Motor, holder and movable platform

Abstract

The invention discloses a motor, a holder and a movable platform. The motor comprises a motor shaft; the radial flux motor assembly comprises a rotor assembly and a stator assembly which are arranged in the radial direction of the motor shaft, and the rotor assembly and the stator assembly are arranged on the motor shaft in a sleeving mode and are arranged in a spaced mode; the magnetic gear assembly and the rotor assembly are arranged on the motor shaft in a sleeving mode in the radial direction of the motor shaft, or the magnetic gear assembly and the rotor assembly are arranged on the motor shaft in a sleeving mode in the axial direction of the motor shaft; the magnetic flux of the magnetic gear assembly is distributed in the radial direction of the motor shaft. The magnetic gear assembly comprises a torque input part and a torque output part, the torque input part is mechanically coupled with the rotor assembly, the torque output part is fixedly connected with the motor shaft, and the torque input part and the torque output part can be in transmission through the action of a magnetic field; wherein the stator assembly can drive the rotor assembly to rotate at a first speed, so that the motor shaft rotates at a second speed under the action of the magnetic gear assembly, and the second speed is smaller than the first speed.

Description

Motors, pan / tilts, and movable platforms Technical Field

[0001] The present application relates to the field of motor technology, and in particular to a motor, a pan-tilt head and a movable platform. Background Art

[0002] Motors, as drive devices, are now widely used in various electronic products. For conventional motors, output torque is approximately proportional to the motor's size due to limitations imposed by electrical and line loads. However, as electronic products continue to shrink in size, increasing motor output torque while maintaining a compact design presents a challenge.

[0003] Summary of the Invention

[0004] Based on this, the embodiments of the present application provide a motor, a gimbal, and a movable platform, which aim to increase the output torque of the motor while ensuring a miniaturized design.

[0005] In a first aspect, an embodiment of the present application provides a motor, comprising:

[0006] Motor shaft;

[0007] A radial flux motor assembly, comprising a rotor assembly and a stator assembly arranged radially along the motor shaft, wherein the rotor assembly and the stator assembly are both sleeved on the motor shaft and spaced apart; and

[0008] A magnetic gear assembly is sleeved on the motor shaft along the radial direction of the motor shaft together with the rotor assembly, or is sleeved on the motor shaft along the axial direction of the motor shaft together with the rotor assembly; the magnetic flux of the magnetic gear assembly is distributed along the radial direction of the motor shaft; the magnetic gear assembly includes a torque input member and a torque output member, the torque input member is mechanically coupled to the rotor assembly, the torque output member is fixedly connected to the motor shaft, and the torque input member and the torque output member can be transmitted through the action of the magnetic field; wherein,

[0009] The stator assembly is capable of driving the rotor assembly to rotate at a first speed, so that the motor shaft is acted upon by the magnetic gear assembly to rotate at a second speed, which is less than the first speed.

[0010] In a second aspect, an embodiment of the present application further provides a motor, comprising:

[0011] Motor shaft;

[0012] A radial flux motor assembly comprises a rotor assembly and a stator assembly radially arranged along the motor shaft, wherein the rotor assembly and the stator assembly are both sleeved on the motor shaft and spaced apart; the motor further comprises a first support member, wherein the rotor assembly is connected to the motor shaft via the first support member, and the stator assembly and the first support member are radially arranged; and

[0013] A magnetic gear assembly is sleeved on the motor shaft along the radial direction of the motor shaft together with the rotor assembly, or is sleeved on the motor shaft along the axial direction of the motor shaft together with the rotor assembly; the magnetic flux of the magnetic gear assembly is distributed along the radial direction of the motor shaft; the magnetic gear assembly includes a torque input member and a torque output member, the torque input member is mechanically coupled to the rotor assembly, and the torque input member and the torque output member can be transmitted through the interaction of the magnetic field; wherein,

[0014] The stator assembly can drive the rotor assembly to rotate at a first speed and drive the torque input member to rotate, so that the torque output member rotates at a second speed under the action of the magnetic field, and the second speed is lower than the first speed.

[0015] In a third aspect, an embodiment of the present application further provides a gimbal, which includes a load and a driving device, and the driving device is used to drive the load to move; wherein the driving device includes the motor described in the first aspect or the second aspect above.

[0016] In a fourth aspect, an embodiment of the present application further provides a movable platform, which includes a pan-tilt head, which includes a load and a driving device, and the driving device is used to drive the load to move; wherein the driving device includes a motor as described in the first or second aspect above.

[0017] In a fifth aspect, an embodiment of the present application further provides a movable platform, which includes a power device, and the power device is used to drive the movable platform to move; wherein, the power device includes the motor described in the first aspect or the second aspect above.

[0018] The torque input and output members of the magnetic gear assembly can be transmitted through the interaction of magnetic fields. When the rotor assembly rotates at a first speed, the torque input member, which is mechanically coupled to the rotor assembly, rotates with the rotor assembly. The interaction of the magnetic fields between the torque input and output members causes the torque output member to rotate, thereby driving the motor shaft, which is fixedly connected to the torque output member, to rotate at a second speed. The second speed can be lower than the first speed, thereby increasing the output torque by reducing the output speed while maintaining a smaller motor size, thereby enabling the motor to drive a larger load.

[0019] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0021] FIG1 is an exploded view of a motor provided in an embodiment of the present application;

[0022] FIG2 is a cross-sectional structural diagram of a motor according to an embodiment of the present application;

[0023] FIG3 is a second cross-sectional structural diagram of a motor provided in an embodiment of the present application;

[0024] FIG4 is a third cross-sectional structural diagram of a motor provided in an embodiment of the present application;

[0025] FIG5 is a fourth cross-sectional structural diagram of a motor provided in an embodiment of the present application;

[0026] FIG6 is a fifth cross-sectional structural diagram of a motor provided in an embodiment of the present application;

[0027] FIG7 is a sixth cross-sectional structural diagram of a motor provided in an embodiment of the present application;

[0028] FIG8 is a schematic structural diagram of a modulation ring of a motor provided in an embodiment of the present application;

[0029] FIG9 is a seventh cross-sectional structural diagram of a motor provided in an embodiment of the present application;

[0030] FIG10 is an eighth cross-sectional structural diagram of the motor provided in an embodiment of the present application. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application.

[0033] Throughout the specification and claims, the word "including" is an open-ended term and should be interpreted as "including but not limited to." "Substantially" means that within an acceptable error range, a person skilled in the art can solve the technical problem and substantially achieve the technical effect.

[0034] Furthermore, the term “connected” herein encompasses both direct and indirect connection methods. Thus, if a first device is described as being connected to a second device, this means that the first device may be directly connected to the second device or indirectly connected to the second device via other devices.

[0035] It should be understood that the terms "and / or" and "and / or" as used herein are merely a description of the relationship between related objects, indicating that three possible relationships exist. For example, "A1 and / or B1" can represent: A1 exists alone; A1 and B1 exist simultaneously; and B1 exists alone. Furthermore, the character " / " in this document generally indicates that the related objects are in an "or" relationship.

[0036] It should be understood that the flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, combined, or partially merged, so the actual execution order may vary depending on the actual situation.

[0037] Some embodiments of the present application are described in detail below with reference to the accompanying drawings. Unless there is any contradiction, those skilled in the art may combine and combine the different embodiments or examples and features of the different embodiments or examples described in this specification.

[0038] Motors, as drive devices, are now widely used in various electronic products. For conventional motors, output torque is approximately proportional to the motor's size due to limitations imposed by electrical and line loads. However, as electronic products continue to shrink in size, increasing motor output torque while maintaining a compact design presents a challenge.

[0039] Furthermore, increasing output torque by adding a gear reducer not only significantly increases motor size but also introduces mechanical wear, reduced transmission accuracy, and increased noise. Using a combination of magnetic gears and motors to achieve torque reduction and increase still presents numerous engineering challenges.

[0040] To solve the above problems, the embodiments of the present application provide a motor, a gimbal, and a movable platform, which aim to improve the output torque of the motor while ensuring a miniaturized design.

[0041] 1 to 10 , an embodiment of the present application provides a motor, including:

[0042] Motor shaft 10;

[0043] The radial flux motor assembly 20 includes a rotor assembly 21 and a stator assembly 22 arranged radially along the motor shaft 10. The rotor assembly 21 and the stator assembly 22 are both sleeved on the motor shaft 10 and spaced apart; and

[0044] The magnetic gear assembly 30 is sleeved on the motor shaft 10 along the radial direction of the motor shaft 10 together with the rotor assembly 21, or is sleeved on the motor shaft 10 along the axial direction of the motor shaft 10 together with the rotor assembly 21; the magnetic flux of the magnetic gear assembly 30 is distributed along the radial direction of the motor shaft 10; the magnetic gear assembly 30 includes a torque input member and a torque output member, the torque input member is mechanically coupled to the rotor assembly 21, and the torque output member is fixedly connected to the motor shaft 10, and the torque input member and the torque output member can be transmitted through the action of the magnetic field; wherein,

[0045] The stator assembly 22 can drive the rotor assembly 21 to rotate at a first speed, so that the motor shaft 10 is acted upon by the magnetic gear assembly 30 to rotate at a second speed, which is lower than the first speed.

[0046] The effective magnetic field direction of the radial flux motor assembly 20 is radially along the motor shaft 10, and the rotor assembly 21 and the stator assembly 22 rotate relative to each other due to the radial magnetic field. To ensure a uniform distribution of the magnetic field, in some embodiments, the motor shaft 10 can serve as the central axis, and the rotor assembly 21 and the stator assembly 22 can be annularly arranged on the motor shaft 10. The rotor assembly 21 can rotate along the motor shaft 10 relative to the stator assembly 22 to generate a mutual magnetic field interaction with the stator assembly 22. The rotor assembly 21 and the stator assembly 22 are spaced apart to reserve an air gap for the rotation of the rotor assembly 21.

[0047] The radial flux motor assembly 20 can reduce the axial height of the motor. The stator assembly 22 and the rotor assembly 21 can be arranged from the inside out or from the outside in. In other words, the radial flux motor can be an inner rotor motor or an outer rotor motor, which is not limited here. It should be noted that the outer rotor motor and inner rotor motor mentioned in the embodiments of the present application refer to the relative positional relationship between the stator assembly 22 and the rotor assembly 21, and do not represent the positional relationship of the magnetic gear assembly 30.

[0048] The magnetic gear assembly 30 and the radial flux motor assembly 20 can be arranged radially along the motor shaft 10 to reduce the axial height, or axially along the motor shaft 10 to reduce the radial length. The specific arrangement can be determined based on actual needs. In other words, the magnetic gear assembly 30 can be radially or axially cascaded with the radial flux motor assembly 20. The magnetic flux direction of the magnetic gear assembly 30 is distributed radially along the motor shaft 10, which can also reduce the axial magnetic pull of the magnetic gear, improve the reliability of the connection of the magnetic gear assembly 30, and facilitate assembly.

[0049] The torque input member can be mechanically coupled to the rotor assembly 21, thereby receiving the torque output by the rotor assembly 21. The mechanical coupling of the torque input member and the rotor assembly 21 can be understood as the existence of a mechanical connection and / or mechanical interaction between the torque input member and the rotor assembly 21. Mechanical connections, including but not limited to fixed connections, detachable connections and abutments, can be specifically set according to actual needs. The torque input member and the rotor assembly 21 can interact with each other through mechanical connections. It should be understood that in some embodiments, there may be no direct connection between the torque input member and the rotor assembly 21, but they may be connected through a connector so that there is a mutual mechanical interaction between the two, which will not be elaborated here.

[0050] The motor shaft 10 can be arranged in the middle of the motor. The torque output member can be fixedly connected to the motor shaft 10, so that the motor shaft 10 can rotate synchronously with the torque output member, and the load is driven by the torque output of the motor shaft 10. The torque output member is fixedly connected to the middle of the motor shaft 10 to achieve torque output, which can facilitate motor assembly. At the same time, the central shaft as the output shaft can also avoid the problem of center of gravity eccentricity caused by using structures such as cantilever on both sides as the output, thereby improving the stability of the motor during operation.

[0051] The torque input and output members of the magnetic gear assembly 30 can be transmitted via a magnetic field. When the rotor assembly 21 rotates at a first speed, the torque input member, which is mechanically coupled to the rotor assembly 21, rotates along with the rotor assembly 21. The magnetic field interaction between the torque input and output members causes the torque output member to rotate, thereby driving the motor shaft 10, which is fixedly connected to the torque output member, to rotate at a second speed. The second speed can be lower than the first speed, thereby increasing the output torque by reducing the output speed while maintaining a smaller motor size, allowing the motor to drive a larger load.

[0052] At the same time, the magnetic gear assembly 30 has a corresponding deceleration and torque-increasing effect, which can reduce the noise, vibration and maintenance cost caused by the use of mechanical speed-changing gears and improve the reliability of the motor.

[0053] Optionally, a supporting relationship may exist between the rotor assembly 21 and the motor shaft 10 , so that the rotor assembly 21 can rotate relative to the motor shaft 10 and be supported during the rotation.

[0054] In some embodiments, the motor may further include a first support member 40 , and the motor shaft 10 and the rotor assembly 21 may be rotatably connected via the first support member 40 , so that when the motor shaft 10 and / or the rotor assembly 21 rotates, they are supported by the first support member 40 .

[0055] In some embodiments, the first support member 40 may be a bearing, which is sleeved on and connected to the motor shaft 10. Specifically, the bearing may be a sliding bearing, such as a radial bearing or a thrust bearing; or a rolling bearing, such as a self-aligning ball bearing, a deep groove ball bearing, or a needle roller bearing. The specific configuration may be based on actual needs and is not listed here.

[0056] In some embodiments, the number of first support members 40 can be two, and the two first support members 40 are distributed along the axial direction of the motor shaft 10. By distributing the two support members along the axial direction, the pressure during rotation can be shared, and the possibility of deformation can be reduced, thereby improving the connection strength between the stator assembly 22 and the rotor assembly 21 and reducing the vibration of the motor during rotation.

[0057] It should be understood that the motor can be an inner rotor motor or an outer rotor motor. That is, referring to FIG2 , the rotor 211 of the rotor assembly 21 can be sleeved outside the stator assembly 22, or, referring to FIG3 , the stator assembly 22 can be sleeved outside the rotor 211 of the rotor assembly 21. The first support member 40 can be disposed between the rotor assembly 21 and the motor shaft 10 to provide support.

[0058] In some embodiments, the stator assembly 22 and the first support member 40 can be arranged radially along the motor shaft 10, which can reduce the axial distance between the rotor 211 of the rotor assembly 21 and the stator assembly 22, thereby further improving the torque density. Furthermore, the radial arrangement can correspondingly reduce the axial height of the motor.

[0059] Of course, in other optional embodiments, the stator assembly 22 and the first support member 40 may also be arranged along the axial direction of the motor to reduce the radial length of the motor, etc.

[0060] Continuing with Figure 2, the first support member 40 in Figure 2 is a bearing, which is sleeved on the motor shaft 10 and connected to the rotor assembly 21 and the motor shaft 10, respectively. There are two first support members 40, and the two first support members 40 are distributed along the axial direction of the motor shaft 10. The two first support members 40 and the stator assembly 22 are distributed radially along the motor shaft 10. In this way, while ensuring that the axial spacing between the stator assembly 22 and the rotor assembly 21 is small, the two bearings share the tension during rotation, thereby improving the connection strength between the stator assembly 22 and the rotor assembly 21, thereby improving the stability of the motor during operation.

[0061] Optionally, the rotor 211 of the rotor assembly 21 and the first support 40 may be connected via a bracket 212 .

[0062] In some embodiments, the rotor assembly 21 may include a rotor 211 and a bracket 212. One side of the bracket 212 extends radially toward one side of the rotor 211 along the motor shaft 10 and is connected to the rotor 211. The other side of the bracket 212 extends radially toward the motor shaft 10 and is connected to the first support member 40. By connecting the rotor assembly 21 and the first support member 40 through the bracket 212, the connection strength between the rotor assembly 21 and the stator assembly 22 can be further improved.

[0063] The bracket 212 can be sleeved on the motor shaft 10. The rotor 211 of the rotor assembly 21 can include multiple magnets, which can be arranged on one side of the bracket 212 and fixedly connected to the bracket 212, so that the multiple magnets are arranged around the motor shaft 10 through the bracket 212.

[0064] In some embodiments, the rotor assembly 21 can be enclosed to form a U-shaped groove, and the stator assembly 22 is at least partially located in the U-shaped groove. Referring to Figure 2, the bracket 212 shown in Figure 2 connects the rotor 211 of the rotor assembly 21 and the first support member 40 respectively, thereby enclosing two side surfaces and a bottom surface of the U-shaped groove. The stator assembly 22 can be at least partially located in the U-shaped groove, thereby facilitating the radial magnetic field effect between the winding of the stator assembly 22 and the rotor 211 of the rotor assembly 21. At the same time, the stator assembly 22 is located in the U-shaped groove, which can also further reduce the axial spacing between the stator assembly 22 and the rotor assembly 21, thereby improving the torque density.

[0065] Furthermore, while the rotor assembly 21 is in a U-shaped groove, the stator assembly 22 is at least partially located within the U-shaped groove, and the stator assembly 22 and the first support member 40 are arranged radially, and the motor shaft 10 serves as the output shaft. This allows the rotor assembly 21 to be directly supported by the first support member 40 and the motor shaft 10, avoiding the need to support the rotor assembly 21 at both ends with the motor shaft 10 when the rotor assembly 21 serves as the output, which would cause assembly difficulties and center of gravity eccentricity at both ends, thereby improving the robustness of the motor during operation. At the same time, the motor has a compact structure, and the stiffness of the rotor assembly 21 is also improved compared to the method of supporting the rotor assembly 21 at both ends with a cantilever and the motor shaft 10.

[0066] Optionally, the stator assembly 22 may include a stator winding 221 and a stator core 222 .

[0067] Optionally, the motor may include a housing 50, and a supporting relationship may exist between the motor shaft 10 and the housing 50. In some embodiments, the motor shaft 10 and the housing 50 are connected by a second support member 60, so that the motor shaft 10 is supported by the second support member 60 when rotating relative to the housing 50.

[0068] Furthermore, the housing 50 of the motor may include an upper housing and a lower housing, and the upper and lower housings are respectively in a supporting relationship with the motor shaft 10. The housing 50 of the motor is formed by connecting the upper and lower housings, which facilitates the assembly and disassembly of the motor.

[0069] In some embodiments, the shell 50 may include a first shell 51 and a second shell 52, the first shell 51 is mechanically coupled to the second shell 52, and the second support member 60 includes a first support component 61 and a second support component 62; wherein, one end of the motor shaft 10 is connected to the first shell 51 through the first support component 61, and the other end is connected to the second shell 52 through the second support component 62.

[0070] Similar to the first supporting member 40 , the first supporting component 61 and / or the second supporting component 62 may be bearings, which are sleeved on the motor shaft 10 and connected to the motor shaft 10 .

[0071] The first housing 51 may have a first axial hole 511 disposed in the middle thereof, a first supporting member 61 disposed in the first axial hole 511, an outer wall of the first supporting member 61 connected to an inner wall of the first axial hole 511, and an inner wall of the first supporting member 61 connected to an outer wall of the motor shaft 10. The second housing 52 may have a second axial hole 521 disposed in the middle thereof, a second supporting member 62 disposed in the second axial hole 521, an outer wall of the second supporting member 62 connected to an inner wall of the second axial hole 521, and the motor shaft 10 passing through the second supporting member 62.

[0072] The connection method between the first housing 51 and the second housing 52 can be configured according to actual needs. Referring to Figures 1 and 2, in some embodiments, the first housing 51 and the second housing 52 can be detachably fixed by screws. Of course, in some embodiments, the first housing 51 and the second housing 52 can also be fixed by welding, riveting, or other methods, which are not listed here.

[0073] In this way, the motor shaft 10 is rotatably connected to the first housing 51 and the second housing 52 respectively through two supporting members, thereby supporting the motor shaft 10 through the motor housing 50, reducing the probability of vibration of the motor shaft 10 during rotation and improving the overall strength and stability of the motor. At the same time, this also facilitates the motor shaft 10 to serve as an output shaft, with both ends of the motor shaft 10 connected to the load.

[0074] Referring to Figure 1 , the motor shown in Figure 1 includes a first housing 51 (upper housing) and a second housing 52 (lower housing). The first housing 51 can serve as the motor's end cap, and the second housing 52 can be semi-enclosed, thereby forming a housing space for the motor's rotor assembly 21, stator assembly 22, magnetic gear assembly 30, and the like. The first and second housings 51, 52 can be detachably connected using screws or snap fasteners, without limitation.

[0075] In Figure 1 , the motor shaft 10 is inserted through both the first support member 61 and the second support member 62 . At this point, the vertical projections of the first axial hole 511 and the second axial hole 521 approximately overlap. In other words, the motor shaft 10 can penetrate the motor housing 50, facilitating its use as an output shaft, connected to a load at both ends. During assembly, the motor shaft 10 sequentially passes through the first axial hole 511 and the second axial hole 521 , and is rotatably connected to the first housing 51 and the second housing 52 via the first support member 61 and the second support member 62 , respectively.

[0076] Optionally, to facilitate assembly, the rotor assembly 21 can be first connected to the first housing 51 and then assembled with the second housing 52. The stator assembly 22 can be first connected to the second housing 52 and then assembled with the first housing. Referring to Figures 1 and 2, in Figure 1, the rotor assembly 21 is connected to the first housing 51 and is rotatably connected to the motor shaft 10 via the first support 40; the stator assembly 22 can be fixedly connected to the second housing 52. The motor shaft 10 can extend from the first housing 51 to the second housing 52 and pass through the stator assembly 22. During the assembly process, when the first housing 51 is connected to the second housing 52, the rotor assembly 21 on the first housing 51 side can be plugged into the stator assembly 22 on the second housing 52 side, so that the stator assembly 22 and the rotor assembly 21 are roughly distributed along the radial direction of the motor shaft 10.

[0077] As can be seen from the above, the magnetic gear assembly 30 and the rotor assembly 21 can be arranged radially or axially along the motor shaft 10. Alternatively, when the magnetic gear assembly 30 and the rotor assembly 21 are radially sleeved on the motor shaft 10, the stator assembly 22 and the rotor assembly 21 of the radial flux motor assembly 20 can be arranged from the inside out or from the outside in. In other words, the motor can be either an inner rotor motor or an outer rotor motor.

[0078] In some embodiments, referring to FIG2 , the stator assembly 22 , the rotor assembly 21 , and the magnetic gear assembly 30 are sequentially sleeved on the motor shaft 10 along the radial direction of the motor shaft 10 and are distributed from the inside out. Alternatively, in some embodiments, referring to FIG3 , the rotor assembly 21 , the stator assembly 22 , and the magnetic gear assembly 30 are sequentially sleeved on the motor shaft 10 along the radial direction of the motor shaft 10 and are distributed from the inside out.

[0079] Similarly, when the magnetic gear assembly 30 and the rotor assembly 21 are sleeved on the motor shaft 10 along the axial direction of the motor shaft 10, the motor can be an inner rotor motor or an outer rotor motor. That is, in some embodiments, the rotor assembly 21 and the stator assembly 22 can be sleeved on the motor shaft 10 along the radial direction of the motor shaft 10 and arranged sequentially from the inside out; or the stator assembly 22 and the rotor assembly 21 can be sleeved on the motor shaft 10 along the radial direction of the motor shaft 10 and arranged sequentially from the inside out.

[0080] As can be seen from the above, the magnetic flux direction of the magnetic gear assembly 30 can be along the radial direction of the motor shaft 10. Specifically, in some embodiments, the torque input and torque output components of the magnetic gear can be radially sleeved on the motor shaft 10. The torque input and torque output components can be arranged sequentially from the inside out or from the outside in, and the specific arrangement can be based on actual needs.

[0081] As can be seen from the above, the magnetic gear assembly 30 can be cascaded radially or axially with the radial flux motor assembly 20. When cascaded axially, the magnetic circuits of the motor's rotor assembly 21 and the magnetic gear assembly 30 can be decoupled, facilitating their separate design. Furthermore, the motor's rotor 211 need not necessarily be connected to the inner rotor of the magnetic gear assembly 30; it can also be connected to the outer rotor of the magnetic gear assembly 30. Therefore, four different splicing configurations can be created, as shown in Table 1, all of which achieve the motor's torque-increasing and speed-reducing effect.

[0082] Table 1

[0083]

[0084] It should be understood that when the magnetic gear assembly 30 and the rotor assembly 21 are sleeved on the motor shaft 10 along the axial direction of the motor shaft 10, the torque input member of the magnetic gear assembly 30 and the rotor assembly 21 can be connected via a connector. In some embodiments, as shown in Figures 4-7, the torque input member and the rotor assembly 21 can be fixedly connected via a bracket 212 disposed along the axial direction.

[0085] Specifically, in Figure 4, the motor is an inner rotor motor, and the rotor 211 (inner rotor of the motor) can be fixedly connected to the first magnetic component 31 (inner rotor of the magnetic gear) of the magnetic gear assembly 30 through the bracket 212. In Figure 5, the motor is an inner rotor motor, and the rotor 211 (inner rotor of the motor) can be fixedly connected to the first magnetic component 31 (outer rotor of the magnetic gear) of the magnetic gear assembly 30 through the bracket 212. In Figure 6, the motor is an outer rotor motor, and the rotor 211 (outer rotor of the motor) can be fixedly connected to the first magnetic component 31 (inner rotor of the magnetic gear) of the magnetic gear assembly 30 through the bracket 212. In Figure 7, the motor is an outer rotor motor, and the rotor 211 (outer rotor of the motor) can be fixedly connected to the first magnetic component 31 (outer rotor of the magnetic gear) of the magnetic gear assembly 30 through the bracket 212.

[0086] It should be understood that the first magnetic member 31 fixedly connected to the rotor 211 in FIG. 4 to FIG. 7 serves as a torque input member and rotates at high speed along with the rotor 211 .

[0087] Optionally, the magnetic gear assembly 30 may include a three-layer structure, where the rotation of the first magnetic member 31 generates a magnetic field, which is modulated by the modulation ring 32 and then acts on the second magnetic member 33, causing the second magnetic member 33 to rotate. Furthermore, the rotation speed of the second magnetic member 33 can be slower than that of the first magnetic member 31, thereby achieving a deceleration and torque increase effect through the magnetic gear assembly 30.

[0088] In some embodiments, the magnetic gear assembly 30 may include a first magnetic member 31, a modulation ring 32, and a second magnetic member 33 arranged along the radial direction of the motor shaft 10, and the modulation ring 32 is arranged between the first magnetic member 31 and the second magnetic member 33, for modulating the magnetic field generated by the first magnetic member 31 and / or the second magnetic member 33; wherein the first magnetic member 31 can be used as a torque input member, and the second magnetic member 33 can be used as a torque output member; or, the first magnetic member 31 can be used as a torque input member, and the modulation ring 32 can be used as a torque output member.

[0089] The first magnetic member 31 can serve as a torque input member and can be fixedly connected to the rotor assembly 21, thereby rotating synchronously with the rotor assembly 21. Based on the principle of magnetic gears, one of the modulation ring 32 and the second magnetic member 33 can remain stationary, while the other can be affected by the modulation magnetic field and rotate at a speed slower than the first magnetic member 31. Therefore, either the modulation ring 32 or the second magnetic member 33 can serve as a torque output member.

[0090] In some embodiments, when the motor includes a housing 50, the rotor assembly 21 and the stator assembly 22 can be disposed within the housing 50. Specifically, when the second magnetic member 33 serves as a torque output member, the second magnetic member 33 can rotate relative to the housing 50, and the modulation ring 32 is fixedly connected to the housing 50; when the modulation ring 32 serves as a torque output member, the modulation ring 32 can rotate relative to the housing 50, and the second magnetic member 33 is fixedly connected to the housing 50.

[0091] 2 , the first magnetic member 31 shown in FIG2 serves as a torque input member and is mechanically coupled to the rotor assembly 21 . The second magnetic member 33 serves as a torque output member and is fixedly connected to the motor shaft 10 .

[0092] Of course, in other optional embodiments, the second magnetic member 33 can also serve as a torque input member, and the second magnetic member 33 or the modulation ring 32 can also serve as a torque output member. The specific configuration can be adaptively adjusted according to the actual application scenario. In some embodiments, when the modulation ring 32 serves as the torque output member, the second magnetic member 33 can be fixedly connected to the housing, thereby reducing an air gap and making the motor structure more compact.

[0093] There may be multiple first magnetic members 31 and multiple second magnetic members 33 , forming a ring structure to generate a radially distributed magnetic field during rotation.

[0094] The shapes of the first magnetic member 31 and the second magnetic member 33 can be set according to actual needs. For example, referring to Figure 1, the shapes of the first magnetic member 31 and the second magnetic member 33 in Figure 1 can be roughly rectangular.

[0095] The modulation ring 32 is used to modulate the magnetic field, and thus it can be made at least partially of a magnetically conductive material. In some embodiments, when the second magnetic member 33 is used as a torque output member, the modulation ring 32 can modulate the magnetic field generated by the first magnetic member 31 through the magnetically conductive material to generate a magnetic field that acts on the second magnetic member 33, causing the second magnetic member 33 to rotate at a speed slower than the first magnetic member 31 due to the magnetic field.

[0096] 8 , in some embodiments, the modulation ring 32 may include a plurality of magnetic conductive blocks 321, which serve as magnetic conductive blocks. Furthermore, the plurality of magnetic conductive blocks 321 may be spaced apart and integrally formed, for example, by stamping or other methods to simplify the processing process. The space between two adjacent magnetic conductive blocks 321 may be filled with non-magnetic conductive material to modulate the magnetic field generated by the first magnetic member 31 or the second magnetic member 33. The magnetic conductive blocks 321 may be made of a highly magnetic conductive material, such as No. 10 steel or a soft magnetic composite material.

[0097] In some embodiments, the rotor 211 and the first and second magnetic components 31 and 33 of the rotor assembly 21 may be sleeved on the motor shaft 10 along the radial direction of the motor shaft 10 and distributed sequentially from the inside to the outside.

[0098] 2 or 3 , in some embodiments, the rotor assembly 21 may include a rotor 211 and a bracket 212. One side of the bracket 212 extends radially toward one side of the first magnetic member 31 along the motor shaft 10 and is fixedly connected to the first magnetic member 31. The other side of the bracket 212 extends radially toward the motor shaft 10 and is rotatably connected to the motor shaft 10. The rotor assembly 21 may be disposed on the bracket 212 and may rotate with the bracket 212.

[0099] In this way, the bracket 212 can support the rotor 211, the motor shaft 10, and the first magnetic member 31, thereby enhancing the overall strength of the motor structure. The rotor 211 of the rotor assembly 21 can rotate together with the bracket 212, driving the first magnetic member 31 to rotate synchronously, so that the torque of the rotor 211 can be transmitted to the first magnetic member 31 through the bracket 212, and further transmitted to the second magnetic member 33 through the magnetic field.

[0100] As can be seen from the above, in some embodiments, the motor can be an outer rotor motor. In this case, referring to Figure 2, the rotor 211 can be arranged on the side of the bracket 212 close to the first magnetic member 31, and can be sleeved outside the stator assembly 22. In some embodiments, the motor can also be an inner rotor motor. In this case, referring to Figure 3, the rotor 211 can be arranged on the side of the bracket 212 close to the motor shaft 10, and the stator assembly 22 can be sleeved outside the rotor assembly 21. Referring to Figures 1-2, the bracket 212 in Figure 2 can be enclosed with the rotor 211 to form a U-shaped groove, and after the upper and lower shells are assembled, it can be sleeved outside the stator assembly 22.

[0101] Optionally, the rotor 211 of the rotor assembly 21 may include a magnet and a yoke, and the yoke may be used to fix the magnet and form a magnetic circuit.

[0102] In some embodiments, the rotor 211 of the rotor assembly 21 may include a third magnetic member 2111 and a first magnetic yoke 2112, wherein the first magnetic yoke 2112 is annular. The third magnetic member 2111 is located between the first magnetic yoke 2112 and the stator assembly 22 and is fixedly connected to the first magnetic yoke 2112. The shape and number of the third magnetic member 2111 may be set according to actual needs and are not further limited herein.

[0103] 1-2 , when the motor is an outer rotor motor, the first magnetic yoke 2112 may be located on the outside of the third magnetic member 2111 , while the stator assembly 22 is located on the inside of the third magnetic member 2111 .

[0104] Furthermore, when the motor is an external rotor motor, the first magnetic yoke 2112 can be arranged between the third magnetic part 2111 and the magnetic gear assembly 30 to isolate the third magnetic part 2111 from the magnetic parts in the magnetic gear assembly 30, thereby reducing the mutual interference caused by the magnetic fields generated by the third magnetic part 2111 and the magnetic parts of the magnetic gear assembly 30.

[0105] Of course, in other optional embodiments, when the motor is an inner rotor motor, the first magnetic yoke 2112 can be located on the inner side of the third magnetic component 2111 , while the stator assembly 22 is located on the outer side of the third magnetic component 2111 .

[0106] It should be understood that the first magnetic yoke 2112 and the third magnetic member 2111 in the rotor 211 can be fixed by bonding, etc. Of course, the first magnetic yoke 2112 and the third magnetic member 2111 can both be fixed to the bracket 212 .

[0107] Furthermore, the rotor 211 of the rotor assembly 21 may share a yoke with the torque input member, so as to reduce the overall space occupied by the motor by reducing the axial length of the motor.

[0108] In some embodiments, when the magnetic gear assembly 30 and the rotor assembly 21 are radially sleeved on the motor shaft 10 , the torque input member is fixedly disposed on the outer wall of the first magnetic yoke 2112 , and the third magnetic member 2111 is fixedly disposed on the inner wall of the first magnetic yoke 2112 .

[0109] 1-2 , when the first magnetic member 31 serves as the torque input member, the first magnetic member 31 and the third magnetic member 2111 can be respectively fixed to the inner and outer sides of the first magnetic yoke 2112, while the first magnetic yoke 2112 can be supported by the bracket 212 and the bearing and the motor shaft 10. By sharing the magnetic yoke, space can be reduced while avoiding the need for additional connectors to connect the torque input member and the rotor assembly 21, thereby improving the overall strength of the rotating components of the motor.

[0110] Of course, in other optional embodiments, the rotor 211 of the rotor assembly 21 may not share a yoke with the torque input member, that is, the rotor 211 and the torque input member may each include a yoke. In some embodiments, referring to Figures 4-7, the torque input member may include a first magnetic member 31 and a second yoke 34. The second yoke 34 may be located between the first magnetic member 31 and the motor shaft 10, and the first magnetic member 31 and the second yoke 34 are fixedly connected. Similarly, the torque output member may also include a second magnetic member 33 and a third yoke 35. The second magnetic member 33 may be located between the modulation ring 32 and the third yoke 35.

[0111] The number of magnets in the rotor assembly 21 and the number of magnets in the magnetic gear assembly 30 can be selected based on the electromagnetic performance of the motor. Furthermore, in order to achieve the effect of deceleration and torque increase, the number of pole pairs of the first magnetic member 31 can be smaller than the number of pole pairs of the second magnetic member 33.

[0112] In some embodiments, the rotor 211 of the rotor assembly 21 may include multiple third magnetic members 2111, the number of pole pairs of the third magnetic members 2111 is different from the number of pole pairs of the first magnetic member 31, and / or the number of pole pairs of the third magnetic member 2111 is different from the number of pole pairs of the second magnetic member 33.

[0113] In some embodiments, when the third magnetic member 2111 and the first magnetic member 31 share a yoke, the third magnetic member 2111 rotates synchronously with the first magnetic member 31. At this time, the number of magnetic pole pairs p1 of the third magnetic member 2111, the number of magnetic pole pairs p2 of the first magnetic member 31, and the number p of the magnetic blocks 321 of the modulation ring 32 are equal. f The following relationship can be satisfied:

[0114] p2=|p1±p f |.

[0115] For example, when the motor is running, the motor shaft 10 will drive the third magnetic part 2111 to rotate at a high speed of v1, and the third magnetic part 2111 will drive the first magnetic part 31 to rotate synchronously at a speed of v1, and generate a rotating magnetic field. After the magnetic field is modulated by the magnetic conductive block 321 of the modulation ring 32, a magnetic field corresponding to the number of magnetic pole pairs of the second magnetic part 33 is formed, thereby driving the second magnetic part 33 to rotate at a low speed of v2 through the action of the magnetic field.

[0116] In this case, the reduction ratio i of the magnetic gear assembly 30 is:

[0117] i=v1 / v2=p2 / p1.

[0118] Specifically, the materials of the first magnetic member 31 , the second magnetic member 33 and the third magnetic member 2111 may be magnetic materials, including but not limited to neodymium iron boron and the like.

[0119] Optionally, the motor may further include a detection circuit, which is used to detect the position and motion state of each structure of the motor to further control the motor.

[0120] In some embodiments, the motor may further include a first detection circuit 71 and a second detection circuit 72, both of which are connected to the housing 50, the first detection circuit 71 being used to detect the rotation position of the rotor assembly 21, and the second detection circuit 72 being used to detect the rotation position of the motor shaft 10.

[0121] The first detection circuit 71 and the second detection circuit 72 can be disposed inside the housing 50 or outside the housing 50. The first detection circuit 71 and the second detection circuit 72 can be disposed on a printed circuit board (PCB) or attached to the surface of the housing 50, etc., which are not listed here one by one.

[0122] In some embodiments, for ease of arrangement, the first detection circuit 71 and the second detection circuit 72 can be disposed on different circuit boards. The circuit boards can be fixedly disposed within the housing 50 or fixedly disposed outside the housing 50; and the two circuit boards can be disposed on the same side or on opposite sides.

[0123] Furthermore, due to spatial arrangement and other reasons, if the two circuit boards are arranged on the same side of the rotor assembly 21, they may need to be arranged outside the housing 50, resulting in an increase in the overall volume of the motor. To reduce the overall volume of the motor, in some embodiments, the first detection circuit 71 and the second detection circuit 72 can be respectively arranged on either side of the rotor assembly 21. Accordingly, in some embodiments, the first detection circuit 71 and the second detection circuit 72 can both be arranged within the housing 50 to reduce the space occupied by the housing 50.

[0124] Referring to Figure 9 , the first detection circuit 71 and the second detection circuit 72 can be provided on separate circuit boards, with the two circuit boards located on the upper and lower sides of the rotor assembly 21. This allows the two circuit boards to be placed between the rotor assembly 21 and the housing 50, avoiding the need for same-side layouts that would increase the overall height of the motor and reducing space usage.

[0125] The hardware layout of the detection circuit can be selected according to actual needs. In some embodiments, the first detection circuit 71 and / or the second detection circuit 72 may include a Hall sensor or a magnetic encoder, and the motor further includes a magnetic induction element corresponding to the first detection circuit 71 and / or the second detection circuit 72.

[0126] In some embodiments, the motor may further include a third detection circuit 73 disposed in the housing 50 for detecting the position of the rotor assembly 21. Furthermore, there may be two third detection circuits 73, which cooperate with the magnetic ring 75 to detect the absolute position of the rotor assembly 21.

[0127] Referring to Figure 10 , the first detection circuit 71 and the second detection circuit 72 in Figure 10 may include Hall sensors. The first detection circuit 71 can cooperate with the third magnetic member 2111 in the rotor assembly or a magnetic sensing member elsewhere to detect the rotational position of the rotor assembly 21, thereby achieving closed-loop control of torque. The second detection circuit 72 can be located near the motor shaft 10 and cooperate with the magnetic ring 74 provided thereon to detect the position of the shaft end.

[0128] By combining the rotational position detection of the rotor assembly 21 and the rotational position detection of the motor shaft 10, the absolute zero position of the entire machine can be determined, and the problem of position error amplification caused by the reduction ratio and pole pair number caused by single shaft end position detection can be avoided. The detection accuracy of the rotational position of the rotor assembly 21 can be improved, thereby improving the control effect of the motor when applied to the gimbal.

[0129] Furthermore, the third detection circuit 73 can be disposed near the rotor assembly 21 and cooperate with the magnetic ring 75 connected to the rotor assembly 21 to detect the absolute position of the rotor 211. The second detection circuit 72 can also include a magnetic encoder to improve the accuracy of position detection.

[0130] 1 to 10 , the present invention also provides a motor, including:

[0131] Motor shaft 10;

[0132] The radial flux motor assembly 20 includes a rotor assembly 21 and a stator assembly 22 arranged radially along the motor shaft 10. The rotor assembly 21 and the stator assembly 22 are both sleeved on the motor shaft and spaced apart. The motor further includes a first support member 40. The rotor assembly 21 is connected to the motor shaft 10 via the first support member 40. The stator assembly 22 and the first support member 40 are arranged radially along the motor shaft 10.

[0133] The magnetic gear assembly 30 is sleeved on the motor shaft 10 along the radial direction of the motor shaft 10 together with the rotor assembly 21, or is sleeved on the motor shaft 10 along the axial direction of the motor shaft 10 together with the rotor assembly 21; the magnetic flux of the magnetic gear assembly 30 is distributed along the radial direction of the motor shaft 10; the magnetic gear assembly 30 includes a torque input member and a torque output member, the torque input member is mechanically coupled to the rotor assembly 21, and the torque input member and the torque output member can be transmitted through the action of the magnetic field; wherein,

[0134] The stator assembly 22 can drive the rotor assembly 21 to rotate at a first speed and drive the torque input member to rotate, so that the torque output member rotates at a second speed under the action of the magnetic field, and the second speed is lower than the first speed.

[0135] The difference from the above-mentioned embodiment is that the torque output member in the embodiment of the present application may not be fixedly connected to the motor shaft 10. That is, the motor shaft 10 may not serve as an output shaft to drive the load. In some embodiments, the motor shaft 10 may be fixedly connected to the housing 50 of the motor; in some embodiments, the motor shaft 10 may be a physical shaft or a virtual shaft. In some embodiments, the torque output member may serve as the output member of the motor and be directly connected to the load. In the embodiment of the present application, the stator assembly 22 and the first support member 40 are arranged radially along the motor shaft 10, and the rotor assembly 21 and the stator assembly 22 are also arranged radially. This can reduce the axial magnetic pull of the magnet of the rotor assembly 21 on the first support member 40, reduce the possibility of deformation of the first support member 40, and reduce the vibration of the motor during rotation. At the same time, through the radial arrangement, the axial height of the motor can be reduced, which is more conducive to the installation of the motor.

[0136] In some embodiments, the torque output member may be fixedly connected to the motor shaft 10 .

[0137] The specific implementation of the embodiments of the present application can refer to the explanations in the above embodiments, and will not be repeated here to avoid repetition.

[0138] It should be understood that the motor in the embodiments of the present application can be used in a gimbal to drive the movement of a load. The high output torque allows the gimbal to carry heavier loads, enabling it to carry higher-performance camera devices or other functional loads, further enriching the gimbal's application scenarios. The embodiments of the present application also provide a gimbal, comprising a load and a drive device, the drive device being configured to drive the load; wherein the drive device comprises the motor described in the above embodiments.

[0139] Specifically, the gimbal may include: at least one bracket, a motor corresponding to each bracket and configured to control the bracket's rotation, and a processor electrically connected to the motor. The gimbal may be a single-axis, dual-axis, or three-axis gimbal, without specific limitation herein.

[0140] The motor in the embodiments of the present application can also be used in a pan / tilt platform mounted on a movable platform, thereby increasing the load weight that the pan / tilt platform can bear while meeting the miniaturization requirements of the components on the movable platform. The embodiments of the present application also provide a movable platform comprising a pan / tilt platform, the pan / tilt platform comprising a load and a drive device for driving the load to move; wherein the drive device comprises the motor described in the above embodiments.

[0141] The motor in the embodiment of the present application can also be used in the power unit of a movable platform to provide a sufficient power source for the movable platform. The embodiment of the present application also provides a movable platform, including a power unit, the power unit being used to drive the movable platform to move; wherein the power unit includes the motor described in the embodiment above. The movable platform can include movable devices such as drones, unmanned vehicles, unmanned ships, and robots capable of autonomous movement, without specific limitation here.

[0142] The specific implementation of the embodiments of the present application can refer to the explanations in the above embodiments, and will not be repeated here to avoid repetition.

[0143] It should be understood that the terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0144] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0145] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present application, and such modifications or substitutions should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A motor, characterized in that: include: Motor shaft; A radial flux motor assembly, comprising a rotor assembly and a stator assembly arranged radially along the motor shaft, wherein the rotor assembly and the stator assembly are both sleeved on the motor shaft and spaced apart; and A magnetic gear assembly is sleeved on the motor shaft along the radial direction of the motor shaft together with the rotor assembly, or is sleeved on the motor shaft along the axial direction of the motor shaft together with the rotor assembly; the magnetic flux of the magnetic gear assembly is distributed along the radial direction of the motor shaft; the magnetic gear assembly includes a torque input member and a torque output member, the torque input member is mechanically coupled to the rotor assembly, the torque output member is fixedly connected to the motor shaft, and the torque input member and the torque output member can be transmitted through the action of the magnetic field; wherein, The stator assembly is capable of driving the rotor assembly to rotate at a first speed, so that the motor shaft is acted upon by the magnetic gear assembly to rotate at a second speed, which is less than the first speed.

2. The motor according to claim 1, characterized in that The motor further comprises a first support member, through which the motor shaft and the rotor assembly are rotatably connected, so that when the motor shaft and / or the rotor assembly rotates, they are supported by the first support member.

3. The motor according to claim 2, characterized in that The stator assembly and the first support are arranged along the radial direction of the motor shaft, or the stator assembly and the first support are arranged along the axial direction of the motor shaft.

4. The motor according to claim 2, characterized in that The rotor of the rotor assembly is sleeved outside the stator assembly, or the stator assembly is sleeved outside the rotor of the rotor assembly.

5. The motor according to claim 2, characterized in that The first supporting member is a bearing, and the bearing is sleeved on the motor shaft and connected to the motor shaft.

6. The motor according to claim 2, characterized in that The number of the first supporting members is two, and the two first supporting members are distributed along the axial direction of the motor shaft.

7. The motor according to claim 2, characterized in that The rotor assembly includes a rotor and a bracket, one side of the bracket extends toward one side of the rotor along the radial direction of the motor shaft and is connected to the rotor, and the other side of the bracket extends toward the motor shaft along the radial direction of the motor shaft and is connected to the first support.

8. The motor according to any one of claims 1 to 7, characterized in that The rotor assembly encloses a U-shaped groove, and the stator assembly is at least partially located in the U-shaped groove.

9. The motor according to claim 1, characterized in that The motor further includes a housing, and the motor shaft is connected to the housing via a second support member, so that the motor shaft is supported by the second support member when rotating relative to the housing.

10. The motor according to claim 9, characterized in that The housing includes a first housing and a second housing, the first housing is mechanically coupled to the second housing, and the second support includes a first support component and a second support component; wherein, One end of the motor shaft is connected to the first housing through the first supporting component, and the other end is connected to the second housing through the second supporting component.

11. The motor according to claim 10, characterized in that The first supporting component and / or the second supporting component is a bearing, and the bearing is sleeved on the motor shaft and connected to the motor shaft.

12. The motor according to claim 10, characterized in that A first axial hole is provided in the middle of the first shell, the first supporting component is provided in the first axial hole, the outer wall of the first supporting component is connected to the inner wall of the first axial hole, and the motor shaft passes through the first supporting component.

13. The motor according to claim 10, characterized in that A second shaft hole is provided in the middle of the second shell, the second supporting component is provided in the second shaft hole, the outer wall of the second supporting component is connected to the inner wall of the second shaft hole, and the motor shaft passes through the second supporting component.

14. The motor according to claim 10, characterized in that The rotor assembly is connected to the first housing and is rotationally connected to the motor shaft.

15. The motor according to claim 10, characterized in that The stator assembly is fixedly connected to the second housing, and the motor shaft passes through the stator assembly.

16. The motor according to claim 1, characterized in that In the case where the magnetic gear assembly and the rotor assembly are sleeved on the motor shaft along the radial direction of the motor shaft, the stator assembly, the rotor assembly and the magnetic gear assembly are sleeved on the motor shaft in sequence along the radial direction of the motor shaft and are distributed from the inside to the outside; or, the rotor assembly, the stator assembly and the magnetic gear assembly are sleeved on the motor shaft in sequence along the radial direction of the motor shaft and are distributed from the inside to the outside.

17. The motor according to claim 1, characterized in that In a case where the magnetic gear assembly and the rotor assembly are sleeved on the motor shaft along the axial direction of the motor shaft, the rotor assembly and the stator assembly are sleeved on the motor shaft along the radial direction of the motor shaft and are distributed sequentially from the inside to the outside; Alternatively, the stator assembly and the rotor assembly are sleeved on the motor shaft along the radial direction of the motor shaft and are distributed in sequence from the inside to the outside.

18. The motor according to claim 16 or 17, characterized in that The torque input member and the torque output member are sleeved on the motor shaft along the radial direction of the motor shaft; The torque input member and the torque output member are distributed in sequence from the inside to the outside, or the torque output member and the torque input member are distributed in sequence from the inside to the outside.

19. The motor according to claim 1, wherein The magnetic gear assembly includes a first magnetic member, a modulation ring, and a second magnetic member arranged along the radial direction of the motor shaft. The modulation ring is arranged between the first magnetic member and the second magnetic member and is used to modulate the magnetic field generated by the first magnetic member and / or the second magnetic member. Wherein, the first magnetic component serves as the torque input component, and the second magnetic component serves as the torque output component; or, the first magnetic component serves as the torque input component, and the modulation ring serves as the torque output component.

20. The motor according to claim 19, characterized in that The first magnetic component, the modulation ring and the second magnetic component are sequentially sleeved on the motor shaft along the radial direction of the motor shaft.

21. The motor according to claim 19, characterized in that The motor further includes a housing, wherein the rotor assembly and the stator assembly are disposed in the housing; wherein, When the second magnetic member serves as the torque output member, the second magnetic member is rotatable relative to the housing, and the modulation ring is fixedly connected to the housing; When the modulation ring serves as the torque output member, the modulation ring can rotate relative to the housing, and the second magnetic member is fixedly connected to the housing.

22. The motor according to claim 19, characterized in that The rotor of the rotor assembly, the first magnetic component and the second magnetic component are sleeved on the motor shaft along the radial direction of the motor shaft and are distributed in sequence from the inside to the outside.

23. The motor according to claim 22, characterized in that The rotor assembly includes a rotor and a bracket, one side of the bracket extends radially toward one side of the first magnetic component along the radial direction of the motor shaft and is fixedly connected to the first magnetic component, and the other side of the bracket extends radially toward the motor shaft and is rotatably connected to the motor shaft; the rotor is arranged on the bracket and can rotate with the bracket.

24. The motor according to claim 23, characterized in that The rotor is arranged on a side of the bracket close to the first magnetic component, and the rotor is sleeved outside the stator assembly.

25. The motor according to claim 23, characterized in that The rotor is arranged on a side of the bracket close to the motor shaft, and the stator assembly is sleeved outside the rotor assembly.

26. The electric machine according to claim 1, characterized in that The rotor of the rotor assembly includes a third magnetic component and a first magnetic yoke, wherein the first magnetic yoke is arranged in a ring shape; the third magnetic component is located between the first magnetic yoke and the stator assembly, and is fixedly connected to the first magnetic yoke.

27. The motor according to claim 26, characterized in that The first magnetic yoke is located between the magnetic gear assembly and the third magnetic member.

28. The motor according to claim 26, characterized in that When the magnetic gear assembly and the rotor assembly are sleeved on the motor shaft in a radial direction of the motor shaft, the torque input member is fixedly arranged on the outer side wall of the first magnetic yoke, and the third magnetic member is fixedly arranged on the inner side wall of the first magnetic yoke.

29. The motor according to claim 26, characterized in that The torque input member includes a first magnetic member and a second magnetic yoke, the second magnetic yoke is located between the first magnetic member and the motor shaft, and the first magnetic member is fixedly connected to the second magnetic yoke.

30. The motor according to claim 19, characterized in that There are multiple first magnetic members, and there are multiple second magnetic members. The number of pole pairs of the first magnetic members is different from the number of pole pairs of the second magnetic members.

31. The motor according to claim 30, characterized in that The number of pole pairs of the first magnetic component is smaller than the number of pole pairs of the second magnetic component.

32. The motor according to claim 19, characterized in that The rotor of the rotor assembly includes a plurality of third magnetic members, wherein the number of pole pairs of the third magnetic members is different from that of the first magnetic members, and / or the number of pole pairs of the third magnetic members is different from that of the second magnetic members.

33. The motor according to claim 19, characterized in that The modulation ring includes a plurality of magnetic conductive blocks.

34. The motor according to claim 33, characterized in that The plurality of magnetic conductive blocks are arranged at intervals and are integrally formed.

35. The electric machine according to claim 34, characterized in that The plurality of magnetic conductive blocks are arranged at intervals, and the space between two adjacent magnetic conductive blocks is filled with non-magnetic conductive material.

36. The electric machine according to claim 1, characterized in that The motor also includes a housing, a first detection circuit and a second detection circuit, wherein the first detection circuit and the second detection circuit are both connected to the housing, the first detection circuit is used to detect the rotation position of the rotor assembly, and the second detection circuit is used to detect the rotation position of the motor shaft.

37. The electric machine according to claim 36, characterized in that The first detection circuit and the second detection circuit are respectively arranged on different circuit boards.

38. The motor according to claim 36, characterized in that The first detection circuit and the second detection circuit are respectively arranged on two sides of the rotor assembly.

39. The electric machine according to claim 36, characterized in that The first detection circuit and the second detection circuit are both disposed in the housing.

40. The electric machine according to claim 36, characterized in that The first detection circuit and / or the second detection circuit include a Hall sensor or a magnetic encoder, and the motor further includes a magnetic induction element corresponding to the first detection circuit and / or the second detection circuit.

41. The electric machine according to claim 36, characterized in that The motor further includes a third detection circuit and a magnetic induction component corresponding to the third detection circuit. The third detection circuit is disposed on the housing and is used to detect the position of the rotor assembly.

42. A motor, characterized in that include: Motor shaft; A radial flux motor assembly comprises a rotor assembly and a stator assembly radially arranged along the motor shaft, wherein the rotor assembly and the stator assembly are both sleeved on the motor shaft and spaced apart; the motor further comprises a first support member, wherein the rotor assembly is connected to the motor shaft via the first support member, and the stator assembly and the first support member are radially arranged; and A magnetic gear assembly is sleeved on the motor shaft along the radial direction of the motor shaft together with the rotor assembly, or is sleeved on the motor shaft along the axial direction of the motor shaft together with the rotor assembly; the magnetic flux of the magnetic gear assembly is distributed along the radial direction of the motor shaft; the magnetic gear assembly includes a torque input member and a torque output member, the torque input member is mechanically coupled to the rotor assembly, and the torque input member and the torque output member can be transmitted through the action of the magnetic field; wherein, The stator assembly can drive the rotor assembly to rotate at a first speed and drive the torque input member to rotate, so that the torque output member rotates at a second speed under the action of the magnetic field, and the second speed is lower than the first speed.

43. The electric machine according to claim 42, characterized in that The torque output member is fixedly connected to the motor shaft.

44. The electric machine according to claim 42, characterized in that The rotor of the rotor assembly is sleeved outside the stator assembly, or the stator assembly is sleeved outside the rotor of the rotor assembly.

45. The electric machine according to claim 42, characterized in that The first supporting member is a bearing, and the bearing is sleeved on the motor shaft and connected to the motor shaft.

46. ​​The electric machine according to claim 42, characterized in that The number of the first supporting members is two, and the two first supporting members are distributed along the axial direction of the motor shaft.

47. The electric machine according to claim 42, characterized in that The rotor assembly includes a rotor and a bracket, one side of the bracket extends toward one side of the rotor along the radial direction of the motor shaft and is connected to the rotor, and the other side of the bracket extends toward the motor shaft along the radial direction of the motor shaft and is connected to the first support.

48. The electric machine according to any one of claims 42 to 47, characterized in that The rotor assembly encloses a U-shaped groove, and the stator assembly is at least partially located in the U-shaped groove.

49. The electric machine according to claim 42, characterized in that The motor further includes a housing and a second support member, wherein the motor shaft is connected to the housing through the second support member, so that the motor shaft is supported by the second support member when rotating relative to the housing.

50. The electric machine according to claim 49, characterized in that The housing includes a first housing and a second housing, the first housing is mechanically coupled to the second housing, and the second support includes a first support component and a second support component; wherein, One end of the motor shaft is connected to the first housing through the first supporting component, and the other end is connected to the second housing through the second supporting component.

51. The electric machine according to claim 50, characterized in that The first supporting component and / or the second supporting component is a bearing, and the bearing is sleeved on the motor shaft and connected to the motor shaft.

52. The motor according to claim 50, characterized in that A first axial hole is provided in the middle of the first shell, the first supporting component is provided in the first axial hole, the outer wall of the first supporting component is connected to the inner wall of the first axial hole, and the motor shaft passes through the first supporting component.

53. The motor according to claim 50, characterized in that A second shaft hole is provided in the middle of the second shell, the second supporting component is provided in the second shaft hole, the outer wall of the second supporting component is connected to the inner wall of the second shaft hole, and the motor shaft passes through the second supporting component.

54. The electric machine according to claim 50, characterized in that The rotor assembly is disposed in the first housing and is rotationally connected to the motor shaft.

55. The electric machine according to claim 50, characterized in that The stator assembly is disposed in the second housing and fixedly connected to the second housing, and the motor shaft passes through the stator assembly.

56. The electric machine according to claim 42, characterized in that In the case where the magnetic gear assembly and the rotor assembly are sleeved on the motor shaft along the radial direction of the motor shaft, the stator assembly, the rotor assembly and the magnetic gear assembly are sleeved on the motor shaft in sequence along the radial direction of the motor shaft and are distributed from the inside to the outside; or, the rotor assembly, the stator assembly and the magnetic gear assembly are sleeved on the motor shaft in sequence along the radial direction of the motor shaft and are distributed from the inside to the outside.

57. The electric machine according to claim 42, characterized in that In a case where the magnetic gear assembly and the rotor assembly are sleeved on the motor shaft along the axial direction of the motor shaft, the rotor assembly and the stator assembly are sleeved on the motor shaft along the radial direction of the motor shaft and are distributed sequentially from the inside to the outside; Alternatively, the stator assembly and the rotor assembly are sleeved on the motor shaft along the radial direction of the motor shaft and are distributed in sequence from the inside to the outside.

58. The electric machine according to claim 56 or 57, characterized in that The torque input member and the torque output member are sleeved on the motor shaft along the radial direction of the motor shaft; The torque input member and the torque output member are distributed in sequence from the inside to the outside, or the torque output member and the torque input member are distributed in sequence from the inside to the outside.

59. The electric machine according to claim 42, characterized in that The magnetic gear assembly includes a first magnetic member, a modulation ring, and a second magnetic member arranged along the radial direction of the motor shaft. The modulation ring is arranged between the first magnetic member and the second magnetic member and is used to modulate the magnetic field generated by the first magnetic member and / or the second magnetic member. Wherein, the first magnetic component serves as the torque input component, and the second magnetic component serves as the torque output component; or, the first magnetic component serves as the torque input component, and the modulation ring serves as the torque output component.

60. The electric machine according to claim 59, characterized in that The first magnetic component, the modulation ring and the second magnetic component are sequentially sleeved on the motor shaft along the radial direction of the motor shaft.

61. The electric machine according to claim 59, characterized in that The motor further includes a housing, wherein the rotor assembly and the stator assembly are disposed in the housing; wherein, When the second magnetic member serves as the torque output member, the second magnetic member is rotatable relative to the housing, and the modulation ring is fixedly connected to the housing; When the modulation ring serves as the torque output member, the modulation ring can rotate relative to the housing, and the second magnetic member is fixedly connected to the housing.

62. The electric machine according to claim 59, characterized in that The rotor of the rotor assembly, the first magnetic component and the second magnetic component are sleeved on the motor shaft along the radial direction of the motor shaft and are distributed in sequence from the inside to the outside.

63. The electric machine according to claim 62, characterized in that The rotor assembly includes a rotor and a bracket, one side of the bracket extends radially toward one side of the first magnetic component along the radial direction of the motor shaft and is fixedly connected to the first magnetic component, and the other side of the bracket extends radially toward the motor shaft and is rotatably connected to the motor shaft; the rotor is arranged on the bracket and can rotate with the bracket.

64. The electric machine according to claim 63, characterized in that The rotor is arranged on a side of the bracket close to the first magnetic component, and the rotor is sleeved outside the stator assembly.

65. The electric machine according to claim 63, characterized in that The rotor is arranged on a side of the bracket close to the motor shaft, and the stator assembly is sleeved outside the rotor assembly.

66. The electric machine according to claim 42, characterized in that The rotor of the rotor assembly includes a third magnetic component and a first magnetic yoke, wherein the first magnetic yoke is arranged in a ring shape; the third magnetic component is located between the first magnetic yoke and the stator assembly, and is fixedly connected to the first magnetic yoke.

67. The electric machine according to claim 66, characterized in that The first magnetic yoke is located between the magnetic gear assembly and the third magnetic member.

68. The electric machine according to claim 66, characterized in that When the magnetic gear assembly and the rotor assembly are sleeved on the motor shaft in a radial direction of the motor shaft, the torque input member is fixedly arranged on the outer side wall of the first magnetic yoke, and the third magnetic member is fixedly arranged on the inner side wall of the first magnetic yoke.

69. The electric machine according to claim 66, characterized in that The torque input member includes a first magnetic member and a second magnetic yoke, the second magnetic yoke is located between the first magnetic member and the motor shaft, and the first magnetic member is fixedly connected to the second magnetic yoke.

70. The electric machine according to claim 59, characterized in that There are multiple first magnetic members, and there are multiple second magnetic members. The number of pole pairs of the first magnetic members is different from the number of pole pairs of the second magnetic members.

71. The electric machine according to claim 70, characterized in that The number of pole pairs of the first magnetic component is smaller than the number of pole pairs of the second magnetic component.

72. The electric machine according to claim 59, characterized in that The rotor of the rotor assembly includes a plurality of third magnetic members, wherein the number of pole pairs of the third magnetic members is different from that of the first magnetic members, and / or the number of pole pairs of the third magnetic members is different from that of the second magnetic members.

73. The motor according to claim 59, characterized in that The modulation ring includes a plurality of magnetic conductive blocks.

74. The electric machine according to claim 73, characterized in that The plurality of magnetic conductive blocks are arranged at intervals and are integrally formed.

75. The electric machine according to claim 73, characterized in that The plurality of magnetic conductive blocks are arranged at intervals, and the space between two adjacent magnetic conductive blocks is filled with non-magnetic conductive material.

76. The electric machine according to claim 42, characterized in that The motor also includes a housing, a first detection circuit and a second detection circuit, wherein the first detection circuit and the second detection circuit are both connected to the housing, the first detection circuit is used to detect the rotation position of the rotor assembly, and the second detection circuit is used to detect the rotation position of the motor shaft.

77. The electric machine according to claim 76, characterized in that The first detection circuit and the second detection circuit are respectively arranged on different circuit boards.

78. The motor according to claim 76, characterized in that The first detection circuit and the second detection circuit are respectively arranged on two sides of the rotor assembly.

79. The electric machine according to claim 76, characterized in that The first detection circuit and the second detection circuit are both disposed in the housing.

80. The electric machine according to claim 76, characterized in that The first detection circuit and / or the second detection circuit include a Hall sensor or a magnetic encoder, and the motor further includes a magnetic induction element corresponding to the first detection circuit and / or the second detection circuit.

81. The motor according to claim 76, characterized in that The motor further includes a third detection circuit and a magnetic induction component corresponding to the third detection circuit. The third detection circuit is disposed on the housing and is used to detect the position of the rotor assembly.

82. A pan / tilt platform comprising a load and a driving device, wherein the driving device is used to drive the load to move; wherein: The driving device includes the motor according to any one of claims 1 to 41, or the driving device includes the motor according to any one of claims 42 to 81.

83. A movable platform, comprising a platform, the platform comprising a load and a drive device, the drive device being used to drive the load to move; wherein: The driving device includes the motor according to any one of claims 1 to 41, or the driving device includes the motor according to any one of claims 42 to 81.

84. A movable platform, comprising a power device, wherein the power device is used to drive the movable platform to move; wherein The power device includes the motor according to any one of claims 1 to 41, or the power device includes the motor according to any one of claims 42 to 81.

Images