Ultrathin torque motor

Abstract

The utility model discloses an ultrathin torque motor, which relates to the technical field of corner torque motors, aims to solve the problem of large size of a torque motor, and comprises a rotor shaft and a bearing fixed at one end of the rotor shaft, the rotor shaft is provided with a solid induction rotor, one side of the solid induction rotor is provided with a composite stator, and the composite stator is provided with a stator core. The composite stator comprises a plurality of layers of windings, each layer of winding comprises a plurality of independent winding units, a PCB control board is installed on one side of the composite stator, and the PCB control board is connected with the independent winding units. According to the ultrathin torque motor, the overall size of a driving element can be reduced, so that a joint of a robot is more compact; and each layer of winding of the motor can be independently electrified and independently operated, and can also be operated together with other two circles of windings, so that a wide torque range and a wide rotating speed range are realized, and various complex application working conditions are met.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of corner torque motor, specifically relates to an ultrathin torque motor. BACKGROUND

[0002] The joint driving executive mechanism of special robot has special requirements on installation space and product characteristics, and has great difference from prior art in product structure and principle, and the existing motor is difficult to be directly applied to the special robot. For example, a Chinese patent with publication number CN114123565A relates to a limited corner torque motor with no radial runout of rotor, comprising a shell, a stator assembly, a rotor assembly, a limiting screw and a limiting shaft sleeve; the shell comprises an outer shell and a bearing chamber; the stator assembly comprises a stator core and a stator winding, and the stator winding is a multi-layer coil wound on the stator core by adopting a single coil; the rotor assembly comprises a rotating shaft, a rotor core, a magnetic steel, a magnetic shield ring and a rotor shield plate; the rotating shaft is arranged in the bearing chamber through two groups of bearings; the limiting shaft sleeve is arranged between the two groups of bearings; the rotor core is arranged outside the rotating shaft; the limiting screw is arranged on the left side of the rotor core, and cooperates with an arc limiting groove arranged in the outer shell; the magnetic steel is arranged outside the rotor core, the magnetic shield ring is arranged on the right side of the magnetic steel, and the rotor shield plate is arranged on the right side of the magnetic shield ring and the rotor core, so as to realize multi-layer magnetic leakage shielding and improve the reliability of the limited corner torque motor, but the motor of the Chinese patent with publication number CN114123565A has large size, and it is difficult to meet the special requirements of the special robot on installation space and product characteristics. SUMMARY

[0003] In order to solve the problem of large size of torque motor, the utility model provides an ultrathin torque motor, which can reduce the overall size of the driving element, so that the joints of the robot are more compact; and each layer of winding of the motor can be powered separately and independently operated, or can be operated together with other two layers of winding, so as to realize wide torque range and wide speed range, and meet various complex application conditions.

[0004] In order to achieve the above purpose, the utility model adopts the following technical scheme: an ultrathin torque motor,

[0005] The utility model discloses a rotor shaft and bearing fixed on one end of rotor shaft, install solid induction rotor on rotor shaft, one side of solid induction rotor is equipped with compound stator, compound stator includes a plurality of layers of winding, each layer of winding includes a plurality of independent winding units, one side of compound stator is installed with PCB control panel, PCB control panel is connected independent winding unit.

[0006] In the technical solution, the ultra-thin motor is realized by the flat solid induction rotor and the flat composite stator structure layout arranged on the same side of the rotor, thereby reducing the size of the driving element; and flexible and accurate current control and magnetic field adjustment are realized by the design of the independent winding unit in the multi-layer winding.

[0007] Preferably, the composite stator is composed of three layers of windings, which are inner ring winding, middle ring winding and outer ring winding from inside to outside, each layer of the winding has 24 independent winding units, the composite stator is composed of 72 independent winding units, and the independent winding unit is composed of a magnetically conductive core and a coil.

[0008] Preferably, the independent winding units are circumferentially distributed around the rotor shaft, and each layer of the winding is a flat annular structure formed by equidistant arrangement of a plurality of independent winding units.

[0009] Preferably, each independent winding unit is a flat fan-shaped ring formed by winding N turns of coils, and the coils are assembled on the magnetically conductive core to form an integral whole.

[0010] Preferably, the coil end of each independent winding unit is provided with two connection terminals, which are positive and negative poles of the winding respectively, the PCB control board is connected to the connection terminals, and the inner ring winding, the middle ring winding and the outer ring winding are connected in series or parallel.

[0011] Preferably, the 72 independent winding units are connected to form 12 pairs of winding groups, and the 12 pairs of winding groups form a rotating magnetic field with 2 poles, 4 poles, 6 poles or 8 poles by being connected in series or parallel.

[0012] Preferably, the solid induction rotor adopts a flat magnetically conductive material, and the surface of the solid induction rotor generates corresponding rotor magnetic poles according to the pole pair number of the stator rotating magnetic field.

[0013] Preferably, the independent winding units of each layer of the winding of the composite stator are pressed into a fan-shaped structure, and the shape thereof matches the shape of the magnetically conductive core.

[0014] Preferably, the inner ring winding is connected to the PCB control board alone, and the outer ring winding and the middle ring winding are not working.

[0015] Preferably, an insulating sheath is arranged between the composite stator and the PCB control board.

[0016] The beneficial effects of the utility model are as follows:

[0017] 1) Ultra-thin design: by optimizing the winding structure and overall layout, the ultra-thin motor is realized, which can be applied to application scenarios with high space requirements.

[0018] 2) Flexible variable-pole speed regulation function: through the PCB control board to control the connection mode of independent winding unit, can realize 2-pole, 4-pole, 6-pole, 8-pole multi-pole rotating magnetic field, so as to meet different speed and torque requirements;

[0019] 3) High efficiency control: independent winding unit is connected by PCB control board, which can realize accurate current control and magnetic field regulation, improve the operation efficiency and control precision of motor;

[0020] 4) Compact structure: independent winding unit is designed in flat fan ring shape, so that the overall structure of the motor is more compact, improving the space utilization. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a structure diagram of the ultra-thin torque motor of the utility model.

[0022] Figure 2 is a composite stator structure diagram of the ultra-thin torque motor of the utility model.

[0023] Figure 3 is a series connection diagram of different layer windings of the ultra-thin torque motor of the utility model.

[0024] Figure 4 is an equivalent circuit diagram of series connection of different layer windings of the ultra-thin torque motor of the utility model.

[0025] Figure 5 is a parallel connection diagram of different layer windings of the ultra-thin torque motor of the utility model.

[0026] Figure 6 is an equivalent circuit diagram of parallel connection of different layer windings of the ultra-thin torque motor of the utility model.

[0027] Figure 7 is a distributed connection equivalent circuit diagram of different layer windings of the ultra-thin torque motor of the utility model.

[0028] Fig. 1 is a structure diagram of the ultra-thin torque motor of the utility model. DETAILED DESCRIPTION

[0029] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only one preferred embodiment of this utility model and are only used to explain this utility model. They do not limit the scope of protection of this utility model. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0030] Example 1

[0031] This embodiment provides an ultra-thin torque motor, primarily used in special-purpose robots as an ultra-thin joint drive actuator. (Reference) Figure 1 The ultra-thin torque motor of this embodiment consists of three core components: a composite stator 1, a solid induction rotor 3, and a PCB control board 4.

[0032] The composite stator adopts a planar winding structure, consisting of three layers of windings: an outer winding, a middle winding, and an inner winding. Each layer of windings is divided into 24 independent winding units, and the entire stator is composed of 72 independent winding units. Each independent winding unit consists of a magnetic core and a coil, arranged in a flat, fan-shaped ring shape, and distributed circumferentially around the rotor shaft to form a flat, ring-shaped structure.

[0033] The solid induction rotor is designed with a planar magnetic material and is mounted on the rotor shaft. When the rotating magnetic field of the stator passes through the solid rotor, an induced current is generated on the rotor surface, thereby generating electromagnetic torque to drive the rotor to rotate.

[0034] For example, when a 50Hz power supply is applied to the windings, the stator windings will generate a rotating magnetic field with a rotational frequency of 50Hz. The solid induction rotor, affected by the rotating magnetic field, will generate an induced current and produce a rotating torque.

[0035] The rotor rotates following the rotating magnetic field of the stator. The rotor's rotational speed is lower than that of the stator's magnetic field. Its working principle is the same as that of an asynchronous motor.

[0036] The PCB control board is installed on one side of the stator to connect 72 independent winding units and realize the series and parallel control of the windings and the pole-changing speed regulation function.

[0037] The PCB control board can not only enable free soldering of windings and control the series and parallel connection of windings according to the characteristics of the motor, but also form 12 pairs of windings by controlling the connection of 72 independent winding units, thereby realizing a rotating magnetic field with different numbers of magnetic poles and achieving the function of pole changing speed regulation.

[0038] In addition, the PCB control board can also achieve the emergency braking function of the winding by applying a DC current with a frequency of 0 to a single winding.

[0039] The motor further comprises a rotor shaft 2 capable of supporting the rotor and realizing rotation, one end of the rotor shaft being fixed with a plurality of bearings 2-1.

[0040] An insulating sheath 5 is arranged between the composite stator and the PCB control board to ensure electrical insulation and operation safety.

[0041] The winding structure of the composite stator of the ultra-thin torque motor of the embodiment will be described in detail below.

[0042] The winding of the composite stator adopts a layered structure and is composed of three layers of windings, from inside to outside, the inner circle winding, the middle circle winding and the outer circle winding, wherein each layer of winding comprises 24 independent winding units, and the entire stator has 72 independent winding units.

[0043] Each independent winding unit is in a flat fan ring shape, is wound by N turns of coils, and is pressed into a fan structure by a mold to match the shape of the magnetic conductive core.

[0044] Each independent winding unit is provided with two terminal ends at the coil end, which are the positive and negative poles of the winding. After the 72 independent winding units are all assembled on the magnetic conductive core, 144 terminal ends are formed for connection with the PCB control board.

[0045] The solid induction rotor of the ultra-thin torque motor of the embodiment will be described in detail below.

[0046] The solid induction rotor adopts a planar magnetic conductive material design and can be processed from an armature and installed on the rotor shaft.

[0047] The working principle of the solid induction rotor is that when the stator rotating magnetic field passes through the solid rotor, an induced electromotive force is generated on the surface of the rotor, and an induced current is formed. The size and direction of the induced current are affected by the stator magnetic field, thereby generating a number of induced magnetic field poles on the surface of the rotor.

[0048] The number of induced magnetic field poles generated on the surface of the solid induction rotor is affected by the number of poles of the stator rotating magnetic field, and can generate corresponding rotor magnetic poles according to the number of poles of the stator rotating magnetic field. The ultra-thin torque motor of the embodiment can generate a 2-pole, 4-pole, 6-pole or 8-pole rotating magnetic field, thereby adapting to different speed and torque requirements and realizing an ultra-wide speed regulation range and an ultra-large torque speed regulation range.

[0049] In the embodiment, all 72 independent winding units are connected in series through the PCB control board. The outer circle winding, the middle circle winding and the inner circle winding are connected in series to form an A-phase winding. After the three layers of windings are connected in series, a high-voltage small-current control mode can be realized to meet the driving requirements of the motor under high-voltage power supply.

[0050] Specifically, the coil end of each independent winding unit is provided with two connection terminals, positive and negative respectively. The PCB control board connects the negative of one winding unit with the positive of the next winding unit, and all winding units are connected in series to form a complete series circuit, as shown in Figure 3 .

[0051] Through series connection, the current of all winding units is the same, and the total voltage is the sum of the voltages of each winding unit, as shown in the equivalent circuit Figure 4 . This connection mode is suitable for scenarios that require high voltage output and can effectively improve the output power and torque of the motor. At the same time, since the current path is single, the control circuit is relatively simple, and is suitable for application scenarios with high precision requirements.

[0052] In this embodiment, the 72 independent winding units are connected to form 12 winding groups, each winding group consisting of 6 independent winding units connected in series to form a complete magnetic field loop. This connection mode makes the current consistent in all winding units, and the total voltage is the sum of the voltages of each winding unit.

[0053] Through the control of the PCB control board, a 2-pole or 4-pole or 6-pole rotating magnetic field can be realized.

[0054] For example, when a 2-pole magnetic field is needed, all 72 independent winding units are connected in series to form a complete magnetic field loop.

[0055] When a 4-pole magnetic field is needed, the 72 independent winding units can be divided into two groups, each group of 36 units connected in series to form two independent magnetic field loops, generating a 4-pole rotating magnetic field.

[0056] When a 6-pole magnetic field is needed, the 72 independent winding units can be divided into three groups, each group of 24 units connected in series to form three independent magnetic field loops, generating a 6-pole rotating magnetic field.

[0057] By changing the number of winding groups connected in series and the current direction, the torque and speed of the motor can be flexibly adjusted.

[0058] For example, when high torque output is needed, a 2-pole magnetic field is used, all independent winding units are connected in series, the current is large, and the torque output is high.

[0059] When high speed operation is needed, a 6-pole magnetic field is used, the independent winding units are divided into multiple groups connected in series, the current is dispersed, and the speed is increased.

[0060] The ultra-thin torque motor of the present embodiment has the following advantages.

[0061] The series connection mode makes the total voltage the sum of the voltages of each winding unit, suitable for scenarios that require high voltage output.

[0062] Due to the single current path, the control circuit is relatively simple, and high-precision magnetic field regulation and torque control can be achieved.

[0063] The flat fan ring-shaped winding unit design and the ultra-thin composite stator structure make the overall volume of the motor small and thin, suitable for space-limited application scenarios.

[0064] The series connection mode reduces the electrical connection points, reduces the risk of failure, and improves the reliability of the motor.

[0065] The embodiment realizes high-voltage output and high-precision control of the ultra-thin torque motor through the series connection mode. By flexibly adjusting the connection mode of the winding, the motor can meet the diversified needs in different application scenarios.

[0066] The ultra-thin torque motor of the embodiment is mainly suitable for precision instruments such as high-precision industrial robot joint motors, precision measurement equipment, etc., and can meet the requirements of high-precision control and high-torque output. In addition, in the scenes of unmanned aerial vehicles, satellites and other devices, the volume and weight of the motor are strictly limited, and high efficiency and high reliability are required, and in the scenes such as medical robots or precision surgical instruments, high precision and high reliability are required, and the design requirements of ultra-thin design can also be met.

[0067] Embodiment 2

[0068] The embodiment provides an ultra-thin torque motor, which comprises a composite stator, a solid induction rotor, a PCB control board, a rotor shaft and an insulation sheath. The composite stator is also composed of three layers of windings, namely inner ring winding, middle ring winding and outer ring winding, and each layer of winding comprises 24 independent winding units, a total of 72 independent winding units. The structure of each independent winding unit is the same as that of embodiment 1.

[0069] The independent winding unit is composed of a magnetically conductive core and a coil, and has a flat fan ring shape, which is distributed in a circle around the rotor shaft to form a flat ring structure.

[0070] The solid induction rotor is designed with a planar magnetically conductive material and is installed on the rotor shaft. When the rotating magnetic field of the stator passes through the solid rotor, an induced current is generated on the surface of the rotor, thereby generating an electromagnetic torque to drive the rotor to rotate.

[0071] The PCB control board is installed on one side of the stator and is used to connect the 72 independent winding units and realize series-parallel control of the windings and variable-pole speed regulation function.

[0072] The PCB control board not only can realize free welding of the windings, but also can realize series-parallel control of the windings according to the characteristics of the motor. In addition, by controlling the connection mode of the 72 independent winding units, 12 pairs of winding units can be formed, and then 2-pole / 4-pole / 6-pole / 8-pole rotating magnetic field can be realized, and variable-pole speed regulation function can be realized.

[0073] In addition, the PCB control board can also realize the emergency braking function of the winding by passing a direct current with a frequency of 0 through a single winding.

[0074] The motor further comprises a rotor shaft 2 capable of supporting the rotor and realizing rotation, one end of the rotor shaft being fixed with a plurality of bearings 2-1.

[0075] An insulating sheath is provided between the composite stator and the PCB control board to ensure electrical insulation and operational safety.

[0076] Unlike embodiment 1, all 72 independent winding units in this embodiment are connected in parallel through the PCB control board. The outer winding, the middle winding, and the inner winding are connected in parallel to form the A-phase winding. After parallel connection of the three-layer winding, a low-voltage and high-current control mode can be realized to meet the driving requirements of the motor under low-voltage power supply

[0077] Specifically, the positive electrode of each independent winding unit is connected to the common positive electrode of the PCB control board, and the negative electrode is connected to the common negative electrode. In this way, all winding units share the same voltage, and the current is distributed among the winding units, as Figure 5 shown.

[0078] Through parallel connection, the voltage of all winding units is the same, and the total current is the sum of the currents of the winding units, as shown in the equivalent circuit Figure 6 . This connection mode is suitable for scenarios requiring large current output and can effectively improve the operating efficiency and response speed of the motor. At the same time, since each winding unit works independently, the reliability of the motor is higher, and it is suitable for application scenarios with high dynamic performance requirements.

[0079] In this embodiment, the 72 independent winding units are connected to form 12 pairs of winding groups, which can realize a 2-pole or 4-pole or 6-pole or 8-pole rotating magnetic field through the control of the PCB control board.

[0080] Embodiment 3

[0081] This embodiment provides an ultra-thin torque motor, which comprises a composite stator, a solid induction rotor, a PCB control board, a rotor shaft, and an insulating sheath. The composite stator also consists of three layers of windings, namely inner winding, middle winding, and outer winding, each layer of winding containing 24 independent winding units, a total of 72 independent winding units.

[0082] Unlike embodiment 1, the 72 independent winding units in this embodiment are connected in a distributed manner through the PCB control board, allowing for distributed control of the three-layer winding, as shown in the equivalent circuit diagram Figure 7The inner ring winding can be connected alone to realize minimum output torque mode operation; when the three-layer winding works simultaneously, maximum torque mode operation can be realized.

[0083] Any layer winding can be independently controlled, for example, when the motor needs emergency acceleration or emergency stop, a certain winding can be controlled; a single winding is connected with direct current with a frequency of 0 to realize rapid braking function.

[0084] Specifically, the winding units are divided into several groups, each group containing multiple winding units, and the winding units in the group can be connected in series or parallel, and the groups are flexibly electrically connected through the PCB control board. For example, 72 winding units can be divided into 12 groups, each group containing 6 units, connected in series within the group, and connected in parallel between groups.

[0085] Through distributed connection, the motor can flexibly adjust the connection mode of the winding according to different operating requirements to realize a rotating magnetic field with multiple pole numbers. For example, when a 2-pole magnetic field is needed, all winding units can be divided into two groups, each group containing 36 units, connected in series within the group, and connected in parallel between groups; when a 4-pole magnetic field is needed, the winding units can be divided into four groups, each group containing 18 units, connected in series within the group, and connected in parallel between groups; when a 6-pole or 8-pole magnetic field is needed, the group number and connection mode can be further adjusted according to the need.

[0086] This connection mode has high flexibility and can meet the diversified control requirements under complex working conditions. At the same time, through the precise control of the PCB control board, real-time monitoring and adjustment of the motor operating state can be realized, further improving the performance and reliability of the motor.

Claims

1. An ultra-thin torque motor, characterized in that, The application relates to a solid induction motor, which comprises a rotor shaft and a bearing fixed at one end of the rotor shaft, a solid induction rotor is mounted on the rotor shaft, a composite stator is arranged on one side of the solid induction rotor, the composite stator comprises a plurality of layers of windings, each layer of winding comprises a plurality of independent winding units, a PCB control board is mounted on one side of the composite stator, and the PCB control board is connected with the independent winding units.

2. The ultra-thin torque motor of claim 1, wherein, The composite stator is composed of three layers of windings, and the windings are sequentially arranged as an inner ring winding, a middle ring winding and an outer ring winding from inside to outside; each layer of winding has 24 independent winding units; the composite stator is composed of 72 independent winding units; and each independent winding unit is composed of a magnetically conductive core and a coil.

3. The ultra-thin torque motor of claim 1, wherein, The independent winding units are circumferentially distributed around the rotor shaft, and each layer of winding is formed into a flat annular structure by equidistantly arranging the independent winding units.

4. The ultra-thin torque motor of claim 2, wherein, Each independent winding unit is formed into a flat fan-shaped ring by winding an N-turn coil, and the coil is assembled to the magnetically conductive core to form an integral whole.

5. The ultra-thin torque motor of claim 2 or 4, wherein, The coil end of each independent winding unit is provided with two connection terminals, which are respectively the positive and negative poles of the winding; the PCB control board is connected with the connection terminals; and the inner ring winding, the middle ring winding and the outer ring winding are connected in series, in parallel or in a distributed mode.

6. The ultra-thin torque motor of claim 2, wherein, The 72 independent winding units are connected to form 12 pairs of winding units, and the 12 pairs of winding units form a rotating magnetic field with 2 poles, 4 poles, 6 poles or 8 poles by being connected in series or in parallel.

7. The ultra-thin torque motor of claim 1, wherein, The solid induction rotor is made of planar magnetically conductive material, and the surface of the solid induction rotor generates corresponding rotor magnetic poles according to the pole pair number of the stator rotating magnetic field.

8. The ultra-thin torque motor of claim 1 or 2, wherein, After the independent winding units of each layer of winding of the composite stator are pressed into a fan-shaped structure, the shape of the independent winding units matches the shape of the magnetically conductive core.

9. The ultra-thin torque motor of claim 2, wherein, The inner ring winding is connected with the PCB control board, and the outer ring winding and the middle ring winding are not in operation.

10. An ultra-thin torque motor according to any one of claims 1 or 2 or 3 or 4 or 6 or 7 or 9, characterized in that, An insulating sheath is arranged between the composite stator and the PCB control board.

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