Reciprocating rotary electric machine

Abstract

This utility model relates to a reciprocating rotary motor, including a base, a stator assembly, a rotor assembly, and a bearing assembly. One end of the stator assembly and the bearing assembly are respectively mounted on the base, the rotor assembly is mounted on the stator assembly, and the other end of the bearing assembly is connected to the rotor assembly. Both the stator assembly and the rotor assembly are non-circular structures. The rotor support is provided with a load mounting portion, which is close to the rotating shaft in the bearing assembly. Compared with the prior art, this utility model has the advantages of resulting in smaller motor inertia and load inertia, which not only reduces the torque requirements of the motor and increases the acceleration and deceleration speed of the motor, but also improves the control precision of the motor.

Description

Technical Field

[0001] This utility model relates to an electric motor, and more particularly to a reciprocating rotary motor. Background Technology

[0002] Currently, lidar generally operates in two modes: continuous rotation and reciprocating rotation, both of which are achieved through motors. Continuous rotation motors are now mostly external rotor motors, requiring extremely smooth operation.

[0003] Reciprocating rotary motors have extremely strict requirements on the speed of acceleration and deceleration. Using traditional motors or traditional structures, it is impossible to achieve extremely high acceleration and deceleration speeds to meet the application requirements of rapid reciprocating scanning of lidar.

[0004] A search revealed that Chinese Patent Publication No. CN117318381A discloses a lidar motor, specifically comprising a stator assembly, a rotor assembly, and a rotating mirror assembly. The rotor assembly and the rotating mirror assembly are integrated and rotate relative to the stator assembly. The rotor assembly includes a rotor housing, and the rotating mirror assembly includes a rotating mirror mounting bracket. The rotor housing and the rotating mirror mounting bracket are positioned by a positioning structure. This existing patent allows the rotor assembly and the rotating mirror assembly to be integrated, improving assembly efficiency and reducing the connection gap between the rotor housing and the rotating mirror mounting bracket, thus reducing axial and radial movement and improving the accuracy of the lidar motor. However, this existing patent still uses a traditional motor structure, which has a large load and motor inertia, limiting the motor's control accuracy and making it difficult to achieve extremely high acceleration and deceleration speeds, thus preventing the lidar from achieving rapid reciprocating scanning. Utility Model Content

[0005] The purpose of this invention is to overcome the defects of the prior art and provide a reciprocating rotary motor that ensures that the sum of the motor rotor inertia and the load inertia is small.

[0006] The objective of this utility model can be achieved through the following technical solutions:

[0007] According to one aspect of the present invention, a reciprocating rotary motor is provided, comprising a base, a stator assembly, a rotor assembly, and a bearing assembly. One end of the stator assembly and the bearing assembly are respectively mounted on the base, the rotor assembly is mounted on the stator assembly, and the other end of the bearing assembly is connected to the rotor assembly. The stator assembly and the rotor assembly are both non-circular structures, and the rotor support is provided with a load mounting part, which is close to the rotating shaft in the bearing assembly.

[0008] As a preferred technical solution, the stator assembly includes a first stator and a second stator, and the rotor assembly is installed between the first stator and the second stator.

[0009] As a preferred technical solution, the first stator has a first stator winding embedded inside it, and the second stator has a second stator winding embedded inside it.

[0010] As a preferred technical solution, the cross-sections of the first stator and the second stator are fan-shaped.

[0011] As a preferred technical solution, a hollow support column for height limiting is provided between the first stator and the second stator, and a first screw for fixed connection to the base is provided inside the hollow support column; the first stator is fixed to the base by a second screw.

[0012] As a preferred technical solution, the load mounting part is a load mounting surface.

[0013] As a preferred technical solution, the bearing assembly further includes upper and lower bearings, and the rotor assembly includes a rotor support and a magnet. The rotor support has a protrusion that cooperates with the inner rings of the upper and lower bearings and fixes the bearings.

[0014] As a preferred technical solution, when no load is installed on the load mounting part, the motor performs a full-circle continuous rotation test. During the test, the minimum inner diameter circle contour radius S_ID of the stator winding is greater than the maximum outer diameter contour radius R_OD of the load mounting part.

[0015] Compared with the prior art, the present invention has the following advantages:

[0016] 1) This utility model adopts a stator assembly and rotor assembly with a non-circular structure. Since the load mounting part is set close to the shaft, the load can be installed very close to the shaft, which makes the motor inertia and load inertia smaller. This not only reduces the requirements for motor torque and improves the acceleration and deceleration speed of the motor, but also improves the control accuracy of the motor.

[0017] 2) This utility model can realize the reciprocating oscillation of the motor, achieving the application requirements of rapid reciprocating scanning of lidar;

[0018] 3) This utility model provides a full-circle continuous rotation test process when no load is installed, which facilitates the production control of the motor and improves production efficiency, and further reduces the cost of the motor;

[0019] 4) The rotor bracket of this utility model has a protrusion that cooperates with the inner ring of the bearing and is used to fix the bearing, which prevents the bearing from moving around and avoids the cost and installation accuracy problems caused by using other parts.

[0020] 5) This utility model adopts a split stator, which is connected by a hollow support column and fixed by double screws, further improving the motor performance. Attached Figure Description

[0021] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0022] Figure 2 This is a schematic diagram of the exploded structure of this utility model;

[0023] Figure 3 This is a cross-sectional structural diagram of the present invention;

[0024] Figure 4 This is a schematic diagram of the main structure of this utility model;

[0025] Figure 5 for Figure 4 A schematic diagram of the AA cross-sectional structure.

[0026] 1 is a reciprocating rotary motor, 2 is a base, 3 is the first stator, 4 is the first stator winding, 5 is the second stator, 6 is the second stator winding, 7 is a bearing assembly, 8 is a rotor support, 9 is a rotor magnet, 10 is a hollow support column, 11 is the first screw, 12 is the second screw, and 13 is a load mounting part.

[0027] 7-1 is the shaft, 7-2 are the upper and lower bearings, 7-3 is the wave pad, 7-4 is the bearing housing, 8-1 is the protrusion, L is the radial distance between the load mounting surface and the rotor rotation center, R_OD is the maximum outer diameter contour radius of the load mounting surface during continuous full rotation, and S_ID is the minimum inner diameter circle contour radius of the stator winding. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of the present utility model. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present utility model.

[0029] Example 1

[0030] like Figure 1 and Figure 2As shown, this utility model discloses a reciprocating rotary motor, including a base 2, a stator assembly, a rotor assembly, and a bearing assembly 7. One end of the stator assembly and the bearing assembly 7 are respectively mounted on the base 2, the rotor assembly is mounted on the stator assembly, and the other end of the bearing assembly 7 is connected to the rotor assembly. Both the stator assembly and the rotor assembly are non-circular structures. The rotor assembly is provided with a load mounting part 13, which is close to the rotating shaft 7-1 in the bearing assembly 7. This utility model adopts this design. Since the load mounting part is located close to the rotating shaft, the load can be installed very close to the rotating shaft, resulting in smaller motor inertia and load inertia. This not only reduces the torque requirements of the motor and increases the acceleration and deceleration speed of the motor, but also improves the control accuracy of the motor and realizes the reciprocating oscillation of the motor, meeting the application requirements of rapid reciprocating scanning of lidar.

[0031] Furthermore, the rotor assembly includes a rotor support 8, and the load mounting part 13 is mounted on the rotor support 8. Further, the load mounting part 13 can be a load mounting surface or other implementation methods.

[0032] Therefore, this reciprocating rotary motor has a series of unique advantages in specific application scenarios (such as rapid reciprocating scanning of lidar), making it an irreplaceable choice compared to continuous rotary motors. Furthermore, due to the limited motion angle, the power and signal lines of this reciprocating rotary motor can be directly connected to the motor body, eliminating the need for complex rotating conductive slip rings or hydraulic rotary joints to transmit power and signals. This greatly simplifies system design, reduces size, lowers costs, and improves reliability (avoiding problems such as slip ring wear and poor contact). Simultaneously, the limited angular motion completely avoids the cable tangling problems that can occur with continuous rotary motors, simplifying wiring design.

[0033] like Figure 5 As shown, the radial distance L between the load mounting part 13 and the rotor rotation center of this utility model is small enough. Preferably, the value of L is in the range of 0.5mm to 1mm. Such a small distance can ensure that the sum of the motor rotor inertia and the load inertia is small, and further reduce the requirements for motor torque.

[0034] This load mounting method, where the load is close to the shaft, significantly shortens the force transmission path, reduces the number of elastic deformation stages and amplitudes, and results in a faster dynamic response: the motor torque can be converted into the load acceleration more directly and quickly, reducing delay, which is crucial for applications requiring rapid start-stop, precise positioning, or high-frequency response; it also offers higher precision and positioning accuracy: reducing "hysteresis" or "following error" caused by elastic deformation of the transmission links, allowing the load position to more accurately reflect the position command of the motor shaft, and stronger anti-interference capabilities: it is better able to resist fluctuations caused by external load disturbances and maintain stable operation.

[0035] Example 2

[0036] like Figure 2 As shown, in this embodiment, based on embodiment 1, the stator assembly is designed as a split structure, that is, it includes a first stator 3 and a second stator 5. The rotor assembly is installed between the first stator 3 and the second stator 5. At the same time, the first stator 3 is embedded with a first stator winding 4, and the second stator 5 is embedded with a second stator winding 6.

[0037] The aforementioned split stator assembly design makes it easier to design and manufacture non-circular stators to adapt to applications with special space constraints. Furthermore, the split stator can be wound individually before being assembled into a complete stator, eliminating the difficulties of complex wire threading and winding within narrow stator slots required in traditional integral stators. Because the winding operation space is more open, it is easier to achieve a higher slot fill factor (the proportion of the copper wire area occupied by the copper wire in the slot), thereby improving motor efficiency and power density.

[0038] Furthermore, the first stator 3 and the second stator 5 have a fan-shaped cross-section, thus realizing a non-circular stator assembly, while the rotor assembly has a semi-circular cross-section. The structures of the stator and rotor assemblies are designed according to the load. The fan-shaped stator assembly and the semi-circular rotor assembly are one implementation method; in other embodiments, the stator and rotor assemblies can be configured in any way to adapt to the load connection.

[0039] Furthermore, such as Figure 2 As shown, a hollow support column 10 for height limiting is provided between the first stator 3 and the second stator 5. The hollow support column 10 adopts a standard height. The hollow support column 10 is provided with a first screw 11 that is fixedly connected to the base 2. The first stator 3 is fixed to the base 2 by a second screw 12.

[0040] The present invention features a split stator connected by a hollow support column and secured with double screws, which further improves the reliability and stability of motor installation.

[0041] Furthermore, the rotor assembly, which includes the rotor support 8 and the rotor magnet 9, is located between the two stators and is equidistant from the two stators, typically with a distance of 0.5 mm or more.

[0042] Therefore, the split stator assembly used in this embodiment greatly simplifies the winding process and achieves highly automated manufacturing, which makes it highly competitive in applications that pursue high efficiency, low cost, mass production (especially lidar, etc.) and require special shapes, efficient heat dissipation or easy maintenance.

[0043] Example 3

[0044] This embodiment is based on embodiment 1 or 2, such as Figure 3 As shown, the bearing assembly 7 includes upper and lower bearings 7-2, a rotating shaft 7-1, a wave washer 7-3, and a bearing housing 7-4. The upper and lower bearings 7-2 are located in the bearing housing 7-4. The rotating shaft 7-1 passes through the upper and lower bearings 7-2. The wave washer 7-3 is located between the upper and lower bearings 7-2. The rotor support 8 has a protrusion 8-1 that cooperates with the inner ring of the bearing and is used to fix the bearing, preventing the bearing from moving. The protrusion 8-1 is part of the rotor support 8. Compared with using fasteners for fixing, this method can further avoid the cost and installation accuracy problems caused by using other components.

[0045] Example 4

[0046] This embodiment provides a control method for a reciprocating rotary motor, wherein the reciprocating rotary motor includes at least a stator assembly and a rotor assembly, both of which are non-circular structures, and the rotor assembly is provided with a load mounting portion, such as... Figure 4 and 5 As shown, a cross-sectional view of the rotor support, stator core, and stator windings is obtained by cutting along the top of the load mounting surface. When the rotor rotates, the center of rotation is O. To ensure that the moment of inertia of the load is small after installation, the radial distance L between the load mounting part 13 and the rotor rotation center must be sufficiently small, as illustrated in Example 1. During factory testing, the reciprocating rotary motor still undergoes a full-rotation continuous rotation test. To ensure the motor can rotate continuously for a full revolution, a load is generally not installed.

[0047] The control method in this embodiment includes a reciprocating rotation process when a load is installed and a full-circle continuous rotation process when no load is installed.

[0048] The reciprocating rotation process during load installation specifically includes: when the rotor assembly rotates, it drives the load on the load mounting part to reciprocate. This achieves left-right reciprocating oscillation of the motor without continuous rotation, thereby enabling the motor to obtain extremely high acceleration and deceleration speeds, meeting the application requirements of rapid reciprocating scanning for lidar.

[0049] During the continuous full-circle rotation without a load, the radius of the minimum inner diameter circle of the stator winding, S_ID, is greater than the radius of the maximum outer diameter circle of the load mounting part 13, R_OD. To ensure manufacturability, the specific relationship between S_ID and R_OD is as follows: (S_ID - R_OD) > D, where D can be 0.5 mm. This invention allows the motor to rotate continuously for a full circle without a load, facilitating production control, improving production efficiency, and reducing motor costs.

[0050] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this utility model, and these modifications or substitutions should all be covered within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A reciprocating rotary motor comprising a base (2), a stator assembly, a rotor assembly and a bearing assembly (7), the stator assembly and the bearing assembly (7) being respectively mounted on the base (2) at one end, the rotor assembly being mounted on the stator assembly, the bearing assembly (7) being connected with the rotor assembly at the other end, characterized in that, Both the stator assembly and the rotor assembly are non-circular structures. The rotor support (8) of the rotor assembly is provided with a load mounting part (13), which is close to the shaft (7-1) in the bearing assembly (7).

2. The reciprocating rotary electric motor according to claim 1, characterized by The stator assembly includes a first stator (3) and a second stator (5), and the rotor assembly is installed between the first stator (3) and the second stator (5).

3. The reciprocating rotary electric motor according to claim 2, characterized by The first stator (3) has a first stator winding (4) embedded inside, and the second stator (5) has a second stator winding (6) embedded inside.

4. The reciprocating rotary electric motor according to claim 2, characterized by The cross-sections of the first stator (3) and the second stator (5) are fan-shaped.

5. The reciprocating rotary electric motor according to claim 2, wherein A hollow support column (10) for height limiting is provided between the first stator (3) and the second stator (5). The hollow support column (10) is provided with a first screw (11) that is fixedly connected to the base (2). The first stator (3) is fixed to the base (2) by a second screw (12).

6. The reciprocating rotary electric motor of claim 1, wherein The load mounting part (13) is the load mounting surface.

7. The reciprocating rotary electric motor of claim 1, wherein The bearing assembly (7) further includes upper and lower bearings (7-2), and the rotor assembly includes a rotor support (8) and a magnet (9). The rotor support (8) has a protrusion (8-1) that cooperates with the inner ring of the upper and lower bearings (7-2) and fixes the bearing.

8. The reciprocating rotary electric motor of claim 1, wherein When no load is installed on the load mounting part (13), the motor performs a full-circle continuous rotation test. During the test, the minimum inner diameter circle contour radius S_ID of the stator winding is greater than the maximum outer diameter contour radius R_OD of the load mounting part (13).

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