WO2018176292A1 - 驱动装置及其操作方法、激光测量装置和移动平台 - Google Patents

驱动装置及其操作方法、激光测量装置和移动平台 Download PDF

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Publication number
WO2018176292A1
WO2018176292A1 PCT/CN2017/078680 CN2017078680W WO2018176292A1 WO 2018176292 A1 WO2018176292 A1 WO 2018176292A1 CN 2017078680 W CN2017078680 W CN 2017078680W WO 2018176292 A1 WO2018176292 A1 WO 2018176292A1
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WO
WIPO (PCT)
Prior art keywords
rotor assembly
assembly
rotating shaft
positioning member
rotating
Prior art date
Application number
PCT/CN2017/078680
Other languages
English (en)
French (fr)
Inventor
黄淮
赵进
王鹏
洪小平
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN202010237305.XA priority Critical patent/CN111463934B/zh
Priority to CN201780004522.0A priority patent/CN108475961B/zh
Priority to PCT/CN2017/078680 priority patent/WO2018176292A1/zh
Publication of WO2018176292A1 publication Critical patent/WO2018176292A1/zh

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Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481Constructional features, e.g. arrangements of optical elements
    • GPHYSICS
    • G02OPTICS
    • G02BOPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B26/00Optical devices or arrangements for the control of light using movable or deformable optical elements
    • G02B26/08Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
    • G02B26/0875Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light by means of one or more refracting elements
    • GPHYSICS
    • G02OPTICS
    • G02BOPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B26/00Optical devices or arrangements for the control of light using movable or deformable optical elements
    • G02B26/08Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
    • G02B26/0875Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light by means of one or more refracting elements
    • G02B26/0883Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light by means of one or more refracting elements the refracting element being a prism
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02KDYNAMO-ELECTRIC MACHINES
    • H02K1/00Details of the magnetic circuit
    • H02K1/06Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/22Rotating parts of the magnetic circuit
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02KDYNAMO-ELECTRIC MACHINES
    • H02K1/00Details of the magnetic circuit
    • H02K1/06Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/22Rotating parts of the magnetic circuit
    • H02K1/27Rotor cores with permanent magnets
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02KDYNAMO-ELECTRIC MACHINES
    • H02K1/00Details of the magnetic circuit
    • H02K1/06Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/22Rotating parts of the magnetic circuit
    • H02K1/27Rotor cores with permanent magnets
    • H02K1/2706Inner rotors
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02KDYNAMO-ELECTRIC MACHINES
    • H02K15/00Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02KDYNAMO-ELECTRIC MACHINES
    • H02K7/00Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02KDYNAMO-ELECTRIC MACHINES
    • H02K7/00Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/003Couplings; Details of shafts
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02KDYNAMO-ELECTRIC MACHINES
    • H02K7/00Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/04Balancing means
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02KDYNAMO-ELECTRIC MACHINES
    • H02K7/00Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/12Structural association with clutches, brakes, gears, pulleys or mechanical starters with auxiliary limited movement of stators, rotors or core parts, e.g. rotors axially movable for the purpose of clutching or braking
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00Working by laser beam, e.g. welding, cutting or boring
    • B23K26/08Devices involving relative movement between laser beam and workpiece

Definitions

  • the invention relates to the field of electric machines, and in particular to a driving device and an operating method thereof, a laser measuring device and a mobile platform.
  • Motors that use electromagnetic action to drive have been applied in a variety of fields, such as consumer electronics, aerospace, military, and the like. With the development of permanent magnet new materials, microelectronics technology, automatic control technology and power electronics technology, the motor has been greatly developed.
  • the motor is mainly composed of a stator and a rotor.
  • bearing elements are also provided in the motor to define the position of the rotor.
  • the bearing itself has axial play, and the presence of axial play is more likely to cause noise in the bearing during operation of the motor.
  • the present invention provides a driving device, an operating method thereof, a laser measuring device, and a mobile platform.
  • a driving device comprising: a rotor assembly rotating around a predetermined rotating shaft;
  • a stator assembly for driving the rotor assembly to rotate about the rotating shaft; at least one positioning member for restricting rotation of the rotor assembly about the rotating shaft; wherein the positioning member includes a rotating portion, a fixing portion, and a rolling a rotating portion coupled to the fixing portion by the rolling body to rotate the rotating portion relative to the fixing portion; the rotating portion is in a direction of the rotating shaft with respect to the fixing portion The movement can be performed such that the rotating portion abuts the rolling body together with the fixing portion when subjected to a thrust.
  • a method for operating a driving device comprising:
  • a rotor assembly Configuring a rotor assembly, a stator assembly, and at least one positioning member, wherein the rotor assembly rotates about a predetermined rotation axis, the stator assembly is configured to drive the rotor assembly to rotate about the rotating shaft, and the at least one positioning member is used Restricting that the rotor assembly rotates around the rotating shaft; wherein the positioning member includes a rotating portion, a fixing portion, and a rolling body, and the rotating portion is coupled to the fixing portion by the rolling body to The rotating portion is rotated relative to the fixing portion, and the rotating portion is movable relative to the fixing portion in a direction of the rotating shaft;
  • a thrust is applied to the rotating portion such that the rotating portion and the fixed portion abut against the rolling body.
  • a laser measuring device comprising the aforementioned driving device.
  • a mobile platform comprising the aforementioned laser measuring device and a platform body, the laser measuring device being mounted on the platform body.
  • the fixing portion of the positioning assembly is fixed with respect to the rotating shaft, when the rotating portion receives the thrust to generate the axial movement, the fixing can be performed.
  • the parts are jointly abutted on the rolling elements, thereby effectively eliminating axial play in the positioning assembly and reducing noise.
  • Figure 1 is a front elevational view of a motor of an embodiment of a first type of embodiment of the present invention.
  • FIG. 2 is a schematic perspective view of the motor shown in FIG. 1.
  • Fig. 3 is a front elevational view showing the manner in which the motor is changed as shown in Fig. 1.
  • Figure 4 is a front elevational view of the motor shown in Figure 3.
  • Fig. 5 is a perspective view showing the structure of the motor shown in Fig. 1.
  • Figure 6 is a schematic cross-sectional view of the motor 10 taken along line VI-VI as shown in Figure 5.
  • Fig. 7 is a front elevational view showing the manner in which the motor is changed as shown in Fig. 1.
  • Figure 8 is a perspective view showing the structure of the motor shown in Figure 7.
  • Fig. 9 is a perspective view showing the structure of the motor shown in Fig. 1.
  • Figure 10 is a schematic cross-sectional view of the motor taken along the line X-X as shown in Figure 9.
  • Figure 11 is a perspective view showing the structure of a motor according to an embodiment of the second type of embodiment of the present invention.
  • Figure 12 is a perspective view showing the modification of the motor 20 according to an embodiment of the second type of embodiment of the present invention.
  • Figure 13 is a cross-sectional view taken along line XIII-XIII of the figure.
  • Figure 14 is a schematic cross-sectional view of the motor taken along line XIV-XIV as shown in Figure 12. .
  • Figure 15 is a perspective view showing a modified embodiment of a motor according to an embodiment of the third embodiment of the present invention.
  • Figure 16 is a plan view of the motor shown in Figure 15.
  • Figure 17 is a schematic cross-sectional view of the motor taken along the line XVII-XVII as shown in Figure 16.
  • Figure 18 is a schematic enlarged view of the structure along XVIII as shown in Figure 17.
  • Figure 19 is a perspective view showing the structure of a motor 40 according to an embodiment of the fourth embodiment of the present invention.
  • Figure 20 is a plan view of the motor 40 shown in Figure 19.
  • Figure 21 is a schematic cross-sectional view along line XX-XX as shown in Figure 20
  • Figure 22 is a partially sectional perspective view showing a modified embodiment of an embodiment of the fourth embodiment of the present invention.
  • FIG. 23 is a partial cross-sectional perspective view of a motor according to an embodiment of a fifth embodiment of the present invention.
  • Figure 24 is a partial perspective perspective view of the motor as shown.
  • Figure 25 is a perspective view of a prism applied to two motors in a sixth embodiment of the present invention.
  • Fig. 26 is a view showing the configuration of a modified embodiment of the shape of the first prism in Fig. 25.
  • Figure 27 is a partial cross-sectional structural view of the driving device of the present invention.
  • Figure 28 is a side view showing the structure of a prism in a modified embodiment of the driving device of the present invention.
  • Figure 29 is a cross-sectional view showing the structure of the motor in one embodiment.
  • Figure 30 is a cross-sectional view showing the driving device of Figure 18 of the present invention.
  • Figure 31 is a flow chart showing the operation of the driving device.
  • ring shape mentioned herein is not limited to a regular ring shape.
  • FIG. 1 is a front view of a motor according to an embodiment of the first embodiment of the present invention
  • FIG. 2 is a schematic perspective view of the motor 10 of FIG.
  • the motor 10 has a hollow cylindrical structure as a whole, that is, an intermediate portion of the motor 10 has an accommodation space.
  • the motor 10 includes a rotor assembly 11, a stator assembly 13, and a positioning assembly 15 that cooperate with each other.
  • the rotor assembly 11 is used for driving to rotate the rotor assembly 11 about the rotating shaft 111.
  • the rotor assembly 11 has a hollow cylindrical shape as a whole, and has a hollow portion 11a formed by an annular inner wall 112 for accommodating a load, that is, a load is fixed to the inner wall 112 and at least partially located in the hollow portion 11a. It can be understood that the stator assembly 13 is fixed in position relative to the rotating shaft of the motor 10, does not cause movement relative to the rotating shaft, and the rotor assembly 11 is movable relative to the stator assembly 13.
  • the stator assembly 13 includes at least two stators 13a that are axially symmetric with respect to each other or rotationally symmetric about the rotational axis, and are disposed around the outer side of the rotor 11, that is, the structure in which the motor 10 of the present embodiment is an inner rotor.
  • the positioning assembly 15 is located outside the hollow portion 11a for restricting the position of the rotor assembly 11 in the direction of the rotation axis, that is, restricting the movement of the rotor assembly 11 around the rotation shaft 111 without causing the direction of the rotation axis.
  • the rotating shaft 111 is not an element that exists physically, but a virtual concept of rotating the center of the rotor assembly 11.
  • the positioning assembly 15 has at least two positioning members 15a that are axially symmetric with each other in position or rotationally symmetrically arranged about the rotational axis.
  • the number of the stator 13a of the stator assembly 13 and the positioning member 15a of the positioning assembly 15 may be the same or different, and the projections on the plane (not shown) perpendicular to the direction of the rotating shaft 111 are at least partially on the same circumference.
  • the circumference is centered on the rotating shaft 111, and the projections of the two on the rotating shaft 111 coincide with each other.
  • the stator assembly 13 and the positioning assembly 15 are located substantially on the same circumference centered on the rotating shaft 111, or the distance between the stator assembly 13 and the positioning assembly 15 from the rotating shaft 111 is substantially the same.
  • the stator assembly 13 and the positioning assembly 15 are disposed at a projection interval of a plane perpendicular to the direction of the rotating shaft 111.
  • the rotor assembly 11 and the stator assembly 13 in the motor 10 are relatively rotated, wherein
  • the rotor assembly 11 may be a magnetic element, and correspondingly, the stator assembly 13 is a coil winding that generates an electromagnetic field when energized; conversely, the rotor assembly 11 may also be a coil winding that generates an electromagnetic field when energized, and correspondingly, the stator assembly 13 is a magnetic element. .
  • the rotor assembly 11 is a hollow cylindrical structure including a yoke 113 and a magnet 114 which are both hollow closed annular structures, and the yoke 113 and the magnet 114 are in a radial direction (perpendicular to the direction of the rotating shaft 111).
  • the upper layer is stacked and fixed to each other, wherein the magnet 114 is located outside the yoke 113, and the central axis of the yoke 113 and the magnet 114 coincides with the rotating shaft 111.
  • the inner surface of the yoke 113 constitutes the inner wall 112 of the motor 10.
  • the stator assembly 13 is integrally disposed annularly on the outer side of the magnet 114 in the rotor assembly 11, and includes two stators 13a that are axially symmetric with respect to the rotating shaft 111.
  • the two stators 13a may also be rotated at an angle of 180° around the rotating shaft 10 and symmetric. (hereinafter referred to as rotational symmetry).
  • Each of the stators 15a has a circular arc shape centered on the rotating shaft 111, and coil windings (not shown) are wound around each of the stators 15a, wherein the stator 15a generates an electromagnetic field when energized by the coil windings.
  • the positioning assembly 15 includes at least one annular or hollow cylindrical positioning member 15a.
  • the central axis of the positioning member 15a is parallel to the rotating shaft 111 and spaced apart by a predetermined distance.
  • the positioning assembly 15 includes four positioning members 15a that are axially symmetrical with respect to the rotating shaft 111.
  • the two positioning members 15a may also be symmetrical about the rotating shaft 111 by a certain angle of 90° (hereinafter referred to as rotational symmetry).
  • rotational symmetry a certain angle of 90°
  • FIG. 3-4 are respectively a front view of a modified embodiment of the position where the stator assembly 13 and the positioning assembly 15 are disposed in the motor 10 according to an embodiment of the first embodiment of the present invention.
  • the number of the stators 13a may also be the same as the number of the positioning members 15a.
  • the position of the stators 13a may be any one of the adjacent two positioning members 15a including a stator 13a, or the stator 13a and The positioning members 15a are spaced apart one by one.
  • two stators 13a may be disposed between the adjacent two positioning members 15a as long as the magnetic field generated by the stator 13a is ensured to be axisymmetric.
  • a plurality of positioning members 15a may be included between the two stators 13a as long as the positioning member 15a is balanced against the limit of the rotor assembly 11.
  • the number of the stators 13a is also less than the number of the positioning members 15a.
  • FIG. 5 is a perspective structural schematic view showing a modified embodiment of the position of the stator assembly 13 in the motor 10 in an embodiment of the first type of embodiment of the present invention.
  • the stator assembly The projections of the stator 13a in the 13 and the positioning member 15a in the positioning assembly 15 on a plane parallel to the rotating shaft 112 do not coincide, in other words, the stator assembly 13 and the positioning assembly 15 are offset from each other in the direction of the rotating shaft 112, and Not on the same circumference.
  • the rotor assembly includes a yoke and a magnet coupled to an outer circumference of the yoke.
  • the area of the magnet may cover the entire outer circumference of the yoke, that is, the side of the stator assembly 13 is opposite to the magnet, and the positioning assembly 15 is in rolling contact with the magnet.
  • the area of the magnet may cover only a portion of the circumference of the yoke, for example, only the upper half of the yoke (not shown) of FIG. 5, such that the side of the stator assembly 13 is opposite the magnet, and the positioning assembly 15 is directly Rolling abut against the yoke.
  • the motor 10 further includes an annular mount 17 to position the plurality of locating members 15a in the positioning assembly 15 at predetermined positions.
  • the fixing frame 17 is a hollow annular base body 171 and a plurality of positioning pins 172 extending from the base body.
  • the base body 171 is an annular structure centered on the rotating shaft 111.
  • the base body 171 is fixed to the base or the casing of the motor 10.
  • the positioning pin 172 is inserted into the positioning member 15a to position the positioning member 15a.
  • the positioning pin 172 is disposed corresponding to the positioning of the positioning member 15a.
  • the positioning member 15a is rotatable about the positioning pin 172, that is, when the rotor assembly 11 is rotated about the rotating shaft 111, the positioning member 15a can be driven to rotate around the positioning pin 172, that is, the stator 15a serves as a rotating portion.
  • the positioning pin 172 serves as a fixing portion. It can be understood that the positioning pin 172 can also be integrally formed with the positioning member 15a, and only the positioning member 15a can be rotated relative to the positioning pin 172, and then the positioning pin 172 can be fixedly connected to the base 171.
  • the stator assembly 13 includes at least two stators 13a that are disposed around the outside of the rotor assembly 11;
  • the stator assembly 13 is generally in the form of a closed circumferential annular structure centered on the axis of rotation 112;
  • the positioning assembly 15 includes a plurality of locating members 15a disposed about the rotor assembly 11, respectively.
  • the positioning assembly 15 includes a positioning member that is generally annular in configuration, the positioning member is disposed about the outside of the rotor assembly 11;
  • the stator assembly 13 includes At least two arc-shaped stators 13a are provided, each of which is disposed outside the rotor assembly 11.
  • stator assembly 13 and the positioning member 15a in the positioning assembly 15 on a plane parallel to the rotation axis 112 do not coincide, in other words, the stator assembly 13 and the positioning assembly 15 They are arranged up and down in the direction along the axis of rotation 112 and are not located on the same circumference.
  • the stator assembly 13 includes at least two stators 13a
  • the positioning assembly 15 includes at least two positioning members 15a; and the embodiment shown in FIGS. 8-9
  • the stator assembly 13 and the positioning assembly 15 are integrally formed as a closed annular structure centered on the rotating shaft 112, and are respectively sleeved outside the rotor assembly 11.
  • the rotor assembly includes a yoke and a magnet coupled to an outer circumference of the yoke.
  • the area of the magnet may cover the entire outer circumference of the yoke, that is, the side of the stator assembly 13 is opposite to the magnet, and the positioning assembly 15 is in rolling contact with the magnet.
  • the area of the magnet may cover only a portion of the circumference of the yoke, for example, only the upper half of the yoke (not shown) of FIG. 5, such that the side of the stator assembly 13 is opposite the magnet, and the positioning assembly 15 is directly Rolling abut against the yoke.
  • the positional relationship of the rotor assembly and the stator assembly is such that the stator assembly surrounds the outside of the rotor assembly.
  • the portions of the stator assembly and the rotor assembly that generate a force with each other may also be disposed above and below the direction of the rotation axis.
  • the rotor assembly includes at least one magnet that is disposed up and down in the direction of the axis of rotation.
  • FIG. 10 is a perspective structural view of a motor 20 according to an embodiment of a second type of embodiment of the present invention.
  • the motor 20 has the same structure as the stator assembly 23 of the motor 10 except that the rotor assembly 21 is different in structure from the rotor assembly 11.
  • the rotor assembly 21 further includes a yoke 213 coupled to at least one magnet 214, the yoke 213 including a first portion disposed about the rotating shaft 211, and a second portion coupled to the first portion, the inner wall including the first portion
  • the at least one magnet 214 is fixed to the second portion of the yoke 213.
  • the rotor assembly 21 is generally a hollow cylindrical structure including a yoke 213 which is a hollow closed annular structure and a magnet 214 which is annular, and the central axes are coincident with the rotating shaft 211.
  • the one ring-shaped magnet 214 can also be replaced with at least two An arc-shaped magnet 214, and the at least two arc-shaped magnets are located on the same ring.
  • the yoke 213 has an annular base body 2131 (i.e., the above-mentioned first portion disposed around the rotating shaft 211) that is perpendicularly connected to each other, and a connecting portion 2133 (that is, the second portion of the second portion coupled to the first portion described above)
  • the base 2131 is formed to extend in the direction of the rotating shaft 211
  • the connecting portion 2133 is formed to extend from one end of the base 2131 in a direction perpendicular to the rotating shaft 211.
  • the yoke 213 has a " ⁇ " shape in a cross section along the direction of the rotation shaft 211.
  • the base 2131 and the connecting portion 2133 can be integrally formed.
  • the plurality of positioning members 25a and the stators 23a of the stator assembly 23 in the positioning assembly 25 are alternately disposed around the outer side of the annular base body 2131 while being located on one side of the connecting member 2133.
  • Each of the positioning members 25a is in rolling contact with the outer side of the annular base body 2131.
  • the motor 20 further includes a holder 27 for fixing the positioning member.
  • the fixing frame 27 is a hollow annular base 271 and a plurality of positioning pins 272 extending perpendicularly from the base body, wherein the positioning pin 272 is inserted into the positioning member 25a, and the positioning pin 272 and the fixing portion of the positioning member 25a are fixed to each other, thereby aligning the positioning member 25a Positioning. It can be understood that the positioning pin 272 is disposed corresponding to the setting of the positioning member 25a.
  • the magnet 214 is also a hollow ring planar structure, that is, the width of the magnet 214 extends in a direction perpendicular to the rotation axis 211, and the thickness direction thereof is parallel to the rotation axis 211.
  • the magnet 214 is fixed to the side of the connecting portion 2133 of the yoke facing the positioning assembly 25 and the stator assembly 23.
  • FIG. 11-12 is a schematic perspective view of a modification of the motor 20 according to an embodiment of the second embodiment of the present invention.
  • Fig. 12 is a cross-sectional view taken along the line XIII-XIII.
  • the magnet 214 can also be disposed on the side of the connecting member 2133 facing away from the positioning assembly 25.
  • the stator assembly 25 is also disposed on the side of the magnet 29 facing away from the connecting member 2133, in other words, positioning.
  • Each of the positioning members 25a in the assembly 25 and the stator 23a in the stator assembly 23 are located on opposite sides of the magnet 214 in the direction of the rotation axis.
  • FIG. 13 is a perspective structural view of the motor 30 in an embodiment of the third type of embodiment of the present invention.
  • 14 is a plan view of the motor 40 shown in FIG. 13
  • FIG. 15 is a cross-sectional structural view taken along line XX-XX as shown in FIG.
  • the structure of the motor 40 is similar to that of the motor 10 of the first type of embodiment, except that the structures of the stator assemblies 33, 13 are different, and at the same time, the structures of the positioning assemblies 35, 15 are different.
  • the rotor assembly 31, the stator assembly 33, and the positioning assembly 35 are sequentially stacked in a radial direction extending outward from the rotating shaft 311, that is, the stator assembly 33 is rotated 311.
  • the positioning assembly 35 is centered around.
  • the rotor assembly 31 has a hollow annular structure as a whole.
  • the rotor assembly 31 includes a yoke 313 and a magnet 314 which are sequentially stacked in the radial direction extending outward from the rotating shaft 311.
  • the yoke 313 and the magnet 314 are both hollow cylindrical or annular structures, and the magnet 314 It is fixed to the outer surface of the yoke 313.
  • the inner surface of the yoke 313 is also the inner wall 312 of the motor 30.
  • the stator assembly 33 has a hollow annular structure as a whole, and of course, the stator assembly 33 may be a part of an annular structure centered on the rotating shaft 311.
  • the stator assembly 343 can be a plurality of coil windings disposed axially symmetrically on the circumference centered on the rotating shaft 311.
  • the stator in the stator assembly 33 33a may be a coil winding having a ring structure as a whole, and is not limited thereto.
  • the positioning assembly 35 is located between the rotor assembly 31 and the stator assembly 33, wherein the positioning assembly 35 includes a plurality of rolling bodies 35a that are in rolling connection with the rotor assembly 31 and the stator assembly 33, respectively, that is, rolling elements 35a can be rolled relative to the rotor assembly 31 and the stator assembly 33, whereby the rotor assembly 31 can be rotated relative to the stator assembly 33 when the position of the stator assembly 33 is relatively fixed, while the plurality of rolling bodies 35a can also be limited
  • the position of the rotor assembly 31 is prevented from shifting during its rotation.
  • the rolling bodies 45a are made of a non-magnetic material to prevent interference with the magnetic field between the rotor assembly 31 and the stator assembly 33.
  • the rotor assembly 31 is formed with a first groove 315 on the surface facing the stator assembly 33, and a second surface is formed on the surface of the stator assembly 33 facing the rotor assembly 31.
  • the groove 335, the first groove 315 and the second groove 335 constitute a guide rail 39, and the plurality of rolling body portions are located in the guide rail 39.
  • the first groove 335 and the second groove 335 are both annular structures centered on the rotating shaft 411.
  • the first groove 335 is disposed on the outer surface of the magnet 314 away from the yoke 313.
  • the positioning assembly 35 further includes a plurality of spacers 35b for fixing the plurality of rolling bodies 35a, wherein the spacer ring 35b has a ring structure centered on the rotating shaft 311 as a whole.
  • the position of the plurality of rolling elements 35a along the rotation axis 311 and in the circumferential direction perpendicular to the rotation axis is fixed.
  • 16 is a schematic partial cross-sectional view of a modified embodiment of a fourth embodiment of the present invention.
  • the spacer ring 35b is provided with a plurality of through holes 35c that match the shape and size of the rolling elements 35a for positioning the rolling elements 35a.
  • the rolling body 35a is disposed in the through hole In the 35c, it is thereby effectively prevented that the rolling elements 35a are displaced in the direction of the rotating shaft 311 and in the circumferential direction perpendicular to the rotating shaft 411.
  • FIG. 17 is a partial cross-sectional perspective view of a motor 40 according to an embodiment of the fourth embodiment of the present invention
  • FIG. 18 is a partial perspective perspective view of the motor 40 shown in FIG.
  • the motor 40 has a hollow cylindrical shape as a whole and is an outer rotor structure.
  • the motor 40 has a hollow cylindrical structure as a whole, that is, an intermediate portion of the motor 40 has an accommodation space.
  • the motor 40 includes a rotor assembly 41, a stator assembly 43, and a positioning assembly 45 that cooperate with each other.
  • the stator assembly 43 is used for driving to rotate the rotor assembly 41 about the rotating shaft 411.
  • the rotor assembly 41 is a hollow cylindrical structure including a yoke 413 which is a hollow closed annular structure and an annular magnet 414, and the central axes are coincident with the rotating shaft 411.
  • the yoke 413 has two parts, that is, an annular base body 4131 and a connecting portion 4133 which are perpendicularly connected to each other.
  • the base body 4131 is formed to extend in the direction of the rotating shaft 411, and the connecting portion 4133 is first from one end of the base body 4131.
  • the direction perpendicular to the rotating shaft 411 is further formed to extend parallel to the rotating shaft 511, wherein an annular receiving cavity is formed between the base body 5131 and the connecting portion.
  • the yoke 413 has a unilateral cross-section along the direction of the rotating shaft 511, and the accommodating cavity formed by the base 4131 and the connecting portion 2133 is defined as a guide rail 49.
  • the base 4131 and the connecting portion 4133 can be integrally formed.
  • the magnet 414 is also a hollow ring structure, and the magnet 414 is fixed to one side of the guide rail 4133 adjacent to the base 4131.
  • the positioning assembly 45 has an annular structure as a whole, and is connected to the side of the guide rail 49 adjacent to the connecting portion 4133 of the base member 4133, that is, the rotor assembly 41 is rotatable relative to the positioning assembly 45.
  • the positioning assembly 45 is fixed to other parts of the motor 40 by a mounting bracket 47, for example, to a base or housing of the motor 40, wherein the mounting bracket 47 is disposed on a side of the rail 49 in which the fixing assembly 45 is away from the base 4131.
  • the positioning assembly 45 serves to prevent the rotation axis direction of the rotor assembly 41 from being displaced or even disengaged.
  • the stator assembly 43 is generally in the form of a hollow annular structure and is centered on a rotating shaft 411, wherein the stator assembly 43 is located in the rail 49 and between the positioning assembly 45 and the magnet 414 of the rotor assembly 41, and more particularly, the stator assembly 43 Located between the mount 47 and the magnet 414.
  • the stator assembly 43 may be a plurality of arc-shaped structures centered on the rotating shaft 411 and axially symmetric with respect to each other in position.
  • a drive device comprising any of the motors described above.
  • the driving device may further include two parallel motors, the two hollow motor phases Place adjacent and rotate around the same axis.
  • the two hollow motors rotate at different speeds.
  • the two hollow motors are fixed to each other by a bracket.
  • two motors 40 in the driving device are independently disposed in the direction of the rotating shaft 411, wherein the two motors 40 can be defined as 40a and 40b, respectively, and the two motors 40 are independently arranged from each other and can be The same or different speeds are rotated about the rotating shaft 411.
  • the fixing frame 47 can be fixed simultaneously for the two positioning assemblies 43 such that the two motors 40 are combined with each other in one piece, that is, combined into the driving device 43.
  • the rotor assemblies 11-41 are each rotated about the rotating shafts 111-411 while the annular inner walls 112-412 form the hollow portions 11a-41a, and
  • the stator assembly 13-43 is used to drive the rotating assembly 11-41 to rotate about the rotating shafts 111-411.
  • the positioning assembly 15-45 is located outside the hollow portions 11a-41a, effectively restricting the rotation of the rotor assembly 11-41 about the rotating shafts 111-411.
  • the rotor assemblies 11-41 are each constituted by the yokes 113-413 and the magnets 114-414, and correspondingly, the stator assemblies 13-43 include coil windings, in other words, the stator assemblies 13-43 An electromagnetic field is generated upon energization, which drives the magnetic rotor assembly 11-41 to rotate.
  • the rotor assembly 11-41 includes a coil winding
  • the stator assembly 13-43 is composed of a yoke and a magnet, in other words, that is, when the rotor assembly 11-41 is energized, an electromagnetic field is generated, the electromagnetic field is magnetically coupled.
  • the stator assembly 13-43 rotates in the thus driven rotor assembly 11-41.
  • the rotor assembly 11-31 is located at an intermediate position, and the stator assembly 13-33 is disposed around the outside of the rotor assembly 11-31, more specifically, the rotor
  • the magnets for generating the magnetic field in the assembly 11-31 are located inside the stator assembly 13-33 adjacent to the rotating shafts 111-311.
  • the magnets 114-314 for generating the magnetic field of the rotor assembly 11-31 are located adjacent to the stator assembly 13-33. The inside of the rotating shaft 111-311.
  • the portion of the rotor assembly 21 for generating a magnetic field and the stator assembly 23 are disposed above and below the direction of the rotating shaft 211, that is, the rotor assembly.
  • the magnet 414 and the stator assembly 23 are disposed one above the other in the direction of the rotating shaft 211, wherein the yoke 213 includes two portions, the base body 2131 constituting the inner wall 212 extending in the direction of the rotating shaft, and extending in the direction perpendicular to the rotating shaft 211 (radial direction)
  • the connecting portion 2133 at the same time, the width direction of the magnet 214 extends in the radial direction and is fixed to the connecting portion 2133 of the yoke 213, and correspondingly, in order to make the magnet 214 and the stator assembly 23 better fit, the magnet 213 and the stator assembly 23 adjacent settings, ie
  • the coil windings of the magnet 213 and the stator assembly 23 that generate the electromagnetic field are located on the same side of the yoke 213 in the direction of the rotation axis, so that the positioning assembly 45 can be located on the same side of the yoke connection portion 2133 as the stator assembly 43 or can be divided into the rotation shaft.
  • the portion of the rotor assembly 41 for generating the magnetic field is located outside the stator assembly 43 away from the focus 411, that is, the magnet 414 in the rotor assembly 41 is located outside the coil windings in the stator assembly 43.
  • the yoke 413 of the rotor assembly 41 includes at least a base 4131 and a connecting portion 4133.
  • the base 4131 surrounds the rotating shaft 411 and constitutes an inner wall 412.
  • the connecting portion 4133 extends at least partially in a direction parallel to the rotating shaft 411.
  • the magnet 414 is fixed to the connecting portion 4133, and the stator assembly 43 is located inside the magnet 414 adjacent to the rotating shaft 411.
  • the magnet 414 is located outside the stator assembly 43 away from the rotating shaft 411.
  • the magnet 414 may be a hollow ring that is closed in the circumferential direction, or may be an arc-shaped structure that is symmetrical in the direction of the rotational axis of the circumference centered on the rotating shaft 411.
  • the stator assembly 13 includes at least two stators 13a, each of which includes a coil winding capable of generating an electromagnetic field when energized, and the motor 10 of the first embodiment corresponding to FIGS.
  • the positioning assembly 15 comprises at least two positioning members 15a, wherein the at least two stators 13a and the at least two positioning members 15a are arranged at least partially alternately around the rotating shaft 111.
  • the positioning member 15a is axially symmetrically disposed on a circumference centered on the rotating shaft 111, fixed relative to one of the rotor assembly 11-41 and the stator assembly 13-43, and rotated relative to the other.
  • the number of the positioning members 15a may be greater than the number of the stators 13a as shown in FIG. 1.
  • a stator is disposed between two adjacent positioning members 15a, and the plurality of stators 13a are axially symmetrically arranged with each other; The two are equal in number, and the stator 13a and the positioning member 15a are alternately arranged in this order, and the positioning member 15a and the stator 13a are axially symmetric or rotationally symmetric with respect to the rotating shaft 111.
  • at least one stator 15a is disposed between two adjacent positioning members 15a, and a positioning member 15a is disposed between the adjacent two stators 13a.
  • the stator assembly 13 and the positioning assembly 15 are disposed in the direction of the rotation axis in the direction of the rotating shaft 111.
  • the stator assembly 13 includes a plurality of axially symmetric stators 13a.
  • the plurality of positioning members 15a are also axisymmetric, but are disposed above and below the direction of the rotating shaft, that is, the projections on the rotating shaft 111 do not coincide.
  • the stator assembly 13 is a ring structure
  • the positioning assembly 15 includes a plurality of axially symmetric positioning members 15a.
  • the stator assembly 13 is also arbitrarily arranged in a plurality of axes. .
  • the stator assembly 13 and the positioning assembly 15 are both annular structures.
  • the stator assembly may surround the positioning assembly with the rotating shaft as a center, or The bit assembly surrounds the stator assembly centered on the rotating shaft.
  • the stator assembly 33 wraps around the outside of the positioning assembly 35.
  • the positioning assembly wraps around the outside of the stator assembly centered on the axis of rotation.
  • the rotor assemblies 11-41 are each formed by at least a portion of the yokes 113-114 as the inner walls 112-412.
  • the magnets 113-413 in the rotor assembly 11-41 may also serve as the inner wall or the rotor 11- A component is attached to the 41 as an inner wall.
  • FIG. 19 is a perspective view of a modified embodiment of a motor 50 according to a fifth embodiment of the present invention
  • FIG. 20 is a plan view of the motor 30 as shown in FIG. 19
  • FIG. 22 is an enlarged schematic view of the structure along XII as shown in FIG.
  • the motor 50 of the present embodiment is substantially the same as the motor 10, that is, the stator assemblies 53 and 33 of the two embodiments have the same structure and the positioning components 15, 55 have the same structure, with the difference that the rotor assembly 31 and The rotor assembly 51 is structurally different.
  • the rotor assembly 51 has a hollow cylindrical structure as a whole, and includes a yoke 513 each having a hollow circumferential closed annular structure and an annular magnet 514, and the central axes of the both are respectively related to the rotating shaft. 511 coincides.
  • the yoke 513 has a connecting portion 5133 which is perpendicularly connected to the annular base body 5131 and spaced apart from each other by a predetermined distance.
  • the base body 5131 is formed to extend in the direction of the rotating shaft 511, and the two connecting portions 5133 are formed from the two end edges of the base body 5131. It is formed to extend perpendicular to the direction of the rotating shaft 511.
  • the yoke 513 has a "[" shape in cross section along the direction of the rotating shaft 511, and the base 5131 and the two connecting portions 5133 constitute a guide rail 59.
  • the base body 5131 and the two connecting portions 5133 can be integrally formed.
  • the magnet 514 is also a hollow cylindrical structure and extends integrally along the direction of the rotating shaft 511.
  • the magnet 514 is radially fixed to the outside of the base 5132, that is, the magnet 514 and the base 5132 are sequentially stacked in a radial direction away from the rotating shaft 511. .
  • the plurality of positioning members 55a in the positioning assembly 55 and the stator 53a in the stator assembly 53 are partially located in the guide rail 59, thereby further preventing the rotation axis direction of the rotor assembly 51 from being displaced or even disengaged.
  • the surface of the guide rail 59 is further provided with a protective gasket, or the surface of the guide rail 59 is further coated with grease or lubricating oil, thereby reducing the friction between the positioning assembly 55 and the rotor assembly 51 and the stator assembly 53. force.
  • the rotor assembly 11-51 is provided with a guide rail, and the stator assembly 13-53 and the positioning assembly 15-55 are partially or completely accommodated in the guide rail.
  • the guide rail 59 may also be provided. Placed on the positioning assembly 15-55, the rotor assembly 11-51 is partially abutted in the rail. It can be seen that the guide rail is used to reduce the sway of the rotor assembly in the direction of the rotation axis.
  • the rotor assembly 51 moves the positioning assembly 55 to a predetermined position along the direction of the rotating shaft 511 under the magnetic force generated by the electromagnetic field of the stator assembly 53, thereby eliminating the positioning assembly 5 in the direction of the rotating shaft. Clearance.
  • the electric machine further includes a load fixedly coupled within the hollow of the electric machine and rotating in synchronization with the rotor assembly of the electric machine.
  • the load is an optical component.
  • the optical element is a prism or a lens.
  • the prisms have different thicknesses in the radial direction, such that when the prism rotates with the rotor assembly of the motor, the beam incident from one side of the prism is refracted by the prism, and when the rotor assembly is rotated to different angles, The beam can be refracted to exit in different directions.
  • the optical element has an asymmetrical shape.
  • the motor further includes a weight, the weight being disposed in the hollow portion of the motor for improving the dynamic balance of the optical element when rotated together with the rotor assembly.
  • the arrangement of the configuration block in the hollow of the motor can be varied.
  • the counterweight is discontinuous in position on the inner wall of the hollow portion in a direction perpendicular to the axis of rotation of the projection of the optical element.
  • the weight is continuous in position on the inner wall of the hollow portion in a direction perpendicular to the axis of rotation of the projection of the optical element.
  • the weights are different in volume and weight at different positions along the direction of the rotating shaft.
  • a weight is disposed between the optical element and the inner wall for securing the optical element to the inner wall and increasing the dynamic balance of the optical element as it rotates with the rotor assembly.
  • the arrangement block may not be disposed in the hollow portion of the motor, but may be disposed at a position other than the hollow portion of the motor, and is not limited herein.
  • the motor may not increase the dynamic balance when the optical element rotates together with the rotor assembly by adding a configuration block, but enhance the optical element and the rotor by removing some weight at the edge of the optical element.
  • Dynamic balance when the components rotate together For example, the edge of the thicker portion of the optical element is formed with a notch for improving the dynamic balance of the optical element as it rotates with the rotor assembly.
  • Fig. 23 is a shape of a prism which is fixed to the hollow portions of the two motors 60a, 60b, respectively, in the sixth embodiment of the present invention.
  • the first prism 100a and the second prism 100b are respectively included.
  • the first prism 100a is fixed in the inner wall 612 of the motor 60
  • the second prism 100b is fixed. It is fixed to the inner wall 512 of the motor 60b.
  • the first prism 100a and the second prism 110b are independently rotated at different speeds around the rotating shaft 612 at the two motors 60a, 60b. It can be understood that the manner of fixing the load in the motors 20, 30, 40, and 50 of the other embodiments is the same, and will not be described in detail in this embodiment.
  • the thicknesses of the first prism 100a and the second prism 100b in the direction perpendicular to the rotation axis 611 are not completely the same, that is, the thicknesses on the first prism 100a and the second prism 100b are different.
  • the first prism 100a includes two opposite first optical faces 101 and second optical faces 102 passing through the rotating shaft 611, wherein the first optical faces 101 and the second optical faces 102 are not parallel to each other.
  • the second prism 100b has the same structure as the first prism 100a, and also includes two opposite first optical surfaces 101 and second optical surfaces 102 passing through the rotating shaft 611, wherein the first optical surface 101 and the second optical surface 102 are Not parallel to each other.
  • the first optical surface 101 and the second optical surface 102 are both planar, and may be modified. The two may not be planar, and are not limited thereto.
  • FIG. 23a, 23b it further illustrates the optical paths of the first prisms 100a, 100b at two different times when the two motors 60a, 60b are rotated at different speeds.
  • the incident light L1 is incident on the second optical surface 102 of the second prism 100b in the direction of the rotation axis 511, and then transmitted to the first prism 100b via the second prism 100b and emitted from the first optical surface 101 thereof, thereby
  • the outgoing light L2 is formed, wherein the outgoing light L2 is located on the right side of the rotating shaft 611.
  • the outgoing light L3 thereof is located on the left side of the rotating shaft 511.
  • the prism 100 is fixed as a load to the motor 60.
  • other components may be loaded, such as optical elements for transmitting light, such as lenses, or components such as cables may also be used.
  • the load is fixed in the motor 50.
  • FIG. 24 it is a schematic structural view of a modified embodiment of the shape of the first prism 100a in FIG.
  • the first optical surface 101 and the second optical surface 102 intersect at different angles.
  • the first optical surface 101 or the optical surface 102 is an optical surface having a zigzag shape.
  • FIG. 25 is a partial cross-sectional structural view of the driving device 7 of the present invention.
  • the prism 200 is fixed to the inner wall 712 of the hollow portion 71a of the motor 70, wherein the motor 70 further includes a weight 72 disposed on the inner wall 712 corresponding to the shape and position of the prism 200.
  • the weight 72 is used to hold the rotor assembly 71 regardless of the rotation. It is balanced at the time of stationary, that is, the dynamic balance when the prism 200 is rotated together with the rotor assembly 71.
  • the prism 200 includes a first optical surface 201 and a second optical surface 202 opposite to the first optical surface 201, wherein the first optical surface 201 includes a plurality of sawtooth shaped sub-optical surfaces 201a, 201b, 201c, 201d,
  • the projections of the sub-optical surfaces 201a, 201b, 201c, and 201d on the inner wall 712 in the direction of the vertical rotation axis 711 are continuous but do not overlap.
  • the weight 72 includes corresponding sub-weight sub-portions 72a, 72b, 72c, 72d, wherein the sub-weight sub-portions 72a, 72b
  • the projections of 72C, 72d are perpendicular in position to the projection of the prism 200 in a direction perpendicular to the axis of rotation 711.
  • weight positions 72a, 72b, 72c, and 72d are disposed at the inner wall 712, and the weight and
  • P 1 represents the mass-diameter unbalance amount decomposed to the Z 1 plane
  • P 2 represents the mass-diameter product unbalance amount decomposed to the Z 2 plane
  • V represents the volume
  • Z is an integral variable indicating the height of the surface to be placed.
  • represents the material density, Indicates the orientation of the particle.
  • the density of the configuration block 72 is greater than the density of the prism 200 such that the volume of the weight 72 is small, reducing the effect on the optical path of the prism 200.
  • FIG. 26 is a schematic side view showing the structure of the prism in a modified embodiment of the driving device 7 of the present invention.
  • the prism 300 has substantially the same structure as the prism 200, except that the two opposite first optical surfaces 301 and the second optical surface 302 of the prism 300 are both planar, wherein the first optical surface 201 and the second optical surface 202 pass through.
  • Rotary shaft 511 When the shape of the prism 300 is not symmetrical with respect to the center of the rotating shaft 711, the weight 72 is used to keep the rotor assembly 71 balanced even when rotating or stationary, that is, when the prism 200 is rotated together with the rotor assembly 71. Dynamic balance.
  • the weight 72 includes a corresponding sub-weight portion that is discontinuous in position at a projection of the prism 300 in a direction perpendicular to the rotation axis 711.
  • the sub-weights corresponding to different positions may have different shapes, volumes and weights, as shown in FIG. 27, which respectively indicate that the sub-weights 72a, 72b of the two different positions are not identical in shape.
  • 29 is a partial cross-sectional structural view of the driving device 7 shown in FIG.
  • a gap may be formed at a corresponding position of the inner wall 712, that is, when the weight of the corresponding position of the corresponding rotor assembly 71 is increased by using the weight 72, that is, The position indicated by "-" can also be used to reduce the weight of the rotor assembly at the corresponding position, that is, the position indicated by "+” in the figure.
  • a notch "-" position is formed at the edge of the region where the prism 300 has a large thickness in the direction of the rotation shaft 711 for improving the balance of the prism 300 when rotated together with the rotor assembly 71.
  • the motor 10-70 has a hollow accommodating space in the middle portion, that is, has a hollow portion 112-712, so that a load such as an optical element can be prevented from being inside the hollow portion 112-712. Therefore, the volume of the driving device to which the motor 10-70 is applied can be effectively reduced.
  • a positioning assembly is further disposed between the hollow portions 112-712 of the rotor assembly 11-71 and the stator assembly 13-73, so that it can effectively limit the rotation of the rotor assembly 11-71 about the rotating shaft 111-711, that is, it can have The position of the rotor assembly 11-71 in the direction of the rotation axis is effectively defined to prevent it from being or is disengaged.
  • the positioning member includes a rotating portion, a fixing portion, and a rolling body, and the rotating portion is coupled to the fixing portion by the rolling body to rotate the rotating portion relative to the fixing portion. Due to the manufacturing process, the rotating portion can generate a slight movement in the direction of the rotating shaft with respect to the fixed portion, so that when the motor is operated, the rotating portion of the positioning member may sway in the direction of the rotating shaft to generate noise.
  • a solution for reducing the sway of the rotating portion of the positioning member in the axial direction will be provided below in conjunction with the embodiments shown in the various figures.
  • the edges of the stators 13a and the edges of the rotor assembly 11 in the stator assembly 13 are phase-shifted in the direction of the rotation axis.
  • the rotating portions of the respective positioning members 15a of the rotor assembly 11 and the positioning assembly 15 are fitted to each other such that the rotating portions of the respective positioning members 15a of the rotor assembly 11 and the positioning assembly 15 are interlocked in the rotation axis direction.
  • a guide rail is provided on the circumference of the rotor assembly 11, and the rotating portion of each of the positioning members 15a of the positioning assembly 15 abuts in the guide rail.
  • a guide rail is provided on the periphery of the rotating portion of each of the positioning members 15a of the positioning assembly 15, and the peripheral edge of the rotor assembly 11 abuts in the guide rail.
  • the magnetic force between the rotor assembly 11 and the stator assembly 13 pulls the rotor assembly 11 to move in the direction of the rotation axis such that the edge of the rotor assembly 11 is aligned with the edge of each stator 13a.
  • the rotating portion of each of the positioning members 15a is moved by the guide rails to move in the direction of the rotation axis, so that the rotating portion of each of the positioning members 15a and the fixing portion of the positioning member abut against each other. body.
  • each of the positioning members 15a is kept in rolling contact with the rotor assembly 11 in a state of abutting against the rolling elements, and the sway of the rotating portion of the positioning member 15a in the direction of the rotating shaft during the rotation is prevented.
  • the edges of the stators 13a and the edges of the rotor assembly 11 in the stator assembly 13 are phase-shifted in the direction of the rotation axis.
  • the rotating portions of the respective positioning members 15a of the rotor assembly 11 and the positioning assembly 15 are fitted to each other such that the rotating portions of the respective positioning members 15a of the rotor assembly 11 and the positioning assembly 15 are interlocked in the rotation axis direction.
  • each stator 13a is higher than the upper end surface of the rotor assembly 11 (not shown).
  • a projecting edge is provided on the edge of the bottom end surface of the rotor assembly 11, and the bottom end surface of the rotating portion of each of the positioning members 15a of the positioning assembly 15 abuts on the projecting edge.
  • the fixing portion of the positioning member abuts the rolling elements.
  • the rotating portion of each of the positioning members 15a is kept in rolling contact with the rotor assembly 11 in a state of abutting against the rolling elements, and the sway of the rotating portion of the positioning member 15a in the direction of the rotating shaft during the rotation is prevented.
  • the stator assembly 13 is located above the positioning assembly 15.
  • the edge of each stator 13a and the edge of the rotor assembly 11 in the stator assembly 13 are distorted in the direction of the rotation axis.
  • the upper end surface of each stator 13a is higher than the upper end surface of the rotor assembly 11 (not shown).
  • the rotating portions of the respective positioning members 15a of the rotor assembly 11 and the positioning assembly 15 are fitted to each other such that the rotating portions of the respective positioning members 15a of the rotor assembly 11 and the positioning assembly 15 are interlocked in the rotation axis direction.
  • a convex edge (not shown) is provided on the edge of the bottom end surface of the rotor assembly 11, and the bottom end surface of the rotating portion of each of the positioning members 15a in the positioning assembly 15 abuts on the convex edge.
  • FIG. 28 is a schematic cross-sectional view of the motor 10 shown in FIG. 9 along the VI-VI in an inoperative state.
  • the edge of the stator assembly 13 and the edge of the rotor assembly 11 are phase-shifted in the direction of the rotation axis.
  • the lower end surface of the rotor assembly 11 projects downward from the lower end surface of the stator assembly 13.
  • the rotating portions of the rotor assembly 11 and the positioning assembly 15 cooperate with each other such that the rotating portions of the rotor assembly 11 and the positioning assembly 15 are interlocked in the direction of the rotating shaft.
  • a convex edge is provided on the edge of the upper end surface of the positioning assembly 15, and the rotor assembly 11 abuts on the convex edge.
  • the stator assembly 13 since the stator assembly 13 is fixed, the magnetic force between the rotor assembly 11 and the stator assembly 13 pulls the rotor assembly 11 upward in the direction of the rotation axis, so that the edge of the rotor assembly 11 and the edge of the stator assembly 13 are aligned. That is, the lower end surface of the rotor assembly 11 and the lower end surface of the stator assembly 13 are flush.
  • the rotation portion of the positioning assembly 15 is moved upward by the projection along the rotation axis, and the fixing portion of the positioning assembly 15 is held stationary, so that the rotation portion of the positioning assembly 15 and the positioning member The fixing portions abut against the rolling elements.
  • the rotating portion of the positioning assembly 15 is kept in rolling contact with the rotor assembly 11 in a state of abutting against the rolling elements, and the sway of the rotating portion of the positioning assembly 15 in the direction of the rotating shaft during the rotation is prevented.
  • the rotating portions of the rotor assembly 11 and the positioning assembly 15 are fixed to each other (for example, by adhesive bonding), such that the magnetic force between the rotor assembly 11 and the stator assembly 13 pulls the rotor assembly 11 upward in the direction of the rotating shaft.
  • the rotor assembly 11 can drive the rotating portions of the positioning assembly 15 to move upward together, so that the rotating portions of the rotor assembly and the positioning assembly 15 are interlocked in the direction of the rotating shaft.
  • FIG. 29 is a schematic cross-sectional view of a motor.
  • the structure of the motor shown in Fig. 29 is similar to that of the motor shown in Fig. 12.
  • the motor shown in Fig. 29 The middle stator assembly is a complete annular structure, and the positioning assembly is a complete annular structure.
  • the rotor assembly includes a yoke and a magnet
  • the stator assembly includes a coil winding.
  • the magnetic force of the electromagnetic field generated by the stator assembly 23 causes the yoke 213 and the magnet 214 in the rotor assembly 21 to follow
  • the axial direction H moves downward, so the preset gap is reduced.
  • the yoke 213 and the rotating portion of the positioning member 25a are fixed to each other, so that the rotating portion of the positioning member 25a can also be moved downward along the axial direction H to a preset position corresponding to the fixing portion of the positioning member 25a (not shown).
  • the rotating portion of the positioning member 25a is moved in the direction of the rotating shaft to abut the rolling body together with the fixing portion.
  • the second axis direction H is parallel to the axis of rotation 111.
  • the rotating portion of the rotor assembly and the positioning member is pulled by the magnetic force generated between the magnet and the stator assembly in the rotor assembly and moved in the direction of the rotating shaft to abut the positioning portion with the fixing portion of the positioning member.
  • the rolling elements in the piece.
  • the first component and the second component disposed adjacent to each other are added in the motor, wherein the first component and the second component are both ferromagnetic materials, between the first component and the second component Generating a magnetic force that is repulsive or intended to be attracted; pulling the rotating portion of the rotor assembly and the positioning member by a magnetic force between the first portion and the second member and moving in the direction of the rotating shaft to abut against the fixing portion
  • the rolling body An explanation will be given below with reference to FIG.
  • FIG. 30 is a schematic cross-sectional structural view of the driving device shown in FIG. 18 of the present invention.
  • the two motors are defined as a first motor 9a and a second motor 9b, respectively.
  • the first motor 9a includes a hollow annular rotor assembly 91, a stator assembly 93, a positioning assembly 95, and a first member 96a.
  • the second motor 9b also includes a rotor assembly 91, a stator assembly 93, a positioning assembly 95, and a second member 96b.
  • the rotor assembly 91 in the first motor 9a and the rotor assembly in the second motor 9b are rotated about the same rotating shaft.
  • first motor 9a and the second motor 9b may be the same as those of the motor in the embodiment shown in FIGS. 18 and 19.
  • the first member 96a and the second member 96b are respectively fixed to the yoke 914 of the rotor assembly 91 of the two motors by a predetermined distance in the drive unit 9.
  • the first component and the second component are both magnets such that a repulsive magnetic force is created between the first component and the second component.
  • the first component is a magnet and the second component is iron; or the first component is iron and the second component is a magnet such that a magnetic attraction is generated between the first component and the second component.
  • the magnetic force between the first member 96a and the second member 96b causes the yoke 914 of the first motor 9a and the second motor 9b to move in opposite directions in the direction of the rotation axis, respectively, thereby driving the first motor 9a and the second
  • the rotating portions of the positioning assembly fixed by the yoke 914 in the motor 9b are respectively moved in two opposite directions along the rotation axis direction, since the fixing portions of the positioning assemblies of the first motor 9a and the second motor 9b are fixed with respect to the rotating shaft, the two The rotating portion of the positioning assembly of each of the motors has an axial movement relative to the fixed portion such that the rotating portion of the positioning assembly abuts the fixed portion to abut the rolling elements in the positioning assembly.
  • the driving device further includes a frame, the positioning in the first motor
  • the assembly and the second component are each fixed to the frame, and the second component and the first component are disposed adjacent to each other such that a magnetic force in the direction of the rotation axis can be generated between the second component and the first component.
  • the invention also provides a method for operating a driving device. Referring to FIG. 31, the method specifically includes the following steps:
  • Step S1 configuring the rotor assembly 91, the stator assembly 93, and at least one positioning member, wherein the rotor assembly 91 rotates about a predetermined rotating shaft, and the stator assembly 93 is configured to drive the rotor assembly 91 to rotate around the rotating shaft
  • the at least one positioning member is configured to restrict the rotation of the rotor assembly about the rotating shaft; wherein the positioning member includes a rotating portion, a fixing portion, and a rolling body, and the rotating portion passes the rolling body and the The fixing portion is coupled to rotate the rotating portion with respect to the fixing portion, and the rotating portion is movable relative to the fixing portion in a direction of the rotating shaft.
  • Step S2 applying a thrust to the rotating portion, so that the rotating portion and the fixing portion abut against the rolling body.
  • the rotor assembly further includes a yoke, the stator assembly and the positioning member are respectively disposed around the yoke, and the stator assembly and the positioning assembly are disposed above and below the rotating shaft, and the magnet is fixed to The yoke is located between the stator assembly and the yoke.
  • a gap is preset between the magnet and the coil winding in the direction of the rotating shaft, and a gap between the magnet and the coil winding is reduced.
  • the rotor assembly further includes a yoke coupled to the magnet, the yoke including surrounding a first portion of the shaft disposed, and a second portion coupled to the first portion, the inner wall including the first portion, the magnet being fixed to a second portion of the yoke, the first portion being along A radial extension of the rotor assembly; the coil winding being located on a side of the magnet facing away from the yoke.
  • the positioning assembly includes a positioning member disposed outside the first portion of the yoke, and the rolling portion of the positioning member and the first portion of the yoke are fixed to each other.
  • a guide rail is disposed on the rotor assembly, and a rotating portion of the positioning member is abutted in the guide rail, so that the rotating portion of the rotor assembly and the positioning member are interlocked in the direction of the rotating shaft;
  • a guide rail is disposed on the positioning member to abut a portion of the rotor assembly in the guide rail such that the rotating portion of the rotor assembly and the positioning member are interlocked in the direction of the rotating shaft.
  • the operating method further includes: cooperating the rotating portion of the rotor assembly and the positioning member such that the rotating portion of the rotor assembly and the positioning member are interlocked in the direction of the rotating shaft; a component and a second component such that the first component and the second component are disposed adjacent to each other, wherein the first component and the second component are both ferromagnetic materials, and the first component and the second component are Producing a magnetic force that is repulsive or intended to be attracted; a thrust is applied to the rotor assembly and the rotating portion of the positioning member by a magnetic force between the first portion and the second member, such that the rotating portion of the positioning member The rotation axis direction moves until the rotating portion and the fixing portion abut against the rolling body.
  • the first component is also fixed to the rotor assembly.
  • the operating method further includes: arranging a guide rail on the rotor assembly, abutting a rotating portion of the positioning member in the guide rail, so that the rotating portion of the rotor assembly and the positioning member are at Linking in the direction of the rotating shaft; or, arranging a guide rail on the positioning member to abut a portion of the rotor assembly in the guide rail such that the rotating portion of the rotor assembly and the positioning member are in the Linked in the direction of the rotation axis.
  • the operating method further includes: configuring a rack; and fixing the positioning component and the second component to the rack.
  • the operating method further includes: configuring another rotor assembly that rotates about the rotating shaft, another stator assembly for driving the other rotor assembly to rotate about the rotating shaft, and for restricting the other rotor At least one positioning member that rotates the assembly about the rotating shaft; wherein the rotor assembly and the other rotor assembly are placed adjacent to each other, and the second member and the other assembly are fixed to each other.
  • the method further includes driving the rotor assembly and the other rotor assembly to rotate at different speeds.
  • first component and the second component are both magnets; or the first component is a magnet and the second component is iron; or the first component is iron, and the second component For the magnet.
  • a laser measuring device for sensing external environmental information, such as distance information of an environmental target, angle information, reflection intensity information, speed information, and the like.
  • the laser measuring device can be a laser radar.
  • the laser measuring device of the embodiment of the present invention can be applied to a mobile platform, and the laser measuring device can be mounted on a platform body of the mobile platform.
  • a mobile platform with a laser measuring device can measure the external environment, for example, measuring the distance between the mobile platform and the obstacle for obstacle avoidance, and performing two-dimensional or three-dimensional mapping of the external environment.
  • the mobile platform includes at least one of an unmanned aerial vehicle, a car, and a remote control car.
  • the platform body When the laser measuring device is applied to an unmanned aerial vehicle, the platform body is the body of the unmanned aerial vehicle. When the laser measuring device is applied to a car, the platform body is the body of the car. When the laser measuring device is applied to a remote control car, the platform body is the body of the remote control car.
  • the laser measuring device may include the motor or the driving device according to any one of the embodiments of the present invention.
  • the laser measuring device may include the motor or the driving device according to any one of the embodiments of the present invention.
  • the electric machine disclosed in the foregoing embodiments may further include a load element, such as a lens, prism, light source, and/or other suitable means, that may be used to receive the interior thereof such that the load element rotates with the rotor assembly.
  • a mobile device having the aforementioned drive device can have additional functions, such as visually presenting information and/or detecting objects, without requiring additional space for installing additional components/components.
  • the hollow portion of the motor disclosed in the foregoing embodiments achieves other additional functions or further reduces the volume of the movable device.

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Abstract

一种驱动装置,包括:围绕一预设的转轴旋转的转子组件;用于驱动所述转子组件围绕所述转轴转动的定子组件;用于限制所述转子组件以所述转轴为中心转动的至少一定位件;其中,所述定位件包括转动部、固定部以及滚动体,所述转动部通过所述滚动体与所述固定部相耦合,以使所述转动部相对于所述固定部转动;所述转动部相对于所述固定部在所述转轴的方向上能够运动,以使所述转动部在受到一推力时与所述固定部共同抵接所述滚动体。

Description

驱动装置及其操作方法、激光测量装置和移动平台
本专利文件披露的内容包含受版权保护的材料。该版权为版权所有人所有。版权所有人不反对任何人复制专利与商标局的官方记录和档案中所存在的该专利文件或该专利披露。
技术领域
本发明涉及电机领域,尤其涉及一种驱动装置及其操作方法、激光测量装置和移动平台。
背景技术
利用电磁作用实现驱动的电机已经应用到多种领域,例如消费性电子、航天、军事等。随着永磁新材料、微电子技术、自动控制技术以及电力电子技术的发展,电机得到长足的发展。
电机主要由定子与转子构成。目前而言,电机中还设置有轴承元件,以限定转子的位置。然而,轴承本身是存在轴向游隙的,轴向游隙的存在较易导致电机工作时中轴承产生噪音。
发明内容
为解决前述技术问题,本发明提供一种驱动装置及其操作方法、激光测量装置和移动平台。
一种驱动装置,其特征在于,包括:围绕一预设的转轴旋转的转子组件;
用于驱动所述转子组件围绕所述转轴转动的定子组件;用于限制所述转子组件以所述转轴为中心转动的至少一定位件;其中,所述定位件包括转动部、固定部以及滚动体,所述转动部通过所述滚动体与所述固定部相耦合,以使所述转动部相对于所述固定部转动;所述转动部相对于所述固定部在所述转轴的方向上能够运动,以使所述转动部在受到一推力时与所述固定部共同抵接所述滚动体。
一种驱动装置的操作方法,其特征在于,包括:
配置转子组件、定子组件以及至少一定位件,其中,所述转子组件围绕一预设的转轴旋转,所述定子组件用于驱动所述转子组件围绕所述转轴转动,所述至少一定位件用于限制所述转子组件以所述转轴为中心转动;其中,所述定位件包括转动部、固定部以及滚动体,所述转动部通过所述滚动体与所述固定部相耦合,以使所述转动部相对于所述固定部转动,且所述转动部相对于所述固定部在所述转轴的方向上能够运动;
施加一推力给所述转动部,使所述转动部与所述固定部共同抵接所述滚动体。
一种激光测量装置,包括前述的驱动装置。
一种移动平台,包括前述激光测量装置和平台本体,所述激光测量装置安装在所述平台本体。
相较于现有技术,由于定位组件的转动部与转子组件相互固定,而定位组件的固定部相对于转轴固定,因此,当转动部收到推力而产生轴向移动时,能够与所述固定部共同抵接到滚动体上,从而有效消除定位组件中的轴向游隙,降低噪音。
附图说明
为了更清楚地说明本发明实施例的技术方案,下面将对实施例中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。
图1为本发明第一类实施例中一个实施例的电机的主视图。
图2为如图1所示电机的立体结构示意图。
图3为如图1所示电机变更方式的主视图。
图4为如3所示电机的主视图。
图5为如图1所示电机变更方式的立体结构示意图。
图6为如图5所示电机10沿着VI-VI的剖面结构示意图。
图7为如图1所示电机变更方式的主视图。
图8为如图7所示电机的立体结构示意图。
图9为如图1所示电机变更方式的立体结构示意图。
图10为如图9所示电机沿着X-X线的剖面结构示意图。
图11为本发明第二类实施例中一个实施例的电机的立体结构示意图。
图12为本发明第二类实施例中一个实施例的电机20的变更方式的立体结构示意图。
图13为沿着如图的XIII-XIII线的剖面图。
图14为如图12所示电机沿XIV-XIV线的剖面结构示意图。。
图15为本发明第三类实施例中一个实施例的电机的变更实施例的立体结构示意图。
图16为如15所示电机的俯视图。
图17如图16所示电机沿XVII-XVII线的剖面结构示意图。
图18为如图17所示沿着XVIII的放大结构示意图。
图19为本发明第四类实施例中一个实施例的电机40的立体结构示意图。
图20为如图19所示电机40的俯视图
图21为如图20所示沿着XX-XX线的剖面结构示意图
图22为本发明第四类实施例中一个实施例的变更实施例中部分剖面立体结构示意图。
图23为本发明第五类实施例中一个实施例的电机的部分剖面立体结构示意图
图24为如图所示电机的部分立体透视图。
图25为本发明第六实施例中应用于两个电机的棱镜形状。
图26为如图25中第一棱镜的形状的变更实施例的结构示意图。
图27为本发明驱动装置的部分剖面结构示意图。
图28为本发明驱动装置中一变更实施例中棱镜的侧面结构示意图。
图29为一个实施例中的电机的剖面结构示意图。
图30为本发明图18所示驱动装置的剖面结构示意图。
图31为驱动装置的操作方法流程图。
具体实施方式
下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有付出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。
需要说明的是,本文中提到的环形,并不限于规则的圆环形状。
请一并参阅图1-2,其中,图1为本发明第一类实施例中一个实施例的电机的主视图,图2为图1所示电机10的立体结构示意图。如图1所示,电机10整体呈中空筒状结构,也即是电机10的中间部位具有容置空间。具体地,电机10包括相互配合的转子组件11、定子组件13以及定位组件15。其中,转子组件11用于驱动使得转子组件11围绕转轴111转动。
转子组件11整体呈中空圆筒形状,具有环形内壁112构成的中空部11a,所述中空部11a用于容置负载,也即是负载固定于内壁112上并至少部分位于中空部11a内。可以理解,定子组件13为位置相对电机10的转轴固定,不会产生相对转轴的运动,而转子组件11则能够相对于定子组件13运动。
定子组件13包括至少两个在位置上相互轴对称或者围绕转轴旋转对称的定子13a,且环绕设置在转子11的外侧,也即是本实施例电机10为内转子的架构。
定位组件15位于中空部11a外侧,用于限制转子组件11在转轴方向的位置,也即是限制转子组件11围绕转轴111旋转时不会发生转轴方向运动。需要说明的是,所述转轴111并不是实体存在的元件,而是以转子组件11旋转中心虚拟概念。其中,定位组件15具有至少两个在位置上相互轴对称或者围绕转轴旋转对称设置的定位件15a。
进一步地,定子组件13的定子13a和定位组件15的定位件15a的数量可以相同,也可以不同,二者在垂直于转轴111方向的平面(图未示)上的投影至少部分位于同一圆周上,其中,圆周以所述转轴111为中心,另外,二者在转轴111上的投影相互重合。换句话说,定子组件13与定位组件15基本位于以转轴111为中心的同一个圆周上,或者说定子组件13与定位组件15距离转轴111的距离基本相同。另外,定子组件13和定位组件15在垂直于转轴111方向的平面的投影间隔设置。
可以理解,电机10中的转子组件11与定子组件13是相对转动的,其中, 转子组件11可以为磁性元件,则对应地,定子组件13为通电时产生电磁场的线圈绕组;反之,转子组件11也可以为通电时产生电磁场的线圈绕组,则对应地,定子组件13为磁性元件。
具体地,本实施例中,转子组件11为中空筒状结构,包括均为中空封闭环状结构的磁轭113与磁铁114,磁轭113与磁铁114相互在径向(垂直于转轴111方向)上层叠设置并相互固定,其中,磁铁114位于磁轭113外侧,磁轭113与磁铁114的中心轴线与转轴111重合。可以理解,磁轭113的内表面则构成电机10的内壁112。
定子组件13整体呈环形设置于转子组件11中磁铁114的外侧,其包括两个相对于转轴111轴对称的定子13a,当然,两个定子13a也可以是绕转轴10旋转一定角度180°而对称(下文简称旋转对称)。
每一个定子15a整体呈以转轴111为中心的圆弧形形状,每个定子15a上均缠绕线圈绕组(图未示),其中,定子15a利用线圈绕组在通电时产生电磁场。
定位组件15包括至少一个环形或者中空圆柱形的定位件15a。其中,本实施例中,定位件15a的中心轴线平行于转轴111并间隔预定距离。定位组件15包括四个相对于转轴111轴对称的定位件15a,当然,两个定位件15a也可以是绕转轴111旋转一定角度90°而对称(下文简称旋转对称)。所述的两个定子13a中的每一个定子13a设置于相邻的定位件15a之间。
当然,可变更地,请一并参阅图3-4,其分别为本发明第一类实施例中一个实施例的电机10中定子组件13与定位组件15设置位置的变更实施方式的主视图与立体结构示意图。如图3与图4所示,定子13a的数量也可以与定位件15a的数量相同,其设置于位置可以是任意相邻的两个定位件15a之间包括一个定子13a,或者说定子13a与定位件15a一一间隔设置,当然,也可以是相邻的两个定位件15a之间设置2个定子13a,只要保证定子13a的产生的磁场为轴对称的。另外,两个定子13a之间也可以包括多个定位件15a,只要保证定位件15a针对转子组件11的限位作用平衡即可。依次类推,定子13a的数量也少于与定位件15a的数量,具体配置方式可参照前述方式,不再赘述。
可变更地,请参阅图5,其为本发明第一类实施例的一个实施例中电机10中定子组件13设置位置的变更实施方式的立体结构示意图。其中,定子组件 13中的定子13a与定位组件15中的定位件15a在平行于转轴112的一个平面上的投影并不重合,换句话说,定子组件13与定位组件15在转轴112的方向上下错位设置,并未位于同一圆周上。
在一些实施方式中,转子组件包括磁轭以及耦合在磁轭外周缘上的磁铁。可选的,该磁铁的面积可以覆盖磁轭的全部外周缘,也即定子组件13的侧面与该磁铁相对,且定位组件15与该磁铁滚动抵接。或者,该磁铁的面积也可以只覆盖磁轭的部分周缘,例如只覆盖图5中磁轭的上半周缘(图未示),使得定子组件13的侧面与该磁铁相对,而定位组件15直接与磁轭滚动抵接。
进一步,如图所示,电机10还包括圆环形固定架17,以将定位组件15中的多个定位件15a定位于预定位置。具体地,固定架17为中空环形基体171以及多个自基体垂直延伸设置的定位销172,其中,基体171为以转轴111为中心的环形结构,基体171固定于电机10的底座或者壳体上,定位销172穿插入定位件15a,从而对定位件15a进行定位。其中,定位销172的设置于与定位件15a的设置为是相对应的。
较佳地,定位件15a能够围绕定位销172转动,也即是当转子组件11围绕转轴111转动时,能够不同带动定位件15a围绕定位销172转动,也即是定子15a作为一转动部,而定位销172作为一固定部。可理解,定位销172也可以与定位件15a制成一体,仅需保证定位件15a能够相对定位销172转动即可,然后定位销172固定连接至基体171即可。
可变更地,请参阅图6-7,其分别为本发明第一类实施例的一个实施例的电机10中定子组件13结构与设置位置的变更实施方式的主视图以及立体结构示意图。与图5所示实施例类似,定子组件13中的定子13a与定位组件15中的定位件15a在平行于转轴112的平面上的投影并不重合,换句话说,定子组件13与定位组件15在沿着转轴112的方向上下设置,并未位于同一圆周上。与图5所示实施例不同的是,在图5所示实施例中,定子组件13包括至少两个定子13a,该至少两个定子13a围绕设置在转子组件11的外侧;而在图6-7所示实施例中,定子组件13整体呈一个以转轴112为中心的封闭圆周的环形结构;定位组件15包括多个定位件15a,该多个定位件15a分别围绕转子组件11设置。或者,在一些实施方式中,也可以是定位组件15包括一个整体呈环形结构的定位件,该定位件围绕在转子组件11外侧设置;定子组件13包括 至少两个呈弧状的定子13a,该至少两个定子13a分别设在转子组件11外侧。
可变更地,请参阅图8-9,其分别为本发明第一类实施例的一个实施例的电机10中定子组件13与定位组件15的结构与设置位置的变更实施方式的立体结构示意图以及沿着X-X线的剖面结构示意图。与图5所示实施例类似,定子组件13中的定子13a与定位组件15中的定位件15a在平行于转轴112的平面上的投影并不重合,换句话说,定子组件13与定位组件15在沿着转轴112的方向上下设置,并未位于同一圆周上。与图5所示实施例不同的是,在图5所示实施例中,定子组件13包括至少两个定子13a,定位组件15包括至少两个定位件15a;而在图8-9所示实施例中,定子组件13与定位组件15均整体分别呈一个以转轴112为中心的封闭环形结构,分别套设在转子组件11外。
在一些实施方式中,转子组件包括磁轭以及耦合在磁轭外周缘上的磁铁。可选的,该磁铁的面积可以覆盖磁轭的全部外周缘,也即定子组件13的侧面与该磁铁相对,且定位组件15与该磁铁滚动抵接。或者,该磁铁的面积也可以只覆盖磁轭的部分周缘,例如只覆盖图5中磁轭的上半周缘(图未示),使得定子组件13的侧面与该磁铁相对,而定位组件15直接与磁轭滚动抵接。
在上述各实施例中,转子组件和定子组件的位置关系均为:定子组件环绕在转子组件的外侧。在一些实施方式中,定子组件和转子组件中相互产生力的作用的部分也可以是沿转轴方向上下设置。例如,转子组件包括至少一个磁铁,该至少一个磁铁和定子组件沿转轴方向上下设置。
请参阅图10,其为本发明第二类实施例中一个实施例的电机20的立体结构示意图。电机20与电机10的定子组件23的结构相同,区别在于转子组件21与转子组件11的结构不同。
请参阅图10,转子组件21还包括与至少一个磁铁214耦合的磁轭213,所述磁轭213包括围绕转轴211设置的第一部分,以及与第一部分耦合的第二部分,所述内壁包括第一部分,所述至少一个磁铁214固定在磁轭213的第二部分上。
具体地,本实施例中,转子组件21总体为中空筒状结构,包括均为中空封闭环状结构的磁轭213以及一个呈环形的磁铁214,并且中心轴线均与转轴211重合。在一些实施方式中,该一个呈环形的磁铁214也可以替换成至少两 个呈弧状的磁铁214,且该至少两个呈弧状的磁铁位于同一个环上。
其中,磁轭213具有相互垂直连接的圆环形基体2131(也即上述的围绕转轴211设置的第一部分)与连接部2133(也即上述的与第一部分耦合的第二部分的第二部分),其中,基体2131为沿转轴211方向延伸形成,连接部2133则自基体2131的一端沿垂直于转轴211的方向延伸形成。磁轭213沿着转轴211的方向剖面为“┌”形状。当然,基体2131与连接部2133可以一体成型构成。
定位组件25中的多个定位件25a和定子组件23中的各定子23a交替环绕设置在圆环形基体2131的外侧,同时位于连接件2133的一侧。每个定位件25a与该圆环形基体2131的外侧滚动抵接。
具体地,电机20还包括一用于固定定位件的固定架27。固定架27为中空环形基体271以及多个自基体垂直延伸设置的定位销272,其中,定位销272穿插入定位件25a,定位销272与定位件25a的固定部相互固定,从而对定位件25a进行定位。可以理解,定位销272的设置于与定位件25a的设置为是相对应的。
磁铁214也为空心圆环平面结构,也即是磁铁214的宽度为沿着垂直于转轴211的方向延伸,其厚度方向平行于转轴211。其中,磁铁214固定于磁轭的连接部2133面向定位组件25和定子组件23的一侧。
可变更地,针对本发明第二实施方式的电机20,请一并参阅图11-12,其为本发明第二类实施例中一个实施例的电机20的变更方式的立体结构示意图以及沿着图12的XIII-XIII线的剖面图。如图11-12所示,磁铁214也可以设置于连接件2133背向定位组件25的一侧,同时,定子组件25也设置于磁铁29背向连接件2133的一侧,换句话说,定位组件25中的各定位件25a与定子组件23中的定子23a位于在磁铁214沿着转轴方向的相对两侧。
请一并参阅图13-15,其中,图13为本发明第三类实施例的一个实施例中电机30的立体结构示意图。图14为如图13所示电机40的俯视图,图15为如图14所示沿着XX-XX线的剖面结构示意图。电机40的结构与第一类实施例中的电机10的结构相似,区别在于定子组件33、13的结构不同,同时,定位组件35、15的结构不同。其中,转子组件31、定子组件33以及定位组件35自转轴311向外延伸的径向依次层叠设置,也即是定子组件33以转轴311 为中心环绕定位组件35。
具体地,如图13-15所示,转子组件31整体呈中空的环状结构。转子组件31包括以转轴311为中心在向外延伸的径向上依次层叠设置的磁轭313与磁铁314,其中,磁轭313与磁铁314均为中空的圆筒形或者环状结构,且磁铁314固定于磁轭313的外表面。磁轭313的内表面也即是电机30的内壁312。
定子组件33整体呈中空的环状结构,当然,可变更地,定子组件33也可为以转轴311为中心的环状结构的一部分。其中,本实施例中,定子组件343可为以转轴311为中心的圆周上的多个在位置上呈轴对称设置的线圈绕组,可变更地,在其他实施例中,定子组件33中的定子33a可以为整体呈环状结构的线圈绕组,并不以此为限。
定位组件35位于转子组件31与定子组件33之间,其中,定位组件35包括多个滚动体35a,所述多个滚动体35a分别与转子组件31和定子组件33滚动连接,也即是滚动体35a能够相对于转子组件31以及定子组件33滚动,由此,当定子组件33的位置相对固定时,转子组件31能够相对于定子组件33转动,同时,所述的多个滚动体35a还能够限制转子组件31的位置,防止其转动过程中移位。较佳地,滚动体45a为非导磁性材料制成,以防止对转子组件31与定子组件33之间的磁场产生干扰。
进一步,为了便于限定定位组建35中多个滚动体35的设置位置,转子组件31面向定子组件33的表面上形成有第一凹槽315,定子组件33面向转子组件31的表面上形成有第二凹槽335,第一凹槽315与第二凹槽335构成一导轨39,所述多个滚动体部分位于所述导轨39中。可以理解,所述第一凹槽335以及第二凹槽335均是以转轴411为中心的环形结构。同时,第一凹槽335为在磁铁314远离磁轭313的外表面上设置。
可变更地,如图16所示,定位组件35还包括设置多个有用于固定所述多个滚动体35a的隔离圈35b,其中,隔离圈35b整体呈以转轴311为中心的环形结构,用于固定所述多个滚动体35a沿所述转轴311以及垂直于转轴的圆周方向上的位置。其中,图16为本发明第四类实施例中一个实施例的变更实施例中部分剖面立体结构示意图。
隔离圈35b上设置有多个通孔35c,所述多个通孔35c与滚动体35a的形状与尺寸相匹配,用于将滚动体35a进行定位。其中,滚动体35a设置于通孔 35c内,从而有效防止滚动体35a在转轴311方向以及垂直于转轴411的周向上产生移位。
请参阅图17-18,其中,图17为本发明第四类实施例中一个实施例的电机40的部分剖面立体结构示意图,图18为如图23所示电机40的部分立体透视图。如图17-18所示,本实施例中,电机40整体呈中空筒状,并且为一外转子架构。电机40整体呈中空筒状结构,也即是电机40的中间部位具有容置空间。具体地,电机40包括相互配合的转子组件41、定子组件43以及定位组件45。其中,定子组件43用于驱动使得转子组件41围绕转轴411转动。
具体地,转子组件41为中空筒状结构,包括均为中空封闭环状结构的磁轭413以及环形的磁铁414,并且中心轴线均与转轴411重合。
其中,磁轭413具有两个部分,也即是包括相互垂直连接的圆环形基体4131与连接部4133,其中,基体4131为沿转轴411方向延伸形成,连接部4133则自基体4131的一端首先沿垂直于转轴411的方向再向平行于转轴511方向延伸形成,其中,基体5131与连接部之间形成一环形容置腔。磁轭413单边沿着转轴511的方向剖面为“冂”形状,基体4131与连接部2133构成的容置腔定义为导轨49。当然,基体4131与连接部4133可以一体成型构成。
磁铁414也为空心环形结构,磁铁414固定于导轨49中连接部4133临近基体4131的一侧。
对应地,定位组件45整体呈环形结构,滚动连接于导轨49中基体4133临近连接部4133的一侧,也即是转子组件41能够相对于定位组件45转动。
定位组件45通过一固定架47与电机40的其他部件固定,例如固定于电机40的底座或者壳体上,其中,固定架47设置于导轨49中固定组件45远离基体4131的一侧。定位组件45用于防止转子组件41的转轴方向移位甚至脱离。
定子组件43整体呈一个中空的环形结构,并且以转轴411为中心,其中,定子组件43位于导轨49中且处于定位组件45与转子组件41的磁铁414之间,更为具体地,定子组件43位于固定架47与磁铁414之间。可变更地,定子组件43也可为多个以转轴411为中心的圆弧形结构,且在位置上相互轴对称。
本发明实施例中还提供一种驱动装置,包括上面所描述的任何一种电机。在一些实施方式中,驱动装置还可以包括两个并列的电机,该两个中空电机相 邻放置并环绕同一转轴转动。在一些实施方式中,该两个中空电机以不同的速度转动。在一些实施方式中,所述两个中空电机通过支架相互固定。
例如,如图17-18所示,驱动装置中的两个电机40在转轴411的方向独立设置,其中,两个电机40可以分别定义为40a与40b,两个电机40相互独立设置且能够以相同或者不同的速度围绕转轴411进行转动。具体地,固定架47能够同时针对两个定位组件43进行固定,从而使得两个电机40相互组合成一个整体,也即是组合成驱动装置43。
由前述的本发明的第一至第四类实施例电机10-40可知,转子组件11-41均围绕着转轴111-411旋转,同时环形的内壁112-412形成中空部11a-41a,同时,定子组件13-43用于驱动转动组件11-41围绕转轴111-411旋转。同时,定位组件15-45则位于中空部11a-41a外侧,有效地限制转子组件11-41围绕转轴111-411转动。
进一步,前述实施例中,转子组件11-41均由磁轭113-413以及磁铁114-414构成,对应地,定子组件13-43包括线圈绕组,换句话说,也即是定子组件13-43在通电时产生电磁场,所述的电磁场驱动磁性的转子组件11-41转动。
可变更地,转子组件11-41包括线圈绕组,而定子组件13-43由磁轭与磁铁构成,换句话说,也即是转子组件11-41通电时产生电磁场,所述电磁场配合具有磁性的定子组件13-43在从而驱动的转子组件11-41转动。
再进一步,对应前述实施例电机10、30,如图x-xx所示,转子组件11-31位于中间位置,定子组件13-33环绕设置于转子组件11-31外侧,更为具体地,转子组件11-31中用于产生磁场的磁铁位于定子组件13-33邻近转轴111-311的内侧,换句话说,转子组件11-31用于产生磁场的磁铁114-314位于定子组件13-33邻近转轴111-311的内侧。
当然,可变更地,对应第二类实施例中图10-12所述的电机20,转子组件21中用于产生磁场的部分与定子组件23在转轴211的方向上下设置,也即是转子组件21中磁铁414与定子组件23沿着转轴211的方向上下设置,其中,磁轭213包括两部分,沿着转轴方向延伸构成内壁212的基体2131以及沿垂直于转轴211方向(径向)延伸的连接部2133,同时,磁铁214的宽度方向沿着径向延伸并且固定于磁轭213的连接部2133上,对应地,为了使得磁铁214与定子组件23能够更好的配合,磁铁213与定子组件23相邻设置,也即 是磁铁213与定子组件23中的产生电磁场的线圈绕组位于磁轭213在转轴方向的同一侧,从而使得定位组件45可与定子组件43位于磁轭连接部2133的同一侧也可以为分设于转轴方向的相对两侧。
当然,可变更地,对应电机40,转子组件41中用于产生磁场的部分位于定子组件43远离专注411的外侧,也即是转子组件41中的磁铁414位于定子组件43中线圈绕组的外侧。具体地,转子组件41的磁轭413,磁轭413至少包括基体4131与连接部4133两部分,其中,基体4131环绕转轴411并且构成内壁412,连接部4133至少部分为沿平行于转轴411方向延伸,磁铁414固定于连接部4133上,而定子组件43位于磁铁414邻近转轴411的内侧,换句话说,磁铁414位于定子组件43远离转轴411的外侧。当然,磁铁414可以为一个空心且在周向上封闭的环形,也可以为以转轴411为中心的圆周的在位置上转轴方向对称的弧形结构。
另外,前述实施例中,定子组件13至少包括两个定子13a,每个定子13a-对应包括有在通电时能够产生电磁场的线圈绕组,对应图1-图4所述的第一实施方式电机10,定位组件15至少包括两个定位件15a,其中,所述至少两个定子13a和所述至少两个定位件15a-环绕所述转轴111至少部分交替设置。所述定位件15a为在以转轴111为中心的圆周上轴对称设置,相对于转子组件11-41与定子组件13-43其中之一固定,而相对于另外一个转动。其中,所述定位件15a的数量可以是如图1所示的大于定子13a的数量,两个相邻的定位件15a之间设置一个定子,多个定子13a相互轴对称设置;也以为图3所示二者数量相等,定子13a与定位件15a依次交替设置,定位件15a与定子13a关于转轴111轴对称或者旋转对称。当然,两个相邻的定位件15a之间至少设置一个定子15a,相邻的两个定子13a之间设置有一个定位件15a。
前述实施例中,定子组件13与定位组件15在转轴111的方向上转轴方向设置。如图5所示,定子组件13包括多个位置上轴对称定子13a,多个定位件15a亦轴对称,但是在转轴方向上下设置,也即是在转轴111的投影不重合。进一步,如图6-8所示,定子组件13为一个圆环结构,而定位组件15包括多个轴对称设置的定位件15a,当然,可变更地,定子组件13也以为多个轴对称设置。另外,如图9所示,定子组件13与定位组件15均为一个环形结构。
前述实施例中,定子组件可以转轴为中心环绕所述定位组件,或者所述定 位组件以所述转轴为中心环绕所述定子组件。如图13-15所示,定子组件33环绕在定位组件35外侧。当然,如图x,所示,定位组件以转轴为中心环绕在定子组件外侧。
前述实施例中,转子组件11-41均由至少部分磁轭113-114作为内壁112-412,可变更地,转子组件11-41中的磁铁113-413亦可作为内壁,或者于转子11-41上附加连接一部件作为内壁。
请一并参阅图19-22,其中,图19为本发明第五类实施例电机50的变更实施例的立体结构示意图;图20为如19所示电机30的俯视图;图20为如图20所示电机沿X-X线的剖面结构示意图,图22为如图21所示沿着XII的放大结构示意图。如图19-22所示,本实施例电机50与电机10基本相同,也即是两个实施例中的定子组件53、33结构相同以及定位组件15、55结构相同,区别在于转子组件31与转子组件51结构不同。
具体地,如图19-22所示,转子组件51整体为中空筒状结构,包括均为中空周向封闭环状结构的磁轭513以及环形的磁铁514,并且二者的中心轴线均与转轴511重合。
其中,磁轭513具有相互垂直连接圆环形基体5131与两个间隔预定距离的连接部5133,其中,基体5131为沿转轴511方向延伸形成,两个连接部5133则自基体5131的二端沿垂直于转轴511的方向延伸形成。磁轭513沿着转轴511的方向剖面为“[”形状,基体5131与两个连接部5133构成导轨59。当然,基体5131与两个连接部5133可以一体成型构成。
磁铁514也为空心圆筒结构,并且整体沿着转轴511的方向延伸,其中,磁铁514径向固定于基体5132外侧,也即是磁铁514与基体5132沿远离转轴511的方向径向依次层叠设置。
对应地,定位组件55中的多个定位件55a与定子组件53中的定子53a部分位于所述导轨59中,从而进一步防止转子组件51的转轴方向移位甚至脱离。
较佳地,所述导轨59的表面上还设置有保护衬垫,或者所述导轨59的表面上还涂有润滑脂或润滑油,从而降低定位组件55与转子组件51和定子组件53的摩擦力。
可以理解,前述实施例中,均为转子组件11-51设置有导轨,定子组件13-53与定位组件15-55部分或者全部容置于导轨内,可变更地,导轨59也可以设 置于定位组件15-55上,所述转子组件11-51部分抵接于导轨中。可见,导轨是用于减少转子组件沿转轴方向上的晃动。
本实施例中,当电机50工作时,转子组件51在定子组件53的电磁场产生的磁力下会沿着转轴511的方向拉动定位组件55运动至与预定位置,从而消除定位组件5在转轴方向的游隙。
在一些实施方式中,电机还包括固定连接于电机的中空部内且与电机的转子组件同步旋转的负载。可选的,所述负载为光学元件。可选的,光学元件为棱镜或透镜。可选的,所述棱镜沿径向上的厚度不同,这样,当棱镜随着电机的转子组件转动时,从棱镜一侧入射的光束经棱镜折射出射后,随着转子组件转动到不同角度时,该光束能够折射到不同方向出射。
可选的,所述光学元件具有不对称形状。进一步,可选的,电机还包括配重块,所述配重块设置于所述电机的中空部内,用于提高所述光学元件与所述转子组件一起旋转时的动平衡。配置块在电机的中空部内的设置可以有多种。例如,配重块在所述中空部内壁上沿垂直于转轴方向在所述光学元件的投影在位置上不连续。或者,所述配重块在所述中空部内壁上沿垂直于转轴方向在所述光学元件的投影在位置上连续。或者,所述配重块沿转轴的方向不同位置的体积与重量不同。或者,配重块设置于所述光学元件和所述内壁之间,用于将所述光学元件固定于所述内壁,并提高所述光学元件与所述转子组件一起旋转时的动平衡。
或者,配置块也可以不是设置在电机的中空部内,而是设置在电机除中空部以外的其他位置处,在此不做限制。
或者,电机中也可以不是通过添加配置块来提高所述光学元件与所述转子组件一起旋转时的动平衡,而是通过在光学元件的边缘处去掉一些重量,来提高光学元件与所述转子组件一起旋转时的动平衡。例如,光学元件中厚度较大的部分的边缘形成有缺口,用于提高所述光学元件与所述转子组件一起旋转时的动平衡。当然,也可以结合配重块和在光学元件的边缘处去掉一些重量,来提高光学元件与所述转子组件一起旋转时的动平衡。
请参阅图23,其为本发明第六实施例中分别固定于两个电机60a、60b的中空部的棱镜的形状。对应两个电机60a、60b,分别包括第一棱镜100a与第二棱镜100b。第一棱镜100a固定于电机60的内壁612内,第二棱镜100b固 定与电机60b的内壁512上。其中,第一棱镜100a与第二棱镜110b在两个电机60a、60b独立围绕转轴612以不同的速度转动。可以理解,对应其他实施例电机20、30、40、50中固定负载的方式一样,本实施例中不再赘述。
具体地,第一棱镜100a与第二棱镜100b在垂直于转轴611的方向的厚度不完全相同,也即是第一棱镜100a与第二棱镜100b上的厚度不同。
第一棱镜100a包括穿过转轴611的两个相对的第一光学面101与第二光学面102,其中,第一光学面101与第二光学面102并不相互平行。第二棱镜100b与第一棱镜100a的结构相同,也包括穿过转轴611的两个相对的第一光学面101与第二光学面102,其中,第一光学面101与第二光学面102并不相互平行。本实施例中,第一光学面101与第二光学面102均为平面,可变更地,该二者也可以并不为平面,并不以此为限。
如图23a、23b所示,其进一步展示了当两个电机60a、60b以不同速度转动时两个不同时刻的第一棱镜100a、100b的光路。
如图23a所示,入射光L1沿转轴511的方向入射至第二棱镜100b的第二光学面102,然后经第二棱镜100b传输至第一棱镜100b并自其第一光学面101出射,从而形成出射光线L2,其中,出射光线L2位于转轴611的右侧。如图23b所示,在另外一个时刻,由于第一棱镜100a与第二棱镜100b的位置并不再相同,由此,其出射光线L3位于转轴511的左侧。
由此可见,通过具有不同转动速度的两个第一棱镜100a与第二棱镜100b使得不同驱动装置5在不同时刻有不同角度的出射光线。
本实施方式中,棱镜100作为负载固定于电机60中,在本发明其他实施例中,还可以为其他元件做负载,例如透镜等用于传递光线的光学元件,或者线缆等元件亦可以作为负载固定于电机50中。
请参阅图24所示,其为如图23中第一棱镜100a的形状的变更实施例的结构示意图。如图24所示,第一光学面101与第二光学面102以不同的角度相交。或者,第一光学面101或者光学面102为具有锯齿形的光学表面。
请参阅图25,其为本发明驱动装置7的部分剖面结构示意图。棱镜200固定于电机70的中空部71a的内壁712上,其中,电机70还包括在内壁712上对应棱镜200的形状与位置设置的配重块72。当棱镜200的形状并非为相对于转轴711中心对称时,所述配重块72用于保持转子组件71无论在转动还 是静止时均能够平衡,也即是提高棱镜200与转子组件71一起旋转时的动平衡性。
具体地,棱镜200包括第一光学面201以及与第一光学面201相对的第二光学面202,其中,第一光学面201包括多个锯齿形状的子光学面201a、201b、201c、201d,其中,所述子光学面201a、201b、201c、201d沿垂直转轴711的方向在内壁712的投影连续但是并不重合。
对应棱镜200的第一光学面201的多个子光学面201a、201b、201c、201d,配重块72包括对应的子配重子部72a、72b、72c、72d,其中,子配重子部72a、72b、72c、72d沿垂直于转轴711方向在所述棱镜200的投影在位置上连续。
其中,配重子部72a、72b、72c、72d在内壁712的设置位置、重量以及
Figure PCTCN2017078680-appb-000001
如图27所示,P1表示分解到Z1面的质径积不平衡量,P2表示分解到Z2面的质径积不平衡量,V表示体积,Z是积分变量,表示所在面的高度,ρ表示材料密度,
Figure PCTCN2017078680-appb-000002
表示质点的方位。
较佳地,配置块72的密度大于棱镜200的密度,从而使得配重块72的体积较小,减小对棱镜200光路的影响。
可变更地,请参阅图26,其为本发明驱动装置7中一变更实施例中棱镜的侧面结构示意图。其具有棱镜300与棱镜200结构基本相同,区别在于棱镜300中两个相对的第一光学面301与第二光学面302均为平面,其中,第一光学面201与第二光学面202穿过转轴511。当棱镜300的形状并非为相对于转轴711中心对称时,所述配重块72用于保持转子组件71无论在转动还是静止时均能够平衡,也即是提高棱镜200与转子组件71一起旋转时的动平衡性。具体地,对应棱镜300的第一光学面301与第二光学面302,配重块72包括对应的子配重子部沿垂直于转轴711方向在所述棱镜300的投影在位置不连续。
较佳地,对应不同位置的子配重块,其形状、体积与重量可以不同,如图27所示,其分别表示两个不同位置的子配重块72a、72b形状并不相同。其中,图29为如图28所示驱动装置7的部分剖面结构示意图。
较佳地,还可以在棱镜300在转轴711方向上厚度较大时,可以在内壁712的对应位置形成缺口,也即是在采用配重块72增加对应转子组件71相应位置的重量时,即“-”表示的位置,还可以配合在相应位置减小转子组件的重量,也即是图中“+”表示的位置。或者,在棱镜300在转轴711方向上厚度较大的区域的边缘形成有缺口“-”位置,用于提高棱镜300与所述转子组件71一起旋转时的平衡性。
相较于现有技术,电机10-70中在中间部分具有中空的容置空间,也即是具有中空部112-712,从而使得负载,例如光学元件能够防止于该中空部112-712内,因此,能够有效降低应用电机10-70的驱动装置的体积。同时,转子组件11-71的中空部112-712与定子组件13-73之间还设置有定位组件,因此其能够有效限制转子组件11-71围绕转轴111-711的转动,也即是能够有有效限定转子组件11-71在转轴方向的位置,防止其以为或者脱离。
在各实施例中,定位件包括转动部、固定部以及滚动体,所述转动部通过所述滚动体与所述固定部相耦合,以使所述转动部相对于所述固定部转动。由于制造工艺的原因,转动部相对于固定部在所述转轴的方向上能够产生轻微运动,导致在电机工作时,定位件的转动部会在转轴的方向上晃动,产生噪音。下面将结合各图所示实施例提供降低定位件的转动部在轴向上的晃动的解决方案。
图1-4所示实施例中,当电机10不工作时,定子组件13中各定子13a的边缘和转子组件11的边缘沿转轴方向相错。转子组件11和定位组件15中的各定位件15a的转动部相互配合,以使得转子组件11和定位组件15中的各定位件15a的转动部在转轴方向上连动。
转子组件11和定位组件15中的各定位件15a的转动部相互配合的方式有多种。例如,转子组件11的周缘上设置有导轨,定位组件15中的各定位件15a的转动部抵接在该导轨内。或者,定位组件15的各定位件15a的转动部的周缘上设置有导轨,转子组件11的周缘抵接在该导轨内。
当电机10工作时,转子组件11和定子组件13之间的磁力拉动转子组件11沿转轴方向移动,使得转子组件11的边缘和各定子13a的边缘对齐。当转子组件11沿转轴方向移动时,通过导轨拉动各定位件15a的转动部沿转轴方向移动,使得每一个定位件15a的转动部和该定位件的固定部共同抵接滚动 体。这样,每个定位件15a的转动部保持在和滚动体抵接的状态下和转子组件11滚动接触,避免了定位件15a的转动部在转动的过程中沿转轴方向上的晃动。
图5所示实施例中,当电机10不工作时,定子组件13中各定子13a的边缘和转子组件11的边缘沿转轴方向相错。转子组件11和定位组件15中的各定位件15a的转动部相互配合,以使得转子组件11和定位组件15中的各定位件15a的转动部在转轴方向上连动。
转子组件11和定位组件15中的各定位件15a的转动部相互配合的方式有多种。例如,各定子13a的上端面高于转子组件11的上端面(图未示)。转子组件11的底部端面边缘上设置有凸出沿,定位组件15中的各定位件15a的转动部的底部端面抵接在该凸出沿上。
当电机10工作时,由于定子组件13是固定的,转子组件11和定子组件13之间的磁力会拉动转子组件11沿转转轴方向向上移动,使得转子组件11的边缘和各定子13a的边缘对齐,也即使得转子组件11的上端面和各定子13a的上端面齐平。当转子组件11沿转轴方向向上移动时,通过凸出沿拉动各定位件15a的转动部沿转轴方向向上移动,而各定位件15a的固定部保持不动,使得每一个定位件15a的转动部和该定位件的固定部共同抵接滚动体。这样,每个定位件15a的转动部保持在和滚动体抵接的状态下和转子组件11滚动接触,避免了定位件15a的转动部在转动的过程中沿转轴方向上的晃动。
图6-7所示实施例中,定子组件13位于定位组件15的上方。当电机10不工作时,定子组件13中各定子13a的边缘和转子组件11的边缘沿转轴方向相错,具体的,各定子13a的上端面高于转子组件11的上端面(图未示)。转子组件11和定位组件15中的各定位件15a的转动部相互配合,以使得转子组件11和定位组件15中的各定位件15a的转动部在转轴方向上连动。
转子组件11和定位组件15中的各定位件15a的转动部相互配合的方式有多种。例如,转子组件11的底部端面边缘上设置有凸出沿(图未示),定位组件15中的各定位件15a的转动部的底部端面抵接在该凸出沿上。
当电机10工作时,由于定子组件13是固定的,转子组件11和定子组件 13之间的磁力会拉动转子组件11沿转轴方向向上移动,使得转子组件11的边缘和各定子13a的边缘对齐,也即使得转子组件11的上端面和各定子13a的上端面齐平。当转子组件11沿转轴方向上移动时,通过导轨拉动各定位件15a的转动部沿转轴方向上移动,而各定位件15a的固定部保持不动,使得每一个定位件15a的转动部和该定位件的固定部共同抵接滚动体。这样,每个定位件15a的转动部保持在和滚动体抵接的状态下和转子组件11滚动接触,避免了定位件15a的转动部在转动的过程中沿转轴方向上的晃动。
图8-9所示实施例中,定子组件13位于定位组件15的下方。请参阅图28,其为图9所示电机10在不工作的状态下沿着VI-VI的剖面结构示意图。当电机10不工作时,定子组件13的边缘和转子组件11的边缘沿转轴方向相错,具体的,转子组件11下端面相比定子组件13的的下端面向下凸出。转子组件11和定位组件15中的转动部相互配合,以使得转子组件11和定位组件15的转动部在转轴方向上连动。
转子组件11和定位组件15中的转动部相互配合的方式有多种。例如,定位组件15的上端面的边缘上设置有凸出沿,转子组件11抵接在该凸出沿上。当电机10工作时,由于定子组件13是固定的,转子组件11和定子组件13之间的磁力会拉动转子组件11沿转轴方向向上移动,使得转子组件11的边缘和定子组件13的边缘对齐,也即使得转子组件11的下端面和定子组件13的下端面齐平。当转子组件11沿转轴方向向上移动时,通过凸出沿拉动定位组件15的转动部沿转轴方向向上移动,而定位组件15的固定部保持不动,使得定位组件15的转动部和该定位件的固定部共同抵接滚动体。这样,定位组件15的转动部保持在和滚动体抵接的状态下和转子组件11滚动接触,避免了定位组件15的转动部在转动的过程中沿转轴方向上的晃动。
或者,也可以是转子组件11和定位组件15的转动部相互固定(例如通过粘胶相互固定),这样,当转子组件11和定子组件13之间的磁力会拉动转子组件11沿转轴方向向上移动时,转子组件11能够带动定位组件15的转动部一起向上移动,使得转子组件和定位组件15的转动部在转轴方向上连动。
请参阅图29,其为一个电机的剖面结构示意图。图29所示的电机的结构与图12所示电机的结构类似,与图12所示电机不同的是,图29所示的电机 中定子组件为一个完整的环状结构,且定位组件为一个完整的环状结构。
本实施例中,转子组件包括磁轭和磁铁,定子组件包括线圈绕组。当所述电机不工作时,所述磁铁和所述线圈绕组之间沿所述转轴方向预设空隙。
当电机工作时,也即是定子组件23驱动转子组件21相对于定子组件23围绕转轴211转动时,定子组件23所产生的电磁场的磁力使得转子组件21中的磁轭213、磁铁214在沿着轴向H向下移动,因此所述预设空隙减小。而磁轭213与定位件25a的转动部相互固定,因此使得定位件25a转动部也能够沿着轴向H向下移动至与定位件25a的固定部相对应的预设位置(图未示),使得定位件25a的转动部且沿所述转轴方向运动至与所述固定部共同抵接所述滚动体。其中,第二转轴方向H平行于转轴111。
上面各实施例中,都是通过转子组件中的磁铁与定子组件之间产生的磁力来拉动转子组件和定位件的转动部且沿转轴方向运动至与该定位件的固定部共同抵接该定位件中的滚动体。下面通过在电机中增加相邻设置的第一部件和第二部件,其中,所述第一部件和所述第二部件均为铁磁材料,所述第一部件和所述第二部件之间产生相排斥或者想吸引的磁力;通过第一部分和第二部件之间的磁力拉动所述转子组件和所述定位件的转动部且沿所述转轴方向运动至与所述固定部共同抵接所述滚动体。下面结合图30进行举例解释。
对应驱动装置包括如两个电机的驱动装置时,请参阅图30,其为本发明图18所示驱动装置的剖面结构示意图。
如图30所示,其包括两个相邻设置的电机。所述两个电机分别定义为第一电机9a与第二电机9b。
第一电机9a包括中空环状的转子组件91、定子组件93、定位组件95以及第一部件96a。其中,第二电机9b亦包括转子组件91、定子组件93、定位组件95以及第二部件96b。其中,第一电机9a中的转子组件91与第二电机9b中的转子组件以同一转轴为中心转动。
具体的,第一电机9a和第二电机9b的结构可以和图18和图19所示实施例中的电机的结构相同。
本实施例中,第一部件96a与第二部件96b在驱动装置9中间隔预定距离分别固定于两个电机中的转子组件91的磁轭914上。所述第一部件和所述第二部件均为磁铁,这样,第一部件和第二部件之间产生相斥的磁力。或者,所 述第一部件为磁铁,所述第二部件为铁;或者,所述第一部件为铁,所述第二部件为磁铁,这样,第一部件和第二部件之间产生相吸的磁力。
第一部件96a与第二部件96b之间的磁力使得第一电机9a与第二电机9b中的磁轭914沿着转轴方向分别朝两个相反方向移动,进而带动与第一电机9a与第二电机9b中的磁轭914固定的定位组件的转动部沿着转轴方向分别朝两个相反方向移动,由于第一电机9a与第二电机9b中的定位组件的固定部相对转轴固定,因此该两个电机中的每个电机的定位组件中的转动部相对于固定部有个沿轴向上的移动,使得所述定位组件的转动部与固定部共同抵接定位组件中的滚动体。
当然,在驱动装置只包含第一电机的情况中,或者只需要降低第一电机的定位组件的转动部在转轴方向上的晃动的情况中,驱动装置还包括机架,第一电机中的定位组件和第二部件均固定于所述机架上,且第二部件和第一部件相邻设置,以使得第二部件和第一部件之间能够产生沿转轴方向上的磁力。
本发明还提供一个驱动装置的操作方法请参阅图31,具体包括以下步骤:
步骤S1:配置转子组件91、定子组件93以及至少一定位件,其中,所述转子组件91围绕一预设的转轴旋转,所述定子组件93用于驱动所述转子组件91围绕所述转轴转动,所述至少一定位件用于限制所述转子组件以所述转轴为中心转动;其中,所述定位件包括转动部、固定部以及滚动体,所述转动部通过所述滚动体与所述固定部相耦合,以使所述转动部相对于所述固定部转动,且所述转动部相对于所述固定部在所述转轴的方向上能够运动。
步骤S2:施加一推力给所述转动部,使所述转动部与所述固定部共同抵接所述滚动体。
进一步,当所述电机不工作时,所述磁铁的边缘和所述线圈绕组的边缘沿所述转轴方向相错,所述磁铁的边缘与所述线圈绕组的边缘沿所述转轴方向对齐。其中,所述转子组件还包括磁轭,所述定子组件和所述定位件分别围绕所述磁轭设置,且所述定子组件和所述定位组件沿所述转轴上下设置,所述磁铁固定于所述磁轭上,并位于所述定子组件和所述磁轭之间。
进一步地,当所述驱动装置不工作时,所述磁铁和所述线圈绕组之间沿所述转轴方向预设空隙,所述磁铁和所述线圈绕组之间的空隙减小。
进一步,所述转子组件还包括与所述磁铁耦合的磁轭,所述磁轭包括围绕 所述转轴设置的第一部分,以及与所述第一部分耦合的第二部分,所述内壁包括所述第一部分,所述磁铁固定在所述磁轭的第二部分上,所述第一部分沿所述转子组件的径向延伸;所述线圈绕组位于所述磁铁背向所述磁轭的一侧。所述定位组件包括一个环设在所述磁轭的第一部分外的定位件,所述定位件的滚动部与所述磁轭的第一部分相互固定。
进一步,在所述转子组件上配置导轨,将所述定位件的转动部抵接在所述导轨内,以使得所述转子组件和所述定位件的转动部在所述转轴方向上连动;或者,在所述定位件上配置导轨,将所述转子组件的部分抵接在所述导轨内,以使得所述转子组件和所述定位件的转动部在所述转轴方向上连动。
进一步,所述操作方法还包括:将所述转子组件和所述定位件的转动部相互配合,以使得所述转子组件和所述定位件的转动部在所述转轴方向上连动;配置第一部件和第二部件,使得第一部件和第二部件相邻设置,其中,所述第一部件和所述第二部件均为铁磁材料,所述第一部件和所述第二部件之间产生相排斥或者想吸引的磁力;通过所述第一部分和所述第二部件之间的磁力施加推力给所述转子组件和所述定位件的转动部,使得所述定位件的转动部沿所述转轴方向运动至所述转动部与所述固定部共同抵接所述滚动体。其中,所述第一部件还与所述转子组件相固定。
进一步,所述操作方法还包括:在所述转子组件上配置导轨,将所述定位件的转动部抵接在所述导轨内,以使得所述转子组件和所述定位件的转动部在所述转轴方向上连动;或者,在所述定位件上配置导轨,将所述转子组件的部分抵接在所述导轨内,以使得所述转子组件和所述定位件的转动部在所述转轴方向上连动。
进一步,所述操作方法还包括:配置机架;将所述定位组件和所述第二部件均固定于所述机架上。
进一步,所述操作方法还包括:配置围绕所述转轴旋转的另一转子组件、用于驱动所述另一转子组件围绕所述转轴转动的另一定子组件,以及用于限制所述另一转子组件以所述转轴为中心转动的至少一定位件;其中,所述转子组件和所述另一转子组件相邻放置,所述第二部件和所述另一组件相互固定。
进一步,所述方法还包括:驱动所述转子组件和所述另一转子组件以不同的速度转动。
进一步,所述第一部件和所述第二部件均为磁铁;或者,所述第一部件为磁铁,所述第二部件为铁;或者,所述第一部件为铁,所述第二部件为磁铁。
本发明中,还提供一种激光测量装置,用于感测外部环境信息,例如,环境目标的距离信息、角度信息、反射强度信息、速度信息等。所述激光测量装置可以为激光雷达。具体地,本发明实施方式的激光测量装置可应用于移动平台,所述激光测量装置可安装在移动平台的平台本体。具有激光测量装置的移动平台可对外部环境进行测量,例如,测量移动平台与障碍物的距离用于避障等用途,和对外部环境进行二维或三维的测绘。在某些实施方式中,移动平台包括无人飞行器、汽车和遥控车中的至少一种。当激光测量装置应用于无人飞行器时,平台本体为无人飞行器的机身。当激光测量装置应用于汽车时,平台本体为汽车的车身。当激光测量装置应用于遥控车时,平台本体为遥控车的车身。
可以理解,所述激光测量装置可以包括本发明任意一个实施例所述的电机或驱动装置,具体可以参照所有附图所示实施例中的相关描述,此处不再赘述。
前述实施例所公开的电机可进一步包括可用于容纳位于其内部的负载元件,例如,透镜,棱镜,光源和/或其他合适的装置,使得负载元件随着转子组件一起旋转。由此,具有前述驱动装置的可移动设备可以具有额外的功能,例如,可视地呈现信息和/或检测对象,而不需要额外的空间用于安装附加的部件/组件。换句话说,前述实施例中公开的电机的中空部来实现其他附加功能或者进一步降低可移动装置的体积。
可以理解,以上所揭露的仅为本发明的较佳实施例而已,当然不能以此来限定本发明之权利范围,本领域普通技术人员可以理解实现上述实施例的全部或部分流程,并依本发明权利要求所作的等同变化,仍属于发明所涵盖的范围。

Claims (40)

  1. 一种驱动装置,其特征在于,包括:
    围绕一预设的转轴旋转的转子组件;
    用于驱动所述转子组件围绕所述转轴转动的定子组件;
    用于限制所述转子组件以所述转轴为中心转动的至少一定位件;
    其中,所述定位件包括转动部、固定部以及滚动体,所述转动部通过所述滚动体与所述固定部相耦合,以使所述转动部相对于所述固定部转动;
    所述转动部相对于所述固定部在所述转轴的方向上能够运动,以使所述转动部在受到一推力时与所述固定部共同抵接所述滚动体。
  2. 根据权利要求1所述的驱动装置,其特征在于,所述转子组件包括环绕所述转轴的内壁,所述内壁形成有能够容置负载的中空部;所述定位组件位于所述中空部外侧。
  3. 根据权利要求1所述的驱动装置,其特征在于,所述转子组件与所述定位件的所述转动部相互配合,以使得所述转子组件和所述定位件的所述转动部在所述转轴方向上连动,所述驱动装置工作时,所述转子组件和所述定子组件之间的磁力拉动所述转子组件和所述定位件的转动部且沿所述转轴方向运动至所述转动部与所述固定部共同抵接所述滚动体。
  4. 根据权利要求3所述的驱动装置,其特征在于,所述转子组件包括磁铁,所述定子组件包括线圈绕组。
  5. 根据权利要求4所述的驱动装置,其特征在于,当所述电机不工作时,所述磁铁的边缘和所述线圈绕组的边缘沿所述转轴方向相错。
  6. 根据权利要求5所述的驱动装置,其特征在于,当所述电机工作时,所述磁铁的边缘与所述线圈绕组的边缘沿所述转轴方向对齐。
  7. 根据权利要求6所述的驱动装置,其特征在于,所述转子组件还包括磁轭,所述定子组件和所述定位件分别围绕所述磁轭设置,且所述定子组件和所述定位组件沿所述转轴上下设置,所述磁铁固定于所述磁轭上,并位于所述定子组件和所述磁轭之间。
  8. 根据权利要求4所述的驱动装置,其特征在于,当所述驱动装置不工作时,所述磁铁和所述线圈绕组之间沿所述转轴方向预设空隙。
  9. 根据权利要求8所述的驱动装置,其特征在于,当所述驱动装置工作时, 所述磁铁和所述线圈绕组之间的空隙减小。
  10. 根据权利要求8所述的驱动装置,其特征在于,所述转子组件还包括与所述磁铁耦合的磁轭,所述磁轭包括围绕所述转轴设置的第一部分,以及与所述第一部分耦合的第二部分,所述内壁包括所述第一部分,所述磁铁固定在所述磁轭的第二部分上,所述第一部分沿所述转子组件的径向延伸;
    所述线圈绕组位于所述磁铁背向所述磁轭的一侧。
  11. 根据权利要求10所述的驱动装置,其特征在于,所述定位组件包括一个环设在所述磁轭的第一部分外的定位件,所述定位件的滚动部与所述磁轭的第一部分相互固定。
  12. 根据权利要求10所述的驱动装置,其特征在于,所述转子组件上设置有导轨,所述定位件的转动部抵接在所述导轨内,以使得所述转子组件和所述定位件的转动部在所述转轴方向上连动;或者,
    所述定位件上设置有导轨,所述转子组件的部分抵接在所述导轨内,以使得所述转子组件和所述定位件的转动部在所述转轴方向上连动。
  13. 根据权利要求1所述的驱动装置,其特征在于,所述转子组件和所述定位件的转动部相互配合,以使得所述转子组件和所述定位件的转动部在所述转轴方向上连动;
    所述驱动装置还包括相邻设置的第一部件和第二部件,其中,所述第一部件和所述第二部件均为铁磁材料,所述第一部件和所述第二部件之间产生相排斥或者想吸引的磁力;
    所述第一部分和所述第二部件之间的磁力拉动所述转子组件和所述定位件的转动部沿所述转轴方向运动至所述转动部与所述固定部共同抵接所述滚动体。
  14. 根据权利要求13所述的驱动装置,其特征在于,所述第一部件还与所述转子组件相固定。
  15. 根据权利要求13所述的驱动装置,其特征在于,所述转子组件上设置有导轨,所述定位件的转动部抵接在所述导轨内,以使得所述转子组件和所述定位件的转动部在所述转轴方向上连动;或者,
    所述定位件上设置有导轨,所述转子组件的部分抵接在所述导轨内,以使得所述转子组件和所述定位件的转动部在所述转轴方向上连动。
  16. 根据权利要求15所述的驱动装置,其特征在于,所述驱动装置还包括 机架,所述定位组件和所述第二部件均固定于所述机架上。
  17. 根据权利要求15所述的驱动装置,其特征在于,所述驱动装置还包括:围绕所述转轴旋转的另一转子组件;用于驱动所述另一转子组件围绕所述转轴转动的另一定子组件;用于限制所述另一转子组件以所述转轴为中心转动的至少一定位件;
    其中,所述转子组件和所述另一转子组件相邻放置,所述第二部件和所述另一组件相互固定。
  18. 根据权利要求17所述的驱动装置,其特征在于,所述转子组件和所述另一转子组件以不同的速度转动。
  19. 根据权利要求13所述的驱动装置,其特征在于,所述第一部件和所述第二部件均为磁铁;或者,
    所述第一部件为磁铁,所述第二部件为铁;或者,
    所述第一部件为铁,所述第二部件为磁铁。
  20. 一种驱动装置的操作方法,其特征在于,包括:
    配置转子组件、定子组件以及至少一定位件,其中,所述转子组件围绕一预设的转轴旋转,所述定子组件用于驱动所述转子组件围绕所述转轴转动,所述至少一定位件用于限制所述转子组件以所述转轴为中心转动;其中,所述定位件包括转动部、固定部以及滚动体,所述转动部通过所述滚动体与所述固定部相耦合,以使所述转动部相对于所述固定部转动,且所述转动部相对于所述固定部在所述转轴的方向上能够运动;
    施加一推力给所述转动部,使所述转动部与所述固定部共同抵接所述滚动体。
  21. 根据权利要求20所述的驱动装置的操作方法,其特征在于,所述方法还包括:
    将所述转子组件和所述定位件的转动部相互配合,以使得所述转子组件和所述定位件的转动部在所述转轴方向上连动;
    当所述驱动装置工作时,通过所述转子组件和定子组件之间的磁力施加所述推力给所述转子组件和所述定位件的转动部,使所述转动部与所述固定部共同抵接所述滚动体。
  22. 根据权利要求21所述的驱动装置的操作方法,其特征在于,所述转子组件包括磁铁,所述定子组件包括线圈绕组。
  23. 根据权利要求22所述的驱动装置的操作方法,其特征在于,所述方法还包括:当所述电机不工作时,所述磁铁的边缘和所述线圈绕组的边缘沿所述转轴方向相错。
  24. 根据权利要求23所述的驱动装置的操作方法,其特征在于,当所述电机工作时,所述磁铁的边缘与所述线圈绕组的边缘沿所述转轴方向对齐。
  25. 根据权利要求23所述的驱动装置的操作方法,其特征在于,所述转子组件还包括磁轭,所述定子组件和所述定位件分别围绕所述磁轭设置,且所述定子组件和所述定位组件沿所述转轴上下设置,所述磁铁固定于所述磁轭上,并位于所述定子组件和所述磁轭之间。
  26. 根据权利要求22所述的驱动装置的操作方法,其特征在于,当所述驱动装置不工作时,所述磁铁和所述线圈绕组之间沿所述转轴方向预设空隙。
  27. 根据权利要求26所述的驱动装置的操作方法,其特征在于,当所述驱动装置工作时,所述磁铁和所述线圈绕组之间的空隙减小。
  28. 根据权利要求26所述的驱动装置的操作方法,其特征在于,所述转子组件还包括与所述磁铁耦合的磁轭,所述磁轭包括围绕所述转轴设置的第一部分,以及与所述第一部分耦合的第二部分,所述内壁包括所述第一部分,所述磁铁固定在所述磁轭的第二部分上,所述第一部分沿所述转子组件的径向延伸;
    所述线圈绕组位于所述磁铁背向所述磁轭的一侧。
  29. 根据权利要求28所述的驱动装置的操作方法,其特征在于,所述定位组件包括一个环设在所述磁轭的第一部分外的定位件,所述定位件的滚动部与所述磁轭的第一部分相互固定。
  30. 根据权利要求28所述的驱动装置的操作方法,其特征在于,所述方法还包括:
    在所述转子组件上配置导轨,将所述定位件的转动部抵接在所述导轨内,以使得所述转子组件和所述定位件的转动部在所述转轴方向上连动;或者,
    在所述定位件上配置导轨,将所述转子组件的部分抵接在所述导轨内,以使得所述转子组件和所述定位件的转动部在所述转轴方向上连动。
  31. 根据权利要求20所述的驱动装置的操作方法,其特征在于,所述方法还包括:
    将所述转子组件和所述定位件的转动部相互配合,以使得所述转子组件和 所述定位件的转动部在所述转轴方向上连动;
    配置第一部件和第二部件,使得第一部件和第二部件相邻设置,其中,所述第一部件和所述第二部件均为铁磁材料,所述第一部件和所述第二部件之间产生相排斥或者想吸引的磁力;
    通过所述第一部分和所述第二部件之间的磁力施加推力给所述转子组件和所述定位件的转动部,使得所述定位件的转动部沿所述转轴方向运动至所述转动部与所述固定部共同抵接所述滚动体。
  32. 根据权利要求31所述的驱动装置的操作方法,其特征在于,所述第一部件还与所述转子组件相固定。
  33. 根据权利要求31所述的驱动装置的操作方法,其特征在于,所述方法还包括:
    在所述转子组件上配置导轨,将所述定位件的转动部抵接在所述导轨内,以使得所述转子组件和所述定位件的转动部在所述转轴方向上连动;或者,
    在所述定位件上配置导轨,将所述转子组件的部分抵接在所述导轨内,以使得所述转子组件和所述定位件的转动部在所述转轴方向上连动。
  34. 根据权利要求33所述的驱动装置的操作方法,其特征在于,所述方法还包括:
    配置机架;
    将所述定位组件和所述第二部件均固定于所述机架上。
  35. 根据权利要求33所述的驱动装置的操作方法,其特征在于,所述方法还包括:
    配置围绕所述转轴旋转的另一转子组件、用于驱动所述另一转子组件围绕所述转轴转动的另一定子组件,以及用于限制所述另一转子组件以所述转轴为中心转动的至少一定位件;其中,所述转子组件和所述另一转子组件相邻放置,所述第二部件和所述另一组件相互固定。
  36. 根据权利要求33所述的驱动装置的操作方法,其特征在于,所述方法还包括:驱动所述转子组件和所述另一转子组件以不同的速度转动。
  37. 根据权利要求20所述的驱动装置的操作方法,其特征在于,所述第一部件和所述第二部件均为磁铁;或者,
    所述第一部件为磁铁,所述第二部件为铁;或者,
    所述第一部件为铁,所述第二部件为磁铁。
  38. 一种激光测量装置,包括如权利要求1至19任一项所述的驱动装置。
  39. 一种移动平台,其特征在于,包括:
    权利要求38所述的激光测量装置;和
    平台本体,所述激光测量装置安装在所述平台本体。
  40. 根据权利要求39所述的移动平台,其特征在于,所述移动平台包括无人飞行器、汽车和遥控车中的至少一种。
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