CN111953133A - Drives and Equipment - Google Patents

Abstract

The invention discloses a driving device and equipment. The driving device comprises: a motor, including a power output member and a motor base, the motor base defining a accommodating cavity; a reducer, including a power input member, the power output member and the The power input member is connected, and the speed reducer is located in the accommodating cavity. The equipment includes the above-mentioned driving device, and also includes a working part, the working part can be rotated under the driving of the driving device, the driving device is provided with an inner concave part, the working part is provided with a convex part, the The protruding portion protrudes into the inner concave portion. In the present invention, the speed reducer is built into the motor, which can reduce the axial dimension of the driving device and occupy a smaller space, thereby reducing the size of the equipment using the driving device, which is beneficial to the miniaturized design of the equipment.

Description

Drives and Equipment

technical field

The present invention relates to the field of driving technology, and in particular, to a driving device and equipment.

Background technique

Motors are installed in various devices that provide driving force through electrical energy. Usually, in order to obtain higher output torque, a combination of motor and reducer is used, the output end of the motor is connected to the reducer, and the output end of the reducer is connected to the working parts. However, in the conventional structure, the overall size of the motor and the reducer is relatively large, and a large space is required, thereby increasing the size of the entire equipment, which is not conducive to the miniaturized design of the equipment.

SUMMARY OF THE INVENTION

The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a driving device with a small axial dimension, which can reduce the occupied space to a certain extent, thereby reducing the size of the equipment including the driving device, which is beneficial to the miniaturized design of the equipment.

The present invention also proposes a device in which the axial dimension of the drive device is small, which can reduce the occupied space to a certain extent, thereby reducing the size of the device, which is beneficial to the miniaturization design of the device.

In a first aspect, an embodiment of the present invention provides a drive device, including:

a motor, including a power output member and a motor base, the motor base defines a accommodating cavity;

The speed reducer includes a power input member, the power output member is connected with the power input member, and the speed reducer is located in the accommodating cavity.

The drive device of the embodiment of the present invention has at least the following beneficial effects: placing the reducer in the accommodating cavity inside the motor can reduce the axial dimension of the drive device and occupy a smaller space, thereby reducing the size of the equipment using the drive device. The size is conducive to the miniaturized design of the equipment.

According to the driving device of 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 along the radial direction of the motor, and the The rotor is concentric with the stator.

According to the driving device of other embodiments of the present invention, in the radial direction of the motor, the stator is located inside the rotor.

According to the driving device of 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, and the ring gear is located outside the sun gear , a plurality of the planetary gears are located between the sun gear and the ring gear, and both the ring gear and the sun gear mesh with the planetary gears, and the rotor is connected to the rotating shaft of the sun gear .

According to the drive device of other embodiments of the present invention, the speed reducer further includes a planetary carrier, the planetary carrier is connected with the planetary gear through a bearing, the planetary carrier is connected with the rotating shaft through a bearing, and the planetary The frame is connected with the motor base through a bearing, and the ring gear is fixedly connected with the motor base.

According to the drive device of other embodiments of the present invention, the planet carrier includes a reducer top cover and a reducer bottom cover, and in the axial direction of the planetary gear, the reducer top cover and the reducer bottom cover are located on both sides of the planetary gear.

The driving device according to other embodiments of the present invention further includes a driving board, the driving board is located at the end of the motor, the driving board is provided with a magnetic encoder, and the rotating shaft is provided with a magnetic member, A blocking member is arranged between the magnetic member and the rotating shaft, the magnetic member corresponds to the position of the magnetic encoder, and the magnetic encoder is used for sensing the magnetic pole position of the magnetic member.

According to the driving device of other embodiments of the present invention, the rotor includes rotor magnetic poles, and the rotor magnetic poles are located on the surface of the rotor.

The driving device according to other embodiments of the present invention further includes an outer frame, the outer frame is located outside the motor, and the outer frame is provided with a triangular hollow portion.

In the second aspect, an embodiment of the present invention provides a device, including the above-mentioned driving device, and also including a working part, the working part can be rotated under the driving of the driving device, and the driving device is provided with an inner recess, The working part is provided with a protruding part, and the protruding part extends into the inner concave part.

The device according to the embodiment of the present invention has at least the following beneficial effects: in the driving device of the device, placing the reducer in the accommodating cavity inside the motor can reduce the axial size of the driving device and occupy a smaller space, thereby reducing the size of the drive device. The size of the equipment is conducive to the miniaturized design of the equipment, and the concave-convex cooperation between the driving device and the working part can further reduce the axial size and make the connection more stable.

Description of drawings

Fig. 1 is the structural representation of the drive device in Fig. 1;

FIG. 2 is an exploded view of the drive device in FIG. 1 (some parts are omitted);

FIG. 3 is a cross-sectional view of the drive device in FIG. 1 (parts such as a drive plate are omitted).

Reference number:

Motor 100, rotor 110, stator 120, reducer 200, sun gear 210, rotating shaft 211, groove 2111, ring gear 220, planetary gear 230, reducer top cover 240, reducer bottom cover 250, inner recess 251, outer The frame 300 , the triangular hollow part 310 , the motor base 400 , and the driving board 500 .

Detailed ways

The concept of the present invention and the technical effects produced will be clearly and completely described below with reference to the embodiments, so as to fully understand the purpose, characteristics and effects of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, other embodiments obtained by those skilled in the art without creative efforts are all within the scope of The scope of protection of the present invention.

In the description of the embodiments of the present invention, if the orientation description is involved, for example, the orientation or positional relationship indicated by "up", "down", "front", "rear", "left", "right", etc. is based on the accompanying drawings The orientation or positional relationship shown is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a reference to the present invention. limits.

In the description of the embodiments of the present invention, if a feature is referred to as "set", "fixed", "connected", "installed" on another feature, it can be directly set, fixed, or connected on another feature, It can also be indirectly disposed, fixed, connected, mounted on another feature. In the description of the embodiments of the present invention, if "several" is involved, it means more than one; if it involves "plurality", it means more than two; ", should be understood as not including this number, if it involves "above", "below", "within", it should be understood as including this number. If it refers to "first" and "second", it should be understood to be used to distinguish technical features, but not to indicate or imply relative importance, or to imply indicate the number of indicated technical features or to imply indicate the indicated The sequence of technical features.

Referring to FIG. 1 to FIG. 3 , the driving device in this embodiment includes components such as a motor 100 and a reducer 200 . The motor 100 includes a motor base 400 . The interior of the motor base 400 defines an accommodating cavity, and the reducer 200 is placed in the accommodating cavity. The power output member of the motor 100 is connected to the power input member of the reducer 200 , and the motor 100 is decelerated by the reducer 200 and drives the working part to rotate after increasing the output torque. In the direction of the output shaft of the motor 100 , the speed reducer 200 does not extend beyond the end of the motor 100 , that is, all components of the speed reducer 200 are covered by the motor 100 . In a conventional drive device, the reducer and the motor are usually arranged along the axial direction of the motor, and the axial dimension of the entire drive device is relatively large. Compared with the conventional drive device, in this embodiment, the reduction gear 200 is completely placed inside the motor 100, which can reduce the size of the drive device in the axial direction, reduce the space occupied by the drive device, and thus reduce the size of the equipment using the drive device. The size is conducive to the miniaturized 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 member of the motor 100 . The rotor 110 and the stator 120 are arranged along the radial direction of the motor 100 , and the rotor 110 and the stator 120 are concentric. Compared with other methods such as axial arrangement, radially arranging the rotor 110 and the stator 120 can reduce the axial dimension. The drive device can better meet the requirements.

2 and 3 , in some embodiments, in the radial direction of the motor 100 , the rotor 110 is disposed outside the stator 120 , and the stator 120 is fixed on the outer sidewall of the motor base 400 . By placing the rotor 110 outside the stator 120, the motor 100 can have a larger output torque, and can better match some working components that require a larger output torque.

2 and 3 , in some embodiments, the reducer 200 selects a planetary reducer, including a sun gear 210 , a ring gear 220 and a plurality of planetary gears 230 . The sun gear 210 is a power input member of the reducer 200 . The ring gear 220 is located outside the sun gear 210 , a plurality of planetary gears 230 are arranged between the ring gear 220 and the sun gear 210 , and both the ring gear 220 and the sun gear 210 mesh with the planetary 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 selection of the reducer 200 is not limited to the planetary reducer, and other types of reducers are also possible. However, in this embodiment, selecting a planetary reducer with a simpler structure and a more mature manufacturing technology can simplify the structure of the entire driving device, reduce the weight of the driving device to a certain extent, and facilitate the lightweight design of the driving device.

2 and 3, in some embodiments, the reducer 200 further includes a planetary carrier, the planetary carrier is connected with the rotating shaft 211 of the sun gear 210 through the bearing, and the planetary carrier is connected with the planetary gear 230 through the bearing, and at the same time, the planetary carrier also The bearing is connected to the inner side wall of the motor base 400 , the outer frame 300 is fixedly connected to the motor base 400 by threaded fasteners, the ring gear 220 is fixed on the inner side wall of the motor base 400 , and the planet carrier is the power output of the reducer. Since the positions of the motor base 400 and the outer frame 300 are fixed, the axial displacement of the above-mentioned components such as the rotating shaft 211 of the sun gear 210 and the planetary gears 230 can be restricted. In the above structure, the sun gear 210 , the ring gear 220 and the planetary gears 230 are located at the same position in the axial direction, and the planetary carrier is also located within the height range of the motor base 400 and is covered by the motor 100 , so as to reduce the axial size as much as possible . For some small robots, such as footed robots, which need to move in a smaller space, the use of the above-mentioned driving device helps to further reduce the size of the robot, thereby improving the flexibility of its activities.

In some embodiments, specifically, the planet carrier includes a reducer top cover 240 and a reducer bottom cover 250, which are connected by threaded fasteners, and the reducer top cover 240 is located on the sun gear 210, the ring gear 220 and the planetary gear 230. The bottom cover 250 of the reducer is located at the bottom of the sun gear 210 , the ring gear 220 and the planetary gear 230 . The top cover 240 of the reducer, the bottom cover 250 of the reducer and the outer frame 300 are all connected with the rotating shaft 211 of the sun gear 210 through bearings. The planetary gear 230 is connected with the top cover 240 of the reducer and the bottom cover 250 of the reducer through bearings. The top cover 240 of the reducer and the bottom cover 250 of the reducer are connected to the inner side wall of the motor base 400 through bearings. Disposing the speed reducer top cover 240 and the speed reducer bottom cover 250 on both sides of the above-mentioned multiple gears can further improve the stability of the structure and make the power output of the speed reducer more stable.

2 and 3 , in some embodiments, an outer frame 300 is provided outside the motor 100 , and the outer frame 300 can protect the motor 100 and prevent external components from colliding with the motor 100 and the reducer 200 and damaging them. The outer frame 300 is provided with a plurality of hollow parts, which can save material and reduce the weight of the entire driving device. Further, the outer frame 300 is provided with a plurality of triangular hollow parts 310, which is not only beneficial to the lightweight of the driving device, but also the higher stability of the triangle can improve the torsional strength of the outer frame 300 and enhance its structural stability. It is not easy to deform when encountering a collision. In addition, the above-mentioned triangular hollow portions 310 need to be evenly distributed on the outer frame 300 to ensure that each area of the outer frame 300 can be evenly stressed when encountering a collision.

2 and 3 , in some embodiments, the driving device further includes a driving board 500 , the driving board 500 is fixed on the end of the outer frame 300 , and the driving board 500 is used to control the rotation of the motor 100 . A magnetic encoder (not shown in the figure) is provided at the center of the side of the drive plate 500 in contact with the outer frame 300 , the interior of the rotating shaft 211 of the sun gear 210 is hollow, and a groove 2111 is provided at the top to form a step hole. A magnetic steel sheet is arranged in the groove 2111. 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 this time. In addition, a blocking member is also provided 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 above-mentioned blocking member can be made of epoxy resin, of course, other similar materials can also be used. In addition, in order to improve the induction accuracy of the magnetic sensor, the distance between the magnetic encoder and the magnetic steel sheet cannot exceed 2mm.

In some embodiments, the rotor 110 adopts surface-mounted magnetic poles, which can reduce reluctance loss and reduce output torque fluctuation compared with in-line magnetic poles. Specifically, the rotor 110 includes rotor magnetic poles, and the rotor magnetic poles are directly pasted on the surface of the rotor 110 . In addition, the rotor 110 adopts the arrangement of multiple pairs of poles to make the output position and torque more accurate.

In some embodiments, the stator 120 includes a stator core and stator windings, and the stator windings are wound on the surface of the stator core. The stator windings are connected in parallel with multiple strands of thin copper wires to reduce the skin effect of the stator windings and the heat generation of the motor 100, so that natural cooling can meet the heat dissipation requirements, and the use of fans is avoided to increase the overall size.

In some embodiments, a device is also provided, which includes the above-mentioned driving device, and also includes a working part, and the working part can rotate under the driving of the driving device.

In some embodiments, the aforementioned work element is a footed robot. A footed robot usually requires a compact structure and a small size. The use of the above driving device can reduce the size of the driving components as much as possible, which is beneficial to reduce the overall size of the footed robot. In addition, referring to FIG. 1 , since the surface of the footed robot is mostly protruding parts, a plurality of concave parts 251 are also provided on the bottom cover 250 of the reducer. When the driving device is applied to the footed robot, the footed robot The protruding parts on the surface can protrude into the inner concave portion 251 to make the gap between the driving device and the footed robot smaller, and further reduce the overall size of the footed robot.

The following provides a set of specific structural parameters when the above-mentioned driving device is applied to a footed robot:

The rotor adopts 36N42P multi-pair magnetic pole arrangement to improve the accuracy of torque and position control, and to meet the high requirements of the footed robot for torque and position output accuracy. In this scheme, a single-stage planetary gear reducer is used, and the reduction ratio is 6.27:1. The sun gear 210, the ring gear 220 and the planetary gear 230 are made of carbon steel, and the top cover 240 of the reducer and the motor base 400 are made of aluminum alloy. Thrust bearings are used between the top cover 240 of the reducer, the bottom cover 250 of the reducer and the motor base 400, and deep groove ball bearings are used in other positions.

The embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned embodiments, and within the scope of knowledge possessed by those of ordinary skill in the art, various kind of change. Furthermore, the embodiments of the present invention and features in 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.

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