Double-stator direct drive motor

Abstract

The utility model relates to a kind of double-stator direct drive motor, belong to the technical field of motor.It uses the double-stator structure made of iron cobalt vanadium soft magnetic alloy, including outer stator and inner stator, there is phase difference between the two to improve unit force density;Rotor skeleton assembly first magnet of rotor module, there is gap between with stator module;Encoder module contains reading head, round grating and signal synthesis module, eliminate eccentric error and isolate abnormal point by multiple signal synthesis;Rotary table is directly connected load through crossed roller bearing, base integrated stator compression ring fixes outer stator, realizes high-precision torque direct drive.

Description

Technical Field

[0001] This utility model relates to the field of direct drive motor technology, and in particular to a dual-stator direct drive motor. Background Technology

[0002] With the development of modern industrialization and technologies in fields such as semiconductors, 3C, medical, and new energy, direct drive motor technology has emerged. This technology is widely used as a core component in various industries. With the trend of product lightweighting, the demand for small size and high torque is becoming increasingly prominent, which urgently requires improving the unit force density and achieving high integration of encoders, thereby placing higher requirements on the materials and structure of motor stators.

[0003] In related technologies, traditional servo motors often use silicon steel sheets as the stator material.

[0004] However, the aforementioned silicon steel sheet stator material and related devices have problems such as limited unit force density and relatively large magnetic loss. In addition, they need to be used in conjunction with connecting devices such as reducers, resulting in insufficient overall precision of the motor, which cannot meet the stringent requirements of high-precision industries such as medical and semiconductor industries for motor performance. Utility Model Content

[0005] In response to the shortcomings of the existing production technology, the applicant provides a dual-stator direct-drive motor with a dual-stator structure. The stators are made of iron-cobalt-vanadium soft magnetic alloy, and there is a certain phase difference between the inner and outer stators, which greatly improves the unit force density of the motor.

[0006] The technical solution adopted in this utility model is as follows: A dual-stator direct-drive motor, comprising: The stator module includes an outer stator and an inner stator arranged coaxially. The outer stator is pressed and fixed in the base by a stator clamping ring, and there is a predetermined phase difference between the outer stator and the inner stator. The rotor module, which has a gap with the stator module, includes a rotor frame and a first magnet fixed thereon, the rotor frame being connected to the base via a bearing; The turntable is connected to the rotor frame via crossed roller bearings. The outer stator is circumferentially arranged with coils, and the inner stator is equipped with a second magnet, the number of which is the same as the number of coils in the outer stator.

[0007] As a further improvement to the above technical solution: In one embodiment, an encoder module is also included, which includes a circular grating, a reading head, and a signal synthesis module; the circular grating is fixed to the rotor frame; the reading head is mounted on the base and electrically connected to the signal synthesis module.

[0008] In one embodiment, the circular grating is sealed within the base by a sealing plate.

[0009] In one embodiment, the signal synthesis module is configured to receive the readhead signal and eliminate the circular grating eccentricity error, and to automatically isolate abnormal signal points when the signal is abnormal.

[0010] In one embodiment, the inner ring of the bearing is connected to the base, and the outer ring of the bearing is connected to the rotor frame.

[0011] In one embodiment, the turntable is connected to the rotor frame via the outer ring of a crossed roller bearing.

[0012] In one embodiment, a gland is also included, which is connected to the base via the inner ring of a crossed roller bearing.

[0013] In one embodiment, the base is provided with a mounting interface for connecting a load flange.

[0014] In one embodiment, the predetermined phase difference between the inner stator and the outer stator ranges from 15° to 45°.

[0015] In one embodiment, both the outer stator and the inner stator are made of an iron-cobalt-vanadium soft magnetic alloy.

[0016] The beneficial effects of this utility model are as follows: This invention features a compact structure employing a dual-stator structure made of iron-cobalt-vanadium soft magnetic alloy. Through a pre-designed phase difference between the inner and outer stators, the magnetic field superposition effect is maximized. Compared to traditional silicon steel stators, this material has higher permeability and lower magnetic loss. Combined with the synergistic effect of the dual-stator magnetic fields, it significantly improves the output torque per unit volume. This utility model also has the following advantages: The reading head of this invention is combined with a signal synthesis module. When the signal is normal, it receives the signal from the reading head and performs internal processing to eliminate the error caused by the eccentricity of the circular grating to the accuracy of the motor. When the signal is abnormal, it isolates the abnormal signal point, thereby improving the stability of the motor. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0018] Figure 2 This is a schematic diagram of the dual-stator structure of this utility model.

[0019] The components are: 1. Reading head; 2. Crossed roller bearing; 3. Turntable; 4. Base; 5. Bearing; 6. Outer stator; 7. Rotor frame; 8. Inner stator; 9. Signal synthesis module; 10. Cover; 11. First magnet; 12. Second magnet; 13. Circular grating; 14. Stator pressure ring; 15. Sealing plate. Detailed Implementation

[0020] The specific embodiments of this utility model are described below with reference to the accompanying drawings.

[0021] To facilitate understanding of this utility model, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of this utility model are shown in the drawings. However, this utility model can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this utility model.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0023] When using the terms “including,” “having,” and “comprising” as described herein, another component may be added unless explicitly qualifying terms such as “only,” “consisting of,” etc. are used. Unless otherwise stated, singular terms may include plural forms and should not be construed as having a quantity of one.

[0024] It should be understood that although the terms "first," "second," etc., may be used herein to describe various elements, these elements should not be limited by these terms. These terms are used only to distinguish one element from another. For example, without departing from the scope of this invention, a first element may be referred to as a second element, and similarly, a second element may be referred to as a first element.

[0025] Furthermore, the accompanying drawings are not drawn to a 1:1 scale, and the relative dimensions of the components are shown in the drawings only as examples and not necessarily to actual scale.

[0026] like Figures 1-2 The accompanying drawing shows a structural schematic diagram of a dual-stator direct-drive motor according to an embodiment of the present invention; for ease of description, the drawing only shows the structure related to the embodiment of the present invention.

[0027] This application provides a dual-stator direct-drive motor, the main body of which is supported by a base 4 as a platform. The top of the base 4 is provided with a mounting groove and a load flange interface. The base 4 coaxially integrates a stator module, a rotor module and an encoder module, and externally connects to a turntable 3 through a cross roller bearing 2 to directly drive the load.

[0028] In some embodiments, the stator module includes: The outer stator 6 is made of iron-cobalt-vanadium soft magnetic alloy and is pressed and fixed to the inner wall of the base 4 by the stator pressure ring 14; furthermore, multiple sets of armature coils are evenly arranged around the outer stator 6. The inner stator 8 is coaxially nested inside the outer stator 6 and is made of iron-cobalt-vanadium soft magnetic alloy; furthermore, the inner stator 8 is circumferentially assembled with several second magnets 12, the number of which is consistent with the number of coil groups of the outer stator 6; Among them, the inner stator 8 and the outer stator 6 have a preset angular offset of 15°–45° around the axis, which maximizes the superposition effect of the magnetic fields of the two stators and improves the torque density per unit volume.

[0029] In some embodiments, the outer stator 6 is pressed into the base 4 via the stator pressure ring 14, and the inner stator 8 is fixed to the center of the base 4 by an interference fit.

[0030] In some embodiments, the rotor module includes: The rotor frame 7 is connected to the base 4 via the bearing 5; furthermore, the inner ring of the bearing 5 is fixed to the base 4, and the outer ring is connected to the rotor frame 7. The first magnet 11 is uniformly embedded in the outer wall of the rotor frame 7 along the circumference.

[0031] In some embodiments, the rotor frame 7 achieves rotational freedom relative to the base 4 via the bearing 5.

[0032] In some embodiments, the turntable 3 serves as a load interface and is fixedly connected to the end of the rotor frame 7 via the outer ring of the crossed roller bearing 2; Furthermore, the turntable 3 transmits torque to the load via the crossed roller bearing 2, eliminating backlash and ensuring high-precision positioning.

[0033] In some embodiments, the pressure cap 10 is press-fitted onto the inner ring of the crossed roller bearing 2, while bolts are fixed to the top of the base 4 to achieve axial positioning of the turntable 3.

[0034] In some embodiments, the encoder module includes: The circular grating 13 is fixed to the end face of the rotor frame 7 and rotates synchronously with the rotor; Reading head 1 is installed on the side wall of base 4, maintaining a gap with circular grating 13 to read angle signals; The signal synthesis module 9 is integrated into the internal circuit board of the base 4 and is electrically connected to the reading head 1.

[0035] In practical applications, the encoder module's workflow is as follows: Receive multiple raw signals from reading head 1; The measurement error caused by the eccentricity of the circular grating 13 is eliminated by algorithm synthesis. It can detect abnormal signal points (such as dirt or interference) in real time and automatically isolate them, and output a stable position signal.

[0036] In some embodiments, the circular grating 13 and the reading head 1 are enclosed inside the base 4 by the sealing plate 15 to prevent dust and oil.

[0037] In practical applications, the workflow of this utility model includes: After being powered on, the coil of the outer stator 6 generates a rotating magnetic field, which interacts with the first magnet 11 to drive the rotor frame 7 to rotate. At the same time, the second magnet 12 of the inner stator 8 forms an additional torque with the magnetic field of the outer stator 6; The phase difference design based on the dual-stator structure enables the superposition of magnetic field harmonics, which significantly improves torque density. The rotor position is fed back in real time by the circular grating 13, and after being corrected by the signal synthesis module 9, it is output to the controller to realize closed-loop direct drive.

[0038] In summary, this utility model has a reasonable structure. It reduces eddy current losses through iron-cobalt-vanadium soft magnetic alloy, and the phase difference design of the dual stator structure improves the torque density compared with traditional motors. Furthermore, it controls the angle error through the eccentricity compensation function of the encoder module.

[0039] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0040] The embodiments described above merely illustrate the implementation of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A dual-stator direct-drive motor, characterized in that, include: The stator module includes an outer stator (6) and an inner stator (8) arranged coaxially. The outer stator (6) is pressed by a stator pressure ring (14) and disposed in the base (4). There is a predetermined phase difference between the outer stator (6) and the inner stator (8). The rotor module, which has a gap with the stator module, includes a rotor frame (7) and a first magnet (11) fixed thereon. The rotor frame (7) is connected to the base (4) via a bearing (5). The turntable (3) is connected to the rotor frame (7) via a cross roller bearing (2). The outer stator (6) has coils arranged circumferentially, and the inner stator (8) is equipped with a second magnet (12), and the number of the second magnets (12) is the same as the number of coils in the outer stator.

2. The dual-stator direct-drive motor according to claim 1, characterized in that, It also includes an encoder module, which includes a circular grating (13), a reading head (1) and a signal synthesis module (9). The circular grating (13) is fixed to the rotor frame (7); The reading head (1) is mounted on the base (4) and electrically connected to the signal synthesis module (9).

3. The dual-stator direct-drive motor according to claim 2, characterized in that, The circular grating (13) is sealed inside the base (4) by a sealing plate (15).

4. The dual-stator direct-drive motor according to claim 2, characterized in that, The signal synthesis module (9) is configured to receive the reading head (1) signal and eliminate the circular grating eccentricity error, and automatically isolate abnormal signal points when the signal is abnormal.

5. The dual-stator direct-drive motor according to claim 1, characterized in that, The inner ring of the bearing (5) is connected to the base (4), and the outer ring of the bearing (5) is connected to the rotor skeleton (7).

6. The dual-stator direct-drive motor according to claim 1, characterized in that, The turntable (3) is connected to the rotor frame (7) via the outer ring of the cross roller bearing (2).

7. The dual-stator direct-drive motor according to claim 6, characterized in that, It also includes a pressure cap (10), which is connected to the base (4) via the inner ring of the cross roller bearing (2).

8. The dual-stator direct-drive motor according to claim 1, characterized in that, The base (4) is provided with an installation interface for connecting the load flange.

9. The dual-stator direct-drive motor according to claim 1, characterized in that, The predetermined phase difference between the inner stator (8) and the outer stator (6) is in the range of 15°-45°.

10. The dual-stator direct-drive motor according to claim 9, characterized in that, Both the outer stator (6) and the inner stator (8) are made of iron-cobalt-vanadium soft magnetic alloy.

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