CN213846450U - Flat steering engine with inner rotor structure - Google Patents

Abstract

The utility model discloses a flat steering engine with an inner rotor structure, which comprises a steering engine shell, a motor stator fixed in the steering engine shell, a motor rotor coaxially sleeved in the motor stator, and a speed reducing mechanism; the motor rotor is of a cylinder structure with an installation cavity inside, and a through hole arranged along the direction of the central axis of the shell of the steering engine is arranged in the middle of the motor rotor; the speed reducing mechanism keeps the relative position with the shell of the steering engine fixed through the base of the steering engine, and part of the speed reducing mechanism is suspended in the mounting cavity of the motor rotor, and a central hole which is coaxial with the through hole is arranged in the middle of the speed reducing mechanism; a shaft body matched with the through hole and the central hole is rotatably connected to the shell of the steering engine through a bearing; the power of the motor rotor is transmitted to the input end of the speed reducing mechanism through the shaft body. Through with the partly suspension of reduction gears in the installation cavity of electric motor rotor, shortened the axial length of steering wheel, made steering wheel structure compacter, still had output torque big, transmission efficiency is high, the transmission is steady, long-lived, advantage that the wholeness is strong.

Description

Flat steering engine with inner rotor structure

Technical Field

The utility model relates to a flat steering wheel, concretely relates to built-in inner rotor structure's of reduction gears flat steering wheel.

Background

The steering engine is a key component of automatic equipment such as a robot, and the overall performance of the robot is directly influenced by the performance of the steering engine. Most of the existing robots are heavy and have large integral size, and the robots are difficult to be applied to application occasions of high-performance robots (such as foot robots, exoskeleton robots, bionic robots and the like) which have small body sizes but have high requirements on output torque and torque fluctuation. The dead weight and the axial size of the steering engine are key factors influencing the overall size of the robot, and how to reduce the dead weight and the axial length of the steering engine as far as possible under the condition of equal power is a technical problem facing the prior art in the design of flattening and lightening the steering engine.

The steering engine among the prior art includes motor and reduction gears, and the motor includes motor casing, motor stator and the electric motor rotor of coaxial setting in the motor casing, is connected with on the electric motor rotor and keeps synchronous rotation and one end to stretch out the outer motor output shaft of motor casing with electric motor rotor, and reduction gears assembles with the motor output shaft outside the motor casing mutually.

However, the reduction mechanism is connected to one end of the motor output shaft extending out of the motor shell, so that the axial size of the whole steering engine is longer, the miniaturization design of the axial size of the steering engine is not facilitated, and the longer axial size of the steering engine can cause the larger vibration of the steering engine in high-speed operation, so that the performance stability of the steering engine is affected.

SUMMERY OF THE UTILITY MODEL

Therefore, the to-be-solved technical problem of the utility model lies in overcoming the axial dimension overlength of steering wheel among the prior art, being unfavorable for realizing the defect of steering wheel polarization design to a compact structure, the little flat steering wheel of inner rotor structure of axial dimension are provided.

In order to solve the technical problem, the technical scheme of the utility model as follows:

a flat steering engine with an inner rotor structure comprises a steering engine shell with a cavity inside, a motor stator fixed in the steering engine shell, a motor rotor coaxially sleeved in the motor stator, and a speed reducing mechanism,

the motor rotor is of a cylinder structure with an installation cavity inside, and a through hole arranged along the direction of the central axis of the shell of the steering engine is formed in the middle of the motor rotor;

one end of the speed reducing mechanism is kept fixed in a relative position with the shell of the steering engine through the base of the steering engine, at least part of the speed reducing mechanism is suspended in the mounting cavity of the motor rotor, and a central hole which is coaxial with the through hole in the motor rotor is arranged in the middle of the speed reducing mechanism;

a shaft body matched with the through hole of the motor rotor and the central hole of the speed reducing mechanism is rotatably connected to the steering engine shell through a bearing; the power of the motor rotor is transmitted to the input end of the speed reducing mechanism through the shaft body; the bearing enables the shaft body and the motor rotor connected to the shaft body to be capable of keeping relative fixation with the steering engine shell along the axial direction of the steering engine shell.

Furthermore, the outer side wall of the motor rotor is provided with magnetic steel which is arranged opposite to the motor stator; and a gap is reserved between the magnetic steel and the motor stator.

Furthermore, a motor base extending into the cavity is connected to the inner wall of the steering engine shell, and the cavity in the steering engine shell is divided into a first cavity and a second cavity by the motor base; the motor stator and the motor rotor are located in the first cavity, the bearing is arranged at the position where the first cavity is communicated with the second cavity, and the shaft body is rotatably connected to the motor base through the bearing.

Furthermore, the speed reducing mechanism comprises a speed reducing mechanism main body part and a speed reducing mechanism output end which are integrally connected and sequentially arranged along the axial direction of the steering engine shell; the speed reducing mechanism main body part is at least partially suspended in the installation cavity of the motor rotor, the output end of the speed reducing mechanism is positioned outside the installation cavity of the motor rotor, and the outer diameter of the output end of the speed reducing mechanism is smaller than that of the speed reducing mechanism main body part; one end of the steering engine base is fixed on the steering engine shell, the other end of the steering engine base abuts against the main speed reducing mechanism body and a step formed by the output end of the speed reducing mechanism, and the steering engine base is fixed on the output end of the speed reducing mechanism through a locking piece axially arranged along the speed reducing mechanism.

Further, the ratio range of the outer diameter difference between the steering engine shell and the motor rotor and the outer diameter of the speed reducing mechanism is 0.85: 1-1.15: 1.

further, the bearing is a double-row angular contact ball bearing.

Further, a control circuit board is mounted in the second cavity; the shaft body stretches to the lower extreme exit of second cavity is connected with the shaft body keeps synchronous pivoted magnetic encoder rotor, integrated on the control circuit board be located in the second cavity and with the magnetic encoder stator that the magnetic encoder rotor corresponds the setting.

Furthermore, a lower steering engine cover used for covering the second cavity is connected to the steering engine shell.

Further, the speed reducing mechanism is a planetary gear speed reducing mechanism composed of one-stage or multi-stage planetary gear units.

Further, the axis body is the center pin of fixing in the cavity of flat steering wheel, or the axis body is for inserting establish in the cavity of flat steering wheel with the connecting axle that flat steering wheel cooperation was used.

Furthermore, the outer diameter of the steering engine shell is 20 +/-5 mm, 30 +/-5 mm, 40 +/-5 mm, 50 +/-5 mm, 60 +/-5 mm, 70 +/-5 mm, 80 +/-5 mm, 90 +/-5 mm, 100 +/-5 mm, 110 +/-5 mm, 120 +/-5 mm, 130 +/-5 mm, 140 +/-5 mm, 150 +/-5 mm, 160 +/-5 mm, 180 +/-5 mm, 200 +/-5 mm and 260 +/-5 mm.

The utility model discloses technical scheme has following advantage:

1. the utility model provides a flat steering wheel of inner rotor structure is provided with the installation cavity in electric motor rotor's inside to with the suspension of at least a part of reduction gears in electric motor rotor's installation cavity, compare with the mode of installing reduction gears outside the steering wheel shell in the prior art, shortened the whole axial length of steering wheel, improved the utilization ratio of steering wheel shell and electric motor rotor inner space, make the structure of steering wheel compacter, be favorable to realizing the flat design of steering wheel; and set up the installation cavity in motor rotor, can also lighten motor rotor's dead weight, and steering wheel shell axial dimension's shortening also means the reduction of steering wheel shell dead weight, has alleviateed the dead weight of whole flat steering wheel jointly, and under the circumstances of isopower, can reduce the output torque loss that flat steering wheel caused because of the dead weight, improves the output torque of flat steering wheel. On the other hand, the reduction of the axial size of the flat steering engine can reduce the vibration generated when the flat steering engine runs at a high speed, thereby reducing the component loss and the noise caused by the vibration and prolonging the service life of the flat steering engine.

2. The utility model provides a flat steering wheel of inner rotor structure, electric motor rotor and reduction gears are built-in the steering wheel shell, and realize fixed mode through a bearing, compare with the mode that needs set up a bearing fixed electric motor rotor or reduction gears respectively at steering wheel axial front end and rear end among the prior art, not only overcome a plurality of bearings and be difficult to the problem of guaranteeing the concentricity when the assembly, and the bearing room that matches with the bearing that can set up an axial extension less on the steering wheel shell, can shorten the size and the weight of steering wheel shell, realize the compactification design.

3. The utility model provides a flat steering wheel of inner rotor structure has the clearance between magnet steel and the motor stator, can guarantee motor rotor free rotation in stator cavity.

4. The utility model provides a flat steering engine with an inner rotor structure, wherein one end of a steering engine base is fixed on a steering engine shell, and the other end of the steering engine base is abutted against a step formed by a speed reducing mechanism main body part and a speed reducing mechanism output end of a speed reducing mechanism and is fixed on the speed reducing mechanism output end through a locking part axially arranged along the speed reducing mechanism; so set up, make and fix steering wheel frame and spare parts such as retaining member on the steering wheel shell with reduction gears can not additionally occupy installation space on the steering wheel axial direction, be favorable to shortening the size of steering wheel.

5. The utility model provides a flat steering wheel of inner rotor structure, the ratio scope of the external diameter difference between steering wheel shell and the electric motor rotor and reduction gears external diameter is 0.85: 1-1.15: 1, the flat steering engine has good internal compactness and low cost; and the axial length and the external diameter of the flat steering engine are equivalent, which is beneficial to improving the stability of the output torque of the flat steering engine.

6. The utility model provides a flat steering wheel of inner rotor structure, bearing adopt double row angular contact ball bearing, not only can satisfy the balance when whole electric motor rotor moves, and the price is lower relatively moreover.

7. The utility model provides a flat steering wheel of inner rotor structure adopts the motor frame to divide into first cavity and second cavity with the space in the steering wheel shell to install control circuit board in the second cavity, the magnetic encoder stator is integrated in control circuit board's chip, and correspond the setting with the magnetic encoder rotor, space in can make full use of steering wheel shell, need not additionally establish magnetic encoder and controller outside the steering wheel shell in addition, the wholeness is better.

8. The utility model provides a flat steering wheel of inner rotor structure, the reduction gears who comprises one-level or multistage planetary gear unit, simple structure is reasonable, has advantages such as small, high transmission efficiency, the wide and high precision of speed reduction scope, and reduction gears unites two into one with the motor moreover, makes whole steering wheel wholeness stronger.

To sum up, the utility model provides a flat steering wheel of inner rotor structure has advantages such as compact structure, axial dimensions are short, convenient assembling, the heat dissipation is good, the output moment of torsion is big, transmission efficiency is high, the transmission is steady, longe-lived, wholeness is strong and elegant appearance.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a flat steering engine with an inner rotor structure in an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a flat steering engine with an inner rotor structure in the second embodiment of the present invention;

fig. 3 is a schematic view of a half-section structure of a flat steering engine with an inner rotor structure in the second embodiment of the present invention.

Description of reference numerals: 1. a steering engine housing; 2. a motor stator; 3. a motor rotor; 31. magnetic steel; 4. a speed reduction mechanism; 41. a speed reduction mechanism main body portion; 42. an output end of the speed reducing mechanism; 5. a steering engine base; 6. a central shaft; 7. a bearing; 8. a motor base; 9. a magnetic encoder rotor; 10. steering wheel lower cover.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.

Example one

A flat steering engine with an inner rotor structure as shown in fig. 1 comprises: the steering engine comprises a steering engine shell 1, a motor stator 2 and a motor rotor 3 which are positioned in the steering engine shell 1, a speed reducing mechanism 4 and a steering engine base 5. The steering engine comprises a steering engine shell 1, a motor base 8 and a motor, wherein the steering engine shell 1 is internally provided with a cavity, the inner wall of the steering engine shell 1 is further connected with the motor base 8 extending into the cavity, and the cavity in the steering engine shell 1 is divided into a first cavity and a second cavity by the motor base 8. Motor stator 2 is fixed on the inner wall that steering wheel shell 1 corresponds first cavity, and motor rotor 3 sets up in motor stator 2's inside with motor stator 2 is coaxial.

Specifically, the motor rotor 3 is a concave cylinder structure with an installation cavity inside, and a through hole (not shown) arranged along the 6-line direction of the central axis of the steering engine housing 1 is formed in the middle of the bottom wall of the motor rotor. The speed reducing mechanism 4 is fixed through a steering engine base 5 arranged at the top opening of the steering engine shell 1, the speed reducing mechanism and the steering engine base 5 cover the top opening of the steering engine shell 1, one part of the speed reducing mechanism 4 extends into the steering engine shell 1 and is suspended in an installation cavity in the motor rotor 3, and a gap allowing relative movement between the shell of the speed reducing mechanism 4 and the inner wall of the motor rotor 3 exists.

The right middle of the speed reducing mechanism 4 is provided with a central hole which is coaxially arranged with the through hole on the motor rotor 3, and a shaft body which is matched with the through hole of the motor rotor 3 and the central hole of the speed reducing mechanism 4 is rotationally connected with the motor base 8 through a bearing 7. The power of the motor rotor 3 can be transmitted to the input end of the speed reducing mechanism 4 through the shaft body; the bearing 7 enables the shaft body and the motor rotor 3 connected to the shaft body to rotate around the central shaft 6 in the steering engine shell 1 and keep fixed relative to the steering engine shell 1 along the axial direction of the steering engine shell 1. Wherein, the axis body is for inserting the connecting axle of establishing in the hollow hole of flat steering wheel and flat steering wheel cooperation use.

This kind of flat steering wheel of inner rotor structure is provided with the installation cavity in the inside of electric motor rotor 3 to partly suspension of reduction gears 4 is in electric motor rotor 3's installation cavity, compare with the mode of installing reduction gears 4 outside steering wheel shell 1 among the prior art, has shortened the holistic axial length of steering wheel, has improved the utilization ratio of steering wheel shell 1 and electric motor rotor 3 inner space, makes the structure of steering wheel compacter, is favorable to realizing the flat design of steering wheel. In addition, the installation cavity is arranged in the motor rotor 3, the dead weight of the motor rotor 3 can be reduced, the reduction of the axial size of the steering engine shell 1 means the reduction of the dead weight of the steering engine shell 1, the dead weight of the whole flat steering engine is reduced together, the loss of output torque of the flat steering engine caused by the dead weight can be reduced under the condition of equal power, and the output torque of the flat steering engine is improved; on the other hand, the reduction of the axial size of the flat steering engine can reduce the vibration generated when the flat steering engine runs at a high speed, thereby reducing the component loss and the noise caused by the vibration and prolonging the service life of the flat steering engine.

In this embodiment, the bearing 7 is disposed in a bearing chamber on the motor base 8, the shaft body passes through an inner hole of the bearing 7, the motor rotor 3 is fixed on the shaft body through a matching structure on the shaft body and keeps synchronous rotation with the shaft body, and the steering engine base 5 at one end of the speed reduction mechanism 4 is fixed on the steering engine housing 1. This kind of flat steering engine structure, motor rotor 3 and reduction gears 4 are built-in steering engine shell 1, only need to realize through a bearing 7 can realize with steering engine shell 1 installation fixed, compare with the mode that need respectively set up a bearing 7 fixed motor rotor 3 or reduction gears 4 respectively at steering engine axial front end and rear end among the prior art at least, not only overcome the problem that a plurality of bearings 7 are difficult to guarantee the concentricity when the assembly, and steering engine shell 1 can set up the bearing room that an axial extension is used for and bearing 7 matches less, can further shorten steering engine shell 1's size and weight, realize the compactification design.

In this embodiment, the outer side wall of the motor rotor 3 is fixed with a magnetic steel 31 arranged opposite to the motor stator 2, and a gap is formed between the magnetic steel 31 and the motor stator 2. The gap between the magnetic steel 31 and the motor stator 2 allows relative rotation of the motor rotor 3 and the stator.

In this embodiment, the ratio of the difference between the outer diameters of the steering engine housing 1 and the motor rotor 3 to the outer diameter of the speed reducing mechanism 4 is preferably 1: 1, in other alternative embodiments, this ratio can also be controlled at 0.85: 1 to 1.15: 1. The flat steering engine with the size design has good internal compactness and low cost; and the axial length and the external diameter of the flat steering engine are equivalent, which is beneficial to improving the stability of the output torque of the flat steering engine.

In the embodiment, the outer diameter of the steering engine shell is eighteen sizes of 20 +/-5 mm, 30 +/-5 mm, 40 +/-5 mm, 50 +/-5 mm, 60 +/-5 mm, 70 +/-5 mm, 80 +/-5 mm, 90 +/-5 mm, 100 +/-5 mm, 110 +/-5 mm, 120 +/-5 mm, 130 +/-5 mm, 140 +/-5 mm, 150 +/-5 mm, 160 +/-5 mm, 180 +/-5 mm, 200 +/-5 mm and 260 +/-5 mm.

In the embodiment, the bearing 7 adopts the double-row angular contact ball bearing 7, and the double-row angular contact ball bearing 7 not only can meet the balance of the whole motor rotor 3 during operation, but also has relatively low price.

In this embodiment, the reducing mechanism 4 is a cylindrical structure with a thick lower part and a thin upper part, and includes a reducing mechanism main body 41 and a reducing mechanism output end 42 sequentially arranged along the axial direction of the steering engine housing 1, the reducing mechanism main body 41 includes a reducing mechanism outer housing (not shown) and a planetary gear reducing mechanism arranged in the reducing mechanism outer housing (not shown), the input end of the planetary gear reducing mechanism is connected with the shaft body, the reducing mechanism output end is the output end of the planetary gear reducing mechanism, and one end of the reducing mechanism output end can extend out from the top opening of the reducing mechanism outer housing. Wherein, the outer diameter of the speed reducing mechanism main body part 41 is larger than the speed reducing mechanism output end 42, and a step structure is formed between the speed reducing mechanism main body part 41 and the speed reducing mechanism output end 42; a part of the speed reducing mechanism body portion 41 is suspended in the mounting chamber of the motor rotor 3, and the speed reducing mechanism output end 42 is located outside the mounting chamber of the motor rotor 3. One end of the steering engine base 5 is fixed on the steering engine shell 1, and the other end of the steering engine base abuts against a step structure formed by the speed reducing mechanism main body part 41 and the speed reducing mechanism output end 42 and is fixed on the speed reducing mechanism output end 42 through a locking part (not shown) arranged along the axial direction of the speed reducing mechanism 4. The locking part is a locking screw which can be completely embedded into corresponding mounting holes on the shells of the steering engine base 5 and the speed reducing mechanism 4. And the steering engine base 5 is fixed on the steering engine shell 1 through screws arranged along the radial direction of the steering engine shell 1. So set up, make and fix steering wheel frame 5 and spare parts such as retaining member on steering wheel shell 1 with reduction gears 4 can not additionally occupy the steering wheel installation space on the axial direction, be favorable to shortening the size of steering wheel.

In this embodiment, the bearing 7 is disposed at the position where the first cavity and the second cavity are communicated, and the shaft body extends to the inner hole of the bearing 7 and enters the lower end outlet of the second cavity to be connected with a magnetic encoder rotor 9 which rotates synchronously with the shaft body. A control circuit board is installed in a second cavity of the steering engine shell 1, and a magnetic encoder stator (not shown) which is located in the second cavity and corresponds to the magnetic encoder rotor 9 is integrated on the control circuit board. The magnetic sensor composed of the magnetic encoder rotor 9 and the magnetic encoder stator can realize absolute detection on the rotating speed of the shaft body and the motor rotor 3, and accuracy of a detection result is guaranteed. And install control circuit board and magnetic encoder stator in the second cavity, space in can make full use of steering wheel shell 1 need not establish magnetic encoder and controller in addition outside steering wheel shell 1, and the wholeness is better.

In this embodiment, the lower end of the steering engine housing 1 is further connected with a steering engine lower cover 10, and the steering engine lower cover 10 is used for sealing a bottom opening of a second cavity in the steering engine housing 1. Concretely, steering wheel lower cover 10 passes through the fix with screw on the lower terminal surface of steering wheel shell 1, still is provided with the heat dissipation muscle on the surface of steering wheel lower cover 10, makes things convenient for the heat dissipation of whole flat steering wheel.

In the present embodiment, the reduction mechanism 4 is a planetary gear reduction mechanism 4 composed of one or more stages of planetary gear units, which are detachable from each other. The planetary gear unit comprises a sun gear, a planet carrier and an outer gear ring, and the sun gears of the multi-stage planetary gear unit are coaxially arranged and are provided with center holes which are arranged in the same direction. The sun gear of the last stage of planetary gear unit is connected with the planet carrier of the next stage of planetary gear unit, and the sun gear of the lowest stage of planetary gear unit is fixedly connected with the shaft body; the outer ring gear of any adjacent two-stage planetary gear unit is separated by the connecting ring, and the outer ring gear of multistage passes through screw fixed connection with the connecting ring, when dismantling, dismantles the screw, can carry out the dismantlement of outer ring gear and planet carrier, and the convenience is adjusted the progression of planetary gear unit as required.

Example two

As shown in fig. 2 and 3, a flat steering engine with an inner rotor structure includes: the steering engine comprises a steering engine shell 1, a motor stator 2 and a motor rotor 3 which are positioned in the steering engine shell 1, a speed reducing mechanism 4 and a steering engine base 5. The steering engine comprises a steering engine shell 1, a motor base 8 and a motor, wherein the steering engine shell 1 is internally provided with a cavity, the inner wall of the steering engine shell 1 is further connected with the motor base 8 extending into the cavity, and the cavity in the steering engine shell 1 is divided into a first cavity and a second cavity by the motor base 8. Motor stator 2 is fixed on the inner wall that steering wheel shell 1 corresponds first cavity, and motor rotor 3 sets up in motor stator 2's inside with motor stator 2 is coaxial.

Specifically, the motor rotor 3 is a concave cylinder structure with an installation cavity inside, and a through hole (not shown) arranged along the direction of the 6-axis of the central shaft of the steering engine housing 1 is formed in the middle of the bottom wall of the motor rotor. The speed reducing mechanism 4 is fixed on the steering engine shell 1 through the steering engine base 5 and covers the top opening of the steering engine shell 1, one part of the speed reducing mechanism 4 extends into the steering engine shell 1 and is suspended in an installation cavity in the motor rotor 3, and a gap allowing relative movement between the shell of the speed reducing mechanism 4 and the inner wall of the motor rotor 3 exists.

The right middle of the speed reducing mechanism 4 is provided with a central hole which is coaxially arranged with the through hole on the motor rotor 3, and a shaft body which is matched with the through hole of the motor rotor 3 and the central hole of the speed reducing mechanism 4 is rotationally connected with the motor base 8 through a bearing 7. The power of the motor rotor 3 can be transmitted to the input end of the speed reducing mechanism 4 through the shaft body; the bearing 7 enables the shaft body and the motor rotor 3 connected to the shaft body to rotate around the central shaft 6 in the steering engine shell 1 and keep fixed relative to the steering engine shell 1 along the axial direction of the steering engine shell 1. Wherein, the axis body is for inserting the connecting axle of establishing in the hollow hole of flat steering wheel and flat steering wheel cooperation use. The difference with the first embodiment is that the shaft body is a central shaft 6 fixed in a hollow hole of the flat steering engine.

To sum up, the embodiment of the utility model provides a flat steering wheel of inner rotor structure with a part suspension of reduction gears 4 in electric motor rotor 3's installation cavity, can shorten the holistic axial length of steering wheel, has improved the utilization ratio of steering wheel shell 1 and electric motor rotor 3 inner space, makes the structure of steering wheel compacter, is favorable to realizing the flat design of steering wheel. Moreover, the whole inner rotor flat steering engine has light dead weight, so that under the condition of equal power, the loss of output torque of the flat steering engine caused by dead weight can be reduced, and the output torque of the flat steering engine is improved; vibration generated when the flat steering engine runs at a high speed is reduced, so that component loss and noise caused by vibration are reduced, and the service life of the flat steering engine is prolonged; the transmission device has the advantages of compact structure, short axial dimension, convenience in assembly, good heat dissipation, large output end torque, high transmission efficiency, stability in transmission, long service life, strong integrity, elegant appearance and the like.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications can be made without departing from the scope of the invention.

Claims (11)

1. A flat steering engine with an inner rotor structure comprises a steering engine shell (1) with a cavity inside, a motor stator (2) fixed in the steering engine shell (1), a motor rotor (3) coaxially sleeved in the motor stator (2), and a speed reducing mechanism (4),

the motor rotor (3) is of a cylinder structure with an installation cavity inside, and a through hole arranged in the direction of the line of a central shaft (6) of the steering engine shell (1) is formed in the middle of the motor rotor;

one end of the speed reducing mechanism (4) is kept fixed relative to the steering engine shell (1) through a steering engine base (5), at least part of the speed reducing mechanism is suspended in an installation cavity of the motor rotor (3), and a central hole which is coaxial with the through hole in the motor rotor (3) is formed in the middle of the speed reducing mechanism;

a shaft body matched with the through hole of the motor rotor (3) and the central hole of the speed reducing mechanism (4) is rotatably connected to the steering engine shell (1) through a bearing (7); the power of the motor rotor (3) is transmitted to the input end of the speed reducing mechanism (4) through the shaft body; the bearing (7) enables the shaft body and the motor rotor (3) connected to the shaft body to be relatively fixed with the steering engine shell (1) along the axial direction of the steering engine shell (1).

2. An inner rotor structure flat steering engine according to claim 1, characterized in that the outer side wall of the motor rotor (3) is provided with magnetic steel (31) arranged opposite to the motor stator (2); a gap is reserved between the magnetic steel (31) and the motor stator (2).

3. The flat steering engine with an inner rotor structure according to claim 1, wherein a motor base (8) extending into the cavity is connected to the inner wall of the steering engine housing (1), and the cavity in the steering engine housing (1) is divided into a first cavity and a second cavity by the motor base (8); the motor stator (2) and the motor rotor (3) are located in the first cavity, the bearing (7) is arranged at the position where the first cavity is communicated with the second cavity, and the shaft body is rotatably connected to the motor base (8) through the bearing (7).

4. An inner rotor structured flat steering engine according to claim 1, wherein the speed reduction mechanism (4) comprises a speed reduction mechanism main body part (41) and a speed reduction mechanism output end (42) which are integrally connected and sequentially arranged along the axial direction of the steering engine housing (1); the speed reducing mechanism main body part (41) is at least partially suspended in a mounting cavity of the motor rotor (3), the speed reducing mechanism output end (42) is positioned outside the mounting cavity of the motor rotor (3), and the outer diameter of the speed reducing mechanism output end (42) is smaller than that of the speed reducing mechanism main body part (41); one end of the steering engine base (5) is fixed on the steering engine shell (1) and the other end of the steering engine base abuts against the main speed reducing mechanism body part (41) and the step formed by the output end (42) of the speed reducing mechanism, and the locking part axially arranged along the speed reducing mechanism (4) is fixed on the output end (42) of the speed reducing mechanism.

5. An inner rotor structured flat steering engine according to claim 1, characterized in that the ratio of the difference in outer diameter between the steering engine housing (1) and the motor rotor (3) to the outer diameter of the reduction mechanism (4) ranges from 0.85: 1-1.15: 1.

6. an inner rotor structured flat steering engine according to claim 1, characterized in that the bearing (7) is a double row angular contact ball bearing (7).

7. The flat steering engine with an inner rotor structure according to claim 3, wherein a control circuit board is mounted in the second cavity; the shaft body stretches to the lower extreme exit of second cavity is connected with the shaft body keeps synchronous pivoted magnetic encoder rotor (9), integrated on the control circuit board be located in the second cavity and with the magnetic encoder stator that magnetic encoder rotor (9) correspond the setting.

8. An inner rotor structured flat steering engine according to claim 3, characterized in that a steering engine lower cover (10) for covering the second cavity is connected to the steering engine housing (1).

9. An inner rotor structured flat steering engine according to claim 1, characterized in that the reduction mechanism (4) is a planetary gear reduction mechanism (4) consisting of one or more stages of planetary gear units.

10. The flat steering engine with an inner rotor structure according to claim 1, wherein the shaft body is a central shaft (6) fixed in a hollow hole of the flat steering engine, or the shaft body is a connecting shaft inserted in the hollow hole of the flat steering engine and used in cooperation with the flat steering engine.

11. An inner rotor structured flat steering engine according to claim 1, wherein the outer diameter of the steering engine housing (1) is 20 ± 5mm, 30 ± 5mm, 40 ± 5mm, 50 ± 5mm, 60 ± 5mm, 70 ± 5mm, 80 ± 5mm, 90 ± 5mm, 100 ± 5mm, 110 ± 5mm, 120 ± 5mm, 130 ± 5mm, 140 ± 5mm, 150 ± 5mm, 160 ± 5mm, 180 ± 5mm, 200 ± 5mm, 260 ± 5 mm.

Images