Wheel-side electric driving device and walking machine

Abstract

The utility model provides a wheel-side electric driving device and walking machinery, the wheel-side electric driving device comprises a shell, a permanent magnet synchronous motor, a brake and an eddy current sensor, and the shell comprises a detachable cover; the permanent magnet synchronous motor comprises a shaft; the brake is fixed on the shaft and the shell at one end, close to the detachable cover, of the tail of the motor; the eddy current sensor is installed on the special embedded structure of the shaft and the shell close to the side, away from the detachable cover, of the brake. The brake is mounted at one end close to the detachable cover and fixed on the shaft, and the eddy current sensor is mounted on the shaft and the special embedded structure of the shell, which are close to one side, far away from the detachable cover, of the brake, so that when the brake of the permanent magnet motor is replaced, the detachable cover is detached, and only the brake is detached and replaced; and the eddy current sensor does not need to be disassembled, and the position of the eddy current sensor does not need to be calibrated, so that the replacement efficiency of the permanent magnet motor brake is improved.

Description

Technical Field

[0001] The present application relates to the field of hydraulic technology, and in particular to a wheel-side electric drive device and a walking machine. Background Art

[0002] In the wheel-side electric drive device, the wheel-side electric drive device includes a permanent magnet synchronous motor, a brake, and an eddy current sensor for detecting the speed and position of the permanent magnet synchronous motor. When the motor is used for a long time and the brake is worn out and replaced, the position of the eddy current sensor needs to be recalibrated after the wheel-side electric drive device is replaced with a new brake, and the calibration is difficult, resulting in low brake replacement efficiency. Utility Model Content

[0003] In view of this, the present application provides a wheel-side electric drive device, which solves the problem of low brake replacement efficiency of the wheel-side electric drive device. The present application also provides a walking machine including the above wheel-side electric drive device.

[0004] In order to achieve the above objectives, this application provides the following technical solutions:

[0005] A wheel side electric drive device, comprising:

[0006] a housing including a removable cover;

[0007] a permanent magnet synchronous motor, the permanent magnet synchronous motor comprising a shaft and accommodated in the housing;

[0008] a brake fixed to the shaft at an end of the shaft adjacent to the removable cover;

[0009] An eddy current sensor is located on a side of the brake away from the detachable cover, and the eddy current sensor is partially fixed to the shaft.

[0010] Optionally, the eddy current sensor includes:

[0011] A rotor connected to the shaft and rotating synchronously with the shaft;

[0012] The PCB board is connected to the housing of the motor and is provided with a through hole through which the shaft passes.

[0013] Optionally, the shell includes a partition, which separates a brake cavity and a motor cavity in the shell, the brake is located in the brake cavity, the permanent magnet synchronous motor is arranged in the motor cavity, and the shaft passes through the partition and extends to the brake cavity, and the PCB board is connected to the partition.

[0014] Optionally, the PCB board is connected to the partition via a connector fixed on the partition, and an arc groove is provided on the PCB board, through which the connector passes and allows the PCB board to rotate relative to the partition.

[0015] Optionally, a limiting groove for accommodating the PCB board is provided on the partition.

[0016] Optionally, the partition is provided with an axial protrusion protruding toward the side where the detachable cover is located, and the axial protrusion axially limits the brake.

[0017] Optionally, the rotor is fixed to the shaft via a circumferential positioning structure, and the circumferential positioning structure is arranged on the rotor and / or the shaft.

[0018] Optionally, an annular recess is provided on a side of the brake close to the eddy current sensor, and the annular recess accommodates at least a portion of the eddy current sensor.

[0019] Optionally, a side of the detachable cover facing the axial end of the shaft is a closed surface on which a sensor mounting structure is not provided.

[0020] Optionally, the wheel-side electric drive device also includes a reducer, which includes a stationary shell part fixed to the shell and a rotatable movable shell part, and a planetary gear reduction mechanism accommodated in the stationary shell part and the movable shell part, and the shaft passes through the shell and is connected to the planetary gear reduction mechanism.

[0021] A walking machine comprises any one of the wheel-side electric drive devices described above.

[0022] The wheel-side electric drive device provided by the present application is implemented by fixing the end of the brake close to the removable cover on the shaft, and the eddy current sensor is mounted on the shaft on the side of the brake away from the removable cover. In this way, when replacing the brake, after removing the removable shell, only the brake needs to be removed and replaced, and there is no need to remove the eddy current sensor or calibrate the position of the eddy current sensor, thereby improving the replacement efficiency of the brake. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0024] Figure 1 An axial cross-sectional view of the wheel-side electric drive device provided in this embodiment;

[0025] Figure 2 A 3D diagram of the hidden structure of the wheel-side electric drive;

[0026] Figure 3 This is a three-dimensional image of the rotor and PCB board;

[0027] Figure 4 This is a top view of the PCB board.

[0028] Figures 1 to 4 middle:

[0029] 1-housing, 2-permanent magnet synchronous motor, 3-brake, 4-eddy current sensor, 5-brake cavity, 6-motor cavity, 7-reducer, 8-bearing;

[0030] 11-removable cover, 12-partition plate, 21-shaft, 31-annular recess, 41-rotor, 42-PCB board, 71-stationary housing, 72-moving housing, 73-planetary gear reduction mechanism;

[0031] 111 - closed surface, 121 - limiting groove, 122 - axial protrusion, 421 - arc groove. DETAILED DESCRIPTION

[0032] The present application provides a wheel-side electric drive device. The present application also provides a walking machine including the wheel-side electric drive device.

[0033] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0034] The present application embodiment provides a wheel side electric drive device, such as Figure 1-Figure 4 As shown, the wheel-side electric drive device mainly includes a housing 1, a permanent magnet synchronous motor 2, a brake 3, an eddy current sensor 4 and a reducer 7.

[0035] Among them, the permanent magnet synchronous motor 2, the brake 3, the eddy current sensor 4 and the reducer 7 are arranged inside the shell 1; the permanent magnet synchronous motor 2 includes a shaft 21, and the permanent magnet synchronous motor 2 works and rotates through the shaft 21 to output power to the outside through the reducer 7; at the end of the permanent magnet synchronous motor 2 opposite to the reducer 7, the brake 3 is partially arranged on the shaft 21 (it can be understood that a part of the brake is also fixed to the shell 1), and the brake 3 brakes the shaft 21 of the permanent magnet synchronous motor 2 to achieve braking of the permanent magnet synchronous motor 2; the eddy current sensor 4 is on the side of the brake 3 away from the detachable cover 11, and the rotor 41 of the eddy current sensor 4 is fixed on the shaft 21 of the permanent magnet synchronous motor 2. The PCB board 42 of the reducer 4 is arranged on the shell 1, and the rotor 41 rotates synchronously with the shaft 21. When the shaft 21 rotates, the PCB board 42 is stationary, and an eddy current effect is generated on the PCB board 42. The circuit of the PCB board 42 processes the speed change of the rotor 41 and outputs a corresponding signal. The controller receives the signal to control the rotation speed of the permanent magnet synchronous motor 2; the reducer 7 includes a stationary shell part 71 fixed on the shell 1, a rotatable moving shell part 72 and a planetary gear reduction mechanism 73 accommodated in the stationary shell part 71 and the moving shell part 72. The shaft 21 passes through the shell 1 and is connected to the planetary gear reduction mechanism 73 to realize the conversion of the high-speed rotation of the permanent magnet synchronous motor 2 into a low-speed and high-torque output suitable for the output device.

[0036] Since the brake 3 is arranged at one end of the shaft 21 close to the removable cover 11, and the eddy current sensor 4 is arranged at the side of the brake 3 away from the removable cover 11, when the wheel-side electric drive device is used for a long time and the brake 3 is worn, when the brake 3 is replaced, the removable cover 11 of the wheel-side electric drive device is opened, the worn brake 3 is removed, and the new brake 3 is installed on the shaft 21, and the eddy current sensor 4 does not need to be removed and installed. In this way, when the brake 3 is replaced, the position of the eddy current sensor 4 does not need to be calibrated, thereby improving the replacement efficiency of the brake 3.

[0037] In some embodiments, the housing 1 includes a partition 12, which can be integrally formed with the housing 1 or fixedly mounted on the housing 1. The partition 12 is arranged inside the housing 1 to separate the housing 1 into a brake cavity 5 and a motor cavity 6. The brake 3 is arranged in the brake cavity 5, and the permanent magnet synchronous motor 2 is arranged in the motor cavity 6. The bearing 8 on the shaft 2 and the PCB board 42 are fixed to the partition 12 on one side of the brake cavity 5 and one side of the motor cavity 6, respectively, so as to facilitate the installation of the bearing 8 and the PCB board 42.

[0038] In this embodiment, further, the PCB board 42 is connected to the partition 12 through a connector fixed on the partition 12, and the connector can be a connecting bolt, etc. Since the eddy current sensor 4 can detect position and speed, when installing the PCB board 42 of the eddy current sensor 4, it is necessary to calibrate the position of the PCB board 42 to improve the accuracy of the eddy current sensor 4 in detecting position and speed information, so an arc groove 421 is provided on the PCB board 42 to allow the connector to pass through, and the arc groove 421 allows the PCB board 42 to rotate relative to the partition 12, so that after the PCB board 42 is installed on the partition 12, the angle of the PCB board 42 can be conveniently adjusted and fixed to the partition 12, thereby improving the calibration efficiency of the PCB board 42.

[0039] In this embodiment, the rotor 41 is positioned in the direction of the shaft 21 through a circumferential positioning structure. The circumferential positioning structure is arranged on the rotor 41 and / or the shaft 21. The circumferential positioning structure is a fastening bolt or a spline structure to achieve circumferential limitation of the rotor 41 on the shaft 21 so that the rotor 41 rotates synchronously with the shaft 21.

[0040] In addition, the rotor 41 may also be connected to the shaft 21 in other ways, for example, the rotor 41 is fixed on the shaft 21 by interference fit.

[0041] In some embodiments, a limiting groove 121 for accommodating the PCB board 42 is opened on the partition 12. The limiting groove 121 provides an installation position for the PCB board 42. In this way, when the PCB board 42 needs to be installed on the partition 12, it only needs to be installed in the limiting groove 121. Setting the limiting groove 121 can improve the installation efficiency of the PCB board 42.

[0042] Furthermore, the stationary part of the brake 3 is fixed to the housing 1, specifically, to the partition 12. An axial protrusion 122 is provided on the partition 12, and the axial protrusion 122 is provided protruding from the partition 12 to the side where the removable cover 11 is located. A plurality of axial protrusions 122 are evenly and spaced apart at the circumferential edge of the partition 12. The brake 3 can contact the axial protrusion 122 to achieve axial limitation of the brake 3, so as to improve the convenience of fixing the brake 3 to the housing 1.

[0043] In this embodiment, the side of the detachable cover facing the shaft is a closed surface without a sensor mounting structure. In other words, the detachable cover 11 only seals and seals, but does not fix or limit the brake 3 and the eddy current sensor 4.

[0044] In some embodiments, an annular recess 31 is provided on one side of the brake 3 close to the eddy current sensor 4, and the annular recess 31 accommodates part or all of the eddy current sensor 4. Thus, when the eddy current sensor 4 and the brake 3 are installed in the housing 1, since the eddy current sensor 4 is partially or completely provided on the radial inner side of the annular recess, the overall axial size of the eddy current sensor 4 and the brake 3 can be reduced, thereby reducing the axial size of the wheel-side electric drive device, so that the volume occupied by the wheel-side electric drive device is smaller, thereby improving the applicability of the wheel-side electric drive device and facilitating the arrangement of other structures in a walking machine provided with the wheel-side electric drive device.

[0045] In some embodiments, the reducer includes a stationary housing portion 71 fixed on the housing 1, a rotatable moving housing portion 72, and a planetary gear reduction mechanism 73 accommodated in the stationary housing portion 71 and the moving housing portion 72. The shaft 21 passes through the housing 1 and is connected to the planetary gear reduction mechanism 73. The reducer provides a greater torque output by reducing the speed of the output shaft 21 of the permanent magnet synchronous motor 2, so as to convert the high-speed rotation of the motor into a low-speed and high-torque output suitable for the output device.

[0046] The present invention also relates to a walking machine including the above wheel-side electric drive device. Since the walking machine includes the above wheel-side electric drive device, the beneficial effects of the walking machine brought by the wheel-side electric drive device can be seen in the above content, which will not be repeated here.

[0047] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0048] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0049] It should also be noted that in the apparatus, device and method of the present application, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0050] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0051] It should be understood that the qualifiers "first", "second", "third", "fourth", "fifth" and "sixth" used in the description of the embodiments of the present application are only used to more clearly explain the technical solutions and cannot be used to limit the scope of protection of the present application.

[0052] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A wheel-side electric drive device, characterized in that: include: a housing including a removable cover; a permanent magnet synchronous motor, the permanent magnet synchronous motor comprising a shaft and accommodated in the housing; a brake partially secured to the shaft at an end of the shaft proximate the removable cover; as well as An eddy current sensor is located on a side of the brake away from the detachable cover, and the eddy current sensor is partially fixed to the shaft.

2. The wheel-side electric drive device according to claim 1, characterized in that: The eddy current sensor comprises: A rotor connected to the shaft and rotating synchronously with the shaft; The PCB board is connected to the housing and is provided with a through hole through which the shaft passes.

3. The wheel-side electric drive device according to claim 2, characterized in that: The shell includes a partition, which separates a brake cavity and a motor cavity in the shell. The brake is located in the brake cavity, the permanent magnet synchronous motor is arranged in the motor cavity, and the shaft passes through the partition and extends to the brake cavity. The PCB board is connected to the partition.

4. The wheel-side electric drive device according to claim 3, characterized in that: The PCB board is connected to the partition board via a connecting piece fixed on the partition board, and an arc groove is provided on the PCB board, through which the connecting piece passes and allows the PCB board to rotate relative to the partition board.

5. The wheel-side electric drive device according to claim 3, characterized in that: The partition is provided with a limiting groove for accommodating the PCB board.

6. The wheel side electric drive device according to claim 3, characterized in that: The partition is provided with an axial protrusion protruding toward the side where the detachable cover is located, and the axial protrusion axially limits the brake.

7. The wheel-side electric drive device according to claim 2, characterized in that: The rotor is fixed to the shaft via a circumferential positioning structure, and the circumferential positioning structure is arranged on the rotor and / or the shaft.

8. The wheel-side electric drive device according to claim 1, characterized in that: An annular recess is provided on one side of the brake close to the eddy current sensor, and the annular recess accommodates at least a portion of the eddy current sensor.

9. The wheel-side electric drive device according to claim 1, characterized in that: A side of the detachable cover facing the axial end of the shaft is a closed surface where no sensor mounting structure is provided.

10. The wheel-side electric drive device according to claim 1, characterized in that: The wheel-side electric drive device also includes a reducer, which includes a stationary shell part fixed to the shell and a rotatable movable shell part, and a planetary gear reduction mechanism accommodated in the stationary shell part and the movable shell part. The shaft passes through the shell and is connected to the planetary gear reduction mechanism.

11. A walking machine, characterized in that: It comprises a wheel-side electric drive device as described in any one of claims 1-10.

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