Integrated low-voltage servo motor

Abstract

The invention relates to the technical field of motors, in particular to an integrated low-voltage servo motor which comprises a rotor assembly, a stator assembly and a control assembly, the control assembly comprises a controller, a driving module and a feedback module, and the controller controls the stator assembly and the rotor assembly to work through the driving module. The rotor assembly comprises a rotating shaft, a rotor sleeve and a magnetic ring. According to the integrated low-voltage servo motor provided by the invention, the rotating shaft and the rotor sleeve integrally and synchronously rotate, the rotation of an external driver can be driven through the rotating shaft, the rotation can be driven through the rotor sleeve, the rotation condition can be distinguished more clearly, and the rotation condition of the rotating shaft is fed back through the feedback module, so that the accuracy of the motor is improved. And rotation of the rotating shaft is adjusted in time through the control assembly, and driving accuracy is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of motors, and in particular to an integrated low-voltage servo motor. Background Art

[0002] In modern industrial automation, consumer electronics, and various mechanical equipment, as a core power output component, the control precision of the motor is directly related to the performance of the entire system. However, in actual applications, the rotational control of the motor is often affected by various factors, such as mechanical wear, external load changes, temperature fluctuations, or control system errors, resulting in a deviation between the actual rotation angle or speed of the motor and the expected value. This deviation not only affects the working precision of the equipment but may also cause the system to operate unstably or even malfunction.

[0003] To solve this problem, it is usually necessary to accurately monitor the rotational state of the motor and achieve closed-loop control through a feedback mechanism. Specifically, a position feedback structure is widely used in motor control systems to detect the actual rotation angle or position information of the motor in real time. By comparing the detected position signal with the target value, it can be determined whether the rotation of the motor meets the expectations. If a deviation is found, the rotation of the motor can be compensated by adjusting control parameters (such as voltage, current, or pulse signals), thereby improving the control precision.

[0004] However, the existing position feedback technologies still have some deficiencies. For example, the accuracy of some feedback devices is limited and difficult to meet the requirements of high-precision application scenarios; at the same time, complex feedback structures may increase the cost and maintenance difficulty of the system. In addition, under certain special working conditions, the feedback signal may be interfered with or distorted, thus affecting the stability of the entire control system. Therefore, how to design an efficient, reliable, and cost-effective position feedback structure has become an urgent technical problem in the current motor control field. Summary of the Invention

[0005] The present invention provides an integrated low-voltage servo motor for the problems of the prior art. The rotating shaft and the rotor sleeve rotate synchronously as a whole. It can drive the rotation of the external drive through the rotating shaft and also through the rotor sleeve, which can more clearly distinguish the rotation situation. And the rotation situation of the rotating shaft is fed back through the feedback module, and the rotation of the rotating shaft is adjusted in time through the control component to ensure the accuracy of the drive.

[0006] To solve the above technical problems, the present invention adopts the following technical solution: An integrated low-voltage servo motor, comprising a rotor assembly, a stator assembly, and a control component. The control component includes a controller, a drive module, and a feedback module. The controller controls the operation of the stator assembly and the rotor assembly through the drive module. The rotor assembly includes a rotating shaft, a rotor sleeve, and a magnetic ring; The stator assembly is sleeved on the outer periphery of the rotating shaft, and the stator assembly is used to make the rotating shaft rotate; the magnetic ring is installed on the inner wall of the rotor sleeve, the rotor sleeve is provided with a stator cavity, and the stator assembly is located in the stator cavity; The rotor sleeve is provided with a sleeve hole, and after the rotating shaft passes through the sleeve hole, it drives the rotor sleeve to rotate synchronously; The feedback module includes a distance sensing component and an annular distance detector fixed to the stator assembly. The distance sensing component is installed on the rotating shaft, and the distance sensing component and the annular distance detector are located on the same horizontal plane; the annular distance detector is provided with a sensing starting point. When the rotating shaft rotates, the distance between the distance sensing component and the annular distance detector starts from the sensing starting point and gradually increases or gradually decreases; The distance sensing component is signal-connected to the controller and feeds back the detected distance data to the controller. The controller adjusts the rotation speed of the rotating shaft according to the received detected distance data.

[0007] Preferably, the rotating shaft is provided with a first limiting groove, and the hole wall of the sleeve hole is limited in the first limiting groove.

[0008] Preferably, the stator assembly includes an iron core group, a coil winding and a shaft fixing module. The iron core group is fixedly sleeved on the shaft fixing module. The coil winding is provided with several groups and is respectively wound around the iron core group. When several coils are energized, the generated magnetic field drives the rotating shaft to rotate.

[0009] Preferably, the shaft fixing module includes a bearing and a copper sleeve. The bearing is coaxially arranged with the rotating shaft and the bearing is used to keep the rotating shaft rotating freely. The copper sleeve is sleeved on the outer wall of the bearing, the bottom of the copper sleeve is assembled on the substrate, and the bottom of the rotating shaft is movably connected to the bottom of the copper sleeve.

[0010] Preferably, the annular distance detector is fixed to the copper sleeve.

[0011] Preferably, the rotor assembly further includes an external driving member. The external driving member is provided with a connecting hole. The external driving member is fixedly installed on the rotor sleeve and rotates synchronously with the rotor sleeve. One end of the rotating shaft protruding from the rotor sleeve is located in the connecting hole.

[0012] Preferably, the external driving member is provided with several insertion posts, and the rotor sleeve is provided with several insertion holes for assembling the insertion posts; the rotating shaft is provided with a limiting member, and the connecting hole of the external driving member is provided with a second limiting groove for assembling the limiting member.

[0013] Preferably, the rotating shaft is provided with a telescopic groove, and a spring is arranged between the limiting member and the groove wall of the telescopic groove. Through the spring, the limiting member can be contracted into the telescopic groove.

[0014] Preferably, the limiting member is provided with a control rod, and the rotating shaft is provided with a sliding groove for assembling the control rod. The sliding groove communicates with the telescopic groove. The position of the limiting member is controlled by the control rod so that the limiting member leaves the second limiting groove.

[0015] Advantages of the present invention: The rotating shaft and the rotor sleeve rotate synchronously. The rotation of an external drive can be driven by the rotating shaft or the rotor sleeve, and the rotation condition can be more clearly distinguished. The rotation condition of the rotating shaft is fed back by the feedback module, and the rotation of the rotating shaft is adjusted in time by the control component to ensure the accuracy of the drive. The annular distance detection member has a simple structure, does not increase the complexity of the present invention, and can accurately detect the position condition of the rotation, with high practicability. Description of the Drawings

[0016] Figure 1 is a cross-sectional view of the present invention; Figure 2 is a schematic structural diagram of the cooperation of the annular distance detection member, the distance sensing component and the rotating shaft of the present invention; Figure 3 is a schematic structural diagram of the rotating shaft, the copper sleeve and the feedback module of the present invention; Figure 4 is a schematic structural diagram of the cooperation of the external drive member, the rotor sleeve and the rotating shaft of the present invention; Figure 5 is a schematic structural diagram of the external drive member of the present invention; Figure 6 is a schematic structural diagram of the rotating shaft of the present invention; Figure 7 is a control signal block diagram of the present invention; Figure 8 is a schematic structural diagram of the control rod and the sliding groove of the present invention.

[0017] In Figures 1 to 8 the reference numerals include: 3 - Controller, 4 - Drive module, 5 - Feedback module, 6 - Rotating shaft, 7 - Rotor sleeve, 8 - Magnetic ring, 10 - Distance sensing component, 11 - Annular distance detection member, 12 - Induction starting point, 13 - First limiting groove, 14 - Iron core group, 17 - Bearing, 18 - Copper sleeve, 19 - External drive member, 20 - Connecting hole, 21 - Insertion post, 22 - Limiting member, 23 - Second limiting groove, 24 - Telescopic groove, 25 - Spring, 26 - Control rod, 27 - Sliding groove. Detailed Embodiments

[0018] For the convenience of those skilled in the art, the present invention will be further described below in conjunction with embodiments and the accompanying drawings. The content mentioned in the embodiments does not limit the present invention. The present invention will be described in detail below with reference to the accompanying drawings.

[0019] An integrated low-voltage servo motor provided in this embodiment, as Figures 1 to 8 shown, includes a rotor assembly, a stator assembly, and a control assembly. The control assembly includes a controller 3, a drive module 4, and a feedback module 5. The controller 3 controls the operation of the stator assembly and the rotor assembly through the drive module 4. The rotor assembly includes a rotating shaft 6, a rotor sleeve 7, and a magnetic ring 8. Among them, the controller 3 and the drive module 4 are prior arts.

[0020] The stator assembly is sleeved on the outer periphery of the rotating shaft 6, and the stator assembly is used to rotate the rotating shaft 6. The magnetic ring 8 is installed on the inner wall of the rotor sleeve 7. The rotor sleeve 7 is provided with a stator cavity, and the stator assembly is located in the stator cavity. The rotor sleeve 7 is provided with a sleeve hole, and after the rotating shaft 6 passes through the sleeve hole, it drives the rotor sleeve 7 to rotate synchronously.

[0021] Specifically, as Figure 1 shown, the stator assembly of this embodiment includes an iron core group 14, a coil winding, and a shaft fixing module. The iron core group 14 is fixedly sleeved on the shaft fixing module. The coil winding is provided with several groups and is respectively wound around the iron core group 14. The magnetic field generated when several coils are energized drives the rotating shaft 6 to rotate. The iron core group 14 and the coil winding are prior arts. Among them, the shaft fixing module is used to fix the position of the rotating shaft 6 so that it can keep rotating. The iron core group 14 is formed by stacking several iron core sheets, as Figure 1 shown, several coil windings are respectively wound around the iron core group 14 to form a three-phase, star-connected winding method and a single pair of magnetic pole structures. Of course, this is an implementation manner of this embodiment. In practical applications, other winding methods can be adopted.

[0022] As Figures 1 to 3 shown, the feedback module 5 includes a distance sensing component 10 and an annular distance detector 11 fixed to the stator assembly. The distance sensing component 10 is installed on the rotating shaft 6, and the distance sensing component 10 and the annular distance detector 11 are located on the same horizontal plane. The annular distance detector 11 is provided with an induction starting point 12. When the rotating shaft 6 rotates, the distance between the distance sensing component 10 and the annular distance detector 11 starts from the induction starting point 12 and gradually increases or gradually decreases. The distance sensing component 10 is signal-connected to the controller 3 and feeds back the detected distance data to the controller 3. The controller 3 adjusts the rotation speed of the rotating shaft 6 according to the received detected distance data.

[0023] Specifically, the distance sensing component 10 can adopt a photoelectric sensor, a laser emitter and receiver, etc. As Figure 2 shown, the emitted light is reflected back to the distance sensing component 10 after encountering the annular distance detection component 11. By the difference in the length of the optical path, the size of the distance D1 between the distance sensing component 10 and the annular detection component can be confirmed, and then the rotation angle of the rotating shaft 6 can be accurately judged. If there is a difference from the preset rotation angle, the control component can timely adjust the rotation of the rotating shaft 6 for rotation compensation, thereby improving the rotation accuracy of the rotating shaft 6. The structure of the annular distance detection component 11 is as Figure 2 shown. The inner side thereof for contacting the light can be made of a material with strong reflection performance to ensure that the light can be reflected. There is no specific limitation here. Figure 2 In the clockwise direction of , the distance between the annular distance detection component 11 and the distance sensing component 10 gradually increases from small to large, and there is a step at the induction starting point 12 to represent the number of rotation turns, which is convenient for the judgment of the controller 3.

[0024] The feedback compensation method of the feedback module in this embodiment is as follows: The controller stores a comparison table of the distance D1 between the distance sensing component and the annular distance detection component 11 and the rotation angle. Different rotation angles correspond to changes in the distance D1; The controller provides corresponding voltage and current to the stator assembly through the drive module, and controls the rotation of the rotor assembly through the stator assembly; The distance sensing component transmits the detected distance D1 to the controller in real time. The preset rotation angle is a, and the rotation angle corresponding to the distance D1 is b. Then when the controller receives the real-time distance D1, it obtains the rotation angle b corresponding to the current rotating shaft through the comparison table, and compares the rotation angle b at the same moment with the preset rotation angle a. If they are the same or within the allowable error range, it means that the rotation angle of the rotating shaft is okay. If the difference between the two exceeds the allowable error range, the controller adjusts the output voltage and current of the drive module in real time according to the deviation between the two angles to realize the adjustment of the rotation of the rotating shaft, thereby maintaining the accuracy of the rotation angle of the rotating shaft and improving the accuracy of the drive output; In addition, the controller can also judge the rotation direction of the rotating shaft according to the gradual increase or decrease of the distance D1, which is convenient for judging the accuracy of the rotation direction.

[0025] Furthermore, as Figure 3As shown in the figure, the shaft fixing module includes a bearing 17 and a copper sleeve 18. The bearing 17 is coaxially arranged with the rotating shaft 6 and is used to keep the rotating shaft 6 rotating freely. The copper sleeve 18 is sleeved on the outer wall of the bearing 17. The bottom of the copper sleeve 18 is assembled on the substrate, and the bottom of the rotating shaft 6 is movably connected to the bottom of the copper sleeve 18. The annular distance detector 11 is fixed to the copper sleeve 18. Among them, the structural cooperation between the copper sleeve 18 and the rotating shaft 6 is prior art, and it is only necessary to enable the rotating shaft 6 to rotate within the copper sleeve 18.

[0026] Specifically, Figure 1 In a certain direction, there is a space between the top of the copper sleeve 18 and the socket hole of the rotor sleeve 7. Therefore, the annular distance detector 11 is arranged at the top of the copper sleeve 18. The annular distance detector 11 can be integrally arranged with the copper sleeve 18, and the position of the annular distance detector 11 is fixed. Therefore, when the rotating shaft 6 rotates, the detection work of the distance sensing component 10 can be realized.

[0027] As Figures 3 to 6 shown in the figure, the rotating shaft 6 is provided with a first limiting groove 13, and the hole wall of the socket hole is limited in the first limiting groove 13, so as to prevent the rotor sleeve 7 from separating from the rotating shaft 6 and maintain the stability of the structure. The rotor sleeve 7 and the rotating shaft 6 can achieve synchronous rotation through interference fit.

[0028] As Figure 4 and Figure 5 shown in the figure, the rotor assembly further includes an external drive member 19. The external drive member 19 is provided with a connection hole 20. The external drive member 19 is fixedly installed on the rotor sleeve 7 and rotates synchronously with the rotor sleeve 7. One end of the rotating shaft 6 protruding from the rotor sleeve 7 is located in the connection hole 20.

[0029] Specifically, the external drive member 19 is provided with a plurality of plug posts 21, and the rotor sleeve 7 is provided with a plurality of plug holes for assembling the plug posts 21; the rotating shaft 6 is provided with a stopper 22, and the connecting hole 20 of the external drive member 19 is provided with a second stopper groove 23 for assembling the stopper 22; the rotating shaft 6 is provided with a telescopic groove 24, and a spring 25 is provided between the stopper 22 and the groove wall of the telescopic groove 24, and the stopper 22 can be retracted into the telescopic groove 24 by the spring 25. The external drive member 19 is provided with a detachable structure, so that the present embodiment can be applied to more different devices. When only a rotational fit with a smaller diameter is required, the external drive member 19 can be detached, and when an external drive member 19 with a larger diameter is installed for driving output, the rotating shaft 6 can be protected and the damage of the rotating shaft 6 can be reduced. The external drive member 19, which is easier to disassemble, can be directly replaced to update the driving output. By setting different diameters of the external drive member 19, it can be matched with more different devices and has a wider range of applications. During assembly, the limiting member 22 is retracted to the telescopic groove 24, and the rotating shaft 6 can be inserted into the connecting hole 20. Then, the external driving member 19 is moved so that the limiting member 22 can be assembled into the second limiting groove 23, and the plug 21 can be inserted into the plug hole, so that the external driving member 19 can be assembled. The setting of the plug 21 enables the external driving member 19 to rotate synchronously with the rotor sleeve 7, and the setting of the limiting member 22 enables the external driving member 19 to maintain the assembly with the rotating shaft 6 and the rotor sleeve 7, and is not easy to be separated, so as to maintain the stability of the structure.

[0030] Further, such as Figure 4 and Figure 8 As shown, the limit member 22 is equipped with a control rod 26, and the rotating shaft 6 is provided with a slide groove 27 for assembling the control rod 26, and the slide groove 27 is connected to the telescopic groove. The position of the limit member 22 is controlled by the control rod 26 so that the limit member 22 leaves the second limit groove 23.

[0031] Specifically, the position of the limiter 22 is controlled by the control rod 26 to control the limiter 22 to extend into or move out of the second limiter slot 23, so as to facilitate the assembly and disassembly of the rotating shaft 6 and the external driving member. The control rod 26 does not protrude from the top of the rotating shaft 6, so it will not affect the rotation of the rotating shaft 6.

[0032] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention is disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with the profession can make some changes or modifications to equivalent embodiments of equivalent changes by using the technical contents disclosed above without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent changes and modifications made to the above embodiments according to the technology of the present invention are within the scope of the technical solution of the present invention without departing from the content of the technical solution of the present invention.

Claims

1. An integrated low-voltage servo motor, characterized in that: It includes a rotor assembly, a stator assembly and a control assembly, wherein the control assembly includes a controller, a drive module and a feedback module, and the controller controls the stator assembly and the rotor assembly to work through the drive module, and the rotor assembly includes a rotating shaft, a rotor sleeve and a magnetic ring; The stator assembly is sleeved on the outer circumference of the rotating shaft, and the stator assembly is used to rotate the rotating shaft; the magnetic ring is installed on the inner wall of the rotor sleeve, and the rotor sleeve is provided with a stator cavity, and the stator assembly is located in the stator cavity; The rotor sleeve is provided with a sleeve hole, and the rotating shaft drives the rotor sleeve to rotate synchronously after passing through the sleeve hole; The feedback module includes a distance sensing component and an annular distance detection component fixed to the stator component, wherein the distance sensing component is mounted on the rotating shaft, and the distance sensing component and the annular distance detection component are located on the same horizontal plane; the annular distance detection component is provided with a sensing starting point, and when the rotating shaft rotates, the distance between the distance sensing component and the annular distance detection component starts from the sensing starting point and gradually increases or decreases; The distance sensing component is connected to the controller signal and feeds back the detected distance data to the controller, and the controller adjusts the rotation speed of the rotating shaft according to the received detected distance data; The rotating shaft is provided with a first limiting groove, and the hole wall of the sleeve hole is limited in the first limiting groove; The stator assembly includes an iron core group, a coil winding and a shaft fixing module. The iron core group is fixedly sleeved on the shaft fixing module. The coil winding is provided with a plurality of groups and is respectively wound on the iron core group. The magnetic field generated by the plurality of coils when energized drives the rotating shaft to rotate.

2. The integrated low-voltage servo motor according to claim 1, characterized in that: The shaft fixing module includes a bearing and a copper sleeve. The bearing is coaxially arranged with the rotating shaft and is used to keep the rotating shaft rotating freely. The copper sleeve is sleeved on the outer wall of the bearing. The bottom of the copper sleeve is assembled on the external substrate. The bottom of the rotating shaft is movably connected to the bottom of the copper sleeve.

3. The integrated low-voltage servo motor according to claim 2, characterized in that: The annular distance detection component is fixed to the copper sleeve.

4. The integrated low-voltage servo motor according to claim 1, characterized in that: The rotor assembly also includes an external driving member, which is provided with a connecting hole. The external driving member is fixedly mounted on the rotor sleeve and rotates synchronously with the rotor sleeve. One end of the rotating shaft protruding from the rotor sleeve is located in the connecting hole.

5. The integrated low-voltage servo motor according to claim 4, characterized in that: The external driving member is provided with a plurality of plug posts, and the rotor sleeve is provided with a plurality of plug holes for assembling the plug posts; the rotating shaft is provided with a limiting member, and the connecting hole of the external driving member is provided with a second limiting groove for assembling the limiting member.

6. The integrated low-voltage servo motor according to claim 5, characterized in that: The rotating shaft is provided with a telescopic slot, and a spring is arranged between the limiting member and the slot wall of the telescopic slot, so that the limiting member can be retracted into the telescopic slot through the spring.

7. The integrated low-voltage servo motor according to claim 6, characterized in that: The limiting member is equipped with a control rod, the rotating shaft is provided with a slide groove for assembling the control rod, the slide groove is communicated with the telescopic groove, and the position of the limiting member is controlled by the control rod so that the limiting member leaves the second limiting groove.

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