CN103825398B - The split type motor of a kind of mechanical arm - Google Patents
The split type motor of a kind of mechanical arm Download PDFInfo
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- CN103825398B CN103825398B CN201310586384.5A CN201310586384A CN103825398B CN 103825398 B CN103825398 B CN 103825398B CN 201310586384 A CN201310586384 A CN 201310586384A CN 103825398 B CN103825398 B CN 103825398B
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- motor
- mechanical arm
- magnet steel
- stator
- axle
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Abstract
The present invention relates to the split type motor of a kind of mechanical arm, this motor volume is little, lightweight, and commutation steadily, adapts to the feature that China's moon exploration program carrying capacity is limited, mechanism's installation volume is limited.Motor comprises motor stator component, motor rotor component, electric motor end cap and sensor cluster.Motor rotor component at least comprises axle, main magnet steel and follows the tracks of magnet steel; Motor stator component is made up of motor stator casing and armature; Sensor cluster is made up of printed circuit board, Hall element and Hall support.Installation and Debugging are convenient in stator separating design, and rotor axis of electric is designed to cylinder hollow shaft, can make in the endoporus of whole sensor cluster embedded axle, reduce motor volume and axial dimension; Utilize the gullet positioning torque of motor and the assembled design of special stator to make motor have certain location torque, there is power-off under certain load and keep function.
Description
Technical field
The present invention relates to a kind of motor, particularly relate to the split type motor that a kind of mechanical arm driving joint being 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 carrying capacity that China is present, the necessary volume of motor is little, lightweight; Be the gullet positioning torque making motor performance better usually as far as possible can reduce motor during traditional DC. machine design, but mechanical arm does not have the function that position keeps under the emergency case such as power-off.
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 have 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 blocks and some narrow stator tooth blocks around described motor rotor component one, and described wide stator tooth block in described armature and described narrow stator tooth block are what be intervally arranged equably, described some wide stator tooth blocks and described some narrow stator tooth blocks are the iron core being 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; Described printed circuit board welds described Hall element, and 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 paste be fixed on described axle inwall on, described main magnet steel paste be fixed on described axle outer surface on, described armature is assembled around a circle of described axle by some wide stator tooth blocks and some narrow stator tooth blocks.
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 being 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, tightened by described locking nut at described first groove place, carry out machinery fix main magnet steel, described axle and described main magnet steel carry out machinery to be fixed at described second groove place.
As preferably, the outer surface of described motor stator casing have employed 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 moon exploration program 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, reduces motor volume and axial dimension;
3) utilize the gullet positioning torque of motor and the assembled design of special stator to make motor have certain location torque, there is power-off under certain load and keep function;
4) the motor stator casing outer surface of this motor adopts micro-arc oxidation process process, 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 a kind of mechanical arm of the present invention armature of split type motor;
Fig. 3 is the installation cutaway view of main magnet steel in Fig. 2.
Embodiment
The present invention is further illustrated with reference to the accompanying drawings with specific embodiment.
See the accompanying drawing that the embodiment of the present invention is shown, hereafter in more detail the present invention will be described.But the present invention can realize in many different forms, and should not be construed as by the restriction in the embodiment of this proposition.On the contrary, it is abundant and complete open in order to reach for proposing these embodiments, and makes those skilled in the art understand scope of the present invention completely.
Shown in accompanying drawing 1-3, as the preferred embodiment of 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, and tracking magnet steel 46 pastes and is fixed on the inwall of axle, and main magnet steel 43 pastes and is fixed on the outer surface of 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, tightened at the first groove 431 place by locking nut 433, carry out machinery to main magnet steel 43 to fix, axle 44 and main magnet steel 43 carry out machinery to be fixed at the second groove 432 place.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 the rotating speed produce motor and torque outwards transmit output.Motor stator component is made up of motor stator casing 41 and armature 42, armature 42 by some wide stator tooth blocks 421 and some narrow stator tooth blocks 422 assembled around stator case inner ring, and wide stator tooth block 421 in armature 42 and narrow stator tooth block 422 are for being intervally arranged equably, some wide stator tooth blocks 421 and some narrow stator tooth blocks 422 are the iron core being wound with winding, press fit in motor stator casing 41 after armature 42 is assembled; Sensor cluster is made up of printed circuit board 48, Hall element and Hall support 47.Printed circuit board 48 welds Hall element, and printed circuit board 48 is fixed by Hall support 47.
Sensor cluster is inlayed in the endoporus being 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.
Motor stator casing 41 outer surface adopts as preferred micro-arc oxidation process process, makes it be less than emissivity shining upon lower absorptivity, is applicable to moonscape rugged environment.And be connected with the bearing inner seat of mechanical arm driving joint by some first installing holes 411 on motor stator casing 41.
As shown in Figure 3, each independent stator tooth block is designed to wide, narrow two kinds of sizes, is assembled into stator armature 42 after the coiling of stator tooth block.Time assembled, each stator tooth block space arrangement is evenly arranged according to a wide stator tooth block, a narrow stator tooth block.Armature 42 machines afterwards and motor stator casing 41 carries out press-fiting being 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.
When machine operation, adopt reliable printed circuit board and Hall element as position sensor assembly, position sensor assembly and motor body are designed to one, by detecting and tracking rotor-position, 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 power transistor, give motor winding wheel flow-thru electrode successively, motor stator is made to produce the rotating magnetic field of a great-jump-forward, dragging rotor rotates, thus motor is normally run.
In sum, this motor volume is little, lightweight, and steadily, adaptation China moon exploration program 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, there is power-off under certain load and keep function, be specially adapted to the mechanical arm driving joint of lunar surface detection.
Be only specific embodiments of the invention disclosed in above-mentioned, this embodiment is only that clearer explanation the present invention is used, and is not limitation of the invention, and the changes that any person skilled in the art can think of, all should drop in protection range.
Claims (5)
1. the split type motor of mechanical arm, is characterized in that, the split type motor of described mechanical arm 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 by some wide stator tooth blocks and some narrow stator tooth blocks assembled around described motor stator casing assembly inner ring, and described wide stator tooth block in described armature and described narrow stator tooth block are what be intervally arranged equably, described some wide stator tooth blocks and described some narrow stator tooth blocks are the iron core being 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; Described printed circuit board welds described Hall element, and described printed circuit board is fixed by described Hall support;
Described motor rotor component at least comprise axle, main magnet steel and follow the tracks of magnet steel, described axle is columnar hollow shaft, described tracking magnet steel paste be fixed on described axle inwall on, described main magnet steel paste be fixed on described axle outer surface on.
2. the split type motor of a kind of mechanical arm as claimed in claim 1, is characterized in that, described axle is connected with the harmonic speed reducer power shaft of described mechanical arm driving joint.
3. the split type motor of a kind of mechanical arm as claimed in claim 1, it is characterized in that, described sensor cluster is inlayed in the endoporus being fixed on described axle, and described sensor cluster is fixed on described electric motor end cap.
4. the split type motor of a kind of mechanical arm as claimed in claim 1, it is characterized in that, the first groove and the second groove is respectively equipped with at the two ends of described main magnet steel, tightened at described first groove place by locking nut, carry out machinery to main magnet steel to fix, described axle and described main magnet steel carry out machinery to be fixed at described second groove place.
5. 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 CN103825398A (en) | 2014-05-28 |
| CN103825398B true 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 |
Country Status (1)
| Country | Link |
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| CN (1) | CN103825398B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102017210675A1 (en) | 2017-06-26 | 2018-12-27 | Bayerische Motoren Werke Aktiengesellschaft | Electric motor assembly |
| CN107554821B (en) * | 2017-07-31 | 2020-04-28 | 上海宇航系统工程研究所 | Space modularization high accuracy servo drive subassembly assembly |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5705874A (en) * | 1995-05-18 | 1998-01-06 | Gerhard Geiger Gmbh & Co. | Disc for electrodynamics motors |
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000209793A (en) * | 1999-01-08 | 2000-07-28 | Hitachi Ltd | Stator for rotary electric machine |
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2013
- 2013-11-21 CN CN201310586384.5A patent/CN103825398B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5705874A (en) * | 1995-05-18 | 1998-01-06 | Gerhard Geiger Gmbh & Co. | Disc for electrodynamics motors |
| 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 |
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| CN103825398A (en) | 2014-05-28 |
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