Driving and control integrated micro motor device

Abstract

The utility model discloses a driving and control integrated micro motor device, which comprises a main shell, a micro motor, a control mainboard and an adapter plate, the micro motor, the control mainboard and the adapter plate are all arranged in the main shell to form a closed structure; an output shaft at one end of the micro motor penetrates through the upper end of the main shell, and the other end of the micro motor is supported and mounted at the lower end of the main shell; the control mainboard is located on one side of the micro motor, the two ends of the control mainboard are correspondingly connected with the upper end of the main shell and the adapter plate, the adapter plate is provided with a pin header seat, and pins of the pin header seat penetrate out of the lower end of the main shell; the control mainboard comprises a power supply module, a control module, a driving module and a communication module. The device has the characteristics of small size, light weight, high reliability, accurate control angle and speed and the like, and can quickly drive the antenna to a target position with high precision; and high-precision position positioning and low-delay turning of the load antenna are realized.

Description

Technical Field

[0001] This utility model relates to the field of micro motor technology, specifically to a micro motor device integrating drive and control. Background Technology

[0002] Antenna rotation motor systems are typically developed using low-power micro motors, mainly assembled from a drive motor and gearbox, and are commonly used for antenna tilt control. As a miniaturized integrated drive and control motor device, the antenna rotation motor system can provide precise and rapid positioning for the rotation of antenna array elements in many automobiles. Through the control system, it controls the motor's rotation angle and speed, ensuring that the load mounted on the motor's output shaft rotates at the required angle and speed.

[0003] As disclosed in Chinese Patent Publication No. CN219247626U, this antenna motor offers precise speed control and belongs to the field of antenna motor technology. It includes an antenna motor housing and an antenna adjustment screw. A micro motor is fixedly installed on the bottom inner wall of the antenna motor housing, and a drive gear is fixedly connected to the top of the micro motor. A receiving rotating rod is slidably connected to the inner wall of the antenna motor housing, and a connecting frame is rotatably connected to the top of the receiving rotating rod. An electric telescopic rod is fixedly connected to the top of the connecting frame. A drive rotating rod is rotatably connected to the bottom inner wall of the antenna motor housing near the right edge. This invention provides an antenna motor with three precise speed adjustment modes: high speed, constant speed, and low speed. This allows the antenna motor to adjust the antenna speed as needed, eliminating the need for a dedicated frequency converter and enabling faster and more precise antenna adjustment.

[0004] However, with the development of intelligent connected vehicles and autonomous driving technologies, existing antenna-rotating motor systems face technical bottlenecks in areas such as structural compactness, anti-interference, response speed, rotational accuracy, and power consumption. For example, there are issues with miniaturization and reliability in terms of structure, whether they can withstand the wear caused by high-frequency rotation, whether the rotation angle control accuracy is sufficient, whether power consumption affects the vehicle's range, and electromagnetic interference. This patent aims to overcome the bottlenecks in miniaturization, high precision, and low latency in existing technologies. Summary of the Invention

[0005] This utility model provides a micro motor device integrating drive and control, which solves the limitations of existing micro motor systems in terms of miniaturization, high precision, and low latency.

[0006] To solve the above-mentioned technical problems, the technical solution of this utility model is as follows:

[0007] A drive-control integrated micro motor device includes a main housing, a micro motor, a control main board, and an adapter board. The micro motor, control main board, and adapter board are all housed within the main housing to form a closed structure. The output end of the micro motor passes through the upper end of the main housing, and the other end of the micro motor is supported and mounted on the lower end of the main housing. The control main board is located on one side of the micro motor, and its two ends are connected to the upper end of the main housing and the adapter board, respectively. The adapter board has a pin header, and the pins of the pin header protrude from the lower end of the main housing.

[0008] The control motherboard includes a power module, a control module, a drive module, and a communication module. The power module supplies power to the control module, drive module, and communication module by converting the voltage of a portion of the power supply connected to the pin headers. The control module includes an ARM series microcontroller. The drive module includes an integrated drive chip and a voltage and current sampling circuit. The communication module includes a CAN drive chip. The microcontroller outputs a PWM control signal to the integrated drive chip to achieve control connection. The motor drive line of the micro motor is electrically connected to the integrated drive chip via an FPC cable, and the motor drive line is electrically connected to the ADC interface of the microcontroller via the voltage and current sampling circuit. The electromagnetic encoder of the micro motor is electrically connected to the SPI interface of the microcontroller. The communication interface of the microcontroller is connected to the remaining pin headers via the CAN drive chip.

[0009] Furthermore, the microcontroller is an Arm Cortex processor series AT32F413KBU7-4 chip, with pins 6, 7, and 8 being the output terminals of three PWM control signals, pins 10, 11, and 12 being the input terminals of three voltage sampling circuits, pins 9, 13, and 15 being the input terminals of three current sampling circuits, pin 25 being the SPI interface, and pins 28 and 29 being the communication interface; the integrated driver chip is a DC brushless motor driver chip of model SS6343M or FT8215Q; the CAN driver chip is a high-speed CAN communication chip of model RJ1040, with pins 1 and 4 corresponding to pins 29 and 28 of the microcontroller, and pins 7 and 8 connected to the header as external CAN communication connection terminals.

[0010] Furthermore, the power module includes a reverse protection circuit, a surge protection circuit, a filter circuit, and a DC / DC circuit. The reverse protection circuit outputs to the surge protection circuit after receiving the input voltage. The surge protection circuit outputs to the filter circuit. The filter circuit outputs to the integrated driver chip and the DC / DC circuit respectively. The DC / DC circuit outputs to the power pin of the microcontroller.

[0011] Furthermore, the pin header is a connector of model A2005WV-4P, with two pins being input voltage terminals and the other two pins being two external CAN communication connection terminals.

[0012] Furthermore, the micro motor includes an output shaft, an output shaft aluminum sleeve, a bushing, a stator, a rotor, a motor end cover assembly, an induction magnetic ring, an end frame, and an electromagnetic encoder. An air extraction channel is provided between the two end covers of the motor end cover assembly inside the micro motor.

[0013] Furthermore, the main housing includes a hollow cylinder, the upper end of which is open and fastened with an upper end cover. The upper end cover has a through hole, through which the output shaft of the micro motor passes and the output end is embedded in the through hole, thereby closing the upper end of the hollow cylinder with the upper end cover. The upper end of the control main board is locked with the upper end cover and the lower end is locked with the adapter plate. The lower end of the hollow cylinder is fastened with a lower end cover, thereby closing the lower end of the hollow cylinder. The lower end cover is mounted to the lower end of the micro motor by setting a support bracket. The lower end cover is locked with the lower end of the control main board by setting a slot. The lower end cover accommodates and installs the pin header by setting a pin header sealing groove, and the pins of the pin header extend out of the lower end cover.

[0014] Furthermore, the hollow cylinder is made of high-strength 6061 aviation aluminum, the upper and lower end caps are made of aviation PEEK engineering plastic, the end cap of the output shaft of the micro motor has a limiting installation step on the entire circumference, the horizontal interface of the limiting installation step is D-shaped, and the inner surface of the upper end cap of the main housing has an installation groove corresponding to the limiting installation step so that the output end of the micro motor is embedded and fixed on the upper end cap.

[0015] Compared with existing technologies, this device is characterized by its small size, light weight, high reliability, and precise control of angle and speed. It can quickly and accurately drive the antenna to the target position and achieve high-precision positioning and low-delay adjustment of the load antenna. Attached Figure Description

[0016] Figure 1 This is a cross-sectional view of the overall structure in a specific embodiment of the present invention.

[0017] Figure 2 This is a pin design diagram of a microcontroller in a specific embodiment of this utility model.

[0018] Figure 3 This is a schematic diagram illustrating the control principle of the mainboard in a specific embodiment of this utility model.

[0019] Figure 4 This is a circuit diagram of the voltage feedback circuit in a specific embodiment of the present invention.

[0020] Figure 5 This is a circuit diagram of the current sampling circuit in a specific embodiment of the present invention.

[0021] Figure 6 This is a circuit diagram of the power supply module in a specific embodiment of the present invention.

[0022] Figure 7 This is a pin design diagram of the integrated driver chip in a specific embodiment of the present invention.

[0023] Figure 8 This is a PCB board design diagram of the control motherboard in a specific embodiment of the present invention.

[0024] Figure 9 This is a schematic diagram of the structure of a micro motor in a specific embodiment of the present invention.

[0025] Figure 10 This is a schematic diagram of the output shaft in a specific embodiment of the present invention.

[0026] Figure 11 This is a bottom view of a micro motor in a specific embodiment of the present invention.

[0027] Figure 12 This is a finite element simulation stress deformation distribution diagram of the overall structure in a specific embodiment of this utility model. Detailed Implementation

[0028] The specific embodiments of this utility model will be further described below with reference to the accompanying drawings. It should be noted that these descriptions are for the purpose of aiding understanding of this utility model, but do not constitute a limitation thereof. Furthermore, the technical features involved in the various embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.

[0029] In the description of this utility model, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, in the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0030] A micro motor device integrating drive and control, such as Figure 1As shown, it includes a main housing 1, a micro motor 2, a control main board 3, and an adapter board 4; the micro motor 2, the control main board 3, and the adapter board 4 are all placed inside the main housing 1 to form a closed structure; the output end of the micro motor 2 passes through the upper end of the main housing 1, and the other end of the micro motor 2 is supported and mounted on the lower end of the main body; the control main board 3 is located on one side of the micro motor 2, and both ends of the control main board 3 are connected to the upper end of the main housing 1 and the adapter board 4 respectively; the adapter board 4 has a pin header 5, and the pins of the pin header 5 extend out of the lower end of the main housing 1.

[0031] The control motherboard 3 includes a power module, a control module, a drive module, and a communication module. The power module supplies power to the control module, drive module, and communication module by converting the voltage of a portion of the power supplied to the pin headers. The control module includes an ARM-based microcontroller. The drive module includes an integrated driver chip and a voltage and current sampling circuit. The communication module includes a CAN driver chip. The microcontroller outputs a PWM control signal to the integrated driver chip to establish a control connection. The motor drive line of the micro motor 2 is electrically connected to the integrated driver chip via an FPC cable, and the motor drive line is electrically connected to the ADC interface of the microcontroller via the voltage and current sampling circuit. The electromagnetic encoder 22 of the micro motor 2 is electrically connected to the SPI interface of the microcontroller. The communication interface of the microcontroller is connected to the remaining pin headers via the CAN driver chip.

[0032] This device primarily achieves miniaturized integration of the motor, drive, control, and interface, giving it miniaturization, shock and vibration resistance, and airtightness. The miniature motor 2 mainly provides kinetic energy to the load, enabling functions such as position positioning and high-speed rotation. The electromagnetic encoder 22 provides feedback on the real-time angular position of the output shaft 26 of the miniature motor 2. The control motherboard 3 mainly uses a microcontroller to calculate and acquire the real-time position of the output shaft 26 of the miniature motor 2, controlling the speed, direction, and braking of the drive motor 2. Simultaneously, it transmits position information via CAN communication. The miniature motor 2 adopts a mature miniature permanent magnet brushless motor. With its integrated control and drive design, it achieves a gearbox-less design and extreme lightweight design, featuring precise control angle and speed. It can quickly and accurately drive the antenna to the target position; achieving high-precision position positioning and low-latency rotation of the load antenna.

[0033] The specific selection and matching are as follows: the microcontroller is the Arm Cortex processor series AT32F413KBU7-4 chip. Pins 6, 7, and 8 are the output terminals for three-channel PWM control signals; pins 10, 11, and 12 are the input terminals for three-channel voltage feedback circuits; pins 9, 13, and 15 are the input terminals for three-channel current feedback circuits; pin 25 is the SPI interface; and pins 28 and 29 are the communication interface, as shown below. Figure 2 As shown. The AT32F413KBU7-4 chip is a small-package, low-weight component in QFN or DFN form factor, measuring 4*4mm and weighing only 68mg. It provides a rich set of peripheral interfaces, including PWM, IO, SPI, and ADC, which facilitates miniaturization and integration.

[0034] In addition to hardware, the control module also includes software within the microcontroller. The control working principle is as follows: Figure 3 As shown, the drive module adjusts the direction and magnitude of the drive current in real time based on the feedback signal from the electromagnetic encoder 22, thereby driving the rotor 24 of the micro motor 2 to rotate. The electromagnetic encoder 22 collects the position information of the rotor 24. Based on the collected feedback signal, the microcontroller determines when to commutate the current and accordingly controls the state of the switching elements such as power transistors (e.g., MOSFETs) in the drive module to achieve the drive change. The microcontroller uses pulse width modulation (PWM) technology to control the current magnitude. By adjusting the duty cycle of the PWM signal, the on-time and off-time of the switching elements can be controlled, thereby controlling the average current and thus the speed and torque of the micro motor 2.

[0035] The integrated driver chip is a DC brushless motor driver chip of model SS6343M or FT8215Q; the CAN driver chip is a high-speed CAN communication chip of model RJ1040, which is a high-speed CAN communication chip with a maximum communication rate of 1Mbps and excellent common-mode range. Its pins 1 and 4 correspond to pins 29 and 28 of the microcontroller, and its pins 7 and 8 are connected to the header as external CAN communication connection terminals. The external interface is designed with terminating resistors and EMC protection circuits, as shown in the design. Figure 7 As shown.

[0036] The motor is driven by an integrated driver chip, which incorporates a pre-drive and three half-bridges for direct motor drive. Its PWM control frequency reaches 250kHz, with an output rise time of less than 200ns and a fall time of less than 160ns. It features undervoltage protection, overcurrent protection, and overtemperature protection, and is packaged in a QFN4*4mm package, weighing only 60mg. The driver module incorporates current and voltage feedback for closed-loop control. One voltage feedback circuit is shown below. Figure 4 As shown, the three-channel current feedback circuit is as follows: Figure 5 As shown.

[0037] The current sampling uses an integrated high-speed operational amplifier to design a differential amplifier circuit to detect the three-phase current. A 0.3Ω current sensing resistor is used, amplifying the current by 21 times. Therefore, the current calculation formula is as follows: I = (ADC / 4096*3.3) / 21 / 0.3, where ADC is the register value acquired by the microcontroller, 4096 is the 12-bit ADC coefficient, and 3.3V is the reference voltage. Voltage sampling uses a resistor voltage divider method with a voltage division ratio of 5:1. Therefore, the back electromotive force calculation formula is as follows: V = (ADC / 4096*3.3) / 6.

[0038] Bus voltage, U-phase electromotive force, and V-phase electromotive force are acquired using a single channel and a continuous sampling method. The microcontroller's ADC general-purpose channel can be configured as follows:

[0039] Serial Number parameter Configuration value 1 Working clock 24MHz 2 Sampling period 12 Cycle 3 Data conversion time 12 Cycle 4 Conversion rate 1Msps 5 Sampling bit depth 12bit 6 Data alignment Right alignment

[0040] The power module includes an anti-reverse circuit, a surge protection circuit, a filter circuit, and a DC / DC circuit, such as... Figure 6 As shown, the anti-reverse circuit outputs to the surge protection circuit after receiving the input voltage. The surge protection circuit outputs to the filter circuit. The filter circuit outputs to the integrated driver chip and the DC / DC circuit respectively. The DC / DC circuit outputs to the power supply pin of the microcontroller.

[0041] The power supply design of this device adopts DC / DC conversion, achieving a power conversion efficiency of 95%. The DC / DC converter transforms the input voltage into a 3.3V voltage usable by the MCU system. The chip input voltage range is 2.8V to 12V, meeting the requirement of a 4V to 6.5V input voltage range. Reverse connection protection and surge protection are also included: Schottky diodes are used for reverse connection protection, with a voltage drop to 0.2V; TVS diodes are used for surge protection, with a reverse cutoff voltage (Vrwm) of 7V, a maximum clamping voltage of 12V, and a peak pulse current (Ipp) @ 10 / 1000us of 16.7A; ceramic capacitors are used for filtering to ensure the stability and reliability of the control system's power supply. The specific circuit schematic can be derived from the above description and existing technologies, and will not be elaborated further here.

[0042] The pin header 5 is a connector of model A2005WV-4P. Two pins of the pin header 5 are input voltage terminals, and the other two pins are two external CAN communication connection terminals. The use of the pin header 5 to lead out the connection terminals facilitates sealing of the lower end of the main housing 1. Through the design of the above modules, the PCB board size of the control motherboard 3 can be designed to be 23*8*0.8mm, with a uniform and reasonable layout. The PCB board rendering is shown below. Figure 8 As shown.

[0043] The micro motor 2 includes an output shaft 26, an aluminum sleeve for the output shaft 26, a bushing, a stator 25, a rotor 24, a motor end cover assembly, an induction magnetic ring 23, an end frame, a sealing ring 21, and an electromagnetic encoder 22. An air extraction channel is provided inside the micro motor 2 between the two end covers of the motor end cover assembly. Figure 9 As shown.

[0044] The stator 25 provides a permanent magnetic field, and the rotor 24 provides an electromagnetic field. Under the commutation of the brushes, the rotor 24 rotates, providing driving force. An electromagnetic encoder 22 is installed at the other end opposite the output end. A sensing magnetic ring 23 is installed on the shaft of the rotor 24 facing the end face of the electromagnetic encoder 22. The electromagnetic encoder 22 senses the position of the sensing magnetic ring 23, providing feedback on the real-time position of the output shaft 26. The microcontroller obtains the SPI timing of the electromagnetic encoder 22 via the SPI interface, with a theoretical minimum angle control accuracy of no less than 0.1°. The end cap at the output shaft 26 provides a groove for installing a sealing ring 21. The space inside the sealing ring 21 is connected to the internal space, forming an air extraction channel.

[0045] In this patent, the output shaft 26 adopts a unique hollow shaft + airtight core design. The advantage of this design is that it can reduce the weight of the motor and also allow for the extraction and injection of inert gas using the output shaft 26. Its design structure is as follows: Figure 10 As shown. Output shaft 26 is The circular shaft also adopts a hollow design, with a hollow diameter of... Then glue on the required size 26 aluminum sleeve for the output shaft to ensure that the interface requirements of the whole machine are met.

[0046] The main housing 1 includes a hollow cylinder. The upper end of the hollow cylinder is open and fastened with an upper end cover 11. The upper end cover 11 has a through hole. The output shaft 26 of the micro motor 2 passes through the through hole and the output end is embedded in the through hole, so that the upper end cover 11 closes the upper end of the hollow cylinder, realizing precise radial and axial positioning of the motor. The upper end of the control main board 3 is locked with the upper end cover 11 and the lower end is locked with the adapter plate 4. The lower end of the hollow cylinder is fastened with a lower end cover 12, so that the lower end cover 12 closes the lower end of the hollow cylinder. The lower end cover 12 is installed with the lower end of the micro motor 2 by setting a support bracket. The lower end cover 12 is locked with the lower end of the control main board 3 by setting a slot. The lower end cover 12 accommodates and installs the pin header 5 by setting a pin header sealing groove, and the pins of the pin header 5 protrude from the lower end cover 12.

[0047] During the manufacturing and assembly of this device, the micro motor 2 and the control motherboard 3 are connected via an FPC cable. The FPC sockets are selected with a 0.5mm pitch to minimize size and weight. The upper cover 11 of the main housing 1 is fixed to the micro motor 2 and the control motherboard 3 through perforations (and additional slots if necessary). Sealant is applied to the assembly joint between the micro motor 2 and the upper cover 11, ensuring the sealant is applied evenly and completely around the perimeter, and any excess sealant is cleaned up. The micro motor 2, control motherboard 3, and upper cover 11 then form a single assembly, which is then snapped into the upper part of the main housing 1. Sealant is applied to the perimeter and pin slots of the lower cover 12, ensuring the sealant is applied evenly and completely around the perimeter and within the sealing groove, and any excess sealant is cleaned up. The lower cover 12 is snapped into the lower port of the main housing 1. During this insertion process, the slots and support brackets of the lower cover 12 also secure the lower ends of the micro motor 2 and the control motherboard 3. The upper end of the micro motor 2 has a sealing groove, within which a sealing ring 21 is placed. This structure ensures the effective positioning and fixation of the micro motor 2 and the control motherboard 3, and forms a closed structure to facilitate subsequent vacuuming and inert gas filling.

[0048] From a material design perspective, the hollow cylinder is preferably made of high-strength 6061 aerospace aluminum, and the upper and lower end caps 12 are made of aerospace PEEK engineering plastic. The end cap at the output shaft 26 of the micro motor 2 has a limiting mounting step along its entire circumference. The horizontal interface of the limiting mounting step is D-shaped. Both the limiting mounting step of the micro motor 2 and the output shaft 26 can be D-shaped, and their straight surfaces face each other. Figure 11 As shown. The inner surface of the upper end cover 11 of the main housing 1 is provided with an installation groove corresponding to the limiting installation step so that the output end of the micro motor 2 is embedded and fixed on the upper end cover 11, thereby achieving precise radial and axial positioning of the motor.

[0049] The main housing 1, serving as the core support of this device, is made primarily of high-strength aerospace-grade aluminum 6061. This aluminum alloy, rigorously processed and manufactured using precision molds, allows the main housing 1 to withstand pressure and impact under various complex working conditions, maintaining structural stability and reliability. Simultaneously, 6061 aluminum possesses excellent weldability, greatly facilitating subsequent processing and assembly, making the entire manufacturing process more efficient and flexible. Furthermore, this aluminum exhibits excellent corrosion resistance, maintaining its good physical and chemical properties under various harsh environmental conditions, extending the structure's service life. Its excellent machinability allows the main body to undergo precise cutting, drilling, and bending operations according to design requirements, meeting diverse usage needs. The upper and lower end caps 12 at both ends of the main housing 1 are made of a special aerospace engineering plastic, PEEK. This material is renowned for its superior mechanical properties, capable of withstanding high-intensity mechanical stress without easily deforming or cracking. At the same time, PEEK also possesses extremely strong chemical corrosion resistance, resisting the erosion of various chemical substances and maintaining the integrity and aesthetics of the outer shell. Its wear resistance and fatigue resistance are also outstanding, maintaining good surface quality and structural performance even during prolonged use. Furthermore, PEEK exhibits excellent dimensional stability, maintaining constant and precise dimensions under various temperature conditions, ensuring a tight fit and secure connection between components.

[0050] The micro motor 2 is designed with dimensions of The control motherboard 3 measures 23mm*8mm*0.8mm, and the adapter board 4 measures 8mm*3mm*0.8mm. Based on overall requirements, the micro motor 2, control motherboard 3, adapter board 4, and pin header 5 are stacked, resulting in a stacked size less than 13.05mm*8mm*23.5mm. Therefore, the main housing 1 has a length of 16.5mm, a width of 8.6mm, and a total height of 24mm. Using 6061 aluminum alloy, the weight of the aluminum alloy housing is calculated to be 0.9 grams. The upper and lower covers are made of PEEK material; the upper cover 11 weighs 0.14 grams, and the lower cover 12 weighs 0.16 grams. T9000 sealant is used, with a dosage of 0.2g. Therefore, the total weight of the main housing 1 is: 0.9g + 0.14g + 0.16g + 0.2g = 1.4g, and the total weight can be controlled within 2g. The micro motor 2 weighs 3.09g, the control motherboard 3 weighs 0.5g, the adapter board 4 weighs 0.2g, and the auxiliary materials weigh 0.2g, for a total stacked weight of 3.99g. Therefore, the total weight of the device, including all its hardware, is 4.6g, which meets the requirement that the conventional micro motor 2 weighs ≤6g.

[0051] The Creo RealSimulate model is used to perform finite element simulations on the outer shell to analyze its structural strength. A 3D CAD model of the outer shell is created or imported, and forces, pressures, and constraints are applied. Material properties for each part of the model are specified, and the model is imported using the aforementioned structural and material parameters. A simulation result can be obtained as follows: Figure 12 As shown, the simulation results can be analyzed to verify whether the structural strength meets the requirements.

[0052] The micro motor 2 device manufactured using the scheme of this patent, after testing the prototype by the applicant, has the following functional requirements: (1) the motor output shaft has precise positioning capability; (2) the motor output shaft has rapid rotation capability; (3) it has CAN communication capability; (4) it has wide voltage input capability and low current operating capability. In terms of performance requirements, it can achieve (1) positioning accuracy: ≤±1°; (2) maximum rotation time under load: 180° rotation, ≤40ms (load mass ≤2g, rotation radius ≤6mm); (3) position fixing function: 360° absolute position arbitrary angle fixing; (4) control interface: CAN2.0B; (5) working power supply: 4.0~6.5VDC; rated voltage: 5V; drive and control integrated motor static current <70mA, operating current <400mA; (6) total mass: ≤6g.

[0053] The embodiments of this utility model have been described in detail above with reference to the accompanying drawings, but this utility model is not limited to the described embodiments. For those skilled in the art, various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of this utility model, and these variations still fall within the protection scope of this utility model.

Claims

1. An integrated micro motor drive device, characterized by: The system includes a main housing, a micro motor, a control motherboard, and an adapter board. The micro motor, control motherboard, and adapter board are all housed within the main housing to form a closed structure. The output end of the micro motor passes through the upper end of the main housing, and the other end of the micro motor is supported and mounted on the lower end of the main housing. The control motherboard is located on one side of the micro motor, and its two ends are connected to the upper end of the main housing and the adapter board, respectively. The adapter board has a pin header, and the pins of the pin header protrude from the lower end of the main housing. The control motherboard includes a power module, a control module, a drive module, and a communication module. The power module supplies power to the control module, drive module, and communication module by converting the voltage of a portion of the power supply connected to the pin headers. The control module includes an ARM series microcontroller. The drive module includes an integrated drive chip and a voltage and current sampling circuit. The communication module includes a CAN drive chip. The microcontroller outputs a PWM control signal to the integrated drive chip to achieve control connection. The motor drive line of the micro motor is electrically connected to the integrated drive chip via an FPC cable, and the motor drive line is electrically connected to the ADC interface of the microcontroller via the voltage and current sampling circuit. The electromagnetic encoder of the micro motor is electrically connected to the SPI interface of the microcontroller. The communication interface of the microcontroller is connected to the remaining pin headers via the CAN drive chip.

2. The drive-integrated micromotor device of claim 1, wherein: The microcontroller is the AT32F413KBU7-4 chip from the Arm Cortex processor series. Its pins 6, 7, and 8 are the output terminals of three PWM control signals, its pins 10, 11, and 12 are the input terminals of three voltage feedback circuits, its pins 9, 13, and 15 are the input terminals of three current feedback circuits, its pin 25 is the SPI interface, and its pins 28 and 29 are the communication interface. The integrated driver chip is a DC brushless motor driver chip of model SS6343M or FT8215Q; the CAN driver chip is a high-speed CAN communication chip of model RJ1040, with its pins 1 and 4 connected to pins 29 and 28 of the microcontroller, and its pins 7 and 8 connected to the header as external CAN communication connection terminals.

3. The drive-integrated micromotor device of claim 2, wherein: The power module includes a reverse protection circuit, a surge protection circuit, a filter circuit, and a DC / DC circuit. The reverse protection circuit outputs to the surge protection circuit after receiving the input voltage. The surge protection circuit outputs to the filter circuit. The filter circuit outputs to the integrated driver chip and the DC / DC circuit respectively. The DC / DC circuit outputs to the power pin of the microcontroller.

4. The integrated drive and control micro motor device according to claim 3, characterized in that: The pin header is a connector of model A2005WV-4P. Two pins of the pin header are input voltage access terminals, and the other two pins are two external CAN communication connection terminals.

5. The integrated drive and control micro motor device according to claim 4, characterized in that: The micro motor includes an output shaft, an output shaft aluminum sleeve, a bushing, a stator, a rotor, a motor end cover assembly, an induction magnetic ring, an end frame, and an electromagnetic encoder. An air extraction channel is provided between the two end covers of the motor end cover assembly inside the micro motor.

6. A micro motor device integrating drive and control according to any one of claims 1 to 5, characterized in that: The main housing includes a hollow cylinder. An upper end cover is fastened to the upper open end of the hollow cylinder. The upper end cover has a through hole through which the output shaft of the micro motor passes, and the output end is embedded in the through hole, thus closing the upper open end of the hollow cylinder with the upper end cover. The upper end of the control main board is locked to the upper end cover, and the lower end is locked to the adapter plate. A lower end cover is fastened to the lower open end of the hollow cylinder, thus closing the lower open end of the hollow cylinder. The lower end cover is mounted to the lower end of the micro motor via a support bracket. The lower end cover is also locked to the lower end of the control main board via a slot. The lower end cover accommodates and mounts the pin header via a pin header sealing groove, and the pins of the pin header extend out of the lower end cover.

7. The integrated drive and control micro motor device according to claim 6, characterized in that: The hollow cylinder is made of high-strength 6061 aviation aluminum, and the upper and lower end caps are made of aviation PEEK engineering plastic. The end cap at the output shaft end of the micro motor has a limiting installation step along its entire circumference. The horizontal interface of the limiting installation step is D-shaped. The inner surface of the upper end cap of the main housing has an installation groove corresponding to the limiting installation step so that the output end of the micro motor can be embedded and fixed on the upper end cap.

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