A fully redundant motor structure

Abstract

This invention discloses a fully redundant motor structure. It includes: a housing; a motor shaft, which is disposed within and rotatably connected to the housing, and a first sensing magnetic ring is fixedly mounted on the motor shaft; a flange, which is fixedly mounted on the rear end of the housing, and the rear end of the motor shaft is mounted on the flange and rotatably connected to it; and a second sensing magnetic ring assembly, which includes a driven shaft and a second sensing magnetic ring. The driven shaft is assembled on the flange and rotatably connected to it, and the driven shaft and the motor shaft are connected via a transmission structure. The second sensing magnetic ring is fixedly mounted on the driven shaft. The beneficial effects of this invention are: it avoids the risk of the entire EPS steering system failing due to the failure of a single sensing structure, effectively improves the operational reliability and driving safety of the motor and the vehicle steering system, and truly achieves full-dimensional redundant protection for the EPS motor.

Description

Technical Field

[0001] This invention relates to the field of motor-related technologies, and in particular to a fully redundant motor structure. Background Technology

[0002] As users place increasingly higher demands on vehicle safety, automakers are also raising their requirements for EPS (Electric Power Steering) motors. Currently, EPS systems on the market are being developed with redundancy in mind. The mainstream system uses a 6-phase EPS motor (with dual three-phase windings), coupled with two systems on the PCB board, where one system controls one three-phase motor. This way, even if one system malfunctions, the other can still operate independently, preventing the vehicle from losing power steering while driving.

[0003] However, while the PCB board and motor can be made into two independent systems, the sensing magnetic ring, because it needs to be installed on the shaft end, is limited to one due to the single output shaft. Furthermore, the magnetic structure of the sensing magnetic ring is susceptible to damage from the manufacturing process and external forces after installation. This results in the inability to transmit rotor position information, causing the sensing chip to fail to read the rotor position. Ultimately, even with a redundant structure, the loss of steering assist cannot be avoided.

[0004] In summary, there is a need for a fully redundant motor structure that can achieve dual-channel independent redundant acquisition of rotor position signals. Summary of the Invention

[0005] The present invention aims to overcome the shortcomings of the prior art and provides a fully redundant motor structure capable of dual-channel independent redundant acquisition of rotor position signals.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A fully redundant motor structure, comprising: chassis; A motor shaft is disposed inside and rotatably connected to the housing, and a first sensing magnetic ring is fixedly mounted on the motor shaft; A flange is fixedly installed at the rear end of the housing, and the rear end of the motor shaft is installed on the flange and rotatably connected to it. The second sensing magnetic ring assembly includes a driven shaft and a second sensing magnetic ring. The driven shaft is mounted on the flange and rotatably connected to it. The driven shaft and the motor shaft are connected by a transmission structure. The second sensing magnetic ring is fixedly mounted on the driven shaft. A PCB board is fixedly mounted on the rear end of the housing. A first sensing chip and a second sensing chip are integrated on the PCB board. The first sensing chip is in sensory cooperation with the first sensing magnetic ring, and the second sensing chip is in sensory cooperation with the second sensing magnetic ring.

[0007] This application establishes a first-path position acquisition structure with a first sensing magnetic ring on the motor spindle, and adds a second-path sensing magnetic ring assembly on the flange at the rear of the housing. The driven shaft and motor shaft rotate synchronously through a transmission structure. In conjunction with independent first and second sensing chips on the PCB board, two rotor position signals are acquired, achieving dual-path independent redundant acquisition of rotor position signals. This effectively solves the shortcomings of traditional EPS redundant motors, which only have winding and electronic control redundancy and a single-point failure structure for the sensing magnetic ring. Even if any sensing magnetic ring or corresponding acquisition circuit fails, or experiences damage or signal failure, the rotor position information can be continuously and stably acquired through the other normal sensing circuit, ensuring normal motor operation and continuous steering assist output. This completely avoids the risk of the entire EPS steering system failing due to the failure of a single sensing structure, effectively improving the operational reliability and driving safety of the motor and the vehicle steering system, truly achieving full-dimensional redundant protection for the EPS motor.

[0008] Preferably, the transmission structure includes a first synchronous pulley, a second synchronous pulley, and a transmission belt. The first synchronous pulley is fixedly mounted on the motor shaft, and the second synchronous pulley is fixedly mounted on the driven shaft. The first and second synchronous pulleys are connected by the transmission belt. The synchronous pulley and transmission belt between the motor shaft and the driven shaft form a transmission structure that ensures precise synchronization of the rotational speed and phase of the two shafts, maintaining consistency in the rotor position signals output by the two sets of sensing magnetic rings. Redundant position signal acquisition is achieved through two independent magnetic rings and sensing chips, overcoming the single-point failure defect of traditional sensing components. When any sensing component is damaged or experiences signal abnormality, the other acquisition circuit can still operate normally, continuously providing effective rotor position information to the EPS system, ensuring uninterrupted power steering output, comprehensively improving the operational reliability of the steering motor and the overall vehicle driving safety performance, and achieving a fully redundant system design.

[0009] Preferably, a first bearing is fitted onto the motor shaft, and the flange has a first bearing mounting hole adapted to the first bearing. The first bearing is fitted into the first bearing mounting hole. A first connecting pin is provided on the first sensing magnetic ring, and the first sensing magnetic ring is fitted and fixed at one end of the first connecting pin. A first pin hole is opened at the center of the end face of the tail end of the motor shaft, and the other end of the first connecting pin is inserted and fixed into the first pin hole. During assembly, the first bearing is first fitted onto the motor shaft, and then the first bearing is installed into the first bearing mounting hole of the flange to achieve rotational support at the tail end of the motor shaft. Subsequently, the first sensing magnetic ring with the first connecting pin is aligned with the first pin hole at the center of the tail end of the motor shaft, and the first connecting pin is inserted and fixed into the first pin hole, completing the assembly and fixing of the first sensing magnetic ring. This assembly process is simple, orderly, and precise in positioning. The bearing ensures smooth rotation and excellent coaxiality of the motor shaft, and the pin insertion structure provides a reliable connection, effectively preventing the sensing magnetic ring from shifting or loosening, ensuring continuous and stable rotor position signal acquisition, and improving the overall operational reliability of the motor.

[0010] Preferably, a second bearing is fitted onto the driven shaft, and the flange has a second bearing mounting hole adapted to the second bearing. The second bearing is assembled into the second bearing mounting hole using a heat-fitting method. First, the second bearing is fitted onto the driven shaft, and then the heat-fitting process is used to press the second bearing into the second bearing mounting hole of the flange to complete the assembly. The heat-fitting assembly results in a tight fit and high coaxiality, reducing operating friction and abnormal noise, effectively preventing bearing loosening and displacement, ensuring smooth rotation of the driven shaft, and thus ensuring the synchronous operation accuracy of the second sensing magnetic ring and guaranteeing stable and reliable position signal acquisition.

[0011] Preferably, the second synchronous pulley is sleeved and fixed to one end of the driven shaft. A second connecting pin is provided on the second sensing magnetic ring, and the second sensing magnetic ring is sleeved and fixed to one end of the second connecting pin. A second pin hole is opened at the center of the end face of one end of the driven shaft. The other end of the second connecting pin is inserted and fixed in the second pin hole. The second bearing is press-fitted and fixed to the other end of the driven shaft. During assembly, the second synchronous pulley is sleeved and fixed to one end of the driven shaft. Then, the second sensing magnetic ring with the second connecting pin is aligned with the second pin hole at the center of the end face of one end of the driven shaft, and the second connecting pin is inserted and fixed in the second pin hole, completing the assembly and fixing of the second sensing magnetic ring. The second bearing is then installed to the other end of the driven shaft using a press-fit process. The components are arranged in separate zones without interference, and the press-fit connection is firm and reliable, ensuring smooth operation of the driven shaft, maintaining synchronous transmission accuracy, and guaranteeing the accuracy of signal acquisition by the second sensing magnetic ring.

[0012] Preferably, a spacer ring is fixedly sleeved on the outer wall of the driven shaft. The spacer ring and the driven shaft are integrally formed, and the second bearing and the second synchronous pulley are respectively pressed against both sides of the spacer ring. The integrally formed spacer ring can axially limit the second bearing and the second synchronous pulley, effectively preventing axial movement and positional displacement of the two during the operation of the driven shaft, ensuring the assembly stability of the transmission structure and the bearing support structure, maintaining the transmission synchronization accuracy and rotational smoothness, and thus ensuring the accuracy of the position signal acquisition of the second sensing magnetic ring.

[0013] Preferably, a tensioning wheel shaft is provided on the flange, and the tensioning wheel shaft is rotatably connected to the flange. A tensioning wheel is fixedly sleeved on the tensioning wheel shaft, and the tensioning wheel is located between the first synchronous pulley and the second synchronous pulley and abuts against the transmission belt. First, the tensioning wheel shaft is assembled onto the flange to form a rotational fit, and then the tensioning wheel is sleeved onto the tensioning wheel shaft, so that the tensioning wheel abuts against the outside of the transmission belt. This structure can tension the transmission belt in real time, preventing belt slack and skipping teeth, ensuring the synchronicity of the transmission between the first and second synchronous pulleys, improving the phase accuracy of the dual-sensor magnetic ring operation, and ensuring stable and reliable acquisition of the two rotor position signals.

[0014] Preferably, a third bearing is fitted onto the tension wheel shaft, and the flange has a third bearing mounting hole adapted to the third bearing. The third bearing is assembled into the third bearing mounting hole using a heat-fitting method. First, the third bearing is fitted onto the tension wheel shaft, and then the third bearing is assembled into the third bearing mounting hole of the flange using a heat-fitting process. This achieves rotational support for the tension wheel shaft. This assembly method results in a tight connection and high coaxiality, reducing frictional resistance and rotational noise during tension wheel operation, ensuring flexible rotation of the tension wheel and continuous application of tension to the transmission belt, effectively maintaining the stability and transmission accuracy of the transmission system.

[0015] Preferably, the tensioning wheel is sleeved and fixed at one end of the tensioning wheel shaft, and the third bearing is press-fitted and fixed at the other end of the tensioning wheel shaft. During assembly, the tensioning wheel is first fixedly sleeved at one end of the tensioning wheel shaft, and then the third bearing is assembled at the other end of the tensioning wheel shaft using a press-fit process. The components are arranged in sections, assembly is simple, and the press-fit structure provides a stable connection, effectively preventing components from loosening or shifting, ensuring smooth rotation of the tensioning wheel shaft, and allowing the tensioning wheel to continuously and stably tension the transmission belt, thus guaranteeing the transmission accuracy and operational reliability of the entire synchronous transmission mechanism.

[0016] Preferably, the flange has a sliding groove extending along the tensioning direction of the transmission belt. A slider is slidably mounted in the sliding groove. The third bearing mounting hole is located on the slider. A main spring and a secondary spring are coaxially nested in the sliding groove. The elastic stiffness of the main spring is less than that of the secondary spring. One end of the main spring and one end of the secondary spring are fixed to the end wall of the sliding groove. The other end of the main spring is fixed to the side wall of the slider. The other end of the secondary spring faces the side wall of the slider, and a gap is provided between them. This gap constitutes the preset stroke of the slider. The secondary spring only abuts against the slider when the slider slides to the preset stroke position, so that the elastic structure forms a segmented elastic fit state where a single spring works independently and two springs work in combination. This structure uses a slider that can slide as a whole to support the tensioning wheel shaft system, and cooperates with coaxially nested main springs and secondary springs with different lengths and stiffnesses to form a segmented variable stiffness tensioning structure that can switch with the stroke. When the motor is running at low speed and under light load, the centrifugal force of the transmission belt is small, and the transmitted torque is low. Only the main spring works alone, reducing the preload of the transmission belt with a small tension force, thus reducing belt fatigue and wear. When the motor is running at high speed and under heavy load, the torque load of the transmission belt increases, and the high-speed centrifugal force can easily cause the belt to become loose and detach from the pulley. After the slider slides to the preset stroke, the auxiliary spring intervenes simultaneously. The superposition of the two springs increases the overall stiffness and tension, effectively counteracting the centrifugal force, adapting to the needs of high torque transmission, ensuring a tight fit between the pulley and the belt, and eliminating slippage and phase misalignment problems. This structure can adapt to the stress state of the transmission belt under different motor speeds and load conditions, taking into account the performance advantages of low-speed wear resistance and life extension and high-speed heavy-load transmission stability. Moreover, the double-spring nested layout is compact, effectively solving the shortcomings of traditional single-spring constant force tensioning that cannot adapt to all working conditions.

[0017] The beneficial effects of this invention are: it realizes dual-channel independent redundant acquisition of rotor position signals; it avoids the risk of the entire EPS steering system being paralyzed due to the failure of a single sensor structure, effectively improving the operational reliability and driving safety of the motor and the vehicle steering system, and truly realizing full-dimensional redundant protection of the EPS motor; it can effectively prevent the sensor magnetic ring from shifting or loosening, ensuring continuous and stable acquisition of rotor position signals and improving the overall operational reliability of the motor; it improves the phase accuracy of the dual sensor magnetic ring operation, ensuring stable and reliable acquisition of the two rotor position signals. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 yes Figure 1 Enlarged view of point A in the middle; Figure 3 This is a schematic diagram of the assembly of the second sensing magnetic ring and the tensioning wheel; Figure 4 This is a schematic diagram showing the installation of the second sensing magnetic ring and the tensioning wheel on the flange; Figure 5 This is a schematic diagram of the installation of the drive belt and the first sensing magnetic ring on the flange. Figure 6 This is a schematic diagram of the transmission structure; Figure 7 This is a schematic diagram showing the first sensing magnetic ring, the second sensing magnetic ring, and the transmission structure assembled on the flange. Figure 8 This is a schematic diagram of the segmented elastic fit at the tensioner.

[0019] In the diagram: 1. Housing, 2. Motor shaft, 3. First sensing magnetic ring, 4. Flange, 5. Driven shaft, 6. Second sensing magnetic ring, 7. PCB board, 8. First sensing chip, 9. Second sensing chip, 10. First synchronous pulley, 11. Second synchronous pulley, 12. Drive belt, 13. First bearing, 14. First bearing mounting hole, 15. First connecting pin, 16. First pin hole, 17. Second bearing, 18. Second bearing mounting hole, 19. Spacer ring, 20. Tensioner shaft, 21. Tensioner, 22. Third bearing, 23. Third bearing mounting hole, 24. Sliding groove, 25. Slider, 26. Main spring, 27. Secondary spring, 28. Rotor assembly, 29. Stator assembly, 30. Coupling, 31. Busbar, 32. Housing, 33. Second connecting pin, 34. Second pin hole. Detailed Implementation

[0020] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this application or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0021] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0022] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of components illustrated in these embodiments do not limit the scope of this application. For ease of illustration, spatial relative terms such as “upper,” “lower,” “left,” and “right” are used in the embodiments to describe the relationship of one element or feature shown in the figures relative to another element or feature. It should be understood that, in addition to the orientations shown in the figures, spatial terms are intended to include different orientations of the device in use or operation. For example, if the device in the figures is inverted, an element described as being “below” other elements or features would be fixed “upper” to other elements or features. Thus, the exemplary term “lower” can include both upper and lower orientations. The device may be fixed in other ways (rotated 90 degrees or located in other orientations), and the spatial relative descriptions used herein can be interpreted accordingly. It should also be understood that, for ease of description, the dimensions of the various parts shown in the figures are not drawn to actual scale. Techniques, processes, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, processes, and equipment should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be discussed further in subsequent figures.

[0023] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this application.

[0024] like Figures 1-7 In the embodiments described above, a fully redundant motor structure includes: Casing 1; Motor shaft 2 is located inside and rotatably connected to the housing 1, and a first sensing magnetic ring 3 is fixedly installed on the motor shaft 2; Flange 4 is fixedly installed at the tail end of housing 1 by screws, and the tail end of motor shaft 2 is installed on flange 4 and rotatably connected to it. The second sensing magnetic ring assembly includes a driven shaft 5 and a second sensing magnetic ring 6. The driven shaft 5 is mounted on the flange 4 and rotatably connected to it. The driven shaft 5 and the motor shaft 2 are connected by a transmission structure. The second sensing magnetic ring 6 is fixedly installed on the driven shaft 5. PCB board 7 is fixedly installed at the rear end of housing 1 by means of a snap-fit ​​and slot. A first sensing chip 8 and a second sensing chip 9 are integrated on PCB board 7. The first sensing chip 8 is in corresponding sensing cooperation with the first sensing magnetic ring 3, and the second sensing chip 9 is in corresponding sensing cooperation with the second sensing magnetic ring 6.

[0025] like Figure 6 As shown, the transmission structure includes a first synchronous pulley 10, a second synchronous pulley 11, and a transmission belt 12. The first synchronous pulley 10 is fixedly sleeved on the motor shaft 2, and the second synchronous pulley 11 is fixedly sleeved on the driven shaft 5. The first synchronous pulley 10 and the second synchronous pulley 11 are connected by the transmission belt 12.

[0026] like Figure 1 and Figure 2 As shown, a first bearing 13 is sleeved on the motor shaft 2, and a first bearing assembly hole 14 adapted to the first bearing 13 is opened on the flange 4. The first bearing 13 is assembled in the first bearing assembly hole 14. A first connecting pin 15 is provided on the first sensing magnetic ring 3. The first sensing magnetic ring 3 is sleeved and fixed on one end of the first connecting pin 15. A first pin hole 16 is opened at the center of the end face of the tail end of the motor shaft 2. The other end of the first connecting pin 15 is inserted and fixed in the first pin hole 16.

[0027] like Figure 4 As shown, a second bearing 17 is sleeved on the driven shaft 5, and a second bearing assembly hole 18 adapted to the second bearing 17 is opened on the flange 4. The second bearing 17 is assembled in the second bearing assembly hole 18 by a heat fitting method.

[0028] like Figure 3 As shown, the second synchronous pulley 11 is sleeved and fixed on one end of the driven shaft 5. The second sensing magnetic ring 6 is provided with a second connecting shaft pin 33. The second sensing magnetic ring 6 is sleeved and fixed on one end of the second connecting shaft pin 33. A second shaft pin hole 34 is opened at the center of the end face of one end of the driven shaft 5. The other end of the second connecting shaft pin 33 is inserted and fixed in the second shaft pin hole 34. The second bearing 17 is sleeved and fixed on the other end of the driven shaft 5 by press fitting.

[0029] A spacer ring 19 is fixedly sleeved on the outer side wall of the driven shaft 5. The spacer ring 19 and the driven shaft 5 are integrally formed. The second bearing 17 and the second synchronous pulley 11 are respectively pressed against the two sides of the spacer ring 19.

[0030] like Figure 6 As shown, a tensioning wheel shaft 20 is provided on the flange 4. The tensioning wheel shaft 20 and the flange 4 are rotatably connected. A tensioning wheel 21 is fixedly sleeved on the tensioning wheel shaft 20. The tensioning wheel 21 is located between the first synchronous pulley 10 and the second synchronous pulley 11 and abuts against the transmission belt 12.

[0031] like Figure 4 As shown, a third bearing 22 is fitted on the tension wheel shaft 20, and a third bearing assembly hole 23 adapted to the third bearing 22 is opened on the flange 4. The third bearing 22 is assembled in the third bearing assembly hole 23 by heat fitting.

[0032] like Figure 3 As shown, the tensioning wheel 21 is sleeved and fixed at one end of the tensioning wheel shaft 20, and the third bearing 22 is sleeved and fixed at the other end of the tensioning wheel shaft 20 by press fitting.

[0033] like Figure 8 As shown, the flange 4 has a sliding groove 24 extending along the tension direction of the transmission belt 12. A slider 25 is slidably mounted in the sliding groove 24. The third bearing mounting hole 23 is located on the slider 25. A main spring 26 and a secondary spring 27 are coaxially nested in the sliding groove 24. The elastic stiffness of the main spring 26 is less than that of the secondary spring 27. One end of the main spring 26 and one end of the secondary spring 27 are fixed to the end wall of the sliding groove 24. The other end of the main spring 26 is fixed to the side wall of the slider 25. The other end of the secondary spring 27 faces the side wall of the slider 25 and there is a gap between them. This gap constitutes the preset stroke of the slider 25. The secondary spring 27 only abuts against the slider 25 when the slider 25 slides to the preset stroke position, so that the elastic structure forms a segmented elastic fit state where the single spring works independently and the double springs work in combination.

[0034] like Figure 1 As shown, the rotor assembly 28 and stator assembly 29 inside the housing 1, as well as the coupling 30 installed on the head end of the motor shaft 2, are all conventional standard components in the field of motors and are common knowledge in this field. The rotor assembly 28 and stator assembly 29 cooperate to form the main body of the motor's electromagnetic drive, which realizes rotational output power through electromagnetic induction. The coupling 30 is a commonly used transmission connection component at the shaft end, used to realize coaxial docking and torque transmission between the motor shaft 2 and the driven component. The structural selection, assembly method and working principle are all conventional technical means in this technical field and will not be described in detail.

[0035] A busbar 31 is fixed on the flange 4. The busbar 31 is fixed on the flange 4 and is positioned and installed by relying on the flange 4, which can organize the wiring layout and centrally arrange the conductive connection points.

[0036] The rear end of the housing 1 is equipped with a cover 32, and the PCB board 7 and the flange 4 are both located inside the cover 32. The cover 32 can cover and protect the PCB board 7 and the flange 4 and their associated transmission and sensing components located inside it, preventing external dust and debris from entering the component assembly area.

[0037] Working principle: During operation, the motor shaft 2 rotates synchronously with the rotor, driving the first sensing magnetic ring 3 at the end to rotate synchronously. The first sensing chip 8 on the PCB board 7 collects the first rotor position signal in real time. On the other hand, the driven shaft 5 is driven to rotate synchronously at the same speed by the first synchronous pulley 10, the transmission belt 12, and the second synchronous pulley 11, driving the second sensing magnetic ring 6 to rotate synchronously. The second sensing chip 9 independently collects the second rotor position signal. During vehicle operation, if the first sensing magnetic ring 3 is damaged and demagnetized or the circuit of the first sensing chip 8 fails, the EPS electronic control system immediately switches to the position signal collected by the second sensing chip 9 to drive one set of three-phase windings to continuously output power. Similarly, when the second sensing structure fails, the motor continues to operate normally by relying on the first sensing signal, achieving full-dimensional redundancy of winding electronic control and rotor position sensing.

[0038] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A fully redundant motor structure, characterized in that, include: Casing (1); Motor shaft (2), the motor shaft (2) is disposed inside the housing (1) and rotatably connected thereto, and a first sensing magnetic ring (3) is fixedly installed on the motor shaft (2); Flange (4), the flange (4) is fixedly installed at the tail end of the housing (1), and the tail end of the motor shaft (2) is installed on the flange (4) and rotatably connected to it; The second sensing magnetic ring assembly includes a driven shaft (5) and a second sensing magnetic ring (6). The driven shaft (5) is mounted on the flange (4) and rotatably connected thereto. The driven shaft (5) and the motor shaft (2) are connected by a transmission structure. The second sensing magnetic ring (6) is fixedly mounted on the driven shaft (5). PCB board (7), the PCB board (7) is fixedly installed at the tail end of the housing (1), the PCB board (7) is integrated with a first sensing chip (8) and a second sensing chip (9), the first sensing chip (8) is in corresponding sensing cooperation with the first sensing magnetic ring (3), and the second sensing chip (9) is in corresponding sensing cooperation with the second sensing magnetic ring (6); The transmission structure includes a first synchronous pulley (10), a second synchronous pulley (11), and a transmission belt (12). The first synchronous pulley (10) is fixedly mounted on the motor shaft (2), and the second synchronous pulley (11) is fixedly mounted on the driven shaft (5). The first synchronous pulley (10) and the second synchronous pulley (11) are connected by the transmission belt (12). A second bearing (17) is mounted on the driven shaft (5). The flange (4) has a second bearing mounting hole (18) that matches the second bearing (17). The second bearing (17) is heat-fitted. The second synchronous pulley (11) is fitted into the second bearing mounting hole (18), and the second synchronous pulley (11) is sleeved and fixed on one end of the driven shaft (5). The second sensing magnetic ring (6) is provided with a second connecting shaft pin (33). The second sensing magnetic ring (6) is sleeved and fixed on one end of the second connecting shaft pin (33). A second shaft pin hole (34) is opened at the center of the end face of one end of the driven shaft (5). The other end of the second connecting shaft pin (33) is inserted and fixed in the second shaft pin hole (34). The second bearing (17) is sleeved and fixed on the other end of the driven shaft (5) by press fitting.

2. The fully redundant motor structure according to claim 1, characterized in that, The motor shaft (2) is fitted with a first bearing (13), and the flange (4) is provided with a first bearing assembly hole (14) that is adapted to the first bearing (13). The first bearing (13) is assembled in the first bearing assembly hole (14). The first sensing magnetic ring (3) is provided with a first connecting pin (15). The first sensing magnetic ring (3) is fitted and fixed at one end of the first connecting pin (15). The end face of the tail end of the motor shaft (2) is provided with a first pin hole (16), and the other end of the first connecting pin (15) is inserted and fixed in the first pin hole (16).

3. The fully redundant motor structure according to claim 1, characterized in that, A spacer ring (19) is fixedly sleeved on the outer side wall of the driven shaft (5). The spacer ring (19) and the driven shaft (5) are integrally formed. The second bearing (17) and the second synchronous pulley (11) are respectively pressed against the two sides of the spacer ring (19).

4. The fully redundant motor structure according to claim 1, characterized in that, The flange (4) is provided with a tension wheel shaft (20), the tension wheel shaft (20) and the flange (4) are rotatably connected, and a tension wheel (21) is fixedly sleeved on the tension wheel shaft (20). The tension wheel (21) is located between the first synchronous pulley (10) and the second synchronous pulley (11) and abuts against the transmission belt (12).

5. The fully redundant motor structure according to claim 4, characterized in that, The tensioning wheel shaft (20) is fitted with a third bearing (22), and the flange (4) is provided with a third bearing assembly hole (23) that is compatible with the third bearing (22). The third bearing (22) is assembled in the third bearing assembly hole (23) by heat fitting.

6. The fully redundant motor structure according to claim 5, characterized in that, The tensioning wheel (21) is sleeved and fixed at one end of the tensioning wheel shaft (20), and the third bearing (22) is sleeved and fixed at the other end of the tensioning wheel shaft (20) by press fitting.

7. The fully redundant motor structure according to claim 5, characterized in that, The flange (4) has a sliding groove (24) extending along the tension direction of the transmission belt (12). A slider (25) is slidably mounted in the sliding groove (24). The third bearing mounting hole (23) is located on the slider (25). A main spring (26) and a secondary spring (27) are coaxially nested in the sliding groove (24). The elastic stiffness of the main spring (26) is less than that of the secondary spring (27). One end of the main spring (26) and the other end of the secondary spring (27) are connected. One end of each spring is fixed to the end wall of the sliding groove (24), and the other end of the main spring (26) is fixed to the side wall of the slider (25). The other end of the auxiliary spring (27) is directly opposite the side wall of the slider (25) and there is a gap between them. This gap constitutes the preset stroke of the slider (25). The auxiliary spring (27) only abuts against the slider (25) when the slider (25) slides to the preset stroke position, so that the elastic structure forms a segmented elastic cooperation state in which a single spring works independently and a double spring works superimposed.

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