Drive arrangement and device

Abstract

The application discloses a driving device and equipment. The driving device comprises a motor, a power output and a motor base, wherein the motor base defines a containing cavity; a speed reducer comprising a power input, the power output and the power input are connected, and the speed reducer is located in the containing cavity. The equipment comprises the above driving device and a working component, the working component can rotate under the driving of the driving device, the driving device is provided with an inner recess, the working component is provided with a protruding part, and the protruding part extends into the inner recess. In the application, the speed reducer is built in the motor, the axial size of the driving device can be reduced, the occupied space is smaller, and thus the size of the equipment using the driving device is reduced, which is beneficial to the miniaturization design of the equipment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of driving, and in particular to a driving device and equipment. BACKGROUND

[0002] In various equipment driven by electric energy, a motor is arranged. Generally, in order to obtain higher output torque, a motor and a reducer are combined, the output end of the motor is connected with the reducer, and the output end of the reducer is connected with a working part. However, in the conventional structure, the overall size of the motor and the reducer is large, a large space is required, and thus the size of the entire equipment is increased, which is not conducive to the miniaturization design of the equipment. SUMMARY

[0003] The present application aims at at least solving one of the problems existing in the prior art. To this end, the present application provides a driving device, the axial size of which is small, and the occupied space is reduced to some extent, so that the size of the equipment including the driving device is reduced, and the miniaturization design of the equipment is facilitated.

[0004] The present application also provides equipment, the axial size of the driving device in the equipment is small, and the occupied space is reduced to some extent, so that the size of the equipment is reduced, and the miniaturization design of the equipment is facilitated.

[0005] In a first aspect, one embodiment of the present application provides a driving device, comprising:

[0006] a motor comprising a power output and a motor base, the motor base defining a receiving cavity;

[0007] a reducer comprising a power input, the power output being connected with the power input, and the reducer being located in the receiving cavity.

[0008] The driving device of the embodiment of the present application has at least the following beneficial effects: the reducer is arranged in the receiving cavity in the motor, the axial size of the driving device is reduced, the occupied space is smaller, and thus the size of the equipment using the driving device is reduced, and the miniaturization design of the equipment is facilitated.

[0009] According to the driving device of another embodiment of the present application, the motor comprises a rotor and a stator, the rotor is the power output, the rotor and the stator are arranged along the radial direction of the motor, and the rotor and the stator are concentric.

[0010] According to the driving device of another embodiment of the present application, in the radial direction of the motor, the stator is located inside the rotor.

[0011] According to the driving device of some other embodiments of the present application, the speed reducer comprises a sun gear, a ring gear and a plurality of planetary gears, the sun gear is the power input, the ring gear is located outside the sun gear, the plurality of planetary gears are located between the sun gear and the ring gear, and the ring gear and the sun gear are engaged with the planetary gears, and the rotor is connected with the rotation axis of the sun gear.

[0012] According to the driving device of some other embodiments of the present application, the speed reducer further comprises a planet carrier, the planet carrier is connected with the planetary gears through bearings, the planet carrier is connected with the rotation axis through bearings, the planet carrier is connected with the motor base through bearings, and the ring gear is fixedly connected with the motor base.

[0013] According to the driving device of some other embodiments of the present application, the planet carrier comprises a speed reducer top cover and a speed reducer bottom cover, and the speed reducer top cover and the speed reducer bottom cover are respectively located on two sides of the planetary gears in the axial direction of the planetary gears.

[0014] According to the driving device of some other embodiments of the present application, the driving device further comprises a driving plate, the driving plate is located at the end of the motor, the driving plate is provided with a magnetic encoder, the rotation axis is provided with a magnetic element, a barrier is arranged between the magnetic element and the rotation axis, the magnetic element corresponds to the position of the magnetic encoder, and the magnetic encoder is used for sensing the magnetic pole position of the magnetic element.

[0015] According to the driving device of some other embodiments of the present application, the rotor comprises a rotor magnetic pole, and the rotor magnetic pole is located on the surface of the rotor.

[0016] According to the driving device of some other embodiments of the present application, the driving device further comprises an outer frame, the outer frame is located outside the motor, and the outer frame is provided with a triangular hollow part.

[0017] In the second aspect, an embodiment of the present application provides a device comprising the above driving device, and further comprising a working component, the working component can rotate under the driving of the driving device, the driving device is provided with an inner recess, the working component is provided with a protruding part, and the protruding part extends into the inner recess.

[0018] The device provided by the embodiment of the present application has at least the following beneficial effects: in the driving device of the device, the speed reducer is arranged in the accommodating cavity inside the motor, the axial size of the driving device can be reduced, the occupied space is smaller, thereby the size of the device is reduced, which is beneficial to the miniaturization design of the device, and the concave-convex cooperation between the driving device and the working component can further reduce the axial size and make the connection more stable. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 isFigure 1 Structure diagram of the driving device;

[0020] Figure 2 Figure 1 Exploded view of the driving device (omitting some components);

[0021] Figure 3 Figure 1 Sectional view of the driving device (omitting components such as the driving plate).

[0022] Reference signs:

[0023] Motor 100, rotor 110, stator 120, reducer 200, sun gear 210, rotating shaft 211, groove 2111, gear ring 220, planetary gear 230, reducer top cover 240, reducer bottom cover 250, inner recess 251, outer frame 300, triangular hollow part 310, motor base 400, driving plate 500. DETAILED DESCRIPTION

[0024] The concept and the technical effects of the present application will be described in detail below in combination with embodiments, so as to fully understand the purpose, features and effects of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments of the present application, other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.

[0025] In the description of the embodiments of the present application, if the orientation description such as "up", "down", "front", "back", "left", "right" and the like is described, the orientation or position relationship shown in the drawings is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0026] ​​In the description of the embodiments of the present application, if a certain feature is referred to as being "arranged", "fixed", "connected" or "mounted" to another feature, it can be directly arranged, fixed, connected or mounted to the other feature, or indirectly arranged, fixed, connected or mounted to the other feature through an intermediate feature. In the description of the embodiments of the present application, if "several" is referred to, the meaning is more than one, if "multiple" is referred to, the meaning is two or more, if "greater than", "less than", "more than" or "fewer than" is referred to, the meaning should be understood as excluding the number itself, and if "above", "below" or "within" is referred to, the meaning should be understood as including the number itself. If "first", "second" is referred to, it should be understood as being used to distinguish technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or the sequence of indicated technical features.

[0027] With reference to Figures 1 to 3 The driving device in the embodiment includes a motor 100 and a reducer 200 and the like. The motor 100 includes a motor base 400, an inner portion of the motor base 400 defining a receiving cavity, and the reducer 200 being arranged in the receiving cavity. A power output of the motor 100 is connected to a power input of the reducer 200, the motor 100 drives a working component to rotate through the reducer 200 after being decelerated and increasing output torque. In the direction of an output shaft of the motor 100, the reducer 200 does not exceed the end of the motor 100, that is, all components of the reducer 200 are covered by the motor 100. In a conventional driving device, the reducer and the motor are usually arranged in the axial direction of the motor, and the axial dimension of the entire driving device is large. Compared with the conventional driving device, the reducer 200 in the embodiment is completely arranged in the inner portion of the motor 100, which can reduce the axial dimension of the driving device, reduce the occupied space, and thus reduce the size of the equipment using the driving device, which is beneficial to the miniaturization design of the equipment.

[0028] In some embodiments, the motor 100 includes a rotor 110 and a stator 120, and the rotor 110 is a power output of the motor 100. The rotor 110 and the stator 120 are arranged in the radial direction of the motor 100, and the rotor 110 and the stator 120 are concentric. Compared with other arrangements such as axial arrangement, the radial arrangement of the rotor 110 and the stator 120 can reduce the axial dimension, and in some use environments where the axial dimension of the driving device is limited, the driving device in the embodiment can better meet the requirements.

[0029] With reference to Figure 2 Compared with Figure 3In some embodiments, the rotor 110 is arranged outside the stator 120 in the radial direction of the motor 100, and the stator 120 is fixed to the outer side wall of the motor base 400. By arranging the rotor 110 outside the stator 120, the motor 100 can have a larger output torque, which can better match some work components that require a larger output torque.

[0030] Referring to Figure 2 With Figure 3 In some embodiments, the reducer 200 is a planetary reducer, which includes a sun gear 210, a ring gear 220, and a plurality of planetary gears 230, and the sun gear 210 is a power input of the reducer 200. The ring gear 220 is arranged outside the sun gear 210, and the plurality of planetary gears 230 are arranged between the sun gear 210 and the ring gear 220, and the ring gear 220 and the sun gear 210 are engaged with the planetary gears 230. The rotor 110 is sleeved on the sun gear 210, and the sun gear 210 can rotate synchronously with the rotor 110. The selection of the reducer 200 is not limited to the planetary reducer, and other types of reducers can also be used. However, in this embodiment, the planetary reducer with a relatively simple structure and mature manufacturing technology is selected to simplify the structure of the entire driving device, which can reduce the weight of the driving device to some extent and is conducive to the lightweight design of the driving device.

[0031] Referring to Figure 2 With 3 In some embodiments, the reducer 200 further includes a planet carrier, which is connected to the rotating shaft 211 of the sun gear 210 through a bearing, and is connected to the planetary gears 230 through a bearing. In addition, the planet carrier is also connected to the inner side wall of the motor base 400 through a bearing. The outer frame 300 and the motor base 400 are fixedly connected through threaded fasteners. The ring gear 220 is fixed to the inner side wall of the motor base 400, and the planet carrier is a power output of the reducer. Since the positions of the motor base 400 and the outer frame 300 are fixed, the axial displacement of the rotating shaft 211 of the sun gear 210 and the planetary gears 230 can be limited. In the above structure, the sun gear 210, the ring gear 220, and the planetary gears 230 are located at the same position in the axial direction, and the planet carrier is also located within the height range of the motor base 400 and is covered by the motor 100, thereby minimizing the axial dimension. For some small robots, such as foot-type robots, it is necessary to move in a small space. The use of the above driving device can further reduce the size of the robot, thereby improving the flexibility of the robot.

[0032] In some embodiments, the specific planet carrier includes a reducer top cover 240 and a reducer bottom cover 250, which are connected by threaded fasteners, the reducer top cover 240 is located at the top of the sun gear 210, the ring gear 220 and the planet gear 230, and the reducer bottom cover 250 is located at the bottom of the sun gear 210, the ring gear 220 and the planet gear 230. The reducer top cover 240, the reducer bottom cover 250 and the outer frame 300 are all connected to the rotating shaft 211 of the sun gear 210 through bearings. The planet gear 230 is connected to the reducer top cover 240 and the reducer bottom cover 250 through bearings. The reducer top cover 240 and the reducer bottom cover 250 are connected to the inner side wall of the motor base 400 through bearings. The reducer top cover 240 and the reducer bottom cover 250 on both sides of the above-mentioned multiple gears can further improve the stability of the structure, and make the power output of the reducer more stable.

[0033] Referring to Figure 2 With 3 In some embodiments, an outer frame 300 is provided outside the motor 100, which can protect the motor 100 from being damaged by external components colliding with the motor 100 and the reducer 200. The outer frame 300 is provided with a plurality of hollow parts, which can save materials and reduce the weight of the entire driving device. Further, the outer frame 300 is provided with a plurality of triangular hollow parts 310, which not only facilitates the lightweight of the driving device, but also improves the torsional strength of the outer frame 300 due to the high stability of the triangle, thereby enhancing the structural stability and preventing deformation when encountering a collision. In addition, the triangular hollow parts 310 need to be evenly distributed on the outer frame 300 to ensure that each region of the outer frame 300 can bear force evenly when encountering a collision.

[0034] Referring to Figure 2 With 3 In some embodiments, the driving device further includes a driving plate 500 fixed to the end of the outer frame 300, which is used to control the rotation of the motor 100. A magnetic encoder (not shown in the figure) is provided at the center position of the surface of the driving plate 500 in contact with the outer frame 300, the rotating shaft 211 of the sun gear 210 is hollow inside and provided with a groove 2111 at the top to form a stepped hole. A magnetic steel sheet is provided in the groove 2111, when the magnetic steel sheet rotates synchronously with the rotating shaft 211, the magnetic encoder can sense the magnetic pole position of the magnetic steel sheet to obtain the position parameter of the rotor 110 at this time. A barrier is further provided between the magnetic steel sheet and the rotating shaft 211 to prevent the magnetic field of the motor 100 from affecting the magnetic steel sheet. The barrier can be made of epoxy resin, of course, other similar materials can also be used. In addition, in order to improve the accuracy of the magnetic inductor, the distance between the magnetic encoder and the magnetic steel sheet should not exceed 2mm.

[0035] In some embodiments, the rotor 110 adopts surface-mounted magnetic poles, which can reduce the magnetic resistance loss and the fluctuation of output torque compared with the embedded magnetic poles. Specifically, the rotor 110 includes rotor magnetic poles which are directly pasted on the surface of the rotor 110. In addition, the rotor 110 adopts a multi-pair pole arrangement to make the output position and torque more accurate.

[0036] In some embodiments, the stator 120 includes a stator core and a stator winding which is wound on the surface of the stator core. The stator winding adopts a parallel connection of multiple thin copper wires to slow down the skin effect of the stator winding and the heating of the motor 100, so that the natural cooling can meet the heat dissipation requirement and avoid the use of fans to increase the overall size.

[0037] In some embodiments, an apparatus is also provided, which includes the above-mentioned driving device and further includes a work component capable of rotating under the driving of the driving device.

[0038] In some embodiments, the above-mentioned work component is a legged robot. The legged robot usually requires a compact structure and a small size. The use of the above-mentioned driving device can minimize the size of the driving component, which is conducive to reducing the overall size of the legged robot. In addition, referring to Figure 1 Since the surface of the legged robot is usually composed of convex components, a plurality of concave portions 251 are further provided on the reducer bottom cover 250. When the driving device is applied to the legged robot, the convex components on the surface of the legged robot can be inserted into the concave portions 251, so that the gap between the driving device and the legged robot is smaller, and the overall size of the legged robot is further reduced.

[0039] The following provides a set of specific structural parameters of the above-mentioned driving device when applied to the legged robot:

[0040] The rotor adopts a 36N42P multi-pair pole arrangement to improve the accuracy of torque and position control and meet the demand of the legged robot for high output accuracy of torque and position. In this scheme, a single-stage planetary gear reducer is adopted, and the reduction ratio is 6.27:1. The sun gear 210, the ring gear 220 and the planetary gear 230 are made of carbon steel, and the reducer top cover 240 and the motor base 400 are made of aluminum alloy. Thrust bearings are used between the reducer top cover 240, the reducer bottom cover 250 and the motor base 400, and deep groove ball bearings are used at other positions.

[0041] The embodiments of the application are described in detail above with reference to the drawings, but the application is not limited to the above-mentioned embodiments, and various changes can be made within the scope of knowledge possessed by a person skilled in the art without departing from the purpose of the application. In addition, the embodiments of the application and the features in the embodiments can be combined with each other without conflict.

Claims

1. A driving device, characterized in that: include: The motor includes a power output member and a motor base, wherein the motor base defines a receiving cavity, and the motor includes a rotor and a stator, wherein the rotor is the power output member; A reducer, comprising a power input member and a reducer bottom cover, wherein the power output member is connected to the power input member, the reducer is located in the accommodating cavity, the reducer comprises a sun gear, the sun gear is the power input member, the sun gear has a rotating shaft, and the rotor is connected to the rotating shaft; A drive board connected to an end of the motor, wherein a magnetic encoder is provided on the drive board; An outer frame is provided outside the motor and connected to the drive plate, wherein the outer frame and the reducer bottom cover are arranged opposite to each other along the output shaft direction of the motor; In which, the rotating shaft extends toward the magnetic encoder along the output shaft direction of the motor to abut against the outer frame and the bottom cover of the reducer. The interior of the rotating shaft is a hollow structure, and a groove is provided on the side of the rotating shaft facing the magnetic encoder to form a step hole. The driving device also includes a magnetic part and a blocking part, and the magnetic part and the blocking part are accommodated in the groove. The outer frame cover is arranged in the groove, and the blocking part is arranged between the magnetic part and the rotating shaft. The magnetic part corresponds to the position of the magnetic encoder, and the magnetic encoder is used to sense the magnetic pole position of the magnetic part.

2. The driving device according to claim 1, characterized in that The rotor and the stator are arranged along the radial direction of the motor, and the rotor and the stator are concentric.

3. The driving device according to claim 2, characterized in that In the radial direction of the motor, the stator is located inside the rotor.

4. The driving device according to claim 2, characterized in that The reducer includes a ring gear and a plurality of planetary gears. The ring gear is located outside the sun gear, and the plurality of planetary gears are located between the sun gear and the ring gear. Both the ring gear and the sun gear are meshed with the planetary gears.

5. The driving device according to claim 4, characterized in that The reducer also includes a planetary carrier, which is connected to the planetary gears through bearings, connected to the rotating shaft through bearings, connected to the motor base through bearings, and the ring gear is fixedly connected to the motor base.

6. The driving device according to claim 5, characterized in that The planet carrier includes a reducer top cover and a reducer bottom cover. In the axial direction of the planetary gear, the reducer top cover and the reducer bottom cover are respectively located on both sides of the planetary gear.

7. The driving device according to claim 2, characterized in that The rotor includes rotor poles located on a surface of the rotor.

8. The driving device according to claim 1, characterized in that A triangular hollow portion is provided on the outer frame.

9. The device, characterized in that The driving device comprises the driving device according to any one of claims 1 to 8, further comprising a working component, wherein the working component can rotate under the drive of the driving device, the driving device is provided with an inner recess, the working component is provided with a protrusion, and the protrusion extends into the inner recess.

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