Axial multi-rotor large-torque actuator

Abstract

The utility model discloses an axial multi-rotor large-torque actuator, which belongs to the technical field of engine speed regulation devices and comprises a shell, a fixed rotor assembly, a movable rotor assembly and an output shaft. The shell is provided with a cavity used for containing the fixed rotor assembly, the movable rotor assembly and the output shaft. The stator and rotor assembly is matched with the movable rotor assembly and drives the movable rotor assembly to rotate; the output shaft is connected with the movable rotor assembly, and the movable rotor assembly rotates to drive the output shaft to rotate; according to the invention, the stator-rotor assembly is provided with a plurality of groups of stator-rotors in the first direction, the stator-rotor assembly at least comprises the first stator-rotor and the second stator-rotor, each stator-rotor can provide a rotating torque, and the output torque is increased through superposition of the plurality of stator-rotors in the first direction. The purpose of increasing the output torque of the actuator on the premise that the diameter of the actuator is not increased is achieved, and the influence of increasing of the radial diameter and increasing of the diameter of a moving rotor on the dynamic corresponding characteristics of the actuator is eliminated.

Description

Technical Field

[0001] The present application belongs to the technical field of engine speed regulating devices, and specifically relates to an axial multi-rotor high-torque actuator. Background Art

[0002] As an engine speed regulating mechanism, direct-drive torque actuators are widely used in diesel and gas engine fuel supply systems due to their high torque-to-inertia ratio, fast dynamic response, good linearity, compact structure, bidirectional control, and low steady-state power consumption to meet the dynamic and steady-state speed regulation performance of the engine under various working conditions. With the development and application of high-torque actuators, the radial diameter of the actuator will increase as the torque increases, and the diameter of the moving rotor will also increase further, which will seriously affect its dynamic response characteristics. Utility Model Content

[0003] The utility model develops an axial multi-rotor large torque actuator, aiming to solve the technical problem in the prior art that the torque of the actuator is increased, resulting in an increase in radial diameter and a moving rotor diameter that affects the dynamic response characteristics.

[0004] The present application provides an axial multi-rotor high-torque actuator, comprising a housing having a chamber;

[0005] A stator-rotor assembly, wherein the stator-rotor assembly is connected to the housing and is disposed in the chamber;

[0006] A moving rotor assembly, wherein the moving rotor assembly is configured to rotate under the drive of the stator rotor;

[0007] An output shaft, the output shaft is connected to the moving rotor assembly, and the output shaft is configured to rotate under the drive of the moving rotor assembly;

[0008] The stator-rotor assembly comprises at least a first stator-rotor and a second stator-rotor. The first stator-rotor and the second stator-rotor are arranged in sequence along a first direction. The first direction is the length direction of the output shaft.

[0009] In some embodiments, the housing includes a positioning plate disposed in the chamber, the positioning plate being connected to the stator and rotor assembly.

[0010] In some embodiments, along the first direction, the first stator and rotor and the second stator and rotor are respectively located on two sides of the positioning plate.

[0011] In some embodiments, the positioning plate has a first through hole, and the first through hole is opened along the first direction;

[0012] The axial multi-rotor high torque actuator also includes:

[0013] A stator-rotor connecting member, the stator-rotor connecting member is passed through the first through hole, and along the first direction, the stator-rotor connecting member includes:

[0014] A first connecting end, the first connecting end being connected to the first stator and rotor;

[0015] A second connecting end, wherein the second connecting end is connected to the second stator and rotor.

[0016] In some embodiments, the first stator and rotor include:

[0017] The first winding;

[0018] a first connecting component, the first connecting component being connected to the first winding, and the first connecting component being configured to connect the first winding to the first connecting end;

[0019] The second stator and rotor include:

[0020] Second winding;

[0021] A second connecting component, the second connecting component is connected to the second winding, and the second connecting component is configured to connect the second winding and the second connecting end.

[0022] In some embodiments, the first connection component includes:

[0023] A first connecting member and a first pressing member, wherein the first connecting member and the first pressing member are connected;

[0024] The first connecting member is connected to the first connecting end, the first pressing member is in contact with the first winding, and the first winding is in contact with the positioning plate;

[0025] The second connection component comprises:

[0026] a second connecting member and a second pressing member, wherein the second connecting member and the second pressing member are connected;

[0027] The second connecting member is connected to the second connecting end, the second pressing member is in contact with the second winding, and the second winding is in contact with the positioning plate.

[0028] In some embodiments, the stator-rotor connecting member has a second through hole, the first connecting end has a first opening, the second connecting end has a second opening, the first opening is in communication with the second through hole, and the second opening is in communication with the second through hole;

[0029] The first connecting member is inserted into the second through hole through the first opening, and the second connecting member is inserted into the second through hole through the second opening.

[0030] In some embodiments, the first stator and rotor further comprises a first stator and rotor substrate, and along the first direction, one side of the first stator and rotor substrate abuts against the first winding, and the other side of the first stator and rotor substrate abuts against the positioning plate;

[0031] The second stator and rotor further includes a second stator and rotor substrate. Along the first direction, one side of the second stator and rotor substrate abuts against the second winding, and the other side of the second stator and rotor substrate abuts against the positioning plate.

[0032] In some embodiments, the rotor-moving assembly includes at least a first rotor and a second rotor. Along the first direction, the first rotor and the second rotor are respectively located on two sides of the stator-rotor assembly.

[0033] In some embodiments, the first moving rotor comprises:

[0034] a first movable rotor substrate, wherein the first movable rotor substrate is connected to the output shaft;

[0035] A first magnetic sheet, the first magnetic sheet is connected to the first rotor substrate, and along the first direction, the first magnetic sheet is located on a side of the first rotor substrate close to the stator-rotor assembly;

[0036] The second moving rotor comprises:

[0037] a second movable rotor substrate, the second movable rotor substrate being connected to the output shaft;

[0038] The second magnetic sheet is connected to the second rotor substrate. Along the first direction, the second magnetic sheet is located on a side of the second rotor substrate close to the stator-rotor assembly.

[0039] In some embodiments, a plurality of the first magnetic sheets are provided, and the plurality of the first magnetic sheets are evenly arranged in sequence along the rotation direction of the output shaft;

[0040] A plurality of the second magnetic sheets are provided, and the plurality of the second magnetic sheets are evenly arranged in sequence along the rotation direction of the output shaft.

[0041] In some embodiments, the first magnetic sheet is fan-shaped, the center of the first magnetic sheet is collinear with the axis of the output shaft, and the center angle of the first magnetic sheet is a, satisfying 30°≤a≤180°;

[0042] The second magnetic sheet is sector-shaped, the center of the second magnetic sheet is collinear with the axis of the output shaft, and the center angle of the second magnetic sheet is b, which satisfies: 30°≤b≤180°.

[0043] In some embodiments, the housing includes a rear cover plate, the rear cover plate having a first corner groove and a second corner groove, and the notches of the first corner groove and the second corner groove face the moving rotor assembly;

[0044] The axial multi-rotor high torque actuator further includes a limit block, which is connected to the movable rotor assembly and is disposed in the first corner groove or the second corner groove.

[0045] In some embodiments, the axial multi-rotor high torque actuator further includes a pointing member, and the pointing member is connected to the output shaft;

[0046] The pointing member is configured to reflect a rotational position of the output shaft.

[0047] Compared with the prior art, an axial multi-rotor high-torque actuator provided in an embodiment of the present application includes a housing, a stator-rotor assembly, a movable rotor assembly and an output shaft; the housing has a chamber for accommodating the stator-rotor assembly, the movable rotor assembly and the output shaft; the stator-rotor assembly cooperates with the movable rotor assembly, and the stator-rotor assembly drives the movable rotor assembly to rotate; the output shaft is connected to the movable rotor assembly, and the movable rotor assembly rotates to drive the output shaft to rotate; in the present application, a plurality of groups of stators and rotors are arranged along a first direction in the stator-rotor assembly, including at least a first stator and a second stator, and each stator rotor can provide a rotational torque. By superimposing a plurality of stators and rotors along the first direction, the output torque is increased, thereby achieving the purpose of increasing the output torque of the actuator without increasing the diameter of the actuator, and eliminating the influence of the increase in radial diameter and the increase in moving rotor diameter on the dynamic response characteristics of the actuator. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0049] Figure 1 A three-dimensional diagram of an axial multi-rotor high torque actuator provided in an embodiment of the present application;

[0050] Figure 2 A structural cross-sectional view of an axial multi-rotor high torque actuator provided in an embodiment of the present application;

[0051] Figure 3 A partial structural cross-sectional view of an axial multi-rotor high torque actuator provided in an embodiment of the present application;

[0052] Figure 4 A partial cross-sectional view of a rear cover plate in an axial multi-rotor high torque actuator provided in an embodiment of the present application;

[0053] Figure 5 A three-dimensional diagram of a rear cover plate in an axial multi-rotor high torque actuator provided in an embodiment of the present application;

[0054] Figure 6 A front view of a first magnetic sheet in an axial multi-rotor high torque actuator provided in an embodiment of the present application;

[0055] Figure 7 A front view of a second magnetic sheet in an axial multi-rotor high torque actuator provided in an embodiment of the present application;

[0056] Figure 8 A front view of a rear cover plate in an axial multi-rotor high torque actuator provided in an embodiment of the present application;

[0057] Reference numerals: 100, housing; 101, chamber; 102, positioning plate; 103, first through hole; 110, rear cover; 111, first corner groove; 112, second corner groove; 200, stator-rotor assembly; 210, first stator-rotor; 211, first winding; 212, first connecting assembly; 2121, first connecting member; 2122, first pressing member; 213, first stator-rotor substrate; 220, second stator-rotor; 221, second winding; 222, second connecting assembly; 2221, second connecting member Component; 2222, second pressing component; 223, second stator-rotor substrate; 300, movable rotor assembly; 310, first movable rotor; 311, first movable rotor substrate; 312, first magnetic sheet; 320, second movable rotor; 321, second movable rotor substrate; 322, second magnetic sheet; 400, output shaft; 500, stator-rotor connecting component; 501, second through hole; 510, first connecting end; 511, first opening; 520, second connecting end; 521, second opening; 600, pointing component; X, first direction. DETAILED DESCRIPTION

[0058] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0059] The embodiment of the present application provides an axial multi-rotor high torque actuator, wherein the length direction of the output shaft 400 is a first direction X, see Figures 1 to 8, including a housing 100, a stator-rotor assembly 200, a movable rotor assembly 300 and an output shaft 400; the housing 100 has a chamber 101 for accommodating the stator-rotor assembly 200, the movable rotor assembly 300 and the output shaft 400; the stator-rotor assembly 200 cooperates with the movable rotor assembly 300, and the stator-rotor assembly 200 drives the movable rotor assembly 300 to rotate; the output shaft 400 is connected to the movable rotor assembly 300, and the movable rotor assembly 300 rotates to drive the output shaft 400 to rotate; in the present application, a plurality of stator-rotor groups are arranged along the first direction X in the stator-rotor assembly 200, including at least a first stator-rotor 210 and a second stator-rotor 220, each of which can provide a rotational torque, and the output torque is increased by superimposing a plurality of stator-rotors along the first direction X, thereby achieving the purpose of increasing the output torque of the actuator without increasing the diameter of the actuator, and eliminating the influence of the increase in radial diameter and the increase in the diameter of the moving rotor on the dynamic response characteristics of the actuator.

[0060] See also Figure 2 and Figure 3 In some embodiments, the stator-rotor assembly 200 is disposed in the chamber 101 and connected and fixed to the housing 100. To facilitate the fixing of the stator-rotor assembly 200, a positioning plate 102 is provided in the housing 100 of the present application. The positioning plate 102 is located in the chamber 101, and the stator-rotor assembly 200 is connected and fixed to the positioning plate 102 to achieve the connection and fixation of the stator-rotor assembly 200 and the housing 100.

[0061] See also Figure 2 and Figure 3 In some embodiments, along the first direction X, the first stator 210 and the second stator 220 are respectively located on both sides of the positioning plate 102, and the movable rotor assembly 300 is driven on both sides of the positioning plate 102. The present application drives the movable rotor assembly 300 by multiple stators and rotors at the same time, and increases the driving torque of the movable rotor assembly 300 by increasing the driving source, so as to increase the torque of the actuator without increasing the diameter of the actuator. At the same time, multiple stators and rotors are arranged in sequence along the length direction of the output shaft 400, and are respectively located on both sides of the positioning plate 102. Compared with single-point drive, multiple driving sources drive at multiple positions to make the torque output of the output shaft 400 more stable.

[0062] See also Figure 2 and Figure 3In some embodiments, along the first direction X, a first through hole 103 is formed on the positioning plate 102, and a stator-rotor connector 500 is passed through the first through hole 103 to connect the first stator-rotor 210 and the second stator-rotor 220. Specifically, the stator-rotor connector 500 includes a first connecting end 510 and a second connecting end 520. Along the first direction X, the first connecting end 510 and the second connecting end 520 are respectively located at two ends of the stator-rotor connector 500, the first connecting end 510 is connected to the first stator-rotor 210, and the second connecting end 520 is connected to the second stator-rotor 220.

[0063] See also Figure 2 and Figure 3 In some embodiments, the first stator and rotor 210 includes a first winding 211 and a first connecting component 212. The first winding 211 abuts against the positioning plate 102 through the first connecting component 212. Specifically, the first connecting component 212 is connected to the first winding 211, and the first connecting component 212 is connected to the first connecting end 510, so that the first connecting component 212 drives the first winding 211 to abut against and fix with the positioning plate 102. The second stator and rotor 220 includes a second winding 221 and a second connecting component 222. The second winding 221 abuts against the positioning plate 102 through the second connecting component 222. Specifically, the second connecting component 222 is connected to the second winding 221, and the second connecting component 222 is connected to the second connecting end 520, so that the second connecting component 222 drives the second winding 221 to abut against and fix with the positioning plate 102. Finally, the first winding 211 and the second winding 221 are abutted and fixed with the positioning plate 102 in sequence along the first direction X.

[0064] See also Figure 2 and Figure 3 In some embodiments, the first connection assembly 212 includes a first connection member 2121 and a first clamping member 2122. The first connection member 2121 and the first clamping member 2122 are integrally arranged. The first clamping member 2122 is used to abut against the first winding 211. The first connection member 2121 is used to connect the first connection end 510. The clamping force is transmitted to the first clamping member 2122 through the connection between the first connection member 2121 and the first connection end 510. Specifically, the parts that meet the requirement of the first connection member 2121 and the first clamping member 2122 being integrally arranged can be screws or bolts. The screws or bolts pass through the first winding 211 and are threadedly connected and fixed to the first connection end 510. As the screws or bolts are screwed in, the heads of the screws or bolts gradually abut against and clamp the first winding 211, and the first winding 211 is clamped and fixed on the positioning plate 102.

[0065] See also Figure 2 and Figure 3In some embodiments, the second connection assembly 222 includes a second connection member 2221 and a second pressing member 2222. The second connection member 2221 and the second pressing member 2222 are integrally arranged. The second pressing member 2222 is used to abut against the second winding 221. The second connection member 2221 is used to connect the second connection end 520. The pressing force is transmitted to the second pressing member 2222 through the connection between the second connection member 2221 and the second connection end 520. Specifically, the parts that meet the requirement of the second connection member 2221 and the second pressing member 2222 being integrally arranged can be screws or bolts. The screws or bolts pass through the second winding 221 and are threadedly connected and fixed to the second connection end 520. As the screws or bolts are screwed in, the heads of the screws or bolts gradually abut against and press the second winding 221, and the second winding 221 is pressed and fixed on the positioning plate 102.

[0066] See also Figure 2 and Figure 3 In some embodiments, in order to facilitate the connection between the first connecting member 2121, the second connecting member 2221 and the stator-rotor connecting member 500, in the present application, the stator-rotor connecting member 500 uses a tubular sleeve component with a hollow cross-section. Specifically, the stator-rotor connecting member 500 has a second through hole 501, the first connecting end 510 has a first opening 511, the second connecting end 520 has a second opening 521, the first opening 511 is communicated with the second through hole 501, and the second opening 521 is communicated with the second through hole 501; the first connecting member 2121 is inserted into the second through hole 501 through the first opening 511, and the second connecting member 2221 is inserted into the second through hole 501 through the second opening 521; specifically, when the first connecting member 2121 and the second connecting member 2221 are bolts or screws, the bolt or screw of the first connecting member 2121 is threadedly connected to the second through hole 501 and screwed in from the first opening 511; the bolt or screw of the second connecting member 2221 is threadedly connected to the second through hole 501 and screwed in from the second opening 521. During the specific design, an air leakage hole should be left on the first connecting member 2121, the second connecting member 2221 or the stator-rotor connecting member 500, so as to reserve an air leakage channel for the gas in the second through hole 501 when the first connecting member 2121 or the second connecting member 2221 enters the second through hole 501, so as to avoid the formation of a closed chamber between the end face of the first connecting member 2121, the end face of the second connecting member 2221 and the inner wall of the stator-rotor connecting member 500, so that the gas cannot be discharged, resulting in the first connecting member 2121 or the second connecting member 2221 being unable to penetrate into the designated position.

[0067] See also Figure 2 and Figure 3In some embodiments, the first stator-rotor 210 further includes a first stator-rotor substrate 213, along the first direction X, one side of the first stator-rotor substrate 213 abuts against the first winding 211, and the other side of the first stator-rotor substrate 213 abuts against the positioning plate 102; the second stator-rotor 220 further includes a second stator-rotor substrate 223, along the first direction X, one side of the second stator-rotor substrate 223 abuts against the second winding 221, and the other side of the second stator-rotor substrate 223 abuts against the positioning plate 102. To provide support for the first winding 211 and the second winding 221, to achieve insulation isolation between the first winding 211, the second winding 221 and the positioning plate 102, and to assist the first winding 211 and the second winding 221 in heat dissipation.

[0068] See also Figure 2 and Figure 3 In some embodiments, the present application provides a first stator 210 and a second stator 220, and provides two driving sources for the movable rotor assembly 300. Accordingly, the movable rotor assembly 300 is provided with a first movable rotor 310 and a second movable rotor 320, and the first movable rotor 310 and the second movable rotor 320 are sequentially arranged along the first direction X, and are respectively located on both sides of the stator-rotor assembly 200. The first stator 210 drives the first movable rotor 310 to rotate, and the second stator 220 drives the second movable rotor 320 to rotate, so as to drive the output shaft 400 to rotate at different positions of the output shaft 400 along the first direction X, and the output torque is improved while the stability of the output shaft 400 is higher.

[0069] See also Figure 2 and Figure 3 In some embodiments, the first movable rotor 310 includes a first movable rotor substrate 311 and a first magnetic sheet 312. The first movable rotor substrate 311 is connected to the output shaft 400, and the connection method thereof can be selected from screws or bolts. The first magnetic sheet 312 is connected to the first movable rotor substrate 311. Along the first direction X, the first magnetic sheet 312 is located on the side of the first movable rotor substrate 311 close to the first winding 211. The first magnetic sheet 312 and the first winding 211 always maintain a certain working air gap. Specifically, the first magnetic sheet 312 is a permanent magnet. After the first winding 211 is energized, a strong magnetic field is generated. The strong magnetic field generates an attractive force or a repulsive force on the first magnetic sheet 312, driving the first magnetic sheet 312 to rotate. The first magnetic sheet 312 drives the first movable rotor substrate 311 to rotate. The first movable rotor substrate 311 drives the output shaft 400 to rotate to output torque.

[0070] See also Figure 2 and Figure 3In some embodiments, the second movable rotor 320 includes a second movable rotor substrate 321 and a second magnetic sheet 322. The second movable rotor substrate 321 is connected to the output shaft 400, and the connection method thereof can be selected from screws or bolts; the second magnetic sheet 322 is connected to the second movable rotor substrate 321, and along the first direction X, the second magnetic sheet 322 is located on the side of the second movable rotor substrate 321 close to the second winding 221, and the second magnetic sheet 322 and the second winding 221 always maintain a certain working air gap. Specifically, the second magnetic sheet 322 is a permanent magnet, and a strong magnetic field is generated after the second winding 221 is energized. The strong magnetic field generates an attractive force or a repulsive force on the second magnetic sheet 322, driving the second magnetic sheet 322 to rotate, the second magnetic sheet 322 drives the second movable rotor substrate 321 to rotate, and the second movable rotor substrate 321 drives the output shaft 400 to rotate, and outputs torque.

[0071] In some embodiments, a plurality of first magnetic sheets 312 are provided, and the plurality of first magnetic sheets 312 are evenly arranged in sequence along the rotation direction of the output shaft 400 ; a plurality of second magnetic sheets 322 are provided, and the plurality of second magnetic sheets 322 are evenly arranged in sequence along the rotation direction of the output shaft 400 .

[0072] See also Figure 6 In some embodiments, the first magnetic sheet 312 is fan-shaped, the center of the first magnetic sheet 312 is colinear with the axis of the output shaft 400, and the center angle of the first magnetic sheet 312 is a, which satisfies: 30°≤a≤180°; specifically, according to the specific implementation conditions, the size of a can be: 180°, 60°, 45°, 36° or 30°. Since the selection of the center angle a of the first magnetic sheet 312 will limit the limited output torque angle range of the actuator, if a is set to 180°, the volume of the first magnetic sheet 312 is too large, which is not conducive to assembly operation; if a is set to 60°, the angle range of the best torque characteristic of the actuator is only a small 60°; in this application, the center angle a of the first magnetic sheet 312 is set to 90°, and four pieces are evenly distributed along the circumference of the output shaft 400; a is set to 90°, which can greatly reduce the difficulty of assembly operation, and at the same time can greatly utilize the output torque characteristics of the actuator, that is, the torque characteristics within 90°.

[0073] See also Figure 7In some embodiments, the second magnetic sheet 322 is fan-shaped, the center of the second magnetic sheet 322 is colinear with the axis of the output shaft 400, and the center angle of the second magnetic sheet 322 is b, which satisfies 30°≤b≤180°; specifically, according to the specific implementation conditions, the size of b can be: 180°, 60°, 45°, 36° or 30°. Since the selection of the center angle b of the second magnetic sheet 322 will limit the limited output torque angle range of the actuator, if b is set to 180°, the volume of the second magnetic sheet 322 is too large, which is not conducive to assembly operation; if b is set to 60°, the angle range of the actuator's optimal torque characteristic is only a small 60°; in this application, the center angle b of the second magnetic sheet 322 is set to 90°, and four pieces are evenly distributed along the circumference of the output shaft 400; b is set to 90°, which can greatly reduce the difficulty of assembly operation, and at the same time can greatly utilize the output torque characteristics of the actuator, that is, the torque characteristics within 90°.

[0074] See also Figures 1 to 5 as well as Figure 8 In some embodiments, the housing 100 includes a rear cover plate 110, and the rear cover plate 110 has a first corner groove 111 and a second corner groove 112, and the groove openings of the first corner groove 111 and the second corner groove 112 face the movable rotor assembly 300; specifically, along a plane perpendicular to the first direction X, the cross-section of the first corner groove 111 is fan-shaped, and the center angle of the first corner groove 111 is α, specifically, the center angle of the first corner groove 111 can preferably be 95°; along a plane perpendicular to the first direction X, the cross-section of the second corner groove 112 is fan-shaped, and the center angle of the second corner groove 112 is β, specifically, the center angle of the second corner groove 112 can preferably be 65°.

[0075] See also Figure 4 , Figure 5 and Figure 8In some embodiments, the axial multi-rotor high torque actuator further includes a limit block, which is connected to the movable rotor assembly 300. Specifically, the limit block is connected to the second movable rotor substrate 321, and the limit block is arranged in the first corner groove 111 or the second corner groove 112. When the second movable rotor substrate 321 moves, the limit block is driven to rotate in the first corner groove 111 or the second corner groove 112. Specifically, considering that the limit block must meet certain strength requirements, the volume of the limit block will occupy about 20° of the corner space, and 75° of the corner space will remain in the first corner groove 111. In the optimal 90° torque output angle, during the gas engine speed regulation process, a 75° angle can cover the entire speed regulation condition of the machine, so the first angle slot 111, a 95° center angle α can meet the demand; after the limit block occupies a 20° angle space, there is still a 45° angle space left in the second angle slot 112, which is in the optimal 90° torque output angle. During the throttle rack type machine speed regulation process, in order to improve the speed control accuracy, a 45° angle can cover the entire speed regulation condition of the machine, so the second angle slot 112, a 65° center angle β can meet the demand. Specifically, the limit block is connected to the second moving rotor base plate 321 by bolts or screws.

[0076] See also Figure 1 and Figure 2 In some embodiments, the axial multi-rotor high torque actuator further includes a pointing member 600 , which is connected to the output shaft 400 ; the pointing member 600 is configured to reflect the rotational position of the output shaft 400 .

[0077] The working process of the axial multi-rotor high torque actuator provided in the embodiment of the present application includes:

[0078] When the first winding 211 and the second winding 221 are energized, the first winding 211 and the second winding 221 respectively generate strong magnetic fields, the first winding 211 and each first magnetic sheet 312 generate attractive force or repulsive force, the second winding 221 and each second magnetic sheet 322 generate attractive force or repulsive force, and at the same time drive the first movable rotor substrate 311 and the second movable rotor substrate 321 to rotate in the same direction; the first movable rotor substrate 311 and the second movable rotor substrate 321 drive the output shaft 400 to rotate, and transfer the generated rotation torque to the load; the rear end cover plate limit mechanism allows the actuator to only rotate forward and reverse within a specific angle; a pointing member 600 is installed on the output shaft 400 to monitor the rotation position of the output shaft 400; the entire actuator of the present application is connected to a controller, and the controller is used to perform position closed-loop control to achieve the set rotation position. The actuator has a compact structure, is easy to install, has a large output torque, and takes into account high and fast dynamic response.

[0079] The present application has introduced in detail an axial multi-rotor high torque actuator provided by an embodiment of the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. An axial multi-rotor high torque actuator, characterized in that: include: A housing (100), wherein the housing (100) has a chamber (101); a stator-rotor assembly (200), the stator-rotor assembly (200) being connected to the housing (100), and the stator-rotor assembly (200) being arranged in the chamber (101); A moving rotor assembly (300), wherein the moving rotor assembly (300) is configured to rotate under the drive of the stator-rotor assembly (200); an output shaft (400), the output shaft (400) being connected to the moving rotor assembly (300), the output shaft (400) being configured to rotate under the drive of the moving rotor assembly (300); The stator-rotor assembly (200) comprises at least a first stator-rotor (210) and a second stator-rotor (220), and the first stator-rotor (210) and the second stator-rotor (220) are arranged in sequence along a first direction (X), and the first direction (X) is the length direction of the output shaft (400).

2. The axial multi-rotor high torque actuator according to claim 1, characterized in that: The housing (100) comprises a positioning plate (102), wherein the positioning plate (102) is arranged in the chamber (101), and the positioning plate (102) is connected to the stator and rotor assembly (200).

3. The axial multi-rotor high torque actuator according to claim 2, characterized in that: Along the first direction (X), the first stator and rotor (210) and the second stator and rotor (220) are respectively located on two sides of the positioning plate (102).

4. The axial multi-rotor high torque actuator according to claim 3, characterized in that: The positioning plate (102) has a first through hole (103), and the first through hole (103) is opened along the first direction (X); The axial multi-rotor high torque actuator also includes: A stator-rotor connecting member (500), wherein the stator-rotor connecting member (500) is passed through the first through hole (103), and along the first direction (X), the stator-rotor connecting member (500) comprises: A first connecting end (510), the first connecting end (510) being connected to the first stator and rotor (210); A second connecting end (520), wherein the second connecting end (520) is connected to the second stator and rotor (220).

5. The axial multi-rotor high torque actuator according to claim 4, characterized in that: The first stator and rotor (210) comprises: A first winding (211); a first connecting component (212), the first connecting component (212) being connected to the first winding (211), the first connecting component (212) being configured to connect the first winding (211) and the first connecting end (510); The second stator and rotor (220) comprises: A second winding (221); A second connecting component (222), the second connecting component (222) is connected to the second winding (221), and the second connecting component (222) is configured to connect the second winding (221) and the second connecting end (520).

6. The axial multi-rotor high torque actuator according to claim 5, characterized in that: The first connection component (212) comprises: A first connecting member (2121) and a first pressing member (2122), wherein the first connecting member (2121) and the first pressing member (2122) are connected; The first connecting member (2121) is connected to the first connecting end (510), the first pressing member (2122) is in contact with the first winding (211), and the first winding (211) is in contact with the positioning plate (102); The second connection component (222) comprises: A second connecting member (2221) and a second pressing member (2222), wherein the second connecting member (2221) and the second pressing member (2222) are connected; The second connecting member (2221) is connected to the second connecting end (520), the second pressing member (2222) is in contact with the second winding (221), and the second winding (221) is in contact with the positioning plate (102).

7. The axial multi-rotor high torque actuator according to claim 6, characterized in that: The stator-rotor connecting member (500) has a second through hole (501), the first connecting end (510) has a first opening (511), the second connecting end (520) has a second opening (521), the first opening (511) is in communication with the second through hole (501), and the second opening (521) is in communication with the second through hole (501); The first connecting member (2121) is inserted into the second through hole (501) through the first opening (511), and the second connecting member (2221) is inserted into the second through hole (501) through the second opening (521).

8. The axial multi-rotor high torque actuator according to claim 5, characterized in that: The first stator and rotor (210) further comprises a first stator and rotor substrate (213); along the first direction (X), one side of the first stator and rotor substrate (213) abuts against the first winding (211), and the other side of the first stator and rotor substrate (213) abuts against the positioning plate (102); The second stator and rotor (220) further comprises a second stator and rotor substrate (223); along the first direction (X), one side of the second stator and rotor substrate (223) abuts against the second winding (221), and the other side of the second stator and rotor substrate (223) abuts against the positioning plate (102).

9. The axial multi-rotor high torque actuator according to claim 1, characterized in that: The movable rotor assembly (300) comprises at least a first movable rotor (310) and a second movable rotor (320); along the first direction (X), the first movable rotor (310) and the second movable rotor (320) are respectively located on two sides of the stator-rotor assembly (200).

10. The axial multi-rotor high torque actuator according to claim 9, characterized in that: The first moving rotor (310) comprises: a first movable rotor substrate (311), wherein the first movable rotor substrate (311) is connected to the output shaft (400); A first magnetic sheet (312), the first magnetic sheet (312) being connected to the first moving rotor substrate (311), and along the first direction (X), the first magnetic sheet (312) being located on a side of the first moving rotor substrate (311) close to the stator-rotor assembly (200); The second moving rotor (320) comprises: a second movable rotor substrate (321), wherein the second movable rotor substrate (321) is connected to the output shaft (400); A second magnetic sheet (322), the second magnetic sheet (322) is connected to the second moving rotor substrate (321), and along the first direction (X), the second magnetic sheet (322) is located on a side of the second moving rotor substrate (321) close to the stator-rotor assembly (200).

11. The axial multi-rotor high torque actuator according to claim 10, characterized in that: A plurality of the first magnetic sheets (312) are provided, and the plurality of the first magnetic sheets (312) are evenly arranged in sequence along the rotation direction of the output shaft (400); A plurality of the second magnetic sheets (322) are provided, and the plurality of the second magnetic sheets (322) are evenly arranged in sequence along the rotation direction of the output shaft (400).

12. The axial multi-rotor high torque actuator according to claim 10, characterized in that: The first magnetic sheet (312) is fan-shaped, the center of the first magnetic sheet (312) is collinear with the axis of the output shaft (400), and the center angle of the first magnetic sheet (312) is a, satisfying: 30°≤a≤180°; The second magnetic sheet (322) is fan-shaped, the center of the second magnetic sheet (322) is colinear with the axis of the output shaft (400), and the center angle of the second magnetic sheet (322) is b, which satisfies: 30°≤b≤180°.

13. The axial multi-rotor high torque actuator according to claim 1, characterized in that: The housing (100) comprises a rear cover plate (110), wherein the rear cover plate (110) has a first corner groove (111) and a second corner groove (112), and the notches of the first corner groove (111) and the second corner groove (112) face the moving rotor assembly (300); The axial multi-rotor high-torque actuator further comprises a limit block, the limit block is connected to the movable rotor assembly (300), and the limit block is arranged in the first corner groove (111) or the second corner groove (112).

14. The axial multi-rotor high torque actuator according to claim 1, characterized in that: The axial multi-rotor high torque actuator further comprises a pointing member (600), wherein the pointing member (600) is connected to the output shaft (400); The pointing member (600) is configured to reflect the rotational position of the output shaft (400).

Images