CN106826791A - A kind of motor - Google Patents
A kind of motor Download PDFInfo
- Publication number
- CN106826791A CN106826791A CN201610994687.4A CN201610994687A CN106826791A CN 106826791 A CN106826791 A CN 106826791A CN 201610994687 A CN201610994687 A CN 201610994687A CN 106826791 A CN106826791 A CN 106826791A
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- Prior art keywords
- output end
- mover
- external face
- motor
- axially external
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of motor.The motor includes stator and mover, and the mover is arranged on the outside of the stator, and the mover includes axially external face and radial outer side, and the axially external face of the mover is the first output end, and/or the radial outer side of the mover is the second output end.Using motor of the present invention, the mover of motor is arranged on the outside of the stator, at least part of axially external face of mover and/or radial outer side are the output end of motor, it is to avoid the mechanical part such as extra addition output shaft, alleviates the weight of motor itself.
Description
Technical field
The present invention relates to technical field of automation, and in particular to a kind of motor.
Background technology
In robot field, it is necessary to drive each joint and then the motion of driving mechanical arm using motor, in order to increase motion
Flexibility, prior art generally using motor direct drive by the way of.As shown in fig. 6, the machine of existing motor direct drive
Device people is typically the inner side that rotor (not shown to anticipate out) is arranged on stator 2, and rotor connects output shaft 3, then output shaft connection machine
The skeleton of mechanical arm 4 of device people, then sets a shell 1 again outside whole driving skeleton, and rotor is rotated and drives output shaft rotation, then band
The manipulator motion of mobile robot.
Using the robot of the direct drive of motor above, it is the disadvantage is that, the mover of motor needs to connect output shaft
As output end, because the usual quality of output shaft is larger, therefore the weight of motor itself is increased, and then increased robot sheet
The load that body drives, is unfavorable for direct drive.
The content of the invention
The present invention is to solve the above problems, there is provided a kind of motor, the mover of motor is arranged on the outside of the stator, mover
At least part of axially external face and/or radial outer side directly as output end, it is to avoid the machinery such as extra addition output shaft
Part, alleviates the weight of motor itself.
First aspect present invention provides a kind of motor, and the motor includes stator and mover assembly, and the mover is arranged on
The outside of the stator, the mover includes axially external face and radial outer side, and at least part of axially external face is the
One output end, and/or at least partly the radial outer side is the second output end.
Further, at least part of axially external face of the mover includes for the first output end：
The mover includes being located at the first, second axially external face at axial two ends, and at least part of first axle is outside
Side and/or at least partly second axially external face are the first output end.
Further, at least part of axially external face of the mover includes for the first output end：
The mover includes being located at the first, second axially external face at axial two ends, and at least part of first axle is outside
One of them of side and at least part of second axially external face are the first output end of the mover, then another is institute
State the connection end of mover；
The connection end is fixedly connected one end of the mechanical arm, and the motor movement is driven by mechanical arm.
Further, the mover also includes the fixture of the correspondence connection end；
The connection end is fixedly connected the mechanical arm by the fixture.
Further, first output end includes：
The whole plane in the described first and/or second axially external face；Or
The plane of wherein one or more parts in the whole plane in the described first and/or second axially external face.
Further, at least partly radial outer side includes for the second output end：
The radial outer side generally the second output end；Or
The part surface of the radial outer side is the second output end.
Further, second output end includes：
Whole first cylindrical outer surface of the radial outer side；Or
Second cylindrical outer surface being located at respectively at axial two ends of the radial outer side；Or
The face of wherein one or more parts on whole first cylindrical outer surface of the radial outer side.
Further, the motor also includes at least one connector, and the connector includes first connecting portion and/or second
Connecting portion；The first output end of the first connecting portion correspondence, the second output end of the second connecting portion correspondence；
Described first and/or second output end is fixedly connected the mechanical arm by described first and/or second connecting portion.
Therefore, invention provides a kind of motor, and the mover of the motor is arranged on the outside of the stator, and mover is extremely
The axially external face of small part and/or radial outer side are directly as output end, it is to avoid extra addition mechanical part, mitigate machine
The weight of people itself, achieves following technique effect：
1st, because at least part of axially external face of motor is the first output end, at least partially radial lateral surface is second defeated
Go out end, and the first output end and/or the second output end directly be connecteds with part to be driven, it is to avoid in the prior art by exporting
Axle output needs the problem of extra addition mechanical part, mitigates the weight of motor itself.
2nd, the mover is fixedly connected by connector with the mechanical arm of robot, can so avoid mover first,
Second output end is directly connected to the abrasion of the structure that mechanical arm is caused to mover, destruction.
3rd, due to the mover the first axially external face and the second axially external face one of them be the first output end,
And another is connection end, therefore the first output end output torque driving mechanical arm is moved, and the fortune that connection end passes through mechanical arm
Dynamic and then drive motor movement so that mechanical arm is engaged with motor, realizes multijoint control.
4th, because the mover also includes fixture corresponding with connection end, on the one hand the mover passes through fixture and machine
Tool arm is fixedly connected, and can so avoid the connection end of mover from being directly connected to the abrasion of the structure that mechanical arm is caused to mover, break
It is bad；On the other hand, can be also used for limiting the mover axially or radially by by the position fixation of the fixture
Position, prevent the mover from moving axially or radially.
Brief description of the drawings
Technical scheme in order to illustrate more clearly the embodiments of the present invention, below will be to institute in embodiment and description of the prior art
The accompanying drawing for needing to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the invention
Example, for those of ordinary skill in the art, on the premise of not paying creative work, can also obtain according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is a kind of cut-away section structural representation of Direct Drive Robot rotation motor provided in an embodiment of the present invention
Figure；
Fig. 2 is that the cut-away section structure of another Direct Drive Robot rotation motor provided in an embodiment of the present invention is shown
It is intended to；
Fig. 3 A-3B are two kinds of top views of the output end of difference first of the mover of motor provided in an embodiment of the present invention；
Fig. 4 A-4C are three kinds of side views of the output end of difference second of motor mover provided in an embodiment of the present invention；
Fig. 5 A-5C are a kind of schematic diagram for directly driving 6 axle robots provided in an embodiment of the present invention, and wherein Fig. 5 A are 6
A kind of side view of embodiment of axle robot, Fig. 5 B, 5C are the schematic diagram of another embodiment of 6 axle robots；
The robot that Fig. 6 directly drives for the motor of prior art.
Specific embodiment
In order that those skilled in the art more fully understand the present invention program, below in conjunction with the embodiment of the present invention in it is attached
Figure, is clearly and completely described to the technical scheme in the embodiment of the present invention.Obviously, described embodiment is only this
The embodiment of a part is invented, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The all other embodiment obtained under the premise of creative work is not made, should all belong to the scope of protection of the invention.
Embodiment one,
Fig. 1 is a kind of cut-away section structural representation of motor provided in an embodiment of the present invention, and the motor is rotation horse
Reach；Fig. 5 A-5C are a kind of schematic diagram for directly driving 6 axle robots provided in an embodiment of the present invention, and wherein Fig. 5 A are 6 axle machines
A kind of side view of embodiment of people, Fig. 5 B, 5C are the schematic diagram of another embodiment of 6 axle robots.
In robot field, it is necessary to drive each joint and then the motion of driving mechanical arm using motor, in order to increase motion
Flexibility, prior art generally using motor direct drive by the way of.As described in the background art, existing motor directly drives
Dynamic robot is typically the inner side that rotor is arranged on stator, and rotor connection output shaft, output shaft connects the mechanical arm of robot
Skeleton, then sets a shell again outside whole driving skeleton, and rotor is rotated and drives output shaft rotation, then the machinery with mobile robot
Arm is moved.Using the motor of direct drive above, it is the disadvantage is that, the mover of the motor needs connection output shaft as defeated
Go out end, because the usual quality of output shaft is larger, therefore increased the load that robot drives in itself, be unfavorable for direct drive.
To solve the problems, such as above, the present invention provides a kind of motor, and the mover of motor is arranged on the outside of the stator, moves
At least part of axially external face of son and/or radial outer side are directly as output end, it is to avoid the machine such as extra addition output shaft
Tool part, alleviates the weight of motor itself.
As shown in figure 1, the motor includes stator 10 and mover 20, stator 10 is motionless, and mover 20 can turn around central shaft
Dynamic, in electric rotating machine, the mover 20 is also called rotor.The mover 20 is arranged on the outside of the stator 10, described dynamic
Son 20 includes axially external face 21 and radial outer side 22, and at least part of axially external face 21 of the mover 20 is the first output
End, and/or at least partially radial lateral surface 22 of the mover 20 is the second output end.
It should be noted that the mover can only include the first output end, it is also possible to only include the second output end, or
Including first, second two output ends.First output end and the second output end can be by partially radially lateral surface, part
Axially external face constitutes, or is made up of whole radial outer side, whole axially external face, below can be to the first output end
Further described with the second output end.
It should be noted that motor described in this specific embodiment can be rotation motor (as shown in Figure 1), or straight
Line motor (not shown to anticipate out), because the two principle is identical, this specific embodiment is only described in detail by taking rotation motor as an example.
Continue as shown in figure 1, the axially external face 21 of the mover 20 includes the first axial direction positioned at mover axial direction two ends
The axially external face 212 of lateral surface 211 and second, therefore first output end includes at least part of first axially external face 211
And/or at least part of second axially external face 212.
According to described above, first output end can be the first axially external face or the second axially external face, lead to
(usual motor is connected to one end of mechanical arm, but is not limited to be connected to the one of mechanical arm to cross the first output end connection mechanical arm
End, the optional position that actually it can be connected to mechanical arm), the motion of driving mechanical arm；Can also be that first, second axle is outside
Side is all the first output end, that is, have two the first output ends, and so motor can simultaneously be fixedly connected two mechanical arms, together
When drive two mechanical arms be synchronized with the movement.
Fig. 3 A-3B are two kinds of top views of the output end of difference first of the mover of motor provided in an embodiment of the present invention；Its
Middle Fig. 3 A are shown as the overall as the first output end of the first axially external face；Fig. 3 B are shown as the first axially external face wherein
Some is used as the first output end.Fig. 4 A-4C are that three kinds of differences second of motor mover provided in an embodiment of the present invention are exported
The side view at end, wherein Fig. 4 A are shown as the overall as the second output end 212 of radial outer side, and Fig. 4 B are shown as radial outside
Used as the second output end, the plurality of part that Fig. 4 C are shown as in radial outer side exports as first at the axial two ends in face
End.
Further, at least partly axially external face is that the first output end can include at least part of first axially
Lateral surface and/or at least part of second axially external face, also including following several embodiments：
On the one hand, as shown in Figure 3A, the entire surface in the described first axially external face 211 is the first output end 211 ', due to
The entire surface in the first axially external face 211 is planar annular, and first output end 211 ' is planar annular；Except this it
Outward, when the motor is line motor, the integral planar can also be a rectangle plane (not shown to anticipate out).Second axle
Referring to the first axially external face, it is no longer repeated herein for outside side.
On the other hand, as shown in Figure 3 B, wherein one or more in the whole plane in the described first axially external face 211
Part planar is the first output end 211 ", when for some, the multiple part can as needed take optional position.
It should be noted that several embodiments listed above can not include all at least partly axial directions
Lateral surface is the embodiment of the first output end, it should be appreciated that, as long as the arbitrary portion on the axially external face of mover is all
Can be as the first output end of mover.
In certain embodiments, at least partly radial outer side is that the second output end can include following several
Embodiment：
On the one hand, as shown in Figure 4 A, generally the second output end 212 ' of the radial outer side 212, i.e., described footpath is outside
The whole cylindrical outer surface of side 212 is the second output end 212 '；
On the other hand, the part surface on the whole of the radial outer side 212 is the second output end, can specifically be wrapped
Include：
As shown in Figure 4 B, two second cylindrical outer surfaces being located at respectively at axial two ends of the radial outer side 212
It is the second output end 212 "；Or
As shown in Figure 4 C, positioned at one of optional position on whole first cylindrical outer surface of the radial outer side 212
Or the face of some is the second output end 212 " '.
It should be noted that several embodiments listed above can not include all at least partly radial directions
Lateral surface is the embodiment of the second output end, it should be appreciated that, as long as the arbitrary portion in mover radial outer side is all
Can be as the second output end of mover.
Fig. 2 is the cut-away section structural representation of another Direct Drive Robot motor provided in an embodiment of the present invention
Figure.
As shown in Fig. 2 in some preferred embodiments, the motor also includes at least one connector 30, it is described at least
One connector 30 correspondence first output end 21 and/or second output end 22, and with first output end 21 and/
Or second output end 22 is fixedly connected.First, second output end 21,22 of i.e. described mover is not directly connected robot
Mechanical arm, but be fixedly connected with the mechanical arm of robot by connector 30.The first, second defeated of mover can so be avoided
Go out end be directly connected to other parts mover is caused structural damage, abrasion.
As shown in Fig. 2 the connector 30 includes first connecting portion 31 and second connecting portion 32, the first connecting portion 31
The first output end 21 of correspondence, the second output end 22 of correspondence of the second connecting portion 32.Such first output end and the second output end
It is connected with other parts of robot by first connecting portion and second connecting portion.
It should be noted that due to the first connecting portion the first output end of correspondence, the second connecting portion correspondence second
Output end, thus first connecting portion be may refer to second connecting portion it is related to the second output end above in connection with the first output end
Description, it is no longer repeated herein.
It should be noted that depending on the connector can be according to the situation of the output end set on mover, when on mover
When only including the first output end, connector can only include first connecting portion；When mover only includes the second output end, connector
Second connecting portion can be only included；As shown in Fig. 2 when mover includes first, second output end simultaneously, the connector of motor can
To include first connecting portion 31 and second connecting portion 32 simultaneously.The preferred connection of the first connecting portion 31 and second connecting portion 32,
Preset integral (as shown in Figure 2), the first connecting portion and second connecting portion can also be provided separately (not shown to anticipate out).
As shown in Fig. 2 in some preferred embodiments, the mover include first, second two axially external faces 211,
212, wherein, at least part of first axially external face 211 is the first output end, and at least part of second axially external face 212 is
The axially external face of connection end, i.e., first is used for output torque, and the second axially external face is used to connect miscellaneous part, by other
Part drives the rotation of the mover.It should be noted that first, second axially external face is intended merely to described in this specific embodiment
The title of differentiation, the sensing in first, second axially external face can be with reversing of position, such as：Alternatively the second axle is outside
Side is the first output end, and the first axially external face is connector.
The second axially external face that the connection end at least partly corresponds to the mover is：Whole second axle of the mover
Outside side is used as connection end；Or the axially external face in part second (on the such as second axially external face of the mover
Individual or some faces are used as connection end).
As shown in Fig. 2 in some preferred embodiments, it is described dynamic when at least part of second axially external face is connection end
Son can also include fixture 40 corresponding with connection end, i.e., the connection end of described mover is fixed by fixture 40 and mechanical arm
Connection, the one side mover 10 is fixedly connected by fixture 40 with mechanical arm, can so avoid the connection end of mover straight
Structural wear, destruction that mechanical arm is caused to mover are connect in succession；On the other hand, the fixture can be also used for limiting described moving
Son prevents the mover from being moved axially or radially in position axially or radially.Certainly the mover is limited to exist
Axial direction or displacement radially can also be realized using other many existing structural members, because being not belonging to hair of the invention
It is bright and unrelated with inventive point of the invention, therefore no longer other structures are illustrated.
The fixture is corresponding with connection end, its structure type referring to the description above in connection with connection end, herein no longer
It is described in detail.
The mechanical arm can as needed be designed to variously-shaped, mechanical arm at least one end and the first, second of motor
End is fixedly connected, it is possible to achieve the flexible design of robot.
At least one end of the mechanical arm is fixedly connected the motor and can include but is not limited to following several situations：
One end of the mechanical arm is directly fixedly connected the first or second output end of the motor；Or
One end of the mechanical arm is fixedly connected the first or second output end of motor by connector；Or
The mechanical arm includes two ends, and wherein one end is directly fixedly connected the first output end of the motor or second defeated
Go out end；The other end is directly fixedly connected the connection end of the motor；Or
The mechanical arm includes two ends, and wherein one end is fixedly connected the first output end of the motor by connector, separately
One end connects the connection end of the motor by fixture.
It should be noted that except mover output end recited above or connection end are not limited to be connected to the one of mechanical arm
End, the optional position that actually it can be connected to mechanical arm.
It should be noted that the connecting portion of the first output end of the mover of the correspondence of the mechanical arm motor, correspondence
The connecting portion of the second output end, the connecting portion of correspondence connection end can have any shape, the first output end preferably with mover, the
Two output ends, the shape of connection end are corresponding, can specifically include the structure of following examples：
The connecting portion of correspondence first output end of the mechanical arm, the connecting portion of correspondence connection end form a plane,
First output end is fixedly connected by the plane；And/or
The connecting portion of correspondence second output end of the mechanical arm is formed and at least partly surround second output end
Encirclement structure, surrounded by the encirclement structure division or be all surrounded and be fixedly connected second output end.
The structure of motor Direct Drive Robot for a better understanding of the present invention, below in conjunction with the accompanying drawings further specifically
Bright, again as shown in figures 5a-5c, the 6 axle robot includes 6 shaft mechanical arms (Z1, Z2, Z3, Z4, Z5), each mechanical arm
One motor of connection, therefore including 6 motors (M1, M2, M3, M4, M5, M6).
As shown in Figure 5A, the mechanical arm can as needed be designed to arbitrary shape, and its two ends connects adjacent respectively
Two motors first, second output end or connection end.Such as：The two ends of Z1 connect first output end and M2 of M1 respectively
Connection end, M2 drives M1 to rotate by Z1；Again such as：The two ends of Z4 connect the second output end and the connection of M4 of the M5 respectively
End etc..
In addition to the structure of robot described in Fig. 5 A, can also be using the robot architecture as described in Fig. 5 B, Fig. 5 C, each machine
Device people includes 6 motors (M1, M2, M3, M4, M5, M6)
Except the robot shown in accompanying drawing, any satisfaction using by the mover of motor directly as output end robot
Belong in the scope of protection of the invention.
"and/or" in this paper terms, only a kind of incidence relation for describing affiliated partner, represents there may be three kinds of passes
System, for example：A and/or B, can represent individualism A, while there is A and B, individualism B these three situations.In addition, herein
Middle character "/", typicallys represent forward-backward correlation pair as if a kind of relation of "or".
Term " first ", " second ", " 3rd " in claims of the present invention and specification and above-mentioned accompanying drawing etc.
(if present) is for distinguishing similar object, without for describing specific order or precedence.It should be appreciated that this
The data that sample is used can be exchanged in the appropriate case, so that the embodiments described herein can be with except illustrating or retouching herein
Order beyond the content stated is implemented.Additionally, term " including " " having " and their any deformation, it is intended that covering is not
Exclusive includes.For example：Process, method, system, product or the equipment for including series of steps or module are not necessarily limited to clearly
Those steps or module listed to Chu, but including it is not listing clearly or for these processes, method, system,
Product or equipment intrinsic other steps or module.
In addition, during each functional unit in each embodiment of the invention can be integrated in a processing unit, it is also possible to
It is that unit is individually physically present, it is also possible to which two or more units are integrated in a unit.It is above-mentioned integrated
Unit can both be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.
Being fixedly connected including but not limited to described in this specific embodiment:Bonding, or clamping, by fixture (ratio
Such as：Screw) etc. dismountable mode be fixedly connected.
In the above-described embodiments, the description to each embodiment all emphasizes particularly on different fields, and is not described in certain embodiment
Part, may refer to the associated description of other embodiments.
It should be noted that those skilled in the art should also know, embodiment described in this description belongs to excellent
Embodiment is selected, necessary to involved structure and the module not necessarily present invention.
A kind of motor for being provided the embodiment of the present invention above is described in detail, but above example explanation only
It is to be used to help understand the method for the present invention and its core concept, should not be construed as limiting the invention.The art
Technical staff, according to thought of the invention, the invention discloses technical scope in, the change or replacement that can be readily occurred in, all
Should be included within the scope of the present invention.
Claims (8)
1. a kind of motor, including stator and mover assembly, it is characterised in that the mover is arranged on the outside of the stator, institute
Stating mover includes axially external face and radial outer side, and at least part of axially external face is the first output end, and/or at least
The part radial outer side is the second output end.
2. motor according to claim 1, it is characterised in that at least partly axially external face is the first output end bag
Include：
The mover includes being located at the first, second axially external face at axial two ends, at least part of first axially external face
And/or at least partly the second axially external face is the first output end.
3. motor according to claim 1, it is characterised in that at least partly axially external face is the first output end bag
Include：
The mover includes being located at the first, second axially external face at axial two ends, at least part of first axially external face
It is the first output end of the mover with one of them of at least part of second axially external face, then another is for described dynamic
The connection end of son.
4. motor according to claim 3, it is characterised in that the mover also includes the fixation of the correspondence connection end
Part.
5. the motor according to Claims 2 or 3, it is characterised in that first output end includes：
The whole plane in the described first and/or second axially external face；Or
The plane of wherein one or more parts in the whole plane in the described first and/or second axially external face.
6. motor according to claim 1, it is characterised in that at least partly radial outer side is the second output
End includes：
The radial outer side generally the second output end；Or
The part surface of the radial outer side is the second output end.
7. motor according to claim 6, it is characterised in that second output end includes：
Whole first cylindrical outer surface of the radial outer side；Or
Second cylindrical outer surface being located at respectively at axial two ends of the radial outer side；Or
The face of wherein one or more parts on whole first cylindrical outer surface of the radial outer side.
8. the motor according to claim 1 or 2 or 3 or 4 or 6 or 7, it is characterised in that the motor also includes at least
Individual connector, the connector includes first connecting portion and/or second connecting portion；The first connecting portion correspondence first is exported
End, the second output end of the second connecting portion correspondence.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610994687.4A CN106826791A (en) | 2016-11-11 | 2016-11-11 | A kind of motor |
| PCT/CN2017/110503 WO2018086598A1 (en) | 2016-11-11 | 2017-11-10 | A motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610994687.4A CN106826791A (en) | 2016-11-11 | 2016-11-11 | A kind of motor |
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| CN106826791A true CN106826791A (en) | 2017-06-13 |
Family
ID=59145742
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610994687.4A Pending CN106826791A (en) | 2016-11-11 | 2016-11-11 | A kind of motor |
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| CN (1) | CN106826791A (en) |
| WO (1) | WO2018086598A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018086598A1 (en) * | 2016-11-11 | 2018-05-17 | 南方电机科技有限公司 | A motor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2018086598A1 (en) * | 2016-11-11 | 2018-05-17 | 南方电机科技有限公司 | A motor |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018086598A1 (en) | 2018-05-17 |
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