Torque position sensing structure of permanent magnet synchronous motor

Abstract

The utility model discloses a permanent magnet synchronous motor torque position sensing structure, which comprises a shell structure and a torque sensing structure, the torque sensing structure comprises a torque sensor arranged at the central position of the inner side of the shell structure, and a rotor gear is arranged on the outer side of the torque sensor. A gear I and a gear II are mounted on the shell structure on the outer side of the rotor gear, and the gear I and the gear II are respectively meshed with the rotor gear; a motor PCB is further installed at one end of the shell structure, a protective cover plate with cooling fins is installed on the shell structure on the outer side of the motor PCB, and cooling surrounding pieces are annularly arranged on the outer side of the shell structure. The four-foot robot gait control system can be used for optimizing the control effect of a four-foot robot, increasing the gait control effect of the robot and improving the stability of the robot gait system.

Description

Technical Field

[0001] The utility model relates to the technical field of quadruped robots, and specifically relates to a torque position sensing structure of a permanent magnet synchronous motor. Background Technique

[0002] The original invention CN205663868U is an integrated power system of a permanent magnet synchronous motor and a two-speed electromagnetic direct drive transmission, which highly integrates the permanent magnet synchronous motor and the magnetic direct drive transmission, shortens the power transmission distance, and improves the power transmission efficiency. However, the original invention has the following disadvantages: (1) There is no feedback of torque sensing information: In the motion control process of the robot, the feedback of torque information can realize the torque control of the robot and increase the control methods. (2) There is no feedback of position sensing information: In the motion control process of the robot, the feedback of motor information strengthens the control accuracy of the robot joints and further optimizes the control algorithm. (3) The heat dissipation efficiency is low: When the motor runs for a long time, the heat energy inside the motor cannot be efficiently exchanged with the outside. Content of the Utility Model

[0003] The purpose of the utility model is to provide a torque position sensing structure of a permanent magnet synchronous motor to solve the problems put forward in the above background technique.

[0004] To achieve the above purpose, the utility model provides the following technical solution: A torque position sensing structure of a permanent magnet synchronous motor, including a housing structure, and also including

[0005] A torque sensing structure, the torque sensing structure includes a torque sensor installed at the center position inside the housing structure, and a rotor gear is installed outside the torque sensor. A gear one and a gear two are installed on the housing structure outside the rotor gear, and the gear one and the gear two are respectively meshed with the rotor gear;

[0006] One end of the housing structure is also installed with a motor PCB board. A protective cover plate with heat dissipation fins is installed on the housing structure outside the motor PCB board, and a heat dissipation surrounding piece is annularly arranged on the outside of the housing structure.

[0007] Further, a packaging cover plate is installed at the end of the housing structure away from the motor PCB board, and a rotor for connecting an external mechanical leg is arranged at the center of the packaging cover plate, and a rotor end connected to the torque sensing structure is arranged at the center of the rotor.

[0008] Further, connecting columns for installing the packaging cover plate are uniformly arranged on the outside of the housing structure, and the heat dissipation surrounding piece is installed on the outer side wall of the packaging cover plate between adjacent connecting columns.

[0009] Further, the heat dissipation fins are arranged in a long strip hole arrangement.

[0010] Further, the heat dissipation fins are arranged in an arc shape, and the radian of the heat dissipation fins matches the outer curling radian of the housing structure, and the distance between two adjacent heat dissipation fins is twice the thickness of a single heat dissipation fin.

[0011] Further, the torque sensor is connected to the motor PCB board.

[0012] Further, the number of teeth of the first gear and the second gear is different.

[0013] Further, a connection port for connecting to an external device is also provided on one side of the motor PCB board.

[0014] Compared with the prior art, the beneficial effects of the present utility model are as follows: The torque position sensing structure of this permanent magnet synchronous motor

[0015] (1) Has torque sensing information feedback: By arranging a torque sensing structure inside the housing structure, the torque information collected at the end of the rotor is transmitted through the through-hole in the rotor to the sensor for torque calculation and feedback of torque information, enabling robot torque control and greatly improving the control ability and effect of quadruped robots.

[0016] (2) Has position sensing information feedback: By arranging a rotor gear outside the torque sensor and setting a first gear and a second gear meshing with the rotor gear, the current deflection angle of the rotor can be calculated based on the different deflection angles of the position gears one and two, and thus the current position information of the rotor can be calculated to achieve position sensing. During the motion control process of the robot, the feedback of motor information strengthens the control accuracy of the machine joints and further optimizes the control algorithm, greatly improving the motor control accuracy.

[0017] (3) High-efficiency heat dissipation structure: By installing a protective cover plate with heat dissipation fins on the housing structure outside the motor PCB board, and arranging heat dissipation fins in a ring shape on the outside of the housing structure, it greatly ensures the working temperature balance of the motor during long-term operation and improves the stability of work operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is the front view structural schematic diagram of the present utility model;

[0019] Figure 2 is the structural schematic diagram of the motor PCB board of the present utility model;

[0020] Figure 3 is the internal structural schematic diagram of the present utility model;

[0021] Figure 4 is the back main body structural schematic diagram of the present utility model;

[0022] In the figure: 1. Protective cover plate; 101. Heat dissipation fins; 2. Motor PCB board; 201. Connection port; 3. Gear 1; 4. Torque sensing structure; 403. Torque sensor; 401. Rotor end; 402. Rotor gear; 5. Gear 2; 6. Heat dissipation shroud; 7. Housing structure; 701. Connecting cylinder; 8. Encapsulation cover plate; 9. Rotor. Detailed implementation manners

[0023] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0024] Please refer to Figures 1-4 , an embodiment provided by the present invention: a torque position sensing structure of a permanent magnet synchronous motor, including a housing structure 7, and further including

[0025] a torque sensing structure 4, the torque sensing structure 4 includes a torque sensor 403 installed at the center position inside the housing structure 7, and a rotor gear 402 is installed outside the torque sensor 403, and a gear 1 3 and a gear 2 5 are installed on the housing structure 7 outside the rotor gear 402, and the gear 1 3 and the gear 2 5 are respectively meshed with the rotor gear 402;

[0026] When the rotor gear 402 rotates, it drives the gear 1 3 and the gear 2 5 to rotate, and it can be calculated that the current deflection angle of the rotor can be calculated according to the different deflection angles of the position gear 1 3 and the position gear 2 5, and then the current position information of the rotor can be calculated to realize position sensing.

[0027] One end of the housing structure 7 is also installed with a motor PCB board 2, a protective cover plate 1 with heat dissipation fins 101 is installed on the housing structure 7 outside the motor PCB board 2, and a heat dissipation shroud 6 is annularly arranged outside the housing structure 7.

[0028] It can ensure that the heat dissipation capacity of the motor is improved during operation, and the stability of the motor during long-term operation is ensured.

[0029] An encapsulation cover plate 8 is installed at one end of the housing structure 7 away from the motor PCB board 2, and a rotor 9 for connecting an external mechanical leg is arranged at the center of the encapsulation cover plate 8, and a rotor end 401 connected to the torque sensing structure 4 is arranged at the center of the rotor 9.

[0030] The torque information collected by the rotor tail 401 is transmitted to the torque sensor 403 on the attachment Figure 2 through the through-channel in the rotor for torque calculation.

[0031] On the outer side of the housing structure 7, connecting cylinders 701 for installing the encapsulation cover plate 8 are uniformly arranged, and the heat dissipation fins 6 are installed on the outer side wall of the encapsulation cover plate 8 between adjacent connecting cylinders 701.

[0032] The heat dissipation fins 101 are arranged in a long strip hole pattern.

[0033] The heat dissipation fins 6 are arranged in an arc pattern, and the radian of the heat dissipation fins 6 matches the outer curling radian of the housing structure 7, and the distance between two adjacent heat dissipation fins 6 is twice the thickness of a single heat dissipation fin 6.

[0034] A gap is reserved between the heat dissipation fins 6 to make the air flow smoother, improve the problem of air stagnation, and enhance the heat dissipation effect.

[0035] The torque sensor 403 is connected to the motor PCB board 2.

[0036] The torque information collected by the rotor tail 401 is transmitted to the torque sensor 403 through the through-hole in the rotor and the torque is calculated by the motor PCB board 2.

[0037] The number of teeth of gear one 3 and gear two 5 is different.

[0038] When the rotor gear 402 rotates, the deflection angles of position gear one 3 and position gear two 5 are different.

[0039] On one side of the motor PCB board 2, a connection port 201 for connecting to external devices is also provided.

[0040] In the use of the embodiment of the present application, as shown in the appendix Figure 3 A torque sensing structure 4 is designed. Through the appendix Figure 4 The torque information collected by the rotor tail 401 is transmitted to the torque sensor 403 through the through-hole in the rotor as shown in the appendix Figure 2 to calculate the torque, as shown in the appendix Figure 3 When position gear one 3 and position gear two 5 connected to the rotor gear 402, due to the different number of teeth of gear one 3 and position gear two 5, when the rotor gear 402 rotates, the deflection angles of position gear one 3 and position gear two 5 are different, and the positions of gear one 3 and position gear two 5 are sensed to the circuit board 2 in the appendix Figure 2 According to the different deflection angles of position gear one 3 and position gear one 5, the current deflection angle of the rotor can be calculated, and thus the current position information of the rotor can be calculated to achieve position sensing.

[0041] Obviously, the above-described embodiments are only a part of the embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0042] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular forms are also intended to include the plural forms. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they specify the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0043] It should be noted that the terms "first", "second", etc. in the description, claims and drawings of the present application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0044] The above are only the preferred embodiments of the present utility model and are not used to limit the present utility model. For those skilled in the art, the present utility model can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A torque position sensing structure for a permanent magnet synchronous motor, comprising a housing structure (7), characterized in that: It further includes a torque sensing structure (4), the torque sensing structure (4) includes a torque sensor (403) installed at the inner center position of the housing structure (7), and a rotor gear (402) is installed outside the torque sensor (403). A first gear (3) and a second gear (5) are installed on the housing structure (7) outside the rotor gear (402), and the first gear (3) and the second gear (5) are respectively meshed with the rotor gear (402); One end of the housing structure (7) is further installed with a motor PCB board (2). A protective cover plate (1) with heat dissipation fins (101) is installed on the housing structure (7) outside the motor PCB board (2), and a heat dissipation surrounding piece (6) is annularly arranged on the outside of the housing structure (7).

2. The torque position sensing structure of a permanent magnet synchronous motor according to claim 1, wherein: One end of the housing structure (7) far from the motor PCB board (2) is installed with a packaging cover plate (8), and a rotor (9) for connecting an external mechanical leg is arranged at the center of the packaging cover plate (8), and a rotor end (401) connected to the torque sensing structure (4) is arranged at the center of the rotor (9).

3. A torque position sensing structure of a permanent magnet synchronous motor according to claim 1, characterized in that: Connecting columns (701) for installing the packaging cover plate (8) are uniformly arranged on the outside of the housing structure (7), and the heat dissipation surrounding piece (6) is installed on the outer wall of the packaging cover plate (8) between adjacent connecting columns (701).

4. A torque position sensing structure of a permanent magnet synchronous motor according to claim 1, characterized in that: The heat dissipation fins (101) are arranged in a long hole arrangement.

5. A torque position sensing structure of a permanent magnet synchronous motor according to claim 1, characterized in that: The heat dissipation surrounding piece (6) is arranged in an arc arrangement, and the radian of the heat dissipation surrounding piece (6) matches the outer rolling radian of the housing structure (7), and the distance between two adjacent heat dissipation surrounding pieces (6) is twice the thickness of a single heat dissipation surrounding piece (6).

6. A torque position sensing structure of a permanent magnet synchronous motor according to claim 1, characterized in that: The torque sensor (403) is connected to the motor PCB board (2).

7. A torque position sensing structure of a permanent magnet synchronous motor according to claim 1, characterized in that: The number of teeth of the first gear (3) and the second gear (5) is different.

8. A torque position sensing structure of a permanent magnet synchronous motor according to claim 1, characterized in that: A connection port (201) for connecting to an external device is further arranged on one side of the motor PCB board (2).

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