CN108475961A

CN108475961A - Driving device and its operating method, laser measuring device for measuring and mobile platform

Info

Publication number: CN108475961A
Application number: CN201780004522.0A
Authority: CN
Inventors: 黄淮; 赵进; 王鹏; 洪小平
Original assignee: Shenzhen Dajiang Innovations Technology Co Ltd
Current assignee: Shenzhen Dajiang Innovations Technology Co Ltd
Priority date: 2017-03-29
Filing date: 2017-03-29
Publication date: 2018-08-31
Anticipated expiration: 2037-03-29
Also published as: CN111463934B; CN111463934A; CN108475961B; WO2018176292A1

Abstract

A kind of driving device, including：Around the rotor assembly of a preset shaft rotation；For driving the rotor assembly to surround the stator module of shaft rotation；At least positioning piece rotated centered on the shaft for limiting the rotor assembly；Wherein, the locating piece includes rotation section, fixed part and rolling element, and the rotation section is coupled by the rolling element and the fixed part, so that the rotation section is rotated relative to the fixed part；The rotation section can be moved relative to the fixed part on the direction of the shaft, so that the rotation section abuts the rolling element jointly when by a thrust with the fixed part.

Description

Driving device and its operating method, laser measuring device for measuring and mobile platform

This patent document disclosure includes material protected by copyright.The copyright is all for copyright holder.Copyright Owner do not oppose the patent document in the presence of anyone replicates the proce's-verbal of Patent＆Trademark Office and archives or this specially Profit discloses.

Technical field

The present invention relates to motor field more particularly to a kind of driving device and its operating method, laser measuring device for measuring and shiftings Moving platform.

Background technology

Realize that the motor of driving has been applied to multiple fields, such as consumer electronics, space flight, military affairs using electromagnetic action Deng.With the development of permanent magnetism new material, microelectric technique, automatic control technology and power electronic technique, motor obtains considerable Development.

Motor is mainly made of stator and rotor.Presently, it is additionally provided with bearing element in motor, to limit rotor Position.However, there are end-plays for bearing itself, middle (center) bearing generates when the presence of end-play relatively easily leads to motor work Noise.

Invention content

To solve aforementioned technical problem, the present invention provide a kind of driving device and its operating method, laser measuring device for measuring and Mobile platform.

A kind of driving device, which is characterized in that including：Around the rotor assembly of a preset shaft rotation；

For driving the rotor assembly to surround the stator module of shaft rotation；For limit the rotor assembly with At least positioning piece rotated centered on the shaft；Wherein, the locating piece includes rotation section, fixed part and rolling element, The rotation section is coupled by the rolling element and the fixed part, so that the rotation section turns relative to the fixed part It is dynamic；The rotation section can be moved relative to the fixed part on the direction of the shaft so that the rotation section by The rolling element is abutted jointly with the fixed part when one thrust.

A kind of operating method of driving device, which is characterized in that including：

Configure rotor assembly, stator module and at least positioning piece, wherein the rotor assembly surrounds one preset turn Axis rotates, and for driving the rotor assembly to be rotated around the shaft, at least positioning piece is used for the stator module The rotor assembly is limited to rotate centered on the shaft；Wherein, the locating piece includes rotation section, fixed part and rolling Body, the rotation section are coupled by the rolling element and the fixed part, so that the rotation section is relative to the fixed part Rotation, and the rotation section can be moved relative to the fixed part on the direction of the shaft；

Apply a thrust to the rotation section, the rotation section is made to abut the rolling element jointly with the fixed part.

A kind of laser measuring device for measuring, including driving device above-mentioned.

A kind of mobile platform, including aforementioned laser measuring device and platform body, the laser measuring device for measuring are mounted on institute State platform body.

Compared to the prior art, it is fixed to each other with rotor assembly due to the rotation section of positioning component, and positioning component is consolidated Determine portion to fix relative to shaft, it therefore, can be common with the fixed part when rotation section receives thrust and generates axial movement It abuts on rolling element, to effectively eliminate the end-play in positioning component, reduces noise.

Description of the drawings

In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached Figure is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this field For those of ordinary skill, without creative efforts, other drawings may also be obtained based on these drawings.

Fig. 1 is the front view of the motor of one embodiment in first kind embodiment of the present invention.

Fig. 2 is the dimensional structure diagram of motor as shown in Figure 1.

Fig. 3 is the front view that motor as shown in Figure 1 changes mode.

Fig. 4 is the front view of motor as indicated at 3.

Fig. 5 is the dimensional structure diagram that motor as shown in Figure 1 changes mode.

Fig. 6 is cross-sectional view of the motor 10 as shown in Figure 5 along VI-VI.

Fig. 7 is the front view that motor as shown in Figure 1 changes mode.

Fig. 8 is the dimensional structure diagram of motor as shown in Figure 7.

Fig. 9 is the dimensional structure diagram that motor as shown in Figure 1 changes mode.

Figure 10 is cross-sectional view of the motor as shown in Figure 9 along X-X lines.

Figure 11 is the dimensional structure diagram of the motor of one embodiment in the second class embodiment of the invention.

Figure 12 is the stereochemical structure signal of the change mode of the motor 20 of one embodiment in the second class embodiment of the invention Figure.

Figure 13 is the sectional view along the XIII-XIII lines of such as figure.

Figure 14 is cross-sectional view of the motor as shown in figure 12 along XIV-XIV lines..

Figure 15 is the stereochemical structure signal of the change embodiment of the motor of one embodiment in third class embodiment of the present invention Figure.

Figure 16 is the vertical view of the motor as shown in 15.

Cross-sectional view of Figure 17 motors as shown in figure 16 along XVII-XVII lines.

Figure 18 is as shown in figure 17 along the enlarged structure schematic diagram of XVIII.

Figure 19 is the dimensional structure diagram of the motor 40 of one embodiment in the 4th class embodiment of the invention.

Figure 20 is the vertical view of motor 40 as shown in figure 19.

Figure 21 is as shown in figure 20 along the cross-sectional view of XX-XX lines.

Figure 22 is that part broken isometric structure is shown in the change embodiment of one embodiment in the 4th class embodiment of the invention It is intended to.

Figure 23 is the cut-away section dimensional structure diagram of the motor of one embodiment in the 5th class embodiment of the invention.

Figure 24 is the part isometric perspective view of motor as shown in the figure.

Figure 25 is the prism shape for being applied to two motors in sixth embodiment of the invention.

Figure 26 is the structural schematic diagram such as the change embodiment of the shape of the first prism in Figure 25.

Figure 27 is the cut-away section structural schematic diagram of driving device of the present invention.

Figure 28 is the side structure schematic diagram of prism in a change embodiment in driving device of the present invention.

Figure 29 is the cross-sectional view of the motor in one embodiment.

Figure 30 is the cross-sectional view of driving device shown in Figure 18 of the present invention.

Figure 31 is the flow chart of driving device.

Specific implementation mode

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of not making the creative labor Embodiment shall fall within the protection scope of the present invention.

It should be noted that annular referred to herein, however it is not limited to regular annulus shape.

Also referring to Fig. 1-2, wherein Fig. 1 is the main view of the motor of one embodiment in first kind embodiment of the present invention Figure, Fig. 2 are the dimensional structure diagram of motor 10 shown in Fig. 1.As shown in Figure 1, it is in hollow cylindrical configuration that motor 10 is whole, namely Be motor 10 intermediate position have accommodating space.Specifically, motor 10 includes mutually matched rotor assembly 11, stator module 13 and positioning component 15.Wherein, rotor assembly 11 is for driving so that rotor assembly 11 is rotated around shaft 111.

Whole rotor assembly 11 is in hollow cylinder shape, the hollow portion 11a constituted with annular inner wall 112, described hollow Portion 11a that is to say that load is fixed on inner wall 112 and is at least partially disposed in hollow portion 11a for accommodating load.It can manage Solution, stator module 13 are that position is fixed with respect to the shaft of motor 10, not will produce the movement of opposite shaft, and rotor assembly 11 is then It can be moved relative to stator module 13.

Stator module 13 includes at least two mutual axial symmetry or the stators around shaft rotational symmetry in position 13a, and it is circumferentially positioned at the outside of rotor 11, it that is to say that the present embodiment motor 10 is the framework of internal rotor.

Positioning component 15 is located on the outside of hollow portion 11a, for limiting rotor assembly 11 in the position of rotor shaft direction, that is to say Rotor shaft direction movement will not occur when being rotated around shaft 111 for limitation rotor assembly 11.It should be noted that the shaft 111 It is not element existing for entity, but with 11 rotation center virtual concept of rotor assembly.Wherein, positioning component 15 has at least Two in position mutual axial symmetry or around shaft rotational symmetry setting locating piece 15a.

Further, the quantity of the locating piece 15a of the stator 13a and positioning component 15 of stator module 13 can be identical, Can be different, projection of the two in the plane (not shown) perpendicular to 111 direction of shaft is at least partially disposed on same circumference, Wherein, circumference is centered on the shaft 111, in addition, projection of the two in shaft 111 overlaps.In other words, stator Component 13 and positioning component 15 generally on the same circumference centered on shaft 111, in other words stator module 13 with it is fixed Distance of the hyte part 15 apart from shaft 111 is essentially identical.In addition, stator module 13 and positioning component 15 are perpendicular to shaft 111 The projection interval of the plane in direction is arranged.

It is appreciated that the rotor assembly 11 in motor 10 is to relatively rotate with stator module 13, wherein rotor assembly 11 Can be magnetic element, then accordingly, stator module 13 is the coil windings that electromagnetic field is generated when being powered；Conversely, rotor assembly 11 may be the coil windings that electromagnetic field is generated when being powered, then accordingly, stator module 13 is magnetic element.

Specifically, in the present embodiment, rotor assembly 11 is hollow cylindrical configuration, including is hollow closed circular structure Yoke 113 and magnet 114, yoke 113 is mutually stacked on radial (perpendicular to 111 direction of shaft) with magnet 114 and phase It is mutually fixed, wherein magnet 114 is located at 113 outside of yoke, and yoke 113 is overlapped with the central axis of magnet 114 with shaft 111.It can To understand, the inner surface of yoke 113 then constitutes the inner wall 112 of motor 10.

The whole outside for being set to magnet 114 in rotor assembly 11 in a ring of stator module 13 comprising two relative to 111 axisymmetric stator 13a of shaft, certainly, two stator 13a can also be 10 to rotate by a certain angle 180 ° and symmetrical around the shaft (hereinafter referred rotational symmetry).

Each stator 15a is in integrally the circle-arc profile centered on shaft 111, and line is wound on each stator 15a Enclose winding (not shown), wherein stator 15a generates electromagnetic field using coil windings when being powered.

Positioning component 15 includes the locating piece 15a of at least one annular or hollow cylindrical.Wherein, in the present embodiment, The centerline axis parallel of locating piece 15a is in shaft 111 and is spaced a predetermined distance.Positioning component 15 includes four relative to shaft 111 axisymmetric locating piece 15a, certainly, two locating piece 15a can also be 111 to rotate by a certain angle 90 ° and symmetrical around the shaft (hereinafter referred rotational symmetry).Each stator 13a in two stator 13a be set to adjacent locating piece 15a it Between.

Certainly, ground is changed, is respectively one embodiment in first kind embodiment of the present invention also referring to Fig. 3-4 Motor 10 in stator module 13 and 15 installation position of positioning component change embodiment front view and stereochemical structure signal Figure.As shown in Figure 3 and Figure 4, the quantity of stator 13a can also be identical as the quantity of locating piece 15a, and being set to position can be Include a stator 13a between two locating piece 15a of arbitrary neighborhood, stator 13a is spaced with locating piece 15a and sets one by one in other words It sets, it is of course also possible to be 2 stator 13a to be arranged between adjacent two locating piece 15a, as long as ensureing the generation of stator 13a Magnetic field is axisymmetric.In addition, can also include multiple locating piece 15a between two stator 13a, as long as ensureing locating piece 15a For the position-limiting action balance of rotor assembly 11.And so on, the quantity of stator 13a is also less than the number with locating piece 15a Amount, concrete configuration mode can refer to foregoing manner, repeat no more.

Ground is changed, referring to Fig. 5, it is stator pack in motor 10 in one embodiment of first kind embodiment of the present invention The dimensional structure diagram of the change embodiment of 13 installation position of part.Wherein, the stator 13a in stator module 13 and positioning group Projection on being parallel to a plane of shaft 112 of locating piece 15a in part 15 is simultaneously misaligned, in other words, stator module 13 shift to install with positioning component 15 above and below the direction of shaft 112, and are not located on same circumference.

In some embodiments, rotor assembly includes yoke and the magnet that is coupling on yoke outer peripheral edge.Optionally, The area of the magnet can cover yoke whole outer peripheral edges namely stator module 13 side it is opposite with the magnet, and position Component 15 is abutted with magnet rolling.Alternatively, the area of the magnet can also only cover the partial circumferential of yoke, such as only cover The upper half periphery (not shown) of yoke in Fig. 5 so that the side of stator module 13 is opposite with the magnet, and positioning component 15 is direct It is abutted with yoke rolling.

Further, as shown, motor 10 further includes circular ring shape fixed frame 17, by multiple positioning in positioning component 15 Part 15a is positioned at precalculated position.Specifically, fixed frame 17 is that hollow ring matrix 171 and multiple extended vertically from matrix set The positioning pin 172 set, wherein matrix 171 is the loop configuration centered on shaft 111, and matrix 171 is fixed on the bottom of motor 10 On seat or shell, positioning pin 172 interts into locating piece 15a, to be positioned to locating piece 15a.Wherein, positioning pin 172 Be set to locating piece 15a be configured as it is corresponding.

It rotates, is that is to say when rotor assembly 11 surrounds 111 turns of shaft preferably, locating piece 15a can surround positioning pin 172 When dynamic, different locating piece 15a can be driven to be rotated around positioning pin 172, that is to say stator 15a as a rotation section, and positioned Pin 172 is used as a fixed part.It is understood that one can also be made with locating piece 15a in positioning pin 172, it is only necessary to ensure locating piece 15a Can relative positioning pin 172 rotate, then positioning pin 172 is fixedly attached to matrix 171.

Ground is changed, Fig. 6-7 is please referred to, respectively in the motor 10 of one embodiment of first kind embodiment of the present invention The front view and dimensional structure diagram of 13 structure of stator module and the change embodiment of installation position.With reality shown in Fig. 5 Apply that example is similar, the stator 13a in the stator module 13 and locating piece 15a in positioning component 15 is in the plane for being parallel to shaft 112 On projection and misaligned, in other words, stator module 13 is setting up and down in the direction along shaft 112 with positioning component 15, And it is not located on same circumference.Unlike embodiment illustrated in fig. 5, in the embodiment shown in fig. 5, stator module 13 includes extremely Few two stator 13a, at least two stator 13a, which are surrounded, to be arranged in the outside of rotor assembly 11；And in Fig. 6-7 illustrated embodiments In, the whole loop configuration in a closed circumference centered on shaft 112 of stator module 13；Positioning component 15 includes multiple Locating piece 15a, multiple locating piece 15a surround rotor assembly 11 and are arranged respectively.Alternatively, in some embodiments it is possible to It is the locating piece that positioning component 15 includes entirety structure in a ring, which is centered around 11 outside setting of rotor assembly； Stator module 13 includes the stator 13a that at least two be in arcuation, and at least two stator 13a is respectively provided at outside rotor assembly 11 Side.

Ground is changed, Fig. 8-9 is please referred to, respectively in the motor 10 of one embodiment of first kind embodiment of the present invention The dimensional structure diagram of the structure of stator module 13 and positioning component 15 and the change embodiment of installation position and along The cross-sectional view of X-X lines.It is similar with embodiment illustrated in fig. 5, in the stator 13a and positioning component 15 in stator module 13 Projections of the locating piece 15a in the plane for being parallel to shaft 112 and misaligned, in other words, stator module 13 and positioning group Part 15 is setting up and down in the direction along shaft 112, and is not located on same circumference.Unlike embodiment illustrated in fig. 5, In embodiment illustrated in fig. 5, stator module 13 includes at least two stator 13a, and positioning component 15 includes at least two locating pieces 15a；And in Fig. 8-9 illustrated embodiments, during stator module 13 is respectively with shaft 112 in one with the entirety of positioning component 15 The closed ring structure of the heart is respectively sleeved at outside rotor assembly 11.

In the above embodiments, the position relationship of rotor assembly and stator module is：Stator module is looped around rotor The outside of component.In some embodiments, stator assembly and rotor assembly in mutually generate power the part of effect can also It is setting up and down along rotor shaft direction.For example, rotor assembly includes at least one magnet, at least one magnet and stator module edge Rotor shaft direction is setting up and down.

Referring to Fig. 10, it is the stereochemical structure signal of the motor 20 of one embodiment in the second class embodiment of the invention Figure.Motor 20 is identical as the structure of stator module 23 of motor 10, and difference lies in the structures of rotor assembly 21 and rotor assembly 11 It is different.

Referring to Fig. 10, rotor assembly 21 further includes the yoke 213 coupled at least one magnet 214, the yoke 213 Include the first part being arranged around shaft 211, and the second part coupled with first part, the inner wall includes first Point, at least one magnet 214 is fixed on the second part of yoke 213.

Specifically, in the present embodiment, rotor assembly 21 is generally hollow cylindrical configuration, including is hollow closed circular knot The yoke 213 of structure and a magnet 214 in a ring, and central axis is overlapped with shaft 211.In some embodiments In, this magnet 214 in a ring can also be substituted at least two be in arcuation magnet 214, and this at least two be in arc The magnet of shape is located on the same ring.

Wherein, there is yoke 213 the circular ring shape matrix 2131 being mutually connected vertically (namely above-mentioned to be set around shaft 211 The first part set) with interconnecting piece 2133 (namely second part of the above-mentioned second part coupled with first part), wherein Matrix 2131 is to be extended to form along 211 direction of shaft, and interconnecting piece 2133 is then from one end of matrix 2131 along perpendicular to shaft 211 Direction extends to form.Yoke 213 is " ┌ " shape along the directional profile of shaft 211.Certainly, matrix 2131 and interconnecting piece 2133 Composition can be integrally formed.

Each stator 23a in multiple locating piece 25a and stator module 23 in positioning component 25 is alternately circumferentially positioned at circle The outside of annular matrix 2131, while positioned at the side of connector 2133.Each locating piece 25a and the circular ring shape matrix 2131 Outer side roll abuts.

Specifically, motor 20 further includes a fixed frame 27 for being used for fixed positioning piece.Fixed frame 27 is hollow ring matrix 271 and multiple positioning pins 272 that setting is extended vertically from matrix, wherein positioning pin 272 interts into locating piece 25a, positioning pin 272 are fixed to each other with the fixed part of locating piece 25a, to be positioned to locating piece 25a.It is appreciated that positioning pin 272 is set Be placed in locating piece 25a be configured as it is corresponding.

Magnet 214 is also hollow ring planar structure, that is to say that the width of magnet 214 is along perpendicular to shaft 211 Direction extends, and thickness direction is parallel to shaft 211.Wherein, magnet 214 is fixed on the interconnecting piece 2133 of yoke towards positioning group The side of part 25 and stator module 23.

Ground is changed, for the motor 20 of second embodiment of the invention, also referring to Figure 11-12, for the present invention The dimensional structure diagram of the change mode of the motor 20 of one embodiment and the XIII- along Figure 12 in second class embodiment The sectional view of XIII lines.As depicted in figs. 11-12, magnet 214 can also be set to connector 2133 backwards to the one of positioning component 25 Side, meanwhile, stator module 25 is also disposed on side of the magnet 29 backwards to connector 2133, in other words, in positioning component 25 Each locating piece 25a is located in magnet 214 with the stator 23a in stator module 23 along the opposite sides of rotor shaft direction.

Also referring to Figure 13-15, wherein Figure 13 is motor 30 in one embodiment of third class embodiment of the present invention Dimensional structure diagram.Figure 14 is the vertical view of motor 40 as shown in figure 13, and Figure 15 is cuing open along XX-XX lines as shown in figure 14 Face structural schematic diagram.The structure of motor 40 is similar to the structure of motor 10 in first kind embodiment, and difference lies in stator modules 33,13 structure is different, meanwhile, the structure of positioning component 35,15 is different.Wherein, rotor assembly 31, stator module 33 and fixed 35 axis of rotation 311 of hyte part, which is outwardly extending diametrically, to be cascading, and that is to say the ring centered on shaft 311 of stator module 33 Around positioning component 35.

Specifically, as illustrated in figs. 13-15, it is in hollow cyclic structure that rotor assembly 31 is whole.Rotor assembly 31 include with The yoke 313 that is cascading on being outwardly extending diametrically centered on shaft 311 and magnet 314, wherein yoke 313 with Magnet 314 is hollow cylindrical shape or cyclic structure, and magnet 314 is fixed on the outer surface of yoke 313.Yoke 313 Inner surface that is to say the inner wall 312 of motor 30.

Whole stator module 33 is in hollow cyclic structure, certainly, changes ground, stator module 33 is alternatively with shaft A part for cyclic structure centered on 311.Wherein, in the present embodiment, stator module 343 can be centered on shaft 311 Multiple coil windings being axisymmetricly arranged in position on circumference change ground, in other embodiments, stator module 33 In stator 33a can be whole annular in shape structure coil windings, be not limited thereto.

Positioning component 35 is between rotor assembly 31 and stator module 33, wherein positioning component 35 includes multiple rollings Body 35a, the multiple rolling element 35a are rolled with rotor assembly 31 and stator module 33 connect respectively, that is to say rolling element 35a energy It is enough to be rolled relative to rotor assembly 31 and stator module 33, as a result, when the position of stator module 33 is relatively fixed, rotor set Part 31 can be rotated relative to stator module 33, meanwhile, multiple rolling element 35a can also limit the position of rotor assembly 31 It sets, prevents from shifting in its rotation process.Preferably, rolling element 45a is made of non-permeable material, to prevent to rotor assembly 31 Magnetic field between stator module 33 generates interference.

Further, for the ease of limit positioning set up 35 in multiple rolling elements 35 installation position, rotor assembly 31 towards The first groove 315 is formed on the surface of stator module 33, stator module 33 is formed on the surface towards rotor assembly 31 Two grooves 335, the first groove 315 and the second groove 335 constitute a guide rail 39, and the multiple rolling body portion is located at the guide rail In 39.It is appreciated that first groove, 335 and second groove 335 is the loop configuration centered on shaft 411.Together When, the first groove 335 is to be arranged on outer surface of the magnet 314 far from yoke 313.

Ground is changed, as shown in figure 16, positioning component 35, which further includes that setting is multiple, to be useful for fixing the multiple rolling element The cage ring 35b of 35a, wherein cage ring 35b is in integrally the loop configuration centered on shaft 311, the multiple for fixing Rolling element 35a is along the shaft 311 and the position on the circumferencial direction of shaft.Wherein, Figure 16 is the present invention the 4th Part broken isometric structural schematic diagram in the change embodiment of one embodiment in class embodiment.

Multiple through-hole 35c, shape and the size phase of the multiple through-hole 35c and rolling element 35a are provided on cage ring 35b Matching, for positioning rolling element 35a.Wherein, rolling element 35a is set in through-hole 35c, to effectively prevent rolling element 35a is in 311 direction of shaft and the generation displacement in the circumferential direction of shaft 411.

Please refer to Fig.1 7-18, wherein Figure 17 is the part of the motor 40 of one embodiment in the 4th class embodiment of the invention Broken isometric structural schematic diagram, Figure 18 are the part isometric perspective view of motor 40 as shown in figure 23.As shown in figs. 17-18, this reality It applies in example, whole motor 40 is in hollow tube-shape, and is an outer rotor framework.Whole motor 40 is in hollow cylindrical configuration, namely Be motor 40 intermediate position have accommodating space.Specifically, motor 40 includes mutually matched rotor assembly 41, stator module 43 and positioning component 45.Wherein, stator module 43 is for driving so that rotor assembly 41 is rotated around shaft 411.

Specifically, rotor assembly 41 be hollow cylindrical configuration, including be hollow closed circular structure yoke 413 and The magnet 414 of annular, and central axis is overlapped with shaft 411.

Wherein, the tool of yoke 413 is there are two part, that is to say circular ring shape matrix 4131 including being mutually connected vertically and connect Portion 4133, wherein matrix 4131 be extended to form along 411 direction of shaft, interconnecting piece 4133 then from one end of matrix 4131 first It is extended to form again to being parallel to 511 direction of shaft along perpendicular to the direction of shaft 411, wherein between matrix 5131 and interconnecting piece Form an annular accommodating cavity.The unilateral directional profile along shaft 511 of yoke 413 is " Jiong " shape, matrix 4131 and interconnecting piece 2133 accommodating cavities constituted are defined as guide rail 49.Certainly, matrix 4131 can be integrally formed composition with interconnecting piece 4133.

Magnet 414 is also hollow annular structure, and magnet 414 is fixed on interconnecting piece 4133 in guide rail 49 and closes on matrix 4131 Side.

Accordingly, the whole structure in a ring of positioning component 45, rolling are connected to matrix 4133 in guide rail 49 and close on interconnecting piece 4133 side that is to say that rotor assembly 41 can be rotated relative to positioning component 45.

Positioning component 45 is fixed by the other component of a fixed frame 47 and motor 40, such as is fixed on the pedestal of motor 40 Or on shell, wherein fixed frame 47 is set to side of the fixation kit 45 far from matrix 4131 in guide rail 49.Positioning component 45 It is even detached from for preventing the rotor shaft direction of rotor assembly 41 from shifting.

Whole stator module 43 is in a hollow loop configuration, and centered on shaft 411, wherein stator module 43 are located in guide rail 49 and are between positioning component 45 and the magnet 414 of rotor assembly 41, more specifically, stator module 43 Between fixed frame 47 and magnet 414.Change ground, stator module 43 or multiple circular arcs centered on shaft 411 Shape structure, and mutual axial symmetry in position.

A kind of driving device, including any type motor described above are also provided in the embodiment of the present invention.At some In embodiment, driving device can also include two motors arranged side by side, which is placed adjacent and surround same Shaft rotates.In some embodiments, which rotates at different rates.In some embodiments, institute Two hollow motors are stated to be fixed to each other by holder.

For example, as shown in figs. 17-18, two motors 40 in driving device shaft 411 directionally independent setting, In, two motors 40 can be respectively defined as 40a and 40b, two motors 40 setting independently of each other and can be with identical or not Same speed is rotated around shaft 411.Specifically, fixed frame 47 can be consolidated for two positioning components 43 simultaneously It is fixed, so that two motors 40 are combined with each other into an entirety, it that is to say and be combined into driving device 43.

By the first to fourth class embodiment motor 10-40 of the present invention above-mentioned it is found that rotor assembly 11-41 around Shaft 111-411 rotations, while the inner wall 112-412 of annular forms hollow portion 11a-41a, meanwhile, stator module 13-43 is used for Drive runner assembly 11-41 around shaft 111-411 rotations.Meanwhile positioning component 15-45 is then located at outside hollow portion 11a-41a Side effectively limits rotor assembly 11-41 around shaft 111-411 rotations.

Further, in previous embodiment, rotor assembly 11-41 is made of yoke 113-413 and magnet 114-414, Accordingly, stator module 13-43 includes coil windings, in other words, that is to say that stator module 13-43 generates electromagnetism when being powered , the magnetic rotor assembly 11-41 rotations of electromagnetic field driving.

Ground is changed, rotor assembly 11-41 includes coil windings, and stator module 13-43 is made of yoke with magnet, is changed Sentence is talked about, and be that is to say and is generated electromagnetic field when rotor assembly 11-41 is powered, and the electromagnetic field cooperation has magnetic stator module 13-43 is in the rotor assembly 11-41 rotations to driving.

Further, corresponding previous embodiment motor 10,30, as shown in figure x-xx, rotor assembly 11-31 is located at interposition It sets, stator module 13-33 is around being set on the outside of rotor assembly 11-31, more specifically, for producing in rotor assembly 11-31 The magnet of magnetisation field is located at stator module 13-33 adjacent to the inside of shaft 111-311, and in other words, rotor assembly 11-31 is used for The magnet 114-314 for generating magnetic field is located at stator module 13-33 adjacent to the inside of shaft 111-311.

Certainly, ground is changed, the motor 20 described in Figure 10-12 in the second class embodiment is corresponded to, is used in rotor assembly 21 The part for generating magnetic field is setting up and down in the direction of shaft 211 with stator module 23, that is to say in rotor assembly 21 magnet 414 with Stator module 23 is setting up and down along the direction of shaft 211, wherein yoke 213 includes two parts, extends structure along rotor shaft direction At the matrix 2131 of inner wall 212 and along the interconnecting piece 2133 extended perpendicular to 211 direction of shaft (radial direction), meanwhile, magnet 214 Width direction radially extend and be fixed on the interconnecting piece 2133 of yoke 213, accordingly, in order to enable magnet 214 Can preferably it coordinate with stator module 23, magnet 213 is disposed adjacent with stator module 23, that is to say magnet 213 and stator pack The coil windings of generation electromagnetic field in part 23 are located at yoke 213 in the same side of rotor shaft direction, so that positioning component 45 The same side that yoke interconnecting piece 2133 can be located at stator module 43 may be the opposite sides for being divided into rotor shaft direction.

Certainly, ground is changed, motor 40 is corresponded to, the part for being used to generate magnetic field in rotor assembly 41 is located at stator module 43 Far from the outside for being absorbed in 411, it that is to say that the magnet 414 in rotor assembly 41 is located at the outside of 43 coil winding of stator module. Specifically, the yoke 413 of rotor assembly 41, yoke 413 include at least matrix 4131 and 4133 two parts of interconnecting piece, wherein base 4131 twisted rotary shaft 411 of body and constitute inner wall 412, interconnecting piece 4133 at least partially along being parallel to the extension of 411 direction of shaft, Magnet 414 is fixed on interconnecting piece 4133, and stator module 43 is located at magnet 414 adjacent to the inside of shaft 411, in other words, Magnet 414 is located at outside of the stator module 43 far from shaft 411.Certainly, magnet 414 can be one hollow and seal in the circumferential The annular closed, or the symmetrical arcuate structure of rotor shaft direction in position of the circumference centered on shaft 411.

In addition, in previous embodiment, stator module 13 includes at least two stator 13a, and each stator 13a- correspondences include The coil windings of electromagnetic field can be generated when being powered by having, the first embodiment motor 10 described in corresponding diagram 1- Fig. 4, positioning group Part 15 includes at least two locating piece 15a, wherein at least two stators 13a and at least two locating pieces 15a- rings It is at least partly arranged alternately around the shaft 111.The locating piece 15a is axial symmetry on circumference centered on by shaft 111 Setting, it is fixed relative to one of rotor assembly 11-41 and stator module 13-43, and relative to another rotation.Its In, the quantity of the locating piece 15a can be the quantity more than stator 13a as shown in Figure 1, two adjacent locating piece 15a Between a stator, the mutual axial symmetry setting of multiple stator 13a are set；Also with for quantity both shown in Fig. 3 it is equal, stator 13a It is arranged alternately successively with locating piece 15a, locating piece 15a and stator 13a is about 111 axial symmetry of shaft or rotational symmetry.Certainly, Setting between stator a 15a, adjacent two stator 13a is at least arranged between two adjacent locating piece 15a, and there are one fixed Position part 15a.

In previous embodiment, the rotor shaft direction on the direction of shaft 111 is arranged stator module 13 with positioning component 15.Such as figure Shown in 5, stator module 13 includes axial symmetry stator 13a, multiple locating piece 15a also axial symmetry on multiple positions, but in shaft Direction is setting up and down, that is to say that the projection in shaft 111 is misaligned.Further, as shown in figs 6-8, stator module 13 is one Circular ring structure, and positioning component 15 includes the locating piece 15a of multiple axial symmetry setting, certainly, changes ground, stator module 13 Think multiple axial symmetry settings.In addition, as shown in figure 9, stator module 13 and positioning component 15 are a loop configuration.

In previous embodiment, stator module can be centered on shaft around the positioning component or the positioning component Around the stator module centered on the shaft.As illustrated in figs. 13-15, stator module 33 is looped around outside positioning component 35 Side.Certainly, such as figure x, shown, positioning component is looped around centered on shaft on the outside of stator module.

In previous embodiment, rotor assembly 11-41, as inner wall 112-412, can be changed by least partly yoke 113-114 More, the magnet 113-413 in rotor assembly 11-41 can also be used as inner wall, or connect a component in being added on rotor 11-41 As inner wall.

Also referring to Figure 19-22, wherein Figure 19 is the vertical of the change embodiment of the 5th class embodiment motor 50 of the invention Body structural schematic diagram；Figure 20 is the vertical view of the motor 30 as shown in 19；Figure 20 is section knot of the motor as shown in figure 20 along X-X lines Structure schematic diagram, Figure 22 are as shown in figure 21 along the enlarged structure schematic diagram of XII.As shown in figures 19-22, the present embodiment motor 50 It is essentially identical with motor 10, it that is to say that stator module 53 in two embodiments, 33 structures be identical and positioning component 15,55 knots Structure is identical, and it is different from 51 structure of rotor assembly that difference lies in rotor assembly 31.

Specifically, as shown in figures 19-22, the generally hollow cylindrical configuration of rotor assembly 51, including be hollow circumferential envelope The yoke 513 of loop-like structure and the magnet 514 of annular, and the central axis of the two is overlapped with shaft 511.

Wherein, yoke 513, which has, is mutually connected vertically circular ring shape matrix 5131 and two interconnecting pieces being spaced a predetermined distance 5133, wherein matrix 5131 is to be extended to form along 511 direction of shaft, and two interconnecting pieces 5133 are then from two end edges of matrix 5131 It is extended to form perpendicular to the direction of shaft 511.Yoke 513 along shaft 511 directional profile be " [" shape, matrix 5131 with Two interconnecting pieces 5133 constitute guide rail 59.Certainly, matrix 5131 and two interconnecting pieces 5133 can be integrally formed composition.

Magnet 514 is also hollow cylinder structure, and is integrally extended along the direction of shaft 511, wherein 514 diameter of magnet To 5132 outside of matrix is fixed on, it that is to say that magnet 514 is radially stacked gradually with matrix 5132 along the direction far from shaft 511 and set It sets.

Accordingly, multiple locating piece 55a in positioning component 55 are located at described with the parts stator 53a in stator module 53 In guide rail 59, even it is detached to further prevent the rotor shaft direction of rotor assembly 51 to shift.

It is also applied preferably, being additionally provided on the surface of the guide rail 59 on the surface of protection liner or the guide rail 59 There are lubricating grease or lubricating oil, to reduce the frictional force of positioning component 55 and rotor assembly 51 and stator module 53.

It is that rotor assembly 11-51 is provided with guide rail, stator module 13-53 and positioning it is appreciated that in previous embodiment Component 15-55 is some or all of to be placed in guide rail, and ground is changed, and guide rail 59 can also be set on positioning component 15-55, The parts rotor assembly 11-51 are connected in guide rail.As it can be seen that guide rail is the rolling for reducing rotor assembly in rotor shaft direction It is dynamic.

In the present embodiment, when motor 50 works, rotor assembly 51 is under the magnetic force that the electromagnetic field of stator module 53 generates Meeting be moved to along the direction pulling positioning component 55 of shaft 511 and precalculated position, to eliminate positioning component 5 in rotor shaft direction Clearance.

In some embodiments, motor further include be fixedly connected in the hollow portion of motor and with the rotor assembly of motor The load of synchronous rotary.Optionally, the load is optical element.Optionally, optical element is prism or lens.Optionally, The prism radially on thickness it is different, in this way, when prism is rotated with the rotor assembly of motor, from the incidence of prism side Light beam after refraction by prism is emitted, when turning to different angle with rotor assembly, which can be refracted to different directions Outgoing.

Optionally, the optical element has asymmetrically shape.Further, optionally, motor further includes clump weight, described Clump weight is set in the hollow portion of the motor, for improving when the optical element rotates together with the rotor assembly Dynamic balancing.Setting of the configuration block in the hollow portion of motor can there are many.For example, clump weight is in the hollow portion inner wall upper edge It is discontinuous in position in the projection of the optical element perpendicular to rotor shaft direction.Alternatively, the clump weight is in the hollow portion Inner wall upper edge is continuous in position in the projection of the optical element perpendicular to rotor shaft direction.Alternatively, the clump weight is along shaft Direction different location volume with vary in weight.Alternatively, clump weight is set between the optical element and the inner wall, use In the optical element is fixed on the inner wall, and improve dynamic when the optical element rotates together with the rotor assembly Balance.

Alternatively, configuration block can not also be provided in the hollow portion of motor, and motor is provided in addition to hollow portion Other positions at, be not limited herein.

Alternatively, may not be in motor the optical element and the rotor assembly one are improved by adding configuration block Play dynamic balancing when rotation, but by removing some weight in the edge of optical element, come improve optical element with it is described Dynamic balancing when rotor assembly rotates together.For example, the edge of the larger part of thickness forms jagged in optical element, it is used for Improve the dynamic balancing when optical element rotates together with the rotor assembly.It is of course also possible in conjunction with clump weight and in light Some weight are removed in the edge for learning element, to improve dynamic balancing when optical element rotates together with the rotor assembly.

Figure 23 is please referred to, is the hollow portion for being individually fixed in two motors 60a, 60b in sixth embodiment of the invention The shape of prism.Corresponding two motors 60a, 60b, respectively include the first prism 100a and the second prism 100b.First prism 100a is fixed in the inner wall 612 of motor 60, and the second prism 100b is fixed on the inner wall 512 with motor 60b.Wherein, the first rib Mirror 100a and the second prism 110b is independently rotated around shaft 612 at different rates in two motors 60a, 60b.It can manage Solution, the mode for corresponding to fixed load in other embodiment motor 20,30,40,50 is the same, is repeated no more in the present embodiment.

Specifically, the first prism 100a and the second prism 100b is in the incomplete phase of thickness perpendicular to the direction of shaft 611 Together, it that is to say that the first prism 100a is different from the thickness on the second prism 100b.

First prism 100a includes two opposite the first optical surfaces 101 and the second optical surface 102 across shaft 611, Wherein, the first optical surface 101 is not mutually parallel with the second optical surface 102.The knot of second prism 100b and the first prism 100a Structure is identical, also includes two opposite the first optical surfaces 101 and the second optical surface 102 across shaft 611, wherein the first light Face 101 is not mutually parallel with the second optical surface 102.In the present embodiment, the first optical surface 101 and the second optical surface 102 are For plane, ground is changed, which can also be not plane, be not limited thereto.

As shown in Figure 23 a, 23b, that further illustrates when two motors 60a, 60b are rotated with friction speed, two not The light path of first prism 100a, 100b in the same time.

As shown in fig. 23 a, incident light L1 is incident to the second optical surface 102 of the second prism 100b along the direction of shaft 511, Then it is transmitted to the first prism 100b through the second prism 100b and is emitted from its first optical surface 101, to form emergent ray L2, wherein emergent ray L2 is located at the right side of shaft 611.As shown in fig. 23b, at another moment, due to the first prism The position of 100a and the second prism 100b is simultaneously no longer identical, its emergent ray L3 is located at the left side of shaft 511 as a result,.

It can be seen that making difference by two the first prism 100a with different velocities of rotation and the second prism 100b Driving device 5 has the emergent ray of different angle in different moments.

In present embodiment, prism 100 is fixed on as load in motor 60, in other embodiments of the present invention, may be used also Think that other elements load, such as lens etc. can also conduct for transmitting the elements such as optical element or the cable of light Load is fixed in motor 50.

It please refers to shown in Figure 24, for the structural representation such as the change embodiment of the shape of the first prism 100a in Figure 23 Figure.As shown in figure 24, the first optical surface 101 intersects at different angles with the second optical surface 102.Alternatively, the first optical surface 101 Or optical surface 102 is with zigzag optical surface.

Figure 25 is please referred to, is the cut-away section structural schematic diagram of driving device 7 of the present invention.Prism 200 is fixed on motor On the inner wall 712 of 70 hollow portion 71a, wherein motor 70 further includes shape and the position for corresponding to prism 200 on inner wall 712 The clump weight 72 of setting.When the shape of prism 200 is not for relative to 711 central symmetry of shaft, the clump weight 72 is used for Keep rotor assembly 71 no matter rotation or it is static when can balance, that is to say and improve prism 200 and rotor assembly 71 1 Play dynamic balance when rotation.

Specifically, prism 200 includes the first optical surface 201 and second optical surface opposite with the first optical surface 201 202, wherein the first optical surface 201 includes sub- optical surface 201a, 201b, 201c, 201d of multiple zigzag fashions, wherein described Sub- optical surface 201a, 201b, 201c, 201d are continuous in the projection of inner wall 712 along the direction of vertical rotation axis 711 but do not weigh It closes.

Multiple sub- optical surface 201a, 201b, 201c, 201d of first optical surface 201 of corresponding prism 200, clump weight 72 Including corresponding sub- counterweight sub-portion 72a, 72b, 72c, 72d, wherein sub- counterweight sub-portion 72a, 72b, 72c, 72d are along perpendicular to turning 711 direction of axis is continuous in position in the projection of the prism 200.

Wherein, counterweight sub-portion 72a, 72b, 72c, 72d are in the installation position of inner wall 712, weight and volume and sub-light The correspondence of face 201a, 201b, 201c, 201d are as follows：

As shown in figure 27, P1 indicates to decompose the mass-radius product amount of unbalance in the faces Z1, and P2 expressions decompose the mass-radius product in face not Aequum, V indicate volume, and Z is integration variable, and the height in face where indicating, ρ indicates density of material,Indicate the orientation of particle.

Preferably, the density of configuration block 72 is more than the density of prism 200, so that the small volume of clump weight 72, subtracts The small influence to 200 light path of prism.

Ground is changed, Figure 26 is please referred to, is the side structure of prism in a change embodiment in driving device 7 of the present invention Schematic diagram.It is essentially identical with prism 300 and 200 structure of prism, and difference lies in two in prism 300 the first opposite optics Face 301 and the second optical surface 302 are plane, wherein the first optical surface 201 and the second optical surface 202 pass through shaft 511.When When the shape of prism 300 is not for relative to 711 central symmetry of shaft, no matter the clump weight 72 is for keeping rotor assembly 71 It can be balanced when rotation is still static, that is to say the dynamic balance improved when prism 200 rotates together with rotor assembly 71. Specifically, the first optical surface 301 and the second optical surface 302 of corresponding prism 300, clump weight 72 include corresponding sub- counterweight sub-portion Along perpendicular to 711 direction of shaft the prism 300 to be projected in position discontinuous.

Preferably, the sub- clump weight of corresponding different location, shape, volume can be different from weight, as shown in figure 27, Sub- clump weight 72a, 72b shape of two different locations is indicated respectively and is differed.Wherein, Figure 29 is that driving fills as shown in figure 28 Set 7 cut-away section structural schematic diagram.

Preferably, can also be in prism 300 when thickness is larger on 711 direction of shaft, it can be in the correspondence position of inner wall 712 It sets to form notch, that is to say that is, "-" indicates when increasing the weight of 71 corresponding position of respective rotor component using clump weight 72 Position can also coordinate and reduce the weight of rotor assembly in corresponding position, that is to say the position that "+" indicates in figure.Alternatively, in rib The edge in the larger region of thickness on 711 direction of shaft of mirror 300 forms jagged "-" position, for improving prism 300 and institute State balance when rotor assembly 71 rotates together.

Compared to the prior art, there is hollow accommodating space in middle section in motor 10-70, that is to say with hollow Portion 112-712, so that load, such as optical element can be prevented terminating in hollow portion 112-712, therefore, it is possible to effective Reduce the volume of the driving device using motor 10-70.Meanwhile the hollow portion 112-712 and stator module of rotor assembly 11-71 Positioning component is additionally provided between 13-73, therefore it can effectively limit rotor assembly 11-71 and turn around shaft 111-711 Dynamic, that is to say can effectively limit rotor assembly 11-71 in the position of rotor shaft direction, prevent its with for or be detached from.

In embodiments, locating piece includes rotation section, fixed part and rolling element, and the rotation section passes through the rolling Body is coupled with the fixed part, so that the rotation section is rotated relative to the fixed part.Due to manufacturing process, turn Dynamic portion can generate light exercise relative to fixed part on the direction of the shaft, cause when motor works, locating piece Rotation section can shake on the direction of shaft, generate noise.Being there is provided below in conjunction with each figure illustrated embodiment reduces locating piece The solution of the shaking of rotation section in the axial direction.

In Fig. 1-4 illustrated embodiments, when motor 10 does not work, the edge and rotor of each stator 13a in stator module 13 The edge of component 11 is staggered along rotor shaft direction.The rotation section of each locating piece 15a in rotor assembly 11 and positioning component 15 is mutual Cooperation, so that the rotation section of each locating piece 15a in rotor assembly 11 and positioning component 15 interlocks in rotor shaft direction.

There are many mutually matched modes in rotation section of each locating piece 15a in rotor assembly 11 and positioning component 15.Example Such as, guide rail is provided on the periphery of rotor assembly 11, the rotation section of each locating piece 15a in positioning component 15 is connected to the guide rail It is interior.Alternatively, being provided with guide rail on the periphery of the rotation section of each locating piece 15a of positioning component 15, the periphery of rotor assembly 11 supports It is connected in the guide rail.

When motor 10 works, the magnetic force between rotor assembly 11 and stator module 13 pulls rotor assembly 11 along shaft side To movement so that the edge of rotor assembly 11 and the alignment of the edge of each stator 13a.When rotor assembly 11 is moved along rotor shaft direction When, pull the rotation section of each locating piece 15a to be moved along rotor shaft direction by guide rail so that the rotation section of each locating piece 15a Rolling element is abutted jointly with the fixed part of the locating piece.In this way, the rotation section of each locating piece 15a is maintained at and is abutted with rolling element In the state of and rotor assembly 11 be in rolling contact, avoid the rotation section of locating piece 15a during rotation along rotor shaft direction On shaking.

In embodiment illustrated in fig. 5, when motor 10 does not work, the edge and rotor set of each stator 13a in stator module 13 The edge of part 11 is staggered along rotor shaft direction.The rotation section phase interworking of each locating piece 15a in rotor assembly 11 and positioning component 15 It closes, so that the rotation section of each locating piece 15a in rotor assembly 11 and positioning component 15 interlocks in rotor shaft direction.

There are many mutually matched modes in rotation section of each locating piece 15a in rotor assembly 11 and positioning component 15.Example Such as, the upper surface of each stator 13a is higher than the upper surface (not shown) of rotor assembly 11.On the bottom end face edge of rotor assembly 11 It is provided with protrusion edge, the bottom end face of the rotation section of each locating piece 15a in positioning component 15 is connected to the protrusion along upper.

When motor 10 works, since stator module 13 is fixed, the magnetic between rotor assembly 11 and stator module 13 Power can pull rotor assembly 11 to be moved up along axis direction of walking around so that the edge at the edge of rotor assembly 11 and each stator 13a Alignment, namely the upper surface of rotor assembly 11 and the upper surface of each stator 13a are flushed.When rotor assembly 11 is along rotor shaft direction When moving up, moved up along rotor shaft direction along the rotation section of each locating piece 15a of pulling by protruding, and each locating piece 15a Fixed part remain stationary as so that the rotation section of each locating piece 15a and the fixed part of the locating piece abut rolling element jointly. It is in rolling contact, avoids with rotor assembly 11 in this way, the rotation section of each locating piece 15a is maintained in the state of being abutted with rolling element Shaking of the rotation section of locating piece 15a during rotation in rotor shaft direction.

In Fig. 6-7 illustrated embodiments, stator module 13 is located at the top of positioning component 15.It is fixed when motor 10 does not work The edge of each stator 13a and the edge of rotor assembly 11 are staggered along rotor shaft direction in sub-component 13, specifically, each stator 13a Upper surface is higher than the upper surface (not shown) of rotor assembly 11.Each locating piece 15a's in rotor assembly 11 and positioning component 15 Rotation section cooperates, so that the rotation section of each locating piece 15a in rotor assembly 11 and positioning component 15 is in rotor shaft direction Upper gearing.

There are many mutually matched modes in rotation section of each locating piece 15a in rotor assembly 11 and positioning component 15.Example Such as, it is provided with each locating piece 15a of the protrusion in (not shown), positioning component 15 on the bottom end face edge of rotor assembly 11 The bottom end face of rotation section is connected to the protrusion along upper.

When motor 10 works, since stator module 13 is fixed, the magnetic between rotor assembly 11 and stator module 13 Power can pull rotor assembly 11 to be moved up along rotor shaft direction so that the edge pair at the edge of rotor assembly 11 and each stator 13a Together, namely the upper surface of rotor assembly 11 and the upper surface of each stator 13a are flushed.When rotor assembly 11 is in rotor shaft direction When mobile, the rotation section of each locating piece 15a is pulled to be moved in rotor shaft direction by guide rail, and the fixed part of each locating piece 15a It remains stationary as so that the rotation section of each locating piece 15a and the fixed part of the locating piece abut rolling element jointly.In this way, every The rotation section of a locating piece 15a, which is maintained at, to be in rolling contact in the state of rolling element abutting with rotor assembly 11, and positioning is avoided Shaking of the rotation section of part 15a during rotation in rotor shaft direction.

In Fig. 8-9 illustrated embodiments, stator module 13 is located at the lower section of positioning component 15.Figure 28 is please referred to, for Fig. 9 institutes Show motor 10 under idle state along the cross-sectional view of VI-VI.When motor 10 does not work, stator module 13 Edge and the edge of rotor assembly 11 be staggered along rotor shaft direction, specifically, stator module 13 is compared in 11 lower face of rotor assembly Lower face it is downwardly projecting.Rotation section in rotor assembly 11 and positioning component 15 cooperates, so that rotor assembly 11 It is interlocked in rotor shaft direction with the rotation section of positioning component 15.

There are many mutually matched modes in rotation section in rotor assembly 11 and positioning component 15.For example, positioning component 15 Upper surface edge on be provided with protrusion edge, rotor assembly 11 is connected to the protrusion along upper.When motor 10 works, due to fixed Sub-component 13 be it is fixed, the magnetic force between rotor assembly 11 and stator module 13 can pull rotor assembly 11 along rotor shaft direction to Upper movement so that the edge alignment at the edge and stator module 13 of rotor assembly 11, namely make the lower face of rotor assembly 11 It is flushed with the lower face of stator module 13.When rotor assembly 11 is moved up along rotor shaft direction, positioned along pulling by protruding The rotation section of component 15 is moved up along rotor shaft direction, and the fixed part of positioning component 15 remains stationary as so that positioning component 15 Rotation section and the fixed part of the locating piece abut rolling element jointly.In this way, the rotation section of positioning component 15 is maintained at and rolls It is in rolling contact with rotor assembly 11 in the state that body abuts, the rotation section for avoiding positioning component 15 turns on edge during rotation Shaking in axis direction.

Alternatively, can also be rotor assembly 11 and positioning component 15 rotation section be fixed to each other it is (such as mutual by viscose glue It is fixed), in this way, when the magnetic force between rotor assembly 11 and stator module 13 can pull rotor assembly 11 along rotor shaft direction to moving up When dynamic, rotor assembly 11 can drive the rotation section of positioning component 15 to move upwardly together so that rotor assembly and positioning component 15 rotation section interlocks in rotor shaft direction.

Figure 29 is please referred to, is the cross-sectional view of a motor.The structure of motor shown in Figure 29 and Figure 12 institutes Show that the structure of motor is similar, unlike motor shown in Figure 12, stator module is one complete in motor shown in Figure 29 Cyclic structure, and positioning component is a complete cyclic structure.

In the present embodiment, rotor assembly includes yoke and magnet, and stator module includes coil windings.When the motor not work When making, gap is preset along the rotor shaft direction between the magnet and the coil windings.

When motor works, it that is to say that stator module 23 drives rotor assembly 21 to surround shaft relative to stator module 23 When 211 rotation, the magnetic force of electromagnetic field caused by stator module 23 makes yoke 213 in rotor assembly 21, magnet 214 on edge It axial direction H to move down, therefore the default gap reduces.And yoke 213 and the rotation section of locating piece 25a are fixed to each other, because This makes the rotation sections locating piece 25a also axially can be moved downward to preset corresponding with the fixed part of locating piece 25a by H Position (not shown) so that the rotation section of locating piece 25a and being moved to along the rotor shaft direction abuts jointly with the fixed part The rolling element.Wherein, the second rotor shaft direction H is parallel to shaft 111.

All it is the magnetic force by being generated between the magnet and stator module in rotor assembly to pull in embodiments above It the rotation section of rotor assembly and locating piece and is moved to along rotor shaft direction and abuts the locating piece jointly with the fixed part of the locating piece In rolling element.Below by increasing the first component and second component that are disposed adjacent in motor, wherein the first component It is ferromagnetic material with the second component, is generated between the first component and the second component and mutually repel or want to attract Magnetic force；By the magnetic force between first part and second component pull the rotor assembly and the locating piece rotation section and It is moved to along the rotor shaft direction and abuts the rolling element jointly with the fixed part.Illustration is carried out with reference to Figure 30.

When corresponding driving device includes the driving device such as two motors, Figure 30 is please referred to, is shown in Figure 18 of the present invention The cross-sectional view of driving device.

As shown in figure 30 comprising two motors being disposed adjacent.Described two motors are respectively defined as first motor 9a With the second motor 9b.

First motor 9a includes rotor assembly 91, stator module 93, positioning component 95 and the first component of hollow and annular 96a.Wherein, the second motor 9b also includes rotor assembly 91, stator module 93, positioning component 95 and second component 96b.Its In, the rotor assembly 91 in first motor 9a is rotated with the rotor assembly in the second motor 9b centered on same shaft.

Specifically, the structure of first motor 9a and the second motor 9b can be with the motors in Figure 18 and embodiment illustrated in fig. 19 Structure it is identical.

In the present embodiment, first component 96a is spaced a predetermined distance in driving device 9 with second component 96b and fixes respectively In the yoke 914 of rotor assembly 91 in two motors.The first component and the second component are magnet, in this way, The magnetic force to repel each other is generated between the first component and second component.Alternatively, the first component is magnet, the second component is Iron；Alternatively, the first component is iron, the second component is magnet, in this way, generating phase between the first component and second component The magnetic force of suction.

Magnetic force between first component 96a and second component 96b makes the yoke in first motor 9a and the second motor 9b 914 move towards two opposite directions respectively along rotor shaft direction, and then drive and the magnetic in first motor 9a and the second motor 9b The rotation section of 914 fixed positioning component of yoke is moved towards two opposite directions respectively along rotor shaft direction, due to first motor 9a Shaft opposite with the fixed part of positioning component in the second motor 9b is fixed, therefore the positioning of each motor in two motors There is a movement vertically in rotation section in component relative to fixed part so that the rotation section of the positioning component and fixed part The common rolling element abutted in positioning component.

Certainly, in the case of driving device only includes first motor, or only need to reduce the positioning group of first motor In the case of the shaking in rotor shaft direction, driving device further includes rack for the rotation section of part, the positioning component in first motor It is both secured in the rack with second component, and second component and the first component are disposed adjacent, so that second component and The magnetic force in rotor shaft direction can be generated between one component.

The present invention also provides the operating methods of a driving device to please refer to Figure 31, specifically includes following steps：

Step S1：Configure rotor assembly 91, stator module 93 and at least positioning piece, wherein the rotor assembly 91 Around a preset shaft rotation, the stator module 93 is for driving the rotor assembly 91 to be rotated around the shaft, institute At least positioning piece is stated to rotate centered on the shaft for limiting the rotor assembly；Wherein, the locating piece includes turning Dynamic portion, fixed part and rolling element, the rotation section are coupled by the rolling element and the fixed part, so that the rotation Portion is rotated relative to the fixed part, and the rotation section can be transported relative to the fixed part on the direction of the shaft It is dynamic.

Step S2：Apply a thrust to the rotation section, the rotation section is made to abut the rolling jointly with the fixed part Kinetoplast.

Further, when the motor does not work, the edge of the edge of the magnet and the coil windings turns along described Axis direction is staggered, and the edge of the magnet is aligned with the edge of the coil windings along the rotor shaft direction.Wherein, the rotor Component further includes yoke, and the stator module and the locating piece surround the yoke and be arranged respectively, and the stator module and The positioning component is setting up and down along the shaft, and the magnet is fixed in the yoke, and positioned at the stator module and Between the yoke.

Further, when the driving device does not work, along the shaft between the magnet and the coil windings Gap is preset in direction, and the gap between the magnet and the coil windings reduces.

Further, the rotor assembly further includes the yoke coupled with the magnet, and the yoke includes turning around described The first part of axis setting, and the second part that is coupled with the first part, the inner wall includes the first part, institute It states magnet to be fixed on the second part of the yoke, the first part radially extends along the rotor assembly；The line Circle winding is located at the magnet backwards to the side of the yoke.The positioning component includes that a ring is located at the first of the yoke Locating piece outside part, the rolled portion of the locating piece and the first part of the yoke are fixed to each other.

Further, the arrangement guide rail on the rotor assembly, the rotation section of the locating piece is connected in the guide rail, So that the rotation section of the rotor assembly and the locating piece interlocks in the rotor shaft direction；Alternatively, in the locating piece The part of the rotor assembly is connected in the guide rail by upper arrangement guide rail, so that the rotor assembly and the positioning The rotation section of part interlocks in the rotor shaft direction.

Further, the operating method further includes：The rotation section of the rotor assembly and the locating piece is cooperated, So that the rotation section of the rotor assembly and the locating piece interlocks in the rotor shaft direction；Configure the first component and second Component so that the first component and second component are disposed adjacent, wherein the first component and the second component are ferromagnetic material Material generates the magnetic force for mutually repelling or wanting to attract between the first component and the second component；Pass through the first part Magnetic force between the second component applies rotation section of the thrust to the rotor assembly and the locating piece so that described fixed The rotation section of position part moves to the rotation section along the rotor shaft direction and abuts the rolling element jointly with the fixed part.Its In, the first component is also mutually fixed with the rotor assembly.

Further, the operating method further includes：The arrangement guide rail on the rotor assembly, by the rotation of the locating piece Portion is connected in the guide rail, so that the rotation section of the rotor assembly and the locating piece connects in the rotor shaft direction It is dynamic；Alternatively, the arrangement guide rail on the locating piece, the part of the rotor assembly is connected in the guide rail, so that institute The rotation section for stating rotor assembly and the locating piece interlocks in the rotor shaft direction.

Further, the operating method further includes：Configure rack；The positioning component and the second component is fixed In in the rack.

Further, the operating method further includes：Configuration surrounds another rotor assembly of shaft rotation, for driving Another rotor assembly surround the shaft rotation another stator module, and for limit another rotor assembly with At least positioning piece rotated centered on the shaft；Wherein, the rotor assembly and another rotor assembly are placed adjacent, The second component and another component are fixed to each other.

Further, the method further includes：Drive the rotor assembly and another rotor assembly at different rates Rotation.

Further, the first component and the second component are magnet；Alternatively, the first component is magnet, institute It is iron to state second component；Alternatively, the first component is iron, the second component is magnet.

In the present invention, a kind of laser measuring device for measuring is also provided, for sensing external environmental information, for example, environmental goals Range information, angle information, Reflection intensity information, velocity information etc..The laser measuring device for measuring can be laser radar.Specifically The laser measuring device for measuring on ground, embodiment of the present invention can be applied to mobile platform, and the laser measuring device for measuring can be mounted on movement The platform body of platform.Mobile platform with laser measuring device for measuring can measure external environment, for example, measuring mobile flat Platform carries out two dimension or three-dimensional mapping at a distance from barrier for purposes such as avoidances, and to external environment.In certain embodiment party In formula, mobile platform includes at least one of unmanned vehicle, automobile and telecar.When laser measuring device for measuring is applied to nobody When aircraft, platform body is the fuselage of unmanned vehicle.When laser measuring device for measuring is applied to automobile, platform body is automobile Vehicle body.When laser measuring device for measuring is applied to telecar, platform body is the vehicle body of telecar.

It is appreciated that the laser measuring device for measuring may include motor or the driving described in any one embodiment of the invention Device, the associated description being specifically referred in all the embodiment shown in that figure, details are not described herein again.

Motor disclosed in previous embodiment can further comprise can be used for accommodating load elements on its interior, example Such as, lens, prism, light source and/or other suitable devices so that load elements rotate together with rotor assembly.Have as a result, There is the movable equipment of aforementioned driving device that can have the function of additional, for example, information and/or detection pair is visually presented As without additional space for installing additional features/components.In other words, motor disclosed in previous embodiment Hollow portion realize other additional functions or further decrease the volume of movable fixture.

It is appreciated that above disclosed is only presently preferred embodiments of the present invention, with this this cannot be limited certainly The interest field of invention, those skilled in the art can understand all or part of the processes for realizing the above embodiment, and according to Equivalent variations made by the claims in the present invention, still belong to the scope covered by the invention.

Claims

1. a kind of driving device, which is characterized in that including：

Around the rotor assembly of a preset shaft rotation；

For driving the rotor assembly to surround the stator module of shaft rotation；

At least positioning piece rotated centered on the shaft for limiting the rotor assembly；

Wherein, the locating piece includes rotation section, fixed part and rolling element, the rotation section by the rolling element with it is described Fixed part is coupled, so that the rotation section is rotated relative to the fixed part；

The rotation section can be moved relative to the fixed part on the direction of the shaft so that the rotation section by The rolling element is abutted jointly with the fixed part when one thrust.

2. driving device according to claim 1, which is characterized in that the rotor assembly includes around the interior of the shaft Wall, the inner wall are formed with the hollow portion that can house load；The positioning component is located on the outside of the hollow portion.

3. driving device according to claim 1, which is characterized in that described turn of the rotor assembly and the locating piece Dynamic portion cooperates, so that the rotation section of the rotor assembly and the locating piece interlocks in the rotor shaft direction, When driving device work, the magnetic force between the rotor assembly and the stator module pulls the rotor assembly and described It the rotation section of locating piece and moves to the rotation section along the rotor shaft direction and abuts the rolling element jointly with the fixed part.

4. driving device according to claim 3, which is characterized in that the rotor assembly includes magnet, the stator pack Part includes coil windings.

5. driving device according to claim 4, which is characterized in that when the motor does not work, the side of the magnet Edge and the edge of the coil windings are staggered along the rotor shaft direction.

6. driving device according to claim 5, which is characterized in that when the motor is actuated, the edge of the magnet It is aligned along the rotor shaft direction with the edge of the coil windings.

7. driving device according to claim 6, which is characterized in that the rotor assembly further includes yoke, the stator Component and the locating piece surround the yoke and are arranged respectively, and the stator module and the positioning component are in the shaft Lower setting, the magnet are fixed in the yoke, and between the stator module and the yoke.

8. driving device according to claim 4, which is characterized in that when the driving device does not work, the magnet Between the coil windings gap is preset along the rotor shaft direction.

9. driving device according to claim 8, which is characterized in that when the driving device works, the magnet and Gap between the coil windings reduces.

10. driving device according to claim 8, which is characterized in that the rotor assembly further includes and the magnet coupling The yoke of conjunction, the yoke include the first part around shaft setting, and second coupled with the first part Part, the inner wall include the first part, and the magnet is fixed on the second part of the yoke, the first part Along radially extending for the rotor assembly；

The coil windings are located at the magnet backwards to the side of the yoke.

11. driving device according to claim 10, which is characterized in that the positioning component is located at described including a ring Locating piece outside the first part of yoke, the rolled portion of the locating piece and the first part of the yoke are fixed to each other.

12. driving device according to claim 10, which is characterized in that guide rail is provided on the rotor assembly, it is described The rotation section of locating piece is connected in the guide rail, so that the rotation section of the rotor assembly and the locating piece is at described turn It is interlocked in axis direction；Alternatively,

Guide rail is provided on the locating piece, the part of the rotor assembly is connected in the guide rail, so that the rotor The rotation section of component and the locating piece interlocks in the rotor shaft direction.

13. driving device according to claim 1, which is characterized in that the rotation of the rotor assembly and the locating piece Portion cooperates, so that the rotation section of the rotor assembly and the locating piece interlocks in the rotor shaft direction；

The driving device further includes the first component and second component being disposed adjacent, wherein the first component and described Two components are ferromagnetic material, and the magnetic force for mutually repelling or wanting to attract is generated between the first component and the second component；

Magnetic force between the first part and the second component pulls the rotation section of the rotor assembly and the locating piece The rotation section, which is moved to, along the rotor shaft direction abuts the rolling element jointly with the fixed part.

14. driving device according to claim 13, which is characterized in that the first component also with the rotor assembly phase It is fixed.

15. driving device according to claim 13, which is characterized in that guide rail is provided on the rotor assembly, it is described The rotation section of locating piece is connected in the guide rail, so that the rotation section of the rotor assembly and the locating piece is at described turn It is interlocked in axis direction；Alternatively,

16. driving device according to claim 15, which is characterized in that the driving device further includes rack, described fixed Hyte part and the second component are both secured in the rack.

17. driving device according to claim 15, which is characterized in that the driving device further includes：Around described turn Another rotor assembly of axis rotation；For driving another rotor assembly to surround another stator module of shaft rotation； At least positioning piece rotated centered on the shaft for limiting another rotor assembly；

Wherein, the rotor assembly and another rotor assembly are placed adjacent, the second component and another component phase It is mutually fixed.

18. driving device according to claim 17, which is characterized in that the rotor assembly and another rotor assembly It rotates at different rates.

19. driving device according to claim 13, which is characterized in that the first component and the second component are Magnet；Alternatively,

The first component is magnet, and the second component is iron；Alternatively,

The first component is iron, and the second component is magnet.

20. a kind of operating method of driving device, which is characterized in that including：

Configure rotor assembly, stator module and at least positioning piece, wherein the rotor assembly is around a preset shaft rotation Turn, the stator module is for driving the rotor assembly to be rotated around the shaft, and at least positioning piece is for limiting The rotor assembly is rotated centered on the shaft；Wherein, the locating piece includes rotation section, fixed part and rolling element, The rotation section is coupled by the rolling element and the fixed part, so that the rotation section turns relative to the fixed part It is dynamic, and the rotation section can be moved relative to the fixed part on the direction of the shaft；

21. the operating method of driving device according to claim 20, which is characterized in that the method further includes：

The rotation section of the rotor assembly and the locating piece is cooperated, so that the rotor assembly and the locating piece Rotation section interlocked in the rotor shaft direction；

When the driving device works, the thrust is applied to institute by the magnetic force between the rotor assembly and stator module The rotation section for stating rotor assembly and the locating piece makes the rotation section abut the rolling element jointly with the fixed part.

22. the operating method of driving device according to claim 21, which is characterized in that the rotor assembly includes magnetic Iron, the stator module include coil windings.

23. the operating method of driving device according to claim 22, which is characterized in that the method further includes：Work as institute When stating motor and not working, the edge of the edge of the magnet and the coil windings is staggered along the rotor shaft direction.

24. the operating method of driving device according to claim 23, which is characterized in that when the motor is actuated, institute The edge for stating magnet is aligned with the edge of the coil windings along the rotor shaft direction.

25. the operating method of driving device according to claim 23, which is characterized in that the rotor assembly further includes magnetic Yoke, the stator module and the locating piece surround the yoke and are arranged respectively, and the stator module and the positioning component Setting up and down along the shaft, the magnet is fixed in the yoke, and between the stator module and the yoke.

26. the operating method of driving device according to claim 22, which is characterized in that when the driving device does not work When, between the magnet and the coil windings gap is preset along the rotor shaft direction.

27. the operating method of driving device according to claim 26, which is characterized in that when the driving device works When, the gap between the magnet and the coil windings reduces.

28. the operating method of driving device according to claim 26, which is characterized in that the rotor assembly further include with The yoke of magnet coupling, the yoke include the first part around shaft setting, and with the first part The second part of coupling, the inner wall include the first part, and the magnet is fixed on the second part of the yoke, institute State first part's radially extending along the rotor assembly；

The coil windings are located at the magnet backwards to the side of the yoke.

29. the operating method of driving device according to claim 28, which is characterized in that the positioning component includes one Ring is located at the locating piece outside the first part of the yoke, and the rolled portion of the locating piece and the first part of the yoke are mutual It is fixed.

30. the operating method of driving device according to claim 28, which is characterized in that the method further includes：

The rotation section of the locating piece is connected in the guide rail by the arrangement guide rail on the rotor assembly, so that described The rotation section of rotor assembly and the locating piece interlocks in the rotor shaft direction；Alternatively,

The part of the rotor assembly is connected in the guide rail by the arrangement guide rail on the locating piece, so that described turn The rotation section of sub-component and the locating piece interlocks in the rotor shaft direction.

31. the operating method of driving device according to claim 20, which is characterized in that the method further includes：

Configure the first component and second component so that the first component and second component are disposed adjacent, wherein the first component and The second component is ferromagnetic material, is generated between the first component and the second component and mutually repels or think attraction Magnetic force；

Apply thrust to the rotor assembly and the positioning by the magnetic force between the first part and the second component The rotation section of part so that the rotation section of the locating piece moves to the rotation section along the rotor shaft direction and is total to the fixed part With the abutting rolling element.

32. the operating method of driving device according to claim 31, which is characterized in that the first component also with it is described Rotor assembly is mutually fixed.

33. the operating method of driving device according to claim 31, which is characterized in that the method further includes：

34. the operating method of driving device according to claim 33, which is characterized in that the method further includes：

Configure rack；

The positioning component and the second component are both secured in the rack.

35. the operating method of driving device according to claim 33, which is characterized in that the method further includes：

Configuration surrounds another rotor assembly of shaft rotation, for driving another rotor assembly to turn around the shaft Dynamic another stator module, and positioned for limiting another rotor assembly is rotated centered on the shaft at least one Part；Wherein, the rotor assembly and another rotor assembly are placed adjacent, and the second component and another component are mutual It is fixed.

36. the operating method of driving device according to claim 33, which is characterized in that the method further includes：Driving The rotor assembly and another rotor assembly rotate at different rates.

37. the operating method of driving device according to claim 20, which is characterized in that the first component and described Two components are magnet；Alternatively,

The first component is iron, and the second component is magnet.

38. a kind of laser measuring device for measuring, including such as claim 1 to 19 any one of them driving device.

39. a kind of mobile platform, which is characterized in that including：

Laser measuring device for measuring described in claim 38；With

Platform body, the laser measuring device for measuring are mounted on the platform body.

40. mobile platform according to claim 39, which is characterized in that the mobile platform includes unmanned vehicle, vapour At least one of vehicle and telecar.