CN111953133A - Drives and Equipment - Google Patents

Drives and Equipment Download PDF

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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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China
Prior art keywords
motor
rotor
driving device
reducer
gear
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张巍
李晟皋
王泽�
谌骅
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Shenzhen Nanke Jia'an Robot Technology Co ltd
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Southern University of Science and Technology
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Priority to CN202010636542.3A priority Critical patent/CN111953133A/en
Publication of CN111953133A publication Critical patent/CN111953133A/en
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02KDYNAMO-ELECTRIC MACHINES
    • H02K7/00Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02KDYNAMO-ELECTRIC MACHINES
    • H02K11/00Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/21Devices for sensing speed or position, or actuated thereby
    • H02K11/215Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02KDYNAMO-ELECTRIC MACHINES
    • H02K7/00Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/14Structural 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

本发明公开了一种驱动装置与设备,驱动装置包括:电机,包括动力输出件与电机底座,所述电机底座限定出容纳腔体;减速器,包括动力输入件,所述动力输出件与所述动力输入件连接,所述减速器位于所述容纳腔体内。设备包括上述的驱动装置,还包括工作部件,所述工作部件能够在所述驱动装置的驱动下转动,所述驱动装置上设有内凹部,所述工作部件上设有凸出部,所述凸出部伸入所述内凹部内。本发明中,将减速器内置于电机内部,能够减小驱动装置的轴向尺寸,占用空间更小,从而减小使用该驱动装置的设备的尺寸,有利于设备的小型化设计。

Figure 202010636542

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.

Figure 202010636542

Description

驱动装置与设备Drives and Equipment

技术领域technical field

本发明涉及驱动技术领域,尤其是涉及一种驱动装置与设备。The present invention relates to the field of driving technology, and in particular, to a driving device and equipment.

背景技术Background technique

在各种通过电能提供驱动力的设备中,都会设置电机。通常,为了获得较高的输出转矩,会采用电机与减速器相结合的方式,在电机的输出端连接减速器,减速器的输出端连接工作部件。但是,常规的结构中,电机与减速器的整体尺寸较大,需要占用较大的空间,从而增加整个设备的尺寸,不利于设备的小型化设计。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.

发明内容SUMMARY OF THE INVENTION

本发明旨在至少解决现有技术中存在的技术问题之一。为此,本发明提出一种驱动装置,该驱动装置的轴向尺寸较小,一定程度上能减小占用空间,从而减小包括该驱动装置的设备的尺寸,有利于设备的小型化设计。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.

本发明还提出一种设备,该设备中的驱动装置的轴向尺寸较小,一定程度上能减小占用空间,从而减小设备的尺寸,有利于设备的小型化设计。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.

第一方面,本发明的一个实施例提供了驱动装置,包括:In a first aspect, an embodiment of the present invention provides a drive device, including:

电机,包括动力输出件与电机底座,所述电机底座限定出容纳腔体;a motor, including a power output member and a motor base, the motor base defines a accommodating cavity;

减速器,包括动力输入件,所述动力输出件与所述动力输入件连接,所述减速器位于所述容纳腔体内。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.

本发明实施例的驱动装置至少具有如下有益效果:将减速器置于电机内部的容纳腔体内,能够减小驱动装置的轴向尺寸,占用空间更小,从而减小使用该驱动装置的设备的尺寸,有利于设备的小型化设计。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.

根据本发明的另一些实施例的驱动装置,所述电机包括转子与定子,所述转子为所述动力输出件,所述转子与所述定子沿所述电机的径向排布,且所述转子与所述定子同心。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.

根据本发明的另一些实施例的驱动装置,在所述电机的径向方向上,所述定子位于所述转子的内部。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.

根据本发明的另一些实施例的驱动装置,所述减速器包括太阳齿轮、齿圈与多个行星齿轮,所述太阳齿轮为所述动力输入件,所述齿圈位于所述太阳齿轮的外部,多个所述行星齿轮位于所述太阳齿轮与所述齿圈之间,且所述齿圈、所述太阳齿轮均与所述行星齿轮啮合,所述转子与所述太阳齿轮的转动轴连接。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 .

根据本发明的另一些实施例的驱动装置,所述减速器还包括行星架,所述行星架通过轴承与所述行星齿轮连接,所述行星架通过轴承与所述转动轴连接,所述行星架通过轴承与所述电机底座连接,所述齿圈与所述电机底座固定连接。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.

根据本发明的另一些实施例的驱动装置,所述行星架包括减速器顶盖与减速器底盖,在所述行星齿轮的轴向上,所述减速器顶盖与所述减速器底盖分别位于所述行星齿轮的两侧。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.

根据本发明的另一些实施例的驱动装置,还包括驱动板,所述驱动板位于所述电机的端部,所述驱动板上设有磁编码器,所述转动轴上设有磁性件,且所述磁性件与所述转动轴间设有阻隔件,所述磁性件与所述磁编码器的位置对应,所述磁编码器用于感应所述磁性件的磁极位置。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.

根据本发明的另一些实施例的驱动装置,所述转子包括转子磁极,所述转子磁极位于所述转子的表面。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.

根据本发明的另一些实施例的驱动装置,还包括外框,所述外框位于所述电机的外部,且所述外框上设有三角形镂空部。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.

第二方面,本发明的一个实施例提供了设备,包括上述的驱动装置,还包括工作部件,所述工作部件能够在所述驱动装置的驱动下转动,所述驱动装置上设有内凹部,所述工作部件上设有凸出部,所述凸出部伸入所述内凹部内。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.

本发明实施例的设备至少具有如下有益效果:该设备的驱动装置中,将减速器置于电机内部的容纳腔体内,能够减小驱动装置的轴向尺寸,占用空间更小,从而减小该设备的尺寸,有利于设备的小型化设计,且驱动装置与工作部件的凹凸配合能够进一步减小轴向尺寸,连接也更稳定。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.

附图说明Description of drawings

图1是图1中驱动装置的结构示意图;Fig. 1 is the structural representation of the drive device in Fig. 1;

图2是图1中驱动装置的爆炸图(省略部分部件);FIG. 2 is an exploded view of the drive device in FIG. 1 (some parts are omitted);

图3是图1中驱动装置的剖视图(省略了驱动板等部件)。FIG. 3 is a cross-sectional view of the drive device in FIG. 1 (parts such as a drive plate are omitted).

附图标记:Reference number:

电机100、转子110、定子120、减速器200、太阳齿轮210、转动轴211、凹槽2111、齿圈220、行星齿轮230、减速器顶盖240、减速器底盖250、内凹部251、外框300、三角形镂空部310、电机底座400、驱动板500。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 .

具体实施方式Detailed ways

以下将结合实施例对本发明的构思及产生的技术效果进行清楚、完整地描述,以充分地理解本发明的目的、特征和效果。显然,所描述的实施例只是本发明的一部分实施例,而不是全部实施例,基于本发明的实施例,本领域的技术人员在不付出创造性劳动的前提下所获得的其他实施例,均属于本发明保护的范围。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.

在本发明实施例的描述中,如果涉及到方位描述,例如“上”、“下”、“前”、“后”、“左”、“右”等指示的方位或位置关系为基于附图所示的方位或位置关系,仅是为了便于描述本发明和简化描述,而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作,因此不能理解为对本发明的限制。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.

在本发明实施例的描述中,如果某一特征被称为“设置”、“固定”、“连接”、“安装”在另一个特征,它可以直接设置、固定、连接在另一个特征上,也可以间接地设置、固定、连接、安装在另一个特征上。在本发明实施例的描述中,如果涉及到“若干”,其含义是一个以上,如果涉及到“多个”,其含义是两个以上,如果涉及到“大于”、“小于”、“超过”,均应理解为不包括本数,如果涉及到“以上”、“以下”、“以内”,均应理解为包括本数。如果涉及到“第一”、“第二”,应当理解为用于区分技术特征,而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量或者隐含指明所指示的技术特征的先后关系。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.

参照图1至图3,本实施例中的驱动装置包括电机100与减速器200等部件。电机100包括电机底座400,电机底座400的内部限定出一个容纳腔体,减速器200置于该容纳腔体内。电机100的动力输出件与减速器200的动力输入件连接,电机100通过减速器200进行减速,并增大输出转矩后驱动工作部件转动。沿电机100的输出轴方向上,减速器200不超出电机100的端部,即减速器200的所有部件均被电机100罩住。常规的驱动装置中,减速器与电机通常沿电机的轴向排列布置,整个驱动装置的轴向尺寸较大。与常规的驱动装置相比,本实施例中将减速器200完全置于电机100的内部可以减小驱动装置沿轴向的尺寸,减小其占用空间,从而减小使用该驱动装置的设备的尺寸,有利于设备的小型化设计。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.

在一些实施例中,电机100包括转子110与定子120,转子110为电机100的动力输出件。转子110与定子120沿电机100的径向排布,且转子110与定子120同心。与轴向排布等其他方式相比,将转子110与定子120径向排布可以减小轴向尺寸,在一些对驱动装置的轴向尺寸有限制的使用环境中,使用本实施例中的驱动装置便能较好的满足要求。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.

参照图2与图3,在一些实施例中,在电机100的径向方向上,转子110设于定子120的外部,定子120固定于电机底座400的外侧壁上。将转子110置于定子120的外部,可以使电机100具有更大的输出转矩,能更好的匹配一些需要较大输出转矩的工作部件。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.

参照图2与图3,在一些实施例中,减速器200选用行星减速器,包括太阳齿轮210、齿圈220及多个行星齿轮230,太阳齿轮210为减速器200的动力输入件。齿圈220位于太阳齿轮210的外部,齿圈220与太阳齿轮210之间设有多个行星齿轮230,且齿圈220、太阳齿轮210均与行星齿轮230啮合。转子110套设于太阳齿轮210上,太阳齿轮210可随转子110同步转动。减速器200的选择不限于行星减速器,其他类型的减速器亦可。但本实施例中,选用结构较简单、制造技术较成熟的行星减速器可以简化整个驱动装置的结构,一定程度上能减轻驱动装置的重量,有利于驱动装置的轻量化设计。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.

参照图2与3,在一些实施例中,减速器200还包括行星架,行星架通过轴承与太阳齿轮210的转动轴211连接,且行星架通过轴承与行星齿轮230连接,同时,行星架还通过轴承与电机底座400的内侧壁连接,外框300与电机底座400通过螺纹紧固件固定连接,齿圈220固定于电机底座400的内侧壁上,行星架为减速器的动力输出件。由于电机底座400与外框300的位置固定,因此,可以限制上述的太阳齿轮210的转动轴211与行星齿轮230等部件的轴向位移。在上述结构中,太阳齿轮210、齿圈220及行星齿轮230在轴向位于同一位置,且行星架也位于电机底座400的高度范围内,并被电机100罩住,从而尽量减小轴向尺寸。对于一些小型机器人,例如足式机器人,需要在较小尺寸的空间内进行活动,使用上述的驱动装置有助于将机器人的尺寸进一步缩小,从而提高其活动的灵活性。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.

在一些实施例中,具体的,行星架包括减速器顶盖240与减速器底盖250,二者通过螺纹紧固件连接,减速器顶盖240位于太阳齿轮210、齿圈220及行星齿轮230的顶部,减速器底盖250位于太阳齿轮210、齿圈220及行星齿轮230的底部。减速器顶盖240、减速器底盖250与外框300均通过轴承与太阳齿轮210的转动轴211连接。行星齿轮230与减速器顶盖240、减速器底盖250间均通过轴承连接。减速器顶盖240、减速器底盖250均通过轴承与电机底座400的内侧壁连接。在上述多个齿轮的两侧分别设置减速器顶盖240与减速器底盖250可以进一步提高结构的稳定性,使减速器动力输出更加稳定。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.

参照图2与3,在一些实施例中,在电机100的外部设有外框300,外框300能够对电机100进行保护,防止外部部件碰撞电机100与减速器200而将其损坏。外框300上设有多个镂空部,能够节省材料,减轻整个驱动装置的重量。进一步的,外框300上设有多个三角形镂空部310,不仅有利于驱动装置的轻量化,且三角形较高的稳定性还能提高外框300的抗扭强度,增强其结构稳定性,当遭遇碰撞时不易发生变形。另外,上述的三角形镂空部310需要均匀分布于外框300上,以保证遭遇碰撞时外框300各区域能够受力均匀。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.

参照图2与3,在一些实施例中,驱动装置还包括驱动板500,驱动板500固定于外框300的端部,驱动板500用于控制电机100的转动。驱动板500上与外框300接触的一面的中心位置处设有磁编码器(图中未示出),太阳齿轮210的转动轴211的内部中空,且顶部设有凹槽2111,以形成台阶孔。在该凹槽2111内设有磁钢片,当磁钢片随转动轴211同步转动时,磁编码器能够感应到磁钢片的磁极位置,以获得转子110此时的位置参数。且磁钢片与转动轴211之间还设有阻隔件,以免电机100的磁场对磁钢片造成影响。上述的阻隔件可以选用环氧树脂材质,当然,其他类似材质亦可。另外,为了提高磁感应器感应的准确性,磁编码器与磁钢片间的距离不能超过2mm。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.

在一些实施例中,转子110采用表贴式磁极,与内嵌式磁极相比,可以减小磁阻损耗,并减小输出转矩的波动。具体的,转子110包括转子磁极,转子磁极直接粘贴于转子110的表面上。另外,转子110选用多对极磁极布置方式,以使输出位置与转矩更加准确。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.

在一些实施例中,定子120包括定子铁芯与定子绕组,定子绕组缠绕于定子铁芯的表面。定子绕组采用多股细铜丝并联的方式,以减缓定子绕组的趋肤效应和电机100的发热,使得自然冷却便能满足散热需求,避免使用风扇而增加整体尺寸。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.

在一些实施例中,还提供了一种设备,该设备包括上述的驱动装置,还包括工作部件,工作部件能够在驱动装置的驱动下进行转动。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.

在一些实施例中,上述的工作部件为足式机器人。足式机器人通常要求结构紧凑,尺寸较小,使用上述的驱动装置则可以尽量减小驱动部件的尺寸,有利于缩减足式机器人的整体尺寸。另外,参照图1,由于足式机器人表面多为凸出的部件,因此,在减速器底盖250上还设有多个内凹部251,将驱动装置应用于足式机器人上时,足式机器人表面的凸出部件可以伸入内凹部251内,以使驱动装置与足式机器人间的间隙更小,进一步减小足式机器人的整体尺寸。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.

下面提供一组上述的驱动装置应用于足式机器人时的具体结构参数:The following provides a set of specific structural parameters when the above-mentioned driving device is applied to a footed robot:

转子选用36N42P的多对极磁极布置方式,以提高转矩与位置控制的精确度,满足足式机器人对于转矩与位置输出精度要求较高的需求。本方案中采用单级行星齿轮减速器,减速比为6.27:1。太阳齿轮210、齿圈220及行星齿轮230选用碳钢材质,减速器顶盖240与电机底座400选用铝合金材质。减速器顶盖240、减速器底盖250与电机底座400间使用推力轴承,其他位置使用深沟球轴承。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.

上面结合附图对本发明实施例作了详细说明,但是本发明不限于上述实施例,在所属技术领域普通技术人员所具备的知识范围内,还可以在不脱离本发明宗旨的前提下做出各种变化。此外,在不冲突的情况下,本发明的实施例及实施例中的特征可以相互组合。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.
CN202010636542.3A 2020-07-03 2020-07-03 Drives and Equipment Pending CN111953133A (en)

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