CN116658572B - Motor locked rotor actuating mechanism, motor assembly and output torque control method - Google Patents
Motor locked rotor actuating mechanism, motor assembly and output torque control method Download PDFInfo
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- CN116658572B CN116658572B CN202310953962.8A CN202310953962A CN116658572B CN 116658572 B CN116658572 B CN 116658572B CN 202310953962 A CN202310953962 A CN 202310953962A CN 116658572 B CN116658572 B CN 116658572B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 103
- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000001514 detection method Methods 0.000 claims description 29
- 230000000903 blocking effect Effects 0.000 abstract description 8
- 230000000875 corresponding effect Effects 0.000 description 17
- 238000011217 control strategy Methods 0.000 description 9
- 230000005540 biological transmission Effects 0.000 description 8
- 230000008569 process Effects 0.000 description 6
- 230000003247 decreasing effect Effects 0.000 description 4
- 230000036316 preload Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
- H02K7/1163—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears where at least two gears have non-parallel axes without having orbital motion
- H02K7/1166—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears where at least two gears have non-parallel axes without having orbital motion comprising worm and worm-wheel
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
- F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
- F16H1/12—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes
- F16H1/16—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes comprising worm and worm-wheel
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/30—Toothed gearings for conveying rotary motion with gears having orbital motion in which an orbital gear has an axis crossing the main axes of the gearing and has helical teeth or is a worm
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/08—General details of gearing of gearings with members having orbital motion
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/08—General details of gearing of gearings with members having orbital motion
- F16H57/082—Planet carriers
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/30—Structural association with control circuits or drive circuits
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
Abstract
The invention relates to the field of clutch driving equipment, in particular to an executing mechanism for motor stalling, a motor assembly and an output torque control method, which comprise a worm gear mechanism, wherein the worm gear mechanism is connected with an output shaft; the worm and gear mechanism comprises a worm connected to a motor rotating shaft; the worm is connected with the output shaft through a worm wheel; the worm wheel is connected with the output shaft through an elastic mechanism; the motor blocking executing mechanism disclosed by the invention can realize reverse self-locking of the executing mechanism through the use of the worm gear and the worm, so that the requirement on a motor during blocking is reduced; thereby avoiding the problems of overheat of the motor and the controller thereof; meanwhile, the angle control can be converted into torque control through the arrangement of the elastic mechanism, and continuous torque can be continuously provided by matching with the worm and gear mechanism without blocking a motor, so that positive pressure supply to a clutch is ensured.
Description
Technical Field
The invention relates to the field of clutch driving equipment, in particular to an actuating mechanism for motor stalling, a motor assembly and an output torque control method.
Background
In the existing automobile transmission system, in order to transmit power through a clutch, a motor is locked and positive pressure is provided to the clutch through a reduction mechanism.
The combination of the motor and the clutch is widely applied in engineering practice, and the motor generates a rotating magnetic field by using an electrified coil (namely a stator winding) and acts on a rotor to form magneto-electric power rotating torque; the clutch is similar to a switch, and the clutch mechanism has a driving part and a driven part which can be separated temporarily and can be engaged gradually, and relative rotation is possible during transmission.
In the actual use process, the motor cannot be blocked by large current for a long time due to overheat of the motor and a controller thereof, namely, the clutch cannot be combined by large torque for a long time, and can be combined again after the overheat is carried out and the temperature is normal, so that the performance of a transmission system is severely restricted, and the application scene of an automobile is also limited.
Therefore, in order to improve or solve the above-mentioned problems, it is required to optimally design the existing motor assembly or the actuator between the motor and the clutch.
Disclosure of Invention
The invention aims to provide an actuating mechanism capable of reducing overheat when a motor is locked.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
the motor locked-rotor actuating mechanism comprises a worm gear mechanism, wherein the worm gear mechanism is connected with an output shaft;
the worm and gear mechanism comprises a worm connected to a motor rotating shaft; the worm is connected with the output shaft through a worm wheel;
the worm wheel is connected with the output shaft through an elastic mechanism.
The output shaft comprises an output shaft body, and an output disc is arranged on the output shaft body.
The elastic mechanism comprises a plurality of elastic pieces; the elastic pieces are uniformly distributed at intervals.
The elastic piece is a supporting spring; the supporting springs are arranged in an arc shape.
The end part of the output shaft is provided with a detection mechanism; the detection mechanism comprises a detection magnet arranged on the output shaft and a Hall sensor which is arranged opposite to the detection magnet.
The worm wheel is connected with the output shaft through a planetary gear mechanism; the planetary gear mechanism comprises a planetary carrier, a planetary gear, a gear ring and a pinion arranged on the worm gear; the planetary gear is arranged on the planet carrier; the ring gear is arranged outside the planetary gear.
The executing mechanism further comprises a placing groove body; the placing groove body comprises groove body parts, wherein each groove body part comprises a first arc-shaped groove arranged on the output shaft and a second arc-shaped groove arranged on the worm wheel; the first arc-shaped groove and the second arc-shaped groove in each groove body are arranged oppositely.
The executing mechanism further comprises a placing groove body; the placing groove body comprises groove body parts, wherein each groove body part comprises a first arc-shaped groove arranged on the output shaft and a second arc-shaped groove arranged on the planet carrier; the first arc-shaped groove and the second arc-shaped groove in each groove body are arranged oppositely.
The executing mechanism comprises a control system, the control system comprises a detection module, the detection module is connected with a control module, and the control module is connected with an executing module.
The motor assembly comprises a motor shell, wherein a driving motor, an actuating mechanism and a motor controller are arranged in the motor shell.
The motor shell comprises a placing shell, and a shell cover plate is arranged on the placing shell; the driving motor, the executing mechanism and the motor controller are arranged in the placing shell; the output shaft passes through the cover plate of the shell; the novel multifunctional electric power generator is characterized in that an inserting block is arranged in the placing shell, an inserting hole is formed in the inserting block, and the output shaft is inserted into the inserting block through the inserting hole.
A method of controlling output torque of the motor assembly, the method comprising the steps of:
the control method comprises the following steps:
step 1: determining a zero position of the output shaft;
step 2, after the step 1 is completed, when the output shaft runs from the zero position to the current position, measuring the rotation number of the motor rotating shaft in the driving motor and the rotation angle of the output shaft at the moment;
then, obtaining real-time output torque based on a torque calculation formula;
when the worm wheel is directly connected with the output shaft:
the torque calculation formula is as follows:
;
t: real time torque (Nm);
n: the number of turns of the motor shaft;
i: a worm gear ratio;
θ: output shaft rotation angle (°);
alpha: a support spring pre-load angle (°);
k: support spring rate (N/°);
r: placing the radius (m) of the central line of the groove body;
m: the number of springs;
when the worm wheel is connected with the output shaft through the planetary gear mechanism:
the torque calculation formula is as follows:
;
t: real time torque (Nm);
n: the number of turns of the motor shaft;
i 1 : a worm gear ratio;
i 2 : planetary gear train speed ratio;
θ: output shaft rotation angle (°);
alpha: a support spring pre-load angle (°);
k: support spring rate (N/°);
r: placing the radius (m) of the central line of the groove body;
m: the number of the supporting springs;
step 3: and (3) stopping rotating the driving motor after the real-time output torque in the step (2) reaches the target torque.
The invention has the advantages that:
the invention discloses an executing mechanism for motor blocking, a motor assembly with the executing mechanism and a control method for output torque of the motor assembly.
The motor blocking executing mechanism disclosed by the invention can realize reverse self-locking of the executing mechanism through the use of the worm gear and the worm, so that the requirement on a motor during blocking is reduced; thereby avoiding the problems of overheat of the motor and the controller thereof, etc.
Meanwhile, the angle control can be converted into torque control through the arrangement of the elastic mechanism, and continuous torque can be continuously provided by matching with the worm and gear mechanism without blocking a motor, so that positive pressure supply to a clutch is ensured.
Drawings
The contents of the drawings and the marks in the drawings of the present specification are briefly described as follows:
fig. 1 is a cross-sectional view of a first embodiment of the present invention.
Fig. 2 is an exploded view of a first embodiment of the present invention.
Fig. 3 is a cross-sectional view of a second embodiment of the present invention.
Fig. 4 is an exploded view of a second embodiment of the present invention.
Fig. 5 is a schematic structural view of the placement housing of the present invention.
Fig. 6 is a schematic structural view of the worm gear of the present invention when engaged.
Fig. 7 is a schematic view of the structure of the worm wheel of the present invention with a planetary gear mounted thereon.
Fig. 8 is a schematic view of the structure of the worm wheel of the present invention equipped with a planetary gear mechanism.
Fig. 9 is a perspective view of an output shaft in the present invention.
The labels in the above figures are:
marked in the figure as: 1. the driving motor is 2, the placing shell is 3, the shell cover plate is 4, the worm is 5, the output shaft is 6, the supporting spring is 7, the worm wheel is 8, the motor controller is 9, the gear ring is 10, the planet carrier is 11 and the planet gear is arranged; 51. the output shaft body, 52, the output disc, 53, the first arc-shaped groove, 101, the second arc-shaped groove, 71, the pinion, 21, the plug-in block, 22, the plug-in hole, 81 and the Hall sensor.
Description of the embodiments
The following detailed description of the invention refers to the accompanying drawings, which illustrate preferred embodiments of the invention in further detail.
The motor locked-rotor actuating mechanism comprises a worm gear mechanism, wherein the worm gear mechanism is connected with an output shaft 5; the worm and gear mechanism is mainly a transmission mechanism and is mainly used for transmitting power to the output shaft 5 through the motor rotating shaft, and particularly comprises a worm 4 connected to the motor rotating shaft; the worm 4 is connected with the output shaft 5 through a worm wheel 7; the worm 4 and the motor rotating shaft are coaxially distributed, and the output shaft 5 and the worm 4 are vertically staggered; the subsequent output shaft 5 is connected to a worm wheel 7; meanwhile, in order to ensure the output of power and reduce rigid collision, the worm wheel 7 is required to be connected with the output shaft 5 through an elastic mechanism in the invention; in the arrangement of the elastic mechanism, the basic function is to play a role of transmission, mainly used for transmitting the rotating force of the worm wheel 7 to the output shaft 5, and then realizing the subsequent power output operation.
Meanwhile, the executing mechanism disclosed by the invention can realize reverse self-locking of the executing mechanism through the use of the worm wheel 7 and the worm 4, so that the requirement on a motor in locked rotation is reduced; thereby avoiding the problems of overheat of the motor and the controller thereof; and through the setting of elastic mechanism, can change angle control into torque control, cooperate above-mentioned worm gear mechanism, can realize that the motor need not to lock up the commentaries on classics and still can continue to provide continuous moment of torsion, guarantee to the positive pressure supply of clutch.
Further, in the present invention, the output shaft 5 includes an output shaft body 51, and an output disc 52 is disposed on the output shaft body 51; the output shaft body 51 is of a cylindrical structure as a whole, is a main supporting mechanism, facilitates arrangement and placement of the output shaft 5 in a motor casing, and the output disc 52 is arranged, facilitates connection with a worm wheel, specifically facilitates connection between the worm wheel and the output shaft 5, and is arranged vertically with the output shaft body 51 in actual design; the output disc 52 may be directly connected to the worm wheel by an elastic member, or may be connected to the worm wheel by a planetary gear mechanism, hereinafter, in other words, the present invention mainly facilitates the arrangement of the elastic mechanism and the transmission of normal rotation power.
Further, in the present invention, the elastic mechanism includes a plurality of elastic members; the elastic pieces are uniformly distributed at intervals; in the invention, different elastic pieces can be arranged according to the requirement, the arranging number of the elastic pieces can be increased or decreased according to the target torque, in addition, a plurality of elastic pieces are circumferentially distributed on the output disc 52, the worm wheel 7 or the planet carrier 10 and uniformly distributed along the circumference, and the arrangement can ensure that the elastic pieces are symmetrical in rebound force received by adjacent parts after being compressed, so that the problem that one side is stressed unevenly and is tilted or damaged easily is avoided.
Further, in the present invention, the elastic member is a supporting spring 6; the supporting spring 6 is a common elastic component, the supporting spring 6 is convenient to produce, the process is mature, and meanwhile, the supporting spring 6 is convenient to arrange and place in the actuating mechanism according to the requirement, and more importantly, the supporting spring 6 is arranged in an arc shape in the invention; such a configuration is because the subsequent movement of the output disc 52 is a rotational movement, and the provision of the curved support spring 6 facilitates the self-deformation of the support spring 6, reducing the lateral deformation of the support spring 6 in horizontal or longitudinal settings, and thus avoiding affecting the smooth operation of the whole actuator.
Further, in the invention, a detection mechanism is arranged at the end part of the output shaft 5; the detection mechanism comprises a detection magnet arranged on the output shaft 5 and a Hall sensor 81 arranged opposite to the detection magnet; the rotation angle and the rotation number of the output shaft 5 can be detected through the matched use of the detection magnet and the Hall sensor 81, and corresponding data can be provided for a torque calculation formula in the subsequent use; the torque provided by the motor can be conveniently calculated later, and when the torque provided by the motor reaches the target torque, the motor can automatically stop rotating, so that the executing mechanism disclosed by the invention is convenient to use.
Further, in the present invention, the worm wheel 7 is connected with the output shaft 5 through a planetary gear mechanism; the planetary gear mechanism comprises a planetary carrier 10, a planetary gear 11, a gear ring 9 and a pinion 71 arranged on the worm wheel 7; the planetary gears 11 are arranged on the planet carrier 10; the ring gear 9 is arranged outside the planetary gear 11; according to the invention, through the arrangement of the planetary gear mechanism, the low-rotation-speed high-torque output can be realized by reducing the input rotation speed, so that the target torque output by the executing mechanism can be realized more rapidly, and the planetary gear mechanism is convenient to use in practice; meanwhile, in actual design, the gear ring 9 is fixed on the inner wall of the motor shell; the planet carrier 10 mainly comprises a disc body, a planet shaft is arranged on the disc body, each planet gear 11 is sleeved on the planet shaft, the outer side of each planet gear 11 is meshed with the inner teeth of the gear ring 9, the inner side of each planet gear 11 is meshed with a pinion 71 on the worm wheel, and the disc body is connected with a corresponding output disc 52 through an elastic mechanism; based on the above design, a larger output torque can be transmitted to the output shaft 5, and the output target torque of the actuator can be realized more quickly.
Further, in the invention, the executing mechanism further comprises a placing groove body; the arrangement of the placing groove body facilitates the installation and placement of the elastic piece on the corresponding component; in the invention, the placing groove body comprises a groove body part, and 6 groups are generally arranged; of course, it is also possible to provide more or less grooves as required, and in particular designs, the number of grooves may be increased or decreased according to the target torque, and in the present invention, each groove body includes a first arc groove 53 provided on the output shaft 5 and a second arc groove 101 provided on the worm wheel 7 or the planet carrier 10; the first arc-shaped groove 53 and the second arc-shaped groove 101 in each groove body are arranged oppositely; when the output disc 52 is opposite to the worm wheel 7 or the planet carrier 10 in subsequent use, each elastic piece is equivalent to being connected with the output disc 52, the worm wheel 7 or the planet carrier 10, so that the subsequent normal transmission of torque is ensured.
Further, in the invention, the executing mechanism comprises a control system, the control system comprises a detection module, the detection module is connected with a control module, and the control module is connected with an executing module; the detection module mainly plays a role in detection and provides detection signals for the control module, the control module is used for receiving signals sent by the detection module, judging the signals, then making instructions according to the judgment, sending the instructions to the execution module, and carrying out corresponding actions after the execution module receives the instructions sent by the control module.
Specifically, the hall sensor 81 is a part of a detection module, and is mainly used for detecting the position of the output shaft 5, specifically detecting the stopping angle of the output shaft 5, so that the real-time torque can be conveniently calculated according to the rotation angle of the output shaft 5; in addition, in the present invention, the detection module is mainly a controller, for example, the following motor controller 8, where the motor controller 8 is a prior art, and is not described herein, and meanwhile, the execution module of the present invention may be the driving motor 1, and in subsequent use, the rotation angle of the output shaft 5 is identified by the hall sensor 81 and then sent to the control module, and after the control module identifies and determines, the control module sends an instruction to the execution module to drive the motor 1 when the transmitted torque reaches the set target torque, so that the driving motor 1 stops rotating.
The motor assembly comprises a motor shell, wherein a driving motor 1, an actuating mechanism and a motor controller 8 are arranged in the motor shell; the invention can realize reverse self-locking when the motor assembly acts on the clutch through the arrangement of the driving motor 1, the executing mechanism and the motor controller 8, thereby reducing the requirement on the motor when the motor assembly is locked; thereby avoiding the problems of overheat of the motor and the controller thereof; in addition, the invention can convert the angle control of the output shaft 5 in the motor assembly into torque control through the elastic mechanism in the executing mechanism and the arrangement of the motor controller 8, and can realize that the motor can still continuously provide continuous torque without blocking rotation by matching with the worm and gear mechanism, thereby ensuring positive pressure supply to the clutch.
In addition, in practical implementation, it is to be noted that the driving motor itself has a motor rotation shaft, and the driving motor is connected with the worm through the motor rotation shaft itself; the motor rotating shaft is essentially an output end shaft body structure of the driving motor.
Further, in the present invention, the motor housing includes a placement housing 2; the placing shell 2 is provided with a shell cover plate 3; the placing shell 2 and the shell cover plate 3 form an external protection structure of the motor assembly, the placing shell 2 is a box body structure with a cavity inside and an opening on the side surface, and the shell cover plate 3 is a plugging panel, so that after the subsequent driving motor 1, an executing mechanism and the like are arranged inside the placing shell 2, the box body structure formed by the placing shell 2 is plugged and covered; in a specific design, the driving motor 1, the actuating mechanism and the motor controller 8 are arranged in the placement shell 2; the arrangement ensures that the motor shell can protect main components of the multi-motor assembly, and the service life of the motor assembly is ensured; in addition, in the present invention, the output shaft 5 is provided through the housing cover 3; the arrangement facilitates the outward transmission of the subsequent output power from the motor casing; meanwhile, in the invention, an inserting block 21 is arranged in the placing shell 2, an inserting hole 22 is arranged in the inserting block 21, and the output shaft 5 is inserted into the inserting block 21 through the inserting hole 22; the arrangement plays a good role in limiting the end part, and realizes the placement position of the output shaft 5 on the placement shell 2; meanwhile, the arrangement and placement of the follow-up Hall sensor 81 are also facilitated; is convenient to use in actual use.
Specific examples are as follows:
examples
The invention discloses a motor executing mechanism and a motor assembly, which mainly comprise a driving motor 1, a worm gear mechanism, an output shaft 5 and an elastic mechanism.
The invention mainly aims to solve the problem that the motor cannot be blocked for a long time in the application scene of providing the blocked torque by the motor.
Specifically, the motor assembly disclosed by the invention comprises a driving motor 1, a motor controller 8 thereof, a worm and gear mechanism with a second arc-shaped groove 101, a plurality of supporting springs 6 (arc-shaped springs) and a first arc-shaped groove 53 on an output disc 52 on an output shaft 5; the end part of the output shaft 5 is provided with a detection magnet; meanwhile, the mechanism is mainly arranged in a motor shell, and the motor shell comprises a placing shell 2 and a shell cover plate 3.
In the invention, the motor is fixed inside the motor shell; the worm 4 in the worm and gear mechanism is connected with a motor rotating shaft, the shaft of the output shaft 5 is perpendicular to the worm 4 and inserted into the inserting hole 22 of the inserting block 21 on the placing shell 2, meanwhile, the supporting spring 6 is arranged in the first arc-shaped groove 53, the worm wheel 7 is buckled on the output shaft 5 and meshed with the worm 4, the supporting spring 6 is clamped into the second arc-shaped groove 101 on the worm wheel 7, the Hall sensor 81 of the motor controller 8 is positioned above the output shaft detecting magnet, and the motor controller 8 is fixed on the placing shell 2; the housing 2 contains a connector.
In practical implementation, the driving motor 1 is fixed at a position between the placement housing 2 and the housing cover plate 3, and meanwhile, the motor is required to be unable to move in any direction and unable to rotate around any axis; the worm 4 is connected to a motor rotating shaft of the driving motor, two ends of the worm 4 are supported in the motor shell, the driving motor 1 can drive the worm 4 to rotate, and the worm 4 cannot move along the axial direction; meanwhile, an output shaft 5 is inserted into an output shaft hole of the cover plate 3 of the shell body perpendicularly to the worm 4, and a D-shaped magnet is fixed on the output shaft 5; the D-type magnet is actually the detecting magnet disclosed above, an output disc 52 is arranged in the middle of the output shaft 5, and a plurality of first arc grooves 53 are formed in the output disc 52; the supporting springs 6 are arranged in the first arc-shaped grooves 53 on the output disc 52, and meanwhile, the groove depth of each first arc-shaped groove 53 is half of the outer diameter of the arc-shaped springs in the invention, and the number of the arc-shaped springs can be increased or decreased according to the size of the target torque; in the present invention, the worm wheel 7 is fastened to the output shaft 5 to be engaged with the worm 4, and the worm wheel 7 rotates around the output shaft 5; the worm wheel 7 is provided with a second arc-shaped groove 101, one end of the supporting spring 6 is clamped in the first arc-shaped groove 53, and the other end of the supporting spring is clamped in the second arc-shaped groove 101; meanwhile, the motor controller 8 is provided with a Hall sensor 81 positioned above the D-shaped magnet at the end part of the output shaft 5, and the motor controller 8 is fixed in the placing shell 2; the inside of the placing shell 2 is provided with a plug block 21, the plug block 21 is provided with a plug hole 22, the plug hole 22 is matched with the output shaft 5, and meanwhile, the side surface of the placing shell 2 is provided with a plug connector of a motor controller.
The control strategy of the motor assembly mainly comprises a zero position strategy and a locked-rotor torque control strategy.
And calculating the real-time torque of the motor assembly based on the control strategy.
The control strategy of the motor locked rotor actuating mechanism in the motor assembly mainly comprises a zero position strategy and a locked rotor torque control strategy.
The zero position is the angle at which the output shaft 5 stops after the zero position is separated from the locked position, and a certain angle of the output shaft 5 can be calibrated to be the zero position according to actual requirements.
The locked-rotor torque control strategy is to calculate real-time torque through the measured rotation number of the motor from the zero position to the current position and the current rotation angle of the output shaft measured by the Hall angle sensor until the target torque is reached, and the motor stops rotating.
The specific scheme is as follows:
when the output shaft of the motor assembly runs from the zero position to the current position; during the period, the rotation number of the motor rotating shaft in the operation period of the output shaft is measured through a detection module of the driving motor, and the total rotation angle of the output shaft during the period is measured through the detection mechanism; thereby obtaining the rotation number of the motor rotating shaft and the corresponding rotation angle of the output shaft.
The torque calculation formula is as follows:
;
t: real time torque (Nm);
n: the number of turns of the motor shaft; (the part is the rotation number of the motor rotating shaft in the process of the output shaft running from the zero position to the current position);
i: a worm gear ratio;
θ: output shaft rotation angle (°); (the part is the total rotation angle of the output shaft during the process of the output shaft moving from the zero position to the current position; for example, when the output shaft rotates one circle corresponding to the zero position, the rotation angle of the output shaft is 360 degrees; and two circles are 720 degrees);
alpha: a support spring pre-load angle (°);
k: support spring rate (N/°);
r: placing the radius (m) of the central line of the groove body; (the part can also be regarded as the radius of the circular arc corresponding to the center line of the first arc-shaped groove or the second arc-shaped groove; meanwhile, the circular arc corresponding to the center line of the first arc-shaped groove or the second arc-shaped groove is required, when a plurality of placing groove bodies are arranged, the corresponding part of data is different if the placing groove bodies are positioned differently; in other words, each placing groove body corresponding to each supporting spring has an r value, and the actual data is specific);
m: the number of springs.
Examples
The invention discloses an actuating mechanism and a motor assembly, which mainly comprise a driving motor 1, a placing shell 2, a shell cover plate 3, a worm 4, a worm wheel 7, a supporting spring 6, a planet carrier 10, a planet gear 11, a gear ring 9, the worm wheel 7 and a motor controller 8.
In the invention, the driving motor 1 is fixed between the placing shell 2 and the shell cover plate 3; the motor is required to be unable to move in any direction and unable to rotate around any axis; the worm 4 is connected to a motor rotating shaft of the driving motor, two ends of the worm 4 are supported in the motor shell, the driving motor 1 can drive the worm 4 to rotate, and the worm 4 cannot move along the axial direction; the output shaft 5 is inserted into the output shaft hole of the cover plate 3 of the housing perpendicularly to the worm 4, a D-shaped magnet (here, the D-shaped magnet is actually the detection magnet) is fixed at one end of the output shaft 5, an output disc 52 is provided on the output shaft 5, and a first arc-shaped groove 53 is provided on the output disc 52.
The supporting spring 6 is arranged in a first arc-shaped groove 53 on the output disc 52, the groove depth of the first arc-shaped groove 53 is required to be half of the outer diameter of the arc-shaped spring, and the number of the arc-shaped springs can be increased or decreased according to the size of the target torque; the planet carrier 10 is buckled on the output shaft 5, and the planet carrier 10 rotates around the output shaft 5; the planet carrier 10 is provided with a second arc-shaped groove 101, and the piece supporting spring 6 is clamped into the corresponding second arc-shaped groove 101 of the planet carrier 10; meanwhile, in the invention, the planet gears 11 are buckled on the planet carrier 10; the gear ring 9 is buckled on the planetary gear 11; the gear ring 9 is matched with a positioning groove of the gear ring 9 of the shell, and the gear ring 9 cannot rotate; the worm wheel 7 is buckled on the output shaft 5 and meshed with the worm 4, and the worm wheel 7 rotates around the output shaft 5; pinion 71 on worm wheel 7 is meshed with planetary gear 11; the motor controller 8 is provided with a Hall sensor 81 positioned above the D-shaped magnet at the end part of the output shaft 5, and the motor controller 8 is fixed in the placement shell 2; the center hole of the placement shell 2 is matched with the worm wheel 7 in a shaft way, and a motor controller plug connector is arranged on the side face of the placement shell.
The control strategy of the motor locked rotor actuating mechanism in the motor assembly mainly comprises a zero position strategy and a locked rotor torque control strategy.
The zero position is characterized in that the angle of the output shaft 5 is stopped after the actuating mechanism is separated from the locked position, and a certain angle of the output shaft 5 can be calibrated to be the zero position according to actual requirements.
And the locked-rotor torque control strategy calculates real-time torque through the measured rotation number of the motor rotating shaft from the zero position to the current position and the current rotation angle of the output shaft 5 measured by the Hall angle sensor, and stops rotating after the target torque is reached.
The specific scheme is as follows:
when the output shaft of the motor assembly runs from the zero position to the current position;
during the period, the rotation number of the motor rotating shaft in the operation period of the output shaft is measured through a detection module of the driving motor, and the total rotation angle of the output shaft during the period is measured through the detection mechanism; thereby obtaining the rotation number of the motor rotating shaft and the corresponding rotation angle of the output shaft.
The real-time torque calculation formula is as follows:
;
t: real time torque (Nm);
n: the number of turns of the motor shaft; (the part is the rotation number of the motor rotating shaft in the process of the output shaft running from the zero position to the current position);
i 1 : a worm gear ratio;
i 2 : planetary gear train speed ratio;
θ: output shaft rotation angle (°); (the part is the total rotation angle of the output shaft during the process of the output shaft moving from the zero position to the current position; for example, when the output shaft rotates one circle corresponding to the zero position, the rotation angle of the output shaft is 360 degrees; and two circles are 720 degrees);
alpha: a support spring pre-load angle (°);
k: support spring rate (N/°);
r: placing the radius (m) of the central line of the groove body; (the part can also be regarded as the radius of the circular arc corresponding to the center line of the first arc-shaped groove or the second arc-shaped groove; meanwhile, the circular arc corresponding to the center line of the first arc-shaped groove or the second arc-shaped groove is required, when a plurality of placing groove bodies are arranged, the corresponding part of data is different if the placing groove bodies are positioned differently; in other words, each placing groove body corresponding to each supporting spring has an r value, and the actual data is specific);
m: the number of the supporting springs;
the two embodiments of the invention disclosed above; the problem that the motor cannot be locked for a long time in the application scene of the locked torque can be solved by the motor locked.
It is obvious that the specific implementation of the present invention is not limited by the above-mentioned modes, and that it is within the scope of protection of the present invention only to adopt various insubstantial modifications made by the method conception and technical scheme of the present invention.
Claims (6)
1. The motor locked-rotor actuating mechanism is characterized by comprising a worm gear mechanism, wherein the worm gear mechanism is connected with an output shaft;
the worm and gear mechanism comprises a worm connected to a motor rotating shaft; the worm is connected with the output shaft through a worm wheel;
the worm wheel is connected with the output shaft through an elastic mechanism;
the output shaft comprises an output shaft body, and an output disc is arranged on the output shaft body;
the output disc is connected with a worm wheel or planetary gear mechanism through an elastic mechanism;
the elastic mechanism comprises a plurality of elastic pieces, and the elastic pieces are distributed at intervals; the elastic piece is a supporting spring, and the supporting spring is arranged in an arc shape;
the executing mechanism further comprises a placing groove body; the placing groove body comprises a groove body part;
when the output disc is connected with the worm wheel through the elastic mechanism:
each groove body part comprises a first arc-shaped groove arranged on the output shaft and a second arc-shaped groove arranged on the worm wheel; the first arc-shaped groove and the second arc-shaped groove in each groove body are oppositely arranged;
when the output disc is connected with the planetary gear mechanism through the elastic mechanism:
each groove body comprises a first arc-shaped groove arranged on the output shaft and a second arc-shaped groove arranged on the planet carrier; the first arc-shaped groove and the second arc-shaped groove in each groove body are oppositely arranged;
the motor assembly output torque control method comprises the following steps:
when the output shaft runs from the zero position to the current position, measuring the rotation number of the motor rotating shaft in the driving motor and the rotation angle of the output shaft at the moment;
then, obtaining real-time output torque based on a torque calculation formula;
when the worm wheel is directly connected with the output shaft:
the torque calculation formula is as follows:
；
t: real-time torque;
: the number of turns of the motor shaft;
i: a worm gear ratio;
θ: an output shaft rotation angle;
alpha: a support spring pre-tightening angle;
k: a support spring rate;
r: placing the radius of the central line of the groove body;
m: the number of springs;
when the worm wheel is connected with the output shaft through the planetary gear mechanism:
the torque calculation formula is as follows:
；
i 1 : a worm gear ratio;
i 2 : planetary gear train speed ratio.
2. The motor stalling execution mechanism according to claim 1, wherein the end part of the output shaft is provided with a detection mechanism; the detection mechanism comprises a detection magnet arranged on the output shaft and a Hall sensor which is arranged opposite to the detection magnet.
3. The motor stall actuator of claim 1, wherein; the worm wheel is connected with the output shaft through a planetary gear mechanism; the planetary gear mechanism comprises a planetary carrier, a planetary gear, a gear ring and a pinion arranged on the worm gear; the planetary gear is arranged on the planet carrier; the ring gear is arranged outside the planetary gear.
4. A motor assembly comprising a motor housing having a drive motor, an actuator according to any one of claims 1 to 3, and a motor controller disposed therein.
5. The motor assembly of claim 4, wherein the motor housing comprises a housing cover plate disposed on the housing; the driving motor, the executing mechanism and the motor controller are arranged in the placing shell; the output shaft passes through the cover plate of the shell; the novel multifunctional electric power generator is characterized in that an inserting block is arranged in the placing shell, an inserting hole is formed in the inserting block, and the output shaft is inserted into the inserting block through the inserting hole.
6. A method of controlling output torque based on the motor assembly of any one of claims 4-5, characterized by;
the control method comprises the following steps:
step 1: determining a zero position of the output shaft;
step 2, after the step 1 is completed, when the output shaft runs from the zero position to the current position, measuring the rotation number of the motor rotating shaft in the driving motor and the rotation angle of the output shaft at the moment;
then, obtaining real-time output torque based on a torque calculation formula;
step 3: and (3) stopping rotating the driving motor after the real-time output torque in the step (2) reaches the target torque.
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| CN202310953962.8A CN116658572B (en) | 2023-08-01 | 2023-08-01 | Motor locked rotor actuating mechanism, motor assembly and output torque control method |
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| CN116658572A (en) | 2023-08-29 |
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