CN111463934B

CN111463934B - Driving device and operation method thereof, laser measuring device and mobile platform

Info

Publication number: CN111463934B
Application number: CN202010237305.XA
Authority: CN
Inventors: 黄淮; 赵进; 王鹏; 洪小平
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2017-03-29
Filing date: 2017-03-29
Publication date: 2021-08-24
Anticipated expiration: 2037-03-29
Also published as: CN111463934A; WO2018176292A1; CN108475961B; CN108475961A

Abstract

A drive device, comprising: a rotor assembly rotating around a predetermined rotation axis; the stator assembly is used for driving the rotor assembly to rotate around the rotating shaft; at least one positioning piece for limiting the rotor assembly to rotate around the rotating shaft; the positioning piece comprises a rotating part, a fixing part and a rolling body, wherein the rotating part is coupled with the fixing part through the rolling body so that the rotating part rotates relative to the fixing part; when the rotor assembly rotates, the rotating portion is applied with a force in the direction of the rotation axis.

Description

Driving device and operation method thereof, laser measuring device and mobile platform

The disclosure of this patent document contains material which is subject to copyright protection. The copyright is owned by the copyright owner. The copyright owner has no objection to the facsimile reproduction by anyone of the patent document or the patent disclosure, as it appears in the patent and trademark office official records and records.

Technical Field

The invention relates to the field of motors, in particular to a driving device and an operation method thereof, a laser measuring device and a mobile platform.

Background

Motors that utilize electromagnetic action to achieve drive have been applied in a variety of fields such as consumer electronics, aerospace, military, and the like. With the development of new permanent magnet materials, microelectronic technology, automatic control technology and power electronic technology, the motor has been developed greatly.

The motor mainly comprises a stator and a rotor. Currently, bearing elements are also provided in the electrical machine to define the position of the rotor. However, the bearing itself has axial play, which is liable to cause noise in the bearing during operation of the motor.

Disclosure of Invention

In order to solve the above technical problems, the present invention provides a driving device, an operating method thereof, a laser measuring device and a mobile platform.

A drive device, comprising: a rotor assembly rotating around a predetermined rotation axis;

the stator assembly is used for driving the rotor assembly to rotate around the rotating shaft; at least one positioning piece for limiting the rotor assembly to rotate around the rotating shaft; the positioning piece comprises a rotating part, a fixing part and a rolling body, wherein the rotating part is coupled with the fixing part through the rolling body so that the rotating part rotates relative to the fixing part; the rotating part can move relative to the fixed part in the direction of the rotating shaft, so that the rotating part and the fixed part are abutted against the rolling body together when receiving a thrust.

A method of operating a drive device, comprising:

the method comprises the following steps of configuring a rotor assembly, a stator assembly and at least one positioning piece, wherein the rotor assembly rotates around a preset rotating shaft, the stator assembly is used for driving the rotor assembly to rotate around the rotating shaft, and the at least one positioning piece is used for limiting the rotor assembly to rotate around the rotating shaft; the positioning piece comprises a rotating part, a fixing part and a rolling body, wherein the rotating part is coupled with the fixing part through the rolling body so that the rotating part rotates relative to the fixing part and can move relative to the fixing part in the direction of the rotating shaft;

and applying a thrust to the rotating part to enable the rotating part and the fixed part to jointly abut against the rolling body.

A laser measuring device comprises the driving device.

A mobile platform comprises the laser measuring device and a platform body, wherein the laser measuring device is installed on the platform body.

Compared with the prior art, because the rotating part of the positioning component and the rotor component are mutually fixed, and the fixing part of the positioning component is fixed relative to the rotating shaft, when the rotating part receives thrust and generates axial movement, the rotating part and the fixing part can be jointly abutted to the rolling body, so that the axial play in the positioning component is effectively eliminated, and the noise is reduced.

Drawings

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

Fig. 1 is a front view of a motor according to an embodiment of the first generic embodiment of the present invention.

Fig. 2 is a schematic perspective view of the motor shown in fig. 1.

Fig. 3 is a front view of a modified form of the motor shown in fig. 1.

Fig. 4 is a front view of the motor shown in fig. 3.

Fig. 5 is a schematic perspective view of a modified motor shown in fig. 1.

Fig. 6 is a schematic cross-sectional view of the motor shown in fig. 5.

Fig. 7 is a front view of a modified form of the motor shown in fig. 1.

Fig. 8 is a schematic perspective view of the motor shown in fig. 7.

Fig. 9 is a schematic perspective view of a modified motor shown in fig. 1.

Fig. 10 is a schematic cross-sectional view of the motor shown in fig. 9.

Fig. 11 is a schematic perspective view of a motor according to an embodiment of the second class of embodiments of the present invention.

Fig. 12 is a schematic perspective view of a motor 20 according to a modification of the second embodiment of the present invention.

Fig. 13 is a cross-sectional view of the motor shown in fig. 12.

Fig. 14 is a schematic cross-sectional view of the motor shown in fig. 12.

Fig. 15 is a schematic perspective view of a motor according to a modification of the third embodiment of the present invention.

Fig. 16 is a top view of the motor shown in fig. 15.

Fig. 17 is a schematic cross-sectional view of the motor shown in fig. 16.

Fig. 18 is an enlarged schematic view of the motor shown in fig. 17.

Fig. 19 is a schematic perspective view of a motor 40 according to a fourth embodiment of the present invention.

Fig. 20 is a top view of the motor 40 shown in fig. 19.

Fig. 21 is a schematic cross-sectional view of the motor shown in fig. 20.

FIG. 22 is a schematic perspective view, partially in section, of a modified embodiment of one embodiment of the fourth class of embodiments of the present invention.

Fig. 23 is a schematic partial sectional perspective view of a motor according to an embodiment of the fifth class of embodiments of the present invention.

Fig. 24 is a partial perspective view of the motor shown in the figures.

Fig. 25 is a prism shape applied to two motors in the sixth embodiment of the present invention.

Fig. 26 is a schematic structural view of a modified example of the shape of the first prism shown in fig. 25.

Fig. 27 is a partial sectional view of the driving device of the present invention.

FIG. 28 is a schematic side view of a prism in an alternative embodiment of the driving device of the present invention.

Fig. 29 is a schematic sectional view of a motor in one embodiment.

Fig. 30 is a schematic cross-sectional view of the driving device shown in fig. 18 according to the present invention.

Fig. 31 is a flowchart of a method of operating the drive device.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.

It should be noted that the ring shape mentioned herein is not limited to a regular ring shape.

Referring to fig. 1-2, fig. 1 is a front view of a motor according to an embodiment of the first embodiment of the present invention, and fig. 2 is a schematic perspective view of a motor 10 shown in fig. 1. As shown in fig. 1, the motor 10 is a hollow cylindrical structure, that is, the middle part of the motor 10 has an accommodating space. Specifically, the electric machine 10 includes a rotor assembly 11, a stator assembly 13, and a positioning assembly 15 that cooperate with one another. Wherein, the rotor assembly 11 is used for driving to make the rotor assembly 11 rotate around 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, and the hollow portion 11a is used for accommodating a load, that is, the load is fixed on the inner wall 112 and is at least partially located in the hollow portion 11 a. It will be appreciated that the stator assembly 13 is fixed in position relative to the rotational axis of the motor 10 and does not move relative to the rotational axis, while the rotor assembly 11 is able to move relative to the stator assembly 13.

The stator assembly 13 includes at least two stators 13a that are axially symmetric to each other or rotationally symmetric around the rotation axis, and are disposed around the outer side of the rotor 11, that is, the motor 10 of the present embodiment is configured as an inner rotor.

The positioning member 15 is located outside the hollow portion 11a and is used for limiting the position of the rotor assembly 11 in the rotation axis direction, that is, limiting the rotor assembly 11 from moving in the rotation axis direction when rotating around the rotation axis 111. It should be noted that the rotating shaft 111 is not a physically existing element, but is assumed to be a rotating center of the rotor assembly 11. The positioning assembly 15 has at least two positioning elements 15a, which are arranged in an axially symmetrical manner or in a rotationally symmetrical manner about a rotational axis.

Further, the number of the stators 13a of the stator assembly 13 and the number of the positioning members 15a of the positioning assembly 15 may be the same or different, and projections of the stators 13a and the positioning members 15a on a plane (not shown) perpendicular to the direction of the rotating shaft 111 are at least partially located on the same circumference, wherein the circumference is centered on the rotating shaft 111, and in addition, projections of the stators 13a and the positioning members 15a on the rotating shaft 111 are mutually overlapped. In other words, the stator assembly 13 and the positioning assembly 15 are located on substantially the same circumference centered on the rotation axis 111, or the stator assembly 13 and the positioning assembly 15 are located at substantially the same distance from the rotation axis 111. In addition, the stator assembly 13 and the positioning assembly 15 are arranged at intervals of projection on a plane perpendicular to the direction of the rotation shaft 111.

It can be understood that the rotor assembly 11 and the stator assembly 13 in the motor 10 rotate relatively, wherein the rotor assembly 11 can be a magnetic element, and correspondingly, the stator assembly 13 is a coil winding which generates an electromagnetic field when being electrified; conversely, the rotor assembly 11 may be a coil winding that generates an electromagnetic field when energized, and correspondingly, the stator assembly 13 is a magnetic element.

Specifically, in the present embodiment, the rotor assembly 11 is a hollow cylindrical structure, and includes a magnetic yoke 113 and a magnet 114, which are both hollow closed ring structures, and the magnetic yoke 113 and the magnet 114 are stacked and fixed to each other in a radial direction (a direction perpendicular to the rotating shaft 111), where the magnet 114 is located outside the magnetic yoke 113, and central axes of the magnetic yoke 113 and the magnet 114 coincide with the rotating shaft 111. It will be appreciated that the inner surface of the yoke 113 forms the inner wall 112 of the motor 10.

The stator assembly 13 is disposed outside the magnet 114 in the rotor assembly 11 in a ring shape, and includes two stators 13a that are axisymmetrical with respect to the rotating shaft 111, and of course, the two stators 13a may also be symmetric by rotating around the rotating shaft 10 by a certain angle of 180 ° (hereinafter referred to as rotational symmetry).

Each stator 15a has an overall arc shape centered on the rotating shaft 111, and each stator 15a is wound with a coil winding (not shown), wherein the stator 15a generates an electromagnetic field when energized by the coil winding.

The positioning assembly 15 comprises at least one annular or hollow cylindrical positioning element 15 a. In the embodiment, the central axis of the positioning element 15a is parallel to the rotating shaft 111 and is spaced apart by a predetermined distance. The positioning assembly 15 includes four positioning members 15a which are axisymmetrical with respect to the rotating shaft 111, and of course, two positioning members 15a may be axisymmetrical (hereinafter, simply referred to as rotational symmetry) by rotating them by a certain angle of 90 ° around the rotating shaft 111. Each of the two stators 13a is disposed between adjacent positioning members 15 a.

Of course, please refer to fig. 3-4, which are a front view and a schematic perspective view of a modified embodiment of the arrangement positions of the stator assembly 13 and the positioning assembly 15 in the motor 10 according to an embodiment of the first class of embodiments of the present invention, respectively. As shown in fig. 3 and 4, the number of the stators 13a may also be the same as the number of the positioning elements 15a, and the arrangement position of the stators 13a may be that one stator 13a is included between any two adjacent positioning elements 15a, or the stators 13a and the positioning elements 15a are arranged at intervals one by one, and of course, 2 stators 13a may also be arranged between two adjacent positioning elements 15a as long as the magnetic field generated by the stators 13a is ensured to be axisymmetric. In addition, a plurality of positioning members 15a may be included between the two stators 13a, as long as the positioning members 15a are balanced with respect to the position limiting effect of the rotor assembly 11. By analogy, the number of the stators 13a is also less than that of the positioning elements 15a, and the specific configuration manner can refer to the foregoing manner and is not described again.

Alternatively, please refer to fig. 5, which is a schematic perspective view illustrating an embodiment of a change in a setting position of a stator assembly 13 in a motor 10 according to an embodiment of the first class of embodiments of the present invention. The projections of the stator 13a in the stator assembly 13 and the positioning element 15a in the positioning assembly 15 on a plane parallel to the rotating shaft 112 do not overlap, in other words, the stator assembly 13 and the positioning assembly 15 are disposed in a vertically staggered manner in the direction of the rotating shaft 112, and are not located on the same circumference.

In some embodiments, the rotor assembly includes a yoke and a magnet coupled to an outer periphery of the yoke. Alternatively, the area of the magnet may cover the entire outer periphery of the yoke, i.e. the side of the stator assembly 13 opposite the magnet, and the positioning assembly 15 in rolling contact with the magnet. Alternatively, the area of the magnet may cover only a portion of the periphery of the yoke, for example, only the upper half periphery of the yoke in fig. 5 (not shown), such that the side of the stator assembly 13 faces the magnet and the positioning assembly 15 directly contacts the yoke in a rolling manner.

Further, as shown in the figure, the motor 10 further includes a ring-shaped fixing frame 17 to position the plurality of positioning members 15a in the positioning assembly 15 at predetermined positions. Specifically, the fixing frame 17 is a hollow annular base 171 and a plurality of positioning pins 172 vertically extending from the base, wherein the base 171 is an annular structure with the rotating shaft 111 as a center, the base 171 is fixed on a base or a housing of the motor 10, and the positioning pins 172 are inserted into the positioning members 15a to position the positioning members 15 a. The positioning pins 172 are provided corresponding to the positioning members 15 a.

Preferably, the positioning element 15a can rotate around the positioning pin 172, that is, when the rotor assembly 11 rotates around the rotating shaft 111, the positioning element 15a can be driven to rotate around the positioning pin 172, that is, the stator 15a serves as a rotating portion, and the positioning pin 172 serves as a fixing portion. It is understood that the positioning pin 172 can be integrated with the positioning member 15a only by ensuring that the positioning member 15a can rotate relative to the positioning pin 172, and then the positioning pin 172 is fixedly connected to the base 171.

Alternatively, please refer to fig. 6 to 7, which are a front view and a perspective view of a modified embodiment of the stator assembly 13 structure and the setting position in the motor 10 according to an embodiment of the first class of embodiments of the present invention. Similar to the embodiment shown in fig. 5, the projections of the stator 13a in the stator assembly 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 disposed above and below in the direction along the rotating shaft 112 and are not located on the same circumference. Unlike the embodiment shown in fig. 5, in the embodiment shown in fig. 5, the stator assembly 13 includes at least two stators 13a, the at least two stators 13a being disposed around the outside of the rotor assembly 11; in the embodiment shown in fig. 6-7, the stator assembly 13 is generally in the form of a closed-circle ring-shaped structure centered on the axis of rotation 112; the positioning assembly 15 includes a plurality of positioning members 15a, and the plurality of positioning members 15a are respectively disposed around the rotor assembly 11. Alternatively, in some embodiments, the positioning assembly 15 may include a positioning member having an overall annular structure, which is disposed around the outside of the rotor assembly 11; the stator assembly 13 includes at least two arc-shaped stators 13a, and the at least two stators 13a are respectively disposed outside the rotor assembly 11.

Alternatively, please refer to fig. 8 to 9, which are a schematic perspective view and a schematic cross-sectional view along the line X-X of a structure of the stator assembly 13 and the positioning assembly 15 of the motor 10 according to an embodiment of the first embodiment of the present invention. Similar to the embodiment shown in fig. 5, the projections of the stator 13a in the stator assembly 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 disposed above and below in the direction along the rotating shaft 112 and are not located on the same circumference. Unlike the embodiment shown in fig. 5, in the embodiment shown in fig. 5, the stator assembly 13 includes at least two stators 13a, and the positioning assembly 15 includes at least two positioning members 15 a; in the embodiment shown in fig. 8-9, the stator assembly 13 and the positioning assembly 15 are integrally formed as a closed ring structure centered on the rotating shaft 112, and are respectively sleeved outside the rotor assembly 11.

In each of the above embodiments, the positional relationship between the rotor assembly and the stator assembly is: the stator assembly surrounds the outside of the rotor assembly. In some embodiments, the portions of the stator assembly and the rotor assembly that generate the force therebetween may be disposed up and down along the rotation axis. For example, the rotor assembly includes at least one magnet, and the at least one magnet and the stator assembly are disposed up and down in the direction of the rotational axis.

Please refer to fig. 10, which is a schematic perspective view of a motor 20 according to a second 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 has a different structure from the rotor assembly 11.

Referring to fig. 10, the rotor assembly 21 further includes a yoke 213 coupled to at least one magnet 214, the yoke 213 including a first portion disposed around the rotation axis 211 and a second portion coupled to the first portion, the inner wall including the first portion, the at least one magnet 214 being fixed to the second portion of the yoke 213.

Specifically, in the present embodiment, the rotor assembly 21 has a generally hollow cylindrical structure, and includes a yoke 213 and a magnet 214, both of which have a hollow closed ring structure, and have central axes coincident with the rotating shaft 211. In some embodiments, the one ring-shaped magnet 214 may be replaced by at least two arc-shaped magnets 214, and the at least two arc-shaped magnets are located on the same ring.

The yoke 213 includes a circular ring-shaped base 2131 (i.e., the first portion disposed around the rotation axis 211) and a connecting portion 2133 (i.e., the second portion of the second portion coupled to the first portion), wherein the base 2131 extends along the rotation axis 211, and the connecting portion 2133 extends from one end of the base 2131 along a direction perpendicular to the rotation axis 211. The yoke 213 is shaped like a gamma in a cross-section along the direction of the rotation axis 211. Of course, the base 2131 and the connecting portion 2133 may be formed integrally.

The plurality of positioning members 25a of the positioning assembly 25 and the stators 23a of the stator assembly 23 are alternately arranged around the outside of the circular ring shaped base 2131 and at one side of the connecting member 2133. Each positioning element 25a is in rolling contact with the outside of the annular base 2131.

Specifically, the motor 20 further includes a fixing bracket 27 for fixing the positioning member. The fixing frame 27 is a hollow annular base 271 and a plurality of positioning pins 272 extending vertically from the base, wherein the positioning pins 272 are inserted into the positioning element 25a, and the positioning pins 272 and the fixing portion of the positioning element 25a are fixed to each other, so as to position the positioning element 25 a. It will be appreciated that the positioning pins 272 are arranged to correspond to the positioning members 25 a.

The magnet 214 is also a hollow circular ring plane structure, that is, the width of the magnet 214 is extended along the direction perpendicular to the rotation axis 211, and the thickness direction thereof is parallel to the rotation axis 211. The connecting portion 2133 of the magnet 214 fixed to the yoke faces the positioning assembly 25 and the stator assembly 23.

Alternatively, please refer to fig. 11-12 for a motor 20 according to a second embodiment of the present invention, which are a schematic perspective view and a cross-sectional view of a motor 20 according to a second embodiment of the present invention. As shown in fig. 11 to 12, the magnet 214 may also be disposed on a side of the connecting piece 2133 facing away from the positioning assembly 25, and the stator assembly 25 is also disposed on a side of the magnet 29 facing away from the connecting piece 2133, in other words, each positioning piece 25a in the positioning assembly 25 and the stator 23a in the stator assembly 23 are located on opposite sides of the magnet 214 along the rotation axis direction.

Referring to fig. 13-15, fig. 13 is a schematic perspective view of a motor 30 according to a third embodiment of the present invention. Fig. 14 is a plan view of the motor 40 shown in fig. 13, and fig. 15 is a sectional structure view of the motor shown in fig. 14. The structure of the motor 40 is similar to the structure of the motor 10 in the first embodiment, except for the structure of the

stator assemblies

33, 13, and the structure of the

positioning assemblies

35, 15. The rotor assembly 31, the stator assembly 33, and the positioning assembly 35 are stacked in order in a radial direction extending outward from the rotating shaft 311, that is, the stator assembly 33 surrounds the positioning assembly 35 with the rotating shaft 311 as a center.

Specifically, as shown in fig. 13 to 15, the rotor assembly 31 has a hollow ring-shaped structure as a whole. The rotor assembly 31 includes a yoke 313 and a magnet 314 stacked in order in a radial direction extending outward around the rotation shaft 311, wherein the yoke 313 and the magnet 314 are both hollow cylindrical or annular structures, and the magnet 314 is fixed to an outer surface of the yoke 313. The inner surface of the yoke 313 is also the inner wall 312 of the motor 30.

The entire stator assembly 33 has a hollow annular structure, but the stator assembly 33 may alternatively be a part of an annular structure centered on the rotation shaft 311. In this embodiment, the stator assembly 343 may be a plurality of coil windings arranged in axial symmetry at positions on a circumference around the rotating shaft 311, and may be changed, and in other embodiments, the stator 33a in the stator assembly 33 may be a coil winding having an annular structure as a whole, which 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, the plurality of rolling bodies 35a are respectively in rolling connection with the rotor assembly 31 and the stator assembly 33, that is, the rolling bodies 35a can roll relative to the rotor assembly 31 and the stator assembly 33, so that when the position of the stator assembly 33 is relatively fixed, the rotor assembly 31 can rotate relative to the stator assembly 33, and meanwhile, the plurality of rolling bodies 35a can limit the position of the rotor assembly 31 and prevent displacement during rotation of the rotor assembly 31. Preferably, the rolling bodies 45a are made of a non-magnetic conductive material to prevent interference with the magnetic field between the rotor assembly 31 and the stator assembly 33.

Further, in order to facilitate defining the arrangement positions of the plurality of rolling elements 35 in the positioning assembly 35, a first groove 315 is formed on the surface of the rotor assembly 31 facing the stator assembly 33, a second groove 335 is formed on the surface of the stator assembly 33 facing the rotor assembly 31, the first groove 315 and the second groove 335 form a guide rail 39, and the plurality of rolling elements are partially located in the guide rail 39. It can be understood that the first recess 335 and the second recess 335 are both ring-shaped structures centered on the rotation shaft 411. Meanwhile, the first groove 335 is provided on an outer surface of the magnet 314 away from the yoke 313.

Alternatively, as shown in fig. 16, the positioning assembly 35 further includes a plurality of spacers 35b for fixing the plurality of rolling bodies 35a, wherein the spacers 35b are integrally formed in a ring shape around the rotating shaft 311, and are used for fixing the positions of the plurality of rolling bodies 35a along the rotating shaft 311 and in the circumferential direction perpendicular to the rotating shaft. Fig. 16 is a schematic partial cross-sectional perspective view of a modified embodiment of the fourth embodiment of the present invention.

The spacer 35b is provided with a plurality of through holes 35c, and the plurality of through holes 35c match the shape and size of the rolling bodies 35a to position the rolling bodies 35 a. Here, the rolling body 35a is disposed in the through hole 35c, so that the rolling body 35a is effectively prevented from being displaced in the direction of the rotating shaft 311 and in the circumferential direction perpendicular to the rotating shaft 411.

Referring to fig. 17-18, fig. 17 is a schematic diagram illustrating a partial cross-sectional perspective structure of a motor 40 according to a fourth embodiment of the present invention, and fig. 18 is a partial perspective view of the motor 40 shown in fig. 23. As shown in fig. 17-18, in the present embodiment, the motor 40 is hollow and cylindrical as a whole, and has an outer rotor structure. The motor 40 is a hollow cylindrical structure, that is, the middle part of the motor 40 has an accommodating space. Specifically, the electric machine 40 includes a rotor assembly 41, a stator assembly 43, and a positioning assembly 45 that cooperate with one another. The stator assembly 43 is used to drive the rotor assembly 41 to rotate around the rotating shaft 411.

Specifically, the rotor assembly 41 has a hollow cylindrical structure, and includes a yoke 413 and an annular magnet 414, both of which have a hollow closed ring structure, and the central axes of which coincide with the rotating shaft 411.

The magnetic yoke 413 includes two parts, namely, an annular base 4131 and a connecting portion 4133, which are connected perpendicularly to each other, wherein the base 4131 is formed to extend along the direction of the rotating shaft 411, the connecting portion 4133 is formed to extend from one end of the base 4131 first along the direction perpendicular to the rotating shaft 411 and then parallel to the direction of the rotating shaft 511, and an annular accommodating cavity is formed between the base 5131 and the connecting portion. The yoke 413 has a section of "Jiong" along the direction of the rotation axis 511, and the receiving cavity formed by the base 4131 and the connecting portion 2133 is defined as the guide rail 49. Of course, the base 4131 and the connecting portion 4133 may be integrally formed.

The magnet 414 is also of a hollow ring configuration and the magnet 414 is secured to the rail 49 on the side of the attachment portion 4133 adjacent the base 4131.

Correspondingly, the positioning assembly 45 is integrally formed in a ring structure, and is connected to the base 4133 of the guide rail 49 on a side thereof adjacent to the connecting portion 4133 in a rolling manner, i.e., the rotor assembly 41 can rotate relative to the positioning assembly 45.

The positioning assembly 45 is fixed to other parts of the motor 40 by a fixing frame 47, for example, a base or a housing of the motor 40, wherein the fixing frame 47 is disposed on a side of the guide rail 49, which is far away from the base 4131, of the fixing assembly 45. The positioning assembly 45 is used to prevent the rotation axis direction of the rotor assembly 41 from being displaced or even disengaged.

The stator assembly 43 is a hollow ring structure and is centered on the rotation shaft 411, wherein the stator assembly 43 is located in the guide rail 49 and between the positioning assembly 45 and the magnet 414 of the rotor assembly 41, and more specifically, the stator assembly 43 is located between the fixing frame 47 and the magnet 414. Alternatively, the stator assembly 43 may have a plurality of circular arc structures centered on the rotating shaft 411 and have positions that are axisymmetrical with each other.

An embodiment of the present invention further provides a driving apparatus, including any one of the motors described above. In some embodiments, the drive device may further comprise two motors arranged side by side, the two hollow motors being arranged adjacent to each other and rotating around the same axis of rotation. In some embodiments, the two hollow motors rotate at different speeds. In some embodiments, the two hollow motors are secured to each other by a bracket.

For example, as shown in fig. 17-18, two motors 40 in the driving device are independently arranged in the direction of the rotating shaft 411, wherein the two motors 40 can be respectively defined as 40a and 40b, and the two motors 40 are independently arranged and can rotate around the rotating shaft 411 at the same or different speeds. In particular, the fixing frame 47 can fix two positioning assemblies 43 at the same time, so that the two motors 40 are combined with each other into a single body, i.e. into the driving device 43.

As can be seen from the aforementioned first to fourth embodiments of the motor 10-40 of the present invention, the rotor assemblies 11-41 rotate around the

rotating shaft

111 and 411, the annular inner wall 112 and 412 form the hollow portions 11a-41a, and the stator assemblies 13-43 are used to drive the rotating assemblies 11-41 to rotate around the

rotating shaft

111 and 411. Meanwhile, the positioning members 15-45 are located outside the hollow portions 11a-41a, effectively restricting the rotation of the rotor members 11-41 around the rotation shaft 111-411.

Further, in the foregoing embodiment, the rotor assemblies 11-41 are all composed of the magnetic yoke 113 and the magnet 114 and the magnet 414, and correspondingly, the stator assemblies 13-43 include coil windings, in other words, the stator assemblies 13-43 generate electromagnetic fields when being powered, and the electromagnetic fields drive the magnetic rotor assemblies 11-41 to rotate.

Alternatively, the rotor assembly 11-41 includes coil windings and the stator assembly 13-43 is formed by a yoke and magnets, in other words, the rotor assembly 11-41 generates an electromagnetic field when energized, which cooperates with the stator assembly 13-43 having magnetic properties to rotate the rotor assembly 11-41 driven thereby.

Still further, corresponding to the

motors

10 and 30 of the foregoing embodiments, the rotor assemblies 11-31 are located at the middle positions, and the stator assemblies 13-33 are disposed around the outer sides of the rotor assemblies 11-31, more specifically, the magnets for generating the magnetic field in the rotor assemblies 11-31 are located at the inner sides of the stator assemblies 13-33 adjacent to the

rotating shaft

111 and 311, in other words, the

magnets

114 and 314 for generating the magnetic field in the rotor assemblies 11-31 are located at the inner sides of the stator assemblies 13-33 adjacent to the

rotating shaft

111 and 311.

Of course, alternatively, corresponding to the motor 20 shown in fig. 10-12 of the second embodiment, the portion of the rotor assembly 21 for generating the magnetic field and the stator assembly 23 are disposed above and below the rotating shaft 211, that is, the magnet 414 and the stator assembly 23 of the rotor assembly 21 are disposed above and below the rotating shaft 211, and the yoke 213 includes two portions, a base 2131 extending along the rotating shaft to form the inner wall 212 and a connecting portion 2133 extending along a direction perpendicular to the rotating shaft 211 (radial direction), and meanwhile, the width direction of the magnet 214 extends along the radial direction and is fixed to the connecting portion 2133 of the yoke 213, and correspondingly, in order to enable the magnet 214 and the stator assembly 23 to better cooperate, the magnet 213 is disposed adjacent to the stator assembly 23, that is, the coil winding of the magnet 213 generating the electromagnetic field and the stator assembly 23 are located on the same side of the yoke 213 in the rotating shaft direction, so that the positioning assembly 45 can be located on the same side of the yoke connecting portion 2133 as the stator assembly 43, and can also be a portion Are arranged on two opposite sides of the rotating shaft direction.

Of course, it is alternatively possible that, for the electric machine 40, the portion of the rotor assembly 41 used to generate the magnetic field is located outside the stator assembly 43 away from the focus 411, i.e. the magnets 414 in the rotor assembly 41 are located outside the coil windings in the stator assembly 43. Specifically, the yoke 413 and the yoke 413 of the rotor assembly 41 at least include a base 4131 and a connecting portion 4133, wherein the base 4131 surrounds the rotating shaft 411 and forms the 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 on the connecting portion 4133, and the stator assembly 43 is located inside the magnet 414 adjacent to the rotating shaft 411, in other words, the magnet 414 is located outside the stator assembly 43 away from the rotating shaft 411. Of course, the magnet 414 may be a hollow ring shape closed in the circumferential direction, or may be an arc structure having a circumference centered on the rotation shaft 411 and symmetrical in the rotation shaft direction in position.

In addition, in the foregoing embodiment, the stator assembly 13 includes at least two stators 13a, each stator 13a correspondingly includes a coil winding capable of generating an electromagnetic field when being energized, and corresponding to the motor 10 of the first embodiment as shown in fig. 1 to 4, the positioning assembly 15 includes at least two positioning members 15a, wherein the at least two stators 13a and the at least two positioning members 15a are at least partially disposed alternately around the rotating shaft 111. The positioning members 15a are axially symmetrically disposed on a circumference centering on the rotation shaft 111, and are fixed with respect to one of the rotor assemblies 11 to 41 and the stator assemblies 13 to 43 and rotate with respect to the other. The number of the positioning pieces 15a may be larger than that of the stators 13a as shown in fig. 1, one stator is disposed between two adjacent positioning pieces 15a, and the plurality of stators 13a are disposed in axial symmetry with each other; also, the number of the stator 13a and the positioning element 15a is equal to that shown in fig. 3, the positioning element 15a and the stator 13a are alternately arranged in sequence, and the positioning element 15a and the stator 13a are axisymmetric or rotationally symmetric with respect to the rotating shaft 111. Of course, at least one stator 15a is disposed between two adjacent positioning members 15a, and one positioning member 15a is disposed between two adjacent stators 13 a.

In the foregoing embodiment, the stator assembly 13 and the positioning assembly 15 are arranged in the direction of the rotation shaft 111. As shown in fig. 5, the stator assembly 13 includes a plurality of axisymmetric stators 13a at a plurality of positions, and a plurality of positioning members 15a are also axisymmetric, but are disposed up and down in the direction of the rotation axis, that is, projections on the rotation axis 111 do not coincide. Further, as shown in fig. 6-8, the stator assembly 13 is a circular ring structure, and the positioning assembly 15 includes a plurality of positioning members 15a arranged in an axisymmetric manner, but it is a matter of course that the stator assembly 13 may also be arranged in a plurality of axisymmetric manners. In addition, as shown in fig. 9, the stator assembly 13 and the positioning assembly 15 are both in a ring structure.

In the foregoing embodiments, the stator assembly may surround the positioning assembly with the rotating shaft as a center, or the positioning assembly surrounds the stator assembly with the rotating shaft as a center. As shown in fig. 13-15, the stator assembly 33 is wrapped around the outside of the positioning assembly 35. Of course, the positioning assembly surrounds the stator assembly outside about the axis of rotation.

In the foregoing embodiment, the rotor assemblies 11-41 are all at least partially formed by the

magnetic yoke

113 and 114 as the inner wall 112 and 412, and alternatively, the

magnet

113 and 413 in the rotor assemblies 11-41 may also be formed as the inner wall, or a component is additionally connected to the rotor 11-41 as the inner wall.

Referring to fig. 19-22, fig. 19 is a schematic perspective view of a motor 50 according to a fifth embodiment of the present invention; FIG. 20 is a top view of the motor 30 shown in FIG. 19; fig. 20 is a schematic sectional view of the motor shown in fig. 19, and fig. 22 is an enlarged schematic structural view taken along XXII shown in fig. 21. As shown in fig. 19-22, the motor 50 of the present embodiment is substantially the same as the motor 10, i.e., the

stator assemblies

53 and 33 and the

positioning assemblies

15 and 55 of the two embodiments have the same structure, except that the rotor assembly 31 and the rotor assembly 51 have different structures.

Specifically, as shown in fig. 19 to 22, the rotor assembly 51 has an overall hollow cylindrical structure, and includes a yoke 513 and an annular magnet 514, both of which have a hollow circumferentially closed ring structure, and the central axes of both of which coincide with the rotating shaft 511.

The magnetic yoke 513 includes two connecting portions 5133 perpendicular to each other and connecting the annular base 5131 with a predetermined distance therebetween, wherein the base 5131 is formed to extend along the direction of the rotation axis 511, and the two connecting portions 5133 extend from two ends of the base 5131 along the direction perpendicular to the rotation axis 511. The yoke 513 has a cross section in the direction of the rotation axis 511 in the shape of a [ ", and the base 5131 and the two connecting portions 5133 form a guide rail 59. Of course, the base 5131 and the two connecting portions 5133 may be integrally formed.

The magnet 514 is also a hollow cylinder structure and extends along the direction of the rotation axis 511 as a whole, wherein the magnet 514 is fixed outside the base 5132 in the radial direction, that is, the magnet 514 and the base 5132 are stacked in sequence along the radial direction away from the rotation axis 511.

Correspondingly, the plurality of positioning members 55a of the positioning assembly 55 and the stator 53a of 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 and even disengaged.

Preferably, a protective liner is further disposed on the surface of the guide rail 59, or the surface of the guide rail 59 is further coated with grease or lubricating oil, so as to reduce the friction between the positioning assembly 55 and the rotor assembly 51 and the stator assembly 53.

It is understood that in the foregoing embodiments, the rotor assemblies 11-51 are provided with guide rails, and the stator assemblies 13-53 and the positioning assemblies 15-55 are partially or completely accommodated in the guide rails, and alternatively, the guide rails 59 may be provided on the positioning assemblies 15-55, and the rotor assemblies 11-51 partially abut against the guide rails. It can be seen that the guide rails are used to reduce the wobbling of the rotor assembly in the direction of the rotation axis.

In this embodiment, when the motor 50 is operated, the rotor assembly 51 will pull the positioning assembly 55 to move to the predetermined position along the direction of the rotation axis 511 under the magnetic force generated by the electromagnetic field of the stator assembly 53, so as to eliminate the play of the positioning assembly 5 in the direction of the rotation axis.

In some embodiments, the motor further comprises a load fixedly connected within the hollow portion of the motor and rotating synchronously with the rotor assembly of the motor. Optionally, the load is an optical element. Optionally, the optical element is a prism or a lens. Optionally, the prism has different thicknesses along the radial direction, so that when the prism rotates along with the rotor assembly of the motor, a light beam incident from one side of the prism is refracted by the prism and emitted, and when the rotor assembly rotates to different angles, the light beam can be refracted to different directions and emitted.

Optionally, the optical element has an asymmetric shape. Further, optionally, the motor further includes a weight block disposed in the hollow portion of the motor, for improving dynamic balance when the optical element rotates together with the rotor assembly. The arrangement of the configuration block in the hollow part of the motor can be various. For example, the weight member is discontinuous in position on the inner wall of the hollow portion in a direction perpendicular to the rotation axis in projection onto the optical element. Or the clump weight is continuous in position on the inner wall of the hollow part along the direction perpendicular to the rotating shaft in the projection of the optical element. Or the volume and the weight of the counterweight block at different positions along the direction of the rotating shaft are different. Or the balancing weight is arranged between the optical element and the inner wall and used for fixing the optical element on the inner wall and improving the dynamic balance when the optical element and the rotor assembly rotate together.

Alternatively, the configuration block may be disposed not in the hollow portion of the motor but in a position other than the hollow portion of the motor, and is not limited herein.

Alternatively, instead of adding a configuration block to the motor to improve the dynamic balance when the optical element rotates with the rotor assembly, the motor may remove some weight at the edge of the optical element to improve the dynamic balance when the optical element rotates with the rotor assembly. For example, the edge of the thicker portion of the optical element is formed with a notch for improving the dynamic balance when the optical element rotates together with the rotor assembly. Of course, it is also possible to incorporate a weight block and remove some weight at the edge of the optical element to improve the dynamic balance of the optical element as it rotates with the rotor assembly.

Please refer to fig. 23, which shows the shape of the prisms fixed to the hollow portions of the two

motors

60a and 60b, respectively, according to the sixth embodiment of the present invention. The two

motors

60a and 60b respectively include a first prism 100a and a second prism 100 b. The first prism 100a is fixed in the inner wall 612 of the motor 60, and the second prism 100b is fixed in the inner wall 512 of the motor 60 b. The first prism 100a and the second prism 110b rotate around the rotation shaft 612 at different speeds independently by the two

motors

60a and 60 b. It is understood that the manner of fixing the load in the

motors

20, 30, 40, and 50 according to other embodiments is the same, and the description thereof is omitted here.

Specifically, 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 of the first prism 100a and the second prism 100b are different.

The first prism 100a includes two opposite first and second

optical surfaces

101 and 102 passing through the rotation axis 611, wherein the first and second

optical surfaces

101 and 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 and second

optical surfaces

101 and 102 passing through the rotation axis 611, wherein the first and second

optical surfaces

101 and 102 are not parallel to each other. In this embodiment, the first optical surface 101 and the second optical surface 102 are both planar, but the two optical surfaces may not be planar, and the invention is not limited thereto.

As shown in fig. 23, it further illustrates the optical paths of the

first prisms

100a, 100b at two different times when the two

motors

60a, 60b rotate at different speeds.

As shown in fig. 23, the incident light L1 enters the second optical surface 102 of the second prism 100b along the direction of the rotation axis 511, and then is transmitted to the first prism 100b through the second prism 100b and exits from the first optical surface 101 thereof, thereby forming an exiting light L2, wherein the exiting light L2 is located at the right side of the rotation axis 611. At another point in time, as shown in fig. 23, since the positions of the first prism 100a and the second prism 100b are no longer the same, the outgoing light L3 is located on the left side of the rotating shaft 511.

It can be seen that different driving devices 5 have different angles of outgoing light rays at different times by the two first prisms 100a and the second prism 100b having different rotational speeds.

In the present embodiment, the prism 100 is fixed in the motor 60 as a load, but in other embodiments of the present invention, other elements may be used as a load, for example, an optical element such as a lens for transmitting light, or an element such as a cable may also be fixed in the motor 50 as a load.

Fig. 24 is a schematic structural diagram of a modified example of the shape of the first prism 100a shown in fig. 23. As shown in fig. 24, the first optical surface 101 and the second optical surface 102 intersect at different angles. Alternatively, the first optical surface 101 or the optical surface 102 is an optical surface having a saw-tooth shape.

Please refer to fig. 25, which is a schematic partial sectional view of a driving device 7 according to the present invention. The prism 200 is fixed on an 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. When the prism 200 is not centrally symmetrical with respect to the rotation shaft 711, the weight 72 is used to keep the rotor assembly 71 balanced whether rotating or stationary, i.e., to improve the dynamic balance when the prism 200 rotates together with the rotor assembly 71.

Specifically, 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, wherein projections of the

sub-optical surfaces

201a, 201b, 201c, 201d on an inner wall 712 along a direction perpendicular to a rotation axis 711 are continuous but do not coincide.

Corresponding to the plurality of

sub-optical surfaces

201a, 201b, 201c, 201d of the first optical surface 201 of the prism 200, the weight 72 includes corresponding sub-weight sub-portions 72a, 72b, 72c, 72d, wherein the sub-weight sub-portions 72a, 72b, 72c, 72d are continuous in position in a direction perpendicular to the rotation axis 711 on the projection of the prism 200.

The corresponding relationship between the installation position, weight and volume of the

weight sub-portions

72a, 72b, 72c and 72d on the inner wall 712 and the

sub-optical surfaces

201a, 201b, 201c and 201d is as follows:

as shown in fig. 27, P1 represents the mass unbalance amount decomposed to the Z1 plane, P2 represents the mass unbalance amount decomposed to the plane, V represents the volume, Z is an integral variable representing the height of the plane, ρ represents the material density,

indicating the orientation of the particle.

Preferably, the density of the configuration block 72 is greater than that of the prism 200, so that the weight block 72 has a smaller volume and the influence on the optical path of the prism 200 is reduced.

Alternatively, please refer to fig. 26, which is a schematic side view of a prism in an alternative embodiment of the driving device 7 according to the present invention. The prism 300 has substantially the same structure as the prism 200, except that two opposite first optical surfaces 301 and second optical surfaces 302 of the prism 300 are both flat, wherein the first optical surface 201 and the second optical surface 202 pass through the rotation axis 511. When the prism 300 is not centrally symmetrical with respect to the rotation shaft 711, the weight 72 is used to keep the rotor assembly 71 balanced whether rotating or stationary, i.e., to improve the dynamic balance of the prism 200 rotating with the rotor assembly 71. Specifically, corresponding to the first optical surface 301 and the second optical surface 302 of the prism 300, the weight 72 includes a projection of the corresponding sub-weight portion on the prism 300, which is discontinuous in position along a direction perpendicular to the rotation axis 711.

Preferably, the shape, volume and weight of the sub-weight blocks corresponding to different positions may be different, as shown in fig. 27, which shows that the shapes of the

sub-weight blocks

72a and 72b at two different positions are different. Fig. 29 is a partial sectional view of the driving device 7 shown in fig. 28.

Preferably, when the thickness of the prism 300 in the direction of the rotation axis 711 is larger, a notch may be formed at a corresponding position of the inner wall 712, that is, when the weight block 72 is used to increase the weight of the corresponding position of the rotor assembly 71, that is, the position indicated by "-", and the weight block may be used to decrease the weight of the rotor assembly at a corresponding position, that is, the position indicated by "+" in the figure. Alternatively, a notch "-" is formed at an edge of a region where the prism 300 has a large thickness in the direction of the rotation shaft 711, for improving the balance when the prism 300 rotates together with the rotor assembly 71.

Compared with the prior art, the motor 10-70 has a hollow accommodating space in the middle portion, i.e. the

hollow portion

112 and 712, so that the load, such as the optical element, can be prevented from being in the

hollow portion

112 and 712, and therefore, the volume of the driving device using the motor 10-70 can be effectively reduced. Meanwhile, a positioning assembly is further arranged between the

hollow portion

112 and 712 of the rotor assembly 11-71 and the stator assembly 13-73, so that the rotation of the rotor assembly 11-71 around the

rotating shaft

111 and 711 can be effectively limited, that is, the position of the rotor assembly 11-71 in the direction of the rotating shaft can be effectively limited, and can be prevented from being regarded or disengaged.

In various embodiments, the positioning element includes a rotating portion, a fixing portion, and a rolling body, and the rotating portion is coupled to the fixing portion through the rolling body, so that the rotating portion rotates relative to the fixing portion. Because of the reason of manufacturing process, the rotating part is in relative to the fixed part can produce slight motion in the direction of pivot, leads to when the motor work, and the rotating part of setting element can rock in the direction of pivot, produces the noise. In connection with the embodiments shown in the figures, a solution for reducing the play of the rotating part of the positioning element in the axial direction will be provided.

In the embodiment shown in fig. 1-4, the edges of the stators 13a in the stator assembly 13 and the edges of the rotor assembly 11 are offset in the direction of the axis of rotation when the electric machine 10 is not operating. The rotating portions of the positioning members 15a in the rotor assembly 11 and the positioning assembly 15 are fitted to each other, so that the rotating portions of the positioning members 15a in the rotor assembly 11 and the positioning assembly 15 are interlocked in the rotating shaft direction.

There are various ways in which the rotating portions of the respective positioning members 15a in the rotor assembly 11 and the positioning assembly 15 are engaged with each other. For example, the rotor assembly 11 is provided with a guide rail on the periphery thereof, and the rotating portion of each positioning member 15a in the positioning assembly 15 abuts against the guide rail. Alternatively, a guide rail is provided on the periphery of the rotating portion of each positioning element 15a of the positioning unit 15, and the periphery of the rotor unit 11 abuts against the guide rail.

When the motor 10 operates, the magnetic force between the rotor assembly 11 and the stator assembly 13 pulls the rotor assembly 11 to move in the rotational axis direction so that the edge of the rotor assembly 11 is aligned with the edge of each stator 13 a. When the rotor assembly 11 moves in the rotation axis direction, the rotating portion of each positioning member 15a is pulled by the guide rail to move in the rotation axis direction, so that the rotating portion of each positioning member 15a and the fixing portion of the positioning member abut against the rolling body together. Thus, the rotating portion of each positioning member 15a is kept in rolling contact with the rotor assembly 11 in a state of abutting against the rolling body, and the rotating portion of the positioning member 15a is prevented from wobbling in the direction of the rotation axis in the rotating process.

In the embodiment shown in fig. 5, when the motor 10 is not operating, the edges of the stators 13a in the stator assembly 13 and the edges of the rotor assembly 11 are staggered in the direction of the rotation axis. The rotating portions of the positioning members 15a in the rotor assembly 11 and the positioning assembly 15 are fitted to each other, so that the rotating portions of the positioning members 15a in the rotor assembly 11 and the positioning assembly 15 are interlocked in the rotating shaft direction.

There are various ways in which the rotating portions of the respective positioning members 15a in the rotor assembly 11 and the positioning assembly 15 are engaged with each other. For example, an upper end surface of each stator 13a is higher than an upper end surface (not shown) of the rotor assembly 11. The edge of the bottom end face of the rotor assembly 11 is provided with a protruding edge, and the bottom end face of the rotating part of each positioning piece 15a in the positioning assembly 15 abuts against the protruding edge.

When the motor 10 is in operation, since the stator assembly 13 is fixed, the magnetic force between the rotor assembly 11 and the stator assembly 13 will pull the rotor assembly 11 to move upward along the rotating shaft direction, so that the edge of the rotor assembly 11 is aligned with the edge of each stator 13a, i.e. the upper end surface of the rotor assembly 11 is flush with the upper end surface of each stator 13 a. When the rotor assembly 11 moves upward in the rotation axis direction, the rotating portion of each positioning member 15a is pulled by the protrusion to move upward in the rotation axis direction, while the fixing portion of each positioning member 15a remains stationary, so that the rotating portion of each positioning member 15a and the fixing portion of the positioning member abut against the rolling elements together. Thus, the rotating portion of each positioning member 15a is kept in rolling contact with the rotor assembly 11 in a state of abutting against the rolling body, and the rotating portion of the positioning member 15a is prevented from wobbling in the direction of the rotation axis in the rotating process.

In the embodiment shown in fig. 6-7, the stator assembly 13 is positioned above the positioning assembly 15. When the motor 10 is not in operation, the edges of the stators 13a in the stator assembly 13 and the edges of the rotor assembly 11 are staggered along the rotation axis, and specifically, the upper end surface of each stator 13a is higher than the upper end surface (not shown) of the rotor assembly 11. The rotating portions of the positioning members 15a in the rotor assembly 11 and the positioning assembly 15 are fitted to each other, so that the rotating portions of the positioning members 15a in the rotor assembly 11 and the positioning assembly 15 are interlocked in the rotating shaft direction.

There are various ways in which the rotating portions of the respective positioning members 15a in the rotor assembly 11 and the positioning assembly 15 are engaged with each other. For example, the edge of the bottom end face of the rotor assembly 11 is provided with a protruding edge (not shown), and the bottom end face of the rotating portion of each positioning member 15a in the positioning assembly 15 abuts against the protruding edge.

When the motor 10 is in operation, since the stator assembly 13 is fixed, the magnetic force between the rotor assembly 11 and the stator assembly 13 will pull the rotor assembly 11 to move upward along the rotation axis, so that the edge of the rotor assembly 11 is aligned with the edge of each stator 13a, i.e. the upper end surface of the rotor assembly 11 is flush with the upper end surface of each stator 13 a. When the rotor assembly 11 moves in the rotation axis direction, the rotating portion of each positioning member 15a is pulled by the guide rail to move in the rotation axis direction, while the fixing portion of each positioning member 15a remains stationary, so that the rotating portion of each positioning member 15a and the fixing portion of the positioning member abut against the rolling elements together. Thus, the rotating portion of each positioning member 15a is kept in rolling contact with the rotor assembly 11 in a state of abutting against the rolling body, and the rotating portion of the positioning member 15a is prevented from wobbling in the direction of the rotation axis in the rotating process.

In the embodiment shown in fig. 8-9, the stator assembly 13 is positioned below the positioning assembly 15. Please refer to fig. 28, which is a schematic cross-sectional view taken along VI-VI of the motor 10 shown in fig. 9 in a non-operating state. When the motor 10 does not operate, the edge of the stator assembly 13 and the edge of the rotor assembly 11 are staggered in the rotation axis direction, and specifically, the lower end surface of the rotor assembly 11 protrudes downward compared with the lower end surface of the stator assembly 13. The rotating portions in the rotor assembly 11 and the positioning assembly 15 are fitted to each other so that the rotating portions of the rotor assembly 11 and the positioning assembly 15 are interlocked in the rotating shaft direction.

There are various ways in which the rotating portions of the rotor assembly 11 and the positioning assembly 15 may cooperate with each other. For example, the edge of the upper end surface of the positioning member 15 is provided with a protruding edge on which the rotor member 11 abuts. When the motor 10 is in operation, since the stator assembly 13 is fixed, the magnetic force between the rotor assembly 11 and the stator assembly 13 will pull the rotor assembly 11 to move upward along the rotating shaft direction, so that the edge of the rotor assembly 11 is aligned with the edge of the stator assembly 13, that is, the lower end surface of the rotor assembly 11 is flush with the lower end surface of the stator assembly 13. When the rotor assembly 11 moves upward in the rotation axis direction, the rotating portion of the positioning assembly 15 is pulled by the protrusion to move upward in the rotation axis direction, while the fixing portion of the positioning assembly 15 remains stationary, so that the rotating portion of the positioning assembly 15 and the fixing portion of the positioning member abut against the rolling body together. Thus, the rotating part of the positioning assembly 15 is kept in rolling contact with the rotor assembly 11 in a state of abutting against the rolling body, and the rotating part of the positioning assembly 15 is prevented from shaking in the rotating shaft direction in the rotating process.

Alternatively, the rotating portions of the rotor assembly 11 and the positioning assembly 15 may be fixed to each other (for example, fixed to each other by an adhesive), so that when the magnetic force between the rotor assembly 11 and the stator assembly 13 pulls the rotor assembly 11 to move upward along the rotating shaft direction, the rotor assembly 11 can drive the rotating portions of the positioning assembly 15 to move upward together, so that the rotor assembly and the rotating portions of the positioning assembly 15 are linked in the rotating shaft direction.

Please refer to fig. 29, which is a schematic cross-sectional view of an electric motor. The structure of the motor shown in fig. 29 is similar to that of the motor shown in fig. 12, except that the stator assembly of the motor shown in fig. 29 has a complete ring structure and the positioning assembly has a complete ring structure, unlike the motor shown in fig. 12.

In this embodiment, the rotor assembly includes a yoke and a magnet, and the stator assembly includes a coil winding. When the motor does not work, a gap is preset between the magnet and the coil winding along the rotating shaft direction.

When the motor is in operation, that is, the stator assembly 23 drives the rotor assembly 21 to rotate around the rotating shaft 211 relative to the stator assembly 23, the magnetic force of the electromagnetic field generated by the stator assembly 23 causes the magnetic yoke 213 and the magnet 214 in the rotor assembly 21 to move downward along the axial direction H, so that the predetermined gap is reduced. The yoke 213 and the rotating portion of the positioning element 25a are fixed to each other, so that the rotating portion of the positioning element 25a can also move downward along the axial direction H to a predetermined position (not shown) corresponding to the fixed portion of the positioning element 25a, and the rotating portion of the positioning element 25a moves along the rotating shaft direction to abut against the rolling element together with the fixed portion. The second rotation axis direction H is parallel to the rotation axis 111.

In the above embodiments, the magnetic force generated between the magnet in the rotor assembly and the stator assembly pulls the rotor assembly and the rotating portion of the positioning member and moves along the rotating shaft direction to abut against the rolling body in the positioning member together with the fixing portion of the positioning member. Adding a first part and a second part which are adjacently arranged in the motor, wherein the first part and the second part are both made of ferromagnetic materials, and a repulsive or attractive magnetic force is generated between the first part and the second part; the rotor assembly and the rotating part of the positioning piece are pulled by magnetic force between the first part and the second part and move along the rotating shaft direction to abut against the rolling body together with the fixing part. This is explained below by way of example in connection with fig. 30.

When the corresponding driving device includes a driving device such as two motors, please refer to fig. 30, which is a schematic cross-sectional structure diagram of the driving device shown in fig. 18 according to the present invention.

As shown in fig. 30, it includes two adjacently disposed motors. The two motors are defined as a first motor 9a and a second motor 9b, respectively.

The first motor 9a includes a rotor assembly 91 in a hollow ring shape, a stator assembly 93, a positioning assembly 95, and a first member 96 a. The second motor 9b also includes a rotor assembly 91, a stator assembly 93, a positioning assembly 95, and a second component 96 b. The rotor assembly 91 in the first motor 9a and the rotor assembly in the second motor 9b rotate around the same rotation shaft.

Specifically, the first motor 9a and the second motor 9b may have the same structure as those of the motors in the embodiments shown in fig. 18 and 19.

In the present embodiment, the first member 96a and the second member 96b are fixed to the yokes 914 of the rotor assembly 91 of the two motors, respectively, at a predetermined distance in the driving device 9. The first member and the second member are both magnets such that a repulsive magnetic force is generated between the first member and the second member. Or the first component is a magnet and the second component is iron; alternatively, the first member is iron and the second member is a magnet, such that an attractive magnetic force is generated between the first member and the second member.

The magnetic force between the first member 96a and the second member 96b causes the magnetic yokes 914 in the first motor 9a and the second motor 9b to move in two opposite directions along the rotating shaft direction, respectively, so as to drive the rotating portions of the positioning assemblies fixed to the magnetic yokes 914 in the first motor 9a and the second motor 9b to move in two opposite directions along the rotating shaft direction, respectively, and since the fixing portions of the positioning assemblies in the first motor 9a and the second motor 9b are fixed relative to the rotating shaft, the rotating portion of each of the positioning assemblies in the two motors has an axial movement relative to the fixing portion, so that the rotating portion and the fixing portion of each of the positioning assemblies abut against the rolling body of the positioning assembly together.

Of course, in the case where the driving apparatus includes only the first motor, or in the case where only the shaking of the rotating portion of the positioning assembly of the first motor in the rotation axis direction needs to be reduced, the driving apparatus further includes a frame, the positioning assembly of the first motor and the second member are both fixed to the frame, and the second member and the first member are disposed adjacent to each other, so that the magnetic force in the rotation axis direction can be generated between the second member and the first member.

Referring to fig. 31, the present invention further provides an operating method of the driving apparatus, which includes the following steps:

step S1: configuring a rotor assembly 91, a stator assembly 93 and at least one positioning element, wherein the rotor assembly 91 rotates around a preset rotating shaft, the stator assembly 93 is used for driving the rotor assembly 91 to rotate around the rotating shaft, and the at least one positioning element is used for limiting the rotor assembly to rotate around the rotating shaft; the positioning piece comprises a rotating part, a fixing part and a rolling body, wherein the rotating part is coupled with the fixing part through the rolling body, so that the rotating part rotates relative to the fixing part, and the rotating part is relative to the fixing part and can move in the direction of the rotating shaft.

Step S2: and applying a thrust to the rotating part to enable the rotating part and the fixed part to jointly abut against the rolling body.

Further, when the motor does not work, the edge of the magnet and the edge of the coil winding are staggered along the rotating shaft direction, and the edge of the magnet and the edge of the coil winding are aligned along the rotating shaft direction. The rotor assembly further comprises a magnetic yoke, the stator assembly and the positioning piece respectively surround the magnetic yoke, the stator assembly and the positioning piece are arranged up and down along the rotating shaft, and the magnet is fixed on the magnetic yoke and located between the stator assembly and the magnetic yoke.

Further, when the driving device does not work, a gap is preset between the magnet and the coil winding along the rotating shaft direction, and the gap between the magnet and the coil winding is reduced.

Further, the rotor assembly further includes a yoke coupled to the magnet, the yoke including a first portion disposed around the rotation axis and a second portion coupled to the first portion, the inner wall including the first portion, the magnet being fixed to the second portion of the yoke, the first portion extending in a radial direction of the rotor assembly; the coil winding is positioned on one side of the magnet, which faces away from the magnetic yoke. The positioning assembly comprises a positioning piece annularly arranged outside the first part of the magnet yoke, and the rolling part of the positioning piece and the first part of the magnet yoke are fixed with each other.

Further, a guide rail is arranged on the rotor assembly, and the rotating part of the positioning piece is abutted against the guide rail, so that the rotor assembly and the rotating part of the positioning piece are linked in the rotating shaft direction; alternatively, a guide rail is disposed on the positioning member, and a portion of the rotor assembly is abutted against the guide rail, so that the rotor assembly and the rotating portion of the positioning member are interlocked in the rotating shaft direction.

Further, the operating method further comprises: matching the rotor assembly and the rotating part of the positioning piece with each other so that the rotor assembly and the rotating part of the positioning piece are linked in the rotating shaft direction; arranging a first part and a second part so that the first part and the second part are adjacently arranged, wherein the first part and the second part are both made of ferromagnetic materials, and a repulsive or attractive magnetic force is generated between the first part and the second part; thrust is exerted to the rotor assembly and the rotating part of the positioning piece through magnetic force between the first part and the second part, so that the rotating part of the positioning piece moves to the rotating part and the fixing part to abut against the rolling body together along the rotating shaft direction. Wherein the first component is further secured to the rotor assembly.

Further, the operating method further comprises: arranging a guide rail on the rotor assembly, and abutting a rotating part of the positioning piece in the guide rail so as to enable the rotor assembly and the rotating part of the positioning piece to be linked in the rotating shaft direction; alternatively, a guide rail is disposed on the positioning member, and a portion of the rotor assembly is abutted against the guide rail, so that the rotor assembly and the rotating portion of the positioning member are interlocked in the rotating shaft direction.

Further, the operating method further comprises: configuring a rack; and fixing the positioning assembly and the second component on the frame.

Further, the operating method further comprises: the other rotor assembly rotates around the rotating shaft, the other stator assembly is used for driving the other rotor assembly to rotate around the rotating shaft, and at least one positioning piece is used for limiting the other rotor assembly to rotate around the rotating shaft; wherein the rotor assembly and the further rotor assembly are positioned adjacent one another, the second component and the further assembly being secured to one another.

Further, the method further comprises: driving the rotor assembly and the further rotor assembly to rotate at different speeds.

Further, the 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 is a magnet.

In the present invention, a laser measuring device is also provided for sensing external environmental information, such as distance information, angle information, reflection intensity information, velocity information, etc., of an environmental target. The laser measuring device may be a lidar. Specifically, the laser measuring device of the embodiment of the invention can be applied to a mobile platform, and the laser measuring device can be installed on a platform body of the mobile platform. The mobile platform with the laser measuring device can measure the external environment, for example, the distance between the mobile platform and an obstacle is measured for the purpose of avoiding the obstacle, and the external environment is mapped in two dimensions or three dimensions. In certain embodiments, the mobile platform comprises at least one of an unmanned aerial vehicle, an automobile, and a remote control car. When the laser measuring device is applied to the unmanned aerial vehicle, the platform body is a fuselage of the unmanned aerial vehicle. When the laser measuring device is applied to an automobile, the platform body is the automobile body of the automobile. When the laser measuring device is applied to the remote control car, the platform body is the car body of the remote control car.

It is to be understood that the laser measuring device may include a motor or a driving device according to any embodiment of the present invention, and specific reference may be made to the description of all embodiments shown in the drawings, which is not repeated herein.

The motor disclosed in the foregoing embodiments may further include a load member, such as a lens, a prism, a light source and/or other suitable devices, which may be configured to be received within the motor such that the load member rotates with the rotor assembly. Thereby, the movable apparatus having the aforementioned driving means may have additional functions, e.g. visually presenting information and/or detecting objects, without requiring additional space for mounting additional components/assemblies. In other words, the hollow portion of the motor disclosed in the foregoing embodiments achieves other additional functions or further reduces the volume of the movable device.

It should be understood that the above-described embodiments are merely exemplary of the present invention, and should not be construed as limiting the scope of the present invention, but rather as embodying all or part of the above-described embodiments and equivalents thereof as may be made by those skilled in the art, and still fall within the scope of the invention as claimed.

Claims

1. A drive device, comprising:

a rotor assembly rotating about a shaft;

the stator assembly is used for driving the rotor assembly to rotate around the rotating shaft;

at least one positioning piece for limiting the rotor assembly to rotate around the rotating shaft;

the positioning piece comprises a rotating part, a fixing part and a rolling body, wherein the rotating part is coupled with the fixing part through the rolling body so that the rotating part rotates relative to the fixing part;

when the rotor assembly rotates, the rotating part is applied with a force along the rotating shaft direction, the rotating part is mutually linked with at least one part of the rotor assembly, and the force is applied to the rotating part through the part of the rotating part mutually linked with the rotor assembly.

2. The driving apparatus as claimed in claim 1, wherein when the driving apparatus is operated, the magnetic force between the rotor assembly and the stator assembly is applied to the rotating portion along the direction of the rotation axis through a portion where the rotating portion and the rotor assembly are interlocked with each other.

3. The drive of claim 2, wherein the rotor assembly includes magnets and the stator assembly includes coil windings.

4. The drive of claim 3, wherein the edges of the magnets and the edges of the coil windings are staggered in the direction of the axis of rotation when the drive is not in operation.

5. The drive of claim 4, wherein edges of the magnets are aligned with edges of the coil windings in the direction of the axis of rotation when the drive is in operation.

6. The driving apparatus as claimed in claim 5, wherein the rotor assembly further comprises a magnetic yoke, the stator assembly and the positioning member are respectively disposed around the magnetic yoke, the stator assembly and the positioning member are vertically disposed along the rotation axis, and the magnet is fixed on the magnetic yoke and located between the stator assembly and the magnetic yoke.

7. The drive of claim 3, wherein a gap is provided between the magnet and the coil winding in the direction of the axis of rotation when the drive is not operating.

8. The drive of claim 7, wherein a gap between the magnet and the coil winding is reduced when the drive is in operation.

9. The drive of claim 7, wherein the rotor assembly further comprises a yoke coupled to the magnet, the yoke comprising a first portion disposed about the axis of rotation and a second portion coupled to the first portion, the inner wall of the rotor assembly comprising the first portion, the magnet being secured to the second portion of the yoke, the first portion extending radially of the rotor assembly;

the coil winding is positioned on one side of the magnet, which faces away from the magnetic yoke.

10. The drive of claim 9, wherein the rotating portion of the positioning member and the first portion of the yoke are fixed to each other.

11. The driving device as claimed in claim 9, wherein the rotor assembly is provided with a guide rail, and the rotating part of the positioning member abuts against the guide rail, so that the rotor assembly and the rotating part of the positioning member are linked in the rotating shaft direction; alternatively, the first and second electrodes may be,

the positioning piece is provided with a guide rail, and part of the rotor assembly abuts against the guide rail, so that the rotor assembly and the rotating part of the positioning piece are linked in the rotating shaft direction.

12. The driving device according to claim 1, further comprising a first member and a second member disposed adjacently, wherein the first member and the second member are both made of ferromagnetic material, and a repulsive or attractive magnetic force is generated between the first member and the second member;

the magnetic force between the first component and the second component is applied to the force of the rotating part along the rotating shaft direction through the mutual linkage part of the rotating part and the rotor component.

13. The drive of claim 12, wherein the first member is further secured to the rotor assembly.

14. The driving device as claimed in claim 12, wherein the rotor assembly is provided with a guide rail, and the rotating part of the positioning member abuts against the guide rail, so that the rotor assembly and the rotating part of the positioning member are linked in the rotating shaft direction; alternatively, the first and second electrodes may be,

15. The drive of claim 12, further comprising a frame, wherein the securing portion of the positioning member and the second member are secured to the frame.

16. The drive of claim 12, further comprising: another rotor assembly rotating about the axis of rotation; another stator assembly for driving the another rotor assembly to rotate around the rotating shaft; at least one positioning piece for limiting the other rotor assembly to rotate around the rotating shaft;

wherein the rotor assembly and the further rotor assembly are positioned adjacent one another, the second part and the further rotor assembly being secured to one another.

17. The drive of claim 16, wherein the rotor assembly and the another rotor assembly rotate at different speeds.

18. The drive of claim 12, wherein the first member and the second member are both magnets; alternatively, the first and second electrodes may be,

the first component is a magnet, and the second component is iron; alternatively, the first and second electrodes may be,

the first component is iron and the second component is a magnet.

19. The drive of any one of claims 1 to 18, wherein the rotor assembly comprises an inner wall surrounding the shaft, the inner wall being formed with a hollow capable of receiving a load; the positioning piece is positioned outside the hollow part.

20. A laser measuring device, comprising:

a drive arrangement according to any one of claims 1 to 19;

and the optical element is fixed with a rotor assembly of the driving device, and can change the propagation direction of incident light speed when being driven by the rotor assembly to rotate together.

21. The laser measuring device of claim 20, wherein the optical element comprises a prism having two opposing, non-parallel optical faces.

22. The laser measuring device of claim 20, wherein the rotor assembly comprises an inner wall surrounding the shaft, the inner wall forming a hollow for receiving at least part of the optical element; the positioning piece is positioned outside the hollow part and is used for positioning the optical element.

23. The laser measuring device of claim 20, wherein the laser measuring device is a lidar.

24. A mobile platform, comprising:

the laser measuring device of any one of claims 20 to 23; and

the laser measuring device is installed on the platform body.

25. The mobile platform of claim 24, wherein the mobile platform comprises at least one of an unmanned aerial vehicle and an automobile.