Driving device

Abstract

The present application is applicable to the technical field of driving devices, and provides a driving device. The driving device comprises: a housing, a driving part, and a deceleration output part, wherein the housing is internally provided with an accommodating cavity and a first mounting hole communicated with the accommodating cavity; the driving part is arranged in the accommodating cavity; the input end of the deceleration output part is arranged in the accommodating cavity, and the output end of the deceleration output part is arranged in the first mounting hole; the position of the deceleration output part corresponds radially to the position of the driving part; the output end of the driving part is in driving connection with the input end of the deceleration output part, and the driving part is used for driving the deceleration output part. According to the driving device provided by the present application, the axial size of the driving device can be reduced in the manner that the position of the deceleration output part corresponds radially to the position of the driving part; moreover, since the deceleration output part is arranged inside the housing and corresponds radially to the driving part, the space in the housing is fully utilized, improving the torque density of the driving device provided by the present application.

Description

Drive device

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on October 23, 2023, with application number 202311373777.8 and invention name “Drive Device”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application belongs to the technical field of reduction drive devices, and more specifically, relates to a drive device. Background Art

[0003] A reduction motor is an integrated unit consisting of a speed reducer and a motor. This unit is also commonly referred to as a gear motor or gear motor. It is usually assembled by a professional speed reducer manufacturer and supplied as a complete set with the motor.

[0004] Gear motors are characterized by high efficiency, high reliability, long service life, simplified design, space-saving design, easy maintenance, and a wide range of applications. They are primarily mounted in three types: unfolded, coaxial, and split-flow. Based on the gearbox transmission method, these motors can be categorized as coaxial helical gear motors, parallel-axis helical gear motors, helical bevel gear motors, and helical worm gear motors. They are widely used in reduction drive mechanisms for various general-purpose machinery and equipment in metallurgy, mining, lifting, transportation, cement, chemical, textile, and pharmaceutical industries.

[0005] Most existing reduction motors are obtained by combining a separate motor with a separate reducer. However, the reduction motors produced by the above method have a low torque density and cannot be used in some equipment with high torque density requirements (such as robots, manipulators, etc.), and have poor versatility. Technical issues

[0006] The purpose of the embodiments of the present application is to provide a driving device, aiming to solve the technical problem of low torque density of the reduction motor in the prior art. Technical Solutions

[0007] To achieve the above-mentioned purpose, according to one aspect of the present application, a driving device is provided, which includes: a shell, a driving part and a deceleration output part, wherein a accommodating cavity and a first mounting hole connected to the accommodating cavity are provided in the shell; the driving part is arranged in the accommodating cavity; the input end of the deceleration output part is arranged in the accommodating cavity, and the output end of the deceleration output part is arranged in the first mounting hole, the position of the deceleration output part corresponds to the position of the driving part in the radial direction of the driving device, and the output end of the driving part is drivingly connected to the input end of the deceleration output part for driving the deceleration output part.

[0008] Optionally, the reduction output portion includes an internal gear assembly and a planetary gear assembly, the internal gear assembly is arranged on the inner wall of the first mounting hole, the planetary gear assembly is rotatably arranged in the first mounting hole, and is drivingly connected to the internal gear assembly, the output end of the driving portion is drivingly connected to the planetary gear assembly, and the planetary gear assembly can rotate along the circumference of the internal gear assembly under the drive of the driving portion; wherein the planetary gear assembly is the output end of the reduction output portion.

[0009] Optionally, the reduction output part also includes a sun gear assembly, the output end of the sun gear assembly can be rotatably inserted into the first mounting hole and is drivingly connected to the planetary gear assembly, and the input end of the sun gear assembly can be rotatably arranged in the accommodating cavity and is drivingly connected to the output end of the driving part; wherein the sun gear assembly is the input end of the reduction output part.

[0010] Optionally, the driving device further includes a first supporting portion, which is arranged between the inner wall of the first mounting hole and the outer wall of the planetary gear assembly and is used to support the planetary gear assembly.

[0011] Optionally, the first support portion includes a first bearing, which is arranged between the first mounting hole and the first end of the planetary gear assembly, the outer ring of the first bearing abuts against the inner wall of the first mounting hole, and the inner ring of the first bearing abuts against the outer wall of the first end of the planetary gear assembly, and the first bearing is used to support the first end of the planetary gear assembly.

[0012] Optionally, the first support portion also includes a second bearing, which is arranged between the first mounting hole and the second end of the planetary gear assembly, the outer ring of the second bearing abuts against the inner wall of the first mounting hole, and the inner ring of the second bearing abuts against the outer wall of the first end of the planetary gear assembly, and the second bearing is used to support the second end of the planetary gear assembly.

[0013] Optionally, the driving device further includes a control unit, which is disposed in the accommodating cavity and electrically connected to the driving unit for controlling the driving unit.

[0014] Optionally, the drive device further includes a heat conducting portion, which is disposed in the accommodating cavity, with two ends of the heat conducting portion respectively abutting against the control portion and the inner wall of the accommodating cavity, for transferring heat from the control portion to the housing.

[0015] Optionally, the driving device also includes a conductive wire, and the driving part and the control part can be electrically connected through the conductive wire; the driving device also includes a wire management part, which is arranged in the accommodating cavity, and a wire management channel is formed between the wire management part and the inner wall of the accommodating cavity, and the conductive wire part is passed through the wire management channel to avoid the output end of the driving part.

[0016] Optionally, the driving part includes a stator assembly and a rotor assembly, the stator assembly is fixedly connected to the inner wall of the accommodating cavity, the rotor assembly is rotatably mounted on the stator assembly, and is drivingly connected to the output end of the reduction output part; wherein, the rotor assembly is the output end of the driving part. Beneficial effects

[0017] The beneficial effect of the drive device provided by the present application is that: compared with the prior art, the drive device provided by the present application arranges the drive part in the accommodating cavity, arranges the output end of the reduction output part in the first mounting hole, and makes the position of the reduction output part correspond to the position of the drive part in the radial direction of the drive device. Compared with the reduction motor in the prior art in which the reducer and the motor are axially arranged, the drive device provided by the present application can reduce the axial size of the drive device by making the position of the reduction output part correspond to the position of the drive part in the radial direction of the drive device. Moreover, since the reduction output part is arranged inside the shell and corresponds to the drive part in the radial direction of the drive device, the space inside the shell is fully utilized, thereby improving the torque density of the drive device provided by the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0019] FIG1 is an exploded schematic diagram of a driving device provided in an embodiment of the present application;

[0020] FIG2 is an exploded schematic diagram of a driving device from another perspective provided by an embodiment of the present application;

[0021] FIG3 is a schematic structural diagram of a driving device provided in an embodiment of the present application;

[0022] FIG4 is a cross-sectional schematic diagram of a driving device provided in an embodiment of the present application;

[0023] The numbers involved in the above drawings are detailed as follows: 10. Shell; 11. Accommodating chamber; 12. First mounting hole; 20. Driving part; 21. Stator assembly; 22. Rotor assembly; 30. Reduction output part; 31. Internal gear assembly; 32. Planetary gear assembly; 321. Planetary carrier structure; 3211. Output planetary carrier; 3212. Planetary carrier side plate; 3213. Planetary shaft; 322. Planetary gear; 33. Sun gear assembly; 331. Sun gear shaft; 332. Sun gear bracket; 40. First support part; 41. First bearing; 42. Second bearing; 50. Control part; 60. Heat conduction part; 70. Conductive wire; 80. Wire management part; 81. Wire clamping plate; 82. Wire pressing plate; 90. Wire management channel. Modes for Carrying Out the Invention

[0024] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0025] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or indirectly connected to the other element. The embodiments and features in the embodiments of this application may be combined with each other unless there is a conflict. The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0026] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0027] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0028] As described in the background technology, currently, a reduction motor refers to an integrated body of a reducer and an electric motor (motor), which is also commonly referred to as a gear motor or gear motor. It is usually integrated and assembled by professional reducer manufacturers and supplied as a complete set with the motor. The characteristics of reduction motors are high efficiency, high reliability, long service life, simplified design, space saving, easy maintenance, and wide application. The main installation methods are unfolding type, coaxial type, and split type. According to the gearbox transmission method, reduction motors can be divided into coaxial helical gear reduction motors, parallel axis helical gear reduction motors, helical bevel gear reduction motors, and helical worm gear reduction motors; they can be widely used in the reduction transmission mechanism of various general mechanical equipment such as metallurgy, mining, lifting, transportation, cement, chemical industry, textile, and pharmaceutical. Most existing reduction motors are obtained by combining a separate motor with a separate reducer. However, the reduction motors produced by the above method have a low torque density and cannot be used in some equipment with high torque density requirements (such as robots, manipulators, etc.), and their versatility is poor.

[0029] Referring to Figures 1 to 4, in order to solve the above problems, according to one aspect of the present application, an embodiment of the present application provides a driving device, which includes: a shell 10, a driving part 20 and a deceleration output part 30, wherein the shell 10 is provided with a accommodating cavity 11 and a first mounting hole 12 connected to the accommodating cavity 11; the driving part 20 is arranged in the accommodating cavity 11; the input end of the deceleration output part 30 is arranged in the accommodating cavity 11, and the output end of the deceleration output part 30 is arranged in the first mounting hole 12, the position of the deceleration output part 30 corresponds to the position of the driving part 20 in the radial direction of the driving device, and the output end of the driving part 20 is drivingly connected to the input end of the deceleration output part 30 for driving the deceleration output part 30. The driving device provided in this embodiment arranges the driving part 20 in the accommodating cavity 11, arranges the output end of the reduction output part 30 in the first mounting hole 12, and makes the position of the reduction output part 30 correspond to the position of the driving part 20 in the radial direction of the driving device. Compared with the reduction motor in the prior art in which the reducer and the motor are axially arranged, the driving device provided in this embodiment can reduce the axial size of the driving device by making the position of the reduction output part 30 correspond to the position of the driving part 20 in the radial direction of the driving device. Moreover, since the reduction output part 30 is arranged inside the shell 10 and corresponds to the driving part 20 in the radial direction of the driving device, the space inside the shell 10 is fully utilized, thereby improving the torque density of the driving device provided in this embodiment.

[0030] In a specific embodiment, the position of the deceleration output part 30 in the above embodiment corresponds to the position of the driving part 20 in the radial direction of the driving device, which means that the projection of the deceleration output part 30 in the radial direction of the driving device and the projection of the driving part 20 in the radial direction of the driving device at least partially overlap.

[0031] As shown in FIG4 , in a specific embodiment, the reduction output portion 30 in this embodiment includes an internal gear assembly 31 and a planetary gear assembly 32. The internal gear assembly 31 is disposed on the inner wall of the first mounting hole 12. The planetary gear assembly 32 is rotatably disposed within the first mounting hole 12 and is drivingly connected to the internal gear assembly 31. The output end of the driving portion 20 is drivingly connected to the planetary gear assembly 32. The planetary gear assembly 32 can rotate along the circumference of the internal gear assembly 31 under the drive of the driving portion 20. The planetary gear assembly 32 is the output end of the reduction output portion 30. By rotatably disposing the planetary gear assembly 32 provided in this embodiment within the first mounting hole 12 and drivingly connecting the planetary gear assembly 32 to the output end of the driving portion 20 and the internal gear assembly 31, respectively, the planetary gear assembly 32 provided in this embodiment can rotate along the circumference of the internal gear assembly 31 under the drive of the driving portion 20 to achieve power output.

[0032] In a specific embodiment, the planetary gear assembly 32 provided in this embodiment includes a planetary carrier structure 321 and a planetary gear 322. The planetary carrier structure 321 provided in this embodiment can be rotatably installed in the first mounting hole 12, and the planetary gear 322 can be rotatably installed on the planetary carrier structure 321, and is respectively driven and connected to the output end of the driving part 20 and the internal gear assembly 31.

[0033] Referring to Figures 1 and 2, in a specific embodiment, the planetary carrier structure 321 provided in this embodiment includes an output planetary carrier 3211, a planetary shaft 3213 and a planetary carrier side plate 3212, wherein the output planetary carrier 3211 is fixedly connected to the planetary carrier side plate 3212, and the output planetary carrier 3211 provided in this embodiment is provided with a second mounting hole on one end close to the planetary carrier side plate 3212, and the planetary carrier side plate 3212 is provided with a third mounting hole on one end close to the output planetary carrier 3211, and the position of the second mounting hole corresponds to the position of the third mounting hole, and the two ends of the planetary shaft 3213 are respectively inserted into the second mounting hole and the third mounting hole, and the planetary gear 322 can be rotatably sleeved on the planetary shaft 3213.

[0034] In a specific embodiment, the axis of the planet carrier structure 321 provided in this embodiment is collinear with the axis of the internal gear assembly 31 , and the axes of the planet shaft 3213 and the planetary gear 322 are parallel to the axis of the planet carrier structure 321 .

[0035] In an optional embodiment, the second mounting holes, third mounting holes, planetary shafts 3213 and planetary gears 322 provided in this embodiment are all multiple, the multiple second mounting holes are arranged at intervals along the circumference of the output planetary carrier 3211, the multiple third mounting holes correspond one-to-one to the multiple second mounting holes, the multiple planetary shafts 3213 correspond one-to-one to the multiple third mounting holes, and the multiple planetary gears 322 correspond one-to-one to the multiple planetary shafts 3213.

[0036] In a specific embodiment, the second mounting holes, third mounting holes, planetary shafts 3213 and planetary gears 322 provided in this embodiment are all three. The three second mounting holes are arranged at equal intervals along the circumference of the output planetary carrier 3211, the three third mounting holes correspond one-to-one to the three second mounting holes, the three planetary shafts 3213 correspond one-to-one to the three third mounting holes, and the three planetary gears 322 correspond one-to-one to the three planetary shafts 3213.

[0037] In a specific embodiment, the reduction output unit 30 in this embodiment further includes a sun gear assembly 33, the output end of the sun gear assembly 33 being rotatably inserted into the first mounting hole 12 and drivingly connected to the planetary gear assembly 32, and the input end of the sun gear assembly 33 being rotatably disposed in the accommodating cavity 11 and drivingly connected to the output end of the drive unit 20; wherein the sun gear assembly 33 is the input end of the reduction output unit 30. By rotatably inserting the output end of the sun gear assembly 33 provided in this embodiment into the first mounting hole 12, and drivingly connecting the output end of the sun gear assembly 33 to the planetary gear assembly 32, and drivingly connecting the input end of the sun gear assembly 33 to the output end of the drive unit 20, the drive unit 20 provided in this embodiment can drive the planetary gear assembly 32 through the sun gear assembly 33, so that the planetary gear assembly 32 can rotate on the internal gear assembly 31 and output power to the external environment.

[0038] In a specific embodiment, the sun gear assembly 33 provided in this embodiment includes a sun gear bracket 332 and a sun gear shaft 331. The sun gear shaft 331 provided in this embodiment is arranged on the sun gear bracket 332. The sun gear bracket 332 provided in this embodiment is rotatably arranged in the accommodating cavity 11 and is driven and connected to the output end of the driving part 20. The sun gear shaft 331 provided in this embodiment is rotatably passed through the first mounting hole 12 and is driven and connected to the planetary gear 322.

[0039] In a specific embodiment, a first boss is provided on the sun gear bracket 332 provided in this embodiment, and the first boss partially extends into the first mounting hole 12. The axis of the first boss is colinear with the axis of the sun gear bracket 332. A fourth mounting hole is provided on the first boss, and the fourth mounting hole is coaxially arranged with the first boss. The first end of the sun gear shaft 331 is passed through the fourth mounting hole.

[0040] In a specific embodiment, a fifth mounting hole is provided on the output planetary bracket provided in this embodiment, and a sixth mounting hole is provided on the planetary bracket side plate 3212. The fifth mounting hole and the sixth mounting hole are coaxially arranged, the first boss can be rotatably passed through the sixth mounting hole, and the second end of the sun gear shaft 331 can be rotatably passed through the fifth mounting hole.

[0041] In a specific embodiment, the axis of the fifth mounting hole provided in this embodiment is collinear with the rotation axis of the output planetary support, and the axis of the sixth mounting hole is collinear with the rotation axis of the planetary support side plate 3212 .

[0042] In a specific embodiment, the sun gear bracket 332 provided in this embodiment is the input end of the sun gear assembly 33 , and the sun gear shaft 331 is the output end of the sun gear assembly 33 .

[0043] In a specific embodiment, the planetary gears 322 provided in this embodiment are respectively engaged with the internal gear assembly 31 and the sun gear shaft 331 to achieve a driving connection.

[0044] 1, 2, and 4, in order to effectively support the planetary gear assembly 32 provided in this embodiment, the drive device in this embodiment further includes a first support portion 40, which is disposed between the inner wall of the first mounting hole 12 and the outer wall of the planetary gear assembly 32, for supporting the planetary gear assembly 32. By disposing the first support portion 40 between the inner wall of the first mounting hole 12 and the outer wall of the planetary gear assembly 32, the planetary gear assembly 32 provided in this embodiment can be effectively supported by the first support portion 40, thereby improving the axial force and bending moment resistance of the planetary gear assembly 32 provided in this embodiment, and improving the external impact resistance of the drive device provided in this embodiment.

[0045] In a specific embodiment, the first support portion 40 of this embodiment includes a first bearing 41. The first bearing 41 is disposed between the first mounting hole 12 and the first end of the planetary gear assembly 32. The outer ring of the first bearing 41 abuts the inner wall of the first mounting hole 12, and the inner ring of the first bearing 41 abuts the outer wall of the first end of the planetary gear assembly 32. The first bearing 41 is used to support the first end of the planetary gear assembly 32. By disposing the first bearing 41 between the first mounting hole 12 and the first end of the planetary gear assembly 32 provided in this embodiment, and by abutting the outer ring of the first bearing 41 against the inner wall of the first mounting hole 12 and the inner ring of the first bearing 41 against the outer wall of the first end of the planetary gear assembly 32, the first end of the planetary gear assembly 32 provided in this embodiment can be effectively supported by the first bearing 41, and friction between the planetary gear assembly 32 and the first mounting hole 12 is effectively reduced, thereby improving the transmission efficiency of the drive device.

[0046] In a specific embodiment, the first support portion 40 of this embodiment further includes a second bearing 42. The second bearing 42 is disposed between the first mounting hole 12 and the second end of the planetary gear assembly 32. The outer ring of the second bearing 42 abuts the inner wall of the first mounting hole 12, and the inner ring of the second bearing 42 abuts the outer wall of the first end of the planetary gear assembly 32. The second bearing 42 is used to support the second end of the planetary gear assembly 32. By disposing the second bearing 42 between the first mounting hole 12 and the second end of the planetary gear assembly 32 provided in this embodiment, and by abutting the outer ring of the second bearing 42 against the inner wall of the first mounting hole 12 and the inner ring of the second bearing 42 against the outer wall of the second end of the planetary gear assembly 32, the second end of the planetary gear assembly 32 provided in this embodiment can be effectively supported by the second bearing 42, and friction between the planetary gear assembly 32 and the first mounting hole 12 is effectively reduced, thereby improving the transmission efficiency of the drive device.

[0047] To effectively support the sun gear assembly 33 provided in this embodiment, the drive device in this embodiment further includes a second support portion disposed between the inner wall of the sixth mounting hole and the outer wall of the first boss, for supporting the sun gear assembly 33. Providing the second support portion between the inner wall of the sixth mounting hole and the outer wall of the first boss effectively supports the sun gear assembly 33 provided in this embodiment, thereby improving the sun gear assembly 33's resistance to axial force and bending moment, and enhancing the drive device's ability to withstand external impacts.

[0048] In a specific embodiment, the second support portion of this embodiment includes a third bearing, which is disposed between the sixth mounting hole and the first boss. The outer ring of the third bearing abuts the inner wall of the sixth mounting hole, and the inner ring of the third bearing abuts the outer wall of the first boss. The third bearing is used to support the first boss. By disposing the third bearing between the sixth mounting hole and the first boss provided in this embodiment, and making the outer ring of the third bearing abut against the inner wall of the sixth mounting hole, and the inner ring of the third bearing abut against the outer wall of the first boss, the first boss provided in this embodiment can be effectively supported by the third bearing, and the friction between the first boss and the sixth mounting hole is effectively reduced, thereby improving the transmission efficiency of the drive device.

[0049] To effectively support the sun gear assembly 33 provided in this embodiment, the drive device in this embodiment further includes a third support portion, which is disposed between the inner wall of the fifth mounting hole and the outer wall of the second end of the sun gear shaft 331, for supporting the sun gear assembly 33. By disposing the third support portion between the inner wall of the fifth mounting hole and the outer wall of the second end of the sun gear shaft 331, the sun gear assembly 33 provided in this embodiment is effectively supported by the third support portion, thereby improving the sun gear assembly 33's resistance to axial force and bending moment, and enhancing the drive device's resistance to external impact.

[0050] In a specific embodiment, the third support portion in this embodiment includes a fourth bearing, which is disposed between the fifth mounting hole and the second end of the sun gear shaft 331. The outer ring of the fourth bearing abuts the inner wall of the fifth mounting hole, and the inner ring of the fourth bearing abuts the outer wall of the second end of the sun gear shaft 331. The fourth bearing is used to support the second end of the sun gear shaft 331. By disposing the fourth bearing between the fifth mounting hole and the second end of the sun gear shaft 331 provided in this embodiment, and by abutting the outer ring of the fourth bearing against the inner wall of the fifth mounting hole, and the inner ring of the fourth bearing abutting the outer wall of the second end of the sun gear shaft 331, the second end of the sun gear shaft 331 provided in this embodiment can be effectively supported by the fourth bearing, and friction between the second end of the sun gear shaft 331 and the fifth mounting hole is effectively reduced, thereby improving the transmission efficiency of the drive device.

[0051] Referring to Figures 1 to 3, in a specific embodiment, the shell 10 provided in this embodiment includes an outer shell and a back cover. The back cover provided in this embodiment is detachably mounted on the outer shell by threaded fasteners. The first mounting hole 12 provided in this embodiment is arranged on the outer shell, and an accommodating cavity 11 is formed between the outer shell and the back cover.

[0052] In a specific embodiment, in order to control the movement of the drive unit 20, the drive device provided in this embodiment further includes a control unit 50. The control unit 50 is disposed within the accommodating cavity 11 and is electrically connected to the drive unit 20 for controlling the drive unit 20. By disposing the control unit 50 within the accommodating cavity 11 and electrically connecting the control unit 50 to the drive unit 20, the drive device provided in this embodiment can control the movement of the drive unit 20 through the control unit 50.

[0053] In a specific embodiment, the control unit 50 provided in this embodiment includes a PCBA board.

[0054] 1 , 2 , and 4 , in order to improve the reliability of the control unit 50 provided in this embodiment, the drive device in this embodiment further includes a heat conducting portion 60. The heat conducting portion 60 is disposed within the accommodating cavity 11, with both ends of the heat conducting portion 60 respectively abutting the inner walls of the control unit 50 and the accommodating cavity 11, for transferring heat from the control unit 50 to the housing 10. By disposing the heat conducting portion 60 within the accommodating cavity 11 provided in this embodiment, and making the both ends of the heat conducting portion 60 respectively abut the inner walls of the control unit 50 and the accommodating cavity 11, heat from the control unit 50 provided in this embodiment can be transferred to the housing 10 through the heat conducting portion 60, thereby enabling the control unit 50 provided in this embodiment to effectively dissipate heat, thereby improving the reliability of the control unit 50.

[0055] In a specific embodiment, the heat-conducting portion 60 provided in this embodiment includes a heat-conducting gel block. Since the heat-conducting gel block has a certain elasticity, the heat-conducting gel block provided in this embodiment can be compressed to fully abut and fit against the inner wall of the control portion 50 and the accommodating cavity 11, so that the heat on the control portion 50 can be quickly transferred to the shell 10.

[0056] In a specific embodiment, the thermally conductive gel block provided in this embodiment abuts against the control unit 50 and the back cover respectively, so that the heat of the control unit 50 can be transferred to the back cover.

[0057] In a specific embodiment, the drive device in this embodiment further includes a conductive wire 70, through which the drive unit 20 and the control unit 50 can be electrically connected; the drive device further includes a wire management portion 80, which is disposed in the accommodating cavity 11, and a wire management channel 90 is formed between the wire management portion 80 and the inner wall of the accommodating cavity 11, and a portion of the conductive wire 70 is passed through the wire management channel 90 to avoid the output end of the drive unit 20. By providing the wire management portion 80 in the accommodating cavity 11 provided in this embodiment, the conductive wire 70 provided in this embodiment can avoid the output end of the drive unit 20 by passing through the wire management channel 90, thereby avoiding contact between the conductive wire 70 and the output end of the drive unit 20 and the input end of the sun gear assembly, thereby effectively improving the service life of the drive device provided in this embodiment.

[0058] In a specific embodiment, the wire management portion 80 provided in this embodiment includes a wire clamping plate 81 and a wire pressing plate 82. A clamping structure is provided in the accommodating cavity 11 provided in this embodiment. The wire clamping plate 81 provided in this embodiment can be detachably installed in the accommodating cavity 11 through the clamping structure. A first wire management space is formed between the wire clamping plate 81 and the inner wall of the accommodating cavity 11. The wire pressing plate 82 is detachably installed in the accommodating cavity 11 through threaded fasteners. A second wire management space is formed between the wire pressing plate 82 and the inner wall of the accommodating cavity 11. The first wire management space and the second wire management space together constitute a wire management channel 90.

[0059] In a specific embodiment, the clamping structure provided in this embodiment is arranged on the housing, the clamping plate is detachably mounted on the housing via the clamping structure, and the wire pressing plate 82 is detachably mounted on the back cover via threaded fasteners.

[0060] In a specific embodiment, the driving unit 20 in this embodiment includes a stator assembly 21 and a rotor assembly 22. The stator assembly 21 is fixedly connected to the inner wall of the accommodating chamber 11, and the rotor assembly 22 is rotatably mounted on the stator assembly 21 and drivingly connected to the output end of the reduction output unit 30. The rotor assembly 22 is the output end of the driving unit 20. By fixing the stator assembly 21 provided in this embodiment to the inner wall of the accommodating chamber 11 and rotatably mounting the rotor assembly 22 on the stator assembly 21, the rotor assembly 22 provided in this embodiment can rotate under the action of the stator assembly 21, thereby driving the sun gear assembly 33.

[0061] In a specific embodiment, the driving device provided in this embodiment also includes an angle detection component. The angle detection component provided in this embodiment includes a first detection component and a second detection component. The first detection component provided in this embodiment is arranged on the end of the sun gear shaft 331 close to the control part 50, and the second detection component is arranged on the end of the control part 50 close to the sun gear shaft 331. The first detection component and the second detection component are arranged opposite to each other. The first detection component can rotate relative to the second detection component under the drive of the sun gear shaft 331. The second detection component is electrically connected to the control part 50 for detecting the rotation of the first detection component, thereby realizing the detection of the rotation angle of the sun gear shaft 331.

[0062] In a specific embodiment, a seventh mounting hole is provided on the end of the sun gear shaft 331 provided in this embodiment close to the control part 50. The position of the seventh mounting hole corresponds to the position of the second detection part and is coaxially arranged with the sun gear shaft 331. The first detection part provided in this embodiment is arranged in the seventh mounting hole.

[0063] In an optional embodiment, the first detection member provided in this embodiment is a magnet, and the second detection member is a magnetic encoder. Of course, in other embodiments, the first detection member and the second detection member provided in this embodiment may also be other types of device combinations capable of performing angle detection.

[0064] In an optional embodiment, the magnet provided in this embodiment is fixed in the seventh mounting hole by glue.

[0065] In a specific embodiment, the internal gear assembly provided in this embodiment is an internal gear, and the internal gear provided in this embodiment is integrally formed with the outer shell.

[0066] In a specific embodiment, the deceleration output part 30 of the driving device provided in this embodiment is a first-stage planetary deceleration. Compared with the deceleration motor using multi-stage deceleration, the deceleration ratio of the driving device provided in this embodiment is relatively small, the overall rotational inertia is small, and the transmission efficiency is high. In addition, this embodiment makes full use of the space in the accommodating cavity 11 by setting the deceleration output part 30 in the accommodating cavity 11, and can achieve a large torque output, providing a good choice for torque control of robot joints.

[0067] In a specific embodiment, when the driving device provided by this embodiment is used to drive a small inertia load, since the driving device provided by this embodiment has a higher torque density and a smaller deceleration ratio, it is possible to structurally ensure that the end of the driving device has a smaller effective inertia, so that the driving device provided by this embodiment can achieve torque control through a current loop without the need for a force sensor.

[0068] In a specific embodiment, when the torque of the driving device is controlled by a current loop, a higher force control bandwidth can be achieved, thereby ensuring that the driving device has higher dynamic performance and better anti-drive properties, so that the driving device can cope with dynamic collisions.

[0069] In a specific embodiment, when the driving device provided by this embodiment is used to output power to the outside, the driving unit 20 is first controlled by the control unit 50. At this time, the rotor assembly 22 in the driving unit 20 rotates relative to the stator assembly 21. The rotating rotor assembly 22 drives the sun gear assembly 33 connected to it to rotate. Since the sun gear shaft 331 in the sun gear assembly 33 is engaged with the planetary gears 322 in the planetary gear assembly 32, the rotating sun gear shaft 331 can rotate the planetary gears 322. Drive, so that the planetary gear 322 rotates along the planetary shaft 3213. Since the planetary gear 322 is engaged with the sun gear shaft 331 and the inner gear assembly 31 at the same time, the planetary gear 322 rotates along the planetary shaft 3213 while also revolving on the inner gear assembly 31. The planetary gear 322 that rotates and revolves at the same time will drive the planetary carrier structure 321 to rotate relative to the inner gear assembly 31. At this time, the driving device can output power to the outside through the output planetary carrier 3211 in the planetary carrier structure 321.

[0070] In summary, the implementation of the drive device provided by this embodiment has at least the following beneficial technical effects: the drive device provided by this embodiment arranges the drive part 20 in the accommodating cavity 11, arranges the output end of the reduction output part 30 in the first mounting hole 12, and makes the position of the reduction output part 30 correspond to the position of the drive part 20 in the radial direction of the drive device. Compared with the reduction motor in the prior art in which the reducer and the motor are axially arranged, the drive device provided by this embodiment can reduce the axial size of the drive device by making the position of the reduction output part 30 correspond to the position of the drive part 20 in the radial direction of the drive device. Moreover, since the reduction output part 30 is arranged inside the shell 10 and corresponds to the drive part 20 in the radial direction of the drive device, the space inside the shell 10 is fully utilized, thereby improving the torque density of the drive device provided by this embodiment.

[0071] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A driving device, characterized in that: The driving device comprises: A housing (10), wherein a receiving cavity (11) and a first mounting hole (12) communicating with the receiving cavity (11) are provided in the housing (10); A driving unit (20), wherein the driving unit (20) is arranged in the accommodating chamber (11); A deceleration output part (30), wherein an input end of the deceleration output part (30) is arranged in the accommodating cavity (11), and an output end of the deceleration output part (30) is arranged in the first mounting hole (12). The position of the deceleration output part (30) corresponds to the position of the driving part (20) in the radial direction of the driving device. The output end of the driving part (20) is drivingly connected to the input end of the deceleration output part (30) for driving the deceleration output part (30).

2. The driving device according to claim 1, characterized in that: The speed reduction output part (30) comprises an internal gear assembly (31) and a planetary gear assembly (32); the internal gear assembly (31) is arranged on the inner wall of the first mounting hole (12); the planetary gear assembly (32) is rotatably inserted into the first mounting hole (12) and is drivingly connected to the internal gear assembly (31); the output end of the driving part (20) is drivingly connected to the planetary gear assembly (32); and the planetary gear assembly (32) can rotate along the circumference of the internal gear assembly (31) under the drive of the driving part (20); Wherein, the planetary gear assembly (32) is the output end of the speed reduction output part (30).

3. The driving device according to claim 2, characterized in that: The speed reduction output part (30) further comprises a sun gear assembly (33), the output end of the sun gear assembly (33) being rotatably disposed in the first mounting hole (12) and being drivingly connected to the planetary gear assembly (32), and the input end of the sun gear assembly (33) being rotatably disposed in the accommodating cavity (11) and being drivingly connected to the output end of the driving part (20); Wherein, the sun gear assembly (33) is the input end of the speed reduction output part (30).

4. The driving device according to claim 2, characterized in that: The driving device further comprises a first supporting portion (40), wherein the first supporting portion (40) is arranged between the inner wall of the first mounting hole (12) and the outer wall of the planetary gear assembly (32) and is used to support the planetary gear assembly (32).

5. The driving device according to claim 4, characterized in that: The first supporting portion (40) comprises a first bearing (41), the first bearing (41) being arranged between the first mounting hole (12) and the first end of the planetary gear assembly (32), the outer ring of the first bearing (41) abutting against the inner wall of the first mounting hole (12), the inner ring of the first bearing (41) abutting against the outer wall of the first end of the planetary gear assembly (32), and the first bearing (41) being used to support the first end of the planetary gear assembly (32).

6. The driving device according to claim 5, characterized in that: The first support portion (40) further includes a second bearing (42), the second bearing (42) being arranged between the first mounting hole (12) and the second end of the planetary gear assembly (32), the outer ring of the second bearing (42) abutting against the inner wall of the first mounting hole (12), the inner ring of the second bearing (42) abutting against the outer wall of the first end of the planetary gear assembly (32), and the second bearing (42) being used to support the second end of the planetary gear assembly (32).

7. The driving device according to any one of claims 1 to 6, characterized in that: The driving device further comprises a control unit (50), wherein the control unit (50) is arranged in the accommodating cavity (11) and is electrically connected to the driving unit (20) and is used to control the driving unit (20).

8. The driving device according to claim 7, characterized in that: The driving device further comprises a heat conducting part (60), wherein the heat conducting part (60) is arranged in the accommodating cavity (11), and two ends of the heat conducting part (60) are respectively in contact with the control part (50) and the inner wall of the accommodating cavity (11), so as to transfer heat on the control part (50) to the housing (10).

9. The driving device according to claim 7, characterized in that: The driving device further comprises a conductive wire (70), and the driving unit (20) and the control unit (50) can be electrically connected via the conductive wire (70); The driving device further comprises a wire management portion (80), wherein the wire management portion (80) is arranged in the accommodating cavity (11), a wire management channel (90) is formed between the wire management portion (80) and the inner wall of the accommodating cavity (11), and a portion of the conductive wire (70) is passed through the wire management channel (90) to avoid the output end of the driving portion (20).

10. The driving device according to any one of claims 1 to 6, characterized in that: The driving part (20) comprises a stator assembly (21) and a rotor assembly (22), wherein the stator assembly (21) is fixedly connected to the inner wall of the accommodating chamber (11), and the rotor assembly (22) is rotatably sleeved on the stator assembly (21) and is drivingly connected to the output end of the speed reduction output part (30); Wherein, the rotor assembly (22) is the output end of the driving unit (20).

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