CN111245141A

CN111245141A - Drive motor and power output device

Info

Publication number: CN111245141A
Application number: CN202010068397.3A
Authority: CN
Inventors: 谭高辉; 杨静静; 韩小刚; 蔡雪风; 张森
Original assignee: Shenzhen Chwishay Smart Technology Co Ltd
Current assignee: Shenzhen Chwishay Smart Technology Co Ltd
Priority date: 2020-01-20
Filing date: 2020-01-20
Publication date: 2020-06-05

Abstract

The invention discloses a drive motor and a power output device. Wherein, this driving motor includes: a body and a shaft body; the body is provided with a mounting groove, the side wall of the mounting groove is provided with a connecting piece, and the connecting piece is arranged around the notch of the mounting groove; the shaft body with body coupling to part holds in the mounting groove, the circumference of shaft body extends and is formed with rotates the piece, rotate the piece with one of them of connecting piece is equipped with the ring channel, rotate the piece with one of them of connecting piece is equipped with the bellying, the bellying rotationally hold in the connecting piece. The packaging structure design of the driving motor provided by the invention can effectively prevent external impurities from entering the driving motor while improving the output characteristic of the motor, and can prolong the service life of the driving motor.

Description

Drive motor and power output device

Technical Field

The invention relates to the technical field of motor equipment, in particular to a driving motor and a power output device applying the driving motor.

Background

The servo motor is widely applied to the robot industry at present due to the technical characteristics of small volume, high power, programmable control and the like. In actual use, due to the limitations of multiple joints of the robot, the positions of the joints, the space and the like, a self-packaged servo motor is often adopted, namely, a standard purchased servo motor only comprises a stator, a rotor and electronic devices integrated in the stator and the rotor, and during use, a packaging design is required according to the actual use environment and requirements. The motor package generally includes a housing, an end cap, an output shaft, a bearing, and other parts. Because driving motor is in operation, driving motor exposes in dust, earth and the clastic environment of industry to inside making impurity enter into the motor, lead to driving motor to receive the interference of impurity, influence the work efficiency and the life of motor.

The above is only for the purpose of assisting understanding of the technical solutions of the present application, and does not represent an admission that the above is prior art.

Disclosure of Invention

The invention mainly aims to provide a driving motor, aiming at improving the stability of the driving motor and prolonging the service life of the driving motor.

In order to achieve the above object, the present invention provides a driving motor including:

the body is provided with a mounting groove and comprises a connecting piece arranged on the side wall of the mounting groove, and the connecting piece is arranged around the notch of the mounting groove; and

the shaft body, the shaft body with body coupling to part holds in the mounting groove, the circumference of shaft body extends to be formed with rotates the piece, rotate the piece with one of them of connecting piece is equipped with the ring channel, rotate the piece with one of them of connecting piece is equipped with the bellying, the bellying rotationally hold in the ring channel.

In an embodiment of the present invention, the protrusion is annularly disposed.

In an embodiment of the present invention, one of the rotating member and the connecting member is provided with a plurality of annular grooves, and the other of the rotating member and the connecting member is provided with a plurality of protrusions, each of which is rotatably received in one of the annular grooves.

In an embodiment of the invention, the protrusion of the rotating element away from the axis of the shaft body is higher than the protrusion of the rotating element adjacent to the axis of the shaft body.

In an embodiment of the invention, the body further comprises a housing and a stator, the housing is provided with an installation groove, a positioning shaft cylinder is convexly arranged in the middle of the installation groove, the stator is connected with the side wall of the installation groove and forms a yielding groove with the positioning shaft cylinder at an interval, and the connecting piece is arranged on the housing and is adjacent to a notch of the installation groove;

the axis body includes output shaft, connecting portion and rotor, the circumference of output shaft extends and forms the rotation piece, connecting portion locate the side of rotation piece, connecting portion with the bellying interval sets up, and with the output shaft is with the axle center setting, connecting portion rotationally overlap and locate the location axle section of thick bamboo, connecting portion hold in the groove of stepping down, the rotor is located connecting portion towards the side of stator, and with the stator is the interval setting.

In an embodiment of the present invention, the body further includes a bearing member, the bearing member is sleeved on the positioning shaft cylinder, and the bearing member is used for supporting the positioning shaft cylinder and the connecting portion.

In an embodiment of the present invention, the bearing component includes a shaft sleeve sleeved on the positioning shaft cylinder and two bearings, the two bearings connect the positioning shaft cylinder and the connecting portion, and the shaft sleeve is disposed between the two bearings for positioning the two bearings.

In an embodiment of the invention, a passage is arranged in the middle of the positioning shaft cylinder;

the shaft body further comprises a rotating shaft and a magnet, the rotating shaft is connected with the rotating part and is coaxially arranged with the output shaft, one end of the rotating shaft, far away from the rotating part, is connected with the magnet, and the rotating shaft can rotatably extend into the passageway;

the body still includes the encoder, the encoder with the casing is connected, the encoder just is to the magnet setting.

In an embodiment of the invention, the housing is provided with an avoidance hole communicated with the passageway, and the encoder is arranged on a side surface of the housing, which faces away from the magnet, and covers the avoidance hole.

The embodiment of the invention also provides a power output device, which comprises a circuit board and the driving motor, wherein the circuit board is electrically connected with the driving motor.

According to the technical scheme, the body is provided with the mounting groove and the connecting piece connected with the inner wall surface of the mounting groove, the rotating piece extends in the circumferential direction of the shaft body, and when the shaft body is arranged in the mounting groove, the connecting piece and the rotating piece are arranged oppositely, so that the rotating piece and the connecting piece are matched to cover the notch of the mounting groove, and sundries are prevented from falling into the mounting groove. On the other hand, one of the connecting piece and the rotating piece is provided with an annular groove, the other one of the connecting piece and the rotating piece is provided with a protruding part, and the protruding part is rotatably accommodated in the annular groove, namely, the rotating piece and the connecting piece are matched to form a labyrinth seal cavity, wherein the labyrinth seal cavity is formed by matching the rotating piece and the connecting piece to form at least one groove cavity with a bending angle, so that the performance of blocking sundries is improved, and the service life of the driving motor is prolonged.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a driving motor according to an embodiment of the present invention;

FIG. 2 is a schematic view of the driving motor shown in FIG. 1 from another perspective;

FIG. 3 is a schematic cross-sectional view of the driving motor shown in FIG. 2;

FIG. 4 is a schematic view of a portion of the driving motor shown in FIG. 3;

fig. 5 is another schematic structural diagram of a portion of the driving motor in fig. 3.

The reference numbers illustrate:

the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.

In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout is to include three juxtapositions, exemplified by "A and/or B," including either the A or B arrangement, or both A and B satisfied arrangement. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

The invention provides a driving motor which comprises a body 1 and a shaft body 2, wherein a stator 12 is arranged in the body 1, a rotor 23 is arranged on the shaft body 2, the stator 12 and the rotor 23 are arranged in a coaxial gap mode, the stator 12 acts on the rotor 23, and the rotor 23 and the shaft body 2 jointly realize rotation. The specific structure of the driving motor, refer to fig. 1, which is a schematic structural diagram of an embodiment of the driving motor of the present invention; referring to fig. 2, it is a schematic structural view of the driving motor in fig. 1 from another view; referring to fig. 3, a schematic cross-sectional structure of the driving motor in fig. 2 is shown; referring to fig. 4, a schematic diagram of a part of the structure of the driving motor in fig. 3 is shown; referring to fig. 5, another partial structure diagram of the driving motor in fig. 3 is shown.

In an embodiment of the present invention, as shown in fig. 1 in combination with fig. 2, 3 and 4, the driving motor includes: a body 1 and a shaft body 2; the shaft body 2 extends into the body 1 and is rotatably connected with the body 1; the body 1 is provided with a stator 12, the shaft body 2 is provided with a rotor 23, the stator 12 is sleeved outside the rotor 23, and the stator 12 acts on the rotor 23 to enable the shaft body 2 to rotate relative to the body 1.

In an embodiment of the present invention, the body 1 is provided with a mounting groove 111, the body 1 includes a connecting member 117 disposed on a side wall of the mounting groove 111, and the connecting member 117 is disposed around a notch of the mounting groove 111. It is understood that the connection member 117 may be a structure formed by protruding the sidewall of the mounting groove 111; alternatively, the connecting member 117 is independent from the mounting groove 111, and the connecting member 117 is positioned in the mounting groove 111 by an adhesive method or an interference fit method.

The shaft body 2 is connected with the body 1 and is partially accommodated in the installation groove 111, the rotating member 211 is formed in the circumferential extension of the shaft body 2, one of the rotating member 211 and the connecting member 117 is provided with an annular groove 112, and the other of the rotating member 211 and the connecting member 117 is provided with a protruding portion 212, and the protruding portion 212 is rotatably accommodated in the annular groove 112.

In practical application of the present embodiment, since the shaft body 2 is rotatably disposed on the body 1, a gap exists between the shaft body 2 and the body 1; when the driving motor works, impurities such as external dust are easily adsorbed on the driving motor due to the electromagnetic field generated by the shaft body 2 and the body, and the shaft body 2 rotates to easily drive the external impurities to enter the driving motor. Based on this defect, adopt axis body 2 and body 1 to shelter from each other and form labyrinth seal structure to avoid the condition that outside debris fall into in the mounting groove 111. Specifically, be provided with connecting piece 117 at body 1, be formed with at the axis body 2 and rotate piece 211, rotate piece 211 and connecting piece 117 and can be mutual parallel arrangement, and, rotate and be the interval setting between piece 211 and the connecting piece 117 to the clearance between axis body 2 and the body 1 has been prolonged, and form labyrinth seal structure, avoid debris to enter into mounting groove 111. On the other hand, one of the rotating member 211 and the connecting member 117 is provided with an annular groove 112, the other of the rotating member 211 and the connecting member 117 is provided with a convex part 212, the convex part 212 is rotatably accommodated in the annular groove 112, the convex part 212 and the inner wall surface of the annular groove 112 are arranged at intervals, and a bending groove cavity between the rotating member 211 and the connecting member 117 is increased, so that sundries are blocked.

In the present embodiment, by providing the mounting groove 111 and the connecting member 117 connected to the inner wall surface of the mounting groove 111 on the body 1, and extending the rotating member 211 in the circumferential direction of the shaft body 2, when the shaft body 2 is disposed in the mounting groove 111, the connecting member 117 is disposed opposite to the rotating member 211, so that the rotating member 211 and the connecting member 117 cooperate to cover the notch of the mounting groove 111, thereby preventing the impurities from falling into the mounting groove 111. On the other hand, one of the connecting piece 117 and the rotating piece 211 is provided with an annular groove 112, the other one of the connecting piece 117 and the rotating piece 211 is provided with a convex part 212, and the convex part 212 is rotatably accommodated in the annular groove 112, that is, the rotating piece 211 and the connecting piece 117 are matched to form at least one groove cavity with a bending angle, so that the performance of blocking sundries is enhanced, and the service life of the driving motor is prolonged.

Alternatively, the protrusion 212 may include a plurality of raised portions, the plurality of raised portions are arranged in the same circumference, and two adjacent raised portions are disposed at intervals. Alternatively, the protrusion 212 may be a ring-shaped structure, that is, at least one groove with a bending angle may be formed between the rotating member 211 and the connecting member 117, so as to further block impurities.

In an embodiment of the present invention, as shown in fig. 3, the protrusion 212 is disposed in a ring shape. In this manner, the boss 212 may be received within the annular groove 112 and disposed along the annular groove 112 to reduce the likelihood of debris entering the annular groove 112.

In one embodiment of the present invention, as shown in fig. 3, one of the rotating member 211 and the connecting member 117 is provided with a plurality of annular grooves 112, and the other of the rotating member 211 and the connecting member 117 is provided with a plurality of protrusions 212, each protrusion 212 being rotatably received in one of the annular grooves 112. It will be appreciated that a plurality of projections 212 may be provided on the connecting member 117 and a plurality of annular grooves 112 may be provided on the rotary member 211; alternatively, a plurality of annular grooves 112 may be provided in the connecting member 117, and a plurality of protrusions 212 may be provided in the rotating member 211.

In the present embodiment, the rotating member 211 and the connecting member 117 form a groove cavity structure with a plurality of bending angles between the rotating member 211 and the connecting member 117 by the cooperation of the plurality of annular grooves 112 and the plurality of protrusions 212, so as to effectively prevent the entry of impurities.

Alternatively, a plurality of protrusions 212 may be disposed on the rotating member 211, and a plurality of annular grooves 112 may be disposed on the connecting member 117, so that the connecting member 117 may be disposed around the circumference of the rotating member 211 to cover the circumference of the rotating member 211 through the connecting member 117, thereby further reducing the probability of impurities entering the mounting groove 111.

In an embodiment of the present invention, the protrusion 212 of the rotating element 211 away from the axis of the shaft body 2 is higher than the protrusion 212 of the rotating element 211 adjacent to the axis of the shaft body 2.

In the present embodiment, the rotating member 211 is provided with a plurality of protrusions 212, wherein the protrusion 212 adjacent to the axis of the shaft body 2 is defined as an inner protrusion, the protrusion 212 away from the axis of the shaft body 2 is defined as an outer protrusion, the height of the outer protrusion protruding from the rotating member 211 is greater than the height of the inner protrusion protruding from the rotating member 211, so as to reduce the entry of impurities.

Alternatively, a plurality of the bosses 212 are provided in parallel with the output shaft 21.

In an embodiment of the present invention, as shown in fig. 3 and 4, the body 1 further includes a housing 116 and a stator 12, the housing 116 is provided with a mounting groove 111, a positioning shaft 114 is convexly provided in a middle portion of the mounting groove 111, the stator 12 is connected to a side wall of the mounting groove 111 and forms a yielding groove 13 with a space from the positioning shaft 114, and a connecting member 117 is provided in the housing 116 and is disposed adjacent to a notch of the mounting groove 111. Alternatively, the connecting member 117 may be a ring-shaped connecting member 117, one side of the connecting member 117 is connected to the sidewall of the mounting groove 111, and one side of the connecting member 117 facing the bottom wall of the mounting groove 111 abuts against the stator 12.

On the other hand, with reference to fig. 3 and 5, the shaft body 2 includes an output shaft 21, a connecting portion 22 and a rotor 23, the output shaft 21 extends in the circumferential direction to form a rotating member 211, the connecting portion 22 is disposed on a side surface of the rotating member 211 and spaced from the protruding portion 212, the connecting portion 22 is rotatably sleeved on the positioning shaft cylinder 114, the connecting portion 22 is accommodated in the avoiding groove 13, and the rotor 23 is disposed on a side surface of the connecting portion 22 facing the stator 12 and spaced from the stator 12.

It is understood that the connecting portion 22 is disposed in a ring shape, and the connecting portion 22 is sleeved on the positioning shaft tube 114; or, the connecting portion 22 includes a plurality of connecting convex portions protruding from the connecting member 117, the connecting convex portions are arranged in the same circular ring, two adjacent connecting convex portions are arranged at an interval, and the connecting convex portions and the positioning sleeve are rotatably connected.

It will be appreciated that the relief groove 13 is an annular groove body.

In the embodiment, the connecting portion 22 is rotatably sleeved on the positioning shaft tube 114, and the connecting portion 22 is used for mounting the stator 12, so that the rotor 23 can be disposed away from the axis of the output shaft 21 to increase the distance from the rotor 23 to the output shaft 21. When the rotor 23 and the stator 12 are engaged with each other, the output shaft 21 is stably rotated.

In an embodiment of the present invention, the output shaft 21, the rotating member 211 and the connecting portion 22 are integrally disposed, so as to improve the integration degree of the driving motor, reduce the coaxiality deviation between the two bearings, and stabilize the rotation of the output shaft 21.

In an embodiment of the present invention, and with reference to fig. 3 and 4, the body 1 further includes a bearing member 14, the bearing member 14 is sleeved on the positioning shaft tube 114, and the bearing member 14 is used for connecting the positioning shaft tube 114 and the connecting portion 22 to support the positioning shaft tube and the connecting portion 22. That is to say, through the cooperation of bearing spare 14 and location axle tube 114, can think that bearing spare 14 and location axle tube 114 have increased the whole thickness of axle wall as the axle wall of supporting connecting portion 22, and connecting portion 22 rotates and connects on bearing spare 14 and location axle tube 114 for link to each other between axis body 2 and the body 1 is more stable, reduces the friction between axis body 2 and the body 1 and rocks, makes the axis body 2 can the steady rotation.

Alternatively, the bearing member 14 may be one bearing 141; alternatively, the bearing member 14 may include a plurality of bearings 141, and the plurality of bearings 141 are spaced apart or adjacently disposed.

In an embodiment of the present invention, and referring to fig. 3 and 4, the bearing assembly 14 includes a shaft sleeve 142 sleeved on the positioning shaft cylinder 114 and two bearings 141, the two bearings 141 connect the positioning shaft cylinder 114 and the connecting portion 22, and the shaft sleeve 142 is disposed between the two bearings 141 for positioning the two bearings 141.

In this embodiment, the two bearings 141 are connected by the shaft sleeve 142 to synchronize the inner ring and the outer ring of the two bearings 141, so as to reduce the shake between the inner ring and the outer ring of the bearings 141 and improve the stability of the rotation of the output shaft 21.

In an embodiment of the present invention, as shown in fig. 2, a passage 115 is disposed in the middle of the positioning shaft cylinder 114, the shaft body 2 further includes a rotating shaft 24 and a magnet 25, the rotating shaft 24 is connected to the rotating member 211 and is disposed coaxially with the output shaft 21, an end of the rotating shaft 24 away from the rotating member 211 is connected to the magnet 25, and the rotating shaft 24 rotatably extends into the passage 115. And, body 1 still includes encoder 15, and encoder 15 is connected with casing 116, and encoder 15 is just setting up magnet 25.

In the present embodiment, the encoder 15 and the magnet 25 are arranged to face each other, and the magnet 25 is arranged coaxially with the output shaft 21 via the rotating shaft 24, so as to realize accurate measurement of the rotation angle of the output shaft 21.

Optionally, the magnet 25 is positioned on the output shaft 21 through a fixed seat (not shown), that is, the fixed seat is used as a partition medium, and the fixed seat is made of a non-magnetic material, so that the magnet 25 is prevented from directly contacting the output shaft 21; that is, the output shaft 21 is made of a magnetic conductive alloy material, and the magnetic properties of the magnet 25 are weakened by the direct contact between the magnet 25 and the output shaft 21. Wherein, the output shaft 21 can be made of steel, and the fixing seat is made of aluminum alloy.

Alternatively, the encoder 15 may be provided on the inner surface or the outer surface of the housing 116. The encoder 15 is electrically connected to an external circuit board structure by a wire.

In an embodiment of the present invention, as shown in fig. 4, the housing 116 is provided with an avoiding hole 119 communicating with the passageway 115, and the encoder 15 is disposed on a side of the housing 116 facing away from the magnet 25 and covers the avoiding hole 119.

In the present embodiment, the maintenance and assembly of the encoder 15 are facilitated by disposing the encoder 15 on the outer side of the housing 116.

In an embodiment of the present invention, as shown in fig. 4, a boss 118 is further protruded from an outer wall surface of the casing 116, the boss 118 is disposed around a periphery of the casing 116 and is adjacent to the mounting groove 111, and the boss 118 is provided with a plurality of through holes; when the driving motor is installed on the speed reducer equipment, the positioning piece penetrates through the through hole to be fixedly connected with the shell of the speed reducer equipment. Wherein, the positioning piece can be a screw or a pin.

The present invention further provides a power output apparatus, which includes a circuit board (not shown) and a driving motor, and the specific structure of the driving motor refers to the above embodiments, and since the power output apparatus adopts all technical solutions of all the above embodiments, at least all the beneficial effects brought by the technical solutions of the above embodiments are achieved, and are not described herein again. Wherein, the circuit board is electrically connected with the driving motor.

In the practical application of this embodiment, the circuit board is a single chip microcomputer with a common model. The circuit board is connected with driving motor's encoder 15 and driving motor's stator 12 electricity respectively, and the circuit board passes through encoder 15 and obtains the turned angle of axis body 2 to input signal of telecommunication to stator 12, cooperation stator 12, in order to control the rotation of rotor 23 and axis body 2.

Wherein, the power output device can be a driving module or a mechanical limb of the robot.

The above description is only an alternative embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A drive motor, comprising:

2. The drive motor of claim 1, wherein the boss is annularly disposed.

3. The drive motor of claim 2, wherein one of said rotating member and said connecting member is provided with a plurality of annular grooves, and the other of said rotating member and said connecting member is provided with a plurality of protrusions, each of said protrusions being rotatably received in one of said annular grooves.

4. The drive motor of claim 3, wherein the protrusion of the rotating member disposed away from the shaft axis is higher than the protrusion of the rotating member disposed adjacent to the shaft axis.

5. The driving motor according to any one of claims 2 to 4, wherein the body further comprises a housing and a stator, the housing is provided with the mounting groove, a positioning shaft is convexly provided in the middle of the mounting groove, the stator is connected with the side wall of the mounting groove and forms a yielding groove with the positioning shaft at a spacing, and the connecting piece is provided in the housing and is arranged adjacent to the notch of the mounting groove;

6. The driving motor as claimed in claim 5, wherein the body further comprises a bearing member, the bearing member is sleeved on the positioning shaft tube, and the bearing member is used for supporting the positioning shaft tube and the connecting portion.

7. The driving motor as claimed in claim 6, wherein said bearing member includes a sleeve fitted over said positioning shaft tube and two bearings connecting said positioning shaft tube and said connecting portion, said sleeve being disposed between said two bearings for positioning said two bearings.

8. The drive motor of claim 7, wherein a passage is provided in a middle portion of the positioning shaft tube;

9. The driving motor as claimed in claim 8, wherein the housing is provided with an avoiding hole communicating with the passageway, and the encoder is provided at a side of the housing facing away from the magnet and covering the avoiding hole.

10. A power output apparatus characterized by comprising a circuit board and the drive motor according to any one of claims 1 to 9, the circuit board being electrically connected to the drive motor.