Micro distance permanent magnet direct current micro angle motor

Abstract

This invention relates to the field of micro-motors, specifically a micro-motor capable of high-precision reciprocating transmission. It comprises a motor base and a rotor housed within the motor base. A ring-shaped permanent magnet is fixedly sleeved on the rotor and movably disposed within a coil frame. A high-temperature armature winding is wound on the coil frame, and one end of the coil frame has terminals connected to both ends of the high-temperature armature winding. Both ends of the rotor are rotatably connected to the coil frame via bushings. The motor base has a receiving chamber, within which a ring-shaped magnetic yoke is fixedly disposed. Compared to conventional continuous rotating motor mechanical transmission mechanisms, this invention offers stronger environmental adaptability, smaller size, lower power consumption, greater output torque, stronger anti-interference capability, higher reliability, easier processing, and lower cost.

Description

Technical Field

[0001] This invention relates to the field of micro motor technology, specifically to a micro-pitch permanent magnet DC micro-rotor motor capable of high-low temperature and high-precision reciprocating transmission. Background Technology

[0002] Micro-motors can achieve linear and rotational displacements at the micrometer level, and in high-precision applications, even nanometer-level motors are required. Existing technologies often prioritize high-performance indicators that minimize motor nonlinearity, neglecting the nonlinearity, noise, and stability issues arising from coupling at the microscale.

[0003] Micro-pitch permanent magnet DC miniature angle precision motors, as a type of micro-motor that converts electromagnetic energy into mechanical energy, possess advantages such as simple structure, small size, high transmission efficiency, no backlash, fast response speed, and resistance to extreme environmental temperatures. They provide a high-frequency, precise, and rapid reciprocating oscillation function within a specific angular range in reciprocating motion mechanisms.

[0004] Currently, common types of micro-motors and novel micro-actuators suffer from several drawbacks. Firstly, at operating temperatures ≥70°C, the ring-shaped permanent magnet undergoes permanent and indefinite demagnetization, resulting in typically low output torque and power. Secondly, prolonged exposure to extreme temperatures (150°C or -70°C) can cause the motor to stop. Thirdly, high-frequency operation at high and low temperatures can lead to jamming. Fourthly, high-frequency operation under combined low-temperature and vibration conditions can also cause jamming. Fifthly, the complex structure and limited space contribute to these issues. Furthermore, the presence of backlash in each gear pair and the large number of gear stages result in a large idle angle, long transmission links, and slow response speed. Finally, rapid wear of friction material contact surfaces, poor high and low temperature resistance of electronic components, permanent and iterative demagnetization of high-temperature permanent magnets, and high thermal equilibrium temperatures all contribute to decreased precision. These combined factors ultimately reduce the motor's lifespan. Additionally, traditional friction material manufacturing and lubrication processes rely solely on surface-applied lubricating oil, which evaporates easily during long-term storage, causing a sharp decrease in motor transmission efficiency.

[0005] More importantly, as high-end equipment develops towards miniaturization and precision, traditional micromotors face numerous technical bottlenecks. In scenarios involving alternating high and low temperatures and micro-displacement, conventional designs struggle to effectively balance high-precision positioning with nonlinear interference suppression, generally exhibiting issues such as high motion noise and insufficient stability. This makes it difficult to meet the high dynamic response and long lifespan requirements of next-generation equipment for drive units. Therefore, it is urgent to break through traditional design approaches and improve drive characteristics at the micro-scale through structural innovation. This would ensure high-precision positioning while effectively suppressing nonlinear interference, reducing motion noise, and enhancing system stability, thereby forming a high-performance micro-drive solution with independent intellectual property rights and sustainable iteration capabilities.

[0006] Therefore, there is an urgent need in this field to develop a statorless core structure that can withstand extreme environments, operate reliably at high frequencies, has a low thermal equilibrium temperature, reliable performance at high and low temperatures, a small spatial structure, a small idle angle, fast and efficient response, and is resistant to interference. Summary of the Invention

[0007] To address the aforementioned issues, this invention provides a micro-pitch permanent magnet DC micro-rotor motor that is resistant to high and low temperatures, has a small idle angle, a long lifespan, and is interference-resistant.

[0008] The present invention discloses a micro-pitch permanent magnet DC micro-rotor motor, comprising a motor base and a rotor disposed within the motor base. An annular permanent magnet is fixedly sleeved on the rotor. The annular permanent magnet is movably disposed within a coil frame. A high-temperature armature winding is wound on the coil frame. A terminal block is provided at one end of the coil frame, which is connected to both ends of the high-temperature armature winding. Both ends of the rotor are rotatably connected to the coil frame via self-lubricating bushings. The motor base is provided with a receiving chamber, and an annular magnetic yoke is fixedly installed in the receiving chamber. The coil frame is movably installed in the magnetic yoke, and one end of the rotor extends out from the motor base and is fixedly connected to a sector reciprocating gear. The sector reciprocating gear is connected to the motor base through a rotation reset device. The coil frame component is fixedly connected to the motor base through a positioning structure.

[0009] The rotor is designed with an irregularly shaped, ring-coupled structure, achieving high-precision positioning and stable engagement with a ring-shaped permanent magnet to form an integrated magnetic circuit assembly. This ring-shaped permanent magnet is encapsulated within a specially designed coil frame cavity, and together with the frame structure, it is embedded in a high-temperature resistant armature winding, ensuring stable electromagnetic performance over a wide temperature range. The high-temperature armature winding terminals are connected to terminals integrated into the frame end, achieving low-loss electrical connection and reliable signal transmission. This invention is suitable for advanced electromechanical systems with stringent requirements for space, temperature, and angular accuracy.

[0010] To address the challenge of mechanical drift in extreme environments, the rotor is coupled to the coil frame via non-contact self-lubricating bushings at both ends. This structure suppresses displacement caused by thermal deformation of the material, thereby controlling angular drift within the arcsecond range and achieving coaxiality stability of the motor under extreme temperatures. The self-lubricating bushings are made of ultra-low thermal expansion composite materials, ensuring that the rotor shaft maintains micron-level dynamic positioning accuracy under wide frequency and wide temperature range conditions.

[0011] The motor mount is designed as an integrated precision package structure, with a high-precision accommodating chamber inside. An embedded annular magnetic yoke is fixed within this chamber, forming a highly efficient closed-loop magnetic circuit. The coil frame is insulated and protected within the annular magnetic yoke cavity and fixed to the motor mount's accommodating chamber by locating pins. One end of the rotor shaft extends from the motor mount's inner cavity, and a high-rigidity sector-shaped reciprocating gear is riveted to its knurled end. This sector-shaped reciprocating gear is connected to the motor mount via a high-performance rotary reset device, ensuring precise reset at the end of the motion cycle.

[0012] Preferably, the terminal block is also connected to a signal suppression structure that distinguishes between real signal transitions and pulse noise.

[0013] Preferably, the signal suppression structure includes a fast recovery diode, a first multi-core ceramic capacitor, a second multi-core ceramic capacitor, and a TVS bidirectional diode. The fast recovery diode, the first multi-core ceramic capacitor, the second multi-core ceramic capacitor, and the TVS bidirectional diode are all connected in parallel with the high-temperature armature winding. The parallel connection of the two multi-core ceramic capacitors can more effectively filter ≤5ms noise. Its core lies in jointly creating a "current short-circuit path" with extremely low impedance over a wide frequency range of ≥30ms, resulting in stronger current capability and better high-frequency response. It can handle larger unstable ripple currents; this design is a dual-redundancy design.

[0014] Preferably, the rotary reset device is a rotary reset spring. A boss is fixed on the sector reciprocating gear, and the rotary reset spring is fixedly sleeved on the boss. After the two ends of the rotary reset spring extend out, they abut against the limiting posts fixed on the motor base and located on both sides of the boss.

[0015] Preferably, two limiting platforms are fixedly provided on one end of the sector reciprocating gear on the motor base, and the sector reciprocating gear is located in the area between the two limiting platforms, and the sector reciprocating gear swings back and forth in the area between the two limiting platforms.

[0016] Preferably, the positioning structure is a positioning pin, and one end of the coil frame is fixedly connected to the motor base through two positioning pins.

[0017] Preferably, the high-temperature armature winding includes a first high-temperature armature winding and a second high-temperature armature winding, the first high-temperature armature winding and the second high-temperature armature winding are symmetrically arranged, the first high-temperature armature winding and the second high-temperature armature winding are connected in series in the same direction, and the electromagnetic forces on the first high-temperature armature winding and the second high-temperature armature winding are in the same direction. Electromagnetic mutual torque generated on the rotor Related to the magnetic induction intensity B of the high-temperature armature winding and the radius of the high-temperature armature winding The relationship between the input voltage U and the input voltage U satisfies the following equation: ; Where d is the rotation diameter of the high-temperature armature winding, in mm; B is the magnetic flux density of the high-temperature armature winding, in tons; The radius of the high-temperature armature winding is in mm; The magnetic induction length of the high-temperature armature winding A is in mm; U is the input voltage, in V; Temperature coefficient of resistance, ppm / ℃; The operating temperature of the coil surface at thermal equilibrium is °C.

[0018] Preferably, when the angle motor operates within the full temperature range of -70°C to 150°C, the equivalent heat dissipation balance equation is: ; in, Maximum operating temperature °C; The heat generated by the pulse in the energized coil is measured in W. The intensity of heat dissipation conducted by the coil, W / m ; The intensity of heat dissipation radiated by the coil, in W / m ; S represents the heat dissipation area in mm. ; Based on the heat generation parameters of the energized coil pulse according to the above equivalent equation, a design selection basis is provided for the surface coating of the high and low temperature armature winding, the toroidal permanent magnet, and the rotary return spring material. Within the full temperature range of -70°C to 150°C, the summary of this equation can prevent permanent demagnetization of the toroidal permanent magnet due to overheating of the motor itself. If excessive coil pulse heat generation affects product functionality, the overall performance of the motor can be improved by optimizing the conductive heat dissipation area parameters.

[0019] Preferably, the surface roughness of the inner hole of the self-lubricating bushing is not greater than Ra0.2µm, and the concentricity between the self-lubricating bushing and the rotor is not greater than φ0.005mm.

[0020] Compared with previous continuous rotating electric motor mechanical transmission mechanisms, the present invention has stronger environmental adaptability, smaller size, lower power consumption, greater output torque, stronger anti-interference ability, higher reliability, easier processing, and more economical cost.

[0021] The statorless design of this invention results in smooth motor operating current and low electromagnetic interference; the absence of magnetic field pulsation caused by tooth slots leads to extremely low mechanical and electromagnetic noise.

[0022] This invention requires no sensors or algorithms. Once started, its motion trajectory is automatically optimized by physical laws without any external computational intervention.

[0023] This invention achieves precise reset at the millisecond level, without overshoot or oscillation. It eliminates backlash, elastic deformation, and frictional nonlinearity caused by gears and lead screws. The electromagnetic torque generated by the motor is proportional to the current, with no cogging effect, stable torque control, and smooth motion. The entire cycle is completed within milliseconds, ensuring the determinism and stability of the action. It is particularly suitable for timing scenarios such as point-to-point resetting in high-speed parallel robots.

[0024] This invention constructs a thermal balance control system with strong anti-disturbance capabilities, which can temporarily store heat and suppress instantaneous spikes in core temperature. During subsequent intermittent load phases, the stored heat is slowly released through the main cooling system. This is equivalent to adding a "thermal buffer" inside the motor, smoothing out thermal shocks, significantly improving the motor's thermal tolerance to short-term overloads, and protecting the high and low temperature toroidal permanent magnet. Therefore, the motor will gain the following environmental adaptability: a) Under low temperature conditions of -70°C, it achieves "rapid response start-up, low loss preheating, and full torque output" to avoid "low temperature freezing" failure; b) Under high temperature +150°C conditions, the peak power duration is extended, the overload capacity is improved, and the service life of the high and low temperature ring permanent magnet is guaranteed.

[0025] This invention employs zero-link direct drive, eliminating intermediate transmission links and achieving a direct "end-to-end" connection between the power source and the execution end. Therefore, this invention directly and rigidly connects the rotor output end of the motor to the load, outputting extremely high torque, eliminating the need for a reduction gear, and solving the common problem of large idle angles in mechanical structures through zero-link direct drive.

[0026] This invention's TVS bidirectional diode can withstand and absorb larger pulse currents ≥10kA. It converts the main energy of the pulse into heat energy, significantly attenuating the pulse amplitude and preventing damage to all electronic components due to overload. Outside of sensitive circuits, it solves the problem of micro-pitch permanent magnet DC miniature rotary precision motors receiving erroneous signals.

[0027] The micro-pitch permanent magnet DC micro-rotating precision motor of the present invention belongs to an electromechanical combination mechanism. It has a compact structure, is easy to manufacture, is economical in cost, is suitable for strong electromagnetic interference environment, and has a temperature resistance range of -70°C to +150°C.

[0028] The multi-core ceramic capacitor, fast recovery diode, and TVS bidirectional diode in this invention have error prevention, filtering, anti-interference, and overload protection functions. Attached Figure Description

[0029] Figure 1 This is an exploded view of the present invention.

[0030] Figure 2 This is a schematic diagram of the connection between the rotor and the annular permanent magnet of the present invention.

[0031] Figure 3 This is a schematic diagram of the motor mount of the present invention.

[0032] Figure 4 This is a diagram of the coil assembly of the present invention.

[0033] Figure 5 This is a cross-sectional view of the present invention.

[0034] Figure 6 This is an assembly diagram of the present invention.

[0035] Figure 7 This is a schematic diagram of the electromagnetic torque principle of the present invention.

[0036] Figure 8 This is a schematic diagram illustrating the working principle of the signal suppression structure of the present invention.

[0037] Reference numerals in the attached diagram: 1-Rotary return spring; 2-Sector reciprocating gear; 3-Motor base; 4-Annular magnetic yoke; 5-Signal suppression structure; 6-Positioning pin; 7-Coil frame A; 8-Friction power pad; 9-Rotor; 10-Annular permanent magnet; 11-High temperature armature winding; 12-Coil frame B; 13-Self-lubricating bushing; 14-Terminal. Detailed Implementation

[0038] The present invention provides a micro-pitch permanent magnet DC micro-rotor motor, including a motor base 3 and a rotor 9 disposed in the motor base 3. An annular permanent magnet 10 is fixedly sleeved on the rotor 9. The annular permanent magnet 10 is movably disposed in a coil frame. A high-temperature armature winding 11 is wound on the coil frame. A terminal 14 is provided at one end of the coil frame, which is respectively connected to the two ends of the high-temperature armature winding 11. The two ends of the rotor 9 are rotatably connected to the coil frame via self-lubricating bushings. The motor base 3 is provided with a receiving chamber, and an annular magnetic yoke 4 is fixedly installed in the receiving chamber. The coil frame is movably installed in the magnetic yoke, and one end of the rotor 9 extends out from the motor base 3 and is fixedly connected to a sector reciprocating gear 2. The sector reciprocating gear 2 is connected to the motor base 3 through a rotation reset device. The coil frame component is fixedly connected to the motor base 3 through a positioning structure.

[0039] In one embodiment, a signal suppression structure 5 that distinguishes between real signal transitions and pulse noise is also connected to the terminal 14.

[0040] In one embodiment, the signal suppression structure 5 includes a fast recovery diode, a first multi-core ceramic capacitor, a second multi-core ceramic capacitor, and a TVS bidirectional diode. The fast recovery diode, the first multi-core ceramic capacitor, the second multi-core ceramic capacitor, and the TVS bidirectional diode are all connected in parallel with the high-temperature armature winding 11. The parallel connection of the two multi-core ceramic capacitors can more effectively filter ≤5ms noise. Its core lies in jointly creating a "current short-circuit path" with extremely low impedance over a wide frequency range of ≥30ms, resulting in stronger current capability and better high-frequency response. It can handle larger unstable ripple currents; this design is a dual-redundancy design.

[0041] In one embodiment, the rotary reset device is a rotary reset spring 1. A boss is fixed on the sector reciprocating gear 2, and the rotary reset spring 1 is fixedly sleeved on the boss. After the two ends of the rotary reset spring 1 extend out, they abut against the limiting posts fixedly installed on the motor base 3 and located on both sides of the boss.

[0042] In one embodiment, two limiting platforms are fixedly provided on one end of the sector reciprocating gear 2 on the motor base 3. The sector reciprocating gear 2 is located in the area between the two limiting platforms and swings back and forth in the area between the two limiting platforms.

[0043] In one embodiment, the positioning structure is a positioning pin 6, and one end of the coil frame is fixedly connected to the motor base 3 through two positioning pins 6.

[0044] In one embodiment, the high-temperature armature winding 11 includes a first high-temperature armature winding and a second high-temperature armature winding, which are symmetrically arranged. The first high-temperature armature winding and the second high-temperature armature winding are connected in series in the same direction, and the electromagnetic forces on the first high-temperature armature winding and the second high-temperature armature winding are in the same direction. Electromagnetic mutual torque generated on rotor 9 The magnetic induction intensity B of the high-temperature armature winding 11 and the radius of the high-temperature armature winding 11 The relationship between the input voltage U and the input voltage U satisfies the following equation: ; Where d is the rotation diameter of the high-temperature armature winding 11, in mm; B is the magnetic flux density of the high-temperature armature winding 11, in T; Here is the radius of the high-temperature armature winding 11, in mm; The magnetic induction length of the high-temperature armature winding is in mm; U is the input voltage, in V; Temperature coefficient of resistance, ppm / ℃; The operating temperature of the coil surface at thermal equilibrium is °C.

[0045] In one embodiment, when the angle motor operates within the full temperature range of -70°C to 150°C, the equivalent heat dissipation balance equation is: ; in, Maximum operating temperature °C; The heat generated by the pulse in the energized coil is measured in W. The intensity of heat dissipation conducted by the coil, W / m ; The intensity of heat dissipation radiated by the coil, in W / m ; S represents the heat dissipation area in mm. .

[0046] Based on the heat generation parameters of the energized coil pulse according to the above equivalent equation, a design selection basis is provided for the materials of the high and low temperature armature winding surface coating, the annular permanent magnet 10, and the rotary return spring 1. Within the full temperature range of -70°C to 150°C, the summary of this equation can prevent permanent demagnetization of the annular permanent magnet 10 due to overheating of the motor itself. If excessive coil pulse heat generation affects product functionality, the overall performance of the motor can be improved by optimizing the heat dissipation area parameters.

[0047] In one embodiment, the surface roughness of the inner hole of the self-lubricating bushing 13 is no greater than Ra0.2µm, and the concentricity between the self-lubricating bushing 13 and the rotor 9 is no greater than φ0.005mm. The self-lubricating bushing 13 is processed by a dry low-temperature cold air process, with airflow at a low temperature of -80°C to -50°C directly blowing into the cutting zone, which greatly suppresses the work hardening of the material and ensures the surface roughness requirements of the inner hole of the self-lubricating bushing 13. Then, liquid nitrogen cooling and precision planetary follow-up grinding process are used to improve the surface roughness of the inner hole of the self-lubricating bushing 13 to Ra0.2µm or even higher, forming an oil film bearing surface.

[0048] If the toroidal permanent magnet 10Nd2Fe14B is exposed to a high temperature environment of ≥70°C for a long period of time, it will exhibit permanent and infinitely iterative demagnetization. The main components of Nd2Fe14B, by mass fraction, are: neodymium 28%–30%, iron balance, boron 1%–1.2%, aluminum 0.5%, copper 0.5%, and gallium 0.5%. In order to adapt to the high-temperature working environment of 150°C, an innovative process of thermal stress relaxation treatment was added. Based on Nd2Fe14B, dysprosium 2%–5% by mass, terbium 2%–4% by mass, and cobalt 1%–2% by mass fraction were added, which significantly improved the magnetocrystalline anisotropy field (high coercivity Hcj), enhanced the anti-demagnetization ability at high temperature, and maintained high remanence to generate a strong magnetic field. It has both extremely high coercivity (Hcj) and thermal stability, thus solving the demagnetization phenomenon of permanent magnets. The ring-shaped permanent magnet 10 is in long-term contact with air, and the aluminum oxide formed on the surface of the material can prevent permanent oxidation and discoloration of the permanent magnet under high and low temperature combined environment, thus reducing the scrap rate of the ring-shaped permanent magnet 10.

[0049] The reluctance torque of this invention does not entirely depend on the annular permanent magnet 10, which can appropriately reduce the amount of expensive rare earth materials such as Nd2Fe14B. Utilizing the design dimension of reluctance torque, even if the annular permanent magnet 10 experiences temporary demagnetization at high temperatures, the reluctance torque can still provide a portion of the motor's output torque, ensuring the reliability of the motor's output torque. Therefore, when the rotor 9 operates at high frequencies, the magnetic field of the annular permanent magnet 10 can be weakened by controlling it, and the motor can primarily utilize the reluctance torque, thereby significantly reducing copper losses and saving the amount of expensive rare earth material Nd2Fe14B.

[0050] This invention utilizes a multiphase composite powder, Ni-Cu-Sn-Pb, which can withstand extreme temperatures (-70°C to 150°C) and low-temperature vibration environments. By mass fraction, its main components are: copper 85% to 90%, tin 5% to 15%, lead 0.5% to 2%, nickel 0.5% to 1%, and phosphorus 0.05% to 0.5%. Combined with Great Wall brand silicone high and low temperature lubricating oil, the lead content on the material surface provides a self-lubricating effect, while the phosphor bronze enhances wear resistance, corrosion resistance, and improves the material's strength and hardness, thereby achieving stable performance in harsh environments.

[0051] The armature winding uses a "coolant-resistant polyimide impregnation varnish," which incorporates silicon and fluorine segments, along with 10% glass fiber by mass, into the polyimide backbone. The silicon content is 25%–30% by mass, and the fluorine content is 15%–20% by mass. The introduction of silicon-oxygen bonds significantly improves low-temperature toughness and enhances corrosion resistance while maintaining high-temperature performance; the introduction of glass fiber improves mechanical strength, thus solving the problem of varnish cracking under combined low-temperature and vibration conditions. The ring-shaped permanent magnet 10 uses "high coercivity and low temperature coefficient neodymium iron boron rare earth permanent magnet material", which has small magnetic changes with temperature and stronger resistance to high temperature vibration demagnetization.

[0052] When an external electrical signal with a voltage of 11V to 50V and an electrical limit frequency of 25Hz is input within 1 second, the pulse width duty cycle is 50%, which will drive the high-temperature armature winding 11 to rotate the rotor 9 component by a certain angle. The rotary reset spring 1 is connected to the rotor 9 component, and can drive the rotor 9 component to reset after the electrical signal is released. The extreme reset time of the rotary reset spring 1 can reach 20ms.

[0053] To achieve IT5 level precision and Ra0.2 micrometer surface finish, and to meet the assembly precision requirements of rotor 9 and self-lubricating bushing 13, the machining process is designed as follows: precision through-hing of the upper and lower coil skeleton self-lubricating bushing 13 is used as pre-machining, followed by application of AS165 pure running-in oil, and a new precision planetary follow-up grinding process is developed as the final finishing process. The self-lubricating bushing 13 and rotor 9 are guaranteed to have concentricity requirements of φ0.005mm in terms of assembly form and position tolerances.

[0054] Great Wall brand silicone oil is deeply bonded and integrated with multiphase composite powder Ni-Cu-Sn-Pb. Utilizing the principle of thermal degreasing-sintering curing process, the oil's viscosity coats the powder particles. Through external force compaction and laser drilling, micron-sized honeycomb oil storage pores are processed, with porosity controlled at 15% to 20%, achieving a unified process lubrication and long-term storage lubrication.

[0055] After the self-lubricating bushing 13 is formed, a "fully automatic high-frequency vacuum centrifuge" is used to adsorb Great Wall brand silicone oil at high speed and uniformly into the micron-level honeycomb oil storage pores, and the amount of lubricating oil is controlled, which can solve the problems of low-temperature lubricating oil solidification and low-temperature vibration resistance.

[0056] Under high-temperature conditions, the lubricating oil inside the pores automatically compensates for any overflow, giving the motor unique self-lubricating properties. Under dry friction or low-volume lubrication conditions, the coefficient of friction can be reduced by more than 30%. Under the same operating conditions, this is three times better than traditional oil-free impregnated sintered copper alloys, thus extending the motor's service life to up to 1,000,000 hours.

[0057] The present invention will now be described in detail with reference to the accompanying drawings and specific operating methods.

[0058] like Figure 1-6 As shown, the present invention includes a rotary reset spring 1, a sector reciprocating gear 2, a motor base 3, an annular magnetic yoke 4, a signal suppression structure 5, a positioning pin 6, a coil frame A7, a friction power pad 8, a rotor 9, an annular permanent magnet 10, a high-temperature armature winding 11, a coil frame B12, a self-lubricating bushing 13, and a terminal block 14.

[0059] like Figure 3As shown, the motor base 3 is designed with 8 holes. The hole at the center is the coil assembly mounting hole, which is used to install and fix the coil assembly. The hole at the bottom center of the coil assembly mounting hole is the transmission hole, which is used to make way for the rotation of the rotor 9. The four holes on the periphery are mounting holes, which are used to install and fix the circuit board components. The holes on the upper and lower sides of the transmission hole are positioning holes, which are used to position the coil assembly during installation.

[0060] like Figure 1 The coil frame includes a coil frame A7 and a coil frame B12. Two coil frames A7 are provided. The coil frames A7 are fixedly installed on both ends of the coil frame B12. The positioning pin 6 passes through one coil frame A7 and extends into the two positioning holes on the motor base 3. Each end of the coil frame A7 facing the coil frame B12 is provided with a stepped hole for the installation and fixing of the self-lubricating bushing 13.

[0061] A high-temperature armature winding 11 is fixedly wound on the coil frame; the self-lubricating bushing 13 is sleeved on the rotor 9; the signal suppression structure 5 can be a circuit board, in which the recovery diode, the first multi-core ceramic capacitor, the second multi-core ceramic capacitor, and the TVS bidirectional diode are all soldered onto the circuit board, and then the circuit board is soldered to the terminal 14; the coil frame A7, the friction power pad 8, the rotor 9, the annular permanent magnet 10, the high-temperature armature winding 11, the coil frame B12, and the self-lubricating bushing 13 constitute a miniature permanent magnet DC rotary motor transmission mechanism, thereby realizing the driving function.

[0062] The circuit board of this invention has a minimum pulse width of 6ms and a maximum pulse frequency of 60Hz, and achieves driving at different angles through mechanical transmission.

[0063] This invention utilizes a sector reciprocating gear 2 to achieve reciprocating transmission. Compared with the previous continuous gear transmission, it changes the direction of gear transmission, resulting in smoother transmission, higher reliability, easier processing, and lower cost.

[0064] like Figure 7-8As shown, the positive and negative terminals of the circuit board receive external electrical pulse signals. Within 10 ns, complex filtering and energy storage are achieved on the first and second multi-core ceramic capacitors connected in parallel. The terminal 14 transmits the electrical pulse signal to the high-temperature armature winding 11. The small magnetic fields of each coil turn are superimposed in the same direction, forming a strong, directional, uniform internal magnetic field, which forces the magnetic domains inside the ring permanent magnet 10 to align neatly along the direction of the magnetic field. Since the ring permanent magnet 10 is a pair of N-S poles radially magnetized high and low temperature rare earth material, and the initial positioning of the ring permanent magnet 10 is completed by the rotating reset spring 1, the installation position is consistent with the polarity direction of the high-temperature armature winding 11, thereby driving the ring permanent magnet 10 to perform accelerated circular motion. The ring permanent magnet 10 cuts the magnetic lines of force inside the energized armature winding to generate electromagnetic torque, such as... Figure 7 As shown; the annular permanent magnet 10 and the rotor 9 are integrated into a single design, and the knurled end of the rotor 9 is riveted to the reciprocating gear. At this time, the reciprocating gear will generate M 电机力矩 .

[0065] The motion of a complete closed high-temperature armature winding 11 in a magnetic field can be converted into rotational motion around the rotor 9, with the torque satisfying: ; Where N is the number of turns of the high-temperature armature winding 11, and S is the cross-sectional area of ​​the high-temperature armature winding 11. The angle between the direction of the magnetic field strength and the cross section of the high-temperature armature winding 11 is given by... When the angle is 90°, the driving torque of the high-temperature armature winding 11 is the largest.

[0066] At this time, the reciprocating gear will overcome the resistance torque of the rotary return spring 1 and begin to do work; when the angle between the magnetic field lines of the annular permanent magnet 10 and the magnetic field lines of the uniform internal magnetic field decreases, M 电机力矩 It gradually decreases until the rotating return spring 1 quickly resets the sector reciprocating gear 2 completely, waiting for the trigger of the next pulse. At this point, the entire motor transmission process ends.

[0067] Through electromagnetic force coupling simulation calculations, it is essential to ensure that the maximum torque of the rotary reset spring 1 is one-third of the motor output torque, so that the micro-pitch permanent magnet DC micro-rotary angle precision motor can receive external input square wave signals: pulse width ≥ 6ms, frequency range 1Hz~60Hz.

[0068] This invention conforms to GJB 151B-2013 "Electromagnetic Emission and Sensitivity Requirements and Measurements for Military Equipment and Subsystems", and can meet the detailed requirements, limitations and test requirements for each item of electromagnetic emission and sensitivity. The items are divided into three categories: CS, RS and RE. Table 1 lists the number and name of each item, and Table 2 lists the applicability of the test equipment to the installation platform.

[0069] Table 1. Electromagnetic emission and susceptibility test items: ; Table 2. Suitability of the test equipment to the installation platform: ;

[0070] This invention is configured and laid out in accordance with Chapter 22.4 of RTCA / DO-160G "Environmental conditions and test methods for airborne equipment". The equipment manufacturer must test the equipment according to the test level and waveforms consistent with the intended use of the equipment and the installation requirements on the aircraft.

[0071] The present invention can meet the test waveform and level of lightning indirect effect protection: A3G3L3. Table 3 shows the composition of equipment category symbol A3G3L3.

[0072] Table 3. Composition of Equipment Category Symbol A3G3L3: ; This invention ensures that equipment possesses reliable electromagnetic compatibility and immunity under complex electromagnetic environments and lightning strikes, guaranteeing its safe and stable operation on airborne platforms. The invention aims to provide a standardized electromagnetic compatibility and lightning protection design verification scheme for airborne equipment, ensuring strong anti-interference capabilities in real-world operating environments and meeting the requirements of high-reliability equipment.

[0073] The following are the test data of torque (unit: g.mm) under different voltage and temperature conditions according to the present invention; Table 4. Torque test data at different voltages and temperatures: Serial Number Temperature (°C) 11V electromagnetic torque 15V electromagnetic torque 18V electromagnetic torque 24V electromagnetic torque 30V electromagnetic torque 36V electromagnetic torque 42V electromagnetic torque 50V electromagnetic torque 1 -70 170.66 233.01 279.61 372.82 466.03 559.23 652.44 779.10 2 -50 151.65 206.80 248.16 330.88 413.60 496.32 579.04 691.72 3 -30 136.38 185.97 223.16 297.55 371.94 446.33 520.72 620.00 4 -10 124.05 169.16 203.00 270.67 338.33 406.00 473.67 564.29 5 10 113.74 155.10 186.12 248.16 310.20 372.24 434.28 517.00 6 25 106.94 145.83 175.00 233.33 291.67 350.00 408.33 486.11 7 50 97.40 132.82 159.39 212.52 265.63 318.76 371.89 442.73 8 70 90.85 123.92 148.70 198.27 247.84 297.41 346.98 413.07 9 90 85.13 116.10 139.32 185.76 232.20 278.64 325.08 387.00 10 110 80.04 109.16 131.00 174.67 218.33 262.00 305.67 363.89 11 130 75.50 102.94 123.53 164.71 205.88 247.06 288.24 343.14 12 150 71.53 97.53 117.04 156.05 195.06 234.07 273.08 325.10 ; The above experimental data shows that: ① Under the same voltage: the lower the temperature, the greater the electromagnetic torque; the higher the temperature, the smaller the electromagnetic torque, exhibiting a smooth and monotonic change; ② At the same temperature: electromagnetic torque is directly proportional to the driving voltage; the higher the voltage, the greater the torque. ③ When the present invention is exposed to extreme temperatures of -70°C to +150°C for a long time, the magnets do not show obvious demagnetization, and the torque change curve is undistorted and has good stability; ④ The overall low temperature (-70℃) test data is relatively large: This indicates that the low temperature torque is greater under the same voltage, which meets the requirements of low temperature start-up and high load conditions; ⑤ Under high temperature conditions of 150°C, the minimum electromagnetic torque of the present invention is still greater than the frictional resistance torque of the external mechanical transmission system, ensuring that the present invention can work reliably.

Claims

1. A micro-pitch permanent magnet DC miniature angle motor, comprising a motor base and a rotor disposed within the motor base, characterized in that, A ring-shaped permanent magnet is fixedly sleeved on the rotor. The ring-shaped permanent magnet is movably arranged inside the coil frame. A high-temperature armature winding is wound on the coil frame. A terminal block connected to both ends of the high-temperature armature winding is provided on one end of the coil frame. Both ends of the rotor are rotatably connected to the coil frame via self-lubricating bushings. The motor base is provided with a receiving chamber, and an annular magnetic yoke is fixedly installed in the receiving chamber. The coil frame is movably installed in the magnetic yoke, and one end of the rotor extends out from the motor base and is fixedly connected to a sector reciprocating gear. The sector reciprocating gear is connected to the motor base through a rotation reset device. The coil frame component is fixedly connected to the motor base through a positioning structure.

2. The micro-pitch permanent magnet DC miniature angle motor as described in claim 1, characterized in that, The terminal block is also connected to a signal suppression structure that distinguishes between real signal transitions and pulse noise.

3. The micro-pitch permanent magnet DC miniature angle motor as described in claim 2, characterized in that, The signal suppression structure includes a fast recovery diode, a first multi-core ceramic capacitor, a second multi-core ceramic capacitor, and a TVS bidirectional diode; the fast recovery diode, the first multi-core ceramic capacitor, the second multi-core ceramic capacitor, and the TVS bidirectional diode are all connected in parallel with the high-temperature armature winding.

4. The micro-pitch permanent magnet DC miniature angle motor as described in claim 1, characterized in that, The rotary reset device is a rotary reset spring. A boss is fixed on the sector reciprocating gear. The rotary reset spring is fixedly sleeved on the boss. After the two ends of the rotary reset spring extend out, they abut against the limiting posts fixed on the motor base and located on both sides of the boss.

5. The micro-pitch permanent magnet DC miniature angle motor as described in claim 1, characterized in that, Two limiting platforms are fixedly installed on one end of the fan-shaped reciprocating gear on the motor base. The fan-shaped reciprocating gear is located in the area between the two limiting platforms and swings back and forth in the area between the two limiting platforms.

6. The micro-pitch permanent magnet DC miniature angle motor as described in claim 1, characterized in that, The positioning structure is a positioning pin, and one end of the coil frame is fixedly connected to the motor base through two positioning pins.

7. The micro-pitch permanent magnet DC miniature angle motor as described in claim 1, characterized in that, The high-temperature armature winding includes a first high-temperature armature winding and a second high-temperature armature winding. The first high-temperature armature winding and the second high-temperature armature winding are symmetrically arranged. The first high-temperature armature winding and the second high-temperature armature winding are connected in series in the same direction, and the electromagnetic forces on the first high-temperature armature winding and the second high-temperature armature winding are in the same direction. Electromagnetic mutual torque generated on the rotor Related to the magnetic induction intensity B of the high-temperature armature winding and the radius of the high-temperature armature winding The relationship between the input voltage U and the input voltage U satisfies the following equation: ； Where d is the rotation diameter of the high-temperature armature winding, in mm; B is the magnetic flux density of the high-temperature armature winding, in tons; The radius of the high-temperature armature winding is in mm; The magnetic induction length of the high-temperature armature winding A is in mm; U is the input voltage, in V; Temperature coefficient of resistance, ppm / °C; The operating temperature of the coil surface at thermal equilibrium is °C.

8. The micro-pitch permanent magnet DC miniature angle motor as described in claim 1, characterized in that, When the angle motor operates within the full temperature range of -70°C to 150°C, the equivalent heat dissipation balance equation is: ； in, Maximum operating temperature °C; The heat generated by the pulse in the energized coil is measured in W. The intensity of heat dissipation conducted by the coil, W / m ; The intensity of heat dissipation radiated by the coil, in W / m. ; S represents the heat dissipation area in mm. .

9. A micro-pitch permanent magnet DC miniature angle motor as described in claim 1, characterized in that, The surface roughness of the inner hole of the self-lubricating bushing is no greater than Ra0.2µm, and the concentricity between the self-lubricating bushing and the rotor is no greater than φ0.005mm.

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