阅读说明：本技术 一种永磁力矩电机结构 (Permanent magnet torque motor structure ) 是由 吴和远 姚培 于 2021-09-15 设计创作，主要内容包括：本发明提供了一种永磁力矩电机结构,包括转子和定子；所述转子嵌装在定子中且转子的中轴穿过定子,转子中轴前端固定有编码器转子,编码器转子嵌装在编码器定子中,编码器定子固定于定子前端。本发明内部集成绝对式高精度光电角度编码器,实现电机转子圆周位置的实时反馈,使电机具备良好的伺服特性；整合度高、体积小、重量轻、能适应真空环境。(The invention provides a permanent magnet torque motor structure, which comprises a rotor and a stator, wherein the rotor is connected with the stator; the rotor is embedded in the stator, a middle shaft of the rotor penetrates through the stator, an encoder rotor is fixed at the front end of the middle shaft of the rotor, the encoder rotor is embedded in the encoder stator, and the encoder stator is fixed at the front end of the stator. The absolute high-precision photoelectric angle encoder is integrated inside the motor rotor, so that the real-time feedback of the circumferential position of the motor rotor is realized, and the motor has good servo characteristics; high integration, small volume, light weight and adaptability to vacuum environment.)

1. A permanent magnet torque motor structure comprises a rotor (2) and a stator (5), and is characterized in that: the rotor (2) is embedded in the stator (5), a middle shaft of the rotor (2) penetrates through the stator (5), an encoder rotor (12) is fixed to the front end of the middle shaft of the rotor (2), the encoder rotor (12) is embedded in the encoder stator (7), and the encoder stator (7) is fixed to the front end of the stator (5).

2. A permanent magnet torque motor structure according to claim 1, characterized in that: the section of the rotor (2) is in a shape of a Chinese character 'han', magnetic steel (24) is arranged on the outer ring of the rotor (2), and a stator armature (52) is arranged on the inner wall of the stator (5) and sleeved outside the magnetic steel (24) at a position corresponding to the magnetic steel (24) on the stator (5).

3. A permanent magnet torque motor structure according to claim 2, characterized in that: the magnetic steel (24) is fixedly bonded on the outer surface of the magnetic yoke (23), the magnetic yoke (23) is axially fixed on the shaft (21) through a screw (22), and the section of the shaft (21) is in a cross shape.

4. A permanent magnet torque motor structure according to claim 2, characterized in that: the stator armature (52) is pressed on the shell (51) in a small interference fit mode and is fixed from the outer ring position through a pin (55); the leading-out wire (53) extends out of the end part of the stator armature (52) and is connected with a wire through a leading-out wire fixing clamp (56), the leading-out wire fixing clamp (56) is fixed on the machine shell (51), and a leading-out wire sheath (54) is installed at the position where the leading-out wire (53) passes through.

5. A permanent magnet torque motor structure according to claim 1, characterized in that: the central shaft of the rotor (2) penetrates through the stator (5), and a bearing assembly (14) is sleeved on the rotor (2) to enable the rotor (2) to rotate relative to the stator (5).

6. A permanent magnet torque motor structure according to claim 5, characterized in that: the bearing assembly (14) is composed of grooves of a first angular contact bearing (141) and a second angular contact bearing (144), the first angular contact bearing (141) and the second angular contact bearing (144) are assembled from two ends respectively, a pretightening force adjusting inner ring (142) and a pretightening force adjusting outer ring (143) are connected between the first angular contact bearing (141) and the second angular contact bearing (144), the pretightening force adjusting inner ring (142) is sleeved in the pretightening force adjusting outer ring (143), and the lengths of the pretightening force adjusting inner ring (142) and the pretightening force adjusting outer ring (143) are consistent.

7. A permanent magnet torque motor structure according to claim 3, characterized in that: on the shaft (21), the size of a bearing stop in the middle of the middle shaft is smaller than that of an installation spigot at the rear end and is smaller than that of a magnet yoke installation spigot, and the size of the bearing stop, the size of the installation spigot and the position of the magnet yoke installation spigot are formed by one-time grinding.

8. A permanent magnet torque motor structure according to claim 3, characterized in that: the front end face of the shaft (21) is provided with a threaded hole (221) for mounting an encoder rotor (12), and the outer circle of the front end is provided with an external thread (223) for mounting a nut (13) and a stop washer groove (222) for mounting a stop washer (10).

9. A permanent magnet torque motor structure according to claim 8, wherein: the nut (13) compresses the stop washer (10) for installation.

10. A permanent magnet torque motor structure according to claim 1, characterized in that: a rear cover (6) is arranged at the front end of the stator (5) and covers the outside of the encoder stator (7), a rear bearing cover (8) is fixedly arranged in the middle of the front end of the stator (5), a front bearing cover (3) is fixedly arranged at the rear end of an inner ring of the stator (5), a dustproof cover plate (4) is fixedly arranged at the rear end of an outer ring of the stator (5), and the rotor (2) penetrates through the dustproof cover plate (4); a bearing assembly (14) is mounted between the front bearing cover (3) and the rear bearing cover (8).

Technical Field

The invention relates to a permanent magnet torque motor structure.

Background

In the field of aerospace, a spacecraft needs to have the characteristics of large torque, small torque fluctuation, small volume, light weight, mechanical environment resistance, vacuum resistance, irradiation resistance and the like for a driving motor, wherein the small volume and the light weight are key factors for restricting the use of a product.

Disclosure of Invention

In order to solve the technical problem, the invention provides a permanent magnet torque motor structure, wherein an absolute high-precision photoelectric angle encoder is integrated in the permanent magnet torque motor structure, so that the real-time feedback of the circumferential position of a motor rotor is realized, and the motor has good servo characteristics.

The invention is realized by the following technical scheme.

The invention provides a permanent magnet torque motor structure, which comprises a rotor and a stator, wherein the rotor is connected with the stator; the rotor is embedded in the stator, a middle shaft of the rotor penetrates through the stator, an encoder rotor is fixed at the front end of the middle shaft of the rotor, the encoder rotor is embedded in the encoder stator, and the encoder stator is fixed at the front end of the stator.

The section of the rotor is in a shape of a Chinese character 'jin', the outer ring of the rotor is provided with magnetic steel, and the stator armature corresponding to the magnetic steel is arranged on the inner wall of the stator and sleeved outside the magnetic steel.

The magnetic steel is bonded and fixed on the outer surface of the magnetic yoke, the magnetic yoke is axially fixed on the shaft through a screw, and the cross section of the shaft is in a cross shape.

The stator armature is pressed on the shell in a small interference fit mode and is fixed from the outer ring position through a pin; the outgoing line extends out from the end part of the stator armature and is connected with the wire through the outgoing line fixing clamp, the outgoing line fixing clamp is fixed on the machine shell, and the outgoing line sheath is arranged at the position where the outgoing line penetrates.

The central shaft of the rotor passes through the stator, and a bearing assembly is sleeved on the rotor so that the rotor can rotate relative to the stator.

The bearing assembly is composed of a first angular contact bearing and a second angular contact bearing groove, the first angular contact bearing and the second angular contact bearing are assembled from two ends respectively, a pre-tightening force adjusting inner ring and a pre-tightening force adjusting outer circle are connected between the first angular contact bearing and the second angular contact bearing, the pre-tightening force adjusting inner ring is sleeved in the pre-tightening force adjusting outer circle, and the length of the pre-tightening force adjusting inner ring is consistent with that of the pre-tightening force adjusting outer circle.

On the shaft, the size of a bearing stop in the middle of the middle shaft is smaller than that of an installation spigot at the rear end and is smaller than that of a magnet yoke installation spigot, and the size of the bearing stop, the size of the installation spigot and the position of the magnet yoke installation spigot are all formed by one-time grinding.

The end face of the front end of the shaft is provided with a threaded hole for mounting an encoder rotor, and the outer circle of the front end is provided with an external thread for mounting a nut and a stop washer groove for mounting a stop washer.

And the nut compresses the stop washer for installation.

The front end of the stator is provided with a rear cover to cover the outside of the encoder stator, the middle part of the front end of the stator is fixedly provided with a rear bearing cover, the rear end of the inner ring of the stator is fixedly provided with a front bearing cover, the rear end of the outer ring of the stator is fixedly provided with a dustproof cover plate, and the rotor passes through the dustproof cover plate; a bearing assembly is mounted between the front and rear bearing caps.

The invention has the beneficial effects that: an absolute high-precision photoelectric angle encoder is integrated inside the motor, so that the real-time feedback of the circumferential position of a motor rotor is realized, and the motor has good servo characteristics; high integration, small volume, light weight and adaptability to vacuum environment.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural view of the bearing assembly of FIG. 1;

FIG. 3 is a schematic end view of the stator of FIG. 1;

FIG. 4 is a cross-sectional view taken along line B-B of FIG. 3;

FIG. 5 is a schematic view of the rotor of FIG. 1;

FIG. 6 is a front view of FIG. 5;

fig. 7 is a dimensional structure diagram of the shaft in fig. 5.

In the figure: 2-rotor, 21-shaft, 22-screw, 221-threaded hole, 222-stop collar groove, 223-external thread, 23-magnetic yoke, 24-magnetic steel, 3-front bearing cover, 4-dust cover plate, 5-stator, 51-machine shell, 52-stator armature, 53-outgoing line, 54-outgoing line sheath, 55-pin, 56-outgoing line fixation clamp, 6-rear cover, 7-encoder stator, 8-rear bearing cover, 9-bearing press plate, 10-stop collar, 12-encoder rotor, 13-nut, 14-bearing assembly, 141-first angular contact bearing, 142-pre-tightening force adjusting inner ring, 143-pre-tightening force adjusting outer ring, 144-second angular contact bearing.

Detailed Description

The technical solution of the present invention is further described below, but the scope of the claimed invention is not limited to the described.

Example 1

A permanent magnet torque motor structure as shown in fig. 1 to 7, comprising a rotor 2 and a stator 5; the rotor 2 is embedded in the stator 5, a middle shaft of the rotor 2 penetrates through the stator 5, an encoder rotor 12 is fixed at the front end of the middle shaft of the rotor 2, the encoder rotor 12 is embedded in the encoder stator 7, and the encoder stator 7 is fixed at the front end of the stator 5.

Example 2

Based on embodiment 2, the cross-section of the rotor 2 is in a shape of a Chinese character 'ke', the outer ring of the rotor 2 is provided with the magnetic steel 24, and the stator 5 is provided with the stator armature 52 at a position corresponding to the magnetic steel 24, which is arranged on the inner wall of the stator 5 and sleeved outside the magnetic steel 24.

Example 3

Based on embodiment 2, the magnetic steel 24 is bonded and fixed on the outer surface of the yoke 23, the yoke 23 is axially fixed on the shaft 21 by the screw 22, and the cross section of the shaft 21 is in a cross shape.

Example 4

Based on embodiment 2, the stator armature 52 is pressed on the housing 51 by a small interference fit and is fixed from the outer ring position by a pin 55; the lead wires 53 extend out from the end of the stator armature 52 and are connected by a lead wire fixing clip 56, the lead wire fixing clip 56 is fixed to the housing 51, and a lead wire sheath 54 is attached to a position through which the lead wires 53 pass.

Example 5

Based on the embodiment 1, the position of the shaft of the rotor 2 passing through the stator 5 has the bearing assembly 14 sleeved on the rotor 2 to make the rotor 2 rotate relative to the stator 5.

Example 6

Based on embodiment 5, the bearing assembly 14 is formed by grooves of a first angular contact bearing 141 and a second angular contact bearing 144, the first angular contact bearing 141 and the second angular contact bearing 144 are assembled from two ends respectively, a pretightening force adjusting inner ring 142 and a pretightening force adjusting outer ring 143 are connected between the first angular contact bearing 141 and the second angular contact bearing 144, the pretightening force adjusting inner ring 142 is sleeved in the pretightening force adjusting outer ring 143, and the lengths of the pretightening force adjusting inner ring 142 and the pretightening force adjusting outer ring 143 are the same.

Example 7

Based on embodiment 3, on the shaft 21, the size of the bearing stop in the middle of the middle shaft is smaller than that of the mounting spigot at the rear end and is smaller than that of the magnetic yoke mounting spigot, and the size of the bearing stop, the size of the mounting spigot and the position of the magnetic yoke mounting spigot are formed by one-time grinding.

Example 8

According to embodiment 3, the front end face of the shaft 21 has a threaded hole 221 for mounting the encoder rotor 12, and the outer circumference of the front end is provided with an external thread 223 for mounting the nut 13 and a stop washer groove 222 for mounting the stop washer 10.

Example 9

According to embodiment 8, the nut 13 is installed by pressing the lock washer 10.

Example 10

Based on the embodiment 1, the front end of the stator 5 is provided with the rear cover 6 to cover the outside of the encoder stator 7, the middle part of the front end of the stator 5 is fixedly provided with the rear bearing cover 8, the rear end of the inner ring of the stator 5 is fixedly provided with the front bearing cover 3, the rear end of the outer ring of the stator 5 is fixedly provided with the dustproof cover plate 4, and the rotor 2 penetrates through the dustproof cover plate 4; a bearing assembly 14 is mounted between the front 3 and rear 8 bearing caps.

Example 11

Based on the above embodiment, the dust-proof cover plate 4 is radially fastened at the inlet of the stator 5 by using screws for preventing the excess from entering the inside of the motor.

The front bearing cover 3 is axially fastened to the stator 5 with screws.

The rear bearing cap 8 is axially fastened to the stator 5 with screws.

The bearing assembly 14 is installed in the bearing chamber of the stator 5 and the bearing block of the rotor 2, the bearing assembly, the bearing chamber of the stator and the bearing block of the rotor are in small clearance fit, the bearing assembly is composed as shown in fig. 2, the first angular contact bearing 141 and the second angular contact bearing 144 are two bearings with the same specification, and the bearing assembly can reach the required pre-tightening force by matching with the difference value of the length dimension of the pre-tightening force adjusting inner ring 142 and the pre-tightening force adjusting outer ring 143. The two ends of the bearing assembly are axially limited by the front bearing cover 3 and the rear bearing cover 8.

The structure and composition of the stator are shown in fig. 4, the stator armature 52 and the housing 51 are pressed together with a small interference fit, and the stator armature 52 and the housing 51 are fixed by a pin 55. The leading-out wire 53 of the stator armature 52 is led out after passing through the leading-out wire sheath 54, the leading-out wire 53 is pressed on the end face of the shell 51 through a leading-out wire fixing clamp 56 and a screw 57 outside the shell 51, and the shell 51 is subjected to proper de-weighting design.

The structure and composition of the rotor are shown in fig. 5, the magnetic steel 24 is adhered to the outer surface of the magnetic yoke 23 by adhesive, and the magnetic yoke 23 is axially fastened on the shaft by the screw 22.

The shaft design is as shown in fig. 6 and 7, and the external installation spigot dimension phid 1, the bearing stop dimension phid 2 and the yoke installation spigot phid 3 are processed by grinding once, so that the coaxiality of the three dimensions is ensured. A threaded hole 221 is formed in the end face of the shaft for mounting the encoder rotor 12. The outer circumference of the front end of the shaft is provided with an external thread 223 for mounting the nut 13. The forward end of the shaft is machined with a stop collar slot 222 for mounting the stop collar 10.

The bearing pressure plate 9 is pressed on the end face of the bearing assembly 14, the bearing pressure plate 9 and the rear bearing cover 8 form a labyrinth path, and fine redundancies in the bearing assembly and the motor are prevented from entering the rear cover and the encoder.

A nut 13 is mounted on the threads 223 of the rotor, the nut 13 pressing against the stop collar 10. The stop collar is designed as shown in fig. 7, after the stop collar is pressed by the nut, the collar folding tongues 101 of the stop collar are bent and attached to the nut 13, so as to prevent the nut from loosening.

The encoder rotor 12 is fastened to the end face of the rotor 2 by screws 12.

The encoder stator 7 is fastened to the end face of the housing 51 of the stator 5 by screws 16.

The rear cover 6 is fastened to the end face of the housing 51 of the stator 5 by screws 17.

Thus, the present invention:

the motor adopts single-ended cantilever bearing structure, compares conventional both ends support design, has shortened complete machine length, and the structure is compacter.

The bearing chamber of the motor stator adopts a through hole design, so that the one-time turning processing of the stator core mounting hole, the bearing chamber and the external mounting spigot is facilitated, and the form and position tolerance of stator parts is improved; the casing is made of aluminum alloy or titanium alloy.

The rotor shaft is made of a titanium alloy material with lower density, so that the structural strength is ensured. The shaft with the structural design is convenient for one-time grinding processing of the external mounting spigot, the bearing retainer and the magnetic yoke mounting spigot, and ensures that the key dimension has higher geometric tolerance.

The labyrinth path is formed after the rear bearing cover and the bearing baffle are assembled, and tiny excess generated by the bearing assembly and the stator end can be prevented from entering the working area of the encoder.

The encoder at the rear end of the motor is respectively arranged on the end face of the rotor shaft and the end face of the stator casing, and the whole encoder is protected by a rear cover.

The torque motor and the encoder are integrally designed, so that shaft systems, bearings and shell parts of the encoder are reduced, and the size and weight of the whole motor are reduced.