CN219843516U - Ultra-small-volume servo motor - Google Patents
Ultra-small-volume servo motor Download PDFInfo
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- CN219843516U CN219843516U CN202320515619.0U CN202320515619U CN219843516U CN 219843516 U CN219843516 U CN 219843516U CN 202320515619 U CN202320515619 U CN 202320515619U CN 219843516 U CN219843516 U CN 219843516U
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- 238000009434 installation Methods 0.000 claims description 6
- SEWHDNLIHDBVDZ-UHFFFAOYSA-N 1,2,3-trichloro-4-(2-chlorophenyl)benzene Chemical compound ClC1=C(Cl)C(Cl)=CC=C1C1=CC=CC=C1Cl SEWHDNLIHDBVDZ-UHFFFAOYSA-N 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000001939 inductive effect Effects 0.000 description 4
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 3
- 229910052802 copper Inorganic materials 0.000 description 3
- 239000010949 copper Substances 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000002035 prolonged effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Abstract
The utility model discloses an ultra-small-volume servo motor, which comprises a shell, a rotor assembly, a stator assembly and a position detection device, wherein the rotor assembly, the stator assembly and the position detection device are arranged in an inner cavity of the shell, the rotor assembly comprises an output shaft, a rotor support, an outer ring magnet and an inner ring magnet, the outer ring magnet is fixedly arranged in an outer ring area of the rotor support, the inner ring magnet is fixedly arranged in an inner ring area of the rotor support, the outer ring magnet and the inner ring magnet are arranged in an isolated manner through the rotor support, the output shaft is fixedly arranged on the rotor support, the rotor support is provided with a detection port, the upper part of the outer ring magnet is provided with a detection part, and the detection port is exposed out of the detection part; the position detection device is arranged above the rotor assembly, and is provided with two linear Hall sensors and a digital Hall sensor U3, wherein the two linear Hall sensors are respectively in Hall induction fit with the inner ring magnet, and the digital Hall sensor U3 is in Hall induction fit with the detection part of the outer ring magnet. Small volume, high control precision, simple structure and low cost.
Description
Technical Field
The utility model relates to the technical field of servo motors, in particular to an ultra-small-size servo motor.
Background
The servo motor can control the speed, the position accuracy is very accurate, and the voltage signal can be converted into the torque and the rotating speed to drive the control object. The position acquisition scheme of the servo motor in the prior art mainly comprises that a photoelectric encoder or a magnetic encoder is arranged at the tail part of the motor.
The resolution of the photoelectric encoder is mainly 1000 lines, 2000 lines and 2500 lines, namely, the motor rotates for one circle, the encoder outputs pulses corresponding to the number of lines, and the control accuracy is high, but a grating horse disk, a sensor, a control circuit and the like are required to be arranged at the tail part of the motor, so that a large space is occupied.
The scheme of the magnetic encoder is that a pair of poles or a plurality of pairs of poles are arranged on a rotor at the tail part of the motor to radially magnetize the magnet, a magnetic induction chip is arranged above the magnet, and when the rotor is positioned at different positions, the motor rotor position is obtained by analyzing the principle of different magnetic field intensity.
Therefore, the position detection device of the servo motor in the prior art can lengthen the actual length of the motor, so that the size of the motor is large, a large installation space is needed, the photoelectric encoder is adopted, the size is large, the magnetic encoder can reduce a certain size, but the precision is low, and the size and the precision cannot be simultaneously met; in some industrial equipment with limited space and in application scenarios requiring high precision control, it is not possible to use the equipment, and thus an improvement is needed.
Disclosure of Invention
Aiming at the defects in the prior art, the utility model aims to provide the servo motor with ultra-small volume, high control precision, simple structure and low cost.
In order to achieve the above purpose, the technical scheme adopted by the utility model is as follows: the utility model provides a servo motor of ultra-small volume, which comprises a housin, signal processing circuit, install the rotor subassembly in the inner chamber of casing, stator subassembly and position detection device, rotor subassembly rotation mount is in the central point of stator, the rotor subassembly includes the output shaft, the rotor support, outer loop magnet and inner ring magnet, outer loop magnet fixed mounting is in the outer circular area of rotor support, inner ring magnet fixed mounting is in the inner circular area of rotor support, outer loop magnet and inner ring magnet pass through the rotor support isolation setting, output shaft fixed mounting is in the central point of rotor support, the detection mouth has been seted up to one side of rotor support, the upper portion of outer loop magnet is provided with a detection portion, the detection mouth reveals detection portion;
the position detection device is fixedly arranged above the rotor assembly, the position detection device is provided with two linear Hall sensors and a digital Hall sensor U3, the two linear Hall sensors are respectively in inductive fit with the Hall of the inner ring magnet, the digital Hall sensor U3 is in inductive fit with the Hall of the detection part of the outer ring magnet,
the signal processing circuit is respectively and electrically connected with the two linear Hall sensors and the digital Hall sensor U3, receives signals of the two linear Hall sensors and the digital Hall sensor U3 and calculates the absolute position of the rotor assembly through a trigonometric function.
In a further technical scheme, the outer ring magnet is provided with five pairs of magnetic poles, the inner ring magnet is provided with five pairs of magnetic poles, the magnetic pole phases of the inner ring magnet and the magnetic pole phases of the outer ring magnet are staggered by a set angle along the circumferential direction, and the signal processing circuit is arranged outside the shell or in the inner cavity of the shell.
In a further technical scheme, the rotor support is provided with an annular mounting groove with an upward opening, the inner ring magnet is fixedly mounted in the mounting groove, the outer ring magnet is sleeved outside the rotor support, the inner ring magnet is located in an inner hole of the outer ring magnet, an isolation step is outwards extended from the outer side edge of the upper portion of the rotor support, the detection opening is formed in the isolation step, the detection portion protrudes out of the upper surface of the outer ring magnet, and the detection portion is inserted into the detection opening.
In a further technical scheme, an isolation support used for isolating the output shaft from the inner ring magnet is arranged between the output shaft and the rotor support, a mounting hole penetrating through the rotor support is formed in the center of the rotor support, the isolation support is fixedly mounted in the mounting hole, a lower shaft hole penetrating through the isolation support is formed in the center of the isolation support, and the output shaft is fixedly mounted in the lower shaft hole.
In a further technical scheme, the outer ring magnet and the inner ring magnet are arranged at intervals along the radial direction, the outer ring magnet is oppositely arranged on the outer side of the rotor support along the radial direction, the inner ring magnet is oppositely arranged on the inner side of the rotor support along the radial direction, the rotor support separates the outer ring magnet and the inner ring magnet, and the outer ring magnet and the inner ring magnet are electromagnetically isolated.
In a further technical scheme, an upper bearing is sleeved on the upper part of the output shaft, a lower bearing is sleeved on the lower part of the output shaft, the upper bearing is positioned above the isolation bracket, and the lower bearing is positioned below the isolation bracket;
the casing includes inferior valve and upper cover, upper cover lid closes the upper portion with the inferior valve, the inside bottom of inferior valve is provided with down the fixed orifices, the central part of upper cover is provided with the last fixed orifices that runs through the upper cover, lower bearing inlays and locates down the fixed orifices, it is equipped with a fixed cover to go up the fixed orifices inlay, go up the bearing and locate fixed cover, the upper shaft hole that runs through fixed cover has been seted up to the central part of fixed cover, the upper portion of output shaft passes the upper shaft hole protrusion in the upper cover, the upper end fixed mounting of output shaft has drive gear, the upper cover is provided with a erection column, the upper portion protrusion of erection column is in the upper surface of upper cover.
In a further technical scheme, the position detection device is further provided with a PCB, a connecting flat cable and a wiring terminal, the PCB is fixedly arranged on the upper part of the stator assembly, the digital Hall sensor U3 and the two linear Hall sensors are fixedly arranged on the lower part of the PCB, the distance between the digital Hall sensor U3 and the output shaft is equal to the distance between the detection part and the output shaft, the two linear Hall sensors are positioned right above the inner ring magnet, and an insulating sheet is arranged on the upper part of the PCB;
the connection line between the digital hall sensor U3 and the two linear hall sensors forms a right triangle.
In a further technical scheme, the signal processing circuit comprises a calculation chip J1, a digital Hall sensor U3 and two linear Hall sensors,
the two linear hall sensors are a linear hall sensor U1 and a linear hall sensor U2 respectively,
the VDD pin of the linear Hall sensor U1 is electrically connected with a +5V power supply, the GND pin of the linear Hall sensor U1 is electrically connected with a grounding end, the OUTPUT pin of the linear Hall sensor U1 is electrically connected with a fifth pin of the calculation chip J1,
the VDD pin of the linear Hall sensor U2 is electrically connected with a +5V power supply, the GND pin of the linear Hall sensor U1 is electrically connected with a grounding end, the OUTPUT pin of the linear Hall sensor U2 is electrically connected with a sixth pin of the calculation chip J1,
the VCC pin of the digital Hall sensor U3 is electrically connected with a +5V power supply, the GND pin of the digital Hall sensor U3 is electrically connected with a grounding end, the OUT pin of the digital Hall sensor U3 is electrically connected with the seventh pin of the computing chip J1, the EP pin of the digital Hall sensor U3 is electrically connected with the grounding end,
the eighth pin of the calculation chip J1 is electrically connected with the grounding end, the fourth pin of the calculation chip J1 is electrically connected with the +5V power supply, the third pin of the calculation chip J1 is electrically connected with the U end of the servo driver, the second pin of the calculation chip J1 is electrically connected with the V end of the servo driver, and the first pin of the calculation chip J1 is electrically connected with the W end of the servo driver.
In a further technical scheme, the signal processing circuit is also provided with a resistor R1, a capacitor C2, a capacitor C3, a capacitor C4, a capacitor C5 and a capacitor C6,
the resistor R1 is connected in series between the EP pin of the digital Hall sensor U3 and the ground terminal,
the capacitor C1 is connected in series between the VDD pin of the linear hall sensor U1 and ground,
the capacitor C2 is connected in series between the VDD pin of the linear hall sensor U2 and ground,
the capacitor C3 is connected in series between the OUTPUT pin of the linear Hall sensor U1 and the ground terminal,
the capacitor C4 is connected in series between the OUTPUT pin of the linear hall sensor U2 and the ground terminal,
the capacitor C5 is connected in series between the VCC pin of the digital Hall sensor U3 and the ground terminal.
In a further technical scheme, the capacitance of the capacitor C1 is 1nF, the capacitance of the capacitor C2 is 1nF, the capacitance of the capacitor C3 is 10pF, the capacitance of the capacitor C4 is 10pF, the capacitance of the capacitor C5 is 0.1uF, and the capacitance of the capacitor C6 is 1nF.
By adopting the structure, compared with the prior art, the utility model has the following advantages: the inner ring magnet is arranged in the inner hole of the outer ring magnet through the rotor bracket, so that the limited inner space of the shell is fully utilized, the length of the servo motor is shortened, and meanwhile, the diameter of the servo motor is also reduced, so that the servo motor is smaller in size and thinner; the two linear Hall sensors are in inductive fit with the inner ring magnet Hall, the digital Hall sensor is in inductive fit with the outer ring magnet Hall through the detection port, the signal processing circuit performs trigonometric function conversion according to signals output by the two linear Hall sensors to obtain the position information of the rotor assembly, and the absolute position information of the rotor assembly is obtained according to signals output by the digital Hall sensors, so that high-precision control is performed, the position precision is high, the position information of any resolution can be obtained according to requirements, the resolution can reach 15 bits, the rotor position precision can reach 0.01 degrees, the application range is wide, and the application range is wide.
Drawings
The utility model will be further described with reference to the drawings and examples.
FIG. 1 is a schematic diagram of the structure of the present utility model;
FIG. 2 is an exploded view of the present utility model;
FIG. 3 is a cross-sectional view of the present utility model;
FIG. 4 is an exploded view of the rotor assembly of the present utility model;
FIG. 5 is a cross-sectional view of the rotor assembly of the present utility model;
FIG. 6 is a bottom view of the position detection apparatus of the present utility model;
FIG. 7 is a diagram of the positional relationship of the position sensing device and the rotor assembly of the present utility model;
fig. 8 is a circuit diagram of a signal processing circuit of the present utility model;
fig. 9 is a schematic diagram of hall signals of two linear hall sensors of the present utility model.
In the figure:
an upper cover 11, an upper fixing hole 111, a mounting column 112, a lower shell 12, a lower fixing hole 121, a fixing sleeve 13 and an upper shaft hole 131;
2 rotor components, 21 output shafts, 22 rotor supports, 221 detection ports, 222 mounting grooves, 223 isolation steps, 224 lower shaft holes, 23 outer ring magnets, 231 detection parts, 24 inner ring magnets, 25 isolation supports, 26 upper bearings, 27 lower bearings and 28 driving gears;
3 a stator assembly;
the 41PCB board, 42 connect winding displacement, 43 binding post, 44 insulating film.
Detailed Description
The following are only preferred embodiments of the present utility model, and are not intended to limit the scope of the present utility model.
The utility model provides a servo motor of ultra-small volume, as shown in fig. 1 through 9, including the casing, signal processing circuit, install the rotor subassembly 2 in the inner chamber of casing, stator subassembly 3 and position detection device, rotor subassembly 2 rotation is installed in the central point of stator, rotor subassembly 2 includes output shaft 21, rotor support 22, outer loop magnet 23 and inner ring magnet 24, outer loop magnet 23 fixed mounting is in the outer circular area of rotor support 22, inner ring magnet 24 fixed mounting is in the inner circular area of rotor support 22, outer loop magnet 23 and inner ring magnet 24 pass through rotor support 22 isolation setting, outer loop magnet 23 and inner ring magnet 24 radial direction interval setting, radial direction outer loop magnet 23 relatively sets up in the outside of rotor support 22, radial direction inner ring magnet 24 relatively sets up in the inboard of rotor support 22, rotor support 22 separates outer loop magnet 23 and inner ring magnet 24, electromagnetic isolation between outer loop magnet 23 and the inner ring magnet 24.
The output shaft 21 is fixedly arranged at the center of the rotor bracket 22, one side of the rotor bracket 22 is provided with a detection port 221, the upper part of the outer ring magnet 23 is provided with a detection part 231, and the detection port 221 exposes the detection part 231; the position detection device is fixedly arranged above the rotor assembly 2, the position detection device is provided with two linear Hall sensors and a digital Hall sensor U3, the two linear Hall sensors are respectively in Hall induction fit with the inner ring magnet 24, the digital Hall sensor U3 is in Hall induction fit with the detection part 231 of the outer ring magnet 23, the signal processing circuit is respectively and electrically connected with the two linear Hall sensors and the digital Hall sensor U3, and the signal processing circuit receives signals of the two linear Hall sensors and the digital Hall sensor U3 and calculates the absolute position of the rotor assembly 2 through a trigonometric function.
In the prior art, the position detection device adopts a servo motor of a photoelectric encoder, has higher control precision, but the photoelectric encoder occupies a larger installation rod space, so that the length of the servo motor is long and the size is large, while the position detection device adopts a servo motor of a magnetic encoder, although the occupation of a part of installation space is reduced compared with that of the photoelectric encoder, the actual length of the servo motor is still prolonged, the control precision is low, and the position detection device cannot be used in application scenes of industrial equipment with limited space and high-precision control. The inner ring magnet 24 is arranged in the inner hole of the outer ring magnet 23 through the rotor bracket 22, so that the limited inner space of the shell is fully utilized, the length of the servo motor is shortened, and meanwhile, the diameter of the servo motor is reduced, so that the servo motor is smaller in size and thinner; the two linear Hall sensors are in Hall induction fit with the inner ring magnet 24, the digital Hall sensor U3 is in Hall induction fit with the outer ring magnet 23 through the detection port 221, the signal processing circuit performs trigonometric function conversion according to signals output by the two linear Hall sensors to obtain the position information of the rotor assembly 2, and the absolute position information of the rotor assembly 2 is obtained according to signals output by the digital Hall sensor U3, so that the control precision is high, the position information of any resolution can be obtained according to requirements, the use scene with different precision requirements can be adapted, and the application range is wide.
Specifically, the outer ring magnet 23 is provided with five pairs of magnetic poles, the inner ring magnet 24 is provided with five pairs of magnetic poles, the magnetic pole phases of the inner ring magnet 24 and the magnetic pole phases of the outer ring magnet 23 are staggered by a set angle along the circumferential direction, and the signal processing circuit is arranged outside the housing or in the inner cavity of the housing. The outer ring magnet 23 and the inner ring magnet 24 have the same number of magnetic poles, and the magnetic pole phase of the ring magnet 24 is staggered with the magnetic pole phase of the outer ring magnet 23, so that the position accuracy is improved, and the control accuracy of the servo motor is improved.
Specifically, as shown in fig. 4 and 5, the rotor support 22 is provided with an annular mounting groove 222 with an upward opening, the inner ring magnet 24 is fixedly mounted in the mounting groove 222, the outer ring magnet 23 is sleeved outside the rotor support 22, the inner ring magnet 24 is positioned in an inner hole of the outer ring magnet 23, an isolation step 223 extends outwards from an outer side edge of an upper portion of the rotor support 22, a detection opening 221 is formed in the isolation step 223, a detection portion 231 protrudes out of an upper surface of the outer ring magnet 23, and the detection portion 231 is inserted into the detection opening 221. The inner ring magnet 24 is arranged in the rotor support 22, and the outer ring magnet 23 is sleeved outside the rotor support 22, so that the inner ring magnet 24 is wrapped in an inner hole of the outer ring magnet 23, the installation space is fully utilized, and the diameter of the servo motor is reduced to 3.5cm, and the length of the servo motor is reduced to 1.1cm. The rotor support 22 plays the isolation effect between the inner ring magnet 24 and the outer ring magnet 23, the magnetic field influence of the inner ring magnet 24 and the outer ring magnet 23 is treated, the isolation step 223 is used for partially isolating the outer ring magnet 23 from the digital Hall sensor U3, the digital Hall sensor U3 is in Hall induction fit with the detection part 231 only through the detection port 221, the outer ring magnet 23 is utilized to replace the detection magnet of the traditional servo motor, the number of parts in the servo motor is reduced, the volume of the servo motor is further reduced, the structure is simplified, the cost is reduced, and the production efficiency is improved. The detection part 231 is arranged in the detection port 221, the upper surface of the detection part 231 and the upper surface of the isolation step 223 are positioned at the same horizontal plane, so that the digital Hall sensor U3 can conveniently sense, and the sensing precision is improved.
Specifically, an isolation bracket 25 for isolating the output shaft 21 from the inner ring magnet 24 is provided between the output shaft 21 and the rotor bracket 22, a mounting hole penetrating the rotor bracket 22 is provided at the center of the rotor bracket 22, the isolation bracket 25 is fixedly mounted in the mounting hole, a lower shaft hole 224 penetrating the isolation bracket 25 is provided at the center of the isolation bracket 25, and the output shaft 21 is fixedly mounted in the lower shaft hole 224. The isolation support 25 is made of copper, so that the influence of magnetism of the inner ring magnet 24 on the output shaft 21 is eliminated, the output shaft 21 rotates more smoothly, and the reliability and stability of the servo motor are improved.
Specifically, an upper bearing 26 is sleeved on the upper part of the output shaft 21, a lower bearing 27 is sleeved on the lower part of the output shaft 21, the upper bearing 26 is positioned above the isolation bracket 25, and the lower bearing 27 is positioned below the isolation bracket 25; the casing includes lower shell 12 and upper cover 11, upper cover 11 lid closes the upper portion with lower shell 12, the inside bottom of lower shell 12 is provided with down fixed orifices 121, the central part of upper cover 11 is provided with the last fixed orifices 111 that runs through upper cover 11, lower bearing 27 inlays and locates down fixed orifices 121, it has a fixed cover 13 to inlay in last fixed orifices 111, upper bearing 26 inlays and locates fixed cover 13, the upper shaft hole 131 that runs through fixed cover 13 has been seted up to the central part of fixed cover 13, the upper portion of output shaft 21 passes upper shaft hole 131 protrusion in upper cover 11, the upper end fixed mounting of output shaft 21 has drive gear 28, upper cover 11 is provided with a erection column 112, the upper portion protrusion of erection column 112 is in the upper surface of upper cover 11. The fixed sleeve 13 is a copper sleeve made of copper, the fixed sleeve 13 is fixed on the upper cover 11, the upper bearing 26 is embedded on the fixed sleeve 13 to form an upper fixed point, the lower bearing 27 is embedded in the lower fixed hole 121 to form a lower fixed point, the output shaft 21 enables the rotation axis of the rotor assembly 2 to be arranged at the axis of the servo motor through the upper fixed point and the lower fixed point, the eccentric force is prevented, and the stability of the servo motor during operation is improved. The mounting column 112 protrudes out of the upper surface of the upper cover 11, when the servo motor is mounted, the servo motor is positioned through the mounting column 112, the left side and the right side of the upper cover 11 are respectively extended outwards to form a fixing part, the two fixing parts are respectively provided with a slotted hole with an outward opening, and the servo motor is fixed through fasteners such as screws, so that the mounting is simple and firm.
Specifically, as shown in fig. 6, the position detecting device is further provided with a PCB 41, a connection flat cable 42 and a connection terminal 43, the PCB 41 is fixedly mounted on the upper portion of the stator assembly 3, the digital hall sensor U3 and two linear hall sensors are fixedly mounted on the lower portion of the PCB 41, the distance between the digital hall sensor U3 and the output shaft 21 is equal to the distance between the detecting portion 231 and the output shaft 21, the two linear hall sensors are located right above the inner ring magnet 24, and an insulating sheet 44 is provided on the upper portion of the PCB 41. The external control circuit is connected through the wiring terminal 43, so that the installation is more convenient, and wiring is not needed one by one; the insulating sheet 44 protects the electronic components on the PCB 41, reduces external interference factors, prevents the PCB 41 from being shorted by external metal contact, and improves stability and reliability.
Specifically, as shown in fig. 7, the connection line between the digital hall sensor U3 and the two linear hall sensors forms a right triangle. Therefore, the position resolving precision of the rotor is that the signal processing circuit can be set according to the requirements to obtain position information with any resolution, the resolution can reach 15 bits, the rotor position precision can reach 0.01 degrees, the position information with any resolution can be obtained according to the requirements, and the rotor can adapt to the use scenes with different precision requirements, and the application range is wide. The servo motor in this embodiment acts on the component feeder (i.e. the femto-cell) on the SMT chip mounter, the driving gear 28 of the servo motor is in transmission connection with the feeding driving wheel through a plurality of gear sets, the feeding driving wheel is provided with an origin, and the origin position information corresponding to the feeding driving wheel is calculated through the position information of the rotor assembly 2 of the servo motor in this embodiment, so that the driving stroke of the servo motor is controlled through the servo controller, and the component feeder is controlled to feed and feed one by one.
Specifically, as shown in fig. 8, the signal processing circuit includes a computing chip J1, a digital hall sensor U3, and two linear hall sensors, where the two linear hall sensors are a linear hall sensor U1 and a linear hall sensor U2, respectively, the VDD pin of the linear hall sensor U1 is electrically connected to +5v power supply, the GND pin of the linear hall sensor U1 is electrically connected to the ground terminal, the OUTPUT pin of the linear hall sensor U1 is electrically connected to the fifth pin of the computing chip J1, the VDD pin of the linear hall sensor U2 is electrically connected to +5v power supply, the GND pin of the linear hall sensor U1 is electrically connected to the ground terminal, the OUTPUT pin of the linear hall sensor U2 is electrically connected to the sixth pin of the computing chip J1, the VCC pin of the digital hall sensor U3 is electrically connected to +5v power supply, the OUT pin of the digital hall sensor U3 is electrically connected to the ground terminal, the OUT pin of the digital hall sensor U3 is electrically connected to the seventh pin of the computing chip J1, the OUTPUT pin of the digital hall sensor U3 is electrically connected to the eighth pin of the computing chip J1 is electrically connected to the fourth pin of the computing chip J1, and the OUTPUT pin of the digital hall sensor U1 is electrically connected to the eighth pin of the computing chip J1 is electrically connected to the fourth pin of the computing chip J1. Specifically, the signal processing circuit is further provided with a resistor R1, a capacitor C2, a capacitor C3, a capacitor C4, a capacitor C5 and a capacitor C6, wherein the resistor R1 is connected in series between the EP pin and the ground terminal of the digital hall sensor U3, the capacitor C1 is connected in series between the VDD pin and the ground terminal of the linear hall sensor U1, the capacitor C2 is connected in series between the VDD pin and the ground terminal of the linear hall sensor U2, the capacitor C3 is connected in series between the OUTPUT pin and the ground terminal of the linear hall sensor U1, the capacitor C4 is connected in series between the OUTPUT pin and the ground terminal of the linear hall sensor U2, and the capacitor C5 is connected in series between the VCC pin and the ground terminal of the digital hall sensor U3. Specifically, the capacitance of the capacitor C1 is 1nF, the capacitance of the capacitor C2 is 1nF, the capacitance of the capacitor C3 is 10pF, the capacitance of the capacitor C4 is 10pF, the capacitance of the capacitor C5 is 0.1uF, and the capacitance of the capacitor C6 is 1nF.
In this embodiment, the inner ring magnet 24 and the outer ring magnet 23 are respectively provided with five pairs of magnetic poles, after 5V power is supplied to the signal processing circuit, the magnetic field intensities at the current positions detected by the linear hall sensor U1 and the linear hall sensor U2 are output, when the rotor assembly 2 rotates, the output signals are as shown in fig. 9, the rotor assembly 2 rotates for one circle to output five sine periodic signals, and the signals are subjected to trigonometric function conversion to obtain the position information of the rotor assembly 2, and the absolute position information of the rotor assembly 2 can be obtained according to the signals output by the digital hall sensor U3.
The foregoing is merely exemplary of the present utility model, and those skilled in the art should not be considered as limiting the utility model, since modifications may be made in the specific embodiments and application scope of the utility model in light of the teachings of the present utility model.
Claims (10)
1. The utility model provides a servo motor of ultra-small volume, includes casing, signal processing circuit, installs rotor subassembly (2), stator module (3) and position detection device in the inner chamber of casing, and rotor subassembly (2) rotation installation is in the central point of stator, its characterized in that: the rotor assembly (2) comprises an output shaft (21), a rotor support (22), an outer ring magnet (23) and an inner ring magnet (24), wherein the outer ring magnet (23) is fixedly arranged in an outer ring area of the rotor support (22), the inner ring magnet (24) is fixedly arranged in an inner ring area of the rotor support (22), the outer ring magnet (23) and the inner ring magnet (24) are arranged in an isolated mode through the rotor support (22), the output shaft (21) is fixedly arranged at the central portion of the rotor support (22), a detection opening (221) is formed in one side of the rotor support (22), a detection portion (231) is arranged at the upper portion of the outer ring magnet (23), and the detection opening (221) is exposed out of the detection portion (231);
the position detection device is fixedly arranged above the rotor assembly (2), the position detection device is provided with two linear Hall sensors and a digital Hall sensor U3, the two linear Hall sensors are respectively in Hall induction fit with the inner ring magnet (24), the digital Hall sensor U3 is in Hall induction fit with the detection part (231) of the outer ring magnet (23),
the signal processing circuit is respectively and electrically connected with the two linear Hall sensors and the digital Hall sensor U3, receives signals of the two linear Hall sensors and the digital Hall sensor U3 and calculates the absolute position of the rotor assembly (2) through a trigonometric function.
2. An ultra-small volume servomotor according to claim 1, wherein: the outer ring magnet (23) is provided with five pairs of magnetic poles, the inner ring magnet (24) is provided with five pairs of magnetic poles, the magnetic pole phase of the inner ring magnet (24) and the magnetic pole phase of the outer ring magnet (23) are staggered by a set angle along the circumferential direction, and the signal processing circuit is arranged outside the shell or in the inner cavity of the shell.
3. An ultra-small volume servomotor according to claim 1, wherein: the rotor support (22) is provided with an annular mounting groove (222) with an upward opening, the inner ring magnet (24) is fixedly mounted in the mounting groove (222), the outer ring magnet (23) is sleeved outside the rotor support (22), the inner ring magnet (24) is located in an inner hole of the outer ring magnet (23), an isolation step (223) is outwards extended from the outer side edge of the upper portion of the rotor support (22), the detection opening (221) is formed in the isolation step (223), the detection portion (231) protrudes out of the upper surface of the outer ring magnet (23), and the detection portion (231) is inserted into the detection opening (221).
4. An ultra-small volume servomotor according to claim 1, wherein: an isolation support (25) for isolating the output shaft (21) from the inner ring magnet (24) is arranged between the output shaft (21) and the rotor support (22), a mounting hole penetrating through the rotor support (22) is formed in the central portion of the rotor support (22), the isolation support (25) is fixedly mounted in the mounting hole, a lower shaft hole (224) penetrating through the isolation support (25) is formed in the central portion of the isolation support (25), and the output shaft (21) is fixedly mounted in the lower shaft hole (224).
5. An ultra-small volume servomotor according to claim 4, wherein: the outer ring magnets (23) and the inner ring magnets (24) are arranged at intervals along the radial direction, the outer ring magnets (23) are oppositely arranged on the outer side of the rotor support (22) along the radial direction, the inner ring magnets (24) are oppositely arranged on the inner side of the rotor support (22) along the radial direction, the rotor support (22) separates the outer ring magnets (23) from the inner ring magnets (24), and the outer ring magnets (23) are electromagnetically isolated from the inner ring magnets (24).
6. An ultra-small volume servomotor according to claim 5, wherein: an upper bearing (26) is sleeved on the upper part of the output shaft (21), a lower bearing (27) is sleeved on the lower part of the output shaft (21), the upper bearing (26) is positioned above the isolation support (25), and the lower bearing (27) is positioned below the isolation support (25);
the shell comprises a lower shell (12) and an upper cover (11), wherein the upper cover (11) covers the upper part of the lower shell (12), a lower fixing hole (121) is formed in the bottom of the inside of the lower shell (12), an upper fixing hole (111) penetrating through the upper cover (11) is formed in the central part of the upper cover (11), a lower bearing (27) is embedded in the lower fixing hole (121), a fixing sleeve (13) is embedded in the upper fixing hole (111), an upper bearing (26) is embedded in the fixing sleeve (13), an upper shaft hole (131) penetrating through the fixing sleeve (13) is formed in the central part of the fixing sleeve (13), the upper part of an output shaft (21) penetrates through the upper shaft hole (131) and protrudes out of the upper cover (11), a driving gear (28) is fixedly arranged at the upper end part of the output shaft (21), and the upper cover (11) is provided with a mounting column (112) with the upper part protruding out of the upper surface of the upper cover (11).
7. An ultra-small volume servomotor according to any one of claims 1 to 6, wherein: the position detection device is further provided with a PCB (41), a connecting flat cable (42) and a wiring terminal (43), the PCB (41) is fixedly arranged on the upper portion of the stator assembly (3), the digital Hall sensor U3 and the two linear Hall sensors are fixedly arranged on the lower portion of the PCB (41), the distance between the digital Hall sensor U3 and the output shaft (21) is equal to the distance between the detection portion (231) and the output shaft (21), the two linear Hall sensors are located right above the inner ring magnet (24), and an insulating sheet (44) is arranged on the upper portion of the PCB (41);
the connecting line of the digital Hall sensor U3 and the two linear Hall sensors forms a right triangle.
8. An ultra-small volume servomotor according to claim 7, wherein: the signal processing circuit comprises a calculation chip J1, the digital Hall sensor U3 and two linear Hall sensors,
the two linear hall sensors are a linear hall sensor U1 and a linear hall sensor U2 respectively,
the VDD pin of the linear Hall sensor U1 is electrically connected with a +5V power supply, the GND pin of the linear Hall sensor U1 is electrically connected with a grounding end, the OUTPUT pin of the linear Hall sensor U1 is electrically connected with a fifth pin of the calculation chip J1,
the VDD pin of the linear Hall sensor U2 is electrically connected with a +5V power supply, the GND pin of the linear Hall sensor U1 is electrically connected with a grounding end, the OUTPUT pin of the linear Hall sensor U2 is electrically connected with a sixth pin of the calculation chip J1,
the VCC pin of the digital Hall sensor U3 is electrically connected with a +5V power supply, the GND pin of the digital Hall sensor U3 is electrically connected with a grounding end, the OUT pin of the digital Hall sensor U3 is electrically connected with the seventh pin of the computing chip J1, the EP pin of the digital Hall sensor U3 is electrically connected with the grounding end,
the eighth pin of the calculation chip J1 is electrically connected with the grounding end, the fourth pin of the calculation chip J1 is electrically connected with the +5V power supply, the third pin of the calculation chip J1 is electrically connected with the U end of the servo driver, the second pin of the calculation chip J1 is electrically connected with the V end of the servo driver, and the first pin of the calculation chip J1 is electrically connected with the W end of the servo driver.
9. An ultra-small volume servomotor according to claim 8, wherein: the signal processing circuit is also provided with a resistor R1, a capacitor C2, a capacitor C3, a capacitor C4, a capacitor C5 and a capacitor C6,
a resistor R1 is connected in series between the EP pin of the digital Hall sensor U3 and the ground terminal,
a capacitor C1 is connected in series between the VDD pin of the linear Hall sensor U1 and the ground terminal,
a capacitor C2 is connected in series between the VDD pin of the linear Hall sensor U2 and the ground terminal,
the capacitor C3 is connected in series between the OUTPUT pin of the linear Hall sensor U1 and the ground terminal,
the capacitor C4 is connected in series between the OUTPUT pin of the linear hall sensor U2 and the ground terminal,
the capacitor C5 is connected in series between the VCC pin of the digital Hall sensor U3 and the ground terminal.
10. An ultra-small volume servomotor according to claim 9, wherein: the capacitance of the capacitor C1 is 1nF, the capacitance of the capacitor C2 is 1nF, the capacitance of the capacitor C3 is 10pF, the capacitance of the capacitor C4 is 10pF, the capacitance of the capacitor C5 is 0.1uF, and the capacitance of the capacitor C6 is 1nF.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202320515619.0U CN219843516U (en) | 2023-03-16 | 2023-03-16 | Ultra-small-volume servo motor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202320515619.0U CN219843516U (en) | 2023-03-16 | 2023-03-16 | Ultra-small-volume servo motor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118017775A (en) * | 2024-04-09 | 2024-05-10 | 东莞市本末科技有限公司 | Circuit structure of ultra-thin motor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118017775A (en) * | 2024-04-09 | 2024-05-10 | 东莞市本末科技有限公司 | Circuit structure of ultra-thin motor |
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