CN103825398A - Split-type motor for mechanical arm - Google Patents
Split-type motor for mechanical arm Download PDFInfo
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- CN103825398A CN103825398A CN201310586384.5A CN201310586384A CN103825398A CN 103825398 A CN103825398 A CN 103825398A CN 201310586384 A CN201310586384 A CN 201310586384A CN 103825398 A CN103825398 A CN 103825398A
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- motor
- mechanical arm
- magnet steel
- split type
- stator
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Abstract
The invention relates to a split-type motor for a mechanical arm. The motor is small in size, light in weight, smooth and steady in reversing, and suitable for limited carrying capacity and limited mechanism installation size in the moon exploration project in our country. The motor comprises a motor stator assembly, a motor rotor assembly, a motor end cap and a sensor assembly. The motor rotor assembly at least comprises a shaft, main magnetic steel and tracking magnetic steel. The motor stator assembly is formed by a motor stator housing and an armature. The sensor assembly is formed by a printed circuit board, a Hall sensor and a Hall support. The split-type design of the motor facilitates installation and debugging; the motor rotor shaft is designed to be a cylinder hollow shaft, so that the whole sensor assembly is allowed to be inserted into an inner bore of the shaft, and the size and the axial dimension of the motor are reduced; and a motor tooth slot positioning torque and special stator assembly design are utilized to enable the motor to have a certain positioning torque, and thus the motor can have a power failure maintenance function under the condition of a certain load.
Description
Technical field
The present invention relates to a kind of motor, relate in particular to the split type motor that a kind of mechanical arm driving joint that is applicable to moon surface detector uses.
Background technology
According to Apollo lunar exploration experience and theory analysis, moonscape has the environmental characteristics such as the extremely strong lunar dust of high temperature, low temperature, high vacuum, absorption affinity, and traditional motor is difficult to be competent at various adverse circumstances on lunar surface simultaneously; Meanwhile, according to the present carrying capacity of China, the necessary volume of motor is little, lightweight; When traditional DC. machine design, be to make motor performance better conventionally can reduce the gullet positioning torque of motor, but mechanical arm does not have the function that position keeps under the emergency case such as power-off as far as possible.
Summary of the invention
The object of the present invention is to provide the split type motor of a kind of mechanical arm, make mechanical arm there is the function of certain location torque.
To achieve these goals, the split type motor of a kind of mechanical arm provided by the invention, comprises motor stator component, motor rotor component, electric motor end cap and sensor cluster;
Described motor stator component is made up of motor stator casing and armature; Described motor stator casing is connected on the bearing inner seat of a mechanical arm driving joint; Described armature encloses assembled by some wide stator tooth pieces and some narrow stator tooth pieces around described motor rotor component one, and the described wide stator tooth piece in described armature and described narrow stator tooth piece are what be intervally arranged equably, described some wide stator tooth pieces and described some narrow stator tooth pieces are the iron core that is wound with winding, and described armature is placed in motor stator casing; Described sensor cluster is made up of printed circuit board, Hall element and Hall support; On described printed circuit board, weld described Hall element, described printed circuit board is fixed by described Hall support.
As preferably, described motor rotor component at least comprises axle, main magnet steel and follows the tracks of magnet steel, described axle is columnar hollow shaft, described tracking magnet steel pastes on the inwall that is fixed on described axle, described main magnet steel pastes on the outer surface that is fixed on described axle, and described armature is assembled around a circle of described axle by some wide stator tooth pieces and some narrow stator tooth pieces.
As preferably, described axle is connected with the harmonic speed reducer power shaft of described mechanical arm driving joint.
As preferably, described sensor cluster is inlayed in the endoporus that is fixed on described axle, and described sensor cluster is fixed on described electric motor end cap.
As preferably, be respectively equipped with the first groove and the second groove at the two ends of described main magnet steel, tighten at described the first groove place by described locking nut, main magnet steel is carried out to machinery and fix, described axle and described main magnet steel carry out machinery at described the second groove place fixing.
As preferably, the outer surface of described motor stator casing has adopted the PROCESS FOR TREATMENT of differential arc oxidation.
The present invention, owing to adopting above technical scheme, makes it compared with prior art, has following advantage and good effect:
1) this motor volume is little, lightweight, and commutation steadily, adapts to the feature that China's lunar exploration engineering carrying capacity is limited, mechanism's installation volume is limited;
2) this motor split-type design is convenient to Installation and Debugging, and rotor axis of electric is designed to cylinder hollow shaft, can make, in the endoporus of whole sensor cluster embedded axle, to reduce motor volume and axial dimension;
3) utilize the gullet positioning torque of motor and the special assembled design of stator to make motor there is certain location torque, under certain load, there is hold during power off function;
4) the motor stator casing outer surface of this motor adopts micro-arc oxidation process processing, makes it be less than emissivity shining upon lower absorptivity, is applicable to moonscape rugged environment.
Accompanying drawing explanation
Fig. 1 is the structure cutaway view of the split type motor of a kind of mechanical arm of the present invention;
Fig. 2 is the assembled schematic diagram of armature of the split type motor of a kind of mechanical arm of the present invention;
Fig. 3 is the installation cutaway view of main magnet steel in Fig. 2.
Embodiment
Further illustrate the present invention with specific embodiment with reference to the accompanying drawings.
Referring to the accompanying drawing that the embodiment of the present invention is shown, the present invention below will be described in more detail.But the present invention can be with many multi-form realizations, and should not be construed as the restriction of the embodiment being subject in this proposition.On the contrary, it is abundant and complete open in order to reach proposing these embodiment, and makes those skilled in the art understand scope of the present invention completely.
Shown in accompanying drawing 1-3, the preferred embodiment as a kind of mechanical arm provided by the invention with split type motor, this motor comprises motor rotor component, motor stator component, electric motor end cap 49 and sensor cluster.Motor rotor component at least comprises axle 44, main magnet steel 43, follows the tracks of magnet steel 46, and axle 44 is columnar hollow shaft, follows the tracks of magnet steel 46 and pastes on the inwall that is fixed on axle, and main magnet steel 43 pastes on the outer surface that is fixed on axle.Main magnet steel 43 preferably fixed form for be respectively equipped with the first groove 431 and the second groove 432 at its two ends, tighten at the first groove 431 places by locking nut 433, main magnet steel 43 is carried out to machinery and fix, axle 44 carries out machinery with main magnet steel 43 to be fixed at the second groove 432 places.Electronics rotor assembly is connected with the harmonic speed reducer power shaft of mechanical arm driving joint by the second installing hole 441 on axle 44, and output is outwards transmitted in rotating speed and torque that motor is produced.Motor stator component is made up of motor stator casing 41 and armature 42, armature 42 is assembled around stator case inner ring by some wide stator tooth pieces 421 and some narrow stator tooth pieces 422, and the wide stator tooth piece 421 in armature 42 and narrow stator tooth piece 422 are what be intervally arranged equably, some wide stator tooth pieces 421 and some narrow stator tooth pieces 422 are the iron core that is wound with winding, after armature 42 is assembled, press fit in motor stator casing 41; Sensor cluster is made up of printed circuit board 48, Hall element and Hall support 47.On printed circuit board 48, weld Hall element, printed circuit board 48 is fixing by Hall support 47.
Sensor cluster is inlayed in the endoporus that is fixed on axle 44, and sensor cluster is fixed on electric motor end cap 49, can reduce motor volume, reduces the axial dimension of motor, simultaneously for other equipment in motor provides space.
As shown in Figure 3, each independent stator tooth piece is designed to wide, narrow two kinds of sizes, after the coiling of stator tooth piece, is assembled into stator armature 42.When assembled, each stator tooth block space is arranged and is evenly arranged according to a wide stator tooth piece, a narrow stator tooth piece.After armature 42 machines and motor stator casing 41 press-fit and be combined into motor stator component.The assembled motor that makes of stator has certain location holding torque, can realize motor powering up at an arbitrary position, power-off attitude keeps function.
In the time of machine operation, adopt reliable printed circuit board and Hall element as position sensor assembly, position sensor assembly and motor body are designed to one, follow the tracks of rotor-position by detection, integrated circuit in printed circuit board produces the pulse signal of reflection rotor-position, then by the pulsqe distributor of peripheral control unit, control the conducting in turn of final stage power transistor, give successively motor winding wheel flow-thru electrode, make motor stator produce the rotating magnetic field of a great-jump-forward, drag rotor, thereby motor is normally moved.
In sum, this motor volume is little, lightweight, and steadily, adaptation China lunar exploration engineering carrying capacity is limited, mechanism's installation volume is limited and the feature of space adverse circumstances in commutation; And the assembled design of stator makes motor have certain location torque, has hold during power off function under certain load, be specially adapted to the mechanical arm driving joint that lunar surface is surveyed.
Above-mentioned disclosed be only specific embodiments of the invention, this embodiment is only that clearer explanation the present invention is used, and limitation of the invention not, the changes that any person skilled in the art can think of, all should drop in protection range.
Claims (6)
1. the split type motor of mechanical arm, is characterized in that, described mechanical arm comprises motor stator component, motor rotor component, electric motor end cap and sensor cluster with split type motor;
Described motor stator component is made up of motor stator casing and armature; Described motor stator casing is connected on the bearing inner seat of a mechanical arm driving joint; Described armature is assembled around described motor stator casing assembly inner ring by some wide stator tooth pieces and some narrow stator tooth pieces, and the described wide stator tooth piece in described armature and described narrow stator tooth piece are what be intervally arranged equably, described some wide stator tooth pieces and described some narrow stator tooth pieces are the iron core that is wound with winding, and described armature is placed in motor stator casing; Described sensor cluster is made up of printed circuit board, Hall element and Hall support; On described printed circuit board, weld described Hall element, described printed circuit board is fixed by described Hall support.
2. the split type motor of a kind of mechanical arm as claimed in claim 1, it is characterized in that, described motor rotor component at least comprises axle, main magnet steel and follows the tracks of magnet steel, described axle is columnar hollow shaft, described tracking magnet steel pastes on the inwall that is fixed on described axle, and described main magnet steel pastes on the outer surface that is fixed on described axle.
3. the split type motor of a kind of mechanical arm as claimed in claim 2, is characterized in that, described axle is connected with the harmonic speed reducer power shaft of described mechanical arm driving joint.
4. the split type motor of a kind of mechanical arm as claimed in claim 2, is characterized in that, described sensor cluster is inlayed in the endoporus that is fixed on described axle, and described sensor cluster is fixed on described electric motor end cap.
5. the split type motor of a kind of mechanical arm as claimed in claim 2, it is characterized in that, be respectively equipped with the first groove and the second groove at the two ends of described main magnet steel, tighten at described the first groove place by described locking nut, main magnet steel is carried out to machinery and fix, described axle and described main magnet steel carry out machinery at described the second groove place fixing.
6. the split type motor of a kind of mechanical arm as claimed in claim 1, is characterized in that, the outer surface of described motor stator casing adopts the PROCESS FOR TREATMENT of differential arc oxidation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310586384.5A CN103825398B (en) | 2013-11-21 | 2013-11-21 | The split type motor of a kind of mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310586384.5A CN103825398B (en) | 2013-11-21 | 2013-11-21 | The split type motor of a kind of mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103825398A true CN103825398A (en) | 2014-05-28 |
| CN103825398B CN103825398B (en) | 2016-03-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310586384.5A Active CN103825398B (en) | 2013-11-21 | 2013-11-21 | The split type motor of a kind of mechanical arm |
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| Country | Link |
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| CN (1) | CN103825398B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107554821A (en) * | 2017-07-31 | 2018-01-09 | 上海宇航系统工程研究所 | A kind of space module high-precision servo drive component assembly |
| WO2019001914A1 (en) * | 2017-06-26 | 2019-01-03 | Bayerische Motoren Werke Aktiengesellschaft | Electric motor assembly |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5705874A (en) * | 1995-05-18 | 1998-01-06 | Gerhard Geiger Gmbh & Co. | Disc for electrodynamics motors |
| JP2000209793A (en) * | 1999-01-08 | 2000-07-28 | Hitachi Ltd | Stator for rotary electric machine |
| CN101543991A (en) * | 2008-03-28 | 2009-09-30 | 上海鸿臻电子技术有限公司 | Three-dimensional mechanical hand |
| CN103222165A (en) * | 2011-03-07 | 2013-07-24 | 浙江博望科技发展有限公司 | Three phase permanent magnet servomotor |
-
2013
- 2013-11-21 CN CN201310586384.5A patent/CN103825398B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5705874A (en) * | 1995-05-18 | 1998-01-06 | Gerhard Geiger Gmbh & Co. | Disc for electrodynamics motors |
| JP2000209793A (en) * | 1999-01-08 | 2000-07-28 | Hitachi Ltd | Stator for rotary electric machine |
| CN101543991A (en) * | 2008-03-28 | 2009-09-30 | 上海鸿臻电子技术有限公司 | Three-dimensional mechanical hand |
| CN103222165A (en) * | 2011-03-07 | 2013-07-24 | 浙江博望科技发展有限公司 | Three phase permanent magnet servomotor |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019001914A1 (en) * | 2017-06-26 | 2019-01-03 | Bayerische Motoren Werke Aktiengesellschaft | Electric motor assembly |
| CN110462993A (en) * | 2017-06-26 | 2019-11-15 | 宝马股份公司 | Electric motor assembly |
| CN110462993B (en) * | 2017-06-26 | 2021-10-26 | 宝马股份公司 | Motor assembly |
| US11239731B2 (en) | 2017-06-26 | 2022-02-01 | Bayerische Motoren Werke Aktiengesellschaft | Electric motor assembly |
| CN107554821A (en) * | 2017-07-31 | 2018-01-09 | 上海宇航系统工程研究所 | A kind of space module high-precision servo drive component assembly |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103825398B (en) | 2016-03-30 |
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