CN206619962U - A kind of motor and the robot device including the motor - Google Patents
A kind of motor and the robot device including the motor Download PDFInfo
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- CN206619962U CN206619962U CN201621216917.6U CN201621216917U CN206619962U CN 206619962 U CN206619962 U CN 206619962U CN 201621216917 U CN201621216917 U CN 201621216917U CN 206619962 U CN206619962 U CN 206619962U
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- mover
- stator
- motor
- gap
- bushing
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- 239000000463 material Substances 0.000 claims description 27
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 claims description 16
- 239000003822 epoxy resin Substances 0.000 claims description 10
- 229920000647 polyepoxide Polymers 0.000 claims description 10
- 229910052759 nickel Inorganic materials 0.000 claims description 8
- 239000002184 metal Substances 0.000 claims description 5
- 229910052751 metal Inorganic materials 0.000 claims description 5
- 239000004809 Teflon Substances 0.000 claims description 4
- 229920006362 Teflon® Polymers 0.000 claims description 4
- 239000011248 coating agent Substances 0.000 claims description 4
- 238000000576 coating method Methods 0.000 claims description 4
- 238000007747 plating Methods 0.000 claims description 4
- 229910045601 alloy Inorganic materials 0.000 claims description 2
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- 238000010586 diagram Methods 0.000 description 6
- 238000005299 abrasion Methods 0.000 description 4
- 229910000967 As alloy Inorganic materials 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 238000009713 electroplating Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 239000004593 Epoxy Substances 0.000 description 1
- YCKRFDGAMUMZLT-UHFFFAOYSA-N Fluorine atom Chemical compound [F] YCKRFDGAMUMZLT-UHFFFAOYSA-N 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 239000011737 fluorine Substances 0.000 description 1
- 229910052731 fluorine Inorganic materials 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
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- 239000011347 resin Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Abstract
The utility model provides a kind of motor and the robot device including the motor, motor includes stator and mover assembly, there is gap between stator and mover, also include being arranged on and be used for the liner layer for limiting the gap between the stator and the mover opposite face, the thickness of the liner layer is slightly less than the gap.The utility model also provides corresponding robot device.The gap between stator and mover can be defined by simple structure using motor of the present utility model, so as to alleviate the weight of motor itself.
Description
Technical field
The utility model is related to technical field of motors, and in particular to a kind of motor and the robot device including the motor.
Background technology
In technical field of motors, motor can include the motor for exporting power and the generator for generating, two
Can be realized in some cases using same structure between person, by identical structure using different electrical connections and
The mode of mechanical connection, so as to realize the function of generator or motor respectively.
Fig. 5 is the axial cross-sectional views of the electric rotating machine of the utility model prior art.As shown in figure 5, motor includes
Mover 20 ' and stator 10 ', stator 10 ' are motionless, and mover 20 ' is moved, and the radius between mover 20 ' and stator 10 ' because of design is different
There is gap (gap refers to mover and stator to the distance between opposite) so that the opposite face of mover 20 ' and stator 10 ' it
Between formed air gap 30 ' (air gap refers to space empty between stator and mover opposite face), pass through on stator and/or mover set
Permanent magnet or Exciting Windings for Transverse Differential Protection, so that the gap between stator and mover forms magnetic gap, to prevent mover in motion process
Inconsistent change (such as mover deflects) occurs for intermediate gap, therefore leads in the stator 10 ' of motor and the two ends of mover 20 '
Cross 40 pairs of gaps therebetween of bearing to be defined, by the way of this restriction, can prevent mover in motion process
Inconsistent change occurs for gap length therebetween, sets end cap 51,52 at the two ends of stator 10 ' and mover 20 ', so
The axial direction of stator 10 ', mover 20 ', bearing 40 can be fixed.
Using it is this by bearing limited at the two ends of mover and stator mover and stator gap the disadvantage is that, a side
Face, the quality of aspect bearing itself is larger；On the other hand, it is typically only capable to using bearing arrangement to existing between mover and stator
0.5-1MM gap is defined, when needing to be defined gap smaller between mover and stator, it is difficult to ensure gap
Precision, therefore to add other machinery structure ensure bearing positional precision, due to bearing quality itself it is larger add its
The mechanical structure that it is aided in, therefore cause the complicated of whole motor, quality increase.
Utility model content
The utility model to solve the above problems, provide a kind of motor and the robot device including the motor, by
It is provided for limiting the liner layer in gap between stator and the opposite face of mover, the thickness of the liner layer is slightly less than gap, with
Ensure mover can relative stator motion so that motor can be limited the gap between stator and mover by simple structure
It is fixed, so as to alleviate the weight of motor itself.
The utility model first aspect provides a kind of motor, including stator and mover assembly, exists between stator and mover
Gap, in addition to be arranged on and be used for the liner layer for limiting the gap between the opposite face of the stator and the mover, it is described
The thickness of liner layer is slightly less than the gap.
Further, the liner layer is the first bushing of 1 entirety.
Further, first bushing includes corresponding to two sides of the stator and the mover respectively, one of them
Side is fixedly connected with the corresponding stator or the mover.
Further, the liner layer includes the second bushing that at least two is radially disposed in parallel in the gap.
Further, the wherein one side of 2 the second bushings positioned at both sides in second bushing is respectively fixedly connected with
The corresponding stator or the mover.
Further, the liner layer includes the 3rd bushing that at least two distribution is arranged in the gap.
Further, each 3rd bushing includes corresponding to two sides of stator and mover, one of side respectively
It is fixedly connected with corresponding stator or mover.
Further, the liner layer, the first bushing, the second bushing, the 3rd bushing include but is not limited to：Teflon, epoxy
Any one in resin, nickel, surface coating epoxy resin, the metal or alloy of electrodepositable or combination.
Further, it is described to be fixedly connected including but not limited to：Bonding, plating, clamping, it is fixedly connected by fixture.
The utility model second aspect provides a kind of robot device, and the equipment includes the electricity described in any of the above one
Machine, the equipment includes but is not limited to industrial robot.
Therefore, the utility model provides a kind of motor, by setting bushing between the stator and the mover
Layer, the thickness of the liner layer is slightly less than the gap.Achieve following technique effect：
1st, because motor sets liner layer, the thickness of the liner layer between the opposite face of the stator and the mover
It is slightly less than the gap, so while being defined to the gap between mover and stator, can guarantee that mover can be relative again
Stator movement, and do not interfere with magnetic gap is produced between mover and stator so that motor can be to stator by simple structure
Gap between mover is defined, so as to alleviate the weight of motor itself；Meanwhile, using this simple structure, no
The gap of very little between stator and mover can be just defined with the part for increasing extra, even if therefore applying in small―gap suture
Motor in, the weight of motor itself can also be mitigated.
2nd, because liner layer is fixedly connected with corresponding stator or mover, so ensure that the liner layer is at least fixation
On stator or mover, therefore mover relative can be reduced in motion process, stator or mover and corresponding fixation
The friction of this side of the liner layer of connection.
3rd, because the liner layer is preferred：Teflon (TEFLON), epoxy resin, nickel (NICKEL)；Or surface coating
Any materials of epoxide resin material；Or the liner layer can also for it is other can with Direct Electroplating stator and/mover on
Associated metal or the material such as alloy；Or the combination of each above-mentioned material.Above-mentioned material have the advantage that including：Light weight,
Rub resistance, surface are smooth, therefore for bearing of the prior art, relative can be reduced using the liner layer of this material
The friction of abrasion and generation between mover and stator in motion process, and the liner layer being made of the material enabled to
Motor has lighter quality.
4th, the motor provided by using the utility model, can be relative in some electric machine structures because gap reduces
The increase moment of torsion answered, thus can replace in some cases decelerator (shortcoming of decelerator be that cost is high, quality is big and
It is not wear-resistant etc.) a certain degree of increase moment of torsion is realized, so as to overcome the shortcoming using decelerator.By such motor application
In robot, motor direct-drive robot can be easily achieved.
5th, because the liner layer is preferred：Teflon (TEFLON), epoxy resin, nickel (NICKEL)；Or surface coating
Any materials of epoxide resin material；Or the liner layer can also for it is other can with Direct Electroplating stator and/mover on
Associated metal or the material such as alloy；Or the combination of each above-mentioned material.Above-mentioned material have the advantage that including：Light weight,
Rub resistance, surface are smooth, therefore for bearing of the prior art, relative can be reduced using the liner layer of this material
The friction of abrasion and generation between mover and stator in motion process, and the liner layer being made of the material enabled to
Motor has lighter quality, and the weight for reducing motor allows the motor under same moment of torsion to bear bigger load,
Also more preferable help is provided for motor direct-drive robot.
Brief description of the drawings
, below will be to embodiment and description of the prior art in order to illustrate more clearly of the utility model embodiment technical scheme
In required for the accompanying drawing that uses be briefly described, it should be apparent that, drawings in the following description are only of the present utility model
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other accompanying drawings.
A kind of structured flowchart for motor that Fig. 1 provides for the utility model embodiment.
The structural representation for a kind of electric rotating machine that Fig. 2 provides for the utility model embodiment, wherein left side is motor
Overall axial cross-sectional views, right side is part A enlarged diagram；
The structural representation for another electric rotating machine that Fig. 3 provides for the utility model embodiment, wherein left side is motor
Overall axial cross-sectional views, right side be part A ' enlarged diagram；
The structural representation for another electric rotating machine that Fig. 4 provides for the utility model embodiment, wherein left side is motor
Overall axial cross-sectional views, right side be part A " enlarged diagram；
The axial cross-sectional views of the motor for the prior art that Fig. 5 provides for the utility model embodiment.
Embodiment
In order that those skilled in the art more fully understand the utility model scheme, below in conjunction with the utility model embodiment
In accompanying drawing, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that described implementation
Example only a part of embodiment of the utility model, rather than whole embodiments.Based on the embodiment in the utility model,
All other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made, should all belong to
The scope of the utility model protection.
Embodiment one,
The structured flowchart for the motor that Fig. 1 provides for the utility model embodiment；Fig. 4 provides for the utility model embodiment
The axial cross-sectional views of the motor of prior art.
Motor described in the utility model is the motor that can include converting electric energy to kinetic energy output, can also be included
The generator of electric energy output is converted kinetic energy into, can be realized therebetween, led to using same structure in some cases
Cross to identical structure using it is different electrically and mechanically by the way of, so as to realize the work(of generator or motor respectively
Energy；The motor can include the linear electric motors of linear motion and the electric rotating of rotary motion in the way of mover is moved
Machine.The motor includes：Stator and mover assembly, because stator is not moved with respect to mover, thus referred to as stator, in motor, root
There is gap according to electromagnetic induction principle, between stator and mover and be engaged to form magnetic gap, between stator and mover and realize mover
Motion.
As shown in figure 4, according to background technology, motor includes mover 20 ' and stator 10 ', stator 10 ' and mover
There is gap between 20 ', so that forming air gap 30 ' between mover 20 ' and the opposite face of stator 10 '.Current restriction electricity
The structure in gap is to pass through bearing 40 in the mover 20 ' of motor and the two ends of stator 10 ' between the mover 20 ' and stator 10 ' of machine
Limit.It is gap the disadvantage is that, one side, the quality of itself of bearing 40 between the mover and stator that are limited using this two ends
It is larger；On the other hand, the gap for being typically only capable to the 0.5-1MM to existing between mover 20 ' and stator 10 ' using bearing 40 is carried out
Limit, when needing to be defined gap smaller between mover and stator, it is difficult to ensure the precision in gap, therefore to add
Other machinery structure ensures the position of bearing, because bearing quality itself is larger along with the mechanical structure of other auxiliary, therefore
Cause the complicated of whole motor, quality increase.
As shown in figure 1, to solve the above problems, the motor that the utility model embodiment is provided includes being arranged on the stator
It is used for the liner layer 30 for limiting the gap between 10 and the opposite face of the mover 20, the thickness of the liner layer 30 is slightly less than
The gap.
The liner layer thickness is slightly less than the gap, so can both ensure that liner layer was limited between stator and mover
Gap, but do not influence mover relative stator to move；In addition, though liner layer is arranged between stator and mover opposite face, portion
Divide (preferably more than half) or the air gap being stuffed entirely between mover and stator opposite face, but as long as between mover and stator
There is gap, the formation of magnetic gap between would not influenceing.
It should be noted that the liner layer is arranged between stator and mover opposite face, preferably with corresponding stator
Or mover is fixedly connected, so ensure that the liner layer is at least integrally fixed on stator or mover, therefore relative can subtract
Few mover is in motion process, the friction of stator or mover and this side of the corresponding liner layer being fixedly connected；Except this
Outside, can also liner layer be not fixedly connected with stator or mover, i.e. the simply gas of filling in liner layer between stator and mover
In gap, because the thickness of liner layer is only slightly less than gap, this mode is also possible, and simply this mode can relative increase
Frictional force in mover motion process.
It should be noted that it can be preferably 0.01-0.02 millimeters (MM) that the thickness, which is slightly less than gap, but it is not limited to
This, difference is also had according to different numerical value of electric machine structure, as long as ensureing that liner layer can be limited between stator and mover
Gap, but do not influence the motion of mover relative stator to belong in protection domain of the present utility model.Relative to two ends, axle is set
The method held, this method can be defined by simple structure to the gap of 0.1-0.15MM between stator and mover.
Because the motor between stator and mover opposite face by setting thickness to be slightly less than the liner layer in the gap,
So while being defined to the gap between mover and stator, can guarantee that again mover can relative stator motion, and not
It can influence to produce magnetic gap between mover and stator so that motor can be to the gap between stator and mover by simple structure
It is defined, so as to alleviate the weight of motor itself；Meanwhile, using this simple structure, it is increased without extra part
The gap of very little between stator and mover can be just defined, even if therefore apply in the motor of small―gap suture, can also
Mitigate the weight of motor itself.
In addition, in some motors (such as：Stator and mover surface are set in the motor of tooth slot structure), pass through increase
The quantity of teeth groove, and reduce the gap between stator and mover accordingly, can increase moment of torsion, therefore in some cases can be with
Realize that a certain degree of increase is turned round instead of decelerator (shortcoming of decelerator is that cost is high, quality is not greatly and wear-resistant etc.)
Square, so as to overcome the shortcoming using decelerator.
The liner layer can be variously-shaped, the knot that may be provided in the air gap between the mover and stator opposite face
Structure, quantity, as long as ensureing that the liner layer being arranged between stator and mover opposite face can be both limited between mover and stator
Gap can guarantee that again mover can relative stator motion, belong to the utility model protection in the range of.Several linings can be enumerated below
Liner layer is further described the embodiment of jacket layer.But it should be noted that the shape of the liner layer, structure, quantity are simultaneously
It is not limited to bright several preferred embodiments set forth below.
The structural representation for a kind of electric rotating machine that Fig. 2 provides for the utility model embodiment, wherein left side is motor
Overall axial cross-sectional views, right side is part A enlarged diagram.
As shown in Fig. 2 in some preferred embodiments, the liner layer is the first bushing 31 of 1 entirety, the first bushing
31 two sides correspond to stator 10 and mover 20 respectively.
Air gap shape between the shape of first bushing 31 and the stator 10 of motor and the opposite face of mover 20 is corresponding,
When motor is electric rotating machine, then the air gap between mover and stator is the shape of a cylinder or annulus, then the first bushing 31
Can be cylinder or annulus；And when motor is linear electric motors, then one plane of air gap formation, then the shape of the first bushing can be with
For a plane.The preferred air gap entirely filled between the mover and stator opposite face as shown in Figure 1 of first bushing
Structure, i.e. shape are completely corresponding with air gap, and simply thickness is slightly less than gap；In addition, first bushing can also be portion
Divide the structure in filling gap (such as：Highly it is less than clearance height) etc., as long as can meet thickness is slightly less than gap, and the first lining
Set can be filled in the range of whole or partial air gap belongs to the utility model protection.
In other preferred embodiments, first bushing 31 includes corresponding to the two of the stator 10 and mover 20 respectively
Individual side, wherein one side are fixedly connected with corresponding stator 10 or mover 20, so ensure first bushing 31 at least
It is integrally fixed on stator 10 or mover 20, therefore relative can reduces mover 20 in motion process, stator 10 or dynamic
Son 20 and the friction of this side of corresponding the first bushing 31 being fixedly connected.
In addition to above-mentioned preferred embodiment, can also two sides of whole first bushing do not fix and connect with stator and mover
Connect, i.e., simply fill in liner layer in the air gap between stator and mover, because the thickness of the first bushing is only slightly less than gap,
This mode is also possible, and simply this mode can the relative frictional force increased in mover motion process.
The structural representation for another electric rotating machine that Fig. 3 provides for the utility model embodiment, wherein left side is motor
Overall axial cross-sectional views, right side be part A ' enlarged diagram.
As shown in figure 3, in another preferred embodiment, the liner layer for be radially set up in parallel 2 the second bushings 32,
33。
The liner layer is radially overlapped side by side in the gap by 2 the second bushings, 2 second bushings
Thickness can be the same or different, as long as ensureing that the thickness after the superposition of 2 the second bushings is slightly less than between stator and mover
Gap.2 second bushing shapes are according to the difference of the air gap shape between the stator 10 and mover 20 of motor
Difference, when motor is electric rotating machine, then the air gap between mover 20 and stator 10 is into a cylinder or annulus, then and second
Bushing 32,33 is shaped as cylinder or annulus；And when motor is linear electric motors, then the air gap between mover and stator is into one
Individual plane, then second bushing 32,33 be shaped as a plane.2 second bushings 32,33 are preferably as shown in Figure 2 can
Completely corresponding with air gap entirely to fill the structure of the air gap, i.e. shape, simply thickness is slightly less than the gap；Except this it
Outside, 2 second bushings can also be to be partially filled with the structure in gap (such as：Highly it is less than clearance height) etc., as long as
The thickness that 2 the second bushings can be met is slightly less than gap, and the second bushing can fill whole or portion gap and belong to this
In the range of utility model protection.
One of side of 2 the second bushings 32,33 is relative to each other, and another side corresponds to stator 10 and dynamic respectively
Son 20.It is preferred that 2 the second bushings 32,33 wherein correspond to stator 10 respectively and the one side of mover 20 is respectively fixedly connected with correspondence
The stator 10 and mover 20.
In addition to above-mentioned preferred embodiment, can also 2 the second bushings 32,33 correspond to 20 two sides of stator 10 and mover respectively
Face is not fixedly connected with stator 10 and mover 20, i.e., simply fill in the second bushing 32,33 between stator 10 and mover 20
In air gap, because the thickness of liner layer is only slightly less than gap, this mode is also possible, and simply this mode is relatively preferred
Mode can the relative frictional force increased in mover motion process between liner layer and stator and mover.
It should be noted that second bushing is not limited to appointing for 2 or more than 2 shown in accompanying drawing 3
Meaning (not shown to anticipate out).It is preferred that, as long as it is corresponding described to ensure that two the second bushings for being located at both sides are respectively fixedly connected with
Stator and mover.In addition to preferred embodiment, can also be located at both sides two the second bushings two sides not with stator and move
Son is fixedly connected, i.e., simply fill in the second bushing in the air gap between stator and mover, because the thickness of the second bushing is
It is slightly less than gap, this mode is also possible, simply this mode can the relative frictional force increased in mover motion process.
The structural representation for another electric rotating machine that Fig. 4 provides for the utility model embodiment, wherein left side is motor
Overall axial cross-sectional views, right side be part A " enlarged diagram.
As shown in figure 4, in another preferred embodiment, the liner layer includes at least two distribution and is arranged on the gap
The 3rd interior bushing 34, the 3rd bushing 34 includes the bulk of at least two thickness identical arbitrary shape, ring-type etc. structure
Composition, such as：It, which can be that multiple block structures are scattered, is distributed in the gap (as shown in Figure 4), and the block structure can
To be plane (such as applying in linear electric motors), or it is cambered surface (applying in electric rotating machine)；Or when motor is rotation
During rotating motor, the 3rd bushing by it is multiple with air gap is surrounded cylinder or annulus corresponding annulus or cylinder axial direction
It is set up in parallel and forms.Each described the 3rd bushing shape can be with identical, can also be different, as long as ensureing that thickness is identical and is slightly less than
The gap, and the 3rd bushing can be integrally filled in the range of whole or portion gap belongs to the utility model protection.
Each 3rd bushing 34 is preferably that wherein one side is fixed with corresponding stator 10 or mover 20 and connected
Connect, so ensure that the 3rd bushing 34 is at least integrally fixed on stator 10 or mover 20, therefore relative can reduce mover
20 in motion process, and the friction of this side is fixedly connected with liner layer 34.
In addition to above-mentioned preferred embodiment, can also each the 3rd bushing 34 two sides it is not solid with stator 10 and mover 20
Fixed connection, i.e., simply fill in the 3rd bushing in the air gap between stator and mover, because the thickness of the 3rd bushing is smaller
In gap, this mode is also possible, and simply this mode can the relative frictional force increased in mover motion process.
It should be noted that the liner layer and its first included bushing, the second bushing, the 3rd bushing are preferred：Iron
Fluorine dragon (TEFLON), epoxy resin, nickel (NICKEL)；Or arbitrary surfaces apply the material of epoxy resin；Or can also be
It is other can be with associated metal of the Direct Electroplating on stator and/mover or the material such as alloy, such as：Copper.Can also be above-mentioned each
The combination of material, such as, and combination of TEFLON and epoxy resin etc..
Above-mentioned material have the advantage that including：Light weight, rub resistance, surface are smooth, therefore can using the bushing of this material
To reduce the weight for rubbing and reducing motor of abrasion and generation between mover and stator in motion process relatively, therefore
For bearing, the bushing being made of the material enables to motor to have lighter quality.But need what is illustrated
It is that the liner layer, the first bushing, the second bushing, the 3rd bushing are not limited to above-mentioned material, and any material can in principle
As liner layer.
The mode being fixedly connected includes but is not limited to：Bonding, plating or by clamping, fixture (such as：Spiral shell
Nail) it is fixedly connected.It is fixedly connected preferably through the mode of bonding, plating.
Embodiment two,
The utility model embodiment two also provides a kind of equipment (not shown to anticipate out) of motor including described in embodiment one.
The equipment can be to include the various equipment of the motor described in embodiment one.
The equipment includes but is not limited to the robot (especially industrial robot) of motor direct-drive, at this stage, electricity
The motor applied on machine Direct Drive Robot usually requires to undertake larger load, it is therefore desirable to improve the torsion of motor output
Square, and applying at present mostly the method for raising moment of torsion in robot is realized by decelerator, and decelerator have quality it is big,
The shortcoming that cost is high, be easily lost.And by the utility model embodiment one provide motor, on the one hand cause motor stator and
Mover is that the gap of very little can be achieved by simple structure, alleviates the weight of motor itself；On the other hand, because gap subtracts
It is small, can be with corresponding increase moment of torsion in some electric machine structures, therefore decelerator (decelerator can be replaced in some cases
Shortcoming be that cost is high, quality is big and not wear-resistant etc.) realize a certain degree of increase moment of torsion, so as to overcome using subtracting
The shortcoming of fast device.By such motor application in Direct Drive Robot field, the flexibility of robot control can be increased, and
So that global design simplifies.
Due to material of the liner layer preferably as described in embodiment one, the material have the advantage that including：Light weight,
Rub resistance, surface are smooth, therefore for bearing of the prior art, relative can be reduced using the liner layer of this material
The friction of abrasion and generation between mover and stator in motion process, and the liner layer being made of the material enabled to
Motor has lighter quality, and the weight for reducing motor allows the motor under same moment of torsion to bear bigger load,
Also more preferable help is provided for direct motor direct-drive robot.
The associated description of the motor is referring to specific embodiment one, and it is no longer repeated herein.
"and/or" in this paper terms, only a kind of incidence relation for describing affiliated partner, represents there may be three kinds of passes
System, for example：A and/or B, can represent individualism A, while there is A and B, these three situations of individualism B.In addition, herein
Middle character "/", it is a kind of relation of "or" to typically represent forward-backward correlation object.
Term " first ", " second ", " the 3rd " in claims and specification and above-mentioned accompanying drawing of the present utility model
Etc. (if present) be for distinguishing similar object, without for describing specific order or precedence.It should manage
The data that solution is so used can be exchanged in the appropriate case, so that the embodiments described herein can be with except illustrating herein
Or the order beyond the content of description is implemented.In addition, term " comprising " " having " and their any deformation, it is intended that cover
Lid is non-exclusive to be included.For example：Including process, method, system, product or the equipment of series of steps or module need not limit
In those steps or module for clearly listing, but including it is not listing clearly or for these processes, method, be
System, product or equipment intrinsic other steps or module.
In addition, each functional unit in the utility model each embodiment can be integrated in a processing unit,
Can be that unit is individually physically present, can also two or more units it is integrated in a unit.Above-mentioned collection
Into unit can both have been realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.
Being fixedly connected including but not limited to described in this specific embodiment:By bonding, or pass through clamping, screw etc.
Dismountable mode is fixedly connected.
In the above-described embodiments, the description to each embodiment all emphasizes particularly on different fields, and is not described in some embodiment
Part, may refer to the associated description of other embodiments.
It should be noted that those skilled in the art should also know, embodiment described in this description belongs to excellent
Necessary to selecting embodiment, involved structure and module not necessarily the utility model.
The motor provided above the utility model embodiment and the equipment including the motor are described in detail, but
The explanation of above example is only intended to help and understands method of the present utility model and its core concept, should not be construed as to this reality
With new limitation.Those skilled in the art, according to thought of the present utility model, the technology disclosed in the utility model
In the range of, the change or replacement that can be readily occurred in should all be covered within protection domain of the present utility model.
Claims (10)
1., there is gap between stator and mover, it is characterised in that also including setting in a kind of motor, including stator and mover assembly
Put is used for the liner layer for limiting the gap between the opposite face of the stator and the mover, and the thickness of the liner layer is omited
Less than the gap.
2. motor according to claim 1, it is characterised in that the liner layer includes the first bushing of 1 entirety.
3. motor according to claim 2, it is characterised in that first bushing includes corresponding to the stator and institute respectively
Two sides of mover are stated, one of side is fixedly connected with the corresponding stator or the mover.
4. motor according to claim 1, it is characterised in that the liner layer includes at least two and is radially disposed in parallel in
The second bushing in the gap.
5. motor according to claim 4, it is characterised in that 2 second linings positioned at both sides in second bushing
The wherein one side of set is respectively fixedly connected with the corresponding stator or the mover.
6. motor according to claim 1, it is characterised in that the liner layer is arranged on described including at least two distribution
The 3rd bushing in gap.
7. motor according to claim 6, it is characterised in that each 3rd bushing includes corresponding to the stator respectively
With two sides of the mover, one of side is fixedly connected with the corresponding stator or the mover.
8. the motor according to claim 1-7 any one, it is characterised in that the liner layer, the first bushing, the second lining
Set, the 3rd bushing include：In Teflon, epoxy resin, nickel, surface coating epoxy resin, the metal or alloy of electrodepositable
Any one material is formed.
9. the motor according to claim 3 or 5 or 7, it is characterised in that it is described be fixedly connected including：Bonding, plating, card
Connect, be fixedly connected by fixture.
10. a kind of robot device, it is characterised in that the equipment includes the motor described in claim 1-9 any one, institute
Stating equipment includes the robot of the motor direct-drive.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621216917.6U CN206619962U (en) | 2016-11-11 | 2016-11-11 | A kind of motor and the robot device including the motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621216917.6U CN206619962U (en) | 2016-11-11 | 2016-11-11 | A kind of motor and the robot device including the motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206619962U true CN206619962U (en) | 2017-11-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201621216917.6U Expired - Fee Related CN206619962U (en) | 2016-11-11 | 2016-11-11 | A kind of motor and the robot device including the motor |
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| Country | Link |
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| CN (1) | CN206619962U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107070007A (en) * | 2016-11-11 | 2017-08-18 | 南方电机科技有限公司 | A kind of motor and the equipment including the motor |
| CN111030415A (en) * | 2019-12-30 | 2020-04-17 | 中国科学院宁波材料技术与工程研究所 | Linear motor |
-
2016
- 2016-11-11 CN CN201621216917.6U patent/CN206619962U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107070007A (en) * | 2016-11-11 | 2017-08-18 | 南方电机科技有限公司 | A kind of motor and the equipment including the motor |
| WO2018086597A1 (en) * | 2016-11-11 | 2018-05-17 | 南方电机科技有限公司 | Motor and apparatus comprising same |
| CN107070007B (en) * | 2016-11-11 | 2019-12-03 | 南方电机科技有限公司 | A kind of motor and the equipment including the motor |
| CN111030415A (en) * | 2019-12-30 | 2020-04-17 | 中国科学院宁波材料技术与工程研究所 | Linear motor |
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