KR102118561B1 - A Reducer, Axial Type Motor Having Reducer And Radial Type Motor Having Reducer - Google Patents

Abstract

The present invention relates to an axial type motor with an integrated reducer which is easily assembled. According to the present invention, the axial type motor with an integrated reducer comprises a driving unit and a reducing unit. The driving unit includes: a rotor unit having a plurality of permanent magnets arranged in a circumferential direction; and a stator unit which has a plurality of coils aligned in the circumferential direction to form a magnetic pole opposing the permanent magnets, and is positioned on both axial sides of the rotor unit to face the rotor unit. The reducing unit is arranged radially inside the rotor unit and includes: an inner circumferential surface of the elliptic rotor unit; an elastic gear separated radially inwards from the inner circumferential surface of the rotor unit to form a closed circuit and provided with gear teeth formed on the inside thereof; a plurality of electromotive bodies aligned in the circumferential direction between the inner circumferential surface of the rotor unit and the elastic gear; a rotary gear positioned radially inside the elastic gear and provided with gear teeth formed on the outer circumferential surface thereof and engaged with the gear teeth of the elastic gear; and a fixed gear positioned at least on one axial side of the rotary gear to be coupled to the stator unit and provided with gear teeth formed on the outer circumferential surface thereof and engaged with the gear teeth of the elastic gear.

Description

Reducer, Reducer-integrated axial type motor and Reducer-integrated radial type motor {A Reducer, Axial Type Motor Having Reducer And Radial Type Motor Having Reducer}

The present invention relates to a reducer, an integral axial type motor with a reducer, and a radial type motor with an integrated reducer, and more specifically, a reduction unit provided with a driving unit in which a hollow is formed and a hollow in the driving unit to maximize space utilization efficiency. , Reduction gear integral type axial motor and reducer integrated radial type motor.

Axial type (axial type) motors having a configuration in which a pole of a stator and a permanent magnet of a rotor are arranged in a direction parallel to the rotation axis are known. This axial type motor has the advantage of being capable of miniaturization and high output, and is used in various fields in various fields. The axial type motor includes a rotor in which a plurality of fan-shaped permanent magnets are arranged in an annular shape on the surface of an iron core composed of soft iron or the like, and a coil that forms a magnetic pole facing a direction parallel to a rotation axis with respect to these permanent magnets. It consists of a stator. The direction of the magnetic poles of each permanent magnet (the direction connecting the N and S poles) is parallel to the rotation axis, and adjacent permanent magnets are arranged so that the directions of the magnetic poles are opposite to each other. And in the axial type motor having such a configuration, by generating a rotating magnetic field by the coil of the stator, a magnetic attraction force and a repulsive force are generated in each permanent magnet, and as a result, torque is generated to rotate the rotor. Axial type motors are difficult to assemble, and it is difficult to maintain precise air gaps due to bearing backlash, making them difficult to utilize as ultra-precision sub-motors, bearing operation may be unstable, internal heat generation cannot be smoothly discharged to the outside, and bearings There was a problem in that the operation could not be smooth, because there was no choice but to have a backlash according to the thermal expansion of. In addition, there is a problem that it is difficult to be integrally formed with a reducer, and a large torque cannot be transmitted due to deformation of parts.

Republic of Korea Registration No. 10-1070230 Patent Registration Republic of Korea Registration No. 10-1355257 Registered Patent Publication Republic of Korea Publication No. 10-2018-0061530 Patent Publication

The present invention has been proposed to solve the problems of the prior art as described above, it is easy to assemble, it is possible to maintain a precise air gap by correcting the bearing backlash, and internal heat generated during motor operation is smoothly discharged to the outside. An object of the present invention is to provide a reduction gear, a reduction gear-integrated axial type motor, and a reduction gear-integrated radial type motor capable of smoothly operating according to thermal expansion of a bearing and transmitting a large torque.

The reduction gear-integrated axial type motor according to the present invention includes a driving unit and a reduction unit;

The driving part has a rotor part in which a plurality of permanent magnets are arranged in a circumferential direction, and a plurality of coils arranged in a circumferential direction to form magnetic poles facing the permanent magnet, and is fixed to be located on both sides in the axial direction of the rotor part to face each other. Equipped with self-confidence;

The deceleration portion is provided in the radially inner portion of the rotor portion, the inner diameter surface of the elliptical rotor portion, and a radially inwardly spaced distance from the inner diameter surface of the rotor portion to form a closed circuit and an elastic gear having gear teeth formed radially inside, and the rotor portion A plurality of rolling elements arranged along the circumferential direction between the inner diameter surface and the elastic gear, and a rotating gear formed radially inside the elastic gear and having gear teeth meshing with the gear values of the elastic gear on the outer diameter surface, and rotating at least It is characterized in that it comprises a fixed gear which is located on one side of the axial direction of the gear and is coupled to the stator part and a gear value that meshes with the gear value of the elastic gear on the outer diameter surface.

In the above, the rotor portion is a cylindrical rotor ring extending in the axial direction, the inner diameter is coupled to the outer diameter of the rotor ring in an annular shape and a rotor body formed with a plurality of magnet installation holes along the circumferential direction, and the magnet installation hole It includes a plurality of permanent magnets coupled, the inner diameter surface of the rotor portion is an inner rotor surface formed on the inner diameter side of the rotor ring; The rolling element is a reduction gear roller having a circular cross section having a length in the axial direction;

The reduction unit roller is characterized in that it has a line contact having a length in the axial direction on the inner surface of the rotor.

In the above, in the axial center of the inner diameter of the rotor portion, a rotor inner groove formed concave along the circumferential direction is formed, and the reduction roller is spaced apart from the center and is characterized in that it contacts the inner surface of the rotor on both sides in the axial direction. .

In the above, the outer surface of the elastic gear is characterized in that it has a line contact having a length in the axial direction with the reduction gear roller in the radially inner side of the reduction gear roller row.

In the above, the rotating gear has a rotating gear projection which protrudes outward in the radial direction, and the gear of the rotating gear is formed on the outer diameter surface of the rotating gear projection; The fixed gear is located on both sides in the axial direction of the rotating gear projection and meshes with the gear teeth of the elastic gear on both axial sides of the rotating gear projection; In the axial center portion between the fixed gears, the gear teeth of the rotating gear and the gear teeth of the elastic gear mesh.

In the above, the fixed gear has a shape in which the axial outer side protrudes radially inward, and the axial inner side is spaced apart from the rotating gear, and is arranged along the circumferential direction in the spaced apart space to provide a plurality of gear support rollers to rotate with the fixed gear It is characterized by rolling support for the relative rotation of the gear.

In the above, the reduction gear roller in contact with the rotor ring is supported on both sides of the shaft in contact with the inner surface of the rotor ring, and in contact with the inner surface of the rotor in the axial direction than the part that engages the fixed gear, and is resilient with the rotating gear projection The axial length of the gear meshing is longer than the axial length of the rotor inner groove, so that the rotating gear protrusion and the elastic gear mesh on both sides of the rotor inner groove.

In the above, between the rolling element and the elastic gear, which is the outer side of the elastic gear in the radial direction, a backup ring in which an elastic gear is inserted is further included.

In addition, the reduction gear-integrated axial type motor according to the present invention includes a driving unit and a reduction unit;

The driving part has a rotor part in which a plurality of permanent magnets are aligned in a circumferential direction, and a plurality of coils arranged in a circumferential direction to form magnetic poles facing the permanent magnet, and is fixed to be located on both sides in the axial direction of the rotor part to face each other. Equipped with self-confidence;

The deceleration portion is provided on the radially outer side of the rotor portion, and the outer diameter surface of the elliptical rotor portion, the outer side of the rotor portion is radially spaced radially outwardly to form a closed loop, and an elastic gear having gear teeth formed radially outside, and the rotor portion A plurality of rolling elements arranged along the circumferential direction between the outer diameter surface and the elastic gear, and a rotating gear formed radially outside the elastic gear and having gear teeth meshing with the gear values of the elastic gear on the inner diameter surface, and rotating at least It is characterized in that it comprises a fixed gear which is located on one side of the axial direction of the gear and is coupled to the stator part and a gear value that meshes with the gear value of the elastic gear on the inner diameter surface.

In the above, the rotor portion is a cylindrical rotor ring extending in the axial direction, the outer diameter is coupled to the inner diameter of the rotor ring in an annular shape and a rotor body formed with a plurality of magnet installation holes along the circumferential direction, and the magnet installation hole It includes a plurality of permanent magnets coupled, the outer diameter surface of the rotor portion is a rotor outer surface formed on the outer diameter side of the rotor ring; The rolling element is a reduction gear roller having a circular cross section having a length in the axial direction;

In the axial center of the outer diameter of the rotor portion, a rotator outer groove formed concave along the circumferential direction is formed, and the reduction roller is spaced apart from the center and has a line contact having an axial length on both sides of the rotor in the axial direction. It is characterized by.

In the above, it characterized in that the backup ring inserted into the elastic gear is further included between the rolling element and the elastic gear inside the elastic gear in the radial direction.

The reducer according to the present invention is a rotor ring having a rotor outer surface having an elliptical cross-section, a plurality of reduction rollers arranged along the rotor outer surface of the rotor ring, and located outside the reduction roller, and on the outer surface An elastic gear having gear teeth formed in a circumferential direction, and a rotating gear positioned outside the elastic gear and gear teeth meshing with the gear teeth of the elastic gear on an inner diameter surface;

When the rotating ring is rotated is pressed by the reduction gear roller, the elastic gear is deformed while the gear teeth of the elastic gear and the gear teeth of the rotating gear are sequentially engaged, and the gear is reduced and rotates.

In the above, the rotating gear has a ring-shaped rotating gear protrusion protruding inwardly inside, and gear teeth of the rotating gear are formed on the inner diameter surface of the rotating gear protrusion;

A gap is formed between the rotating gear and the elastic gear on both sides in the axial direction of the rotating gear protrusion, and the gap is provided with a ring-shaped fixed gear having gear teeth formed on an inner diameter surface;

The gear value of the fixed gear is characterized in that it meshes with the gear value of the elastic gear on both sides in the axial direction of the rotating gear projection.

In the above, between the elastic gear and the reduction gear roller further includes a thin plate backup ring; The pressurization by the reduction gear roller is characterized in that it is transmitted to the elastic gear through the backup ring.

As another example, the reducer is a rotor ring having an inner rotor surface having an elliptical cross-section, a plurality of reduction rollers arranged along the inner surface of the rotor ring, and located inside the reduction roller, and the inner surface is circumferential. And an elastic gear having a gear tooth formed thereon, and a gear gear positioned inside the elastic gear and meshing with the gear tooth of the elastic gear on an outer diameter surface;

When the rotor ring is rotated, the elastic gear is deformed by being pressed by the reduction gear roller, and the gear teeth of the elastic gear and the gear teeth of the rotating gear are sequentially engaged, and the rotating gear is decelerated and rotated.

In the above, the rotating gear is provided with a ring-shaped rotating gear projection protruding outwardly to the outside, and the gear teeth of the rotating gear are formed on the outer diameter surface of the rotating gear projection;

A gap is formed between the rotating gear and the elastic gear on both sides in the axial direction of the rotating gear protrusion, and the gap is provided with a ring-shaped fixed gear having gear teeth formed on an outer diameter surface;

The gear value of the fixed gear is characterized in that it meshes with the gear value of the elastic gear on both sides in the axial direction of the rotating gear projection.

In the above, between the elastic gear and the reduction gear roller further includes a thin plate backup ring; The pressurization by the reduction gear roller is characterized in that it is transmitted to the elastic gear through the backup ring.

The reducer according to the present invention, the integral reducer-type axial type motor and the reducer-integrated radial type motor can transmit a large torque, generate little noise during operation, have a small volume, are easy to assemble, and maintain precise air gaps by correcting the bearing backlash. It is possible, and the internal heat generated during the operation of the motor is smoothly discharged to the outside, so that the operation of the motor is smoothly performed according to the thermal expansion of the bearing.

1 is a perspective view showing a reduction gear-integrated axial type motor according to the present invention,
Figure 2 is a cross-sectional perspective view showing a cross-section of a reduction gear-integrated axial type motor,
Figure 3 is a cross-sectional view showing a cross-section of a reduction gear-integrated axial type motor,
4 is a perspective view showing a stator core of an axial type motor integrated with a reducer,
5 is a perspective view showing a stator circuit portion of a reduction gear-integrated axial type motor,
6 is a perspective view showing a cooling unit of an axial type motor integrated with a reduction gear,
7 is a perspective view showing a coolant 1 panel of the cooling unit of FIG. 6,
8 is a perspective view showing a second cooling panel of the cooling unit of FIG. 6,
9 is a perspective view showing a rotor ring provided in the reduction gear-integrated axial type motor,
10 is a perspective view showing a rotating body provided in a reduction gear-integrated axial type motor,
11 is a perspective view showing an intermediate ring provided in a reduction gear-integrated axial type motor,
12 is a plan view showing the intermediate ring of FIG. 11,
13 is a perspective view showing an elastic gear provided in an axial type motor integrated with a reduction gear,
14 is a perspective view showing a rotating gear provided in the axial type motor integrated with a reduction gear,
15 is a half cross-sectional view of a reduction gear-integrated axial type motor schematically showing a modified example of the reduction gear-integrated axial type motor,
16 is a partial cross-sectional view showing a state in which a radial motor is coupled to a reducer,
17 is a perspective view showing a modified example of the stator core provided in the reduction gear-integrated axial type motor,
18 is a perspective view illustrating a three-dimensional magnetic flux generated in the stator core.

Hereinafter, a reduction gear-integrated axial type motor according to the present invention will be described in detail with reference to the drawings.

1 is a perspective view showing a reduction gear-integrated axial type motor according to the present invention, FIG. 2 is a cross-sectional perspective view showing a cross-section of a reduction gear-integrated axial type motor, and FIG. 3 shows a cross-section of a reduction gear-integrated axial type motor. One sectional view, FIG. 4 is a perspective view showing a stator core of a reduction gear-integrated axial type motor, FIG. 5 is a perspective view showing a stator circuit portion of a reduction gear-integrated axial type motor, and FIG. 6 is a reduction gear-integrated axial type motor It is a perspective view showing a cooling unit, FIG. 7 is a perspective view showing a cooling first panel of the cooling unit of FIG. 6, FIG. 8 is a perspective view showing a cooling second panel of the cooling unit of FIG. 6, and FIG. 9 is provided in an axial type motor integrated with a reducer. It is a perspective view showing the rotor ring, Figure 10 is a perspective view showing a rotating body provided in the axial type motor integrated with the reducer, Figure 11 is a perspective view showing the intermediate ring provided in the axial type motor integrated with the reducer , FIG. 12 is a plan view showing the intermediate ring of FIG. 11, FIG. 13 is a perspective view showing an elastic gear provided in the axial type motor integrated with the reducer, and FIG. 14 is a rotating gear provided in the axial type motor integrated with the reducer. 15 is a half-sectional view of a reduction gear-integrated axial type motor, and FIG. 16 is a partial cross-sectional view showing a state in which a radial motor is coupled to the reduction gear. 17 is a perspective view showing a modified example of the stator core provided in the reduction gear-integrated axial type motor, and FIG. 18 is a perspective view illustrating the three-dimensional magnetic flux generated in the stator core.

In FIG. 3, the horizontal direction is referred to as “radial direction” and the vertical direction is referred to as “axial direction”.

1 and 2, the reduction gear-integrated axial type motor 1 according to the present invention includes a driving unit 100, a reduction unit 200, and a cooling unit 300.

The driving unit 100 includes a stator unit 110, a rotor unit 120, a support unit 150, and a bearing unit 140.

The stator part 110 is provided in an annular shape. The stator parts 110 are two, and are spaced apart in the axial direction to face each other with the rotor part 120 interposed therebetween.

The stator part 110 includes a stator core 117, a stator circuit part 113, a coil body 115, and a stator forming part 111.

As shown in Figure 4, the stator core 117 is provided with a laminated silicon steel sheet with an insulating coating on its surface.

The stator core 117 comprises a core body 1171 and a core protrusion 1172.

The core body 1171 is formed in a plate-shaped annular shape. The core body 1171 is provided with a surface coated with a plurality of silicon steel plates in an annular shape. The core body 1171 is formed with a core protrusion coupling hole (not shown) spaced apart in the circumferential direction and penetrated in the axial direction.

A radially outwardly protruding core coupling protrusion 1173 is provided on the radially outer side of the core body 1171. The core coupling protrusions 1173 are spaced apart from each other along a circumferential circumference of the core body 1171 and provided in plural. The core coupling protrusion 1173 is formed with a core coupling hole 1175 penetrated in the axial direction.

The core protrusion 1172 is a plate shape extending in an axial direction and is formed by stacking a plurality of silicon steel plates with an insulating coating on the surface. The core protrusion 1172 formed by stacking a plurality of silicon steel sheets is provided in a rod shape extending in an axial direction. The core projections 1172 are provided in plural and are respectively inserted into the core projection coupling holes. The axial outer end of the core protrusion 1172 is inserted into the core body 1171 and is protruded toward the stator part 110 facing in the axial direction. The core protrusion 1172 is protruded toward the rotating body 121 of the rotor portion 120 as shown in FIG. 3.

The stator core 117 may be formed by bonding a plurality of stator core portions 117-1 to each other, as illustrated in FIGS. 17 and 18. The stator core 117 is formed in a form that generates a three-dimensional magnetic flux, and when operating, a three-dimensional magnetic flux (MF) is generated.

The stator core part 117-1 is provided with the rotor part 120 in the axial direction from the circumferential center of the core horizontal part 117-1a and the core horizontal part 117-1a extending in the circumferential direction on one side in the axial direction. It comprises a core connecting portion (117-1b) extending toward.

The stator core 117 is formed by bonding both ends of the core horizontal portions 117-1a of the stator core portions 117-1 adjacent to each other.

The stator core portion 117-1 is a silicon steel plate, and is formed by stacking stator core panels 117-11 coated with an insulating layer.

The stator core panel (117-11) is connected to the core panel horizontal portion (117-11a) extending in the horizontal direction from one side in the axial direction, one end is connected to the core panel horizontal portion (117-11a) and permanent magnet in the axial direction And a core panel connecting portion 117-11b extending toward 125). The stator core panel 117-11 includes a core panel horizontal portion 117-11a and a core panel connection portion 117-11b, and is formed in a “T” shape.

In Fig. 17, reference numerals 117-11d denote concave core panel recesses formed in the center of the core panel horizontal portion 117-11a.

The stator core portion 117-1 is formed in a "T" form by stacking a plurality of stator core panels 117-11, and the core panel horizontal portions 117-11a are stacked to form the core horizontal portions 117-1a. And the core panel connecting portions 117-11b are stacked to form the core connecting portions 117-1b.

In FIG. 17, reference numeral 117-1d denotes a core concave portion that extends along the radial direction in the center of the core horizontal portion 117-1a. The core concave portion 117-1d is formed by the core panel concave portion 117-11d concavely formed in the center of the core panel horizontal portion 117-11a.

The stator core 117 is formed by connecting both ends of the core horizontal portions 117-1a of the plurality of stator core portions 117-1. Both ends of the core cross sections 117-1a are heated and pressed together to be joined. Both ends of the core cross sections 117-1a are welded to each other and combined with only a part of the stacked core panel cross sections 117-11a. Both ends of the core cross section 117-1a are welded to each other with the outermost core panel cross section 117-11a among the stacked plurality of core panel cross sections 117-11a, and the innermost core panel cross section. The parts 117-11a are welded to each other. The stator core 117 has an effect of minimizing the breakage of the bond layer by welding a portion of the stacked core panel horizontal portions 117-11a to each other.

In the stator core 117, as shown in FIG. 17, the core cross sections 117-1a are formed to be curved in an arc shape, and the plurality of core cross sections 117-1a coupled to each other may be formed in a circular shape. have.

In addition, in the stator core 117, as shown in FIG. 18, the core crossing portions 117-1a extend in a straight line, and the plurality of core crossing portions 117-1a coupled to each other may be formed in a polygonal shape. have. The core horizontal portion 117-1a may be inwardly bent on both sides in a circumferential direction to form a polygon having an increased number of sides.

A plurality of core cross-sections 117-1a where both ends are joined to each other form a core body 1171, and the core connection parts 117-1b form a core protrusion 1172. When the stator core 117 is formed in a polygonal shape, an extension direction of the core horizontal portion 117-1a becomes a tangential direction in a circumferential direction.

The stator core 117 of the polygonal shape forms a three-dimensional magnetic flux MF by the magnetic flux MF passing through the neighboring core connecting portions 117-1b and the core crossing portions 117-1a. For example, as shown by the arrow in FIG. 18, the magnetic flux MF forms a three-dimensional magnetic flux MF by flowing by bending by θ when passing through the core portions 117-1a adjacent to each other. Is done.

When the core cross sections 117-1a are formed in an arc shape, the magnetic flux MF flows in the circumferential direction along the adjacent core cross sections 117-1a to form a three-dimensional magnetic flux MF. Is done.

In addition, the stator core 117 formed as shown in FIG. 17 is stacked with a plurality of stator core panels 117-11 as described above to form a stator core portion 117-1, and a plurality of core panel connecting portions 117-11b. Is stacked to form the core connecting portion 117-1b, so that the stacking direction of the core body 1171 and the core protrusion 1172 is the same, so that resistance is reduced and heat generation is small, so that large torque transmission is possible.

The stator core panel 117-11 is further provided at an axial end of the core panel connecting portion 117-11b, and further includes a core panel horizontal portion 117-11c parallel to the core panel horizontal portion 117-11a." It can be formed in the form of an "I". The core panel horizontal portion 117-11c may be formed with an inclined portion at the top so that the width becomes thinner toward the end as shown in enlarged view in FIG. 17.

The stator core part 117-1 in which the stator core panel 117-11 in the form of “I” is stacked is connected to the axial end of the core connecting part 117-1b and parallel to the core crossing part 117-1a. Another core cross section 117-1c is further included. The core horizontal portion 117-1c may be formed with a polygon having both sides of the circumferential direction bent inward to increase the number of sides.

The core cross section 117-1c is formed by stacking a plurality of core panel cross sections 117-11c. The core transverse portion 117-1c may be formed with an inclined portion at the top so that the width becomes thinner toward the end as shown in enlarged view in FIG. 17. As the core crossing portion 117-1c is formed to be thinner toward the end, the output is improved, and the back EMF waveform is improved to be closer to a sinusoidal wave.

The core panel extension portions 117-11b extend in the axial direction, and both ends are connected to the core panel horizontal portions 117-11a and 117-11c. The core panel horizontal portions 117-11a and 117-11c and the core panel connecting portion 117-11b are integrally formed.

5, the stator circuit portion 113 is provided in a plate-shaped annular shape. The stator circuit part 113 is provided inside the axial direction of the core body 1171. The stator circuit part 113 is composed of a plurality of circuit members 1135 made of metal and a circuit part body 1131 injection-molded using a plurality of circuit members 1135 as inserts.

The circuit unit main body 1131 is formed in a plate-shaped annular shape. A plurality of core holes 1133 spaced apart in the circumferential direction are formed in the circuit unit body 1131. The core hole 1133 is formed through the axial direction, the core protrusion 1172 is inserted into each core hole 1133 is provided.

When the stator core 117 is formed in the form shown in FIG. 17, the circuit unit body 1131 is provided on the axial outer side or the axial inner side of the stator core 117.

The circuit member 1135 inserted into the circuit unit main body 1131 has one end protruding outward in the radial direction of the circuit unit main body 1131 to form a circuit unit terminal 1137. The circuit part terminal 1137 may be formed to protrude inward in the radial direction of the circuit part main body 1131. An external wire is connected to the circuit terminal 1137 and power is supplied to the axial type motor 1 integrated with a reducer.

4, the coil body 115 is provided in plural. The coil body 115 is formed by winding a thin plate having a wide width and a thin tape. The coil body 115 is formed in the form of a hollow body wound through a thin plate and penetrated in the axial direction. The coil body 115 may be provided with a wire having a circular cross section. The material of the coil body 115 is copper, and an insulating coating is applied to the surface. In the coil body 115, a core protrusion 1172 protruding from the core hole 1133 is inserted into a hollow portion of the coil body 115.

Each coil body 115 is electrically connected to the circuit member 1135 and power supplied through the circuit part terminal 1137 flows through each coil body 115 to form a magnetic force. The coil body 115 forms a magnetic pole facing the permanent magnet 125 provided in the rotor part 120.

The stator forming part 111 is made of a thermosetting synthetic resin material. The stator forming part 111 is formed in an annular shape. The stator forming part 111 is injection molded with the stator core 117, the stator circuit part 113, and the coil body 115 as inserts. The stator forming part 111 is molded to cover the radially inner, radially outer, and axially inner ends of the coil body 115 and the axially inner side of the core protrusion 1172. The axial outer side of the core body 1171 is molded to be exposed. The axial outer side of the core body 1171 is exposed to directly contact the cooling panel portion of the cooling unit 300.

The stator part 110 is manufactured as follows.

First, the stator circuit portion 113 and the coil body 115 are assembled to the stator core 117. The core protrusion 1172 of the stator core 117 is inserted into the core hole 1133 of the stator circuit part 113, and the core protrusion 1172 protruding from the core hole 1133 is a hollow part of the coil body 115 Is inserted in. When the stator core 117 is formed as shown in FIG. 17, the coil body 115 is provided with a thin plate or wire wound around the core connection portion 117-1b constituting the core protrusion 1172.

After the stator core 117, the stator circuit portion 113, and the coil body 115 are assembled, the stator molding portion 111 is injection molded using these as inserts. The stator part 110 in which the stator forming part 111 is injection-molded is formed into an annular shape. The circuit part terminal 1137 of the stator circuit part 113 protrudes radially outward or radially inward from the stator forming part 111.

The stator forming part 111 is formed with a forming part coupling hole (not shown) penetrated in the through direction of the core coupling hole 1175 at a position where the core coupling hole 1175 is formed.

2 and 3, the rotor part 120 is provided between the stator parts 110 in the axial direction. The rotor part 120 includes a rotor ring 127, a rotor body 121, and a permanent magnet 125. The rotor part 120 is injection molded so that the rotor body 121 is integral with the rotor ring 127 and the permanent magnet 125 as inserts, or the rotor body 121 is attached to the rotor ring 127. It is assembled and the permanent magnet 125 is assembled and formed.

9, the rotor ring 127 is formed in a cylindrical shape. The rotor ring 127 is made of a material such as bearing steel or high carbon steel. In the axial center portion of the rotor ring 127, a rotor outer surface groove 1252 concave along the circumferential direction is formed in the outer diameter. In the inner diameter of the rotor ring 127, a concave rotor inner groove 1273 is formed along the circumferential direction in the central axial direction.

One or more outer groove grooves 1276, which are flat portions, are formed in a part of the rotor outer groove 1271. When a plurality of the outer groove supporting surfaces 1276 are formed, the outer groove supporting surfaces 1276 are spaced apart along the circumferential direction of the rotor inner groove 1271.

10, the rotating body 121 is formed in a plate-shaped annular shape. The rotating body 121 is made of an engineering plastic material such as nylon 66, nylon 6, PPS, PEEK, or an electrically insulating material such as ceramic.

The rotor body 121 is coupled to the inner diameter portion of the rotor body 121 is inserted into the rotor outer groove 1271 of the rotor ring 127, between the two stator portions 110 spaced apart in the axial direction It is located on. The rotor body 121 is provided spaced apart from the stator part 110 by a small distance in the axial direction.

One or more body inner diameter ground surfaces 1217, which are flat portions, are formed on a part of the body inner diameter portion 1213 of the rotating body 121. When there are a plurality of main body inner surface 1217, the main body inner surface 1217 is formed spaced apart along the body inner diameter portion 1213. The body inner diameter support surface 1217 is provided in contact with the outer groove support surface 1276 of the rotor ring 127.

The rotor body 121 is injection molded with the rotor ring 127 as an insert, or the body inner diameter support surface 1217 is formed on the body inner diameter portion 1213 and the rotor inner surface groove of the rotor ring 127 ( 1272).

A plurality of magnet installation holes 1215 spaced apart in the circumferential direction and penetrated in the axial direction are formed in the rotating body 121.

The permanent magnet 125 is provided in plural. The permanent magnet 125 is aligned along the circumferential direction of the rotating body 121 and is installed in the magnet installation hole 1215.

The rotor body 121 corresponds to the outer groove supporting surface 1276 formed in the rotor ring 127 as it is injection molded or fixed by assembly using the rotor ring 127 as an insert, and the body inner diameter portion Since the main body inner ground surface 1217 is formed on the 1213, and the main body inner ground surface 1217 contacts the outer groove supporting surface 1276, the relative rotation of the rotor ring 127 and the rotor body 121 This is prevented.

1 to 3, the support 150 is formed in an annular shape. The support 150 is two, and is provided on both sides in the axial direction of the rotor ring 127, and is coupled to the inner diameter side of the stator part 110, respectively. The support part 150 may be integrally molded when the stator forming part 111 is molded.

A bearing support groove 151 and a roller groove 155 are formed in the support part 150.

The bearing support groove 151 is formed to extend concavely along the circumferential direction on the axial inner surface of the support portion 150. The bearing support groove 151 is formed to be spaced radially inward from the coil body 115 constituting the stator part 110.

The roller groove 155 is formed to be spaced radially inward from the bearing support groove 151. The roller groove 155 is formed to extend concave along the circumferential direction on the inner surface of the support portion 150 in the axial direction.

The support portion 150 is formed with an outer support portion 153 in the axial direction outside of the bearing support groove 151. The outer support portion 153 is formed while forming an axially outwardly facing jaw surface of the support portion 150. A plurality of cooling panel coupling grooves (not shown) are formed in the outer support portion 153 in the axial direction. The cooling panel coupling groove communicates with the cooling second coupling hole 319 of the cooling unit 300, and the cooling panel unit and the support unit 150 are coupled by screws that are coupling means.

The radially inner side of the support portion 150 is provided with an inner support portion 157 protruding radially inward from the axial center portion of the support portion 150. The inner support part 157 is formed to extend along the circumferential direction of the support part 150. A coupling member 260 is inserted and seated on the axial outer side of the inner support portion 157, and a fixed gear 230 of the reduction gear 200 is inserted and provided on the inner axial side of the inner support portion 157.

2, the bearing part 140 is provided between the support part 150 and the rotor ring 127. Since the bearing part 140 is provided, the rotor ring 127 is rotatably supported with respect to the support part 150.

The bearing part 140 includes two bearing wheels facing each other in the axial direction, and a plurality of rolling elements 141 provided along the circumferential direction between the two bearing wheels.

One of the two bearing wheels is provided in the form of a ring. The ring-shaped bearing wheel 143 is inserted into the bearing support groove 151 of the support part 150. The bearing wheel 143 has an axial inner surface formed in a plane.

Both ends in the axial direction of the rotor ring 127 face the axial inner surface of the bearing wheel 143 inserted into the bearing support groove 151. Both ends of the rotor ring 127 in the axial direction act as the other of the two bearing wheels. Concave track grooves 1275 are formed in both axial directions of the rotor ring 127 along the circumferential direction.

A plurality of rolling elements 141 are provided between the rotor ring 127 and the bearing wheel 143. The rolling element 141 is provided in the form of a ball. The plurality of rolling elements 140 are aligned along the circumferential direction between the bearing wheel 143 and the track groove 1275. A cage is provided between the bearing wheel 143 and the raceway groove 1275 and has a pocket spaced along the circumferential direction and penetrated in an axial direction, and the rolling element 140 may be provided in a pocket of the cage. .

In the two bearing wheels of the bearing part 140, one side track is formed as a track groove 1275, and the other tracks are formed in a plane, so that operation is performed even in the case of deformation (expansion) caused by heat generated when the motor 1 is operated. It becomes smooth.

A buffer member 144 is further provided between the bearing wheel 143 inserted into the bearing support groove 151 and the bottom surface of the bearing support groove 151.

The buffer member 144 is a plate-shaped annular and made of a silicone foam body. The shock absorbing member 144 absorbs thermal expansion of the bearing wheel 143 due to heat generated when the reduction gear-integrated axial type motor 1 is operated.

The bearing part 140 may be provided as a magnet bearing consisting of a first magnet part 142 and a second magnet part 146 in the form of a ring, as shown in FIG. 3.

The first magnet part 142 is inserted into the bearing support groove 151 and is provided.

At both ends of the axial direction of the rotor ring 127, a rotor ring bearing groove 1276 having a concave ring shape is formed along a circumferential direction. The rotor bearing bearing groove 1276 is formed to face the bearing support groove 151.

The second magnet part 146 is inserted into the rotor bearing bearing groove 1276 and is provided to face the first magnet part 142.

The buffer member 144 may be provided between at least one of the bottom surface of the first magnet part 142 and the bearing support groove 151 or between the bottom surface of the second magnet part 146 and the rotor bearing bearing groove 1276. Is provided.

A repulsive force acts between the first magnet part 142 and the second magnet part 146. The repulsive force acting between the first magnet part 142 and the second magnet part 146 is greater than the attractive force acting between the rotor part 120 and the stator part 110, and the rotor part 120 is interposed therebetween. It is larger than the attraction force acting between the stator parts 110 facing each other.

2, the reduction unit 200 is provided inside the radial direction of the driving unit 100. The reduction unit 200 includes a rotor inner surface 1271 of the rotor ring 127, a reduction unit roller 210, an elastic gear 220, a rotation gear 240, and a fixed gear 230 , Consisting of a gear support roller 250 and a coupling member 260.

As shown in FIG. 9, the rotor inner surface 1271 is formed on both sides in the axial direction of the inner rotor groove 1273 formed in the inner diameter portion of the rotor ring 127. The inner rotor surface 1271 is provided in contact with the reduction unit roller 210. On the inner surface of the rotor 1271, a plurality of concave inner surface protrusion grooves 1272 extending along the circumferential direction are spaced apart in the axial direction. The inner surface of the rotor 127 is provided in contact with the reduction unit roller 210, the inner projection 1271 is formed on the inner surface of the rotor 1271 between the rotor inner surface 1271 and the reduction unit roller 210 Its frictional resistance is reduced.

2 and 3, the reduction part roller 210 is arranged in plurality along the inner diameter of the rotor ring 127 on the inner diameter side of the rotor ring 127 and is provided in plural. The reduction part roller 210 is aligned along the circumferential direction between the inner diameter surface of the rotor ring 127 and the elastic gear 220. The reduction part roller 210 is provided as a cylindrical roller having a circular cross section having a length in the axial direction. A cylindrical cage 211 is provided inside the rotor ring 127 in the radial direction, and a plurality of pockets spaced apart in the circumferential direction are formed in the cage 211. The reduction part roller 210 is rotatably provided in a pocket formed in the cage 211. Both sides of the cage 211 are provided in the roller groove 155 of the support part 150 in the axial direction. The cage 211 is provided to be slidable along both sides of the roller groove 155 in the axial direction.

The reduction part roller 210 makes a line contact having an axial length on the inner surface 1271 of the rotor ring 127. The inner rotor groove 1273 is formed on the inner rotor surface 1271, and the reduction roller 210 is spaced apart from the central portion in the axial direction and is in line contact with the inner rotor surface 1271 on both sides in the axial direction. The reduction part roller 210 contacts the rotor inner surface 1271 by a length from the rotor inner surface groove 1273 to an axial end. The reduction part roller 210 is supported in contact with the rotor inner surface 1271 in the axial direction inward than the part engaged with the fixed gear 230.

Of course, the line contact between the inner surface of the rotor 1271 and the reduction part roller 210 is a surface contact when the applied pressure increases, but is expressed as a line contact because the axial length is much longer than the width. Line contact is meant to include this.

The elastic gear 220 forms a closed circuit as shown in FIG. 13 and is provided as a cylindrical thin plate. The elastic gear 220 is provided in the radially inner side of the plurality of reduction gear rollers 210 provided along the inner surface of the rotor 1271. The axial length of the elastic gear 220 is the same as the axial length of the reduction gear roller 210, or the axial length of the elastic gear 220 is formed to be as large as a micro size (about 1 mm). The outer surface of the elastic gear 220 is provided in contact with the reduction gear roller 210, and both ends in the axial direction are provided in contact with the inner surface in the axial direction of the support 150.

The outer surface of the elastic gear 220 makes a line contact having a length in the axial direction with the reduction gear roller 210 from the radially inner side of the reduction gear roller 210 row.

Gear teeth are formed on the inner diameter surface of the elastic gear 220. The elastic gear 220 is made of a material such as stainless steel and bearing steel.

A backup ring 270 may be further provided between the elastic gear 220 and the reduction part roller 210. The backup ring 270 forms a closed circuit and is provided in a cylindrical shape. The backup ring 270 is made of a material such as stainless steel and bearing steel. The backup ring 270 is provided in the radially inner side of the plurality of reduction rollers 210 provided along the rotor inner surface 1271. Both ends of the backup ring 270 in the axial direction are provided in contact with the inner surface of the support portion 150 in the axial direction. The backup ring 270 is inserted and positioned with a loose fit.

The thickness of the backup ring 270 may be the thickness of the elastic gear 220, but may be slightly thicker or slightly thinner than the elastic gear 220, and the thickness may be in the range of 2.0 mm, but is not limited thereto. no.

The axial length of the backup ring 270 is equal to the axial length of the reduction gear roller 210, or the axial length of the backup ring 270 is formed to be as large as a micro size (about 1 mm).

The outer diameter surface of the backup ring 270 is provided in contact with the reduction unit roller 210, and the inner diameter surface of the backup ring 270 is provided in contact with the elastic gear 220. The outer diameter surface of the backup ring 270 makes a line contact having a length in the axial direction with the reduction part roller 210 from the radially inner side of the row of the reduction part roller 210.

Since the backup ring 270 is further provided between the elastic gear 220 and the reduction gear roller 210, the pressure by the reduction gear roller 210 is transmitted to the elastic gear 220 through the backup ring 270. , The deformation load of the elastic gear 220 by the reduction unit roller 210 becomes small and the deformation stress becomes small.

The rotating gear 240 is provided inside the elastic gear 220 in the radial direction. As shown in FIG. 14, the rotating gear 240 is provided in a cylindrical shape, and a plurality of concave coupling grooves (not shown) spaced along the circumferential direction of the rotating gear 240 are formed at both ends of the axial direction.

The radial gear outer surface of the rotary gear 240 is provided with a rotating gear projection 241 protruding radially outward from an axial center portion of the rotary gear 240.

A gear value that meshes with a gear value formed on the inner diameter surface of the elastic gear 220 is formed on the outer diameter surface of the rotating gear protrusion 241. The gear teeth formed on the rotating gear projection 241 mesh with the gear teeth of the elastic gear 220 between the fixed gears 230 provided on both axial sides of the rotating gear projection 241 in FIG. 2. The axial length between the rotating gear protrusion 241 and the elastic gear 220 is longer than the axial length of the rotor inner groove 1273 of the rotor ring 127.

The outer diameter of the gear teeth of the rotating gear protrusion 241 is circular, and the inner diameter of the gear of the elastic gear 220 is formed in an oval shape, so that when the reduction gear 200 rotates, the gear teeth of the elastic gear 220 and the rotating gear protrusion 241 ) As a part of the gear teeth are rotated while being engaged, the rotational speed of the rotor part 120 is decelerated and transmitted to the rotating gear 240.

2 and 3, the fixed gear 230 is provided in a cylindrical shape. The fixed gear 230 is located on both sides in the axial direction of the rotating gear projection 241 with the rotating gear projection 241 therebetween. The outer diameter of the fixed gear 230 is formed in a circular shape. The fixing gear 230 is inserted into the axial direction inside of the inner support 157 of the support 150. A gear value that meshes with the gear value of the elastic gear 220 is formed on the outer diameter surface of the fixed gear 230. Gear teeth formed on the outer diameter surface of the fixed gear 230 are formed inside the axial direction of the fixed gear 230 to mesh with the gear teeth of the elastic gear 220. The rotating gear protrusion 241 and the fixed gear 230 on both sides in the axial direction mesh with the elastic gear 220 over the axial length of the elastic gear 220 from the radially inner side.

Since the fixed gear 230 is provided, the fixed gear 230 supports the inner side of the elastic gear 220 on both sides of the rotary gear 240 in the axial direction, so that a large torque transmission is possible and noise vibration is suppressed. have.

The fixed gear 230 is formed in a shape in which the axial outer side protrudes inward in the radial direction. The axial inner side of the fixed gear 230 is radially outwardly spaced from the rotating gear 240, and a space is formed between the fixed gear 230 and the rotating gear 240. In the space formed between the fixed gear 230 and the rotating gear 240, a gear support roller 250 and a gear support roller cage 251 are provided to reduce the bending phenomenon of the fixed gear 230 due to high torque load. . Therefore, the mesh of the elastic gear 220 and the fixed gear 230 is maintained.

The gear support roller 250 is arranged in a circumferential direction in a space formed between the fixed gear 230 and the rotating gear 240 and is provided in plural. The gear support roller 250 is provided as a cylindrical roller having a length in the axial direction.

The gear support roller cage 251 is cylindrical, and a plurality of pockets spaced apart in a circumferential direction are formed. The gear support roller 250 is rotatably provided in a pocket formed in the gear support roller cage 251. The gear support roller cage 251 is slidably provided between both axially inward axial surfaces of the fixed gear 230 and the axial outer surface of the rotating gear protrusion 241.

The gear support roller 250 is rotatably provided between the rotating gear 240 and the fixed gear 230. The gear support roller 250 allows the rotation of the rotating gear 240 to be smoothly performed, and supports the relative rotation of the fixed gear 230 and the rotating gear 240 by rolling.

2 and 3, the coupling member 260 is provided at both ends in the axial direction of the rotary gear 240. The coupling member 260 is provided in the form of a ring. A plurality of coupling holes (not shown) formed in the axial direction along the circumferential direction are formed in the coupling member 260. The coupling member 260 is coupled to the rotating gear 240 by a coupling means (for example, a bolt) in which the coupling hole communicates with the coupling groove of the rotating gear 240, and rotates integrally with the rotating gear 240 do. The coupling member 260 is seated on an axial outer surface of the inner support portion 157 of the support portion 150 and is slidably provided.

The reduction gear-integrated axial type motor 1 according to the present invention includes a reduction gear roller 210, a rotating gear 240, and a fixed gear 230 and a gear support roller provided on both sides of the axial direction of the rotating gear protrusion 241 ( The support structure is strong by 250), and a large torque transmission from the driving unit 100 to the reduction unit 200 is possible.

As illustrated in FIG. 1, the cooling unit 300 is provided on both axial sides and radially outer portions of the driving unit 100.

6, the cooling unit 300 is composed of a cooling body 330 and a cooling panel unit.

The cooling body 330 is a hollow body having a circular arc cross-section and a flow path formed therein, and an inlet and an outlet are formed. The cooling body 330 is provided to be located outside the stator portion 110 in the radial direction.

The flow path formed in the cooling body 330 communicates with the flow path of the cooling panel. The fluid introduced into the flow path through the inlet of the cooling body 330 passes through the flow path of the cooling panel and flows back into the flow path and is discharged through the outlet. Connection nozzles 331 and 333 are connected to the inlet and outlet, respectively.

The cooling panel portion is provided in an annular shape. Two cooling panel parts are provided on both sides of the cooling body 330 in the axial direction and are provided to face each other. Each of the cooling panel parts is provided in contact with the outer side in the axial direction of the stator part 110 in the axial direction. The cooling panel portion is provided in contact with the axial outer surface of the core body 1171 in the axial direction, respectively.

The cooling panel unit includes a cooling first panel 310 and a cooling second panel 320.

As shown in FIG. 7, the coolant first panel 310 is a plate-shaped annular body. A portion of the coolant first panel 310 having a radially outward circumferential direction is provided with a radially outwardly projecting panel coupling portion 312. The panel coupling portion 312 is formed in an arc shape that can cover the axial section of the cooling body 330. A plurality of cooling body coupling holes 315 penetrated in the axial direction are formed in the panel coupling portion 312 and are screwed to the axial end face of the cooling body 330.

A concave flow groove 313 is formed in the coolant first panel 310 along the circumferential direction. Both ends of the flow groove 313 extends to the panel coupling portion 312 and has a flow extension groove 317 whose end is located in the panel coupling portion 312.

The coolant first panel 310 is spaced along the circumferential direction on the radially outer side of the flow groove 313 to form a plurality of coolant first coupling holes 311 through the axial direction, inside the radius of the flow groove 313 The spaced apart in the circumferential direction to the plurality of coolant second coupling hole 319 is formed through the axial direction.

As illustrated in FIG. 8, the coolant second panel 320 is a plate-shaped annular body, and a radially outwardly projecting panel extension 321 is provided in a part of a circumferential direction outside the radial direction. The coolant second panel 320 covers the flow grooves 313 and the panel extension part 321 is formed in a form that covers the flow extension grooves 317. A second panel hole 323 communicating with each flow extending groove 317 is formed through the panel extension portion 321 when engaged.

The coolant first panel 310 and the coolant second panel 320 are combined, and the flow extending groove 317 is covered by the coolant second panel 312 to form a flow path.

Each of the second panel holes 323 communicates with the flow path, and the cooling fluid flowing through the second panel hole 323 on one side flows through the flow path and the cooling body 330 through the other second panel hole 323. ) And flows through the outlet.

The cooling part 300 is provided by being coupled to the stator part 110 by a coupling means.

For example, a bolt is inserted into the coolant first coupling hole 311 of the one side cooling panel part, and then passes through the forming portion coupling holes of the core coupling holes 1175 and the stator forming portion 111 on both sides of the axial direction, and the other cooling agent 1 The nut protrudes through the coupling hole 311 and the cooling part 300 is coupled to the stator part 110.

For example, a screw is inserted into the cooling second coupling hole 319 of the cooling panel part, and a screw is fastened to a cooling panel coupling groove formed on an axial outer side of the support part 150. The support part 150 is coupled to the stator part 110 via the cooling part 300.

2 and 3, the driving part 100 may further include an intermediate ring 130, and the rotor part 120 may further include a rotor reinforcement ring 123.

The rotor reinforcing ring 123 is in the form of a ring and is located on the outer body portion 1211 of the rotor body 121 (see FIG. 10). The rotor reinforcement ring 123 is a high-hardness metal material with less bending. A plurality of protrusions are provided on the outer diameter surface of the rotor reinforcement ring 123 along the circumferential direction.

11 and 12, the intermediate ring 130 is made of a metal material and has a ring shape. The intermediate ring 130 is positioned between the stator parts 110 provided in the axial direction. The intermediate ring 130 is provided with a radially inner surface facing the outer surface of the rotor reinforcement ring 123.

The intermediate ring 130 is spaced along the circumferential direction, and a plurality of intermediate ring coupling holes 131 are formed through the axial direction.

A concave intermediate ring slot 133 is formed in the inner portion of the intermediate ring 130. Concave concave portions are formed at both ends of the intermediate ring slot 133 in the circumferential direction. An encoder (not shown) is installed in the intermediate ring slot 133. The encoder is installed by being inserted into recesses formed at both ends of the intermediate ring slot 133 in the circumferential direction. The encoder serves to sense the rotation of the rotor reinforcement ring 123 through the protrusion formed on the outer diameter surface of the rotor reinforcement ring 123.

The intermediate ring 130 is coupled to the stator portion 110 by coupling means.

The coupling means is sequentially fastened after passing through the stator part 110 on one side, the intermediate ring 130 and the stator part 110 on the other side, so that the intermediate ring 130 is located between the stator parts 110 on both sides, so that the stator part ( 110).

When the cooling unit 300 is provided in the reduction gear-integrated axial type motor 1, the coupling means passes through the coolant first coupling hole 311 on one side of the cooling panel, the stator part 110, the intermediate ring 130, and The stator part 110 on the other side and the coolant first coupling hole 311 on the other side are sequentially fastened with a nut or the like on the other side, and the intermediate ring 130 is located between the stator parts 110 on both sides, so that the stator part ( 110).

Hereinafter, a modified example of the axial type motor 1 integrated with a reduction gear according to the present invention will be described. 15 is a half cross-sectional view of a reduction gear-integrated axial type motor schematically showing a modified example of the reduction gear-integrated axial type motor, and FIG. 17 is a perspective view showing a stator core provided in the reduction gear-integrated axial type motor.

In Fig. 15, the horizontal direction is referred to as "radial direction" and the vertical direction is referred to as "axial direction".

As shown in FIG. 15, the driving unit 100 includes a stator unit 110, a rotor unit 120, a support unit 150, and a bearing unit 140.

The stator part 110 is provided in an annular shape. The stator parts 110 are two, and are spaced apart in the axial direction to face each other with the rotor part 120 interposed therebetween. The stator part 110 includes a stator core 117, a stator circuit part 113, a coil body 115, and a stator forming part 111.

The stator core 117 comprises a core body 1171 and a core protrusion 1172.

The core body 1171 is formed in a plate-shaped annular shape. The core body 1171 is spaced along the circumferential direction and is formed with a core protrusion coupling hole penetrated in the axial direction.

In the radially inner side of the core body 1171, a core coupling protrusion 1173 protruding inward in a radial direction (see a dotted line in FIG. 4) is provided. The core coupling protrusions 1173 are spaced apart from each other along a circumferential circumference of the core body 1171 and provided in plural. The core coupling protrusion 1173 is formed with a core coupling hole 1175 penetrated in the axial direction.

The core protrusion 1172 is provided in the form of a rod extending in the axial direction. The core projections 1172 are provided in plural and are respectively inserted into the core projection coupling holes. The axial outer end of the core protrusion 1172 is inserted into the core body 1171 and is protruded toward the stator part 110 facing in the axial direction. The core protrusion 1172 is provided to protrude toward the rotating body 121 of the rotor portion 120.

The stator core 117 may be formed by bonding a plurality of stator core portions 117-1 to each other, as illustrated in FIG. 17.

The stator core portion 117-1 is a silicon steel plate and is formed by stacking a stator core panel 117-11 coated with an insulating layer.

The stator core panel (117-11) is connected to the core panel horizontal portion (117-11a) extending in the horizontal direction from one side in the axial direction, one end is connected to the core panel horizontal portion (117-11a) and permanent magnet in the axial direction And a core panel connecting portion 117-11b extending toward 125). The stator core panel 117-11 includes a core panel horizontal portion 117-11a and a core panel connection portion 117-11b, and is formed in a “T” shape.

In Fig. 17, reference numerals 117-11d denote concave core panel recesses formed in the center of the core panel horizontal portion 117-11a.

The stator core part 117-1 has a plurality of stator core panels 117-11 stacked to form a “T” shape, and a core crossing part 117-1a extending in a horizontal direction from one side in the axial direction and one end thereof. It is connected to the core horizontal portion 117-1a and includes a core connection portion 117-1b extending toward the permanent magnet 125 in the axial direction. The stator core part 117-1 is formed by stacking core panel horizontal parts 117-11a to form a core horizontal part 117-1a, and core panel connecting parts 117-11b are stacked to form a core connecting part 117- 1b).

In FIG. 17, reference numeral 117-1d denotes a core concave portion that extends along the radial direction in the center of the core horizontal portion 117-1a. The core concave portion 117-1d is formed by the core panel concave portion 117-11d of the core panel horizontal portion 117-11a.

The stator core 117 is formed by connecting both ends of the core horizontal portions 117-1a of the plurality of stator core portions 117-1. Both ends of the core cross sections 117-1a are heated and pressed together to be joined. 17, the stator core 117 is formed by bending the core cross sections 117-1a in an arc shape, so that the plurality of core cross sections 117-1a are joined to each other to form a circle. It might be. The stator core 117 may be formed in a polygonal shape. The core horizontal portion 117-1a may be inwardly bent on both sides in a circumferential direction to form a polygon having an increased number of sides.

A plurality of core cross-sections 117-1a where both ends are joined to each other form a core body 1171, and the core connection parts 117-1b form a core projection 1172. When the stator core 117 is formed in a polygonal shape, an extension direction of the core horizontal portion 117-1a becomes a tangential direction in a circumferential direction.

The stator core 117 formed as shown in FIG. 17 has a plurality of stator core panels 117-11 stacked as described above to form a stator core portion 117-1, and a plurality of core panel connecting portions 117-11b are stacked. Since the core connecting portion 117-1b is formed, the stacking direction of the core body 1171 and the core protrusion 1172 is the same, so that resistance is reduced and heat generation is small, so that large torque transmission is possible.

The stator core panel 117-11 is further provided at an axial end of the core panel connecting portion 117-11b, and further includes a core panel horizontal portion 117-11c parallel to the core panel horizontal portion 117-11a." It can be formed in the form of an "I". The core panel horizontal portion 117-11c may be formed with an inclined portion at the top so that the width becomes thinner toward the end as shown in enlarged view in FIG. 17.

The stator core part 117-1 in which the stator core panel 117-11 in the form of “I” is stacked is connected to the axial end of the core connecting part 117-1b and parallel to the core crossing part 117-1a. Another core cross section 117-1c is further included. The core horizontal portion 117-1c may be formed with a polygon having both sides of the circumferential direction bent inward to increase the number of sides.

The core cross section 117-1c is formed by stacking a plurality of core panel cross sections 117-11c. The core transverse portion 117-1c may be formed with an inclined portion at the top so that the width becomes thinner toward the end as shown in enlarged view in FIG. 17. As the core crossing portion 117-1c is formed to be thinner toward the end, the output is improved, and the back EMF waveform is improved to be closer to a sinusoidal wave.

The core panel extension portions 117-11b extend in the axial direction, and both ends are connected to the core panel horizontal portions 117-11a and 117-11c. The core panel horizontal portions 117-11a and 117-11c and the core panel connecting portion 117-11b are integrally formed.

The stator circuit part 113 is provided inside the axial direction of the core body 1171. As shown in FIG. 5, the stator circuit part 113 is composed of a plurality of circuit members 1135 made of metal and a circuit part body 1131 injection-molded using a plurality of circuit members 1135 as inserts.

The circuit unit main body 1131 is formed in a plate-shaped annular shape. A plurality of core holes 1133 spaced apart in the circumferential direction are formed in the circuit unit body 1131. The core hole 1133 is formed through the axial direction, the core protrusion 1172 is inserted into each core hole 1133 is provided.

When the stator core 117 is formed as shown in FIG. 17, the circuit part main body 1131 is provided on the axial outer side or the axial inner side of the stator core 117.

The circuit member 1135 inserted into the circuit part main body 1131 has one end protruding in the radial direction of the circuit part main body 1131 to form a circuit part terminal 1137. The circuit part terminal 1137 may be formed to protrude radially outward of the circuit part main body 1131. An external wire is connected to the circuit terminal 1137 and power is supplied to the axial type motor 1 integrated with a reducer.

The coil body 115 is provided in plural. The coil body 115 is formed in the form of a hollow body wound through a thin plate and penetrated in the axial direction. The coil body 115 may be provided with a wire having a circular cross section. In the coil body 115, a core protrusion 1172 protruding from the core hole 1133 is inserted into a hollow portion of the coil body 115.

Each coil body 115 is electrically connected to the circuit member 1135 and power supplied through the circuit part terminal 1137 flows through each coil body 115 to form a magnetic force. The coil body 115 forms a magnetic pole facing the permanent magnet 125 provided in the rotor part 120.

The stator forming part 111 is formed in an annular shape. The stator forming part 111 is injection molded with the stator core 117, the stator circuit part 113, and the coil body 115 as inserts. The stator forming part 111 is molded to cover the radially inner, radially outer, and axially inner ends of the coil body 115 and the axially inner side of the core protrusion 1172. The axial outer side of the core body 1171 is molded to be exposed. The axial outer side of the core body 1171 is exposed to directly contact the cooling panel portion of the cooling unit 300.

15, the rotor part 120 is provided between the stator parts 110 in the axial direction. The rotor part 120 includes a rotor ring 127, a rotor body 121, and a permanent magnet 125. The rotor part 120 is injection molded so that the rotor body 121 is integral with the rotor ring 127 and the permanent magnet 125 as inserts, or the rotor body 121 is attached to the rotor ring 127. It is assembled and the permanent magnet 125 is assembled and formed.

The rotor ring 127 is formed in a cylindrical shape. In the center of the axial direction of the rotor ring 127, a concave rotor inner groove is formed along the circumferential direction in the inner diameter. In the outer diameter of the rotor ring 127, a concave rotor outer groove 1274 is formed in the axial center along the circumferential direction.

The rotating body 121 (see FIG. 10) is formed in a plate-shaped annular shape. The rotor body 121 is coupled to the outer diameter of the rotor body 121 is inserted into the rotor inner groove of the rotor ring 127, is provided between two stator parts 110 spaced in the axial direction . The rotor body 121 is provided spaced apart from the stator part 110 by a small distance in the axial direction.

A plurality of magnet installation holes 1215 spaced apart in the circumferential direction and penetrated in the axial direction are formed in the rotating body 121.

The permanent magnet 125 is provided in plural. The permanent magnet 125 is aligned along the circumferential direction of the rotating body 121 and is installed in the magnet installation hole 1215.

The support 150 is formed in an annular shape. The support 150 is two, and is provided on both sides in the axial direction of the rotor ring 127, respectively coupled to the outer diameter side of the stator part (110). The support part 150 may be integrally molded when the stator forming part 111 is molded.

A bearing support groove 151 and a roller groove 155 are formed in the support part 150.

The bearing support groove 151 is formed to extend concavely along the circumferential direction on the axial inner surface of the support portion 150. The bearing support groove 151 is formed to be spaced radially outward from the coil body 115 constituting the stator part 110.

The roller groove 155 is formed to be spaced radially outward from the bearing support groove 151. The roller groove 155 is formed to extend concave along the circumferential direction on the inner surface of the support portion 150 in the axial direction.

In the support part 150, an inner support part 156 is formed in the axial direction outside of the bearing support groove 151. The inner support portion 156 is formed while forming an axially facing jaw surface on the axial outer side of the support portion 150. A plurality of cooling panel coupling grooves are formed in the inner support portion 156 in the axial direction. The cooling panel coupling groove communicates with the cooling first coupling hole 311 of the cooling unit 300, and the cooling panel unit and the support unit 150 are coupled by screws that are coupling means.

A radially outer side of the supporting portion 150 is provided with an outer supporting portion 154 that protrudes radially outwardly from an axial center portion of the supporting portion 150 and extends along a circumferential direction. A radially outwardly outer diameter surface is formed on the axially outer and inner sides of the outer supporting portion 154. A coupling member 260 is inserted and seated on the axial outer side of the outer support portion 154, and an outer diameter portion is inserted into the fixed gear 230 of the reduction portion 200 on the axial inner side of the outer supporting portion 154. do.

The bearing part 140 is provided between the support part 150 and the rotor ring 127. Since the bearing part 140 is provided, the rotor ring 127 is rotatably supported with respect to the support part 150.

The bearing part 140 may be provided as a magnet bearing consisting of a first magnet part 142 and a second magnet part 146 in the form of a ring, as shown in an enlarged view of FIG. 15.

The first magnet part 142 is inserted into the bearing support groove 151 and is provided.

Both ends of the rotor ring 127 in the axial direction are formed with a concave ring-shaped rotor ring bearing groove 1276 along the circumferential direction. The rotor bearing bearing groove 1276 is formed to face the bearing support groove 151.

The second magnet part 146 is inserted into the rotor bearing bearing groove 1276 and is provided to face the first magnet part 142.

A buffer member 144 may be provided between at least one of the bottom surface of the first magnet part 142 and the bearing support groove 151 or between the bottom surface of the second magnet part 146 and the rotor bearing bearing groove 1276. It is provided.

A repulsive force acts between the first magnet part 142 and the second magnet part 146. The repulsive force acting between the first magnet part 142 and the second magnet part 146 is greater than the attractive force acting between the rotor part 120 and the stator part 110, and the rotor part 120 is interposed therebetween. It is larger than the attraction force acting between the stator parts 110 facing each other.

The bearing part 140 may include two bearing wheels facing each other in the axial direction as shown in FIG. 2, and a plurality of rolling elements 141 provided along the circumferential direction between the two bearing wheels. have. It will be described below with reference to reference numerals in FIG. 2.

One of the two bearing wheels is provided in the form of a ring. The ring-shaped bearing wheel 143 is inserted into the bearing support groove 151 of the support part 150. The bearing wheel 143 has an axial inner surface formed in a plane. A buffer member 144 may be further provided between the bearing wheel 143 inserted into the bearing support groove 151 and the bottom surface of the bearing support groove 151.

Both ends in the axial direction of the rotor ring 127 face the axial inner surface of the bearing wheel 143 inserted into the bearing support groove 151. Both ends of the rotor ring 127 in the axial direction act as the other of the two bearing wheels. Concave track grooves 1275 are formed in both axial directions of the rotor ring 127 along the circumferential direction.

A plurality of rolling elements 141 are provided between the rotor ring 127 and the bearing wheel 143. The rolling element 141 is provided in the form of a ball. The plurality of rolling elements 140 are aligned along the circumferential direction between the bearing wheel 143 and the track groove 1275. A cage is provided between the bearing wheel 143 and the raceway groove 1275 and has a pocket spaced along the circumferential direction and penetrated in an axial direction, and the rolling element 140 may be provided in a pocket of the cage. .

15, the reduction unit 200 is provided outside the radial direction of the driving unit 100. The reduction unit 200 includes a rotor outer surface 1272 of the rotor ring 127, a reduction unit roller 210, an elastic gear 220, a rotation gear 240, and a fixed gear 230 , Consisting of a gear support roller 250 and a coupling member 260.

The rotor ultraviolet surface 1272 is formed on both sides in the axial direction of the rotor ultraviolet groove 1271 formed in the outer diameter portion of the rotor ring 127. The outer diameter of the rotor outer surface 1272 is formed in an oval shape. A plurality of concave outer surface protrusion grooves 1272 ′ extending along the circumferential direction are spaced apart in the axial direction on the rotor outer surface 1272. The rotor ultraviolet surface 1272 is provided in contact with the reduction unit roller 210, the outer surface protrusion groove 1254' is formed on the rotor outer surface 1272, the rotor outer surface 1272 and the reduction unit roller 210 The frictional resistance between is reduced.

The reduction part roller 210 is arranged along the outer diameter of the rotor ring 127 on the outer diameter side of the rotor ring 127 and is provided in plural. The reduction roller 210 is aligned along the circumferential direction between the outer diameter surface of the rotor ring 127 and the elastic gear 220. The reduction unit roller 210 is provided as a cylindrical roller having a circular cross section having a length in the axial direction. A cylindrical cage 211 is provided outside the radial direction of the rotor ring 127, and a plurality of pockets spaced apart in the circumferential direction are formed in the cage 211. The reduction part roller 210 is rotatably provided in a pocket formed in the cage 211. Both sides of the cage 211 are provided in the roller groove 155 of the support part 150 in the axial direction. The cage 211 is provided to be slidable along both sides of the roller groove 155 in the axial direction.

The reduction part roller 210 makes a line contact having a length in the axial direction to the rotor outer surface 1272 of the rotor ring 127. The rotor ultraviolet surface groove 1272 is formed on the rotor ultraviolet surface 1272, and the reduction unit roller 210 is spaced apart from the center of the axial direction and is in line contact with the rotor ultraviolet surface 1272 on both sides of the axial direction. The reduction unit roller 210 is in line contact with the rotor outer surface 1272 by the length from the rotor outer surface groove 1274 to the axial end. The reduction part roller 210 is supported in contact with the rotor outer surface 1252 in the axial direction inward than the part engaged with the fixed gear 230.

The elastic gear 220 is provided as a cylindrical thin plate. The elastic gear 220 is provided on the radially outer side of the plurality of reduction gear rollers 210 provided along the rotor outer surface 1272. The axial length of the elastic gear 220 is the same as the axial length of the reduction gear roller 210, or the axial length of the elastic gear 220 is formed to be as large as a micro size (about 1 mm). The inner diameter surface of the elastic gear 220 is provided in contact with the reduction gear roller 210, both ends of the axial direction may be provided in contact with the inner surface in the axial direction of the support 150.

The inner diameter surface of the elastic gear 220 makes a line contact having a length in the axial direction with the reduction gear roller 210 from the radially outer side of the reduction gear roller 210 row.

Gears are formed on the outer diameter surface of the elastic gear 220. The elastic gear 220 may be made of a material such as stainless steel and bearing steel.

A backup ring 270 may be further provided between the elastic gear 220 and the reduction part roller 210. The backup ring 270 forms a closed circuit and is provided in a cylindrical shape. The backup ring 270 is provided on the radially outer side of the plurality of reduction gear rollers 210 provided along the rotor outer surface 1272. Both ends of the backup ring 270 in the axial direction are provided in contact with the inner axial surface of the support 150.

The backup ring 270 is made of a material such as stainless steel and bearing steel. The backup ring 270 is inserted and positioned with a loose fit. The thickness of the backup ring 270 may be the thickness of the elastic gear 220, but may be slightly thicker or slightly thinner than the elastic gear 220, and the thickness may be in the range of 2.0 mm, but is not limited thereto. no.

The axial length of the backup ring 270 is equal to the axial length of the reduction gear roller 210, or the axial length of the backup ring 270 is formed to be as large as a micro size (about 1 mm).

The inner diameter surface of the backup ring 270 is provided in contact with the reduction unit roller 210, and the outer diameter surface of the backup ring 270 is provided in contact with the elastic gear 220. The inner diameter surface of the backup ring 270 makes a line contact having a length in the axial direction with the reduction part roller 210 from the radially outer side of the row of the reduction part roller 210.

Since the backup ring 270 is further provided between the elastic gear 220 and the reduction gear roller 210, the pressure by the reduction gear roller 210 is transmitted to the elastic gear 220 through the backup ring 270. , The deformation load of the elastic gear 220 by the reduction unit roller 210 becomes small and the deformation stress becomes small.

The rotating gear 240 is provided outside the elastic gear 220 in the radial direction. The rotating gear 240 is provided in a cylindrical shape, and a plurality of concave coupling grooves (not shown) spaced along the circumferential direction of the rotating gear 240 are formed at both ends of the axial direction.

On the radially inner surface of the rotating gear 240, a rotating gear protrusion 241 protruding radially inward from an axial center portion of the rotating gear 240 is provided.

A gear value that meshes with a gear value formed on the outer diameter surface of the elastic gear 220 is formed on the inner diameter surface of the rotating gear protrusion 241. The gear teeth formed on the rotating gear projection 241 mesh with the gear teeth of the elastic gear 220 between the fixed gears 230 provided on both sides of the rotating gear projection 241 in the axial direction. The axial length between the rotating gear protrusion 241 and the elastic gear 220 is longer than the axial length of the outer rotor groove 1271 of the rotor ring 127.

The inner diameter of the gear teeth of the rotating gear protrusion 241 is circular, and the outer diameter of the gear of the elastic gear 220 is formed in an elliptical shape, so that when the reduction gear 200 rotates, the gear teeth of the elastic gear 220 and the rotating gear protrusion 241 ) As a part of the gear teeth are rotated while being engaged, the rotational speed of the rotor part 120 is decelerated and transmitted to the rotating gear 240.

As shown in Figure 15, the fixed gear 230 is provided in a cylindrical shape. The fixed gear 230 is located on both sides in the axial direction of the rotating gear projection 241 with the rotating gear projection 241 therebetween. The inner diameter of the fixed gear 230 is formed in a circular shape. The fixed gear 230 is provided by being inserted into the axial direction inside of the outer support portion 154 of the support portion 150. Gear teeth that mesh with the gear teeth of the elastic gear 220 are formed on the inner diameter surface of the fixed gear 230. The gear teeth formed on the inner diameter surface of the fixed gear 230 are formed inside the axial direction of the fixed gear 230 to mesh with the gear teeth of the elastic gear 220. The rotating gear protrusion 241 and the fixed gear 230 on both sides in the axial direction mesh with the elastic gear 220 over the axial length of the elastic gear 220 from the radially inner side.

Since the fixed gear 230 is provided, since the fixed gear 230 supports the axial outer side of the elastic gear 220 on both axial sides of the rotary gear 240, large torque transmission is possible and noise vibration is suppressed. It works.

The fixed gear 230 protrudes outwardly in the axial direction and has a fixed gear protrusion (not shown) spaced apart from the rotating gear protrusion 241 in the axial direction and facing the inner surface of the rotating gear 240. A space is formed between the fixed gear protrusion and the rotating gear protrusion 241 in the axial direction. The space formed between the fixed gear 230 and the rotating gear 240 is provided with a gear support roller 250 and a gear support roller cage 251 in order to reduce the warpage caused by the high torque load. .

The gear support roller 250 is arranged in a circumferential direction in a space formed between the fixed gear 230 and the rotating gear 240 and is provided in plural. The gear support roller 250 is provided as a cylindrical roller having a length in the axial direction.

The gear support roller cage 251 is cylindrical, and a plurality of pockets spaced apart in a circumferential direction are formed. The gear support roller 250 is rotatably provided in a pocket formed in the gear support roller cage. The gear support roller cage is slidably provided between both axial sides of the axial direction of the fixed gear 230 and the axial outer surface of the rotating gear protrusion 241.

The gear support roller 250 is rotatably provided between the rotating gear 240 and the fixed gear 230. The gear support roller 250 allows the rotation of the rotating gear 240 to be smoothly performed, suppresses the bending phenomenon due to the high torque load of the fixed gear 230, and the fixed gear 230 and the rotating gear 240 ) Supports the relative rotation of the cloud.

The coupling member 260 is provided at both ends of the rotating gear 240 in the axial direction, and may be integrally formed with the rotating gear 240. The coupling member 260 is provided in the form of a ring. A plurality of coupling holes 261 penetrated in the axial direction along the circumferential direction are formed in the coupling member 260. In the coupling member 260, the coupling hole 261 communicates with the coupling groove 243 of the rotating gear 240 and is coupled with the rotating gear 240 by coupling means (eg, bolts), and the rotating gear ( 240). The coupling member 260 is seated on the axial outer surface of the outer support portion 154 of the support portion 150 to be slidably provided by a bearing to serve to support the rotating gear 240 so as not to move in the axial direction. do.

The cooling unit 300 may be provided on both the axial side of the driving unit 100 and a radially outer portion of the reduction unit 200.

The cooling unit 300, as shown in Figures 6 to 8, consists of a cooling body 330 and a cooling panel unit.

The cooling body 330 is a hollow body having a circular arc cross-section and a flow path formed therein, and an inlet and an outlet are formed. The cooling body 330 is provided to be located outside the radial direction of the rotating gear 240. The cooling body 330 may be provided spaced radially outward from the rotating gear 240.

The flow path formed in the cooling body 330 communicates with the flow path of the cooling panel. The fluid introduced into the flow path through the inlet of the cooling body 330 passes through the flow path of the cooling panel and flows back to the flow path and is discharged through the outlet. Connection nozzles 331 and 333 are connected to the inlet and outlet, respectively.

The cooling panel portion is provided in an annular shape. Two cooling panel parts are provided on both sides of the cooling body 330 in the axial direction and are provided to face each other. Each of the cooling panel parts is provided in contact with the outer side in the axial direction of the stator part 110 in the axial direction. The cooling panel portion is provided in contact with the axial outer surface of the core body 1171 in the axial direction, respectively.

The cooling panel unit includes a cooling first panel 310 and a cooling second panel 320.

The coolant first panel 310 is a plate-shaped annular body. A portion of the coolant first panel 310 having a radially outward circumferential direction is provided with a radially outwardly projecting panel coupling portion 312. The panel coupling portion 312 is formed in an arc shape that can cover the axial section of the cooling body 330. A plurality of cooling body coupling holes 315 penetrated in the axial direction are formed in the panel coupling portion 312 and are screwed to the axial end face of the cooling body 330.

A concave flow groove 313 is formed in the coolant first panel 310 along the circumferential direction. Both ends of the flow groove 313 extends to the panel coupling portion 312 and has a flow extension groove 317 whose end is located in the panel coupling portion 312.

The coolant first panel 310 is spaced along the circumferential direction on the radially outer side of the flow groove 313 to form a plurality of coolant first coupling holes 311 through the axial direction, inside the radius of the flow groove 313 The spaced apart in the circumferential direction to the plurality of coolant second coupling hole 319 is formed through the axial direction.

The coolant second panel 320 is a plate-shaped annular body, and a panel extension part 321 protruding radially outward is provided in a part of a circumferential direction outside the radial direction. The coolant second panel 320 covers the flow grooves 313 and the panel extension part 321 is formed in a form that covers the flow extension grooves 317. A second panel hole 323 communicating with each flow extending groove 317 is formed through the panel extension portion 321 when engaged.

The coolant first panel 310 and the coolant second panel 320 are combined, and the flow extending groove 317 is covered by the coolant second panel 312 to form a flow path.

Each of the second panel holes 323 communicates with the flow path, and the cooling fluid flowing through the second panel hole 323 on one side flows through the flow path and the cooling body 330 through the other second panel hole 323. ) And flows through the outlet.

The cooling part 300 is provided by being coupled to the stator part 110 by a coupling means.

For example, a bolt is inserted into the cooling second coupling hole 319 of the one side cooling panel portion, and then passes through the forming portion coupling holes of the core coupling holes 1175 and the stator forming portion 111 on both sides of the axial direction and the other cooling agent 1 The nut protrudes through the coupling hole 311 and the cooling part 300 is coupled to the stator part 110.

A screw, for example, a coupling means is inserted into the cooling first coupling hole 311 of the cooling panel part, and the screw is fastened to the cooling panel coupling groove formed in the radially inner side of the support part 150. The support part 150 is coupled to the stator part 110 via the cooling part 300.

The driving part 100 may further include an intermediate ring 130, and the rotor part 120 may further include a rotor reinforcement ring 123.

The rotor reinforcing ring 123 is in the form of a ring and is located in the body inner diameter portion 1213 of the rotor body 121. The rotor reinforcement ring 123 is a high-hardness metal material with less bending. A plurality of protrusions are provided on the inner diameter surface of the rotor reinforcement ring 123 along the circumferential direction.

The intermediate ring 130 is made of a metal and has a ring shape. The intermediate ring 130 is positioned between the stator parts 110 provided in the axial direction. The intermediate ring 130 is provided with a radially outer surface facing the inner surface of the rotor reinforcement ring 123.

Hereinafter, it will be described with reference to reference numerals in FIG.

The intermediate ring 130 is spaced along the circumferential direction, and a plurality of intermediate ring coupling holes 131 are formed through the axial direction.

A concave intermediate ring slot 133 is formed in a part of the radial outer side of the intermediate ring 130. Concave concave portions are formed at both ends of the intermediate ring slot 133 in the circumferential direction. An encoder (not shown) is installed in the intermediate ring slot 133. The encoder is installed by being inserted into recesses formed at both ends of the intermediate ring slot 133 in the circumferential direction. The encoder serves to sense the rotation of the rotor reinforcement ring 123 through the protrusion formed on the inner diameter surface of the rotor reinforcement ring 123.

The intermediate ring 130 is coupled to the stator portion 110 by coupling means.

The coupling means is sequentially fastened after passing through the stator part 110 on one side, the intermediate ring 130 and the stator part 110 on the other side, so that the intermediate ring 130 is located between the stator parts 110 on both sides, so that the stator part ( 110).

When the cooling unit 300 is provided in the reduction gear-integrated axial type motor 1, the coupling means passes through the cooling second coupling hole 319 of one side of the cooling panel, the stator part 110, the intermediate ring 130, and The stator part 110 on the other side and the coolant second coupling hole 319 on the other side are sequentially fastened with a nut or the like on the other side, and the intermediate ring 130 is located between the stator parts 110 on both sides, so that the stator part ( 110).

The reducer according to the present invention may be combined with a axial type motor as well as a radial type motor. 16 is a partial cross-sectional view showing a state in which a radial motor is coupled to a speed reducer. In FIG. 16, the motor shaft MS of the motor M is coupled to the reducer with a fixed nut M1.

The reduction gear is the rotor ring 127, the support 150, the reduction roller 210, the elastic gear 220, the rotation gear 240, the fixed gear 230, and a gear support roller 250 and the coupling member 260.

The rotor ring 127 is formed in a cylindrical shape. The rotor ring 127 has an outer rotor surface 1252 having an elliptical cross section. An outer surface of the rotor ring 127 extends along the circumferential direction and a concave rotor surface groove 1274 is formed. A plurality of concave outer surface protrusion grooves (not shown) extending along the circumferential direction on both sides of the axial direction around the rotor ultraviolet surface groove 1272 are formed on the rotor ultraviolet surface 1272 in the axial direction.

The support part 150 is provided on both sides in the axial direction of the rotor ring 127. The support part 150 is provided in a ring shape. A bearing support groove 151 and a roller groove 155 in the form of a ring that are concave and extend in the circumferential direction are formed on the axial inner surface of the support portion 150. The roller groove 155 is formed to be spaced radially outward from the bearing support groove 151. The roller groove 155 is formed to be located outside the radial direction of the rotor ring 127.

The support unit 150 is separated from the bearing support groove 151 and the roller groove 155 are formed as shown in Figure 16, the first support body 156, the second support body 154, the third support body ( 152). When the support part 150 is separated into the first, second, and third support bodies 156, 154, 152, coupling means 158 such as bolts are fastened from the radially inner side to the outer side in the radial direction of the third supporting body 152. The 1st, 2nd, and 3rd support bodies 156,154,152 are fixed integrally.

Between the support part 150 and the rotor ring 127, a bearing part 140 rotatably supporting the rotor ring 127 with respect to the support part 150 is provided. The bearing part 140 includes a bearing wheel 143 and a plurality of rolling elements 141.

The bearing wheel 143 is in the form of a ring and is provided by being inserted into the bearing support groove 151. On both sides of the axial direction of the rotor ring 127 facing the bearing support groove 151, a ring-shaped track groove 1275 that is concave and extends in the circumferential direction is formed.

The plurality of rolling elements 141 are aligned along the circumferential direction between the bearing wheel 143 and the track groove 1275. A cage having a ring-shaped pocket spaced along the circumferential direction and penetrating in the axial direction is provided between the bearing wheel 143 and the track groove 1275, and the rolling element 141 may be provided in the pocket of the cage. . 16, reference numeral 144 denotes a buffer member.

The support part 150 is projected outwardly to the radially outer side and is provided with an outer support part 150-1 extending in the circumferential direction. A radially outwardly outer diameter surface is formed on the axially outer and inner sides of the outer supporting portion 154.

The reduction part roller 210 is arranged along the rotor outer surface 1272 of the rotor ring 127 and is provided in plural. The reduction unit roller 210 is formed in a rod shape having a circular cross section extending in the axial direction, and makes linear contact with the rotor ultraviolet surface 1272. The reduction unit roller 210 is in linear contact with the rotor outer surface 1272 on both sides in the axial direction around the rotor outer surface groove 2174.

A cylindrical cage 211 is provided outside the radial direction of the rotor ring 127, and a plurality of pockets spaced apart in the circumferential direction are formed in the cage 211. The reduction part roller 210 is rotatably provided in a pocket formed in the cage 211. The cage 211 is provided to be slidable along both sides of the roller groove 155 in the axial direction.

The elastic gear 220 is provided as a cylindrical thin plate. The elastic gear 220 is located outside the reduction gear roller 210 and gear teeth are formed along the circumferential direction on the outer diameter surface.

A backup ring 270 may be further provided between the elastic gear 220 and the reduction part roller 210. The backup ring 270 forms a closed circuit and is formed in a cylindrical shape. The backup ring 270 is provided on the radially outer side of the plurality of reduction gear rollers 210 provided along the rotor outer surface 1272. The pressurization by the reduction unit roller 210 is transmitted to the elastic gear 220 through the backup ring 270.

The rotating gear 240 is located in the radially outer side of the elastic gear 220. The rotating gear 240 is provided in a cylindrical shape. The radially inner surface of the rotating gear 240 is provided with a ring-shaped rotating gear protrusion 241 protruding radially inward from the axial center of the rotating gear 240. A gear value that meshes with the gear value of the elastic gear 220 is formed on the inner diameter surface of the rotating gear protrusion 241.

The fixed gear 230 is provided in the form of a ring. The fixed gear 230 is provided by being inserted on both sides in the axial direction of the rotating gear projection 241. A gap is formed between the rotating gear 240 and the elastic gear 220 on both sides in the axial direction of the rotating gear protrusion 241, and the fixed gear 230 having gear teeth formed on an inner diameter surface is provided at the gap.

The fixed gear 230 protrudes inward in the axial direction from the support part 150, and a gear value meshing with the gear value of the elastic gear 220 is formed along the circumferential direction on the inner diameter surface of the protruding portion.

The fixed gear 230 is formed in a shape in which the axial outer side protrudes outward in the radial direction. The axial inner side of the fixed gear 230 is radially inwardly spaced from the rotating gear 240, and a space is formed between the fixed gear 230 and the rotating gear 240. A space formed between the fixed gear 230 and the rotating gear 240 is provided with a plurality of gear support rollers 250 arranged along the circumferential direction.

The gear support roller 250 is arranged in a circumferential direction in a space formed between the fixed gear 230 and the rotating gear 240 and is provided in plural. The gear support roller 250 is provided as a cylindrical roller having a length in the axial direction.

A space formed between the fixed gear 230 and the rotating gear 240 is provided with a cylindrical gear support roller cage 251, and the gear support roller cage 251 has a plurality of pockets spaced apart in a circumferential direction. . The gear support roller 250 is rotatably provided in a pocket formed in the gear support roller cage 251. The gear support roller cage 251 is provided to be slidably between the axially inward chin surface of the fixed gear 230 and the axially outer surface of the rotating gear protrusion 241.

The coupling member 260 is provided on both sides of the reduction unit roller 210 in the axial direction. The coupling member 260 is provided in the form of a ring. The coupling member 260 is fixedly coupled to both axial ends of the rotary gear 240 by coupling means 261 such as screws. The coupling member 260 is provided with a coupling member protruding portion 260-1 protruding radially inward, and the coupling member protruding portion 260-1 is provided on an axial outer surface of the outer supporting portion 154 of the supporting portion 150. Seated and slidably provided.

When the rotating gear ring 127 is rotated, the reduction gear is pressed by the reduction gear roller 210 to deform the elastic gear 220, and the gear value of the elastic gear 220 and the gear value of the rotating gear 240 are sequentially engaged. While rotating the gear 240 is decelerated to rotate.

Hereinafter, a modified example of the reduction gear will be described with reference to reference numerals in FIG. 16.

The reduction gear is the rotor ring 127, the support 150, the reduction roller 210, the elastic gear 220, the rotation gear 240, the fixed gear 230, and a gear support roller 250 and the coupling member 260.

The rotor ring 127 is formed in a cylindrical shape, as shown in FIG. The rotor ring 127 has an inner rotor surface 1271 whose cross section is elliptical. An inner surface of the rotor ring 127 extends along a circumferential direction and a concave rotor inner groove 1273 is formed. A plurality of concave inner protrusion grooves 1254 extending in the circumferential direction on both sides of the axial direction around the inner rotor groove 1273 are spaced apart in the axial direction.

The support part 150 is provided on both sides in the axial direction of the rotor ring 127. The support part 150 is provided in a ring shape. A bearing support groove 151 and a roller groove 155 in the form of a ring that are concave and extend in the circumferential direction are formed on the axial inner surface of the support portion 150. The roller groove 155 is formed to be spaced radially outward from the bearing support groove 151. The roller groove 155 is formed to be located outside the radial direction of the rotor ring 127.

Between the support part 150 and the rotor ring 127, a bearing part 140 rotatably supporting the rotor ring 127 with respect to the support part 150 is provided. The bearing part 140 includes a bearing wheel 143 and a plurality of rolling elements 141.

The bearing wheel 143 is in the form of a ring and is provided by being inserted into the bearing support groove 151. On both sides of the axial direction of the rotor ring 127 facing the bearing support groove 151, a ring-shaped track groove 1275 that is concave and extends in the circumferential direction is formed.

The plurality of rolling elements 141 are aligned along the circumferential direction between the bearing wheel 143 and the track groove 1275. A cage having a ring-shaped pocket spaced along the circumferential direction and penetrating in the axial direction is provided between the bearing wheel 143 and the track groove 1275, and the rolling element 141 may be provided in the pocket of the cage. . A buffer member 144 may be further provided between the bearing wheel 143 and the bottom surface of the bearing support groove 151.

The support part 150 is provided with an inner support part 157 (see FIG. 3) extending inward in the circumferential direction and projecting inwardly in the radially inner side. The inner and outer surfaces of the inner support portion 157 are formed with radially inward inner surfaces.

The reduction part roller 210 is arranged along the inner rotor surface 1271 of the rotor ring 127 and is provided in plural. The reduction part roller 210 is formed in a rod shape having a circular cross section extending in the axial direction, and makes linear contact with the inner surface 1271 of the rotor. The reduction part roller 210 makes line contact with the rotor inner surface 1271 on both sides in the axial direction around the rotor inner groove 1273.

A cylindrical cage 211 is provided inside the rotor ring 127 in the radial direction, and a plurality of pockets spaced apart in the circumferential direction are formed in the cage 211. The reduction part roller 210 is rotatably provided in a pocket formed in the cage 211. The cage 211 is provided to be slidable along both sides of the roller groove 155 in the axial direction.

The elastic gear 220 is provided as a cylindrical thin plate. The elastic gear 220 is positioned inside the reduction gear roller 210 and gear teeth are formed along the circumferential direction on the inner diameter surface.

A backup ring 270 may be further provided between the elastic gear 220 and the reduction part roller 210. The backup ring 270 forms a closed circuit and is formed in a cylindrical shape. The backup ring 270 is provided in the radially inner side of the plurality of reduction rollers 210 provided along the rotor inner surface 1271. The pressurization by the reduction unit roller 210 is transmitted to the elastic gear 220 through the backup ring 270.

The rotating gear 240 is located in the radial direction of the elastic gear 220. The rotating gear 240 is provided in a cylindrical shape. On the radially outer surface of the rotating gear 240, a ring-shaped rotating gear protrusion 241 protruding radially outward from an axial center portion of the rotating gear 240 is provided. A gear value that meshes with the gear value of the elastic gear 220 is formed on the outer diameter surface of the rotating gear protrusion 241.

The fixed gear 230 is provided in the form of a ring. The fixed gear 230 is provided by being inserted on both sides in the axial direction of the rotating gear projection 241. A gap is formed between the rotating gear 240 and the elastic gear 220 on both sides in the axial direction of the rotating gear protrusion 241, and the fixed gear 230 having gear teeth formed on the outer diameter surface is provided at the gap.

The fixed gear 230 protrudes inward in the axial direction from the support part 150, and a gear value that meshes with the gear value of the elastic gear 220 is formed in the circumferential direction on the outer diameter surface of the axially inwardly projected portion.

The fixed gear 230 is formed in a shape in which the axial outer side protrudes inward in the radial direction. The axial inner side of the fixed gear 230 is radially outwardly spaced from the rotating gear 240, and a space is formed between the fixed gear 230 and the rotating gear 240. A space formed between the fixed gear 230 and the rotating gear 240 is provided with a plurality of gear support rollers 250 arranged along the circumferential direction.

The gear support roller 250 is arranged in a circumferential direction in a space formed between the fixed gear 230 and the rotating gear 240 and is provided in plural. The gear support roller 250 is provided as a cylindrical roller having a length in the axial direction.

A space formed between the fixed gear 230 and the rotating gear 240 is provided with a cylindrical gear support roller cage 251, and the gear support roller cage 251 has a plurality of pockets spaced apart in a circumferential direction. . The gear support roller 250 is rotatably provided in a pocket formed in the gear support roller cage 251. The gear support roller cage 251 is provided to be slidably between the axially inward chin surface of the fixed gear 230 and the axially outer surface of the rotating gear protrusion 241.

The coupling member 260 is provided on both sides of the reduction unit roller 210 in the axial direction. The coupling member 260 is provided in the form of a ring. The coupling member 260 is fixedly coupled to both axial ends of the rotary gear 240 by coupling means 261 such as screws. The coupling member 260 is provided with a coupling member protruding portion 260-1 protruding radially outward, and the coupling member protruding portion 260-1 is provided on an axial outer surface of the outer supporting portion 154 of the supporting portion 150. Seated and slidably provided.

When the rotating gear ring 127 is rotated, the reduction gear is pressed by the reduction gear roller 210 to deform the elastic gear 220, and the gear value of the elastic gear 220 and the gear value of the rotating gear 240 are sequentially engaged. While rotating the gear 240 is decelerated to rotate.

Until now, the reduction gear-integrated axial type motor according to the present invention has been described with reference to the embodiment shown in the drawings, but this is only exemplary, and anyone skilled in the art can understand that various modifications and equivalent other embodiments are possible therefrom. will be. Therefore, the true technical protection scope should be determined by the technical spirit of the appended claims.

1: Reducer-integrated axial type motor
100: drive unit
110: stator part 120: rotor part
130: intermediate ring 140: bearing
150: support
200: reduction unit
210: reduction gear roller 220: elastic gear
230: fixed gear 240: rotating gear
250: gear support roller 260: coupling member
270: backup ring
300: cooling unit
310: coolant 1 panel 320: coolant 2 panel
330: cooling body

Claims (41)

It includes a driving unit 100 and the reduction unit 200;
The drive unit 100 has a plurality of coils that form a magnetic pole facing the permanent magnet 125 is arranged along the circumferential direction and the rotor portion 120, the plurality of permanent magnets 125 are aligned along the circumferential direction It is provided on both sides of the axial direction of the rotor portion 120 and the stator portion 110 facing each other;
The reduction unit 200 is provided on the inner side in the radial direction of the rotor unit 120, and is radially inwardly spaced from the inner diameter surface of the elliptical rotor unit 120 and the inner diameter surface of the rotor unit 120 to form a closed loop and a radius A plurality of rolling elements arranged along the circumferential direction between the elastic gear 220 with gear teeth formed inside the direction, the inner diameter surface of the rotor part 120 and the elastic gear 220, and the radius of the elastic gear 220 It includes a rotating gear 240 which is located inside the direction and has gear teeth that mesh with gear teeth of the elastic gear 220 on the outer diameter surface, and the rolling element is a reduction gear roller 210 having a circular cross section having a length in the axial direction. );
The rotor part 120 is a cylindrical rotor ring 127 extending in the axial direction, and an inner diameter of the ring is coupled to the rotor ring 127, and a plurality of magnet installation holes 1215 are formed along the circumferential direction. Electronic body 121, and includes a plurality of permanent magnets 125 coupled to the magnet installation hole 1215, the inner diameter surface of the rotor portion 120 is formed on the inner diameter side of the rotor ring 127 The electronic inner surface 1271;
Located on both sides of the rotary gear 240 in the axial direction, it is coupled to the stator portion 110, characterized in that it further comprises a fixed gear 230 is formed on the outer surface of the gear gear meshing gear teeth of the elastic gear 220 Reducer-integrated axial type motor. delete The method of claim 1, wherein the radial direction in the outer side of the elastic gear 220 and the rolling element and the elastic gear 220, a reduction ring-integrated axial type motor further comprises a backup ring (270). According to claim 1, The rotary gear 240 is provided with a ring-shaped rotating gear protrusion 241 protruding outwardly to the outside, the gear of the rotating gear 240 to the outer diameter surface of the rotating gear protrusion (241) Is formed;
A gap is formed between the rotating gear 240 and the elastic gear 220 on both sides in the axial direction of the rotating gear protrusion 241, and the fixed gear 230 is provided on both sides in the axial direction of the rotating gear protrusion 241 , Gear gear-type axial type motor, characterized in that the gear teeth of the fixed gear 230 mesh with the gear teeth of the elastic gear 220 on both sides of the axial direction of the rotating gear projection (241). According to claim 1 or claim 4, wherein the fixed gear 230 is axially outwardly protruding radially inwardly, the axially inner side is spaced apart from the rotating gear 240, along the circumferential direction in the spaced apart Reducer-integrated axial type motor, characterized in that a plurality of gear support rollers 250 are arranged to support the relative rotation of the fixed gear 230 and the rotating gear 240 by rolling. The method of claim 1, wherein the reduction unit roller 210 is a reduction gear-integrated axial type motor, characterized in that the linear contact having a length in the axial direction on the inner diameter surface of the rotor (120). It includes a driving unit 100 and the reduction unit 200;
The drive unit 100 has a plurality of coils that form a magnetic pole facing the permanent magnet 125 is arranged along the circumferential direction and the rotor portion 120, the plurality of permanent magnets 125 are aligned along the circumferential direction It is provided on both sides of the axial direction of the rotor portion 120, the stator portion 110 facing each other;
The reduction unit 200 is provided on the outer side in the radial direction of the rotor unit 120, and is radially outwardly spaced from the outer diameter surface of the elliptical rotor unit 120 and the outer diameter surface of the rotor unit 120 to form a closed loop and a radius A plurality of rolling elements arranged along the circumferential direction between the elastic gear 220 having gear teeth formed outside the direction, the outer diameter surface of the rotor part 120 and the elastic gear 220, and the radius of the elastic gear 220 It includes a rotating gear 240 which is located outside the direction and has gear teeth that mesh with gear teeth of the elastic gear 220 on the inner diameter surface, and the rolling element has a circular reduction gear portion 210 having a length in the axial direction. );
The rotor portion 120 is a cylindrical rotor ring 127 extending in the axial direction, the outer diameter is coupled to the rotor ring 127 in an annular shape and a plurality of magnet installation holes 1215 formed in the circumferential direction It includes an electronic body 121, a plurality of permanent magnets 125 coupled to the magnet installation hole 1215, the outer diameter surface of the rotor portion 120 is formed on the outer diameter side of the rotor ring 127 The electronic exterior 1272;
Located on both sides of the axial direction of the rotary gear 240 is coupled to the stator portion 110, characterized in that it further comprises a fixed gear 230 is formed on the inner surface of the gear gear meshing gear teeth of the elastic gear 220 Reducer-integrated axial type motor. delete The method of claim 7, wherein the radial direction inward of the elastic gear 220 between the rolling element and the elastic gear 220, a reduction ring-integrated axial type motor further comprises a backup ring (270). According to claim 7, The rotary gear 240 is provided with a rotating gear projection 241 in the form of a ring protruding inward inward, the gear of the rotating gear 240 to the inner diameter surface of the rotating gear projection (241) Is formed;
A gap is formed between the rotating gear 240 and the elastic gear 220 on both sides in the axial direction of the rotating gear protrusion 241, and the fixed gear 230 is provided on both sides in the axial direction of the rotating gear protrusion 241 , Gear gear-type axial type motor, characterized in that the gear teeth of the fixed gear 230 mesh with the gear teeth of the elastic gear 220 on both sides of the axial direction of the rotating gear projection (241). 11. The method of claim 7 or claim 10, wherein the fixed gear 230 is axially outwardly protruding radially outward, the axially outer side is spaced apart from the rotating gear 240, along the circumferential direction in the spaced apart Reducer-integrated axial type motor, characterized in that a plurality of gear support rollers 250 are arranged to support the relative rotation of the fixed gear 230 and the rotating gear 240 by rolling. The method of claim 7, wherein the reduction unit roller 210 is a reduction gear-integrated axial type motor, characterized in that the linear contact having an axial length on the outer diameter surface of the rotor portion (120). An elastic gear having an elliptical rotor inner surface 1271 and a radially inwardly spaced radially inwardly extending from the rotor inner surface 1271 and extending in the axial direction, forming a closed loop and gear teeth formed radially inside. 220), a plurality of rolling elements arranged in the circumferential direction between the rotor inner surface 1271 and the elastic gear 220, and located on the radially inner side of the elastic gear 220, the elastic gear on the outer diameter surface ( A rotation gear 240 formed with a gear value meshing with the gear value of 220), wherein the rolling element is a reduction gear roller 210 having a circular cross section having a length in the axial direction;
The rotating gear 240 has a ring-shaped rotating gear protrusion 241 protruding outwardly to the outside, and the gear teeth of the rotating gear 240 are formed on the outer diameter surface of the rotating gear protrusion 241;
A gap is formed between the rotating gear 240 and the elastic gear 220 on both sides in the axial direction of the rotating gear protrusion 241, and the ring-shaped fixed gear 230 having gear teeth formed on an outer diameter surface is provided in the gap. ;
The fixed gear 230 is a gear reducer, characterized in that the gear teeth of the elastic gear 220 on both sides in the axial direction of the rotating gear projection (241). delete 14. The reducer according to claim 13, wherein a backup ring (270) is further included between the rolling element and the elastic gear (220) outside the elastic gear (220) in the radial direction. The method of claim 13, wherein the fixed gear 230 is in the form of a radially inward protruding axial outer side, the inner axial direction is spaced apart from the rotating gear 240, a plurality of spaced in the circumferential direction in the spaced apart Gear reducer 250 is provided is a reduction gear, characterized in that the rolling support for the relative rotation of the fixed gear 230 and the rotating gear 240. 14. The reducer according to claim 13, wherein the reduction unit roller (210) has a line contact having an axial length on the inner surface (1271) of the rotor. The rotor ring 127 having an oval rotating ultraviolet surface 1272 and an elastic gear spaced radially outwardly from the rotor ultraviolet surface 1272 and extending in the axial direction, forming a closed loop and gear teeth on the radially outer side ( 220), a plurality of rolling elements arranged along the circumferential direction between the rotor outer surface 1272 and the elastic gear 220, and located on the radially outer side of the elastic gear 220, the elastic gear on the inner diameter surface ( 220) includes a rotation gear 240 formed with a gear teeth that meshes with the gear teeth, wherein the rolling element is a reduction gear roller 210 having a circular cross section having a length in the axial direction;
The rotating gear 240 is provided with a rotating gear projection 241 in the form of a ring protruding outwardly, and gear teeth of the rotating gear 240 are formed on the inner diameter surface of the rotating gear projection 241;
A gap is formed between the rotating gear 240 and the elastic gear 220 on both sides in the axial direction of the rotating gear protrusion 241, and the gap is provided with a ring-shaped fixed gear 230 with gear teeth formed on an inner diameter surface. ;
The fixed gear 230 is a reduction gear, characterized in that it meshes with the gear value of the elastic gear 220 on both sides in the axial direction of the rotating gear projection (241). delete The reduction gear according to claim 18, further comprising a backup ring (270) between the rolling element and the elastic gear (220) inside the elastic gear (220) in the radial direction. The method of claim 18, wherein the fixed gear 230 is in the form of axially outwardly protruding radially outward, the axially inwardly spaced apart from the rotating gear 240, arranged in a spaced space along the circumferential direction a plurality of Gear reducer 250 is provided is a reduction gear, characterized in that the rolling support for the relative rotation of the fixed gear 230 and the rotating gear 240. 19. The reducer of claim 18, wherein the reduction unit roller (210) has a linear contact with a length in the axial direction of the rotor ultraviolet surface (1272). The plurality of permanent magnets 125 are provided in the rotor part 120 aligned along the circumferential direction, the stator core 117 and the stator core 117, and have a plurality of stator coils 115 aligned along the circumferential direction. Stator parts 110 located on both sides in the axial direction of the rotor part 120; The rotor portion 120 is spaced along the circumferential direction and includes a plate-shaped annular rotating body 121 having a plurality of magnet installation holes 1215 penetrated in the axial direction, and the plurality of permanent magnets 125 are magnets It is installed in the installation hole 1215 is provided spaced from each other along the circumferential direction; The stator core 117 is formed in a form that generates a three-dimensional magnetic flux, and when operated, a three-dimensional magnetic flux is generated:
The stator core 117 extends toward the rotor part 120 in the axial direction from the circumferential center of the core cross section 117-1a and the core cross section 117-1a extending in the circumferential direction from one side in the axial direction. A plurality of stator core portions 117-1 including a core connecting portion 117-1b;
Both ends of the adjacent core cross sections 117-1a are formed by joining each other;
The stator core portion 117-1 is formed by stacking a plurality of stator core panels 117-11;
The stator core panel 117-11 includes a core panel horizontal portion 117-11a extending in one direction in the axial direction and a rotor portion in an axial direction from the center of the core panel horizontal portion 117-11a in the horizontal direction. 120) includes a core panel connecting portion (117-11b) extended toward the;
The stacked core panel horizontal portion 117-11a forms a core horizontal portion 117-1a, and the stacked core panel connection portion 117-11b forms a core connection portion 117-1b. Axial type motor. delete 24. The axial type motor according to claim 23, wherein the core cross section (117-1a) extends in a straight line, and the plurality of core cross sections (117-1a) coupled to each other form a polygon. 26. The axial type motor of claim 25, wherein both sides of the circumferential direction are bent inward to form a polygon having an increased number of sides. The axial-type motor according to claim 23, wherein the core cross-section (117-1a) extends in an arc shape, and the plurality of core cross-sections (117-1a) coupled at both ends form a circle. . 24. The axial type motor according to claim 23, wherein only a portion of the plurality of stacked core panel cross sections (117-11a) are welded to each other at both ends of the core cross section (117-1a). 29. The method of claim 28, wherein the outermost core panel horizontal portion (117-11a) of the stacked plurality of core panel horizontal portion (117-11a) is welded to each other, the innermost core panel horizontal portion (117-11a) ) Is an axial type motor characterized in that the welding is coupled to each other. The rotor part 120 further includes a hollow cylindrical rotor ring (127) coupled to the inner or outer part of the rotor body (121) and extending in both directions in the axial direction. , At both ends of the rotor ring 127 in the axial direction, a bearing part 140 rotatably supporting the rotor part 120 with respect to the stator part 110 is provided;
On both sides of the rotor ring 127 in the axial direction, a ring part coupled to the stator part 110 and a support part 150 having an annular bearing support groove 151 concave on the side facing the rotor ring 127 is formed. In addition, the bearing portion 140 is provided between the support portion 150 and the rotor ring 127 to support the rotor ring 127 to be rotatable relative to the support portion 150;
The bearing part 140 includes two bearing wheels facing each other in the axial direction, including a bearing ring inserted in the bearing support groove 151, and a plurality of rolling elements provided along the circumferential direction between the two bearing wheels ( 141);
The axle of one of the two bearing wheels is formed as a concave track groove 1275 along the circumferential direction, and the track of the other bearing wheel is formed as a plane facing the track groove 1275 in the axial direction. Earl type motor. 31. The axial type motor according to claim 30, wherein a plate-shaped buffer member (144) is installed between the bearing wheel inserted in the bearing support groove (151) and the bottom surface of the bearing support groove (151). 31. The method of claim 30, wherein the bearing portion 140 is formed of a magnet bearing consisting of a first magnet portion 142 and a second magnet portion 146 in the form of a ring; Both ends of the rotor ring 127 are formed concave along the circumferential direction to form a ring-shaped rotor ring bearing groove 1276 facing the bearing support groove 151; The first magnet part 142 is inserted into the bearing support groove 151, and the second magnet part 146 is inserted into the rotor bearing bearing groove 1276 to face the first magnet part 142. Features an axial type motor. 33. The axle according to claim 32, wherein a plate-shaped buffer member (144) is installed between the first magnet part (142) inserted in the bearing support groove (151) and the bottom surface of the bearing support groove (151). Earl type motor. 33. The method of claim 32, wherein the repulsive force between the first magnet portion (142) and the second magnet portion (146) constituting the magnet bearing acts between the rotor portion (120) and the stator portion (110). ), the axial type motor, characterized in that greater than the attractive force acting between the stator parts 110 facing each other. The method of claim 23, wherein the stator unit 110 further includes a stator circuit unit 113 and the stator molding unit 111;
The stator core 117 is spaced apart along the circumferential direction in the annular plate-shaped core body 1171 and the core body 1171, and a plurality of core protrusions 1172 protruding in the direction toward the rotor part 120 It includes;
The stator circuit part 113 is a circuit-shaped body 1131 in which a plurality of core holes 1133 are formed in an annular plate shape along a circumferential direction, a plurality of circuit members 1135 provided in the circuit-body body 1131, and the It is connected to each circuit member 1135 and is composed of a plurality of circuit part terminals 1137 protruding radially outward or inward from the circuit part main body 1131, and the circuit member 1135 is inserted into the circuit part main body 1131 Is injection molded;
The core protrusion 1172 is inserted into the core hole 1133, the core protrusion 1172 protruding through the core hole 1133 is inserted into the coil body 115, and they are injected into the insert to form an overall annular stator. A forming part 111 is formed; The end of the circuit portion terminal 1137 is an axial type motor, characterized in that protruding radially outward or inner side of the stator forming portion (111). 24. The method of claim 23, wherein the inlet and outlet of the cooling body 330 is a hollow body is formed, coupled to the cooling body 330, spaced apart from each other in the axial direction, and each side has a flow path communicating with the inlet and outlet respectively. It further includes a cooling unit 300 including two formed annular cooling panel;
The cooling panel unit is axially in contact with the axial outer side of the stator part 110, respectively, and the cooling body 330 is provided in the radial direction outside or inside the driving unit 110, characterized in that provided axial motor.  37. The method of claim 36, wherein the cooling panel portion is spaced along a circumferential direction at a radially outer edge or an inner edge, and a plurality of coolant first coupling holes (311) are formed through the axial direction; Cooling unit 300 is inserted into the coolant first coupling hole 311 on one side and is protruded and fastened to the other coolant first coupling hole 311 by passing through the stator parts 110 on both sides so that the cooling part 300 is connected to the stator part 110. Axial type motor, characterized in that combined. 37. The method of claim 36, wherein the rotor portion 120 further includes a rotor reinforcement ring (123) in the form of a ring located in the outer or inner radial direction of the rotor body (121) is inserted into the rotor body (121) ; It is located between the stator portion 110 in the axial direction, the radially inner surface facing the outer surface or inner surface of the rotor reinforcement ring 123 further includes an intermediate ring 130 with an encoder installed inside; Axial type motor characterized in that the rotation of the rotor reinforcement ring (123) is sensed by the encoder. It includes a driving unit and a reduction unit;
The driving unit is a radial motor, and the motor shaft MS is inserted into and coupled to the rotor ring 127;
The deceleration portion is a rotor ring 127 having an oval rotating ultraviolet surface 1272, radially outwardly spaced from the rotor ultraviolet surface 1272, extending in an axial direction, and a cross-section forms a closed loop and gear teeth are formed on the radially outer side. An elastic gear 220, a plurality of rolling elements arranged along the circumferential direction between the rotor outer surface 1272 and the elastic gear 220, and located on the outer radial direction of the elastic gear 220 A revolving gear 240 formed with gear teeth that mesh with gear teeth of the elastic gear 220, wherein the rolling element is a reduction gear roller 210 having a circular cross section having a length in the axial direction;
The rotating gear 240 is provided with a rotating gear projection 241 in the form of a ring protruding outwardly, and gear teeth of the rotating gear 240 are formed on the inner diameter surface of the rotating gear projection 241; A gap is formed between the rotating gear 240 and the elastic gear 220 on both sides in the axial direction of the rotating gear protrusion 241, and the gap is provided with a ring-shaped fixed gear 230 with gear teeth formed on an inner diameter surface. ; The fixed gear 230 is a reduction gear-integrated radial type motor, characterized in that it meshes with the gear teeth of the elastic gear 220 on both sides in the axial direction of the rotating gear projection (241). 40. The method according to claim 39, wherein the ring-shaped support portion (150) provided on both axial directions of the rotor ring (127) and the support portion (150) between the support portion (150) and the rotor ring (127) are rotated. A reducer-integrated radial type motor, further comprising a bearing unit 140 rotatably supporting the electromagnetic ring 127. 41. The method of claim 40, further comprising a cylindrical cage (211) spaced apart in the circumferential direction and formed with a plurality of pockets; A concave roller groove 155 in the form of a ring extending in a circumferential direction is formed on an inner axial surface of the support part 150 and is located radially outside the rotor ring 127; The reduction unit roller 210 is rotatably provided in a pocket formed in the cage 211, the cage 211 is characterized in that both sides of the axially provided slidably along the roller groove (155) Reducer-integrated radial type motor.

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