CN111953133A - Drive device and apparatus - Google Patents
Drive device and apparatus Download PDFInfo
- Publication number
- CN111953133A CN111953133A CN202010636542.3A CN202010636542A CN111953133A CN 111953133 A CN111953133 A CN 111953133A CN 202010636542 A CN202010636542 A CN 202010636542A CN 111953133 A CN111953133 A CN 111953133A
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- Prior art keywords
- motor
- driving device
- rotor
- reducer
- gear
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 59
- 230000000903 blocking effect Effects 0.000 claims description 4
- 229910000831 Steel Inorganic materials 0.000 description 6
- 239000010959 steel Substances 0.000 description 6
- 238000004804 winding Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 229910000975 Carbon steel Inorganic materials 0.000 description 1
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 239000010962 carbon steel Substances 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000002500 effect on skin Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003822 epoxy resin Substances 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000005405 multipole Effects 0.000 description 1
- 229920000647 polyepoxide Polymers 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/14—Structural association with mechanical loads, e.g. with hand-held machine tools or fans
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Retarders (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention discloses a driving device and equipment, the driving device includes: the motor comprises a power output piece and a motor base, wherein the motor base defines an accommodating cavity; the speed reducer comprises a power input part, the power output part is connected with the power input part, and the speed reducer is located in the accommodating cavity. The equipment comprises the driving device and further comprises a working part, wherein the working part can be driven by the driving device to rotate, an inner concave part is arranged on the driving device, a convex part is arranged on the working part, and the convex part extends into the inner concave part. According to the invention, the speed reducer is arranged in the motor, so that the axial size of the driving device can be reduced, the occupied space is smaller, the size of equipment using the driving device is reduced, and the miniaturization design of the equipment is facilitated.
Description
Technical Field
The invention relates to the technical field of driving, in particular to a driving device and equipment.
Background
In various apparatuses that provide driving force by electric energy, a motor is provided. Generally, in order to obtain a high output torque, a motor and a reducer are combined, the reducer is connected to an output end of the motor, and an output end of the reducer is connected to a working component. However, in the conventional structure, the overall size of the motor and the reducer is large, and a large space is required, so that the size of the whole equipment is increased, and the miniaturization design of the equipment is not facilitated.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a driving device, which has smaller axial dimension and can reduce the occupied space to a certain extent, thereby reducing the size of equipment comprising the driving device and being beneficial to the miniaturization design of the equipment.
The invention also provides equipment, wherein the axial size of the driving device in the equipment is smaller, so that the occupied space can be reduced to a certain extent, the size of the equipment is reduced, and the miniaturization design of the equipment is facilitated.
In a first aspect, an embodiment of the present invention provides a driving apparatus, including:
the motor comprises a power output piece and a motor base, wherein the motor base defines an accommodating cavity;
the speed reducer comprises a power input part, the power output part is connected with the power input part, and the speed reducer is located in the accommodating cavity.
The driving device of the embodiment of the invention at least has the following beneficial effects: the reducer is arranged in the accommodating cavity inside the motor, the axial size of the driving device can be reduced, and the occupied space is smaller, so that the size of equipment using the driving device is reduced, and the miniaturization design of the equipment is facilitated.
According to the driving device of the other embodiments of the present invention, the motor includes a rotor and a stator, the rotor is the power output member, the rotor and the stator are arranged in a radial direction of the motor, and the rotor and the stator are concentric.
According to further embodiments of the driving device of the present invention, the stator is located inside the rotor in a radial direction of the motor.
According to the driving device of the other embodiments of the present invention, the speed reducer includes a sun gear, a ring gear, and a plurality of planetary gears, the sun gear is the power input member, the ring gear is located outside the sun gear, the plurality of planetary gears are located between the sun gear and the ring gear, and both the ring gear and the sun gear are engaged with the planetary gears, and the rotor is connected with a rotating shaft of the sun gear.
According to the driving device of other embodiments of the present invention, the speed reducer further includes a planet carrier, the planet carrier is connected to the planet gear through a bearing, the planet carrier is connected to the rotating shaft through a bearing, the planet carrier is connected to the motor base through a bearing, and the ring gear is fixedly connected to the motor base.
According to the drive device of the other embodiments of the present invention, the carrier includes a reducer top cover and a reducer bottom cover, which are respectively located on both sides of the planetary gears in the axial direction of the planetary gears.
According to the driving device of other embodiments of the present invention, the driving device further includes a driving plate, the driving plate is located at an end of the motor, the driving plate is provided with a magnetic encoder, the rotating shaft is provided with a magnetic member, a blocking member is disposed between the magnetic member and the rotating shaft, the magnetic member corresponds to the magnetic encoder in position, and the magnetic encoder is configured to sense a magnetic pole position of the magnetic member.
According to further embodiments of the present invention, the rotor includes rotor poles, and the rotor poles are located on a surface of the rotor.
According to the driving device of the other embodiments of the present invention, the driving device further includes an outer frame, the outer frame is located outside the motor, and a triangular hollow portion is provided on the outer frame.
In a second aspect, an embodiment of the present invention provides an apparatus, including the above-mentioned driving device, and further including a working component, where the working component can be driven by the driving device to rotate, the driving device is provided with an internal concave portion, and the working component is provided with a convex portion, and the convex portion extends into the internal concave portion.
The equipment of the embodiment of the invention at least has the following beneficial effects: among the drive arrangement of this equipment, arrange the reduction gear in the inside cavity that holds of motor, can reduce drive arrangement's axial dimensions, occupation space is littleer to reduce the size of this equipment, be favorable to the miniaturized design of equipment, and drive arrangement and the unsmooth cooperation of working part can further reduce axial dimensions, connect also more stably.
Drawings
FIG. 1 is a schematic view of the structure of the driving apparatus of FIG. 1;
fig. 2 is an exploded view (with parts omitted) of the drive unit of fig. 1;
fig. 3 is a sectional view of the driving device in fig. 1 (components such as a driving plate are omitted).
Reference numerals:
the motor comprises a motor 100, a rotor 110, a stator 120, a speed reducer 200, a sun gear 210, a rotating shaft 211, a groove 2111, a gear ring 220, a planetary gear 230, a speed reducer top cover 240, a speed reducer bottom cover 250, an inner concave part 251, an outer frame 300, a triangular hollow part 310, a motor base 400 and a driving plate 500.
Detailed Description
The concept and technical effects of the present invention will be clearly and completely described below in conjunction with the embodiments to fully understand the objects, features and effects of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and those skilled in the art can obtain other embodiments without inventive effort based on the embodiments of the present invention, and all embodiments are within the protection scope of the present invention.
In the description of the embodiments of the present invention, if an orientation description is referred to, for example, the orientations or positional relationships indicated by "upper", "lower", "front", "rear", "left", "right", etc. are based on the orientations or positional relationships shown in the drawings, only for convenience of describing the present invention and simplifying the description, but not for indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the description of the embodiments of the present invention, if a feature is referred to as being "disposed", "fixed", "connected", or "mounted" to another feature, it may be directly disposed, fixed, or connected to the other feature or may be indirectly disposed, fixed, connected, or mounted to the other feature. In the description of the embodiments of the present invention, if "a number" is referred to, it means one or more, if "a plurality" is referred to, it means two or more, if "greater than", "less than" or "more than" is referred to, it is understood that the number is not included, and if "greater than", "lower" or "inner" is referred to, it is understood that the number is included. If reference is made to "first" or "second", this should be understood to distinguish between features and not to indicate or imply relative importance or to implicitly indicate the number of indicated features or to implicitly indicate the precedence of the indicated features.
Referring to fig. 1 to 3, the driving apparatus in the present embodiment includes a motor 100, a reducer 200, and the like. The motor 100 includes a motor base 400, and an accommodating cavity is defined inside the motor base 400 and the decelerator 200 is disposed in the accommodating cavity. The power output part of the motor 100 is connected with the power input part of the reducer 200, and the motor 100 reduces the speed through the reducer 200 and drives the working part to rotate after increasing the output torque. The reducer 200 does not extend beyond the end of the motor 100 in the direction of the output shaft of the motor 100, i.e., all components of the reducer 200 are covered by the motor 100. In the conventional driving device, the speed reducer and the motor are generally arranged in an axial direction of the motor, and the axial dimension of the whole driving device is large. Compared with the conventional driving device, the present embodiment with the reducer 200 completely disposed inside the motor 100 can reduce the axial size of the driving device and reduce the occupied space, thereby reducing the size of the equipment using the driving device and facilitating the miniaturization design of the equipment.
In some embodiments, the motor 100 includes a rotor 110 and a stator 120, and the rotor 110 is a power output of the motor 100. The rotor 110 and the stator 120 are arranged in a radial direction of the motor 100, and the rotor 110 and the stator 120 are concentric. Compared with other modes such as axial arrangement, the radial arrangement of the rotor 110 and the stator 120 can reduce the axial size, and in some use environments with limitation on the axial size of the driving device, the driving device in the embodiment can better meet the requirement.
Referring to fig. 2 and 3, in some embodiments, the rotor 110 is disposed outside the stator 120 in a radial direction of the motor 100, and the stator 120 is fixed to an outer sidewall of the motor base 400. Placing the rotor 110 outside of the stator 120 allows the motor 100 to have a greater output torque and better match the work components that require the greater output torque.
Referring to fig. 2 and 3, in some embodiments, the reducer 200 is a planetary reducer, and includes a sun gear 210, a ring gear 220, and a plurality of planet gears 230, where the sun gear 210 is a power input element of the reducer 200. The ring gear 220 is located outside the sun gear 210, a plurality of planet gears 230 are provided between the ring gear 220 and the sun gear 210, and both the ring gear 220 and the sun gear 210 are engaged with the planet gears 230. The rotor 110 is sleeved on the sun gear 210, and the sun gear 210 can rotate synchronously with the rotor 110. The choice of the reducer 200 is not limited to planetary reducers, but other types of reducers are possible. In the embodiment, however, the planetary reducer with a simpler structure and a mature manufacturing technology is selected to simplify the structure of the whole driving device, so that the weight of the driving device can be reduced to a certain extent, and the lightweight design of the driving device is facilitated.
Referring to fig. 2 and 3, in some embodiments, the speed reducer 200 further includes a planet carrier, the planet carrier is connected to the rotating shaft 211 of the sun gear 210 through a bearing, and the planet carrier is connected to the planet gears 230 through a bearing, meanwhile, the planet carrier is also connected to the inner side wall of the motor base 400 through a bearing, the outer frame 300 is fixedly connected to the motor base 400 through a threaded fastener, the ring gear 220 is fixed to the inner side wall of the motor base 400, and the planet carrier is a power output member of the speed reducer. Since the motor base 400 and the outer frame 300 are fixed in position, the axial displacement of the rotating shaft 211 of the sun gear 210 and the members such as the planetary gears 230 can be restricted. In the above configuration, the sun gear 210, the ring gear 220, and the pinion gears 230 are located at the same position in the axial direction, and the carrier is located within the height range of the motor base 400 and covered by the motor 100, thereby minimizing the axial dimension. For some small robots, such as legged robots, to move in a small space, the use of the above-mentioned driving device helps to further reduce the size of the robot, thereby increasing the flexibility of the movement.
In some embodiments, the planet carrier includes a top reducer cover 240 and a bottom reducer cover 250, which are connected by a threaded fastener, the top reducer cover 240 is located on the top of the sun gear 210, the ring gear 220, and the planet gears 230, and the bottom reducer cover 250 is located on the bottom of the sun gear 210, the ring gear 220, and the planet gears 230. The reducer top cover 240, the reducer bottom cover 250, and the outer frame 300 are coupled to the rotating shaft 211 of the sun gear 210 through bearings. The planetary gears 230 are connected with the reducer top cover 240 and the reducer bottom cover 250 through bearings. The reducer top cover 240 and the reducer bottom cover 250 are connected with the inner side wall of the motor base 400 through bearings. The two sides of the plurality of gears are respectively provided with the reducer top cover 240 and the reducer bottom cover 250, so that the structural stability can be further improved, and the power output of the reducer is more stable.
Referring to fig. 2 and 3, in some embodiments, a frame 300 is disposed outside the motor 100, and the frame 300 can protect the motor 100 and prevent external components from colliding with the motor 100 and the decelerator 200 and being damaged. The plurality of hollow parts are formed in the outer frame 300, so that materials can be saved, and the weight of the whole driving device can be reduced. Further, the plurality of triangular hollow portions 310 are arranged on the outer frame 300, so that the light weight of the driving device is facilitated, the torsional strength of the outer frame 300 can be improved due to the high stability of the triangle, the structural stability of the outer frame is enhanced, and the outer frame is not prone to deformation when collision occurs. In addition, the triangular hollow portions 310 need to be uniformly distributed on the outer frame 300, so as to ensure that all areas of the outer frame 300 can be uniformly stressed when a collision occurs.
Referring to fig. 2 and 3, in some embodiments, the driving apparatus further includes a driving plate 500, the driving plate 500 being fixed to an end of the housing 300, the driving plate 500 being used to control rotation of the motor 100. A magnetic encoder (not shown) is provided at the center of the side of the driving plate 500 contacting the outer frame 300, the rotating shaft 211 of the sun gear 210 is hollow inside, and a recess 2111 is provided at the top to form a stepped hole. A magnetic steel sheet is disposed in the groove 2111, and when the magnetic steel sheet rotates synchronously with the rotating shaft 211, the magnetic encoder can sense the magnetic pole position of the magnetic steel sheet to obtain the position parameter of the rotor 110 at that time. And a blocking member is further disposed between the magnetic steel sheet and the rotating shaft 211 to prevent the magnetic field of the motor 100 from affecting the magnetic steel sheet. The blocking member may be made of epoxy resin, but other similar materials may be used. In addition, in order to improve the induction accuracy of the magnetic inductor, the distance between the magnetic encoder and the magnetic steel sheet cannot exceed 2 mm.
In some embodiments, the rotor 110 employs surface-mounted magnetic poles, which can reduce reluctance loss and reduce fluctuation of output torque, compared to in-line magnetic poles. Specifically, the rotor 110 includes rotor poles directly attached to a surface of the rotor 110. In addition, the rotor 110 adopts a multi-pair pole arrangement mode, so that the output position and the torque are more accurate.
In some embodiments, the stator 120 includes a stator core and a stator winding, and the stator winding is wound on the surface of the stator core. The stator winding adopts the mode that the thin copper wire of stranded parallelly connected to slow down the skin effect of stator winding and the generating heat of motor 100 for natural cooling just can satisfy the heat dissipation demand, avoids using the fan and increases whole size.
In some embodiments, an apparatus is further provided, which includes the above-mentioned driving device, and further includes a working member, and the working member can be driven by the driving device to rotate.
In some embodiments, the working member is a legged robot. The foot type robot generally requires compact structure and smaller size, and the size of a driving part can be reduced as much as possible by using the driving device, so that the overall size of the foot type robot is favorably reduced. In addition, referring to fig. 1, since the surface of the legged robot is mostly a convex part, a plurality of concave parts 251 are further provided on the reducer bottom cover 250, and when the driving device is applied to the legged robot, the convex part of the surface of the legged robot can be inserted into the concave part 251, so that the gap between the driving device and the legged robot is smaller, and the overall size of the legged robot is further reduced.
The following provides a set of specific structural parameters of the above-described drive apparatus when applied to a legged robot:
the rotor adopts a 36N42P multi-pole magnetic pole arrangement mode to improve the accuracy of torque and position control and meet the requirements of the foot robot on high torque and position output accuracy. In the scheme, a single-stage planetary gear reducer is adopted, and the reduction ratio is 6.27: 1. The sun gear 210, the ring gear 220 and the planetary gears 230 are made of carbon steel, and the reducer top cover 240 and the motor base 400 are made of aluminum alloy. Thrust bearings are used among the reducer top cover 240, the reducer bottom cover 250 and the motor base 400, and deep groove ball bearings are used at other positions.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention. Furthermore, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.
Claims (10)
1. A drive device, comprising:
the motor comprises a power output piece and a motor base, wherein the motor base defines an accommodating cavity;
the speed reducer comprises a power input part, the power output part is connected with the power input part, and the speed reducer is located in the accommodating cavity.
2. The drive of claim 1, wherein the motor includes a rotor and a stator, the rotor is the power take-off, the rotor and the stator are arranged in a radial direction of the motor, and the rotor and the stator are concentric.
3. The drive device according to claim 2, wherein the stator is located inside the rotor in a radial direction of the motor.
4. A drive arrangement according to claim 2, wherein the speed reducer includes a sun gear which is the power input, a ring gear which is located externally of the sun gear, and a plurality of planet gears which are located between the sun gear and the ring gear, and both the ring gear and the sun gear mesh with the planet gears, the rotor being connected to the rotational shaft of the sun gear.
5. The driving device according to claim 4, wherein the speed reducer further comprises a planet carrier, the planet carrier is connected with the planet gear through a bearing, the planet carrier is connected with the rotating shaft through a bearing, the planet carrier is connected with the motor base through a bearing, and the gear ring is fixedly connected with the motor base.
6. The drive device according to claim 5, wherein the carrier includes a reducer top cover and a reducer bottom cover, the reducer top cover and the reducer bottom cover being located on both sides of the planetary gear in the axial direction of the planetary gear, respectively.
7. The driving device as claimed in claim 4, further comprising a driving plate, wherein the driving plate is located at an end of the motor, a magnetic encoder is disposed on the driving plate, a magnetic member is disposed on the rotating shaft, a blocking member is disposed between the magnetic member and the rotating shaft, the magnetic member corresponds to the magnetic encoder, and the magnetic encoder is configured to sense a magnetic pole position of the magnetic member.
8. The drive of claim 2, wherein the rotor comprises rotor poles, the rotor poles being located on a surface of the rotor.
9. The driving device as claimed in claim 1, further comprising an outer frame, wherein the outer frame is located outside the motor, and a triangular hollow portion is provided on the outer frame.
10. The device is characterized by comprising the driving device as claimed in any one of claims 1 to 9, and further comprising a working component, wherein the working component can rotate under the driving of the driving device, the driving device is provided with an inner concave part, and the working component is provided with a convex part which extends into the inner concave part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010636542.3A CN111953133A (en) | 2020-07-03 | 2020-07-03 | Drive device and apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010636542.3A CN111953133A (en) | 2020-07-03 | 2020-07-03 | Drive device and apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111953133A true CN111953133A (en) | 2020-11-17 |
Family
ID=73339913
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010636542.3A Pending CN111953133A (en) | 2020-07-03 | 2020-07-03 | Drive device and apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111953133A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113357315A (en) * | 2021-05-28 | 2021-09-07 | 深圳市优必选科技股份有限公司 | Body driver, driving joint and robot |
| CN113726092A (en) * | 2021-07-22 | 2021-11-30 | 广东金霸智能科技股份有限公司 | Drive device |
-
2020
- 2020-07-03 CN CN202010636542.3A patent/CN111953133A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113357315A (en) * | 2021-05-28 | 2021-09-07 | 深圳市优必选科技股份有限公司 | Body driver, driving joint and robot |
| CN113726092A (en) * | 2021-07-22 | 2021-11-30 | 广东金霸智能科技股份有限公司 | Drive device |
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Effective date of registration: 20210707 Address after: 518000 No. 1088, Xili, Xue Yuan Avenue, Nanshan District, Shenzhen, Guangdong. Applicant after: Southern University of Science and Technology Applicant after: Zhang Wei Address before: No. 1088, Xili Xueyuan Avenue, Nanshan District, Shenzhen, Guangdong Province Applicant before: Southern University of Science and Technology |
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Effective date of registration: 20210727 Address after: 518000 1608, block B, Jingang center, Jingang building, houye community, Xixiang street, Bao'an District, Shenzhen, Guangdong Applicant after: Shenzhen Nanke jia'an Robot Technology Co.,Ltd. Address before: 518000 No. 1088, Xili, Xue Yuan Avenue, Nanshan District, Shenzhen, Guangdong. Applicant before: Southern University of Science and Technology Applicant before: Zhang Wei |
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