WO2018176293A1

WO2018176293A1 - Motor module, laser measurement device, and movable platform

Info

Publication number: WO2018176293A1
Application number: PCT/CN2017/078681
Authority: WO
Inventors: 赵进; 王鹏; 周震昊; 黄淮; 洪小平
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2017-03-29
Filing date: 2017-03-29
Publication date: 2018-10-04
Also published as: CN108496297A

Abstract

A motor module (10), comprising an annular component (11), at least one transmission component (13), and a drive assembly (15). The annular component (11) comprises a middle empty portion (111), and the middle empty portion (111) can accommodate and hold at least one optical component (13). At least one transmission component (13) is coupled to the annular component (11). The drive assembly (11) is located at an outer side of the annular component (15), and is configured to drive, by means of the at least one transmission member (13), the annular component (11) and the at least one optical component (13) to rotate about a first rotating axis (112).

Description

Motor module, laser measuring device and mobile platform

The disclosure of this patent document contains material that is subject to copyright protection. This copyright is the property of the copyright holder. The copyright owner has no objection to the reproduction of the patent document or the patent disclosure in the official records and files of the Patent and Trademark Office.

Technical field

The invention relates to the field of electromagnetic motors, in particular to a motor module, a laser measuring device and a mobile platform.

Background technique

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, wherein one of the stator or the rotor includes an energizable coil winding, and the other includes a magnetic element, and the electromagnetic field generated by energizing the coil winding and the magnetic element cooperate to make the stator and the rotor relatively Turn.

At present, in the motor, whether the stator or the rotor is located at the center of the motor, it is a solid structure, whereby the load driven by the motor is necessarily placed outside the motor, so that the motor and its driving load are applied. The equipment is large in size and it is difficult to meet the market demand for miniaturization.

Summary of the invention

In order to solve the foregoing problems, the present invention provides a hollow and small motor module, a laser measuring device and a mobile platform including the motor module.

A motor module includes a ring member, at least one transfer member, and a drive assembly. Wherein, the annular element comprises a hollow portion capable of accommodating and fixing at least one optical element. The at least one transmission member is coupled to the annular member. The drive assembly is located outside the annular member for driving the annular member and the at least one optical member to rotate about a first axis of rotation by the at least one transmission member.

A laser measuring device includes the above motor module.

A mobile platform, the laser measuring device and the platform body, the laser measuring device being mounted on the platform body. Optionally, the mobile platform comprises at least one of an unmanned aerial vehicle, a car, and a remote control car.

DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without paying any creative work.

1 is a schematic plan view showing the structure of a motor module in a first embodiment of the present invention.

2 is a schematic perspective view of the motor assembly shown in FIG. 1.

FIG. 3 is a schematic perspective structural view of a motor module according to a second embodiment of the present invention.

4 is a schematic perspective view of the positioning assembly of the motor assembly shown in FIG. 2.

FIG. 5 is a schematic plan view showing the structure of a motor module according to a third embodiment of the present invention.

FIG. 6 is a schematic plan view showing the structure of a motor module according to a fourth embodiment of the present invention.

FIG. 7 is a schematic plan view showing the structure of a motor module according to a fifth embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without departing from the inventive scope are the scope of the present invention.

Please refer to FIG. 1, which is a schematic plan view of a motor assembly according to a first embodiment of the present invention. As shown in FIG. 1, the motor module 10 includes an interlocking annular member 11, a plurality of transmission members 13 coupled to the annular member 11, and a drive assembly 15 (see FIG. 2). The plurality of transmission members 13 are disposed on the outer side of the annular member 11 in an axisymmetric manner, and the transmission member 13 is rotated by the driving member 15 and simultaneously drives the annular member 11 to rotate.

The annular member 11 is formed with a hollow portion 111 for accommodating and fixing at least one optical component (not shown), and has a first rotating shaft 112, wherein the first rotating shaft 112 and the hollow portion 111 The central axis (not shown) coincides, specifically, the optical element can be fixed in the hollow portion 111 On the inside wall. The outer surface of the annular member 11 further includes a toothed first contact portion 113.

1 and FIG. 2, which is a perspective view of the motor module shown in FIG. 1. As shown in FIG. 2, the motor module 10 includes two annular elements 11 in which the first rotating shafts 112 are overlapped. The two annular elements 11 are defined as a first annular element 11a and a second annular element 11b, respectively, wherein the two

annular elements

11a, 11b respectively house an optical element.

In this embodiment, the number of the transmission members 13 is four, and the four transmission members 13 abut against the first contact portion 113 of the annular member 11 in an axisymmetric manner with each other. For convenience of explanation, any one of the transmission members 13 is The example illustrates its structure and connection relationship. When the transmission member 13 rotates, the transmission member 13 rotates the transmission member 13 around the first rotation shaft 112 by surface fitting while restraining the position of the annular member 11 from axial or radial displacement for use as a positioning assembly.

Each of the transmission members 13 is a roller having an overall cylindrical structure, and includes a second contact portion 131 and a second rotation shaft 133, and the second contact portion 131 is an outer magnetic surface of the transmission member 13. The second contact portion 131 and the first contact portion 113 are engaged with each other and are connected in a rolling manner. The second rotating shaft 133 and the first rotating shaft 112 are parallel to each other and coincide with the central axis of the transmission member 13. It can be understood that the distance between the second rotating shaft 133 and the first rotating shaft 112 is the sum of the radius of the transmission member 13 and the radius of the annular member 11. Preferably, the radius of the roller in the transmission member 13 is smaller than the radius of the annular member 11.

Accordingly, the first annular member 11a is correspondingly engaged with the plurality of first transmission members 13a, and the second annular member 11b is engaged with the plurality of second transmission members 13b. The second rotating shafts 133 corresponding to the first transmission member 13a and the second transmission member 13b coincide with each other and correspond to the same driving assembly. In other words, the first transmission member 13a and the second transmission member 13b couple the two

annular members

11a, 11b to the same drive assembly 15, respectively.

A drive assembly 15 is located outside the annular member 11 for driving the annular member 11 to rotate about the first rotational axis 112 by the plurality of transmission members 13. Specifically, the number of the drive assemblies 15 is the same as the number of the transmission members 13, and is axially coupled to the second rotation shaft 133 of the transmission member 13, so that the drive transmission member 13 is rotated about the second rotation shaft 133. In the present embodiment, the drive assembly 15 is a motor unit, that is, a rotating shaft (not labeled) in the drive assembly 15 is axially coupled to the second rotating shaft 133. In the present embodiment, the drive assembly 15 is a motor unit.

Preferably, when the number of gears of the first contact portion 113 corresponding to the first annular element 11a and the second annular element 11b is different, the first annular element 11a and the second can be driven by the same driving assembly 15 The ring member 11b is rotated at a different speed. It can be understood that when the two

ring elements

11a, 11b When the number of corresponding gears is different, the gears of the first transmission member 13a and the second transmission member 13b corresponding thereto are also different.

Alternatively, in other embodiments of the invention, the number of drive assemblies 15 may also be less than the number of transmission members, for example including only one drive assembly 15, which is also only for one of the transmission members 13. The drive, that is, the partial transmission member 13 is used to drive the rotation of the ring member 11, and the remaining transmission member 13 serves as a support roller, that is, as a positioning member in the positioning assembly.

Please refer to FIG. 3 , which is a schematic diagram of a planar structure of a motor module 20 according to a second embodiment of the present invention. The motor module 20 and the motor module 10 have substantially the same structure, except that the motor module 20 includes only one transmission component 23 . As well as the drive assembly 25 corresponding thereto, and not using the transmission member 23 for positioning, a bearing axially coupled to the annular member 21 is employed as the positioning assembly 27.

Specifically, the positioning assembly 27 is a hollow cylindrical bearing that is fixedly coupled to the annular member 21 in the axial direction. Therein, the central axis of the bearing coincides with the first rotational axis 212 of the annular element 21 and has the same inner diameter as the annular element 21.

Preferably, the radius of the transmission member 23 is smaller than the radius of the annular member 11.

Please refer to FIG. 4 , which is a detailed structural diagram of the positioning component 27 as shown in FIG. 3 . The positioning assembly includes an inner ring 271, a rolling body 272 and an outer ring 273 which are radially stacked, and the rolling bodies 272 are all rollingly connected with the outer side of the inner ring 271 and the inner side of the outer ring 273, and the inner ring 271 and the outer ring 273 are opposite to each other. Turn. The spacer ring 274 is disposed between the inner ring 271 and the outer ring 273 for defining the axial position of the rolling elements.

In the present embodiment, the inner ring 271 is fixedly coupled to the ring member 21, and the outer ring 273 is fixedly coupled to the housing (not shown) of the motor module 10, and the rolling elements 272 are non-magnetically conductive spherical balls.

Preferably, when the motor module 20 includes two annular elements 21, for example, including the first annular element 21a and the second annular element 21b, correspondingly, the motor module 20 is also provided with two first positioning components 27a. And the second positioning assembly 27b, wherein the two

positioning assemblies

27a, 27b are disposed independently of each other.

Referring to FIG. 3 again, the two

axial elements

21a and 21b corresponding to the two axial axes 212 coincide with each other, and the motor assembly 20 also includes two

positioning components

27a and 27b which are disposed independently of each other.

Please refer to FIG. 5 , which is a schematic plan view of a motor module 30 according to a third embodiment of the present invention. The structure of the motor module 30 and the motor module 10 are basically the same, except that the plurality of transmission members 33 and the ring member 31 in the motor module 30 constitute a planetary gear structure, wherein the ring member 31 is located at the middle. The sun gear of the heart, and the transmission member 33 is a plurality of planetary gears 33a having a gear axially symmetrically disposed outside the annular member 31, a hollow circular planet carrier 33b, and an outermost ring gear 33c. A drive assembly (not shown) is axially coupled to the ring gear 33c or the planet carrier 33b in the planetary gear structure to drive the ring member 31 about the first rotational axis 312 as the drive ring gear rotates or the planet carrier rotates. Turn.

The specific driving manner is that the carrier 33b is fixed in the motor module 30, the driving assembly is fixedly connected to the ring gear 33c in the axial direction, and the driving ring gear 33c is rotated around the first rotating shaft 312 to drive a plurality of rotations during the rotation of the ring gear 33c. The planetary gear 33a drives the ring member 31 to rotate.

Preferably, the radius of the planet gears in the transmission member 23 is smaller than the radius of the annular member 11.

Alternatively, the ring gear 33c is fixed in the motor module 30, the drive assembly is axially fixedly coupled to the carrier 33b, and the carrier 33b is rotated about the first rotating shaft 312 to drive a plurality of planet wheels during the rotation of the carrier 33b. 33a drives the ring member 31 to rotate.

In the

motor modules

10, 20, and 30 of the first to third embodiments of the present invention, the

transmission members

13, 23, 33 and the

ring members

11, 21, 31 are surface-fitted by gear meshing, and can be changed. The

ground members

13, 23, 33 and the

ring members

11, 21, 31 can also be surface-fitted by means of friction wheels.

Please refer to FIG. 6, which is a schematic plan view of a motor module 40 according to a fourth embodiment of the present invention. The motor module 40 and the motor module 10 have substantially the same structure. The difference is that, as shown in FIG. 6, the motor module 40 includes an annular member 41 that cooperates with each other, a transmission member 43 coupled to the annular member 41, a drive assembly (not shown), and a positioning assembly 47. The positioning assembly 47 is disposed in a mutually axially symmetric manner on the outer circumferential side of the annular member 11, and the transmission member 43 is slidably coupled between the driving assembly 45 and the annular member 11, and the driving assembly 45 drives the annular member 11 to rotate by the transmission member 43.

Specifically, the positioning assembly 47 is four positioning members located circumferentially outward of the annular member 41, and the positioning member is a supporting roller 471 for restricting the annular member 41 from rotating about the first rotating shaft 412. The support roller is fixed in the motor module 40. Preferably, the support roller 471 and the circumferential outer side of the ring member 41 are slidably connected, in other words, the ring member 41 is rotatable relative to the support roller 471.

In this embodiment, the transmission member 43 includes a belt-shaped belt 431. Correspondingly, the driving assembly 45 includes an axially connected driving wheel 451 and a motor unit (not shown). The motor unit synchronously drives the driving wheel 451 to rotate by electromagnetic action. . At the same time, the driving wheel 451 is disposed in parallel with the first rotating shaft 412 by a predetermined distance, and the driving belt 431 is rollingly connected between the ring member 41 and the driving wheel 451, that is, when driving When the moving wheel 451 is rotated, the belt 431 will drive the ring member 41 to rotate.

Preferably, the radius of the support roller 471 in the positioning assembly 47 and the drive wheel 451 in the drive assembly 45 is smaller than the radius of the annular member 41.

Please refer to FIG. 7, which is a schematic plan view of a motor module 50 according to a fifth embodiment of the present invention. The motor module 50 and the motor module 40 have substantially the same structure. The difference is that the positioning assembly 57 is different from the positioning assembly 47 in the present embodiment. Specifically, the positioning assembly 57 is a hollow cylindrical bearing that is fixedly coupled to the annular member 51 in the axial direction. Here, the central axis of the bearing coincides with the first rotational axis 512 of the ring member 51, and the inner diameter is the same as that of the annular member 51. Meanwhile, as shown in FIG. 4, the bearing structure is an inner ring 271, a rolling element 272, and a fourth outer ring 273 which are radially stacked, and the rolling elements 272 are both the outer side of the inner ring 271 and the inner side of the outer ring 273. The ring 271 and the outer ring 273 are relatively rotatable. The inner ring 271 is fixedly coupled to the ring member 51, and the outer ring 273 is fixedly coupled to the housing (not shown) of the motor module 50, and the rolling elements 272 are non-magnetically conductive ball balls.

Preferably, corresponding to the present embodiment, the motor module 50 has two axially disposed annular elements 51, which are respectively defined as a first annular element 51a and a second annular element 51b, correspondingly, the transmission member 53 The first driving belt 53a and the second driving belt 53b are included. The driving assembly 55 includes a first driving wheel 551a and a second driving wheel 55b whose central axes coincide, and the first driving wheel 551a and the second driving wheel 55b are connected to the same motor unit 552. At the same time, the positioning assembly 57 includes a first bearing 57a and a second bearing 57b.

Preferably, the radius of the drive wheel 551 in the drive assembly 55 is less than the radius of the annular member 51.

When the radii of the first driving wheel 551a and the second driving wheel 551b are different, the first annular element 51a and the second annular element 51b can be driven at different speeds around the first rotating shaft 512 under the driving of the same driving assembly 55. Rotate.

In an embodiment, a laser measuring device is further provided 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. Specifically, 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. In certain embodiments, the mobile platform includes at least one of an unmanned aerial vehicle, a car, and a remote control car. 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 remote The body of the car.

It is to be understood that the laser measuring device may include the motor module according to any one of the embodiments of the present invention. For details, refer to the related description in the embodiment shown in FIG. 1 to FIG.

It is to be understood that the above disclosure is only the preferred embodiment of the present invention, and the scope of the present invention is not limited thereto, and those skilled in the art can understand all or part of the process of implementing the above embodiments, and Equivalent variations of the claims of the invention are still within the scope of the invention.

Claims

A motor module, comprising:

a ring-shaped member formed with a hollow portion capable of receiving and fixing at least one optical member;

At least one transmission member coupled to the annular member;

A drive assembly is disposed outside the annular member for driving the annular member and the at least one optical member to rotate about a first axis of rotation by the at least one transmission member.
The motor module of claim 1 wherein said motor module further comprises a positioning assembly, said positioning assembly being located outside said annular member for limiting said annular member to said The shaft rotates.
The motor module of claim 2 wherein said positioning assembly includes at least two locating members that are symmetric about said axis of rotation.
The motor module according to claim 3, wherein the positioning member is a supporting roller fixed in the motor module, and the supporting roller and the circumferential outer side of the annular member are rollingly connected.
A motor module according to claim 2, wherein said positioning assembly comprises a bearing, said bearing comprising an inner ring and an outer ring, and rolling elements having rolling coupling of said inner and outer rings;

An outer ring of the bearing is fixed in the motor module, and an inner ring of the bearing and the annular element are fixed to each other.
A motor module according to claim 1, wherein said at least one transmission member is located outside said annular member and is further adapted to restrict said annular member from rotating about said rotational axis.
A motor module according to any one of claims 1 to 5, wherein said at least one transmission member comprises a belt, said drive assembly comprising a drive wheel coupled to said annular member by said belt Wherein the radius of the drive wheel is less than the radius of the annular element.
The motor module according to any one of claims 1 to 6, wherein the ring member is provided with a gear structure, and the at least one transmission member includes an intermeshing with a gear structure on the ring member Gear, the drive assembly including a drive wheel coupled to the ring member by the gear.
The motor module of claim 8 wherein said at least one transmission member has a radius that is less than a radius of said annular member.
The motor module of claim 1 wherein said at least one transmission package Including a planet gear, the drive assembly includes a drive member coupled to the ring member by the planet gear.
The motor module according to any one of claims 1 to 6, wherein the motor module includes the annular member in which two first rotating shafts coincide, and the two annular members and the The optical elements respectively accommodated by the two annular elements are rotated around the first rotating shaft at different speeds.
A motor module according to claim 11, wherein said at least one transmission member comprises a first transmission member and a second transmission member, said first transmission member and said second transmission member being respectively used for The two ring elements are coupled to the same drive assembly;

The first transmission member and the second transmission member have different structures to drive the two annular members to rotate around the first rotation shaft at different speeds.
The motor module according to claim 12, wherein said first transmission member and said second transmission member are gears, and said first transmission member and said second transmission member have different numbers of teeth.
A motor module according to claim 12, wherein said first transmission member and said second transmission member are transmission belts, and said drive assembly includes coupling to said annular member by said transfer belt a first drive wheel and a second drive wheel, wherein the first drive wheel and the second drive wheel have different radii.
A laser measuring device comprising the motor module according to any one of claims 1 to 14.
A mobile platform, comprising:

The laser measuring device of claim 15;

a platform body, the laser measuring device being mounted on the platform body.
The mobile platform of claim 16, wherein the mobile platform comprises at least one of an unmanned aerial vehicle, a car, and a remote control car.