Motor

Abstract

The invention provides a motor which comprises a first shell, a driving part and a sensing part, the first shell is provided with an inner cavity, the driving part is connected with the inner wall of the first shell, and at least part of the driving part is located in the inner cavity; the first shell comprises a first end part, the inner cavity can penetrate through the first end part in the axial direction of the motor, the sensing part is connected with the first end part, and at least part of the sensing part is exposed out of the inner cavity. According to the motor, the sensing part is connected with the first end part of the motor, so that the sensing part can replace one end cover in the related technology, the overall assembly parts of the motor are reduced, and the assembly convenience is improved.

Description

Technical Field

[0001] This application relates to the field of motors, and particularly to the integration of motors and sensors. Background Art

[0002] In related technologies, when connecting a motor to an external carrier for application, in order to monitor its operating conditions in real time, a sensor is connected outside the motor. The motor includes a first housing and end caps connected to both sides of the first housing. The sensing end of the sensor is connected to one of the end caps of the motor. When the motor operates and outputs, the sensor can monitor the tensile or compressive force received by the motor in real time. However, this connection method between the motor and the sensor is relatively troublesome to assemble. Summary of the Invention

[0003] This application provides a motor, including a first housing, a driving part, and a sensing part. The first housing has an inner cavity, the driving part is connected to the inner wall of the first housing, and at least part of the driving part is located inside the inner cavity;

[0004] The first housing includes a first end. In the axial direction of the motor, the inner cavity can penetrate through the first end. The sensing part is connected to the first end, and at least part of the sensing part is exposed to the inner cavity.

[0005] In this application, the connection between the sensing part and the first end of the motor enables the sensing part to replace the setting of one of the end caps in related technologies, thereby reducing the overall assembly components of the motor and improving the convenience of assembly. 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 cross-sectional exploded view of the motor in this application;

[0011] Figure 6 is the three-dimensional exploded Figure 1 ;

[0012] Figure 7 is the three-dimensional exploded Figure 2 ;

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

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

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

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

[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 a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art 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. Both the driving part and the output part are located inside the housing. The two ends of the housing are respectively connected and fixed through two end covers. The output part can extend out of the housing from the 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, due to the connection of the sensor, 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 how to solve the size problem in the axial direction after the connection between the motor and 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 researchers found that using the sensor as the motor end cover can also realize the overall encapsulation of the motor and the protection of the internal structure of the motor, and it will not affect the sensing and monitoring of the force by the sensor.

[0021] This application provides a motor, such 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, and 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, and the driving part 2 is connected to the output part 4. The motor housing 1 includes a first end 101, and 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, and 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, fixed fitting, welding, snap connection or other methods can be adopted, and the specific connection method is not limited here. If the method in the related technology is still used, at this time, a end cover needs to be connected to the first end 101 first, and then the sensing part 3 is connected to the end cover, and additional connection points need to be set for both the sensing part 3 and the end cover 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, thereby 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 of the sensing part 3 to 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 of force can be transmitted from the output part of the motor to the housing, 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 of force to the sensing part 3, which not only reduces the transmission path, but also when transmitting the change of 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, and 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. Among them, the protection function of the sensor housing 302 for the sensing component 301 can replace the encapsulation of the end cover for one end of the motor in the related art. And because 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. 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 in 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, and 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 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, it can support and connect the electronic control board 703 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 for 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 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, thus 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 a connection point for 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, and 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, its specific structure is 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, and 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 received force. 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 detected force, by arranging the connecting portion 305 on the same straight line as the pressure-sensitive portion 307, the force transmission and the detection accuracy 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 external force conduction path, thereby improving the detection accuracy.

[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 external force compared with the edge position, so that the sensitivity of monitoring is higher and more timely. 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 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 will be 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] Among them, 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, which will have an adverse impact 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, thereby 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 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 step portion 311 can provide a connection and installation point for the second installation portion 312 and the second circuit board 313. The step 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, strengthening the overall strength of the shell end portion 308. When an external force acts, when 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 step 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. The shell peripheral portion 314 is connected to the shell end portion 308. The shell peripheral portion 314, the step 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. The two enclose to form the cavity 303. The shell peripheral portion 314 and the step 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 storage of the wires to be externally connected, facilitating collection and management.

[0061] The sensor housing 302 includes a second protrusion portion 304. 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 embodiment, 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 opposite 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 ripple 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, a lower torque ripple is needed. And one of the factors affecting the torque ripple is the cogging torque. Weakening the cogging torque can reduce the torque ripple.

[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 ripple 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 pole staggering 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, making the remaining positions of the magnet groups also in a one-to-one corresponding state and arranged neatly. 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 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 size of θ can be 1.4 degrees.

[0069] In an 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. On 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 b and c have an included angle α; 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 included angle between any two of them is the same, reducing the 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 sequence 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 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, which are evenly and alternately arranged along the circumferential direction of the rotor part 202. 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 connection with the output part 4, the magnetic steel in each magnetic steel group is pasted to the sleeve 401. When the magnetic steel is pasted to the circumferential surface of the sleeve 401, the magnetic steel can be positioned by the tooling. After the first magnetic steel group 203 is pasted, the tooling can be rotated clockwise or counterclockwise by a certain angle, or the sleeve 401 with the first magnetic steel group 203 pasted can be rotated by a certain angle, and then the second magnetic steel group 204 is pasted, and the pasting of the third magnetic steel group 207 and more magnetic steel groups is repeated in the above manner.

[0075] Alternatively, the first magnetic steel group 203 and the second magnetic steel group 204 are pasted at the same time. In this case, two tools are required to position the first magnetic steel group 203 and the second magnetic steel group 204 respectively. When placed, the two tools are rotated clockwise or counterclockwise to stagger the preset angles, so that the magnetic steel groups after pasting can also be staggered by corresponding angles.

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

[0077] On one hand, the limiting part 103 can prevent the stator part 201 from being offset during the operation of the motor, and on the other hand, it can position the stator part 201 during the assembly process of the stator part 201 so that the installation position of the stator part 201 is more accurate.

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

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

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

[0081] The first extension part 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 part 408 can also position the installation and assembly of the second bearing 8, and also limit the second bearing 8 to prevent its position from shifting.

[0082] The motor housing 1 includes a second end part 104, the motor includes an end cover 9, the motor has an inner cavity 110, the end cover 9 includes an abutting part 901, at least part of the abutting part 901 is located in the inner cavity 110, and the abutting part 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 sundries from entering the interior of the motor and damaging the motor. The abutting part 901 can cooperate with the limiting part 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 part 4 includes a locking part 409, the locking part 409 is in threaded cooperation with the circumferential side wall of the sleeve 401, and the locking part 409 can abut against the inner ring of the second bearing 8.

[0085] On the one hand, the locking part 409 can limit the sleeve 401 to prevent its offset during rotation. The locking part 409 can also cooperate with the second bearing 8 to limit each other to prevent the position from shifting, 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", "upper", "lower", etc. 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, It includes a first housing (1), a driving part (2), a sensing part (3) and an output part (4). The first housing (1) has an inner cavity (110). The driving part (2) is connected to the inner wall of the first 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), and the driving part (2) is connected to the output part (4). The first 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), and at least part of the sensing part (3) can be exposed to the inner cavity (110).

2. The motor according to claim 1, characterized in that, 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 mating cavity (404). The lead screw (402) is in threaded engagement with the internal thread (403). At least part of the lead screw (402) is located in the mating cavity (404), and the lead screw (402) can extend out of the periphery of the first housing (1).

3. The motor according to claim 2, characterized in that, The sensing part (3) includes a sensing component (301) and a second housing (302). The second housing (302) has a cavity (303). At least part of the sensing component (301) is located in the cavity (303). The second housing (302) is connected to the first end (101), and the cavity (303) can communicate with the first port (1011).

4. The motor according to claim 3, characterized in that, The first housing (1) includes a first protrusion (102). The first protrusion (102) is located on the periphery of the inner cavity (110). The second housing (302) includes a second protrusion (304). The second protrusion (304) is located on the periphery of the cavity (303). The first protrusion (102) and the second protrusion (304) are fixedly engaged.

5. The motor according to claim 2 or 3, characterized in that, The motor includes a support part (5) and a first bearing (6). At least part of the support part (5) is located in the first port (1011). The support part (5) is annular. The support part (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), and the outer peripheral side wall (501) is connected to the inner wall of the first end (101).

6. The motor according to claim 5, characterized in that, The support part (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).

7. The motor according to claim 6, characterized in that, 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).

8. The electric machine according to claim 2 or 7, characterized in that, The motor includes a second bearing (8). The outer ring of the second bearing (8) is connected to the inner wall of the first housing (1), and the inner ring of the second bearing (8) is connected to one end of the sleeve (401).

9. The electric machine according to claim 3 or 4, characterized in that The output part (4) includes a first connecting ear (406), and the first connecting ear (406) is connected to the lead screw (402).

10. The motor according to claim 9, characterized in that, The second 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).

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