Motor with self-locking function

Abstract

The utility model belongs to the technical field of rotating motors, and discloses a motor with a self-locking function, which comprises a casing, a rotating shaft, a self-locking device and a self-locking device, and is characterized in that the casing is internally provided with a polygonal cavity which is provided with at least two groups of corner parts which are oppositely arranged; the stator magnets are arranged in the polygonal cavity in pairs, the stator magnets are installed at the corner parts in a one-to-one correspondence mode, the sides, facing the center, of the stator magnets are provided with arc-shaped faces, the arc-shaped faces are provided with grooves penetrating through the stator magnets in the height direction, and the stator magnets are divided into a plurality of stator magnetic poles through the grooves; the grooves in each stator magnet are formed in the same position; the plurality of arc-shaped surfaces are encircled to form a mounting area, the rotor is rotatably arranged in the mounting area, and the motor shaft is fixed in the center of the rotor and penetrates out of the shell. The motor with the self-locking function provided by the utility model is high in self-locking stability, low in abrasion and adaptive to a compact structure.

Description

Technical Field

[0001] This utility model relates to the field of rotary motor technology, and in particular to a motor with a self-locking function. Background Technology

[0002] Currently, electric motors, as core drive components, are widely used in precision equipment such as bionic robotic arms and parking brakes. In scenarios such as parking braking and human-machine interaction, motors need to have a reliable self-locking function to prevent reverse displacement. Existing technologies mostly use a lead screw and nut transmission structure to achieve mechanical self-locking. However, such structures are prone to thread wear and clearance accumulation due to long-term axial loads, which not only reduces their service life but also makes it difficult for them to meet the needs of miniaturized devices in terms of size and weight.

[0003] To address this issue, some solutions attempt to achieve non-contact locking through magnetic coupling between the stator and rotor. However, due to limitations in the uniformity of the magnetic field distribution and the rotor's moment of inertia, the actual locking force fluctuates significantly, making it prone to loss of lock under high-frequency start-stop or impact loads, resulting in insufficient stability.

[0004] Therefore, there is an urgent need for a motor with a self-locking function to solve the above-mentioned technical problems. Utility Model Content

[0005] The purpose of this invention is to provide a motor with a self-locking function, which has high self-locking stability, low wear, and is suitable for compact structures.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] A motor with a self-locking function is provided, comprising:

[0008] The housing has a polygonal cavity inside, and the polygonal cavity has at least two sets of oppositely arranged corner portions;

[0009] Multiple stator magnets are arranged in pairs in the polygonal cavity. The stator magnets are installed one-to-one at the corner. The side of the stator magnet facing the center has an arc-shaped surface. The arc-shaped surface has a groove that runs through the stator magnet along the height direction. The groove divides the stator magnet into several stator magnetic poles. The groove on each stator magnet is in the same position.

[0010] The rotor and motor shaft are arranged in a mounting area with multiple arc-shaped surfaces. The rotor is rotatably mounted in the mounting area, and the motor shaft is fixed at the center of the rotor and extends out of the housing.

[0011] As a preferred embodiment, the housing includes a plurality of first sidewalls and a plurality of second sidewalls, the width of the first sidewalls being greater than the width of the second sidewalls, the plurality of first sidewalls and the plurality of second sidewalls being alternately arranged and enclosing to form the polygonal cavity, and the corner portion being the area enclosed by the second sidewalls and portions of the first sidewalls on both sides.

[0012] As a preferred embodiment, the stator magnet further includes a first side surface, two second side surfaces, and two transition surfaces. The two second side surfaces are symmetrically arranged on both sides of the two first side surfaces. One side of each of the two transition surfaces is connected to the two second side surfaces, and the other side is connected to the arc-shaped surface.

[0013] The first side abuts against the second sidewall, and the two second sides abut against the two first sidewalls in a one-to-one correspondence.

[0014] As a preferred embodiment, two adjacent stator magnets are spaced apart to form a gap, and the first sidewall is exposed from the gap;

[0015] The casing is made of metal.

[0016] As a preferred embodiment, the casing has an octagonal cross-section and includes four first sidewalls and four second sidewalls, with the four first sidewalls arranged opposite each other in pairs and the four second sidewalls arranged opposite each other in pairs.

[0017] The number of the corner section and the number of the stator magnets are both four.

[0018] As a preferred embodiment, each stator magnet has a groove located at the center of the arc-shaped surface, which divides the stator magnet into two stator poles of equal width.

[0019] As a preferred embodiment, each stator magnet has at least two grooves, which are spaced apart on the arc-shaped surface to divide the stator magnet into at least three stator poles of equal width.

[0020] As a preferred embodiment, the ratio of the width of the groove to the width of the arcuate surface ranges from 1:3 to 1:10.

[0021] As a preferred embodiment, the rotor includes a plurality of teeth arranged in pairs, the number of which is at least six.

[0022] As a preferred embodiment, the end of the polygonal cavity is provided with a plurality of limiting protrusions, and the plurality of limiting protrusions are respectively provided with a plurality of stator magnets, and the stator magnets abut against the limiting protrusions along the height direction.

[0023] The beneficial effects of this utility model are:

[0024] This utility model provides a self-locking motor, including a housing, stator magnets, a rotor, and a motor shaft. Multiple corner sections are arranged in a polygonal cavity, with each corner section facing the other. Stator magnets are installed in corresponding positions at each corner section. The arc-shaped surfaces of each stator magnet form an installation area to accommodate the rotor, optimizing the magnetic field distribution. Furthermore, grooves are formed on the arc-shaped surfaces of the stator magnets, dividing them into several stator poles. This breaks the magnetic reluctance in the air gap, creating a discontinuous magnetic field and increasing the logarithm of the reluctance, thus increasing the magnetic flux density of the rotor. The grooves on each stator magnet are positioned identically, forming a symmetrical stator pole layout, improving the symmetry of the air gap magnetic field, resulting in greater cogging torque, and enhancing the motor's mechanical and self-locking performance. Compared to motors with a screw and nut drive structure, this design exhibits lower wear and a smaller size, allowing for adaptation to compact designs. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of the self-locking motor provided by this utility model;

[0026] Figure 2 This is a top view of the self-locking motor provided by this utility model;

[0027] Figure 3 This is a schematic diagram of the structure of the housing provided by this utility model;

[0028] Figure 4 This is a schematic diagram of the structure of the stator magnet provided by this utility model;

[0029] Figure 5 These are simulation diagrams of the magnetic flux density of the stator magnet under different slotting conditions;

[0030] Figure 6 This is a simulation diagram of the cogging torque of a motor when the stator magnet grooves are set symmetrically.

[0031] Figure 7 This is a simulation diagram of the cogging torque of a motor when the stator magnet groove is not provided.

[0032] Figure 8 This is a simulation diagram of the cogging torque of a motor when the stator magnet grooves are asymmetrically arranged.

[0033] In the picture:

[0034] 1. Housing; 11. First sidewall; 12. Second sidewall; 13. Limiting protrusion;

[0035] 2. Stator magnet; 21. Arc-shaped surface; 22. First side surface; 23. Second side surface; 24. Transition surface; 10. Groove;

[0036] 3. Rotor;

[0037] 4. Motor shaft;

[0038] 100. Polygonal cavity; 101. Corner section. Detailed Implementation

[0039] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0040] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0041] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0042] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, 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. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0043] This embodiment provides a motor with a self-locking function, which can be applied to bionic mechanical fingers to lock and maintain the bending angle of the finger joints without the need for continuous power output; it can also be applied to parking brakes to maintain the braking state when parking without the need for continuous power output.

[0044] For example, such as Figures 1-4 As shown, the motor includes a housing 1, stator magnets 2, rotor 3, and motor shaft 4. The housing 1 has a polygonal structure with a polygonal cavity 100 inside. The polygonal cavity 100 has multiple corner sections 101, which are evenly spaced and arranged in pairs opposite each other. There are multiple stator magnets 2, which are arranged in pairs in the polygonal cavity 100. The stator magnets 2 are installed one-to-one on the corner sections 101. The side of the stator magnet 2 facing the center has an arc-shaped surface 21. The multiple arc-shaped surfaces 21 surround and form an installation area. The rotor 3 is rotatably mounted in the installation area. The rotor 3 includes multiple teeth, and tooth grooves are formed between adjacent teeth. The motor shaft 4 is fixed to the center of the rotor 3 and extends out of the housing 1.

[0045] Furthermore, such as Figure 1 and Figure 2 As shown, the arc-shaped surface 21 has a groove 10 that passes through the stator magnet 2 along the height direction. The groove 10 divides the stator magnet 2 into several stator magnetic poles. The groove 10 on each stator magnet 2 is opened in the same position.

[0046] Specifically, in this embodiment, the self-locking motor has a split stator structure with multiple pairs of stator magnets 2. Each stator magnet 2 is installed in a corresponding manner at the corner 101. The arc-shaped surface 21 of each stator magnet 2 forms an installation area to accommodate the rotor 3, optimizing the magnetic field distribution. In addition to the spacing between the stator magnets 2, grooves 10 are further formed on the arc-shaped surface 21 of the stator magnet 2. These grooves 10 divide the stator magnet 2 into several stator poles, causing the air gap magnetic field reluctance to break, forming a discontinuous magnetic field, increasing the number of reluctance pairs, and increasing the magnetic flux density of the rotor 3. Furthermore, the grooves 10 on each stator magnet 2 are positioned identically to form a symmetrical stator pole layout, improving the symmetry of the air gap magnetic field, resulting in a larger cogging torque, and enhancing the motor's mechanical and self-locking performance. Compared to motors with a screw and nut drive structure, this design results in lower wear and a smaller size, making it suitable for compact designs.

[0047] For example, the housing 1 includes a plurality of first sidewalls 11 and a plurality of second sidewalls 12. The width of the first sidewalls 11 is greater than the width of the second sidewalls 12. The plurality of first sidewalls 11 and the plurality of second sidewalls 12 are alternately arranged and enclose to form a polygonal cavity 100. The corner portion 101 is the area enclosed by the second sidewalls 12 and portions of the first sidewalls 11 on both sides. The outer sidewall of the stator magnet 2 abuts against the first sidewalls 11 and the second sidewalls 12, resulting in a compact mounting structure.

[0048] Specifically, such as Figures 1-4 As shown, the stator magnet 2 also includes a first side surface 22, two second side surfaces 23, and two transition surfaces 24. The two second side surfaces 23 are symmetrically arranged on both sides of the two first side surfaces 22. One side of each of the two transition surfaces 24 is connected to the two second side surfaces 23, and the other side is connected to the arc-shaped surface 21. The first side surface 22 abuts against the second side wall 12, and the two second side surfaces 23 abut against the two first side walls 11 in a one-to-one correspondence.

[0049] In this embodiment, the housing 1 has an octagonal cross-section and includes four first sidewalls 11 and four second sidewalls 12. The four first sidewalls 11 are arranged opposite each other in pairs, and the four second sidewalls 12 are also arranged opposite each other in pairs. There are four corner sections 101 and four stator magnets 2. The included angle between the first sidewall 11 and the adjacent second sidewall 12 is 135°, forming an octagonal structure with equal interior angles. In some embodiments, the cross-section of the housing 1 can also be a dodecagonal structure, a hexagonal structure, etc.

[0050] For example, the ratio of the width of the first sidewall 11 to the width of the second sidewall 12 ranges from 2:1 to 5:1, preferably 3:1.

[0051] For example, such as Figure 1 and Figure 2 As shown, two adjacent stator magnets 2 are spaced apart to form a gap, and the first sidewall 11 is exposed from the gap. The housing 1 is made of metal, specifically copper alloy or stainless steel. Figure 5 Figure A shows the simulation of the magnetic flux density of the stator magnet 2 when the symmetrical groove 10 is set. Through the synergistic effect of the alternating planar layout of the polygonal housing 1 and the multi-planar mounting of the stator magnet 2, the housing 1 participates in the formation of the air gap magnetic field, which can further optimize the distribution of the magnetic field, increase the magnetic field strength, and improve the cogging torque of the motor.

[0052] For example, the ends of the polygonal cavity 100 are provided with a plurality of limiting protrusions 13, and the plurality of limiting protrusions 13 are respectively arranged in a one-to-one correspondence with a plurality of stator magnets 2. The stator magnets 2 abut against the limiting protrusions 13 along the height direction, and the height position of the stator magnets 2 is limited by the limiting protrusions 13. Specifically, the limiting protrusions 13 are formed by the recess of the housing 1.

[0053] In this embodiment, as Figure 1 , Figure 2 and Figure 4 As shown, each stator magnet 2 has a groove 10 located at the center of the arc-shaped surface 21. The groove 10 divides the stator magnet 2 into two stator poles of equal width. The distribution of the stator poles is not only symmetrical left and right, front and back, but also centrally symmetrical, making the distribution of the air gap magnetic field more symmetrical. In this embodiment, the magnetic reluctance in the air gap is discontinuous, so one stator pole becomes two stator poles, and the logarithm of the magnetic reluctance in the air gap doubles. The magnetic field density in the tooth section is greater, and the magnetic reluctance in the air gap between the stator pole and the tooth section also increases, thereby increasing the cogging torque that can be generated.

[0054] Figure 5 The simulation results show the magnetic flux density of stator magnet 2 under different slotting conditions. Figure A shows the magnetic flux density of stator magnet 2 with one symmetrical slot 10; Figure B shows the magnetic flux density of stator magnet 2 without slot 10; and Figure C shows the magnetic flux density of stator magnet 2 with one asymmetrical slot 10. Observing the magnetic flux on rotor 3, it can be found that the magnetic flux lines in Figure A are more densely packed, significantly higher than in the cases without slots and with asymmetrical slot 10. Please refer to further details. Figures 6-8 When the motor has four symmetrical grooves 10 (each stator magnet 2 has one groove 10 in the same position), the motor cogging torque is 4 mNm, while the motor cogging torque of the stator magnet 2 without grooves 10 is 2 mNm. When the motor has four asymmetrical grooves 10 (each stator magnet 2 has one groove 10 in a different position), the motor cogging torque is less than 2 mNm. It can be seen that the motor cogging torque performance of the symmetrical slotting scheme in this embodiment is twice that of the unslotted scheme, and the motor cogging torque performance of the asymmetrical slotting scheme is even worse than that of the unslotted scheme.

[0055] In some embodiments, each stator magnet 2 is provided with at least two grooves 10, which are spaced apart on the arc surface 21 to divide the stator magnet 2 into at least three stator magnetic poles of the same width, thereby increasing the magnetic resistance of the air gap magnetic field and increasing the cogging torque.

[0056] For example, the ratio of the width of the groove 10 to the width of the arcuate surface 21 ranges from 1:3 to 1:10. Preferably, the ratio of the width of the groove 10 to the width of the arcuate surface 21 is 1:6.

[0057] For example, such as Figure 1 and Figure 2 As shown, the rotor 3 has multiple teeth arranged in pairs, with a minimum of six teeth. In this embodiment, the rotor 3 has six teeth.

[0058] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. An electric motor having a self-locking function, characterized by comprising: The utility model relates to a kind of motor, including: Casing (1), which is provided with a polygonal cavity (100) inside, the polygonal cavity (100) is provided with at least two sets of opposite corner parts (101); A plurality of stator magnets (2) are arranged in the polygonal cavity (100) in pairs, the stator magnets (2) are one-to-one corresponding to the corner parts (101), the stator magnets (2) are provided with arc surfaces (21) towards the center, the arc surfaces (21) are provided with grooves (10) penetrating the stator magnets (2) in the height direction, the grooves (10) divide the stator magnets (2) into a plurality of stator poles, the grooves (10) on each stator magnet (2) are provided at the same position. A rotor (3) and a motor shaft (4) are provided, a plurality of arc surfaces (21) surround to form a mounting area, the rotor (3) is rotatably arranged in the mounting area, and the motor shaft (4) is fixed to the center of the rotor (3) and penetrates out of the casing (1).

2. The motor having a self-locking function according to claim 1, characterized by, The casing (1) includes a plurality of first side walls (11) and a plurality of second side walls (12), the width of the first side wall (11) is greater than the width of the second side wall (12), a plurality of first side walls (11) and a plurality of second side walls (12) are alternately arranged and surrounded to form the polygonal cavity (100), and the corner part (101) is a region surrounded by the second side wall (12) and the part of the first side wall (11) on both sides thereof.

3. The motor with self-locking function according to claim 2, characterized in that, The stator magnet (2) further includes a first side surface (22), two second side surfaces (23) and two transition surfaces (24), the two second side surfaces (23) are symmetrically arranged on both sides of the two first side surfaces (22), and the two transition surfaces (24) are respectively connected to the two second side surfaces (23) on one side and respectively connected to the arc surface (21) on the other side. The first side surface (22) abuts against the second side wall (12), and the two second side surfaces (23) one-to-one correspond to the two first side walls (11).

4. The motor with self-locking function according to claim 2, characterized in that, Two adjacent stator magnets (2) are spaced apart to form a gap, and the first side wall (11) is exposed from the gap. The material of the casing (1) is metal.

5. The motor with self-locking function according to claim 2, characterized in that, The cross section of the casing (1) is an octagonal structure, the casing (1) includes four first side walls (11) and four second side walls (12), the four first side walls (11) are arranged opposite to each other, and the four second side walls (12) are arranged opposite to each other. The number of the corner part (101) and the stator magnet (2) is four.

6. The motor with self-locking function according to any one of claims 1-5, characterized in that, One groove (10) is provided on each stator magnet (2), the groove (10) is located at the center of the arc surface (21), and the groove (10) divides the stator magnet (2) into two stator poles with the same width.

7. The motor with self-locking function according to any one of claims 1-5, characterized in that, At least two grooves (10) are provided on each stator magnet (2), and the at least two grooves (10) are spaced apart on the arc surface (21) to divide the stator magnet (2) into at least three stator poles with the same width.

8. The motor with self-locking function according to any one of claims 1-5, characterized in that, The ratio of the width of the groove (10) to the width of the arc surface (21) ranges from 1:3 to 1:

10.

9. The motor with self-locking function according to any one of claims 1-5, characterized in that, The rotor (3) comprises a plurality of tooth portions arranged in pairs, and the number of the tooth portions is at least six.

10. The motor with self-locking function according to any one of claims 1-5, characterized in that, The polygonal cavity (100) is provided with a plurality of limiting protrusions (13) at the end, and the plurality of limiting protrusions (13) are arranged one by one with the plurality of stator magnets (2), and the stator magnets (2) abut the limiting protrusions (13) in the height direction.

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