WO2017161584A1 - 一种电机 - Google Patents

一种电机 Download PDF

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Publication number
WO2017161584A1
WO2017161584A1 PCT/CN2016/077423 CN2016077423W WO2017161584A1 WO 2017161584 A1 WO2017161584 A1 WO 2017161584A1 CN 2016077423 W CN2016077423 W CN 2016077423W WO 2017161584 A1 WO2017161584 A1 WO 2017161584A1
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WO
WIPO (PCT)
Prior art keywords
rotor
rotating shaft
diaphragm
sensor
motor
Prior art date
Application number
PCT/CN2016/077423
Other languages
English (en)
French (fr)
Inventor
陈名乔
Original Assignee
深圳万为智能制造科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳万为智能制造科技有限公司 filed Critical 深圳万为智能制造科技有限公司
Priority to PCT/CN2016/077423 priority Critical patent/WO2017161584A1/zh
Priority to CN201621338877.2U priority patent/CN206481180U/zh
Priority to CN201611119897.5A priority patent/CN106505799A/zh
Publication of WO2017161584A1 publication Critical patent/WO2017161584A1/zh

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/22—Rotating parts of the magnetic circuit
    • H02K1/28—Means for mounting or fastening rotating magnetic parts on to, or to, the rotor structures
    • 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
    • H02K11/24—Devices for sensing torque, or actuated thereby

Definitions

  • the present application relates to the field of motor performance detection technologies, and in particular, to a motor.
  • a motor is an electromagnetic device that realizes electric energy conversion or transmission according to the law of electromagnetic induction, and its main function is to generate driving torque as a power source for electric appliances or various machines.
  • the motor is used as a power source to drive various machines.
  • the change of the driving torque directly affects the driven machine. Therefore, the detection of the motor drive torque is particularly important, and the performance of the mechanical equipment can be optimized at the source control.
  • a method of outputting torque to a motor in the prior art is to mount a torque measuring device between a motor output shaft and a mechanically driven shaft to measure an output shaft of the motor.
  • This type of torque measurement requires a certain space on the equipment and the installation of a dedicated circuit. The measurement is inconvenient and uneconomical.
  • Another method is to measure the motor current indirectly to calculate the torque. Although this method is economical, the torque calculated by the current is not accurate.
  • the present application provides a motor with its own convenient torque measurement.
  • An embodiment provides a motor including a rotor, a rotating shaft and a chassis, further comprising a first sensing device, a second sensing device and a diaphragm having a torsion elasticity;
  • the first sensing device comprises a first code a disk and a first sensor, the first code wheel is mounted on the rotor,
  • the second sensing device comprises a second code wheel and a second sensor, the second sensing device is mounted on the rotating shaft;
  • the rotor is rotatably sleeved on the rotating shaft,
  • the elastic member is disposed between the rotor and the rotating shaft, and the rotor and the rotating shaft are elastically connected by the elastic member.
  • the elastic member is a diaphragm, and the diaphragm is fixedly connected to the rotor through at least two first connection points, and the diaphragm is fixedly connected to the rotating shaft through at least two second connection points, the first connection point and the second connection
  • the dots form a torque.
  • one end of the rotating shaft is provided with a fixed annular connecting block;
  • the diaphragm is an annular diaphragm, and the first connecting point And the second connection point is alternately arranged on the same circumference, and the first connection point and the second connection point are alternately set equally
  • the diaphragm is provided with two first connection points and two second connection points, and the end faces of the connection block and the rotor are respectively provided with two threaded holes corresponding to the diaphragm, and the connection block passes through the screw and the membrane The first connection point of the sheet is connected, and the rotor is connected to the second connection point of the diaphragm by a screw.
  • the elastic member is an elastic column, and a plurality of uniformly distributed protrusions are disposed on one end of the rotating shaft, and a plurality of protrusions are disposed on one end surface of the rotor, and the plurality of protrusions on the rotor are staggered.
  • the card is disposed between the plurality of protrusions of the rotating shaft, and has a predetermined gap between the protrusions of the rotor and the rotating shaft; the convex sides of the rotor and the rotating shaft are provided with semicircular grooves, so that the rotor and the shaft are convex A cylindrical cavity is formed between them, and the elastic column is installed in the cylindrical cavity.
  • the controller includes a controller, and the controller is electrically connected to the first sensor and the second sensor, respectively, for acquiring a rotor angular displacement signal and a shaft angular displacement signal output by the first sensor and the second sensor, and according to the rotor angle The difference between the displacement signal and the angular displacement signal of the shaft is used to calculate the actual torque of the motor.
  • the rotor since the rotor and the rotating shaft are connected by the elastic member having the torsion elasticity, the rotor drives the rotating shaft to rotate through the diaphragm, and in the case of a load change, the output torque needs to be adjusted in transition, in the adjustment.
  • an angular displacement difference occurs between the rotor and the rotating shaft; a first sensor and a second sensor are respectively mounted on the rotor and the rotating shaft, and the first sensor and the second sensor respectively perform an actual monitoring on the angular displacement difference between the rotor and the rotating shaft, respectively
  • the monitored angular displacement difference outputs the corresponding rotor angular displacement signal and the shaft angular displacement signal.
  • the difference between the rotor angular displacement signal and the angular displacement signal of the shaft can be used to calculate the actual torque of the motor.
  • the motor is made by adding a diaphragm and a sensing device.
  • the torque of the motor can be monitored, and the elastic member has a torsional elasticity that can buffer the varying torque to form a protection for the motor.
  • FIG. 1 is a schematic structural view of a motor in an embodiment
  • FIG. 2 is a signal diagram of an output of a motor in an embodiment
  • FIG. 3 is a structural block diagram of a motor in another embodiment
  • FIG. 4 is a side elevational view of the motor in another embodiment
  • FIG. 5 is a partial schematic structural view of a motor in another embodiment.
  • Embodiment 1 is a diagrammatic representation of Embodiment 1:
  • a motor is provided.
  • the motor is mainly a servo motor.
  • the motor can monitor the torque of the motor and reflect the running condition of the motor, and the motor has a self-protection function.
  • the motor mainly includes: a rotor 1, a rotating shaft 2, a stator coil 7, an elastic member 5, and a casing (not shown), and the elastic member 5 is a diaphragm.
  • the rotor 1 is rotatably sleeved on the rotating shaft 2, the rotor 1 is rotatable relative to the rotating shaft 2, and the rotor 1 is not fixedly mounted on the rotating shaft 2, and both ends of the rotating shaft 2 extend from both end faces of the rotor 1, as shown in FIG.
  • the left end of the rotating shaft 2 is an output shaft for connecting with various mechanical devices;
  • the right end of the rotating shaft 2 is a connecting end, and the connecting end of the rotating shaft 2 passes through a diaphragm with a torsion elastic and a rotor 1
  • the right end face is connected, and the operating principle of the motor is as follows:
  • the motor is energized under the action of the electromagnetic induction of the rotor 1 and the stator coil 7, the rotor 1 is driven to rotate, and the rotor 1 drives the rotating shaft 2 to rotate through the diaphragm on the right side.
  • the connection manner of the rotor 1 and the rotating shaft 2 is as follows.
  • the shaft projecting from the right end of the rotor 1 is provided with an annular connecting block 21, and the connecting block 21 is sleeved on the rotor 1 by welding or snapping, or the connecting block 21 and the rotor 1 are of a unitary structure.
  • the diaphragm is a torsionally elastic annular diaphragm which is subjected to torsional deformation under the action of a torque, and the diaphragm is disposed between the connecting block 21 and the right end of the rotor 1.
  • Two first connection points and two second connection points on the diaphragm, the two first connection points and the two second connection points are equally divided on the same circumference, that is, the connection lines of the four connection points form a cross shape.
  • the right end of the rotor 1 and the connecting block 21 are respectively provided with two threaded holes corresponding to the diaphragm.
  • the four connecting points of the diaphragm are placed in horizontal and vertical positions, and the connecting block 21 is coupled to the first connecting point of the lateral ends of the diaphragm by screws, and the right end of the rotor 1 passes through the second end of the diaphragm and the longitudinal ends of the diaphragm.
  • the connection point is coupled, that is, the connection block 21 and the rotor 1 form a 90° misalignment through the diaphragm.
  • the connection positions of the rotor 1 and the connecting block 21 and the diaphragm are also interchangeable, and the connecting block 21 and the diaphragm may be disposed at the left end of the rotating shaft 2.
  • a plurality of diaphragms are disposed between the connecting block 21 and the rotor 1, and the plurality of diaphragms are misaligned and connected to each other to form an alternately connected structure, that is, a torque is required to pass through each of the diaphragms. transfer.
  • Connection block 21 The rotor 1 is connected to the diaphragms at both ends, and finally the torque of the rotor 1 is transmitted to the connecting block 21 one by one through a plurality of diaphragms.
  • the provision of multiple diaphragms allows the diaphragm to transmit greater torque and has a higher cushioning capacity.
  • the rotor 1 and the rotating shaft 2 are connected by a deformable diaphragm.
  • the torque of the rotor 1 and the rotating shaft 2 is increased or decreased, and the torque inevitably leads to the rotor 1 and the rotating shaft.
  • a first sensing device 3 is disposed on the rotor 1
  • a second sensing device 4 is disposed on the rotating shaft 2.
  • the first sensing device 3 includes a first code wheel 31 and a first sensor 32.
  • the second sensing device 4 includes a second code wheel 41 and a second sensor 42.
  • the first code wheel 31 is sleeved and fixed at the right end of the rotor 1
  • the second code wheel 41 is fixed at the rightmost end of the rotating shaft 2
  • the first sensor 32 and the second sensor 42 are respectively mounted on the chassis, and the first sensor 32 and the second sensor 42 are respectively installed.
  • the detecting ends of the two are respectively disposed facing the first code wheel 31 and the second code wheel 41, respectively sensing the angular displacement of the rotation of the first code wheel 31 and the second code wheel 41, and respectively outputting corresponding rotor angular displacements. Signal and shaft angular displacement signals.
  • the angular displacement signal of the rotor and the angular displacement signal of the rotating shaft respectively reflect the rotating condition of the rotor 1 and the rotating shaft 2, and the angular displacement signal of the rotor and the angular displacement signal of the rotating shaft are presented in the form of a matrix signal, as shown in Fig. 2, when the rotor 1 and the rotating shaft are shown. 2
  • Synchronous rotation ⁇ the rotor angular displacement signal and the angular displacement signal of the shaft are synchronous matrices, the torque transmission changes at point A, the angular phase difference between rotor 1 and shaft 2 occurs, and the angular displacement signal of the rotor and the angular displacement signal of the shaft appear. Synchronization, the same phase difference occurs.
  • the angular displacement signal of the rotor and the angular displacement signal of the rotating shaft reflect the rotation of the rotor 1 and the rotating shaft 2, that is, the angular displacement signal of the rotor and the angular displacement signal of the rotating shaft can be used to calculate the motor torque.
  • the second sensing device 42 is a position sensing device that is provided in the prior art servo motor. Therefore, the present motor can increase the first sensing device 41 based on the existing servo motor and cooperate with the mounting of the elastic member 5 to realize the torque measurement.
  • the motor is further provided with a controller 6, as shown in FIG. 3, the controller 6 is electrically connected to the first sensor 32 and the second sensor 42, respectively, for acquiring the first sensor 32 and the second
  • the sensor 42 outputs a rotor angular displacement signal and a shaft angular displacement signal, and calculates the actual torque of the motor based on the rotor angular displacement signal and the shaft angular displacement signal.
  • the calculation module in the controller 6 is a self-contained module of the prior art servo motor.
  • the first sensing device 3 and the second sensing device 4 are respectively disposed on the upper side, and the first sensing device 3 and the second sensing device 4 respectively perform actual monitoring on the displacement difference between the rotor 1 and the rotating shaft 2, and the angular displacement through the monitoring
  • the difference between the rotor angular displacement signal and the shaft angular displacement signal, the rotor angular displacement signal and the shaft angular displacement signal can be used to calculate the actual torque of the motor.
  • the motor increases the torque of the motor by adding a diaphragm and a sensing device, and the diaphragm has a torsional elasticity that can buffer the varying torque to form a protection for the motor.
  • Embodiment 2 is a diagrammatic representation of Embodiment 1
  • This embodiment provides a motor.
  • the difference between this embodiment and the first embodiment lies in the elastic member.
  • the elastic member 5 of the present embodiment is an elastic column, and six elastic columns are provided.
  • a preset gap is provided between the rotor 1 and the rotating shaft 2 with a certain angular displacement space.
  • the three protrusions of the rotor 1 and the three protrusions of the rotating shaft 2 are provided with semi-circular grooves, so that three protrusions of the three protrusions of the rotor 1 and the three protrusions of the rotating shaft 2 form six cylindrical cavities, six
  • the elastic column is distributed in six cylindrical cavities.
  • the number and shape of the protrusions on the rotor 1 and the rotating shaft 2 can be flexibly set according to requirements, and a certain gap is ensured between the rotating shaft 1 and the rotating shaft 2, and the elastic column is accommodated between the rotor 1 and the rotating shaft 2. Cylindrical cavity.
  • an annular baffle is mounted on the left side of the projection of the shaft 2, and the baffle encloses the elastic column in the cylindrical cavity.
  • the elastic member 5 is replaced by an elastic column, and the elastic column has a larger bearing capacity, and can satisfy a motor with a larger power.
  • the elastic column is installed at the left end, so that the elastic member is closer to the load at the output end.
  • the misalignment error of the rotor 1 and the rotating shaft 2 is reduced, and the detection accuracy is improved.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Abstract

一种电机，包括转子(1)、转轴(2)和机箱，还包括第一传感装置(3)、第二传感装置(4)和具有扭力弹性的弹性件(5)；第一传感装置(3)包括第一码盘(31)和第一传感器(32)，第一码盘(31)安装在转子(1)上，第二传感装置(4)包括第二码盘(41)和第二传感器(42)，第二传感装置(4)安装在转轴(2)上；转子(1)可旋转地套设在转轴(2)上，弹性件(5)设置在转子(1)和转轴(2)之间，转子(1)和转轴(2)通过弹性件(5)弹性连接。本电机通过增加弹性件(5)和传感装置(3、4)使得电机的转矩能够实时被监测，并且弹性件(5)具有扭力弹性能够对变化的转矩起缓冲作用，形成对电机的保护。

Description

说明书 发明名称：一种电机
技术领域
[0001] 本申请涉及电机性能检测技术领域， 具体涉及一种电机。
[0002]
[0003] 背景技术
[0004] 电机是指依据电磁感应定律实现电能转换或传递的一种电磁装置， 它的主要作 用是产生驱动转矩， 作为用电器或各种机械的动力源。 电机作为动力源驱动各 种机械， 其驱动转矩的变化直接影响被驱动的机械， 故电机驱动转矩的检测尤 为重要， 可在源头控制优化机械设备的性能。
[0005] 现有技术中对电机输出转矩的方法是， 将转矩测量装置安装在电机输出轴与机 械被驱动轴之间， 对电机的输出轴进行测量。 这种扭矩的测量方式需在设备上 预留出一定空间和加装专用的电路， 测量不方便， 不经济。 另外一种方法是间 接的测量电机电流大小计算扭矩， 此方法虽然经济， 但是通过电流计算出的扭 矩不精确。
[0006]
[0007] 发明内容
[0008] 本申请提供一种自带方便测量转矩的电机。
[0009] 一种实施例中提供一种电机， 包括转子、 转轴和机箱， 还包括第一传感装置、 第二传感装置和具有扭力弹性的膜片； 第一传感装置包括第一码盘和第一传感 器， 第一码盘安装在转子上， 第二传感装置包括第二码盘和第二传感器， 第二 传感装置安装在转轴上； 转子可旋转地套设在转轴上， 弹性件设置在转子和转 轴之间， 转子和转轴通过弹性件弹性连接。
[0010] 进一步地， 弹性件为膜片， 膜片通过至少两个第一连接点与转子固定连接， 膜 片通过至少两个第二连接点与转轴固定连接， 第一连接点和第二连接点形成扭 矩。
[0011] 进一步地， 转轴的一端设有固定的环形连接块； 膜片为环形膜片， 第一连接点 和第二连接点交替设置同一圆周上， 且第一连接点和第二连接点交替均分设置
[0012] 进一步地， 膜片设有两个第一连接点和两个第二连接点， 连接块和转子的端面 上分别设有与膜片对应的 2个螺纹孔， 连接块通过螺钉与膜片的第一连接点连接 ， 转子通过螺钉与膜片的第二连接点连接。
[0013] 进一步地， 膜片有多个， 多个膜片相互错位连接在一起， 形成交替连接的结构 ， 连接块和转子分别与两端的膜片连接。
[0014] 在其他实施例中， 弹性件为弹性柱， 转轴一端圆周面上设有多个均匀分布的凸 起， 转子的一端面上设有多个凸起， 转子上的多个凸起交错卡设在转轴的多个 凸起之间， 并且转子和转轴的凸起之间具有预设的间隙； 转子和转轴的凸起的 两侧均设有半圆凹槽， 使得转子和转轴的凸起之间形成一个圆柱腔， 弹性柱安 装在圆柱腔内。
[0015] 进一步地， 包括控制器， 控制器分别与第一传感器和第二传感器电连接， 用于 获取第一传感器和第二传感器输出的转子角位移信号和转轴角位移信号， 并根 据转子角位移信号和转轴角位移信号之差计算出电机的实吋扭矩。
[0016] 依据上述实施例的电机， 由于转子和转轴是通过具有扭力弹性的弹性件连接， 转子通过膜片带动转轴旋转， 在具有负载变化的情况下， 输出转矩需要过渡调 整， 在调整的过程中转子和转轴之间会出现角位移差； 在转子和转轴上分别安 装有第一传感器和第二传感器， 第一传感器和第二传感器分别对转子和转轴角 位移差进行实吋监测， 通过监测的角位移差输出相应的转子角位移信号和转轴 角位移信号， 转子角位移信号和转轴角位移信号之差可用于计算电机的实吋转 矩， 本电机通过增加膜片和传感装置使得电机的转矩能够实吋被监测， 并且弹 性件具有扭力弹性能够对变化的转矩起缓冲作用， 形成对电机的保护。
[0017]
[0018] 附图说明
[0019] 图 1为一种实施例中电机的结构示意图；
[0020] 图 2为一种实施例中电机的输出的信号图；
[0021] 图 3为另一种实施例中电机的结构框图； [0022] 图 4为另一种实施例中电机的侧视图；
[0023] 图 5为另一种实施例中电机的局部结构示意图。
[0024]
[0025] 具体实施方式
[0026] 下面通过具体实施方式结合附图对本发明作进一步详细说明。
[0027] 实施例一：
[0028] 在本实施例中提供了一种电机， 本电机主要为伺服电机， 本电机可实吋监测转 矩的大小， 实吋反映电机的运行状况， 并且电机具有自我保护功能。
[0029] 如图 1所示， 电机主要包括： 转子 1、 转轴 2、 定子线圈 7、 弹性件 5和机箱 （图 中未示出） ， 弹性件 5为膜片。
[0030] 转子 1可旋转地套设在转轴 2上， 转子 1可相对转轴 2转动， 转子 1不是固定安装 在转轴 2上， 转轴 2的两端均伸出转子 1的两端面， 如图 1方向所示， 转轴 2左侧伸 出端为输出轴， 用于与各种机械设备连接； 转轴 2右侧伸出端为连接端， 转轴 2 的连接端通过具有扭力弹性的膜片与转子 1右端面连接， 电机的运作原理为： 电 机通电在转子 1和定子线圈 7电磁感应的作用下， 转子 1被驱动旋转， 转子 1通过 右侧的膜片带动转轴 2转动。 转子 1和转轴 2的连接方式具体如下。
[0031] 转子 1右端伸出的轴上设有环形连接块 21， 连接块 21通过焊接或卡接固定套设 在转子 1上， 或者连接块 21与转子 1为一体式结构。 膜片为具有扭力弹性的环形 膜片， 在转矩作用下可产生扭转变形， 膜片设置在连接块 21和转子 1右端之间。 膜片上两个第一连接点和两个第二连接点， 两个第一连接点和两个第二连接点 交替均分在同一圆周上， 即 4个连接点的连线形成十字形， 转子 1右端和连接块 2 1上分别设有与膜片对于的 2个螺纹孔。 为了方便描述， 将膜片的 4个连接点摆在 水平和竖直位置， 连接块 21通过螺钉与膜片横向两端的第一连接点联接， 转子 1 右端通过螺钉与膜片纵向两端的第二连接点联接， 即连接块 21与转子 1通过膜片 形成错位 90°的交叉连接。 在其实施例中， 转子 1和连接块 21与膜片的连接位置也 可调换， 连接块 21和膜片也可设置在转轴 2的左端。
[0032] 在其他实施例中， 在连接块 21和转子 1之间设有多个膜片， 多个膜片相互错位 连接在一起， 形成交替连接的结构， 即扭力需通过每个膜片的传递。 连接块 21 和转子 1分别与两端的膜片连接， 最终转子 1的扭力通过多个膜片逐一传递到连 接块 21上。 多个膜片的设置使得膜片能够传递更大的扭力， 同吋具有更强的缓 冲能力。
[0033] 转子 1和转轴 2通过可变形的膜片连接， 在负载的变化或者其他情况下， 转子 1 和转轴 2的转矩增加或者降低， 转矩在变化的过程中必然导致转子 1和转轴 2之间 存在角位移差。 为了检测电机转矩， 在转子 1上设有第一传感装置 3， 在转轴 2上 设有第二传感装置 4， 第一传感装置 3包括第一码盘 31和第一传感器 32， 第二传 感装置 4包括第二码盘 41和第二传感器 42。 第一码盘 31套设固定在转子 1右端， 第二码盘 41固定在转轴 2的最右端， 第一传感器 32和第二传感器 42分别安装在机 箱上， 第一传感器 32和第二传感器 42为固定件， 两者的检测端分别面向第一码 盘 31和第二码盘 41设置， 分别感应第一码盘 31和第二码盘 41旋转的角位移， 并 且分别输出相应的转子角位移信号和转轴角位移信号。 转子角位移信号和转轴 角位移信号分别体现出转子 1和转轴 2的旋转实吋状况， 转子角位移信号和转轴 角位移信号以矩阵信号的方式呈现， 如图 2所示， 当转子 1和转轴 2同步旋转吋， 转子角位移信号和转轴角位移信号为同步矩阵， 在 A吋间点转矩发送变化， 转子 1和转轴 2出现角相位差， 转子角位移信号和转轴角位移信号则出现不同步， 同 样出现相位差。 故转子角位移信号和转轴角位移信号实吋反映了转子 1和转轴 2 的旋转状况， 即转子角位移信号和转轴角位移信号可用于计算电机转矩。 第二 传感装置 42为现有技术中伺服电机中自带的位置传感装置。 故本电机在现有伺 服电机的基础上增加第一传感装置 41配合安装弹性件 5即可实现转矩测量。
[0034] 在其他实施例中， 电机还设有控制器 6， 如图 3所示， 控制器 6分别与第一传感 器 32和第二传感器 42电连接， 用于获取第一传感器 32和第二传感器 42实吋输出 的转子角位移信号和转轴角位移信号， 根据转子角位移信号和转轴角位移信号 计算出电机的实吋转矩。 通常控制器 6中的计算模块为现有技术中伺服电机自带 模块。
[0035] 本实施例提供的一种电机， 由于转子 1和转轴 2是通过具有扭力弹性的膜片连接 ， 转子 1通过膜片带动转轴 2旋转， 在具有负载变化的情况下， 输出转矩需要过 渡调整， 在调整的过程中转子 1和转轴 2之间会出现角位移差； 在转子 1和转轴 2 上分别设有第一传感装置 3和第二传感装置 4， 第一传感装置 3和第二传感装置 4 分别对转子 1和转轴 2位移差进行实吋监测， 通过监测的角位移差输出相应的转 子角位移信号和转轴角位移信号， 转子角位移信号和转轴角位移信号可用于计 算电机的实吋转矩。 本电机通过增加膜片和传感装置使得电机的转矩能够实吋 被监测， 并且膜片具有扭力弹性能够对变化的转矩起缓冲作用， 形成对电机的 保护。
[0036] 实施例二：
[0037] 本实施例提供了一种电机， 本实施例与实施例一的区别在于弹性件。
[0038] 如图 4和图 5所示， 本实施例的弹性件 5为弹性柱， 弹性柱有 6个， 转轴 2的左端 的圆周面上设有 3个均匀分布的凸起， 转子 1的左端面上设有对应的 3个凸起， 转 子 1的 3个凸起交错卡设在转轴 2的 3个凸起之间， 并且转子 1的 3个凸起与转轴 2的 3个凸起之间设有预设的间隙， 该间隙使得转子 1和转轴 2具有一定角度的错位空 间。 转子 1的 3个凸起和转轴 2的 3个凸起的两侧均设有半圆槽， 使得转子 1的 3个 凸起与转轴 2的 3个凸起之间形成 6个圆柱腔， 6个弹性柱分布安装在 6个圆柱腔内 ， 当转子 1转动后通过 6个具有弹性的弹性柱带动转轴 2转轴。 在其他实施例中， 转子 1和转轴 2上凸起的个数和形状可根据需求灵活设置， 保证转轴 1和转轴 2之 间具有一定间隙， 且转子 1和转轴 2之间具有容置弹性柱的圆柱腔。 为了更好的 安装弹性柱， 在转轴 2凸起的左侧安装有一个环形挡片， 挡片将弹性柱封闭在圆 柱腔内。
[0039] 本实施例将弹性件 5用弹性柱代替膜片， 弹性柱具有更大的承载能力， 能够满 足更大功率的电机， 同吋弹性柱安装在左端， 使得弹性件更接近输出端的负载
， 减小了转子 1和转轴 2的错位误差， 提高了检测精度。
[0040] 以上应用了具体个例对本发明进行阐述， 只是用于帮助理解本发明， 并不用以 限制本发明。 对于本发明所述技术领域的技术人员， 依据本发明的思想， 还可 以做出若干简单推演、 变形或替换。
技术问题
问题的解决方案
发明的有益效果

Claims

权利要求书
一种电机， 包括转子 （1) 、 转轴 （2) 和机箱， 其特征在于， 还包括 第一传感装置 （3) 、 第二传感装置 （4) 和具有扭力弹性的弹性件 （ 5) ； 所述第一传感装置 （3) 包括第一码盘 （31) 和第一传感器 （32 ) ， 所述第一码盘安装在所述转子 （1) 上， 所述第二传感装置 （4) 包括第二码盘 （41) 和第二传感器 （42) ， 所述第二传感装置安装在 所述转轴 （2) 上； 所述转子 （1) 可旋转地套设在所述转轴 （2) 上 ， 所述弹性件 （5) 设置在所述转子 （1) 和转轴 （2) 之间， 所述转 子 （1) 和转轴 （2) 通过所述弹性件 （5) 弹性连接。
如权利要求 1所述的电机， 其特征在于， 所述弹性件 （5) 为膜片， 所 述膜片通过至少两个第一连接点与所述转子 （1) 固定连接， 所述膜 片通过至少两个第二连接点与所述转轴 （2) 固定连接， 所述第一连 接点和第二连接点传递扭矩。
如权利要求 2所述的电机， 其特征在于， 所述转轴 （2) 的一端设有固 定的环形连接块 （21) ； 所述膜片为环形膜片， 所述第一连接点和第 二连接点交替设置同一圆周上， 且所述第一连接点和第二连接点交替 均分设置。
如权利要求 3所述的电机， 其特征在于， 所述膜片设有两个第一连接 点和两个第二连接点， 所述连接块 （21) 和转子 （1) 的端面上分别 设有与所述膜片对应的 2个螺纹孔， 所述连接块 （21) 通过螺钉与所 述膜片的第一连接点连接， 所述转子 （1) 通过螺钉与所述膜片的第 二连接点连接。
如权利要求 4所述的电机， 其特征在于， 所述膜片有多个， 多个所述 膜片相互错位连接在一起， 形成交替连接的结构， 所述连接块 （21) 和转子 （1) 分别与两端的膜片连接。
如权利要求 1所述的电机， 其特征在于， 所述弹性件 （5) 为弹性柱， 所述转轴 （2) —端圆周面上设有多个均匀分布的凸起， 所述转子 （1 ) 的一端面上设有多个凸起， 所述转子 （1) 上的多个凸起交错卡设 在所述转轴 （2) 的多个凸起之间， 并且所述转子 （1) 和所述转轴 （ 2) 的凸起之间具有预设的间隙； 所述转子 （1) 和所述转轴 （2) 的 凸起的两侧均设有半圆凹槽， 使得所述转子 （1) 和所述转轴 （2) 的 凸起之间形成一个圆柱腔， 所述弹性柱安装在所述圆柱腔内。
[权利要求 7] 如权利要求 5或 6所述的电机， 其特征在于， 还包括控制器 （6) ， 所 述控制器 （6) 分别与第一传感器 （32) 和第二传感器 （42) 电连接 ， 用于获取所述第一传感器 （32) 和第二传感器 （42) 输出的转子角 位移信号和转轴角位移信号， 并根据所述转子角位移信号和转轴角位 移信号之差计算出电机的实吋扭矩。
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