Motor

Abstract

The invention provides a motor which comprises a motor shell, a driving part and an output part, at least part of the driving part is located in the motor shell, at least part of the output part is located in the motor shell, the driving part comprises a stator part and a rotor part, the stator part is connected with the inner wall of the motor shell, and the rotor part is connected with the inner wall of the motor shell. The rotor part is connected with the output part; the rotor part comprises a first magnetic steel group and a second magnetic steel group, the output part is provided with a circumferential side wall surface, the first magnetic steel group and the second magnetic steel group are both connected with the circumferential side wall surface, and the first magnetic steel group and the second magnetic steel group are arranged on a projection plane perpendicular to the axial direction of the stator part. The first magnetic steel group and the second magnetic steel group are located on the periphery of the surface of the circumferential side wall, and the first magnetic steel group and the second magnetic steel group are arranged in a pole staggering mode. According to the invention, the first magnetic steel group and the second magnetic steel group are arranged in a pole-staggered manner, and the pole-staggered arrangement can reduce the magnetic field torque and reduce the torque fluctuation, thereby improving the output precision of the motor.

Description

Technical Field

[0001] This application relates to the field of motors, and particularly to the drive part of a motor. Background Art

[0002] In the related art, a motor includes a drive part and an output part. The drive part includes a stator part and a rotor part, and the output part includes a sleeve and a lead screw. The rotor part is connected to the sleeve through a bushing or a positioning device, and power is provided to the output part through the cooperation between the rotor part and the stator part. However, its torque fluctuation is relatively large, which may result in low output accuracy of the motor. Summary of the Invention

[0003] This application provides a motor, which includes a motor housing, a drive part, and an output part. At least part of the drive part is located inside the motor housing, and at least part of the output part is located inside the motor housing. The drive part includes a stator part and a rotor part. The stator part is connected to the inner wall of the motor housing, and the rotor part is connected to the output part;

[0004] The rotor part includes a first magnet group and a second magnet group. The output part has a circumferential side wall surface. Both the first magnet group and the second magnet group are connected to the circumferential side wall surface. In the projection plane perpendicular to the axial direction of the stator part, the first magnet group and the second magnet group are located on the periphery of the circumferential side wall surface, and the first magnet group and the second magnet group are arranged with opposite poles.

[0005] In this application, the first magnet group and the second magnet group are arranged with opposite poles. The arrangement with opposite poles can reduce the magnetic field torque and the torque fluctuation, thereby improving the output accuracy of the motor. Brief Description of the Drawings

[0006] Figure 1 is a perspective view of the motor in this application;

[0007] Figure 2 is a cross-sectional view of the motor in this application;

[0008] Figure 3 is Figure 2 the enlarged view at circle A in

[0009] Figure 4 is Figure 2 the enlarged view at circle B in

[0010] Figure 5 is a sectional exploded view of the motor in this application;

[0011] Figure 6 is the three-dimensional exploded view of the sensing part in this application Figure 1 ;

[0012] Figure 7 is the three-dimensional exploded view of the sensing part in this applicationFigure 2 ;

[0013] Figure 8 This is the front view of the connection and cooperation between the sleeve and the rotor part in this application;

[0014] Figure 9 This is the sectional view of the connection and cooperation between the sleeve and the rotor part in this application;

[0015] Figure 10 This is the front view of the connection and cooperation between the sleeve and the rotor part in another embodiment of this application;

[0016] Figure 11 This is the sectional view of the connection and cooperation between the sleeve and the rotor part in another embodiment of this application. Detailed implementation manners

[0017] In order to better understand the technical solution of this application, the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0018] It should be clear that the described embodiments are only part of the embodiments of this application, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts belong to the scope of protection of this application.

[0019] In the related art, a motor includes a housing, a driving part and an output part. The driving part and the output part are both located inside the housing. Both ends of the housing are respectively connected and fixed through two end covers. The output part can extend out of the housing through a hole opened in one of the end covers. In order to monitor the force change during the operation of the motor, a sensor is usually connected at the other end cover. The sensor is fixedly connected to the end cover. The end cover can play a role in encapsulating and protecting the internal structure of the motor, so as to transmit the change of the force in real time, and then the sensor senses and transmits the signal. However, when installing the motor into a robot or other device, since the sensor is connected, the size in the axial direction of the motor will become larger. When installing the motor connected with the sensor into a robot or other device, it will also affect the increase of the overall size.

[0020] In terms of how to solve the size problem in the axial direction after the motor is connected to the sensor, in the related art, usually how to reduce the size of the motor or the sensor itself, but the effect is still poor. During continuous research and development, the R & D personnel found that using the sensor as the motor end cover can also achieve the overall encapsulation of the motor and protect the internal structure of the motor, and it will not affect the sensor's induction and monitoring of the force.

[0021] This application provides a motor, as Figures 1 to 11As shown in the figure, it includes a motor housing 1, a driving part 2, a sensing part 3 and an output part 4. The motor housing 1 has an inner cavity 110. The driving part 2 is connected to the inner wall of the motor housing 1. At least part of the driving part 2 is located in the inner cavity 110. At least part of the output part 4 is located in the inner cavity 110. The driving part 2 is connected to the output part 4. The motor housing 1 includes a first end 101. The first end 101 has a first port 1011. In the axial direction of the motor, the inner cavity 110 can communicate with the first port 1011. The sensing part 3 is connected to the first end 101. At least part of the sensing part 3 can be exposed to the inner cavity 110.

[0022] When the sensing part 3 is connected to the first end 101, it can adopt ways such as fixed fitting, welding or snap connection, etc. The specific connection method is not limited here. If the method in the related technology is still adopted, at this time, the first end 101 needs to be first connected with an end cover, and then the sensing part 3 is connected to the end cover. And both the sensing part 3 and the end cover need to be provided with additional connection points so that the sensing part 3 can be connected to the end cover. Then the problem of large size in the axial direction still cannot be solved. By directly connecting the sensing part 3 to the first end 101, the use of one end cover can be reduced. The sensing part 3 can replace the function of the end cover. The sensing part 3 encapsulates and protects one end of the motor. Compared with the related technology, the component of the end cover is reduced, thus reducing the size in the axial direction after the motor and the sensor are connected, and also reducing the setting of connection points, thereby further reducing the size in the axial direction. At the same time, compared with the connection between the sensing part 3 and the connection points on the end cover, integrating the sensing part 3 into the first end 101 of the motor can also improve the accuracy of induction monitoring.

[0023] In the related technology, the output part can partially extend or retract into the housing. During this process, the change in force can be transmitted from the output part of the motor to the housing, then from the housing to the end cover, and then from the end cover to the sensor, so that the sensing part conducts induction monitoring. During this period, the force transmission path is more, and the connection between the sensor and the end cover through the connection points will also affect the force transmission, thus affecting the result of induction monitoring.

[0024] In this application, after the output part 4 is transmitted to the motor housing 1, the motor housing 1 can directly transmit the change in force to the sensing part 3. This not only reduces the transmission path, but also when transmitting the change in force to the sensing part 3, it is directly transmitted by the motor housing 1. Compared with the related technology, the result of induction monitoring will be more accurate.

[0025] As Figure 2 shown, the output part 4 includes a sleeve 401 and a lead screw 402. The sleeve 401 includes an internal thread 403. The sleeve 401 has a fitting cavity 404. The lead screw 402 is in threaded fit with the internal thread 403. At least part of the lead screw 402 is located in the fitting cavity 404. The lead screw 402 can extend out of the periphery of the motor housing 1.

[0026] During the operation of the motor, the driving part 2 drives the sleeve 401 to rotate. As the sleeve 401 rotates, the lead screw 402 that is in threaded cooperation with the sleeve 401 can partially extend out or retract into the sleeve 401 along the axial direction of the sleeve 401, that is, extend out or retract into the motor housing 1. The end of the lead screw 402 can act on an external carrier.

[0027] The sensing part 3 includes a sensing component 301 and a sensor housing 302. The sensor housing 302 has a cavity 303. The sensing component 301 is at least partially located in the cavity 303. The sensor housing 302 is connected to the first end portion 101, and the cavity 303 can communicate with the first port 1011.

[0028] The sensing component 301 is the core component of the sensing part 3. The sensor housing 302 also has the functions of encapsulating and protecting the sensing component 301. When the sensing part 3 is connected and integrated with the motor, it is also realized through the connection between the sensor housing 302 and the motor housing 1. The protective effect of the sensor housing 302 on the sensing component 301 can replace the encapsulation of the end cover on one end of the motor in the related art. And since the driving part 2 and the sleeve 401 in the output part 4 inside the motor are relatively stationary with respect to the sensing part 3 in the axial direction of the motor, it will not affect the sensing component 301 in the cavity 303 either. The sensor housing 302 can also meet the requirements for encapsulating and protecting one end of the motor.

[0029] The motor housing 1 includes a first convex portion 102. The first convex portion 102 is located on the periphery of the inner cavity 110. The sensor housing 302 includes a second convex portion 304. The second convex portion 304 is located on the periphery of the cavity 303. The first convex portion 102 and the second convex portion 304 are fixedly matched.

[0030] The first convex portion 102 is connected to the outer peripheral wall of the first end portion 101. The first convex portion 102 and the first end portion 101 are an integral part. The second convex portion 304 is connected to the outer peripheral wall of the sensor housing 302. The fixed cooperation between the motor housing 1 and the sensor housing 302 can be realized through the fixed connection between the first convex portion 102 and the second convex portion 304. The first convex portion 102 and the second convex portion 304 can be fixedly connected by bolts or by welding. The specific connection method is not limited.

[0031] The motor includes a support portion 5 and a first bearing 6. The support portion 5 is at least partially located at the first port 1011. The support portion 5 is annular. The support portion 5 includes an outer peripheral side wall 501 and an inner peripheral side wall 502. The inner ring of the first bearing 6 is connected to one end of the sleeve 401. The outer ring of the first bearing 6 is connected to the inner peripheral side wall 502. The outer peripheral side wall 501 is connected to the inner wall of the first end portion 101.

[0032] The support portion 5 includes a connecting column 503 and a connecting wall 504, and the connecting column 503 is connected to the connecting wall 504; the motor includes an encoder 7, and the encoder 7 includes a generator 701, a receiver 702, and an electronic control board 703. The generator 701 is connected to the sleeve 401, the receiver 702 is connected to the electronic control board 703, and the electronic control board 703 is connected to the connecting column 503; at least a part of the electronic control board 703 can be located in the cavity 303.

[0033] During the operation of the motor, the sleeve 401 will be in a rotating state under the drive of the drive portion 2. Therefore, the first bearing 6 can support and connect one end of the sleeve 401, so that the sleeve 401 can rotate stably. On the one hand, the support portion 5 can support and connect the first bearing 6, and on the other hand, the electronic control board 703 is supported and connected through the connecting column 503.

[0034] If there is no support portion 5, although the first bearing 6 can be directly connected to the inner wall of the motor housing 1 by interference fit, due to the size of the first bearing 6, when the inner ring of the first bearing 6 is connected to the sleeve 401 and the outer ring of the first bearing 6 is connected to the inner wall of the motor housing 1, the gap between the sleeve 401 and the inner wall of the motor housing 1 will be small, so that there is not enough space reserved for the connection and assembly of the drive portion 2. When providing the connection point of the first bearing 6, in the radial direction of the first bearing 6, the support portion 5 also makes the gap between the sleeve 401 and the inner wall of the motor housing 1 larger, providing enough space for the installation of the sleeve 401 and the drive portion 2.

[0035] As Figure 2 shown, the sleeve 401 has a receiving cavity 405, and the receiving cavity 405 can communicate with the mating cavity 404. The encoder 7 includes a mounting seat 704, the generator 701 is connected to the mounting seat 704, at least a part of the mounting seat 704 is located in the receiving cavity 405, and the mounting seat 704 is connected to the inner wall of the receiving cavity 405.

[0036] The function of the receiving cavity 405 is, on the one hand, to facilitate the retraction of the lead screw 402 into the motor housing 1, providing a space for avoidance to prevent the lead screw 402 from touching other components or circuits, thereby causing adverse effects. On the other hand, the receiving cavity 405 also provides a space for the assembly of the mounting seat 704. The mounting seat 704 is partially or entirely located in the receiving cavity 405, thereby further reducing the overall size of the motor in the axial direction. If there is no receiving cavity 405, the mounting seat 704 needs to be connected to the end face of one end of the sleeve 401, which will increase the size in the axial direction. The mounting seat 704 provides the connection point of the generator 701, so that in the axial direction of the motor, the generator 701 and the receiver 702 are opposite to each other, so that the two can cooperate with each other to monitor parameters such as the rotation speed of the sleeve 401 and thus send out signals.

[0037] The motor includes a second bearing 8. The outer ring of the second bearing 8 is connected to the inner wall of the motor housing 1, and the inner ring of the second bearing 8 is connected to one end of the sleeve 401.

[0038] The first bearing 6 and the second bearing 8 are respectively located at both ends of the sleeve 401 to support the sleeve 401, so that the sleeve 401 can rotate stably.

[0039] The output part 4 includes a first connecting ear 406, and the first connecting ear 406 is connected to the lead screw 402.

[0040] The sensor housing 302 includes a connecting part 305, and the sensing part 3 includes a second connecting ear 306. The second connecting ear 306 is connected to the connecting part 305.

[0041] The first connecting ear 406 and the second connecting ear 306 can facilitate the connection with an external carrier.

[0042] Among them, a sensor provided in this application, that is, the sensing part 3, has a specific structure as Figures 5 to 7 shown, including a sensing component 301 and a sensor housing 302. The sensor housing 302 has a cavity 303. At least part of the sensing component 301 is located in the cavity 303. The sensing component 301 includes a pressure-sensitive part 307. The sensor housing 302 includes a housing end part 308 and a connecting part 305. The housing end part 308 exposed to the side wall of the cavity 303 is connected to the pressure-sensitive part 307, and the side wall of the housing end part 308 facing away from the cavity 303 is connected to the connecting part 305; the connecting part 305 and the pressure-sensitive part 307 are respectively located on opposite sides of the housing end part 308. The connecting part 305 is used to connect an external carrier, and at least part of the pressure-sensitive part 307 is located in the cavity 303.

[0043] In the related art, the action of force can be transmitted to the pressure-sensitive part only through the layer-by-layer conduction between components, so as to sense the change of pressure. However, after the layer-by-layer transmission between components, the detection result may not be accurate enough.

[0044] The pressure-sensitive part 307 and the connecting part 305 are respectively arranged on opposite sides of the housing end part 308. The connecting part 305 is used to connect an external carrier. Then, when there is a change in force, the force will be transmitted to the connecting part 305. The connecting part 305 drives the housing end part 308 to deform. The pressure-sensitive part 307 can directly sense the deformation of the housing end part 308, and then sense the action of force to monitor the change of the force received. The pressure-sensitive part 307 and the connecting part 305 are respectively arranged on opposite sides of the housing end part 308, which can facilitate the installation of the pressure-sensitive part 307, and can also transmit the change of force more directly to the pressure-sensitive part 307. The change of force is also generated by the deformation of the housing end part 308, and the connecting part 305 for transmitting the change of force is also directly connected to the housing end part 308. Therefore, the transmission of force will be more timely and rapid, and the detection result will be more accurate.

[0045] In the axial direction of the housing end portion 308, a center line L is defined for the sensor. Both the pressure-sensitive portion 307 and the connecting portion 305 are located on the center line L, and the connecting portion 305 and the housing end portion 308 are an integral part.

[0046] During the process that the pressure-sensitive portion 307 senses the deformation of the housing end portion 308 to sense the change of the detection force, by arranging the connecting portion 305 on the same straight line as the pressure-sensitive portion 307, the transmission of force and the accuracy of detection can be improved. And in one of the embodiments, the connecting portion 305 and the housing end portion 308 are an integral part, so that the force acts more directly through the housing end portion 308 to the pressure-sensitive portion 307 connected to the housing end portion 308. The setting of the integral part further reduces the conduction path of the external force, thereby improving the accuracy of detection.

[0047] Wherein, the pressure-sensitive portion 307 and the connecting portion 305 are respectively located at a position close to the middle of the housing end portion 308. The middle position of the housing end portion 308 is more likely to deform under the action of an external force compared with the edge position, so it is more sensitive and timely for monitoring. If the pressure-sensitive portion 307 and the connecting portion 305 are not arranged on the same straight line, when the connecting portion 305 is subjected to a force and acts on the housing end portion 308, in the thickness direction of the housing end portion 308, since the connecting portion 305 and the pressure-sensitive portion 307 are located at different positions of the housing end portion 308, the amount of deformation caused by the actual action on the housing end portion 308 is different from the amount of deformation sensed by the pressure-sensitive portion 307. As a result, the change in the force sensed by the pressure-sensitive portion 307 is different from the magnitude of the actual acting force, and the monitoring result is not accurate enough.

[0048] As Figure 6 and 7 shown, the sensor housing 302 includes a first mounting portion 309, the sensing assembly 301 includes a first circuit board 310, the side wall of the housing end portion 308 exposed to the cavity 303 is connected to the first mounting portion 309, and the pressure-sensitive portion 307 is electrically connected to the first circuit board 310.

[0049] On the one hand, the first mounting portion 309 provides a connection point for the first circuit board 310. On the other hand, in the axial direction of the motor, a connection space for the pressure-sensitive portion 307 is also left between the first circuit board 310 and the housing end portion 308. The pressure-sensitive portion 307 is electrically connected to the first circuit board 310. At the same time, the pressure-sensitive portion 307 also needs to be connected to the housing end portion 308 to sense the deformation of the housing end portion 308. Furthermore, the first mounting portion 309 also leaves a deformation space for the housing end portion 308.

[0050] The sensor housing 302 includes a contact portion 316. The housing end portion 308 is exposed to the side wall of the cavity 303 and is connected to the contact portion 316. The housing end portion 308 and the contact portion 316 are an integral part; the contact portion 316 is connected to the pressure-sensitive portion 307.

[0051] In the connection of the pressure-sensitive portion 307 to the housing end portion 308, it can be achieved through the contact portion 316 provided on the housing end portion 308. The contact portion 316 and the housing end portion 308 can be connected by welding, or the contact portion 316 and the housing end portion 308 are an integral part.

[0052] Wherein, in the axial direction of the housing end portion 308, the contact portion 316 is located on the center line L; the pressure-sensitive portion 307 is a strain gauge, and the strain gauge is bonded to the contact portion 316.

[0053] The thickness of the strain gauge is relatively thin, and there are tolerances in the production and manufacturing processes of the first circuit board 310 and the housing end portion 308. When the strain gauge is connected to the first circuit board 310 and then connected to the housing end portion 308, it may cause contact or limitation between the first circuit board 310 and the housing end portion 308, thereby having an adverse effect on the strain gauge. The contact portion 316 cooperates with the first mounting portion 309, which can make there be a vacant interval between the first circuit board 310 and the housing end portion 308, thus preventing contact or limitation between the first circuit board 310 and the housing end portion 308. On the other hand, the contact portion 316 is in direct contact with the strain gauge. The contact portion 316 and the housing end portion 308 are connected by welding or are an integral part. When a force acts, the force can be transmitted to the housing end portion 308 and the contact portion 316 through the connecting portion 305. The connecting portion 305, the housing end portion 308, and the contact portion 316 have a high integrity, and the deformation of the housing end portion 308 caused by the external force can be directly transmitted to the strain gauge, and then the change of the force can be sensed and monitored.

[0054] The sensor housing 302 includes a stepped portion 311. The housing end portion 308 is exposed to the side wall of the cavity 303 and is connected to the stepped portion 311. The housing end portion 308 and the stepped portion 311 are an integral part; the stepped portion 311 and the connecting portion 305 are respectively located on opposite sides of the housing end portion 308.

[0055] The sensor housing 302 includes a second mounting portion 312. The second mounting portion 312 is connected to the stepped portion 311. The sensing assembly 301 includes a second circuit board 313, and the second circuit board 313 is connected to the second mounting portion 312.

[0056] The stepped portion 311 can provide a connection and installation point for the second installation portion 312 and the second circuit board 313. The stepped portion 311 and the shell end portion 308 are an integral part, thereby also improving the strength of the edge portion of the shell end portion 308, thus strengthening the overall strength of the shell end portion 308. When an external force acts and the connecting portion 305 transmits the force to the shell end portion 308, the shell end portion 308 will not be deformed multiple times resulting in structural damage. The setting of the stepped portion 311 also leaves a spaced space between the second circuit board 313 and the first circuit board 310, preventing short circuits and other situations between the circuit boards.

[0057] The sensor housing 302 includes a shell peripheral portion 314, and the shell peripheral portion 314 is connected to the shell end portion 308. The shell peripheral portion 314, the stepped portion 311, and the shell end portion 308 are an integral part, and the shell peripheral portion 314 and the shell end portion 308 are located outside the cavity 303.

[0058] The shell peripheral portion 314 and the shell end portion 308 form the general overall shape of the sensor housing 302, and the two enclose to form the cavity 303. The shell peripheral portion 314 and the stepped portion 311 are an integral part, which also improves the strength of the shell peripheral portion 314 and is more convenient for the processing and forming of the sensor housing 302.

[0059] The shell peripheral portion 314 has a wire outlet hole 315, and the wire outlet hole 315 can communicate with the cavity 303.

[0060] Both the first circuit board 310 and the second circuit board 313 need to be connected to an external circuit through wires. The wire outlet hole 315 can facilitate the accommodation of the wires to be externally connected, facilitating collection and management.

[0061] The sensor housing 302 includes a second protrusion portion 304, and the second protrusion portion 304 is connected to the shell peripheral portion 314. The second protrusion portion 304 is convenient for opening some bolt holes and the like to connect and fix the sensor housing 302 to the motor housing 1.

[0062] In one implementation, such as Figures 8 - 11 , it includes a motor housing 1, a driving portion 2, and an output portion 4. At least part of the driving portion 2 is located inside the motor housing 1, and at least part of the output portion 4 is located inside the motor housing 1. The driving portion 2 includes a stator portion 201 and a rotor portion 202. The stator portion 201 is connected to the inner wall of the motor housing 1, and the rotor portion 202 is connected to the output portion 4. The rotor portion 202 includes a first magnet group 203 and a second magnet group 204. The output portion 4 has a circumferential side wall surface 410. Both the first magnet group 203 and the second magnet group 204 are connected to the circumferential side wall surface 410. In the projection plane perpendicular to the axial direction of the stator portion 201, the first magnet group 203 and the second magnet group 204 are located outside the circumferential side wall surface 410, and the first magnet group 203 and the second magnet group 204 are arranged with staggered poles.

[0063] In the related art, the rotor part includes a plurality of magnet groups arranged at uniform intervals. The magnet groups are arranged in alignment along the axial direction of the motor. The rotor part cooperates with the stator part to provide power to the output part 4. However, the problem is that the torque fluctuation is relatively large, which will result in low output accuracy of the motor. When it is applied to some fields that require high-precision control, such as robots, etc., a lower torque fluctuation is needed. And one of the factors affecting the torque fluctuation is the cogging torque. Weakening the cogging torque can reduce the torque fluctuation.

[0064] In this application, the first magnet group 203 and the second magnet group 204 are arranged with staggered poles, which can weaken the cogging torque, thereby reducing the torque fluctuation and improving the output accuracy of the motor. Among them, the first magnet group 203 and the second magnet group 204 are connected to the output part 4 in a surface-mounted manner. The first magnet group 203 and the second magnet group 204 are pasted on the circumferential side wall of the output part 4. The surface-mounted connection method makes the assembly more convenient and fast. Compared with the related art, it is more convenient to connect the magnet group to the bushing and then connect it to the output part 4. And the surface-mounted connection method can also save the size of the motor in the radial direction, thereby reducing the overall size of the motor.

[0065] The first magnet group 203 and the second magnet group 204 are separate magnet groups. The block design can reduce the volume of each magnet, which is convenient for processing and production. At the same time, the magnetic field generated by the stator part will generate a current loop on the surface of the magnet. After being divided into blocks, the volume of each magnet is reduced, reducing the eddy current on the magnet, and reducing the loss and temperature rise.

[0066] Among them, in the axial direction of the output part 4, it is defined that the motor has a center line L. The first magnet group 203 is arranged around the center line L, and the second magnet group 204 is arranged around the center line L; it is defined that the first magnet group 203 has a first starting point 205, and it is defined that the second magnet group 204 has a second starting point 206; on the projection plane perpendicular to the center line L, it is defined that the connection line between the first starting point 205 and the center line L is a, and the connection line between the second starting point 206 and the center line L is b, and a and b have an included angle θ.

[0067] In the circumferential direction of the rotor part 202, the first magnet group 203 and the second magnet group 204 are arranged staggeredly to form a staggered pole setting. In the related art, each magnet in the first magnet group 203 and the second magnet group 204 corresponds one by one. If designed according to the related art, the first starting point 205 and the second starting point 206 are also on the same straight line in the axial direction of the motor and correspond to each other in position, so that the remaining positions of the magnet groups are also in a one-to-one corresponding state and are neatly arranged. In the present application, in the circumferential direction of the rotor part 202, the first starting point 205 and the second starting point 206 are staggered by a certain angle, so that the remaining positions of the first magnet group 203 and the second magnet group 204 are also staggered by a certain angle accordingly, that is, the first magnet group 203 and the second magnet group 204 are staggered by the same angle.

[0068] During actual installation, the first magnet group 203 can be first surface-mounted on the circumferential side wall of the output part 4. Taking the first starting point 205 as the reference point, rotate a certain angle clockwise or counterclockwise around the center line L, and then surface-mount the second magnet group 204 on the circumferential side wall of the output part 4, so that the angle between the first magnet group 203 and the second magnet group 204 is θ, where the value of θ can be 1.4 degrees.

[0069] In one embodiment, the rotor part 202 includes a third magnet group 207. Along the circumferential direction of the rotor part 202, the first magnet group 203, the second magnet group 204 and the third magnet group 207 are evenly arranged staggeredly; the third magnet group 207 has a third starting point 208. In the projection plane perpendicular to the center line L, the connection line between the third starting point 208 and the center line L is defined as c, and there is an included angle α between b and c; where θ = α.

[0070] The installation of the third magnet group 207 is also the same as that of the first magnet group 203 and the second magnet group 204. In the circumferential direction of the rotor part 202, the first magnet group 203, the second magnet group 204 and the third magnet group 207 are evenly staggered by a certain angle in the clockwise or counterclockwise direction, and the angle between any two of them is the same, reducing torque ripple.

[0071] In another embodiment, the rotor part 202 includes more magnet groups 207, and each magnet group 207 can be staggered by the same angle in turn in the clockwise or counterclockwise direction.

[0072] The output part 4 includes a sleeve 401 and a lead screw 402. At least part of the lead screw 402 is located in the sleeve 401, and the sleeve 401 and the lead screw 402 are in threaded cooperation; the first magnet group 203 and the second magnet group 204 are adhesively bonded to the surface of the circumferential side wall of the sleeve 401; the third magnet group 207 is adhesively bonded to the surface of the circumferential side wall of the sleeve 401.

[0073] The first magnet group 203, the second magnet group 204, and the third magnet group 207 each include a plurality of N - pole magnets and S - pole magnets. Along the circumferential direction of the rotor part 202, the N - pole magnets and the S - pole magnets are evenly staggered. The circumferential side wall of the sleeve 401 also constitutes the circumferential side wall surface 410 of the output part 4.

[0074] In the surface - mounted connection with the output part 4, it is achieved by pasting the magnets in each magnet group to the sleeve 401. When pasting the magnets onto the circumferential surface of the sleeve 401, the magnets can be positioned by a tooling. After pasting the first magnet group 203, the tooling can be rotated a certain angle clockwise or counterclockwise, or the sleeve 401 with the first magnet group 203 pasted can be rotated a certain angle, and then the second magnet group 204 is pasted. The pasting of the third magnet group 207 and more magnet groups is repeated according to the above method.

[0075] Alternatively, the first magnet group 203 and the second magnet group 204 are pasted simultaneously. At this time, two toolings are required to position the first magnet group 203 and the second magnet group 204 respectively. When the two toolings are placed, they are rotated clockwise or counterclockwise and staggered by a preset angle, so that the pasted magnet groups are also staggered by the corresponding angle.

[0076] The motor housing 1 includes a limiting part 103, and the limiting part 103 extends from the inner wall of the motor housing 1 towards the center line L; the stator part 201 is in interference fit with the inner wall of the motor housing 1, and along the extending direction of the center line L, one side of the stator part 201 can contact with the limiting part 103.

[0077] On the one hand, the limiting part 103 can prevent the stator part 201 from shifting during the operation of the motor. On the other hand, during the assembly of the stator part 201, it positions the stator part 201 to make the installation position of the stator part 201 more accurate.

[0078] The motor includes a first bearing 6 and a second bearing 8. The first bearing 6 and the second bearing 8 support the two ends of the sleeve 401 respectively; along the extending direction of the center line L, the outer ring of the second bearing 8 can contact with the other side of the limiting part 103.

[0079] The limiting part 103 can also provide positioning for the installation of the second bearing 8 and prevent the second bearing 8 from shifting during the operation of the motor.

[0080] The motor includes a first extension portion 407 and a second extension portion 408. In the radial direction of the sleeve 401, the first extension portion 407 extends away from the circumferential side wall of the sleeve 401, and the second extension portion 408 extends away from the circumferential side wall of the sleeve 401; the first extension portion 407 can abut against the inner ring of the first bearing 6, and the second extension portion 408 can abut against the inner ring of the second bearing 8.

[0081] The first extension portion 407 can be used to position the installation and assembly of the first bearing 6, and limit the first bearing 6 during the subsequent operation of the motor. Similarly, the second extension portion 408 can also position the installation and assembly of the second bearing 8, and also limit the second bearing 8 to prevent it from shifting in position.

[0082] The motor housing 1 includes a second end portion 104, the motor includes an end cover 9, the motor has an inner cavity 110, the end cover 9 includes an abutting portion 901, at least part of the abutting portion 901 is located in the inner cavity 110, and the abutting portion 901 can abut against the outer ring of the second bearing 8.

[0083] The end cover 9 is used to encapsulate the motor to prevent external debris from entering the interior of the motor and damaging the motor. The abutting portion 901 can cooperate with the limiting portion 103 after assembly to limit the second bearing 8 on both opposite sides of the second bearing 8 to prevent the second bearing 8 from shifting in position.

[0084] The output portion 4 includes a locking portion 409, and the locking portion 409 is in threaded cooperation with the circumferential side wall of the sleeve 401, and the locking portion 409 can abut against the inner ring of the second bearing 8.

[0085] On the one hand, the locking portion 409 can limit the sleeve 401 to prevent its offset during rotation. The locking portion 409 can also cooperate with the second bearing 8 to limit each other to prevent position offset, thereby improving the stability of the overall operation of the motor.

[0086] The above embodiments are only used to illustrate the present application and do not limit the technical solutions described in the present application. The understanding of this specification should be based on those skilled in the art of the relevant technical field. For example, the directional descriptions such as "front", "rear", "left", "right", "up", and "down" are only used to describe the relationship between objects and are not substantive limitations. "Multiple" means at least two or more.

[0087] Although this specification has described the present application in detail with reference to the above embodiments, those of ordinary skill in the art should understand that those skilled in the relevant technical field can still modify the present application or make equivalent replacements, and all technical solutions and their improvements that do not depart from the spirit and scope of the present application should be covered within the scope of the claims of the present application.

Claims

1. A motor, characterized in that, The invention comprises a motor housing (1), a driving part (2) and an output part (4), wherein the driving part (2) is at least partially located in the motor housing (1), and the output part (4) is at least partially located in the motor housing (1), and the driving part (2) comprises a stator part (201) and a rotor part (202), wherein the stator part (201) is connected to the inner wall of the motor housing (1), and the rotor part (202) is connected to the output part (4); The rotor part (202) comprises a first magnetic steel group (203) and a second magnetic steel group (204); the output part (4) has a circumferential side wall surface (410); the first magnetic steel group (203) and the second magnetic steel group (204) are both connected to the circumferential side wall surface (410); on a projection plane perpendicular to the axial direction of the stator part (201), the first magnetic steel group (203) and the second magnetic steel group (204) are located on the periphery of the circumferential side wall surface (410); the first magnetic steel group (203) and the second magnetic steel group (204) are staggered in polarity.

2. The motor according to claim 1, wherein, The outer surface of the output part (4) is annular; in the axial direction of the output part (4), the motor is defined to have a center line (L); the first magnetic steel group (203) is arranged around the center line (L); and the second magnetic steel group (204) is arranged around the center line (L); the first magnetic steel group (203) is defined to have a first starting point (205); and the second magnetic steel group (204) is defined to have a second starting point (206); On a projection plane perpendicular to the center line (L), a line connecting the first starting point (205) and the center line (L) is defined as a, and a line connecting the second starting point (206) and the center line (L) is defined as b, and a and b have an angle θ.

3. The motor according to claim 2, characterized in that, The rotor part (202) comprises a third magnetic steel group (207), and along the circumferential direction of the rotor part (202), the first magnetic steel group (203), the second magnetic steel group (204) and the third magnetic steel group (207) are evenly staggered and arranged; The third magnetic steel group (207) has a third starting point (208). On a projection plane perpendicular to the center line (L), a line connecting the third starting point (208) and the center line (L) is defined as c, and b and c have an angle α; wherein θ=α.

4. The motor according to claim 3, characterized in that, The output portion (4) comprises a sleeve (401) and a screw rod (402), wherein the screw rod (402) is at least partially located inside the sleeve (401), and the sleeve (401) and the screw rod (402) are threadedly matched; The first magnetic steel group (203) and the second magnetic steel group (204) are bonded to the surface of the circumferential side wall of the sleeve (401); The third magnetic steel group (207) is bonded to the surface of the circumferential side wall of the sleeve (401).

5. The motor according to claim 3, characterized in that, The first magnetic steel group (203), the second magnetic steel group (204) and the third magnetic steel group (207) each include a plurality of N-pole magnetic steels and S-pole magnetic steels, and along the circumferential direction of the rotor part (202), the N-pole magnetic steels and the S-pole magnetic steels are evenly and alternately arranged.

6. The motor according to claim 4, characterized in that The motor housing (1) includes a limiting portion (103) that extends from the inner wall of the motor housing (1) towards the center line (L); the stator portion (201) is in interference fit with the inner wall of the motor housing (1), and along the extending direction of the center line (L), one side of the stator portion (201) can contact the limiting portion (103).

7. The motor according to claim 6, characterized in that, The motor includes a first bearing (6) and a second bearing (8), and the first bearing (6) and the second bearing (8) respectively support both ends of the sleeve (401); Along the extending direction of the center line (L), the outer ring of the second bearing (8) can contact the other side of the limiting portion (103).

8. The motor according to claim 7, characterized in that, The motor includes a first extension portion (407) and a second extension portion (408). In the radial direction of the sleeve (401), the first extension portion (407) extends from the circumferential side wall of the sleeve (401) away from the sleeve (401), and the second extension portion (408) extends from the circumferential side wall of the sleeve (401) away from the sleeve (401); The first extension portion (407) can abut against the inner ring of the first bearing (6), and the second extension portion (408) can abut against the inner ring of the second bearing (8).

9. The motor according to claim 6 or 8, characterized in that, The motor housing (1) includes a second end portion (104), the motor includes an end cover (9), the motor has an inner cavity (110), the end cover (9) includes an abutting portion (901), at least a part of the abutting portion (901) is located in the inner cavity (110), and the abutting portion (901) can abut against the outer ring of the second bearing (8).

10. The motor according to claim 6 or 8, characterized in that, The output portion (4) includes a locking portion (409), the locking portion (409) is in threaded fit with the circumferential side wall of the sleeve (401), and the locking portion (409) can abut against the inner ring of the second bearing (8).

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