CN113644783A

CN113644783A - Drive device

Info

Publication number: CN113644783A
Application number: CN202110830297.4A
Authority: CN
Inventors: 林楚辉; 林建洪
Original assignee: Guangdong Jinba Intelligent Technology Co ltd
Current assignee: Guangdong Jinba Intelligent Technology Co ltd
Priority date: 2021-07-22
Filing date: 2021-07-22
Publication date: 2021-11-12
Anticipated expiration: 2041-07-22
Also published as: CN113644783B

Abstract

The invention provides a driving device, which comprises a motor and a planetary gear box, wherein the planetary gear box comprises a sun gear, a planetary gear carrier, a plurality of planetary gears and an inner gear ring; the motor comprises a stator and a rotor, and the middle part of the stator is provided with an accommodating cavity which is inwards concave along the motor shaft; the planet wheel carrier comprises a first wheel carrier and a second wheel carrier, and the first wheel carrier and the second wheel carrier are respectively positioned at the top end and the bottom end of the accommodating cavity; each planet wheel is located between and rotatably mounted to a first wheel carrier and a second wheel carrier; the inner gear ring is fixed to the accommodating cavity, and a central shaft of the sun gear axially penetrates through the accommodating cavity along a motor and is fixed with the rotating center of the rotor; the planetary gear box does not protrude out of the axial end face of the motor stator, or the height of the planetary gear box protruding out of the axial end face of the motor stator is smaller than one third of the axial height of the planetary gear carrier. The invention reduces the volume of the driving device.

Description

Drive device

[ technical field ] A method for producing a semiconductor device

The invention relates to the technical field of driving devices, in particular to a driving device with a motor and a planetary gear box.

[ background of the invention ]

Existing drives typically include a motor and a reduction gearbox. The driving device has large volume, and is difficult to be applied to occasions with more limitation on the volume, such as joints of a robot. Therefore, a driving device with a compact structure is needed.

[ summary of the invention ]

It is an object of the present invention to reduce the size of the drive device.

In order to achieve the above object, the present invention provides a driving device, comprising a motor and a planetary gear box, wherein the planetary gear box comprises a sun gear, a planet gear carrier, a plurality of planet gears and an inner gear ring; the motor comprises a stator and a rotor, and the middle part of the stator is provided with an accommodating cavity which is inwards concave along the motor shaft; the planet wheel carrier comprises a first wheel carrier and a second wheel carrier, and the first wheel carrier and the second wheel carrier are respectively positioned at the top end and the bottom end of the accommodating cavity; each planet wheel is located between and rotatably mounted to a first wheel carrier and a second wheel carrier; the inner gear ring is fixed to the accommodating cavity, the sun gear is surrounded by the plurality of planet gears, and a central shaft of the sun gear axially penetrates through the accommodating cavity along a motor and is fixed with the rotating center of the rotor, so that the sun gear and the rotor synchronously rotate; the planetary gear box does not protrude out of the axial end face of the motor stator, or is basically flush with the axial end face of the motor stator, or the height of the planetary gear box protruding out of the axial end face of the motor stator is less than one third of the axial height from the first wheel carrier to the second wheel carrier.

In one embodiment of the invention, the reduction ratio of the planetary gearbox is 15:1 to 60: 1.

In one embodiment of the present invention, the first wheel frame and the second wheel frame are fixedly connected as a whole to perform synchronous rotation.

In one embodiment of the invention, the stator is directly or indirectly roll-supported by the central shaft, enabling the sun gear and rotor to rotate relative to the stator.

In one embodiment of the invention, the stator comprises an annular magnetic yoke, stator teeth extending outwards from the annular magnetic yoke, and a stator winding wound on the stator teeth, wherein the annular magnetic yoke forms the accommodating cavity and is fixed with the inner gear ring; the rotor comprises an annular iron core, a permanent magnet and a rotor bracket; the annular iron core surrounds the radial outer side of the annular magnetic yoke and at least partially overlaps the annular magnetic yoke in the motor axial direction; the permanent magnets are fixed to the inner wall of the annular iron core, and air gaps exist between the permanent magnets and the stator teeth; the central part of the rotor bracket is fixed with the central shaft of the sun gear, and the outer end of the rotor bracket is connected to the annular iron core.

In one embodiment of the present invention, the stator includes an upper case and a lower case, and the annular yoke and the annular core are accommodated in a space surrounded by the upper case and the lower case; the middle part of the lower shell is used for supporting the central part of the rotor bracket in a rolling way; the annular magnet yoke and the inner gear ring are fixed to the inner wall of the upper shell, and the upper shell supports the central shaft of the sun gear in a rolling mode.

In one embodiment of the invention, a first end of the central shaft of the sun gear is fixed to the central portion of the rotor holder, and a second end is supported by the upper casing in a rolling manner through the planetary carrier.

In one embodiment of the present invention, the central axis of the sun gear is respectively supported by a first bearing, a second bearing, and a third bearing from a first end to a second end, the first bearing being mounted to the center of the lower case, the second bearing being mounted to the center of the second carrier, and the third bearing being mounted to the center of the first carrier.

In one embodiment of the present invention, the outer side of the second carrier is supported by a fourth bearing, the outer side of the first carrier is supported by a fifth bearing, and the fourth bearing and the fifth bearing are mounted to the upper case, the ring yoke, or the ring gear.

In one embodiment of the invention, the rotor support comprises an outer support and an inner support, the central part of the inner support is fixedly connected with the central shaft of the sun gear, and the outer support is in a planar annular shape and is connected between the inner support and the rotor iron core.

By implementing the invention, the planetary gear box of the driving device can be flush with the motor stator, the structure is compact, and the volume is reduced.

[ description of the drawings ]

Fig. 1 is a schematic view of a driving apparatus according to an embodiment of the present invention;

FIG. 2 is a side schematic view of the drive assembly of FIG. 1;

FIG. 3 is a cross-sectional view of the drive assembly of FIG. 2 taken along plane A-A;

FIG. 4 is a schematic view of the drive unit of FIG. 1 with the upper housing removed, showing the top structure of the drive unit;

FIG. 5 is a schematic view of the driving apparatus shown in FIG. 4 with a lower case removed, showing a bottom structure of the driving apparatus;

FIG. 6 is a schematic view of a sun gear and an inner support of a rotor used in the drive of FIG. 5;

FIG. 7 is a schematic view of the drive of FIG. 5 with the sun gear and rotor removed, showing the top structure of the remaining components (stator and a portion of the planetary gearbox);

FIG. 8 shows a bottom structure of the assembly of FIG. 7;

FIG. 9 is a schematic view of the assembly of FIG. 7 with the first wheel carrier removed, showing the internal structure of the planetary gearbox;

fig. 10 and 11 are schematic views of a first carrier and a second carrier, respectively, of a planetary gear box used in the driving apparatus shown in fig. 1.

[ detailed description ] embodiments

The invention is further described below with reference to the figures and examples.

Referring to fig. 1, in one embodiment of the present invention, a driving apparatus 100 is provided that includes a housing formed of an upper case 11 and a lower case 13, a motor and a planetary gear box mounted in the housing. The planetary gear box decelerates the output of the motor, and then drives the motor to the outside through a planetary carrier (first carrier 31). A terminal or cable 15 extends from the lower case 13 for connection to an external power source to supply power to the drive device 100.

Referring to fig. 1 and 2, the drive device 100 is a flat cylinder, and the planetary gearbox and its first carrier 31 are substantially flush with the housing. This design improves the compactness of the drive device 100. In this embodiment, the upper case 11 is cylindrical, the lower case 13 is planar, and the outer edge of the lower case 13 is fixed to the annular wall of the upper case 11 by a fastener 14 (see fig. 4), such as a screw.

Referring to fig. 2 to 11, the planetary gear box includes a sun gear 21, a plurality of planet gears 23, an inner gear 27, and a planet carrier composed of a first carrier 31 and a second carrier 33. The sun gear 21 is accommodated in the ring gear 27 and surrounded by the ring gear 27. A plurality of planet wheels 23 surround the sun wheel 21 and are surrounded by an inner gear ring 27, and the planet wheels 23 are meshed with the sun wheel 21 and the inner gear ring 27 simultaneously. The first carrier 31 and the second carrier 33 are located at both axial ends of the planetary wheels 23, respectively, and each planetary wheel 23 is rotatably mounted to the first carrier 31 and the second carrier 33 and located between the first carrier 31 and the second carrier 33. In the present embodiment, the planetary gears 23 are mounted to the corresponding planetary shafts 25, and both ends of the planetary shafts 25 are mounted to the first carrier 31 and the second carrier 33, respectively. In this way, when the sun gear 21 rotates, the planet gears 23 are driven to revolve around the sun gear 21, and the first and

second carriers

31 and 33 are driven to rotate.

The motor includes a stator and a rotor. The middle part of the stator is provided with an accommodating cavity which is inwards concave along the motor shaft, and the planetary gear box is at least partially arranged in the accommodating cavity, so that the planetary gear box is at least partially overlapped with the stator in the motor shaft direction. In this embodiment, the stator includes an annular yoke 51, stator teeth 53 extending outward from the annular yoke 51, and a stator winding 55 wound around the stator teeth 53. A slot is formed between adjacent stator teeth 53 and the stator winding 55 partially falls into the corresponding slot. The annular yoke 51 forms the above-described housing cavity to which the ring gear 27 is fixed. The annular magnetic yoke 51, the inner gear ring 27 and the upper shell 11 are fixed together.

The rotor includes a ring-shaped iron core 71, a permanent magnet 72 mounted to an inner wall of the ring-shaped iron core 71, and a rotor bracket connecting the ring-shaped iron core 71 to a central shaft of the sun gear 21, and a central portion 77 of the rotor bracket is fixedly fitted to the central shaft of the sun gear 21 to achieve synchronous rotation, that is, to directly drive the sun gear 21 through the rotor. The annular core 71 surrounds the annular yoke 51 radially outward, and at least partially overlaps the annular yoke 51 in the motor axial direction. An air gap exists between permanent magnets 72 and stator teeth 53 to enable the rotor to rotate relative to the stator. In this embodiment, the permanent magnet 72 is composed of a plurality of permanent magnets of sintered neodymium iron boron, the plurality of permanent magnets are uniformly distributed along the circumferential direction of the rotor core 71, and each permanent magnet forms one pole of the rotor. The permanent magnet block can improve the working temperature resistance of the permanent magnet.

Preferably, the number of stator slots is 36 or 48 and the number of poles of the rotor is 24 or 46. The slot pole matching has higher efficiency.

The spider comprises a removable outer spider 74 and an inner spider 75. The inner bracket 75 has a circular planar shape, and a central portion 77 is fixedly fitted around the central axis of the sun gear 21. The outer support 74 is a planar ring-shaped member and is connected between the inner support 75 and the rotor core 71. The rotor support is formed by the detachable outer support 74 and the detachable inner support 75, so that the assembly of products is facilitated, and the production efficiency is improved.

In the present embodiment, as shown in fig. 5 and 6, the central portion 77 of the inner support 75 is cylindrical and is fixedly fitted around the central axis of the sun gear 21. The inner bracket 75 includes a plurality of first spokes extending outwardly from the central portion 77, and a first outer ring body connected to outer ends of the plurality of first spokes. And the outer support 77 includes a first inner ring, a plurality of second spokes extending outwardly from the first inner ring, and a second outer ring connected to outer ends of the plurality of second spokes. The first inner ring body is overlapped with the first outer ring body, and the first inner ring body and the first outer ring body are detachably connected through fasteners such as screws. The second outer ring body is fixedly connected with the annular iron core 71.

As shown in fig. 3, a first end of the central shaft of the sun gear 21 passes through the receiving cavity formed by the annular yoke 51 in the motor axial direction and is fixed to the central portion 77 of the rotor inner bracket 75, so that the sun gear 21 and the rotor rotate synchronously. The center portion 77 is supported on both sides of the inner bracket 75 by a first bearing 81 and a second bearing 83, respectively, the first bearing 81 being attached to the center of the lower case 13, and the second bearing 83 being attached to the center of the second wheel frame 33. The second end of the central shaft of the sun gear 21 is supported by a third bearing 85 in rolling contact, and the third bearing 85 is mounted to the center of the first carrier 31.

The outer side of the second carrier 31 is supported by a fourth bearing 87, and the outer side of the first carrier 31 is supported by a fifth bearing 89. The fourth bearing 87 and the fifth bearing 89 may be mounted to the annular yoke 51 and the upper case 11, respectively. Understandably, since the ring yoke 51, the upper case 11 and the ring gear 27 are fixed together, the fourth bearing 87 and the fifth bearing 89 can be mounted on one or both or three of them to obtain similar effects. Preferably, the annular yoke 51 supports the fourth bearing 87 together with the inner ring gear 27, and the inner ring gear 27 supports the fifth bearing 89 together with the upper case 11, so as to reinforce the concentricity of the annular yoke 51, the inner ring gear 27, and the upper case 11.

Referring to fig. 9 to 11, the first carrier 31 and the second carrier 33 are fixedly connected to form a unitary planetary carrier for synchronous rotation. Specifically, the first wheel frame 31 is ring-shaped and includes a ring-shaped main body 3301. The second wheel frame 33 includes a ring-shaped body 3301, and a plurality of support portions 3304 located on one end surface of the ring-shaped body 3301. When assembled, the support 3304 abuts against the ring-shaped body 3301 of the first wheel frame 31. Preferably, the support 3304 is provided with a connecting hole 3305, and the ring-shaped body 3301 of the first wheel frame 31 is also provided with a connecting hole 3105 at a corresponding position, both of which are positioned and connected by an axial pin 3306. Further, the outer side of the support part 3304 is provided with an arc-shaped flange 3307, and the annular main body 3301 of the first wheel carrier 31 is recessed in the corresponding position to form a positioning step 317, and the arc-shaped flange 3307 and the positioning step 317 cooperate to enhance the coaxiality of the two.

The plurality of support portions 3304 are spaced apart from each other in the circumferential direction of the ring-shaped body 3301, and spaces for accommodating the planetary gears 23 are formed between adjacent support portions 3304. Specifically, the annular body 3301 of the first carrier 31 and the annular body 3301 of the second carrier 33 are provided with

shaft holes

3103 and 3303, respectively, at positions offset from the support 3304, and both ends of the planetary shafts 25 of the planetary gears 22 are mounted to the shaft holes 3103 and 3303, respectively.

In this embodiment, the receiving cavity is provided in the middle of the stator for mounting the planetary gear box, which is substantially flush with the axial end face of the motor stator, thereby obtaining a very compact, flat drive. In an alternative embodiment, the planetary gearbox does not protrude beyond the axial end face of the motor stator. In another alternative embodiment, the planetary gear box protrudes slightly beyond the axial end face of the motor stator, however, by less than one third, preferably not more than one quarter, of the axial height of the first carrier 31 to the second carrier 33.

Preferably, the reduction ratio of the planetary gearbox is 15:1 to 60: 1.

The above examples merely represent preferred embodiments of the present invention, which are described in more detail and detail, but are not to be construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications, such as combinations of different features in various embodiments, may be made without departing from the spirit of the invention, and these are within the scope of the invention.

Claims

1. A driving device comprises a motor and a planetary gear box, wherein the planetary gear box comprises a sun gear, a planetary gear carrier, a plurality of planetary gears and an inner gear ring; the planet wheel carrier comprises a first wheel carrier and a second wheel carrier, and the first wheel carrier and the second wheel carrier are respectively positioned at the top end and the bottom end of the accommodating cavity; each planet wheel is located between and rotatably mounted to a first wheel carrier and a second wheel carrier; the inner gear ring is fixed to the accommodating cavity, the sun gear is surrounded by the plurality of planet gears, and a central shaft of the sun gear axially penetrates through the accommodating cavity along a motor and is fixed with the rotating center of the rotor, so that the sun gear and the rotor synchronously rotate; the planetary gear box does not protrude out of the axial end face of the motor stator, or is basically flush with the axial end face of the motor stator, or the height of the planetary gear box protruding out of the axial end face of the motor stator is less than one third of the axial height from the first wheel carrier to the second wheel carrier.

2. The drive of claim 1, wherein the planetary gearbox has a reduction ratio of 15:1 to 60: 1.

3. The drive of claim 1, wherein the first and second wheel frames are fixedly connected as a unit for synchronous rotation.

4. The drive of claim 1, wherein the stator is directly or indirectly rollingly supported by the central shaft such that the sun gear and rotor are rotatable relative to the stator.

5. The driving device according to claim 4, wherein the stator comprises an annular magnetic yoke, stator teeth extending outwards from the annular magnetic yoke, and a stator winding wound on the stator teeth, wherein the annular magnetic yoke forms the accommodating cavity and is fixed with the inner gear ring; the rotor comprises an annular iron core, a permanent magnet and a rotor bracket; the annular iron core surrounds the radial outer side of the annular magnetic yoke and at least partially overlaps the annular magnetic yoke in the motor axial direction; the permanent magnets are fixed to the inner wall of the annular iron core, and air gaps exist between the permanent magnets and the stator teeth; the central part of the rotor bracket is fixed with the central shaft of the sun gear, and the outer end of the rotor bracket is connected to the annular iron core.

6. The drive device according to claim 5, wherein the stator includes an upper case and a lower case, and the annular yoke and the annular core are housed in a space surrounded by the upper case and the lower case; the middle part of the lower shell is used for supporting the central part of the rotor bracket in a rolling way; the annular magnet yoke and the inner gear ring are fixed to the inner wall of the upper shell, and the upper shell supports the central shaft of the sun gear in a rolling mode.

7. The drive of claim 6, wherein a first end of the central shaft of the sun gear is fixed to a central portion of the rotor carrier, and a second end is rollingly supported by the upper casing by the carrier.

8. The drive device according to claim 7, wherein the central shaft of the sun gear is rollingly supported from a first end to a second end by a first bearing, a second bearing, and a third bearing, respectively, the first bearing being mounted to a center of the lower case, the second bearing being mounted to a center of the second carrier, and the third bearing being mounted to a center of the first carrier.

9. The drive of claim 8, wherein the outside of the second wheel carrier is supported by a fourth bearing and the outside of the first wheel carrier is supported by a fifth bearing, the fourth and fifth bearings being mounted to the upper case, the ring yoke or the ring gear.

10. The drive of claim 5, wherein the rotor support comprises an outer support and an inner support, the inner support is fixedly connected with the central shaft of the sun gear at the central part, and the outer support is connected between the inner support and the rotor iron core in a planar ring shape.