetic induction intensity of the Hall magnetic steel is smaller than that of the permanent magnet; the Hall sensor and the Hall magnetic steel are mutually spaced, the Hall sensor is located in the magnetic field range of the Hall magnetic steel, and the Hall sensor is used for collecting rotation data of the Hall magnetic steel and transmitting the rotation data to the controller assembly so as to detect the rotation angle of the rotor. Compared with the prior art, the driving motor is low in overall height and compact in structure, the distance between the Hall sensor and the magnetic field source is shortened, the magnetic field intensity required by the Hall sensor can be met, and the magnetic leakage phenomenon is remarkably reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of motors, and in particular to a driving motor. Background Art

[0002] With the rapid development of artificial intelligence and robotics, the fingers of humanoid robots are an important part of their ability to accomplish tasks. Due to the requirements of space and energy saving, the drive motors are required to be more stringent, which makes the drive motors develop towards high integration, smaller size, higher load capacity and faster response.

[0003] In the related art, the driving motor is generally provided with a housing, a stator assembly arranged in the housing, and a rotor assembly arranged in the stator assembly. The motor is rotated by driving the rotor assembly through the stator assembly; the rotor assembly includes a rotating shaft and a magnetic steel sleeved on the rotating shaft, and the stator assembly is a coil, and the rotating shaft is driven to rotate by energizing the coil. In order to achieve a good rotation control effect of the driving motor, a Hall sensor is set in the motor, which is mainly used to identify the relative position between the stator and the rotor of the motor to realize the electronic commutation of the motor. However, the Hall induction signal of the traditional motor is arranged on an electronic printed circuit board (PCB), and the distance between the Hall sensor and the magnetic field source is relatively far, so it is necessary to use high-grade strong magnetic steel to ensure sufficient magnetic signal strength. However, the use of strong magnetic steel not only increases the cost, but also causes significant magnetic leakage, which has an adverse effect on product performance.

[0004] Therefore, it is necessary to provide a new drive motor to solve the above technical problems. Summary of the invention

[0005] The object of the present invention is to provide a driving motor with low overall height, compact structure, good overall product performance and cost optimization.

[0006] In order to achieve the above-mentioned object, the present invention provides a driving motor, comprising a casing with openings at both ends, a front cover and a rear cover respectively fixed to opposite ends of the casing and covering the openings at both ends of the casing, a stator fixed in the casing, and a rotor arranged in the stator and spaced apart from the stator, wherein the rotor comprises a rotating shaft and a permanent magnet sleeved and fixed to the rotating shaft, one end of the rotating shaft along its axial direction forms a rotational connection with the casing or the front cover, and the other end of the rotating shaft along its axial direction forms a rotational connection with the casing or the rear cover, and the stator comprises a coil winding sleeved on the periphery of the permanent magnet and spaced apart from the permanent magnet; the stator drives the rotor to rotate;

[0007] The drive motor also includes a controller component fixed in the casing, spaced apart from the stator and providing an external electrical signal to the stator, a Hall sensor stacked and fixed on one side of the controller component close to the rotor, and a Hall magnet sleeved and fixed on the rotating shaft and arranged axially with the permanent magnet along the rotating shaft; the magnetic induction intensity of the Hall magnet is less than the magnetic induction intensity of the permanent magnet; the Hall sensor is spaced apart from the Hall magnet and is located within the magnetic field range of the Hall magnet, and the Hall sensor is used to collect rotation data of the Hall magnet and transmit it to the controller component to detect the rotation angle of the rotor.

[0008] Preferably, the controller assembly includes a first circuit board fixed in the housing, a motor controller stacked and fixed on a side of the first circuit board away from the rotor, and a second circuit board stacked and fixed on a side of the first circuit board close to the rotor; the first circuit board is spaced apart from the stator in a direction perpendicular to the axial direction of the rotating shaft, and the Hall sensor is fixed on a side of the second circuit board close to the rotor.

[0009] Preferably, the stator is located between the controller assembly and the rotor, the first circuit board and the second circuit board both extend along the axial direction of the rotating shaft, and the first circuit board and the second circuit board are stacked and fixed in a direction perpendicular to the axial direction of the rotating shaft.

[0010] Preferably, along a direction perpendicular to the axial direction of the rotating shaft, projections of the Hall magnet and the Hall sensor at least partially overlap.

[0011] Preferably, the stator is spaced apart from the rear cover in the axial direction of the rotating shaft to form a space, and the Hall sensor is located in the space.

[0012] Preferably, the stator further comprises an iron core which is sleeved on the outer circumference of the rotor and fixed in the housing, and the coil winding is mounted and fixed on the surface of the iron core on one side close to the rotor.

[0013] Preferably, the iron core is a multi-layer annular magnetic conductive structure stacked along the axial direction of the rotating shaft.

[0014] Preferably, the permanent magnet is an integrated radial magnetization structure or a split radial magnetization structure, and the permanent magnet includes at least four magnetic poles; the Hall magnet is an integrated radial magnetization structure or a split radial magnetization structure, and the Hall magnet includes at least two magnetic poles.

[0015] Preferably, the permanent magnet is made of sintered NdFeB material, and the grade of the sintered NdFeB is greater than or equal to N45H.

[0016] Preferably, the coil winding is a coil ring with openings at both ends formed by laminating and bonding a plurality of coils along the axial direction of the rotating shaft.

[0017] Preferably, the rotating shaft is made of magnetic conductive material.

[0018] Preferably, the drive motor further includes a first bearing and a second bearing, the first bearing and the second bearing are respectively sleeved and fixed on both ends of the rotating shaft along its axial direction, the outer periphery of the first bearing is fixed in the housing, and the outer periphery of the second bearing is fixed in the rear cover.

[0019] Compared with the prior art, in the drive motor of the present invention, the rotor includes a rotating shaft and a permanent magnet sleeved and fixed on the rotating shaft, the drive motor also includes a controller component fixed in the housing and spaced from the stator, a Hall sensor stacked and fixed on one side of the controller component close to the rotor, and a Hall magnet sleeved and fixed on the rotating shaft and arranged axially with the permanent magnet along the rotating shaft, the controller component and the stator are spaced from each other; the Hall sensor and the Hall magnet are spaced from each other and the Hall sensor is located within the magnetic field range of the Hall magnet, the Hall sensor is used to collect the rotation data of the Hall magnet and transmit it to the controller component to detect the rotation angle of the rotor; in this way, the Hall sensor is arranged on the controller component, and the Hall magnet is separately designed to provide a Hall signal magnetic field source, which greatly shortens the distance between the Hall sensor and the magnetic field source. In addition, the magnetic induction intensity of the Hall magnet is less than that of the permanent magnet, which not only meets the magnetic field intensity required by the Hall sensor, but also significantly reduces the leakage magnetic phenomenon, while optimizing the overall performance and cost of the product. The overall height is low, the structure is compact, and the installation size is friendly. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work, among which:

[0021] Figure 1 A schematic diagram of the three-dimensional structure of a drive motor provided in an embodiment of the present invention;

[0022] Figure 2 A three-dimensional structural exploded view of a drive motor provided by an embodiment of the present invention;

[0023] Figure 3 for Figure 1 Sectional view along line AA.

[0024] In the figure, 100, drive motor, 1, casing, 2, front cover, 3, rear cover, 4, stator, 41, iron core, 42, coil winding, 5, rotor, 51, shaft, 52, permanent magnet, 6, controller assembly, 61, first circuit board, 62, motor controller, 63, second circuit board, 7, Hall sensor, 8, Hall magnet, 9, first bearing, 10, second bearing, 11, bolt, 12, through hole, 13, space. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] Combination Figures 1 to 3 As shown, an embodiment of the present invention provides a driving motor 100, comprising a housing 1 with openings at both ends, a front cover 2 and a rear cover 3 respectively fixed at both ends of the housing 1 and covering the openings at both ends of the housing 1, a stator 4 fixed in the housing 1, and a rotor 5 spaced apart from the stator 4, wherein the rotor 5 comprises a rotating shaft 51 and a permanent magnet 52 sleeved and fixed on the rotating shaft 51. In this embodiment, the two ends of the rotating shaft 51 along its axial direction are respectively connected to the housing 1 and the rear cover 3, and optionally, the two ends of the rotating shaft 51 along its axial direction can also be connected to the front cover 2 and the rear cover 3, or the two ends of the rotating shaft 51 along its axial direction can also be connected to the front cover 2 and the housing 1. The stator 4 comprises a coil winding 42 sleeved on the outer periphery of the permanent magnet 52 and spaced apart from the permanent magnet 52; the stator 4 drives the rotor 5 to rotate.

[0027] The drive motor 100 further includes a controller component 6 fixed in the housing 1 and spaced apart from the stator 4 and providing an electrical signal to the stator 4, a Hall sensor 7 stacked and fixed on the side of the controller component 6 close to the rotor 5, and a Hall magnet 8 sleeved and fixed on the rotating shaft 51 and arranged with the permanent magnet 52 along the axial direction of the rotating shaft 51, wherein the magnetic induction intensity of the Hall magnet 8 is less than the magnetic induction intensity of the permanent magnet 52. The controller component 6 is spaced apart from the stator 4 in a direction perpendicular to the axial direction of the rotating shaft 51; the Hall sensor 7 is spaced apart from the Hall magnet 8 and the Hall sensor 7 is located within the magnetic field range of the Hall magnet 8, and the Hall sensor 7 is used to collect the rotation data of the Hall magnet 8 and transmit it to the controller component to detect the rotation angle of the rotor 5. The controller component 6 controls the operation of the stator 4 and the rotor 5, thereby controlling the rotation direction of the rotor 5 and realizing the motor rotation control. The Hall sensor 7 is arranged on the controller component 6, and the Hall magnet 8 with a magnetic induction intensity smaller than the permanent magnet 52 is designed separately to provide the Hall signal magnetic field source, which greatly shortens the distance between the Hall sensor 7 and the magnetic field source, which can not only meet the magnetic field intensity required by the Hall sensor 7, but also significantly reduce the leakage magnetic phenomenon, while optimizing the overall performance and cost of the product. The overall height is low, the structure is compact, and the installation size is friendly.

[0028] In the present embodiment, one end of the rotating shaft 51 close to the rear cover 3 is rotatably connected to the rear cover 3; the Hall magnet 8 is sleeved and fixed on the rotating shaft 51 and is located on the side of the permanent magnet 52 close to the rear cover 3, and the Hall magnet 8 and the Hall sensor 7 are arranged opposite to each other in a direction perpendicular to the axial direction of the rotating shaft 51; the permanent magnet 52 of the rotor 5 is a permanent magnet structure, which has a simple structure, no brush friction, and fast dynamic response.

[0029] In this embodiment, the controller assembly 6 includes a first circuit board 61 fixed in the housing 1, a motor controller 62 stacked and fixed on the side of the first circuit board 61 away from the rotor 5, and a second circuit board 63 stacked and fixed on the side of the first circuit board 61 close to the rotor 5; the first circuit board 61 is spaced apart from the stator 4 in a direction perpendicular to the axial direction of the rotating shaft 51, and the Hall sensor 7 is fixed on the side of the second circuit board 63 close to the rotor 5. By stacking and installing the second circuit board 63 on the first circuit board 61, the distance between the Hall sensor 7 fixed on the second circuit board 63 and the Hall magnet 8 is reduced, and the distance between the Hall sensor 7 and the magnetic field source is greatly shortened, which can not only meet the magnetic field strength required by the Hall sensor 7, but also significantly reduce the magnetic leakage phenomenon, while optimizing the overall performance and cost of the product. Optionally, the first circuit board 61 is fixed to the housing 1 by bolts. Convenient for disassembly and assembly.

[0030] In this embodiment, the stator 4 is located between the controller assembly 6 and the rotor 5, and the first circuit board 61 and the second circuit board 63 both extend along the axial direction of the rotating shaft 51, and the first circuit board 61 and the second circuit board 63 are stacked and fixed in a direction perpendicular to the axial direction of the rotating shaft 51. This further reduces the spacing between the Hall sensor 7 and the Hall magnet 8 fixed on the second circuit board 63, greatly shortening the distance between the Hall sensor 7 and the magnetic field source. Optionally, along the axial direction of the rotating shaft 51, the second circuit board 63 is fixed to one end of the first circuit board 61 close to the back cover 3, and along the direction perpendicular to the axial direction of the rotating shaft 51, the projection of the second circuit board 63 onto the first circuit board 61 falls within the range of the first circuit board 61. In this embodiment, the first circuit board 61 and the second circuit board 63 are both printed circuit boards (PCBs), which are carriers for electrical interconnection of electronic components.

[0031] In this embodiment, along the direction perpendicular to the axial direction of the rotating shaft 51, the projections of the Hall magnet 8 and the Hall sensor 7 at least partially overlap, so that the distance between the Hall magnet 8 and the Hall sensor 7 is reduced, and the Hall sensor 7 can be better within the magnetic field range of the Hall magnet 8.

[0032] In this embodiment, the stator 4 is spaced from the rear cover 3 in the axial direction of the rotating shaft 51 to form a space 13, and the Hall sensor 7 is located in the space 13. The space in the housing 1 can be fully utilized, the overall height of the motor is lower, the structure is compact, and the size of the drive motor is reduced.

[0033] In this embodiment, the stator 4 further includes an iron core 41 sleeved on the outer periphery of the rotor 5 and fixed in the housing 1; the coil winding 42 is mounted and fixed on the surface of the iron core 41 close to the rotor 5. The coil winding 42 drives the rotor 5 to rotate after being energized. The annular iron core 41 is a non-toothed structure, the motor has no toothed torque, and the motor has small jitter when adjusting the speed.

[0034] In this embodiment, the iron core 41 is a multi-layer annular magnetic conductive structure stacked along the axial direction of the rotating shaft 51. The coil winding 42 is fixed in the iron core 41, and the iron core 41 is a multi-layer annular magnetic conductive structure, which can reduce eddy current loss.

[0035] In this embodiment, the permanent magnet 52 is an integrated radial magnetization structure or a split radial magnetization structure, and the permanent magnet 52 includes at least four magnetic poles; the Hall magnet 8 is an integrated radial magnetization structure or a split radial magnetization structure, and the Hall magnet 8 includes at least two magnetic poles. Both the permanent magnet 52 and the Hall magnet 8 are radial magnetization structures along the rotating shaft 51.

[0036] In this embodiment, the permanent magnet 52 is made of sintered NdFeB material, and the performance grade of the sintered NdFeB is greater than or equal to N45H. This material is a high-grade magnetic steel, which provides a stronger magnetic field source to ensure the driving performance of the motor. The magnetic induction intensity of the Hall magnet 8 is less than the magnetic induction intensity of the permanent magnet 52. The Hall magnet 8 is made of bonded NdFeB material. This material is a low-grade magnetic steel, which can provide the required magnetic field for the Hall sensor 7 signal. In this embodiment, along the axial direction of the rotating shaft 51, one end of the Hall magnet 8 close to the permanent magnet 52 is arranged close to the permanent magnet 52, which reduces the difficulty of assembling the Hall magnet 8 and the permanent magnet 52.

[0037] In this embodiment, the coil winding 42 is a coil ring with open ends formed by multiple coils stacked and bonded along the axial direction of the rotating shaft 51. Preferably, the coil winding 42 includes at least 6 coils stacked and bonded along the axial direction of the rotating shaft 51.

[0038] In this embodiment, the rotating shaft 51 is made of magnetic conductive material, which can make the magnetic fields of the permanent magnet 52 and the Hall magnet 8 more concentrated.

[0039] In this embodiment, the drive motor 100 further includes a first bearing 9 and a second bearing 10, the first bearing 9 and the second bearing 10 are respectively sleeved and fixed on both ends of the rotating shaft 51 along its axial direction, the outer periphery of the first bearing 9 is fixed in the housing 1, and the outer periphery of the second bearing 10 is fixed in the rear cover 3. Optionally, the first bearing 9 can also be fixed to the front cover 2, and the second bearing 10 can also be fixed to the housing 1. The first bearing 9 and the second bearing 10 can reduce the rotational friction between the rotating shaft 51 and the housing 1 and the rear cover 3, thereby improving the rotation performance of the rotating shaft 51. Optionally, the first bearing 9 and the second bearing 10 are both rolling bearings.

[0040] In this embodiment, the housing 1 is an open structure at both ends, and the housing 1, the front cover 2 and the rear cover 3 are connected as a whole by bolts 11. The housing 1, the front cover 2 and the rear cover 3 are respectively provided with four through holes 12 penetrating along the axial direction of the rotating shaft 51, and the bolts 11 are passed through the through holes 12 of the front cover 2, the housing 1 and the rear cover 3 in sequence to achieve fixed connection.

[0041] Compared with the prior art, in the drive motor of the present invention, the rotor includes a rotating shaft and a permanent magnet sleeved and fixed on the rotating shaft, the drive motor also includes a controller component fixed in the housing and spaced from the stator, a Hall sensor stacked and fixed on one side of the controller component close to the rotor, and a Hall magnet sleeved and fixed on the rotating shaft and arranged axially with the permanent magnet along the rotating shaft, the controller component and the stator are spaced from each other; the Hall sensor and the Hall magnet are spaced from each other and the Hall sensor is located within the magnetic field range of the Hall magnet, the Hall sensor is used to collect the rotation data of the Hall magnet and transmit it to the controller component to detect the rotation angle of the rotor; in this way, the Hall sensor is arranged on the controller component, and the Hall magnet is separately designed to provide a Hall signal magnetic field source, which greatly shortens the distance between the Hall sensor and the magnetic field source. In addition, the magnetic induction intensity of the Hall magnet is less than that of the permanent magnet, which not only meets the magnetic field intensity required by the Hall sensor, but also significantly reduces the leakage magnetic phenomenon, and optimizes the overall performance and cost of the product. The overall height is low, the structure is compact, and the installation size is friendly.

[0042] The above description is only an implementation mode of the present invention. It should be pointed out that, for ordinary technicians in this field, improvements can be made without departing from the creative concept of the present invention, but these all belong to the protection scope of the present invention.

Claims

1. A driving motor, comprising a casing with openings at both ends, a front cover and a rear cover respectively fixed to opposite ends of the casing and covering the openings at both ends of the casing, a stator fixed in the casing, and a rotor arranged in the stator and spaced apart from the stator, the rotor comprising a rotating shaft and a permanent magnet sleeved and fixed to the rotating shaft, one end of the rotating shaft along its axial direction is rotatably connected to the casing or the front cover, and the other end of the rotating shaft along its axial direction is rotatably connected to the casing or the rear cover, the stator comprising a coil winding sleeved on the periphery of the permanent magnet and spaced apart from the permanent magnet; the stator drives the rotor to rotate; characterized in that The drive motor also includes a controller component fixed in the casing, spaced apart from the stator and providing an external electrical signal to the stator, a Hall sensor stacked and fixed on one side of the controller component close to the rotor, and a Hall magnet sleeved and fixed on the rotating shaft and arranged axially with the permanent magnet along the rotating shaft; the magnetic induction intensity of the Hall magnet is less than the magnetic induction intensity of the permanent magnet; the Hall sensor is spaced apart from the Hall magnet and is located within the magnetic field range of the Hall magnet, and the Hall sensor is used to collect rotation data of the Hall magnet and transmit it to the controller component to detect the rotation angle of the rotor.

2. The drive motor according to claim 1, characterized in that: The controller assembly includes a first circuit board fixed in the housing, a motor controller stacked and fixed on a side of the first circuit board away from the rotor, and a second circuit board stacked and fixed on a side of the first circuit board close to the rotor; the first circuit board is spaced apart from the stator in a direction perpendicular to the axial direction of the rotating shaft, and the Hall sensor is fixed on a side of the second circuit board close to the rotor.

3. The drive motor according to claim 2, characterized in that: The stator is located between the controller assembly and the rotor. The first circuit board and the second circuit board both extend along the axial direction of the rotating shaft, and the first circuit board and the second circuit board are stacked and fixed in a direction perpendicular to the axial direction of the rotating shaft.

4. The drive motor according to claim 2, characterized in that: Along a direction perpendicular to the axial direction of the rotating shaft, the Hall magnet and the Hall sensor are spaced apart from each other and their projections at least partially overlap.

5. The drive motor according to claim 4, characterized in that: The stator is spaced apart from the rear cover in the axial direction of the rotating shaft to form a space, and the Hall sensor is located in the space.

6. The driving motor according to claim 1, characterized in that: The stator further comprises an iron core which is sleeved on the outer periphery of the rotor and fixed in the housing, and the coil winding is mounted and fixed on the surface of the iron core on one side close to the rotor.

7. The driving motor according to claim 6, characterized in that: The iron core is a multi-layer annular magnetic conductive structure stacked along the axial direction of the rotating shaft.

8. The driving motor according to claim 1, characterized in that: The permanent magnet is an integrated radial magnetization structure or a split radial magnetization structure, and the permanent magnet includes at least four magnetic poles; the Hall magnet is an integrated radial magnetization structure or a split radial magnetization structure, and the Hall magnet includes at least two magnetic poles.

9. The driving motor according to claim 8, characterized in that: The permanent magnet is made of sintered NdFeB material, and the grade of the sintered NdFeB is greater than or equal to N45H.

10. The driving motor according to claim 1, characterized in that: The coil winding is a coil ring with openings at both ends formed by laminating and bonding a plurality of coils along the axial direction of the rotating shaft.

11. The driving motor according to claim 1, characterized in that: The rotating shaft is made of magnetic conductive material.

12. The driving motor according to claim 1, characterized in that: The drive motor also includes a first bearing and a second bearing, the first bearing and the second bearing are respectively sleeved and fixed on both ends of the rotating shaft along its axial direction, the outer periphery of the first bearing is fixed in the housing, and the outer periphery of the second bearing is fixed in the rear cover.

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