Permanent magnet type limited angle motor

Abstract

The permanent magnet type limited angle motor comprises a stator assembly, a rotor assembly and an angle sensing assembly which are coaxially arranged, the rotor assembly comprises a rotating shaft, two bearings and annular magnetic steel, the two bearings and the annular magnetic steel are arranged on the rotating shaft, the annular magnetic steel is arranged between the two bearings, the stator assembly comprises a winding mechanism and a locked-rotor plate, and the winding mechanism comprises a coil, a framework and two iron cores. Non-uniformly distributed gaps are formed between the iron cores and the annular magnetic steel, a framework is arranged on the peripheral sides of the two iron cores, the coil is arranged in the framework, the angle sensing assembly is arranged on the rotating shaft in a sleeving mode and corresponds to the position of the other bearing, and a spring assembly is arranged on the side, opposite to the annular magnetic steel, of the angle sensing assembly. The motor can be endowed with more stable magnetic capacity and higher reliability; by optimizing the magnetic gap of the iron core, the magnetic circuit distribution condition can be gradually improved, so that the magnetic force of the rotor is increased, and the rotation attraction time of the motor is effectively shortened.

Description

Technical Field

[0001] The present invention relates to the technical field of motors, and in particular to a permanent magnet limited-angle motor. Background Art

[0002] Miniaturized motors have a wide range of applications. From a macro perspective, they are widely used in key areas such as ignition systems and vehicle drive systems. From a micro perspective, miniaturized motors are also suitable for operating servo valves in household appliances and furniture, as well as various drive systems that require small-angle rotation.

[0003] As mechanical and drive products continue to evolve towards miniaturization, the requirements for the power and drive devices within these devices are also becoming increasingly smaller. During the design process, it is necessary to maximize performance while miniaturizing the size while ensuring good drive performance and ease of installation. However, existing limited-angle motors are too large and have low output torque to meet these requirements. Summary of the Invention

[0004] In view of the deficiencies in the prior art, the present invention aims to provide a permanent magnet limited-angle motor, aiming to solve the technical problems mentioned in the background technology.

[0005] A permanent magnet limited-angle motor comprises a coaxially arranged stator assembly, a rotor assembly and an angle sensing assembly, the rotor assembly comprising a rotating shaft, two bearings arranged on the rotating shaft and an annular magnet, the annular magnet being arranged between the two bearings, the stator assembly comprising a winding mechanism and a stalling plate, the winding mechanism comprising a coil, a skeleton and two iron cores, the iron cores corresponding to the positions of the annular magnets, and an unevenly distributed gap is formed between the iron cores and the annular magnets, the skeleton is provided on the circumferential sides of the two iron cores, the coil is provided in the skeleton, and the polarities of the two iron cores after magnetization are different, the stalling plate is connected to one of the bearings, the angle sensing assembly is sleeved on the rotating shaft and corresponds to the position of the other bearing, the angle sensing assembly is used to sense the rotation angle of the rotating shaft, and a spring assembly is provided on the side of the angle sensing assembly facing away from the annular magnet.

[0006] Beneficial effects of the present invention: The use of ring-shaped magnets provides the motor with more stable magnetic properties and higher reliability. During operation, when the coil is energized, the magnetic poles generated are distributed tangentially around the circumference, generating thrust and resistance, driving the motor shaft. By optimizing the core magnetic gap, the magnetic circuit distribution is gradually improved, increasing the rotor's magnetic force and effectively shortening the motor's rotational engagement time. Furthermore, the motor utilizes a bobbin design that fully surrounds the coils. This bobbin offers high insulation, strength, and thermal stability, reliably isolating the housing from the coils and effectively preventing short circuits, significantly improving motor reliability. While maintaining a compact size and high reliability, this motor also delivers powerful torque output. Its switching time is short, and a stall plate limits the shaft rotation angle, allowing precise, small-angle rotation. A spring assembly quickly resets the shaft.

[0007] Furthermore, the angle sensing component includes an outer ring portion, an inner ring portion and a plurality of brushes, the outer ring portion is arranged on the housing, the inner ring portion is sleeved on the rotating shaft, and a plurality of brushes are arranged on the outer ring portion, the brush includes a brush sheet and brush wires connected to the brush sheet, the brush sheet is connected to the outer ring portion, the inner ring portion includes an insulating part and a metal part provided on the insulating part, the insulating part is sleeved on the rotating shaft, an arc-shaped portion is provided on the metal part, and the brush wires abut against the periphery of the arc-shaped portion.

[0008] Furthermore, the spring assembly includes a support, a return spring and a fixed column. The support is connected to the housing. Several first protrusions are arranged at intervals on the side of the support facing away from the housing. One end of the return spring is connected to one of the first protrusions. The other end of the return spring is elastically connected to the rotating shaft. The fixed column is arranged on the rotating shaft, and the fixed column abuts against the return spring.

[0009] Furthermore, a groove is provided at one end of the rotating shaft, and the return spring includes a curved portion and a straight portion provided at one end of the curved portion, the straight portion is connected to the curved portion, and the straight portion is located in the groove, and a bending portion is provided at one end of the curved portion away from the straight portion, the bending portion is connected to the curved portion, and the bending portion is adapted to the first convex portion.

[0010] Furthermore, the skeleton includes two symmetrically arranged first skeleton bodies, each of which is provided with a first accommodating groove and a second accommodating groove, the first accommodating groove and the second accommodating groove form a gap, the two first accommodating grooves are used to accommodate the iron core, and the two second accommodating grooves are used to accommodate the coil.

[0011] Furthermore, the skeleton includes a second skeleton body, the second skeleton body is provided with a first accommodating space, the first accommodating space is used to accommodate the iron core, and third accommodating grooves are provided at the opposite ends of the first accommodating space. The first accommodating space forms a gap with the two third accommodating grooves, and the two third accommodating grooves are used to accommodate the coil.

[0012] Furthermore, the angle between the two opposite ends of the iron core is 120° to 160°.

[0013] Furthermore, one side of the locking plate is raised to form two second protrusions, and the two second protrusions are located on two opposite sides of the periphery of the locking plate. A limiting portion is also provided on the rotating shaft, and the limiting portion is located between one of the bearings and the annular magnetic steel. The limiting portion includes a limiting body, a first limiting protrusion and a second limiting protrusion. The first limiting protrusion and the second limiting protrusion are arranged on the limiting body, the second protrusion corresponds to the position of the first limiting protrusion, and the second limiting protrusion is arranged toward the annular magnetic steel.

[0014] Furthermore, the angle formed by the two second protrusions is greater than the angle formed by the arc-shaped portion.

[0015] Furthermore, the rotor assembly also includes an annular magnetic steel protection ring, which is arranged between the annular magnetic steel and the iron core.

[0016] Furthermore, a positioning groove is provided on the annular magnetic steel, and the positioning groove is adapted to the second limiting protrusion. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 This is a structural diagram of a permanent magnet limited-angle motor according to a first embodiment of the present invention; Figure 2 Schematic diagram of the structure of the rotating shaft of the first embodiment of the present invention Figure 1 ; Figure 3 Schematic diagram of the structure of the rotating shaft of the first embodiment of the present invention Figure 2 ; Figure 4 A schematic structural diagram of a skeleton according to a first embodiment of the present invention; Figure 5 This is a schematic structural diagram of a stall plate according to a first embodiment of the present invention; Figure 6 This is a schematic structural diagram of the annular magnetic steel according to the first embodiment of the present invention; Figure 7 This is a schematic structural diagram of an annular magnetic steel and an iron core according to the first embodiment of the present invention; Figure 8 The structure of the angle sensing component of the first embodiment of the present invention is schematically shown. Figure 1 ; Figure 9 The structure of the angle sensing component of the first embodiment of the present invention is schematically shown. Figure 2 ; Figure 10 It is a structural schematic diagram of a spring assembly according to a first embodiment of the present invention; Figure 11 This is a schematic structural diagram of a return spring according to a first embodiment of the present invention; Figure 12 Schematic diagram of the structure of the skeleton of the second embodiment of the present invention.

[0019] In the figure: 1. stator assembly; 11. winding mechanism; 111. coil; 112. frame; 1121. first frame body; 11211. first receiving groove; 11212. second receiving groove; 1123. second frame body; 11231. first receiving space; 11232. third receiving groove; 113. iron core; 12. locking plate; 121. second protrusion; 2. rotor assembly; 21. rotating shaft; 211. groove; 212. limiting portion; 2121. limiting body; 2122. first limiting protrusion; 2123. second limiting Protrusion; 22. Bearing; 23. Annular magnet; 231. Positioning groove; 24. Annular magnet protection ring; 3. Angle sensing component; 31. Outer ring; 311. First terminal; 32. Inner ring; 321. Insulator; 322. Metal part; 3221. Arc-shaped portion; 3222. Second terminal; 33. Brush; 331. Brush piece; 332. Brush wire; 4. Spring assembly; 41. Support; 411. First protrusion; 42. Return spring; 421. Bend; 4211. Bending portion; 422. Straight portion; 43. Fixed column.

[0020] The embodiments of the present invention will be further described below with reference to the accompanying drawings. DETAILED DESCRIPTION

[0021] The embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the embodiments of the present invention, and should not be understood as limiting the present invention.

[0022] In the description of the embodiments of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0023] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0024] Example 1 A permanent magnet limited angle motor, such as Figures 1 to 11 As shown, it includes a coaxially arranged stator assembly 1, a rotor assembly 2, an angle sensing assembly 3 and a spring assembly 4.

[0025] Specifically, the rotor assembly 2 includes a rotating shaft 21, two bearings 22 provided on the rotating shaft 21, an annular magnetic steel 23 and an annular magnetic steel protection ring 24. The two bearings 22 are arranged at intervals, and the annular magnetic steel 23 is arranged between the two bearings 22. A limiting portion 212 is also provided on the rotating shaft 21. The limiting portion 212 is located between one of the bearings 22 and the annular magnetic steel 23. The limiting portion 212 includes a limiting body 2121, a first limiting protrusion 2122 and a second limiting protrusion 2123. The first limiting protrusion 2122 and the second limiting protrusion 2123 are provided on the limiting body 2121, the second protrusion 121 corresponds to the position of the first limiting protrusion 2122, and the second limiting protrusion 2123 is provided toward the annular magnetic steel 23. The annular magnetic steel protection ring 24 is arranged between the annular magnetic steel 23 and the iron core 113. The annular magnetic steel 23 is provided with a positioning groove 231, and the positioning groove 231 is adapted to the second limiting protrusion 2123. The annular magnetic steel 23 provides magnetic force for the motor polarity circuit switching. When the motor rotates, the entire rotating shaft 21 rotates under the action of electromagnetic force. The annular magnetic steel 23 interacts with the magnetic field generated by the current of the coil 111, thereby generating a rotational force. The annular magnetic steel 23 is made of NdFeB material with high magnetic properties and high temperature resistance. The annular magnetic steel 23 is provided with a positioning groove 231. On the one hand, it is convenient for assembly with the second limiting protrusion 2123 of the rotating shaft 21, and on the other hand, it is convenient to distinguish the directions of the north and south poles during magnetization.

[0026] It should be noted that the annular magnet 23 has higher energy conversion efficiency and lower energy loss, can improve energy utilization efficiency, generate greater magnetic force, and the annular magnet 23 can provide a uniform magnetic field, which helps the motor to run smoothly. The design of the annular magnet 23 saves space and is easy to integrate and assemble. Combined with materials with high magnetic energy product, the magnetic field strength is large and has high torque.

[0027] Specifically, the stator assembly 1 includes a winding mechanism 11 and a stall plate 12. The winding mechanism 11 includes a coil 111, a frame 112, and two iron cores 113. After magnetization, the polarities of the two iron cores 113 are different, namely, N pole and S pole. The positions of the iron cores 113 and the annular magnetic steel 23 correspond to each other, and a non-uniformly distributed gap is formed between the iron cores 113 and the annular magnetic steel 23. The frame 112 includes two first frame bodies 1121 symmetrically arranged along the central axis. Both first frame bodies 1121 are provided with a first receiving groove 11211. And the second accommodating groove 11212, the first accommodating groove 11211 and the second accommodating groove 11212 form a gap, the two first accommodating grooves 11211 are used to accommodate the iron core 113, and the two second accommodating grooves 11212 are used to accommodate the coil 111. The angle between the two opposite ends of the iron core 113 is 152°, and the magnetic gap between the iron core 113 and the annular magnet 23 is unevenly distributed, realizing the high torque design of the motor, the corresponding air gap pressure drop increases accordingly, the magnetic pressure drop balanced with it increases, the excitation current becomes larger, and the power factor becomes larger. Since the leakage reactance is inversely proportional to the air gap, the total leakage reactance decreases, the corresponding torque increases, and the efficiency of the motor increases; on the other hand, while ensuring the torque, the heat dissipation and rotation reliability of the motor are maintained, thereby increasing the service life of the motor; the coil 111 is the core of the motor signal source. According to the principle of electromagnetic induction, after power is turned on, the coil 111 magnetizes the iron core 113, thereby generating an electromagnetic force. This electromagnetic force forms a tangential magnetic force after generating a magnetic circuit with the annular magnet 23. The coil 111 is wound on the first skeleton body 1121 and is located in the second accommodating groove 11212, so that the first skeleton body 1121 is used to separate the coil 111 from the iron core 113. The first skeleton body 1121 adopts PEEK polyetheretherketone, which has the characteristics of high strength, high insulation, high thermal stability, etc., and can meet the structural strength, insulation and temperature resistance requirements. The outer periphery of the coil 111 is wrapped with a polyimide insulating protective film to isolate the casing from the coil 111, thereby achieving the insulation requirements of the casing and the lead wire.

[0028] It should be noted that the addition of the iron core 113 can improve the efficiency of the motor. This is because the iron core 113 can reduce the degree of magnetic flux leakage in the magnetic field, thereby reducing the waste of electromagnetic energy. The gap between the iron core 113 and the annular magnet 23 decreases from large to small from the edge to the center, making the initial tangential magnetic force more efficient and speeding up the operation of the motor. The angle enclosed by the two opposite ends of the iron core 113 is 152°. The larger the enclosed angle, the greater the magnetic force range covered by the annular magnet 23. Of course, it cannot reach 180°, which will cause the iron core 113 to balance the attractive and repulsive forces on the annular magnet 23, making the annular magnet 23 unable to rotate.

[0029] Specifically, the locking plate 12 is connected to one of its bearings 22, and one side of the locking plate 12 is raised to form two second protrusions 121. The two second protrusions 121 are located on two opposite sides of the periphery of the locking plate 12. When the rotating shaft 21 is locked, the first limiting protrusion 2122 abuts against the second protrusion 121, thereby forming a lock to ensure that the rotating shaft 21 rotates clockwise or counterclockwise at a limited angle. The angle formed by the two second protrusions 121 is greater than the angle formed by the arc portion 3221, thereby ensuring that the rotating shaft 21 is clamped between the two second protrusions 121. When rotating within the angular range, the rotation angle of the rotating shaft 21 covers the range of the sensing angle rotation. The rotating shaft 21 rotates to drive the adapter shaft, and the transmission insulating part 321 drives the metal part 322 to rotate. The rotation of the metal part 322 is connected with the brush wires 332 and the connecting wires at different positions, and a passage is formed when the rotating shaft 21 rotates at different rotation angles, thereby obtaining the specific rotation angle range of the rotating shaft 21. The locking plate 12 is made of stainless steel, which has excellent corrosion resistance, mechanical properties, oxidation resistance, and high temperature resistance, and is suitable as a mechanical locking material.

[0030] Specifically, the angle sensing component 3 is sleeved on the rotating shaft 21 and corresponds to the position of another bearing 22. The angle sensing component 3 is used to sense the rotation angle of the rotating shaft 21. The angle sensing component 3 includes an outer ring portion 31, an inner ring portion 32 and a plurality of brushes 33. The outer ring portion 31 is provided on the housing, and the inner ring portion 32 is sleeved on the rotating shaft 21. A plurality of brushes 33 are provided on the outer ring portion 31. The brush 33 includes a brush piece 331 and a brush wire 332 connected to the brush piece 331. The brush piece 331 is connected to the outer ring portion 31. The inner ring portion 32 includes an insulating member 321 and a metal member provided on the insulating member 321. 322, the insulating part 321 is sleeved on the rotating shaft 21, and the metal part 322 is provided with an arc-shaped portion 3221. The brush wire 332 abuts against the periphery of the arc-shaped portion 3221. The insulating part 321 is connected to the rotating shaft 21 through the adapter shaft. The brush piece 331 is an elastic traction arm to fix the brush wire 332 and ensure long-term stable and reliable contact. The brush wire 332 is a precious metal wear-resistant material. When it is used multiple times for a long time, the contact is reliable and the contact resistance is guaranteed. The rotating shaft 21 drives the insulating part 321 to rotate, forming a connection between the metal part 322 and the brush wire 332 to obtain a change in the rotation angle of the rotating shaft 21.

[0031] It should be noted that the two first protrusions 411 form an angle of 100°. After the motor is driven, relative movement occurs between the outer ring portion 31 and the inner ring portion 32, corresponding to the angular deflection of the inner ring portion 32 from -5° to 95°. By different contact positions between the brush 332 and the metal part 322, the angles of different areas can be distinguished. The outer ring portion 31 is provided with multiple first terminals 311, and the metal part 322 is provided with two second terminals 3222. Adjacent first terminals 311 are connected to the gray line and the yellow line respectively, and the two second terminals 3222 are connected to the brown-blue line I and the brown-blue line II respectively. The brown-blue line I and the brown-blue line II are both connected to the external power supply. The corresponding conduction conditions when the shaft 21 rotates at different angles are as follows: In the range of -5° to 20°, the gray line and brown-blue line I, as well as the yellow line and brown-blue line II, are all in an open circuit state; In the range of 20° to 85°, the gray line and the brown-blue line Ⅰ are conductive, while the yellow line and the brown-blue line Ⅱ are open; In the range of 85° to 95°, the gray line and the brown-blue line I, as well as the yellow line and the brown-blue line II, are all conductive. See Table 1 for details.

[0032] Table 1

[0033] Specifically, a spring assembly 4 is provided on the side of the angle sensing component 3 facing away from the annular magnetic steel 23. The spring assembly 4 includes a support 41, a return spring 42 and a fixing column 43. The support 41 is connected to the housing. A plurality of first protrusions 411 are arranged at intervals on the side of the support 41 facing away from the housing. One end of the return spring 42 is connected to one of the first protrusions 411 thereof. The other end of the return spring 42 is elastically connected to the rotating shaft 21. A fixing column 43 is provided on the rotating shaft 21. The fixing column 43 abuts against the return spring 42. The return spring 42 includes a curved portion 421 and a straight portion 422 provided at one end of the curved portion 421. The straight portion 422 is connected to the curved portion 421. A groove 211 is provided at one end of the rotating shaft 21, and the straight portion 422 is located in the groove 211. The curved portion 421 is away from the straight portion 422. A bent portion 4211 is provided at one end of the straight portion 422, and the bent portion 4211 is connected to the curved portion 421. A straight portion 422 is provided at the axis of the return spring 42 and is fixed in the groove 211. The fixing column 43 restricts the straight portion 422 in the groove 211 so that it does not fall out. The bent portion 4211 is engaged with one of its first protrusions 411, and is connected with the first protrusions 411 at different positions to change the return torque of the return spring 42. When the rotating shaft 21 rotates clockwise, the return spring 42 contracts, and the return spring 42 provides a restoring force for the rotation of the rotating shaft 21. When the rotating shaft 21 needs to be reset, the return spring 42 drives the rotating shaft 21 to rotate counterclockwise for reset. This structural setting makes full use of the elastic potential energy of the return spring 42, ensuring efficient operation while saving energy.

[0034] Specifically, the main function of the casing is to fix the entire motor structure and have magnetic conductivity and magnetic shielding functions. Therefore, stainless steel materials with corrosion resistance, high temperature resistance and impact resistance are selected.

[0035] The present invention, through the use of annular magnets 23, provides the motor with more stable magnetic force and higher reliability. During motor operation, when the two coils 111 are energized, the magnetic poles generated are distributed tangentially around the circumference, generating thrust and resistance, driving the rotating shaft 21. By optimizing the magnetic gap of the iron core 113, the magnetic circuit distribution can be gradually improved. This not only increases the magnetic force of the rotor but also effectively shortens the motor's rotational engagement time. Furthermore, the motor utilizes a frame 112 surrounding the coils 111. This frame 112 features high insulation, high strength, and high thermal stability. It reliably isolates the housing from the coils 111, effectively preventing short circuits in the coils 111 and significantly improving motor reliability. While maintaining a compact size and high reliability, this motor still offers powerful torque output. Its switching time is short during operation. The stall plate 12 limits the rotation angle of the rotating shaft 21, allowing precise small-angle rotation. Finally, the spring assembly 4 quickly resets the rotating shaft 21.

[0036] Example 2 The difference from Example 1 is that: Specifically, such as Figure 12 As shown, the skeleton 112 includes a second skeleton body 1123, and a first accommodating space 11231 is provided on the second skeleton body 1123. The first accommodating space 11231 is used to accommodate the iron core 113. Third accommodating grooves 11232 are provided at the opposite ends of the first accommodating space 11231. The first accommodating space 11231 and the two third accommodating grooves 11232 form a gap. The two third accommodating grooves 11232 are used to accommodate the coil 111. The second skeleton body 1123 is a whole. During the injection molding process, the iron core 113 is placed in the second skeleton body 1123 for integral molding. The second skeleton body 1123 is used to separate the coil 111 from the iron core 113. The second skeleton body 1123 wraps the coil 111, so that the coil 111 is separated from the casing, avoiding the risk of short circuit.

[0037] Specifically, the angle enclosed by the two opposite ends of the iron core 113 is 125°.

[0038] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0039] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A permanent magnet limited angle motor, characterized in that: It includes a coaxially arranged stator assembly, a rotor assembly and an angle sensing assembly, the rotor assembly includes a rotating shaft, two bearings and an annular magnet arranged on the rotating shaft, the annular magnet is arranged between the two bearings, the stator assembly includes a winding mechanism and a locking plate, the winding mechanism includes a coil, a skeleton and two iron cores, the positions of the iron cores and the annular magnets correspond to each other, and a non-uniformly distributed gap is formed between the iron cores and the annular magnets, the skeleton is provided on the circumference of the two iron cores, the coil is provided in the skeleton, and the polarities of the two iron cores after magnetization are different, the locking plate is connected to one of the bearings, the angle sensing assembly is sleeved on the rotating shaft and corresponds to the position of the other bearing, the angle sensing assembly is used to sense the rotation angle of the rotating shaft, and a spring assembly is provided on the side of the angle sensing assembly facing away from the annular magnet.

2. The permanent magnet limited angle motor according to claim 1, characterized in that: The angle sensing component includes an outer ring portion, an inner ring portion and several brushes. The outer ring portion is arranged on the housing, the inner ring portion is sleeved on the rotating shaft, and several brushes are arranged on the outer ring portion. The brush includes a brush sheet and brush wires connected to the brush sheet. The brush sheet is connected to the outer ring portion. The inner ring portion includes an insulating part and a metal part arranged on the insulating part. The insulating part is sleeved on the rotating shaft. The metal part is provided with an arc-shaped part, and the brush wires abut against the periphery of the arc-shaped part.

3. The permanent magnet limited angle motor according to claim 2, characterized in that: The spring assembly includes a support, a return spring and a fixed column. The support is connected to the housing. A plurality of first protrusions are arranged at intervals on a side of the support facing away from the housing. One end of the return spring is connected to one of the first protrusions. The other end of the return spring is elastically connected to the rotating shaft. The fixed column is arranged on the rotating shaft, and the fixed column abuts against the return spring.

4. The permanent magnet limited angle motor according to claim 3, characterized in that: A groove is provided at one end of the rotating shaft, and the return spring includes a curved portion and a straight portion provided at one end of the curved portion, the straight portion is connected to the curved portion, and the straight portion is located in the groove, and a bending portion is provided at one end of the curved portion away from the straight portion, the bending portion is connected to the curved portion, and the bending portion is adapted to the first convex portion.

5. The permanent magnet limited angle motor according to claim 1, characterized in that: The skeleton includes two symmetrically arranged first skeleton bodies, each of which is provided with a first accommodating groove and a second accommodating groove. The first accommodating groove and the second accommodating groove form a gap. The two first accommodating grooves are used to accommodate the iron core, and the two second accommodating grooves are used to accommodate the coil.

6. The permanent magnet limited angle motor according to claim 1, characterized in that: The skeleton includes a second skeleton body, on which a first accommodating space is provided. The first accommodating space is used to accommodate the iron core. Third accommodating grooves are provided at opposite ends of the first accommodating space. The first accommodating space forms a gap with the two third accommodating grooves. The two third accommodating grooves are used to accommodate the coil.

7. The permanent magnet limited angle motor according to claim 1, characterized in that: The angle between the two opposite ends of the iron core is 120° to 160°.

8. The permanent magnet limited angle motor according to claim 2, characterized in that: One side of the locking plate is raised to form two second protrusions, and the two second protrusions are located on two opposite sides of the periphery of the locking plate. A limiting portion is also provided on the rotating shaft, and the limiting portion is located between one of the bearings and the annular magnetic steel. The limiting portion includes a limiting body, a first limiting protrusion and a second limiting protrusion. The first limiting protrusion and the second limiting protrusion are arranged on the limiting body, the second protrusion corresponds to the position of the first limiting protrusion, and the second limiting protrusion is arranged toward the annular magnetic steel.

9. The permanent magnet limited angle motor according to claim 8, characterized in that: An angle formed by the two second protrusions is greater than an angle formed by the arc-shaped portion.

10. The permanent magnet limited angle motor according to claim 1, characterized in that: The rotor assembly further includes an annular magnetic steel protection ring, which is arranged between the annular magnetic steel and the iron core.

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