An electric machine

Abstract

The application belongs to the technical field of special electric machines, and particularly relates to an electric machine which comprises a shell, an output shaft, a driving wheel and multiple groups of voice coil motors; the output shaft is installed in the shell in the axial direction, the driving wheel is arranged in the shell and is in transmission connection with the output shaft, the outer periphery of the driving wheel is provided with multiple convex parts and inner concave avoiding positions, and the outer side of the convex parts is provided with a rotation guide surface with a continuously changed radial distance; the multiple groups of voice coil motors are arranged in the circumferential direction of the outer periphery of the driving wheel, can be radially stretched and contracted in sequence and press against the rotation guide surface, and convert the radial thrust into a tangential component force to drive the rotation of the driving wheel. The application adopts the circumferential array arrangement of the multiple groups of voice coil motors, radially presses against the rotation guide surface of the driving wheel in sequence, converts the linear motion of the voice coil motor into the rotary motion of the driving wheel, so that the low-speed large-torque output without a speed reducer is realized, and meanwhile, the structure is compact, the thrust is controllable and the replacement and maintenance are facilitated.

Description

Technical Field

[0001] This application belongs to the field of special motor technology, and specifically relates to a type of motor. Background Technology

[0002] Voice coil motors have advantages such as high precision, high linear torque, and fast response speed, and are mostly used in linear reciprocating motion scenarios. Existing rotary torque motors are mostly multi-pole brushless structures, which have problems such as large size, limited power density, high low speed limit, and high difficulty in on-site maintenance.

[0003] Traditional voice coil motors are limited by their structure, resulting in poor coil heat dissipation, which restricts the increase in operating current and linear thrust, making it difficult to break through power density. To achieve low-speed, high-torque rotary output, a speed reducer must be used, which not only increases the overall size and structural complexity of the machine, but also relatively increases the cost. Summary of the Invention

[0004] The purpose of this application is to at least solve one of the technical problems existing in the prior art, and to provide a motor that adopts a circumferential array of multiple voice coil motors, which sequentially radially press against the rotation guide surface of the drive wheel, thereby converting the linear motion of the voice coil motor into the rotational motion of the drive wheel, thus achieving low-speed, high-torque output without the need for a speed reducer, while having a compact structure, stable and controllable thrust, and being easy to replace and maintain.

[0005] The technical solution adopted by this application to solve its technical problem is: An electric motor, comprising: The housing has an output shaft mounted axially. A drive wheel is located inside the housing and is connected to the output shaft for transmission. The outer circumference of the drive wheel is provided with a plurality of protrusions spaced apart in the circumferential direction. An inwardly recessed clearance is formed between two adjacent protrusions. The outer side of the protrusion has a rotating guide surface. The radial distance of the rotating guide surface changes continuously in the circumferential direction to convert the radial thrust acting on the rotating guide surface into a tangential component force. Multiple voice coil motors are distributed circumferentially around the outer periphery of the drive wheel and mounted on the housing. The multiple voice coil motors are configured to perform radial extension and retraction movements in sequence to press against the corresponding rotation guide surfaces in sequence to drive the drive wheel to rotate. The voice coil motor achieves telescopic movement through its mover. The mover of the voice coil motor has a rotating wheel installed on the side near the drive wheel. The rotating wheel can rotate around the axis, and the voice coil motor abuts against the rotating guide surface through the rotating wheel.

[0006] In some implementations of this application, in conjunction with the above implementations, the voice coil motor includes a mover and a stator. The stator has a coil and is detachably mounted on the housing. The mover is sleeved on the end of the stator near the drive wheel and has a magnetic structure so that it can reciprocate relative to the stator to extend and retract radially and press against the rotating guide surface. The end of the stator away from the mover has a heat dissipation structure.

[0007] In some implementations of this application, in conjunction with the above implementations, the end of the stator away from the mover is provided with a cavity, the cavity is used to introduce a cooling medium, and the cavities of each voice coil motor are connected by a cooling conduit.

[0008] In some implementations of this application, in conjunction with the above implementations, the stator is provided with heat dissipation fins on the outside of the cavity.

[0009] In some implementations of this application, in conjunction with the above-described implementations, the housing is provided with a mounting hole in the radial direction, the stationary element is embedded in the mounting hole, the moving element is slidably mounted in the mounting hole, and the heat dissipation structure is provided outside the mounting hole.

[0010] In some implementations of this application, in conjunction with the above-described implementations, a brake assembly for braking the output shaft is provided inside the housing.

[0011] In some implementations of this application, in conjunction with the above-described implementations, the brake assembly includes a brake housing, a brake conduit, a control valve, and at least two meshing gears. The gears are disposed within the housing, and the output shaft extends into the housing and engages with any of the gears. The two ends of the brake conduit are correspondingly connected to the brake housing to form a closed-loop circuit with the brake housing. The closed-loop circuit is used to introduce braking medium. The control valve is installed on the brake conduit to control the on / off state and flow rate of the braking medium to brake the output shaft.

[0012] In conjunction with the above implementation methods, in some implementation methods of this application, the housing is provided with a mounting plate, the mounting plate is provided with a through hole extending along the axial direction, the output shaft is rotatably mounted on the mounting plate through the through hole, and the drive wheel and the brake assembly are respectively located on both sides of the mounting plate.

[0013] In some implementations of this application, in conjunction with the above-described implementations, the stator is made of at least one of a high thermal conductivity metal material, a high thermal conductivity ceramic material, or a high thermal conductivity composite material.

[0014] In some implementations of this application, in conjunction with the above-described implementations, the rotating guide surface includes an arc-shaped surface or multiple sequentially connected inclined surfaces.

[0015] One of the above technical solutions has at least one of the following advantages or beneficial effects: The motor of this application adopts multiple voice coil motors arranged in a ring array along the outer periphery of the drive wheel. Through timing control, they sequentially radially press against the rotating guide surface of the drive wheel. By utilizing the radial distance gradient structure of the rotating guide surface, the radial linear thrust is directly converted into the tangential component force of the drive wheel rotation. Low-speed high-torque rotation output can be achieved without the need for a reducer, and the structure is more compact and simple. Furthermore, the voice coil motor rolls against the rotating guide surface via a rotating wheel. The wheel automatically deflects with the rotating guide surface of the drive wheel upon contact, ensuring a more reasonable force direction at the contact point. This guarantees thrust transmission while avoiding interference from hard contact, effectively preventing the mover from jamming or the drive wheel from slipping, thus improving transmission smoothness. The drive wheel adopts a petal-shaped structure with alternating protrusions and concave clearances. Combined with the sequential extension and retraction of the voice coil motor, thrust transmission is smoother, torque output is more uniform, the whole machine has high rigidity and power density, and the voice coil motor is independently arranged, facilitating individual disassembly and replacement and on-site maintenance. Attached Figure Description

[0016] The following description, in conjunction with the accompanying drawings, further illustrates this application: Figure 1 This is a schematic diagram of the structure of one embodiment of this application; Figure 2 yes Figure 1 A cross-sectional view of one embodiment is shown; Figure 3 yes Figure 2 Enlarged view of point A in the middle; Figure 4 yes Figure 1 The diagram shows a schematic representation of the drive wheel and voice coil motor in one embodiment. Figure 5 yes Figure 1 The diagram shows an embodiment of the brake assembly installation.

[0017] Explanation of icon numbers: 1-Housing; 11-Mounting hole; 12-Mounting plate; 2-Output shaft; 3-Drive wheel; 31-Protrusion; 32-Concave clearance; 33-Rotary guide surface; 4-Voice coil motor; 41-Motor; 42-Stator; 43-Rotor; 51-Cavity; 52-Cooling conduit; 53-Heat dissipation fins; 6-Brake assembly; 61-Brake housing; 62-Brake conduit; 63-Control valve; 64-Gear. Detailed Implementation

[0018] This section will describe in detail the specific embodiments of this application. Preferred embodiments of this application are shown in the accompanying drawings. The purpose of the drawings is to supplement the textual description with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of this application, but they should not be construed as limiting the scope of protection of this application.

[0019] In this application, when directions (up, down, left, right, front, and back) are described, it is only for the purpose of describing the technical solution of this application, and does not indicate or imply that the technical features referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation on this application.

[0020] In this application, "several" means one or more, "multiple" means two or more, "greater than," "less than," "exceeding," etc. are understood to exclude the stated number; "above," "below," "within," etc. are understood to include the stated number. In the description of this application, the terms "first" and "second" are used only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance or implicitly indicating the number of indicated technical features or the order of the indicated technical features.

[0021] In this application, unless otherwise explicitly defined, the terms "setup," "installation," and "connection" should be interpreted broadly. For example, they can refer to direct connection or indirect connection through an intermediate medium; they can refer to fixed connection, detachable connection, or integral molding; they can refer to mechanical connection, electrical connection, or connection capable of mutual communication; they can refer to the internal connection of two components or the interaction between two components. Those skilled in the art can reasonably determine the specific meaning of the above terms in this application based on the specific content of the technical solution.

[0022] Combination Figures 1 to 5 This application provides a motor that belongs to the field of special motor technology. It is mainly used to realize low-speed, high-torque rotational drive without a reducer and can be widely used in heavy-load, high-precision positioning, low-speed operation and other scenarios.

[0023] The motor includes a housing 1, an output shaft 2 mounted axially on the housing 1, a drive wheel 3 disposed inside the housing 1, and multiple voice coil motors 4. The drive wheel 3 is connected to the output shaft 2 for transmission. The outer circumference of the drive wheel 3 is provided with multiple protrusions 31 spaced apart in the circumferential direction. An inwardly recessed clearance space 32 is formed between two adjacent protrusions 31, and the whole is in the shape of a petal.

[0024] The outer side of the protrusion 31 has a rotation guide surface 33. The radial distance of the rotation guide surface 33 relative to the center of the drive wheel 3 changes continuously in the circumferential direction so as to convert the radial thrust applied by the voice coil motor 4 into the tangential component of the rotation of the drive wheel 3.

[0025] Multiple voice coil motors 4 are distributed circumferentially along the outer periphery of the drive wheel 3 and installed on the housing 1. The multiple voice coil motors 4 are configured to move radially and extend sequentially, pressing against the corresponding rotating guide surface 33 in sequence, thereby driving the drive wheel 3 and the output shaft 2 to rotate.

[0026] The voice coil motor 4 extends and retracts via a mover 41. A rotating wheel 43 is mounted on the side of the mover 41 closest to the drive wheel 3. The rotating wheel 43 can rotate around its own axis, which is parallel to the axis of the output shaft 2. The voice coil motor 4 rolls against the rotating guide surface 33 via the rotating wheel 43. When the drive wheel 3 rotates, the normal angle of the contact surface changes dynamically with its position. The rotating wheel 43 can automatically deflect with the rotating guide surface 33 of the drive wheel 3 upon contact, ensuring that the force direction at the contact point is always more reasonable. This ensures thrust transmission while avoiding interference from hard contact, effectively preventing the mover 41 from jamming or the drive wheel 3 from slipping. It also reduces friction, lowers wear, and improves transmission smoothness.

[0027] The motor in this application adopts multiple voice coil motors 4 arranged in a ring array around the outer periphery of the drive wheel 3. Through timing control, they radially press against the rotation guide surface 33 of the drive wheel 3. Utilizing the radial distance gradient structure of the rotation guide surface 33, the radial linear thrust is directly converted into the tangential component of the rotation of the drive wheel 3. Low-speed, high-torque rotational output can be achieved without the need for a reducer. The structure is more compact and simple, and the thrust is linearly controllable, enabling precise motion control. The drive wheel 3 adopts a petal-shaped structure with alternating protrusions 31 and concave clearances 32. Combined with the sequential extension and retraction of the voice coil motors 4, the thrust transmission is more stable, the torque output is more uniform, the whole machine has high rigidity and high power density, and the voice coil motors 4 are arranged independently, which facilitates individual disassembly and replacement and on-site maintenance.

[0028] Based on the above embodiments, this application further describes the structure of the voice coil motor 4 in detail. The voice coil motor 4 includes a mover 41 and a stator 42. The stator 42 has a built-in coil and is detachably mounted on the housing 1, which facilitates individual disassembly and maintenance as well as thrust upgrades.

[0029] The mover 41 is mounted on the end of the stator 42 near the drive wheel 3. The mover 41 has a magnetic structure and can reciprocate radially relative to the stator 42 under the action of a magnetic field to achieve extension and retraction and press against the rotating guide surface 33. The end of the stator 42 away from the mover 41 has a heat dissipation structure to dissipate the heat generated by the coil operation, improve the heat dissipation conditions of the voice coil motor 4, and help to increase the operating current and output thrust.

[0030] Furthermore, to improve heat dissipation, a cavity 51 is provided at the end of the stator 42 away from the mover 41. The cavity 51 is used to introduce cooling media such as oil and water. The cavities 51 of each voice coil motor 4 are connected by cooling conduits 52 to form a circulating cooling circuit, thereby achieving efficient cooling of the coil and significantly improving the continuous working capacity and power density of the voice coil motor.

[0031] Furthermore, the stator 42 has heat dissipation fins 53 integrally formed on the outside of the cavity 51. The heat dissipation fins 53 can increase the contact area with air, and together with the cooling medium in the cavity 51, form an oil-cooling + air-cooling composite heat dissipation, which further improves the heat dissipation effect and ensures that the coil operates stably under high current.

[0032] For ease of assembly and heat dissipation layout of the voice coil motor 4, please refer to... Figure 2 In some embodiments, the housing 1 has a mounting hole 11 along the radial direction, the stator 42 is embedded in the mounting hole 11, and the mover 41 is slidably mounted in the mounting hole 11 to ensure coaxiality of movement. The heat dissipation structure is located outside the mounting hole 11 to facilitate the access of an external heat dissipation system, thereby further increasing the thrust while enhancing the heat dissipation capacity and meeting the heat dissipation requirements under different thrust conditions.

[0033] To meet the rapid braking requirements of heavy-duty, high-inertia loads, further see... Figure 2 and Figure 5 The housing 1 is also equipped with a brake assembly 6, which acts on the output shaft 2 to brake, decelerate or lock the output shaft 2, thereby improving the safety of the whole machine.

[0034] Based on the above-described embodiment of the brake assembly 6, this application further describes the structure of the brake assembly 6. Specifically, the brake assembly 6 includes a brake housing 61, a brake guide 62, a control valve 63, and at least two meshing gears 64. The gears 64 are disposed within the brake housing 61, and the output shaft 2 extends into the brake housing 61 and coaxially engages with any of the gears 64.

[0035] The two ends of the brake conduit 62 are connected to the brake housing 61, forming a closed-loop circuit with the brake housing 61. The closed-loop circuit is filled with brake medium. The control valve 63 is installed on the brake conduit 62 and is used to control the on-off state and flow rate of the brake medium. By blocking the flow, damping is formed, thereby achieving braking of the output shaft 2.

[0036] Specifically, when the motor is running normally, the control valve 63 is in the open state, and the braking medium can flow freely in the closed loop. When the gear 64 rotates, it only drives the braking medium to circulate, with minimal resistance, and the output shaft 2 can rotate smoothly. When braking is required, the control valve 63 is partially or completely closed, and the flow of the braking medium is blocked or restricted. The continued rotation of the gear 64 will forcefully squeeze the braking medium, causing the braking medium to form large shear damping and compression damping in the gear meshing gap and the closed loop, thereby generating significant braking resistance on the gear 64 and the output shaft 2, realizing the deceleration, braking or locking of the output shaft 2.

[0037] This braking assembly 6 achieves high-power braking with minimal control power, making it more energy-efficient and reliable compared to traditional electromagnetic brakes. It is understood that the braking medium can be at least one of hydraulic oil, lubricating oil, damping oil, silicone oil, magnetorheological fluid, or electrorheological fluid.

[0038] To optimize the internal layout and avoid structural interference, see [reference needed]. Figure 2 In some embodiments, the housing 1 is provided with a mounting plate 12, which has an axially extending through hole. The output shaft 2 is rotatably mounted on the mounting plate 12 through the through hole. The drive wheel 3 and the brake assembly 6 are located on opposite sides of the mounting plate 12, which avoids structural interference between the two, facilitates assembly, makes the axial weight of the whole machine more balanced, and helps to save internal space.

[0039] To further improve heat dissipation performance, the stator 42 is made of a high thermal conductivity structural material, including at least one of high thermal conductivity metal materials, high thermal conductivity ceramic materials, or high thermal conductivity composite materials, such as aluminum alloy or copper alloy, to further improve heat conduction efficiency and enhance overall heat dissipation capacity.

[0040] To ensure smooth driving and efficient torque conversion, the rotary guide surface 33 includes an arc-shaped surface or multiple sequentially connected inclined surfaces. In some embodiments, the rotary guide surface 33 adopts an inclined surface, which can better ensure the conversion efficiency of radial thrust to tangential component force, making the driving smoother and the torque output more uniform.

[0041] In the description of this specification, references to terms such as "example," "embodiment," or "some embodiments" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0042] Of course, the present invention is not limited to the above-described embodiments. Those skilled in the art can make equivalent modifications or substitutions without departing from the spirit of this application, and these equivalent modifications or substitutions are all included within the scope defined by the claims of this application.

Claims

1. An electric motor, characterized in that, include: The housing has an output shaft mounted axially. A drive wheel is located inside the housing and is connected to the output shaft for transmission. The outer circumference of the drive wheel is provided with a plurality of protrusions spaced apart in the circumferential direction. An inwardly recessed clearance is formed between two adjacent protrusions. The outer side of the protrusion has a rotating guide surface. The radial distance of the rotating guide surface changes continuously in the circumferential direction to convert the radial thrust acting on the rotating guide surface into a tangential component force. Multiple voice coil motors are distributed circumferentially around the outer periphery of the drive wheel and mounted on the housing. The multiple voice coil motors are configured to perform radial extension and retraction movements in sequence to press against the corresponding rotation guide surfaces in sequence to drive the drive wheel to rotate. The voice coil motor achieves telescopic movement through its mover. The mover of the voice coil motor has a rotating wheel installed on the side near the drive wheel. The rotating wheel can rotate around the axis, and the voice coil motor abuts against the rotating guide surface through the rotating wheel.

2. The motor according to claim 1, characterized in that, The voice coil motor includes a mover and a stator. The stator has a coil and is detachably mounted on the housing. The mover is sleeved on the end of the stator near the drive wheel and has a magnetic structure so that it can reciprocate relative to the stator to extend and retract radially and press against the rotating guide surface. The end of the stator away from the mover has a heat dissipation structure.

3. The motor according to claim 2, characterized in that, The stator has a cavity at the end away from the mover, and the cavity is used to introduce a cooling medium. The cavities of each voice coil motor are connected by cooling conduits.

4. The motor according to claim 3, characterized in that, The static element has heat dissipation fins on the outside of the cavity.

5. The motor according to claim 2, 3, or 4, characterized in that, The housing has a mounting hole along the radial direction, the stationary element is embedded in the mounting hole, the moving element is slidably mounted in the mounting hole, and the heat dissipation structure is located outside the mounting hole.

6. The motor according to claim 1, characterized in that, The housing contains a brake assembly for braking the output shaft.

7. The motor according to claim 6, characterized in that, The brake assembly includes a brake housing, a brake conduit, a control valve, and at least two meshing gears. The gears are located inside the housing. The output shaft extends into the housing and meshes with any of the gears. The two ends of the brake conduit are connected to the brake housing to form a closed-loop circuit with the brake housing. The closed-loop circuit is used to introduce braking medium. The control valve is installed in the brake conduit to control the on / off state and flow rate of the braking medium to brake the output shaft.

8. The motor according to claim 7, characterized in that, The housing is provided with a mounting plate, which has an axial through hole. The output shaft is rotatably mounted on the mounting plate through the through hole. The drive wheel and the brake assembly are located on both sides of the mounting plate.

9. The motor according to claim 2, characterized in that, The stator is made of at least one of a high thermal conductivity metal material, a high thermal conductivity ceramic material, or a high thermal conductivity composite material.

10. The motor according to claim 1, characterized in that, The rotating guide surface includes an arc-shaped surface or multiple inclined surfaces connected in sequence.

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