CN106275510B - A kind of electromechanical integration magnetic torquer structure - Google Patents

Abstract

An electromechanical integrated magnetic torque device structure, including a magnetic bar (1) and the like; a circuit assembly (2) includes a circuit board (5), etc., an electrical connector (6) is installed on one side of the circuit board (5), and the electrical connector The pins of (6) are electrically installed on the circuit board (5), the power device (8) is installed on the heat dissipation frame (7), and the heat dissipation frame (7) is fastened on the circuit board (5); the main cavity (19 ) is fastened to one end of the magnetic rod (1) through the bottom and the bracket seat a (16); the lead wire (13) of the magnetic rod (1) penetrates into the cavity of the main cavity (19), and is electrically installed on the circuit board (5); the circuit assembly (2) is fixed in the cavity of the main cavity (19). The invention realizes the organic combination of the driving circuit and the magnetic torque device body, reasonably arranges the position of the circuit box, improves the mechanical resistance of the whole machine, and greatly simplifies the structure of the driving circuit and reduces the volume of the product on the premise of meeting the driving requirements.

Description

A Mechatronic Magnetic Torque Structure

technical field

The invention relates to a magnetic torque device structure, in particular to an electromechanical integrated magnetic torque device structure, which belongs to the technical field of magnetic torque devices.

Background technique

The magnetic torquer product is mainly composed of two parts: the magnetic rod of the magnetic torquer and the circuit component. At present, the existing magnetic torquer products are split type magnetic torquer. The rod and the circuit are two independent components without any connection in the structure. , the electrical connection can only be realized through the on-star cable.

Except for the more complex circuit components which are in the form of separate circuit boxes, most of the circuit components are in the form of single boards, which are installed in different circuit boxes according to different task requirements. Due to the different technical statuses such as the size, layout, plug-in method, and node definition of different circuit boxes, it is difficult to unify and solidify the technical status of the magnetic torque device drive circuit, which is not conducive to product finalization and mass production. And with the development of aerospace engineering, more and more electronic circuit products have undergone technical improvement or product replacement, and the installation position of the magnetic torquer driving circuit can no longer be provided, which makes the installation of circuit components particularly prominent.

Contents of the invention

The technical problem of the present invention is to overcome the deficiencies in the prior art, and propose a mechanical and electrical integrated magnetic torque device structure, aiming at the slender structural characteristics of the magnetic torque device body, adopting the structural design of a special-shaped circuit box to realize the driving circuit and the magnetic torque device The organic combination of the main body, the reasonable layout of the position of the circuit box, the improvement of the mechanical resistance of the whole machine, and the premise of meeting the driving requirements greatly simplifies the structure of the driving circuit and reduces the volume of the product.

The technical solution adopted in the present invention is: a mechanical and electrical integrated magnetic torque device structure, including magnetic rods, circuit components, circuit box housing components and bracket components; circuit components include circuit boards, electrical connectors and heat dissipation The device is installed on one side of the circuit board, the pins of the electrical connector are electrically installed on the circuit board, the power device is installed on the heat dissipation frame, and the heat dissipation frame is fastened on the circuit board; the bracket assembly includes the bracket seat a; the circuit box housing assembly Including the main cavity; the main cavity is fastened to one end of the magnetic rod through the bottom bracket and the bracket a In the cavity of the body, and electrically installed on the circuit board; the circuit assembly is fixed in the cavity of the main cavity, and the socket of the electrical connector passes through the cavity for connection with external equipment.

The magnetic rod includes a soft magnetic core rod, a retaining ring, a lead-out wire, a heat-shrinkable sleeve, and an enameled wire; One end leads out from the through hole on the retaining ring at one end of the soft magnetic core rod and installs a lead wire at each end of the enameled wire; the surface of the enameled wire is covered with a heat shrinkable sleeve, and the lead wire is fixed on the surface of the heat shrinkable sleeve. .

The circuit box shell assembly is installed on the magnetic bar at a position 0.2 to 0.22 times the total length of the magnetic bar from the end with the lead wire.

The circuit board includes a signal processing circuit, a logic control circuit, a power drive circuit, and a function detection circuit; the magnetic moment amplitude control signal and the magnetic moment direction control signal are filtered, isolated and shaped by the signal processing circuit and then sent to the logic control circuit. The control circuit outputs the logic control signal used to control the bridge wall of the H-bridge circuit in the power drive circuit according to the state of the magnetic moment amplitude control signal and the magnetic moment direction control signal, and the power drive circuit provides the magnetic bar with the state of the output signal of the logic control circuit. The excitation current and the power drive circuit output detection signals at the same time, and after the detection signals are combined by the function detection circuit, a signal reflecting the magnitude and direction of the output magnetic moment of the electromechanical integrated magnetic torque device is output.

The signal processing circuit includes resistors R1 to R6, capacitor C1, capacitor C2, diode D1, diode D2, inverter U1, and inverter U2; one end of the resistor R1 is connected to the signal ground, and the other end is connected to the resistor R2 and then connected to the diode D1 One end of capacitor C1 is connected to the signal ground, and the other end is connected to the cathode of diode D1; the anode of diode D1 is connected to the input end of inverter U1; one end of resistor R3 is connected to VCC, and the other end is connected to the anode of diode D1; the magnetic moment amplitude control signal is from The common terminal of the resistor R1 and the resistor R2 is input, and the output terminal of the inverter U1 outputs the AM signal; one terminal of the resistor R4 is connected to the signal ground, the other terminal is connected to the resistor R5 and then connected to the cathode of the diode D2, and one terminal of the capacitor C2 is connected to the signal ground, and the other terminal is connected to the diode The cathode of D2; the anode of diode D2 is connected to the input terminal of inverter U2; one end of resistor R6 is connected to VCC, and the other end is connected to the anode of diode D2; the magnetic moment direction control signal is input from the common end of resistor R4 and resistor R5, and the output of inverter U2 Terminal outputs LOGIC signal.

The logic control circuit includes AND gates U3 to U8, comparator F1, comparator F2, comparison level V1, inverter U9, resistors R7 to R14, capacitors C3 to C8; the LOGIC signal is connected to the AND gate One input end of U3 is connected to the other input end of the AND gate U3 through the resistor R7, one end of the capacitor C3 is connected to the signal ground, and the other end is connected to the common end of the resistor R7 and the AND gate U3; the LOGIC signal is connected to the inverter U9 The input terminal, the output terminal of the inverter U9 is connected to the negative input terminal of the comparator F1 through the resistor R9, one terminal of the capacitor C4 is connected to the signal ground, and the other terminal is connected to the common terminal of the resistor R9 and the comparator F1; the positive input terminal of the comparator F1 is connected through The resistor R8 is connected to the output terminal of the comparator F1, and the output terminal of the comparator F1 outputs the DIR3 signal; the output terminals of the AND gate U3 and the comparator F1 are respectively connected to the two input terminals of the AND gate U4, and the output terminal of the AND gate U4 passes through the resistor R10 is connected to one input terminal of the AND gate U5, one end of the capacitor C7 is connected to the signal ground, and the other end is connected to the common end of the resistor R10 and the AND gate U5; the other input terminal of the AND gate U5 is connected to the AM signal, and the AND gate U5 outputs the PWM1 signal; The output terminal of the inverter U9 is connected to one input terminal of the AND gate U6, and connected to the other input terminal of the AND gate U6 through the resistor R11, one terminal of the capacitor C5 is connected to the signal ground, and the other terminal is connected to the common terminal of the resistor R11 and the AND gate U6 The LOGIC signal is connected to the negative input terminal of the comparator F2 through the resistor R13, one terminal of the capacitor C6 is connected to the signal ground, and the other terminal is connected to the common terminal of the resistor R13 and the comparator F2; the positive input terminal of the comparator F2 is connected to the comparator F2 through the resistor R12 The output terminal, the output terminal of the comparator F2 outputs the DIR4 signal; the output terminals of the AND gate U6 and the comparator F2 are respectively connected to the two input terminals of the AND gate U7, and the output terminal of the AND gate U7 is connected to the terminal of the AND gate U8 through the resistor R14 One input terminal, one terminal of the capacitor C8 is connected to the signal ground, and the other terminal is connected to the common terminal of the resistor R14 and the AND gate U8; the other input terminal of the AND gate U8 is connected to the AM signal, and the AND gate U8 outputs the PWM2 signal; the two ends of the comparison level V1 are respectively Connect the positive input of comparator F1 and the positive input of comparator F2.

The power drive circuit includes power drive tube T1 ~ power drive tube T4, diode D3, diode D4, resistor R15, and resistor R16; the collector of the power drive tube T1 and the collector of the power drive tube T2 are connected to VSS, and the power drive tube The emitter of T1 is connected to the collector of the power drive tube T3, and the emitter of the power drive tube T3 is connected to the power ground through the resistor R15; the cathode of the diode D3 is connected to the collector of the power drive tube T3, and the anode is connected to the power ground; the emitter of the power drive tube T2 The pole is connected to the collector of the power drive tube T4, and the emitter of the power drive tube T4 is connected to the power ground through the resistor R16; the cathode of the diode D4 is connected to the collector of the power drive tube T4, and the anode is connected to the power ground; the PWM1 signal is connected to the power drive tube T1 Base, the PWM2 signal is connected to the base of the power drive tube T2, the DIR3 signal is connected to the base of the power drive tube T4, the DIR4 signal is connected to the base of the power drive tube T3; the DT+ signal is output from the emitter of the power drive tube T3, The DT- signal is output from the emitter of the power drive tube T4; the magnetic bar is connected between the emitter of the power drive tube T1 and the emitter of the power drive tube T2.

The function detection circuit includes amplifiers A1 to A3, resistors R17 to R26; the DT- signal is connected to the non-inverting input of the amplifier A1 through the resistor R18, and the two ends of the resistor R17 are respectively connected to the inverting input and output of the amplifier A1. The output terminal of amplifier A1 is connected to the inverting input terminal of amplifier A3 through resistor R22; the DT+ signal is connected to the non-inverting input terminal of amplifier A2 through resistor R20, and the two ends of resistor R19 are respectively connected to the inverting input terminal and output terminal of amplifier A2. The output terminal of A2 is connected to the non-inverting input terminal of the amplifier A3 through the resistor R23; the output terminal of the amplifier A3 is connected to the resistor R25 to output the signal, and the two ends of the resistor R21 are respectively connected to the inverting input terminal and the output terminal of the amplifier A3; one terminal of the resistor R24 is connected to the signal The other end is connected to the non-inverting input end of the amplifier A3; one end of the resistor R26 is connected to the signal ground, and the other end is connected to one end of the output signal of the resistor R25.

The main cavity consists of two parts, the upper part is a square cavity, the top of the cavity and one side wall are opened; the lower part has a semi-cylindrical groove for fixing the magnetic bar; the circuit assembly is placed upside down in the main cavity , the heat dissipation frame faces down and is fixed on the installation table in the cavity; the bracket base a has a semi-cylindrical groove for cooperating with the main cavity to fix the magnetic bar; the bracket assembly also includes a bracket base b, a bracket cover ; The bracket base b and the bracket cover have a semi-cylindrical groove; the bracket base b and the bracket cover cooperate with each other to fasten and install on the end of the magnetic bar that is not installed with the circuit box housing assembly.

The circuit box housing assembly also includes an upper cover plate and a front panel; the front panel is installed at the opening of the side wall of the main cavity, and the socket of the electrical connector is passed through and fixed from the lead-out hole on the front panel, and the upper cover plate is covered and installed At the opening on the top of the main cavity; the heat dissipation frame is an aluminum alloy integral frame with a quadrilateral structure, three sides are closed, one side is open, and an electrical connector is installed on one side of the opening, and a long bar protrudes from the middle of the other side corresponding to the opening side Shaped heat sink, the power device is fixed on the heat sink, and a thermally conductive insulating gasket is placed between the power device and the heat sink.

The advantage of the present invention compared with prior art is:

(1) The present invention realizes the electromechanical integration design of the magnetic torque device. Compared with the split type magnetic torque device, the electromechanical integrated magnetic torque device avoids the magnetic rod of the magnetic torque device and the circuit assembly while reducing the product weight and reducing the product volume. The long-term transmission between them effectively avoids the introduction of interference signals, improves the signal quality, and improves the performance of the product. At the same time, the integrated magnetic torque device also has the advantages of unified interface, solid state, and convenient selection of satellites.

(2) In the present invention, the circuit box housing assembly is installed above the magnetic rod to ensure that the distance between the center of mass of the magnetic rod and the mounting surface will not be too large, thereby improving the mechanical resistance of the product. Install the circuit box shell assembly on the top of the magnetic bar, and at the same time take into account the fastening of the magnetic bar and the specific layout position of the line box shell assembly, so that the structural rigidity of the whole machine is optimized, and the mechanical resistance is met. The weight of the whole machine reaches the lightest.

(3) The present invention adopts two control signals of amplitude and direction as the input signal of the output magnetic moment of the electromechanical integrated magnetic torque device. According to the state of the two control signals, four logic signals for controlling the power drive circuit are directly output through the logic control circuit, and the problem of back EMF discharge when the control signal is reversed is solved in the logic control circuit. The circuit structure is simple, The reliability is high, and the volume of the circuit components is greatly reduced under the condition of meeting the technical requirements.

(4) In addition to the functions of ordinary magnetic torque device, the electromechanical integrated magnetic torque device structure of the present invention also has the advantages of small size, light weight, simple structure, unified external interface, favorable product shaping, and high product integration. Both the small satellite platform and the medium and low orbit large satellite platform have good application prospects.

Description of drawings

Fig. 1 is a three-dimensional diagram of the electromechanical integrated magnetic torque device of the present invention;

Fig. 2 is a schematic diagram of the circuit assembly of the electromechanical integrated magnetic torque device of the present invention;

Fig. 3 is the magnetic bar schematic diagram of electromechanical integration magnetic torque device of the present invention;

Fig. 4 is a schematic diagram of the assembly of the circuit box housing assembly of the electromechanical integrated magnetic torque device of the present invention;

Fig. 5 is a schematic diagram of the circuit board of the electromechanical integrated magnetic torque device of the present invention.

Detailed ways

Below in conjunction with accompanying drawing and embodiment the present invention is described in further detail:

As shown in FIG. 1 and FIG. 2 , the present invention discloses an electromechanical integrated magnetic torque device structure including a magnetic rod 1 , a circuit assembly 2 , a circuit box housing assembly 3 and a bracket assembly 4 .

The circuit assembly 2 is used to receive the control signal, and output a specific exciting current to the magnet bar 1 according to the state of the control signal. As shown in FIG. 2 , the circuit assembly 2 includes a circuit board 5 , an electrical connector 6 and a heat dissipation frame 7 . The electrical connector 6 is mounted on the circuit board 5 through fasteners, and the pins of the electrical connector 6 are directly electrically mounted on the circuit board 5 . The electrical connector 6 is a board-level external electrical connector, one end is directly electrically installed on the circuit board 5 (printed board), and the socket at the other end can be directly connected with the plug on the cable. The heat dissipation frame 7 is a special-shaped aluminum alloy integrated frame, the overall frame is a quadrilateral structure, three sides are closed, one side is open, one side of the opening is used for the installation of the electrical connector 6, and a long strip of heat sink is extended from the other side corresponding to the opening side. The power device 8 is directly arranged on the heat sink, and a thermally conductive and insulating gasket is laid between the heat sink and the heat sink. Both the circuit board 5 and the heat dissipation frame 7 have six mounting holes at the same position, three of which are used for the connection between the circuit board 5 and the heat dissipation frame 7, and these three holes are respectively located on the circuit board 5 opposite to the electrical connector 6 both ends on one side and one end of the heat sink. The other three holes are used for the circuit assembly 2 to be installed in the circuit box housing assembly 3 , and are respectively located at the two ends of the side of the circuit board 5 with the electrical connector 6 and in the middle of the side opposite to the electrical connector 6 . The cooling frame 7 is fastened on the circuit board 5 by three M2 screws 9 .

As shown in Figure 5, the circuit board 5 includes a signal processing circuit, a logic control circuit, a power drive circuit, and a function detection circuit; the two control signals of the magnetic moment amplitude and direction are filtered, isolated and shaped by the signal processing circuit and then sent to the logic control circuit. circuit, the logic control circuit outputs four logic control signals for controlling the four bridge walls of the H-bridge circuit in the power drive circuit according to the state of the two signals of amplitude and direction, and the power drive circuit is magnetic according to the state of the output signal of the logic control circuit. Rod 1 provides excitation current, and the power drive circuit outputs two detection signals at the same time. The two detection signals are combined into one detection signal by the function inspection circuit and then used as the output signal of the whole machine. The magnitude and direction of the moment. In order to simplify the structure of the drive circuit and facilitate the miniaturization and modularization of the drive circuit, an integrated magnetic torque device can be formed. The integrated magnetic torque device has two control signals, and the two control signals are used to control the electromechanical integration. The magnetic torquer outputs the magnitude and direction of the magnetic moment. Among them, the amplitude signal is a pulse signal with fixed width and frequency modulation, and the direction signal is a high and low level signal. The signal processing circuit includes an amplitude signal processing circuit and a direction signal processing circuit. The two parts of the circuit are identical, and are composed of resistors R1 ~ resistor R6, capacitor C1, capacitor C2, diode D1, diode D2, inverter U1, and inverter U2. , mainly to filter, isolate and shape the input signal, and output two signals, AM and LOGIC, for the input signal of the logic control circuit. One end of the resistor R1 is connected to the signal ground, the other end is connected to the resistor R2 and then connected to the cathode of the diode D1, one end of the capacitor C1 is connected to the signal ground, and the other end is connected to the cathode of the diode D1; the anode of the diode D1 is connected to the input terminal of the inverter U1; one end of the resistor R3 is connected to VCC , the other end is connected to the anode of diode D1; the magnetic moment amplitude control signal is input from the common end of resistor R1 and resistor R2, and the output end of inverter U1 outputs AM signal; one end of resistor R4 is connected to the signal ground, and the other end is connected to resistor R5 and then connected to The cathode of the diode D2, one end of the capacitor C2 is connected to the signal ground, and the other end is connected to the cathode of the diode D2; the anode of the diode D2 is connected to the input end of the inverter U2; one end of the resistor R6 is connected to VCC, and the other end is connected to the anode of the diode D2; the magnetic moment direction control signal It is input from the common terminal of the resistor R4 and the resistor R5, and the output terminal of the inverter U2 outputs the LOGIC signal. The logic control circuit includes AND gates U3~U8, comparators F1, F2, comparison level V1, inverter U9, resistors R7~R14, capacitors C3~C8, output four according to the state of AM and LOGIC to control the H bridge The logic control signals PWM1, PWM2, DIR3, and DIR4 of the four bridge walls of the drive circuit. The LOGIC signal is directly connected to one input terminal of the AND gate U3, and is connected to the other input terminal of U3 through the delay network of the resistor R7 and the capacitor C3. The LOGIC signal is connected to the inverter U9 at the same time, the other end of U9 is connected to the negative input terminal of the comparator F1 through the delay network of the resistor R9 and the capacitor C4, the positive input terminal of F1 is connected to the comparison level V1, and the output of F1 is connected to the resistor R8 at the same time terminal, the output signal of F1 is DIR3. The output terminals of U3 and F1 are respectively connected to the two input terminals of U4, the output terminal of U4 is connected to one input terminal of U5 through the delay network of resistor R10 and capacitor C7, the other input terminal of U5 is connected to the AM signal, and U5 outputs the signal for PWM1. The generating circuits of PWM2 and DIR4 are the same as PWM1 and DIR3, except that there is an inverter U9 at the connection with LOGIC. The output terminal of the inverter U9 is connected to one input terminal of the AND gate U6, and connected to the other input terminal of the AND gate U6 through the resistor R11, one terminal of the capacitor C5 is connected to the signal ground, and the other terminal is connected to the common terminal of the resistor R11 and the AND gate U6 ;The LOGIC signal is connected to the negative input terminal of the comparator F2 through the resistor R13, one terminal of the capacitor C6 is connected to the signal ground, the other terminal is connected to the common terminal of the resistor R13 and the comparator F2, and the positive input terminal of the comparator F2 is connected to the other terminal of the comparison level V1 The positive input terminal of the comparator F2 is connected to the output terminal of the comparator F2 through the resistor R12, and the output terminal of the comparator F2 outputs the DIR4 signal; the output terminals of the AND gate U6 and the comparator F2 are respectively connected to the two input terminals of the AND gate U7, The output terminal of the AND gate U7 is connected to one input terminal of the AND gate U8 through the resistor R14, one terminal of the capacitor C8 is connected to the signal ground, and the other terminal is connected to the common terminal of the resistor R14 and the AND gate U8; the other input terminal of the AND gate U8 is connected to the AM signal , and the gate U8 outputs the PWM2 signal. The power drive circuit includes power drive tubes T1~T4, freewheeling diodes D3, D4, detection resistors R15, R16, and the power drive circuit provides magnet bars 1 with different sizes and different Direction of excitation current, while outputting two signals DT+ and DT- from the non-ground terminals of detection resistors R15 and R16. The collector of the power drive tube T1 and the collector of the power drive tube T2 are connected to VSS, the emitter of the power drive tube T1 is connected to the collector of the power drive tube T3, and the emitter of the power drive tube T3 is connected to the power ground through the resistor R15; the diode The cathode of D3 is connected to the collector of the power drive tube T3, and the anode is connected to the power ground; the emitter of the power drive tube T2 is connected to the collector of the power drive tube T4, and the emitter of the power drive tube T4 is connected to the power ground through the resistor R16; the cathode of the diode D4 is connected to the power ground The collector of the power drive tube T4, the anode is connected to the power ground; the PWM1 signal is connected to the base of the power drive tube T1, the PWM2 signal is connected to the base of the power drive tube T2, the DIR3 signal is connected to the base of the power drive tube T4, and the DIR4 The signal is connected to the base of the power drive tube T3; the DT+ signal is output from the emitter of the power drive tube T3, and the DT- signal is output from the emitter of the power drive tube T4; the magnetic bar 1 is connected to the emitter of the power drive tube T1 and the power drive tube T2 between the emitters. The function detection circuit includes amplifiers A1~A3 and resistors R17~R26. The two signals DT+ and DT- are followed by A1 and A2, and at the same time, the two signals output by A1 and A2 are isolated from the power ground, and the A1 The two signals output by and A2 are differentiated through A3, and the output signal of A3 is divided by R25 and R26 to obtain a detection output signal, which can reflect the magnitude and direction of the output magnetic moment of the electromechanical integrated magnetic torque device. The DT- signal is connected to the non-inverting input terminal of the amplifier A1 through the resistor R18, and the two ends of the resistor R17 are respectively connected to the inverting input terminal and the output terminal of the amplifier A1, and the output terminal of the amplifier A1 is connected to the inverting input terminal of the amplifier A3 through the resistor R22; The DT+ signal is connected to the non-inverting input terminal of the amplifier A2 through the resistor R20, the two ends of the resistor R19 are respectively connected to the inverting input terminal and the output terminal of the amplifier A2, and the output terminal of the amplifier A2 is connected to the non-inverting input terminal of the amplifier A3 through the resistor R23; the amplifier A3 The output terminal of the resistor R25 is connected to the output signal, and the two ends of the resistor R21 are respectively connected to the inverting input terminal and the output terminal of the amplifier A3; one end of the resistor R24 is connected to the signal ground, and the other end is connected to the non-inverting input terminal of the amplifier A3; one end of the resistor R26 is connected to the signal ground , and the other end is connected to one end of the output signal of the resistor R25.

As shown in FIG. 3 , the magnetic rod 1 includes a soft magnetic core rod 11 , a retaining ring 12 , a lead wire 13 , a heat shrinkable sleeve 14 , and an enameled wire 15 . The enameled wire 15 is evenly wound on the surface of the soft magnetic core rod 11, and the two ends of the soft magnetic core rod 11 are fixed with retaining rings 12. One lead wire 13 for electric equipment. The surface of the enameled wire 15 is coated with a heat-shrinkable sleeve 14 . The lead wires 13 are fixed on the surface of the heat shrinkable sleeve 14 by binding wires.

As shown in FIG. 1 , the bracket assembly 4 includes a bracket seat a16 , a bracket seat b17 , and a bracket cover 18 . The bracket seat a16, the bracket seat b17, and the bracket cover 18 all have semi-cylindrical grooves for fastening the magnetic bar 1. The circuit box housing assembly 3 includes: a main cavity 19 , an upper cover 20 and a front panel 21 . The main cavity 19 adopts a special-shaped design and is divided into upper and lower parts. The upper part is a square cavity for installing circuit components 2. The lower part also has a semi-cylindrical groove and 4 mounting holes for fastening the magnetic bar 1. . The circuit box housing assembly 3 is installed above the magnetic rod 1, and the specific position is 0.2 to 0.22 times the total length of the magnetic rod 1 from the end with the lead wire 13. The circuit box housing assembly 3 is arranged within the range of this position Inside, under the premise of meeting the mechanical performance requirements, the weight of the whole machine is the lightest. The bracket base a16 is fixed on the external device, and the circuit box housing assembly 3 is located above the bracket base a16 , so that the circuit box housing assembly 3 is located above the magnetic bar 1 . The circuit box housing assembly 3 and the bracket base a16 realize the fastening of one end of the magnet rod 1 through four M5 screws, and the bracket base b17 and the bracket cover 18 realize the fastening of the other end of the magnet rod 1 through four M5 screws. solid.

As shown in Figure 4, the lead wire 13 of the magnetic bar 1 penetrates into the square cavity through the threading hole on the main cavity 19, and after being molded and fixed in the square cavity, it is then electrically mounted on the corresponding solder joint on the circuit board 5. superior. The circuit assembly 2 is placed upside down in the square cavity, with the heat dissipation frame 7 facing down. As shown in Figure 2, the circuit assembly 2 is directly fixed on the mounting table in the square cavity by three M2 screws 10 to increase the heat dissipation frame 7 and the main body. The contact area of the cavity 19 facilitates heat dissipation of the product. After the circuit assembly 2 is fixed in the square cavity, the upper cover plate 20 and the front panel 21 are fixed by fasteners, and the lead-out hole of the electrical connector 6 is left on the front panel 21, and the socket of the electrical connector 6 passes through the front The panel 21 is fixed on the front panel 21 by fasteners to realize connection with external signals.

Since the soft magnetic core rod 11 in the magnetic rod 1 of the magnetic torque device is a slender cylindrical shape, the aspect ratio is usually between 1:25 and 1:40, and the soft magnetic material has high brittleness, poor processability, and resistance to corrosion. The characteristics of poor mechanical properties, so if the circuit assembly 2 is installed under the magnetic rod 1, the height of the center of mass of the magnetic rod 1 will be greatly increased. In this case, in order to ensure the mechanical resistance of the product, the width and thickness of the connecting bracket will be increased, which directly leads to a substantial increase in the weight and size of the product. Install the circuit box housing assembly 3 on the top of the magnetic rod 1, and at the same time take into account the fastening of the magnetic rod 1, give the specific layout position of the circuit box housing assembly 3: 0.2 to 0.22 times from the end with the lead wire The position of the total length of the magnetic bar 1 can optimize the structural rigidity of the whole machine, and make the weight of the whole machine the lightest under the premise of meeting the mechanical resistance requirements.

The content not described in detail in the present invention is well known to those skilled in the art.

Claims (10)

1. A mechanical and electrical integration magnetic torque device structure, is characterized in that: comprise magnetic bar (1), circuit assembly (2), line box shell assembly (3) and bracket assembly (4); Circuit assembly (2) comprises Circuit board (5), electrical connector (6) and cooling frame (7), electrical connector (6) is installed on circuit board (5) one side, and the contact pin of electrical connector (6) is installed on circuit board ( 5), the power device (8) is installed on the heat dissipation frame (7), and the heat dissipation frame (7) is fastened on the circuit board (5); the bracket assembly (4) includes a bracket seat a (16); the circuit box housing The assembly (3) includes the main cavity (19); the main cavity (19) is fastened to one end of the magnetic rod (1) through the bottom bracket and the bracket seat a (16), and the bracket seat a (16) is installed on the external device , the main cavity (19) is located above the bracket seat a (16); the lead wire (13) of the magnetic rod (1) penetrates into the cavity of the main cavity (19), and is electrically mounted on the circuit board (5); The circuit assembly (2) is fixed in the cavity of the main cavity (19), and the socket of the electrical connector (6) passes through the cavity for connecting with external equipment. 2. A mechatronic magnetic torque device structure according to claim 1, characterized in that: said magnetic rod (1) includes a soft magnetic mandrel (11), a retaining ring (12), and a lead wire (13) , heat-shrinkable sleeve (14), enameled wire (15); enameled wire (15) is wound on the surface of soft magnetic mandrel (11), and soft magnetic mandrel (11) two ends are fixed with back-up ring (12) and block enameled wire ( 15), the two ends of the enameled wire (15) are drawn from the through hole on the retaining ring (12) at one end of the soft magnetic core rod (11) and each of the two ends of the enameled wire (15) is electrically equipped with a lead wire ( 13); the surface of the enameled wire (15) is coated with the heat-shrinkable sleeve (14), and the lead-out wire (13) is fixed on the surface of the heat-shrinkable sleeve (14). 3. A mechatronic magnetic torque device structure according to claim 1 or 2, characterized in that: the circuit box housing assembly (3) is installed on the magnetic bar (1), with a distance from the lead wire ( 13) The position at the end of one end is 0.2 to 0.22 times the total length of the magnetic bar (1). 4. A kind of mechanical and electrical integration magnetic torque device structure according to claim 1 or 2, is characterized in that: described circuit board (5) comprises signal processing circuit, logic control circuit, power drive circuit, function detection circuit; The torque amplitude control signal and the magnetic moment direction control signal are filtered, isolated and shaped by the signal processing circuit and then sent to the logic control circuit. The logic control circuit is used to control the power according to the state output of the magnetic moment amplitude control signal and the magnetic moment direction control signal. The logic control signal of the bridge wall of the H-bridge circuit in the drive circuit, the power drive circuit provides an excitation current for the magnetic bar (1) according to the state of the output signal of the logic control circuit, and the power drive circuit outputs a detection signal at the same time, and the detection signal is combined by the function detection circuit , to output a signal reflecting the magnitude and direction of the output magnetic moment of the electromechanical integrated magnetic torque device. 5. A mechatronic magnetic torque device structure according to claim 4, characterized in that: said signal processing circuit includes resistors R1 to R6, capacitor C1, capacitor C2, diode D1, diode D2, inverter U1, inverter U2; one end of the resistor R1 is connected to the signal ground, the other end is connected to the resistor R2 and then connected to the cathode of the diode D1, one end of the capacitor C1 is connected to the signal ground, and the other end is connected to the cathode of the diode D1; the anode of the diode D1 is connected to the input of the inverter U1 One end of the resistor R3 is connected to VCC, and the other end is connected to the anode of the diode D1; the magnetic moment amplitude control signal is input from the common end of the resistor R1 and the resistor R2, and the output port of the inverter U1 outputs the AM signal; one end of the resistor R4 is connected to the signal ground, The other end is connected to the resistor R5 and then connected to the cathode of the diode D2, one end of the capacitor C2 is connected to the signal ground, and the other end is connected to the cathode of the diode D2; the anode of the diode D2 is connected to the input end of the inverter U2; one end of the resistor R6 is connected to VCC, and the other end is connected to the diode D2 Anode; the magnetic moment direction control signal is input from the common terminal of the resistor R4 and the resistor R5, and the output terminal of the inverter U2 outputs the LOGIC signal. 6. A mechatronic magnetic torque device structure according to claim 5, characterized in that: said logic control circuit includes AND gates U3-AND gates U8, comparator F1, comparator F2, comparison level V1, Inverter U9, resistor R7～resistor R14, capacitor C3～capacitor C8; LOGIC signal is connected to one input terminal of AND gate U3, and connected to the other input terminal of AND gate U3 through resistor R7, and one terminal of capacitor C3 is connected to signal ground , the other end is connected to the common end of the resistor R7 and the AND gate U3; the LOGIC signal is connected to the input end of the inverter U9, the output end of the inverter U9 is connected to the negative input end of the comparator F1 through the resistor R9, and one end of the capacitor C4 is connected to Signal ground, the other end is connected to the common end of resistor R9 and comparator F1; the positive input end of comparator F1 is connected to the output end of comparator F1 through resistor R8, and the output end of comparator F1 outputs DIR3 signal; AND gate U3 and comparator F1 The output terminals of the AND gate U4 are respectively connected to the two input terminals of the AND gate U4, the output terminal of the AND gate U4 is connected to one input terminal of the AND gate U5 through the resistor R10, one end of the capacitor C7 is connected to the signal ground, and the other end is connected to the resistor R10 and the AND gate U5 The common terminal of the AND gate U5; the other input terminal of the AND gate U5 is connected to the AM signal, and the AND gate U5 outputs the PWM1 signal; the output terminal of the inverter U9 is connected to one input terminal of the AND gate U6, and is connected to the other of the AND gate U6 through the resistor R11 At the input terminal, one end of the capacitor C5 is connected to the signal ground, and the other end is connected to the common end of the resistor R11 and the AND gate U6; the LOGIC signal is connected to the negative input end of the comparator F2 through the resistor R13, and one end of the capacitor C6 is connected to the signal ground, and the other end is connected to the resistor The common terminal of R13 and comparator F2; the positive input terminal of comparator F2 is connected to the output terminal of comparator F2 through resistance R12, and the output terminal of comparator F2 outputs DIR4 signal; the output terminals of AND gate U6 and comparator F2 are respectively connected to AND The two input terminals of the gate U7, the output terminal of the AND gate U7 are connected to one input terminal of the AND gate U8 through the resistor R14, one end of the capacitor C8 is connected to the signal ground, and the other end is connected to the common terminal of the resistor R14 and the AND gate U8; the AND gate U8 The other input terminal of V1 is connected to the AM signal, and the AND gate U8 outputs the PWM2 signal; the two ends of the comparison level V1 are respectively connected to the positive input terminal of the comparator F1 and the positive input terminal of the comparator F2. 7. A mechatronic magnetic torque device structure according to claim 6, characterized in that: said power drive circuit includes power drive tube T1 ~ power drive tube T4, diode D3, diode D4, resistor R15, resistor R16 The collector of the power drive tube T1 and the collector of the power drive tube T2 are connected to VSS, the emitter of the power drive tube T1 is connected to the collector of the power drive tube T3, and the emitter of the power drive tube T3 is connected to the power ground through the resistor R15; The cathode of the diode D3 is connected to the collector of the power drive tube T3, and the anode is connected to the power ground; the emitter of the power drive tube T2 is connected to the collector of the power drive tube T4, and the emitter of the power drive tube T4 is connected to the power ground through the resistor R16; the cathode of the diode D4 Connect to the collector of the power drive tube T4, and the anode to the power ground; the PWM1 signal is connected to the base of the power drive tube T1, the PWM2 signal is connected to the base of the power drive tube T2, and the DIR3 signal is connected to the base of the power drive tube T4. The DIR4 signal is connected to the base of the power drive tube T3; the DT+ signal is output from the emitter of the power drive tube T3, and the DT- signal is output from the emitter of the power drive tube T4; the magnetic rod (1) is connected to the emitter of the power drive tube T1 and the power between the emitters of the drive tube T2. 8. A mechatronic magnetic torque device structure according to claim 7, characterized in that: the function detection circuit includes amplifiers A1 to A3, resistors R17 to R26; the DT- signal is connected to the amplifier through resistor R18 The non-inverting input terminal of A1 and the two ends of the resistor R17 are respectively connected to the inverting input terminal and output terminal of the amplifier A1, the output terminal of the amplifier A1 is connected to the inverting input terminal of the amplifier A3 through the resistor R22; the DT+ signal is connected to the amplifier A2 through the resistor R20 The non-inverting input terminal of the resistor R19 is respectively connected to the inverting input terminal and output terminal of the amplifier A2, the output terminal of the amplifier A2 is connected to the non-inverting input terminal of the amplifier A3 through the resistor R23; the output terminal of the amplifier A3 is connected to the resistor R25 to output the signal , the two ends of the resistor R21 are respectively connected to the inverting input and output of the amplifier A3; one end of the resistor R24 is connected to the signal ground, and the other end is connected to the non-inverting input of the amplifier A3; one end of the resistor R26 is connected to the signal ground, and the other end is connected to the output signal of the resistor R25 one end. 9. A kind of electromechanical integrated magnetic torque device structure according to claim 1 or 2, is characterized in that: described main cavity (19) comprises two parts, and the upper half is a square cavity, and cavity top and a The side walls of the cavity are opened respectively; the lower half has a semi-cylindrical groove for fixing the magnetic bar (1); the circuit assembly (2) is placed upside down in the main cavity (19), with the heat dissipation frame (7) facing down and It is fixed on the installation table in the cavity; there is a semi-cylindrical groove for cooperating with the main cavity (19) to fix the magnetic bar (1) on the bracket seat a (16); the bracket assembly (4) also includes Support seat b (17), support cover (18); There is a semi-cylindrical groove on the support seat b (17) and the support cover (18); One end of the wire box housing assembly (3) is not installed on the magnet bar (1). 10. A mechatronic magnetic torque device structure according to claim 1 or 2, characterized in that: the circuit box housing assembly (3) also includes an upper cover plate (20) and a front panel (21); The front panel (21) is installed at the opening of the side wall of the main cavity (19), the socket of the electrical connector (6) passes through the lead-out hole on the front panel (21) and is fixed, and the upper cover (20) is covered and installed At the top opening of the main cavity (19); the heat dissipation frame (7) is an aluminum alloy integral frame, a quadrilateral structure, closed on three sides, with an opening on one side, and an electrical connector (6) installed on one side of the opening, and the opening A strip-shaped cooling fin protrudes from the middle of the other side corresponding to one side, and the power device (8) is fixed on the cooling fin, and a heat-conducting insulating gasket is placed between the power device (8) and the cooling fin.