Power module and power device

Abstract

The application discloses a power module and a power equipment. The power module comprises a shell, a power output, a flexible wheel, a stator, a rotor, a magnet, a wave generator and a first position detection assembly. The shell is formed with an opening and a receiving cavity. The power output comprises a rigid wheel arranged at the opening. The flexible wheel is arranged at least partially in the receiving cavity and is power coupled with the rigid wheel. The flexible wheel is fixedly connected with the shell. The rotor is rotatably arranged at least partially in the receiving cavity and is provided with the magnet. The stator is arranged at least partially in the rotor and is oppositely arranged with the magnet. A flexible bearing is arranged between the flexible wheel and a fixed part. The fixed part is detachably arranged on the rotor or is an integral structure with the rotor. The stator is used for driving the rotor to rotate relative to the shell. When the rotor rotates, the flexible wheel is deformed by the wave generator to drive the rigid wheel to rotate. The first position detection assembly is arranged on the inner side of the stator and is used for detecting the rotating position information of the power output.

Description

Technical Field

[0001] This application relates to the field of power transmission technology, and in particular to a power module and power equipment. Background Technology

[0002] The robot power module is a core component of a robot, especially in legged mobile robots, where it is required to generate sufficient explosive force while remaining small and lightweight. In robots, joints are typically driven by motors and harmonic reducers. In related technologies, the motor and reducer system is usually arranged in series, increasing the axial dimension and making the robot's joints bulky and space-consuming, thus affecting the robot's movement. For example, during movement, the joints are prone to collisions with external objects, and the overall aesthetics of the robot are also affected. Furthermore, the flexible gears of harmonic reducers commonly used in related technologies have large rotational inertia and significant vibration. Summary of the Invention

[0003] This application provides a power module and a power device.

[0004] The power module of this application includes:

[0005] A housing having an opening and a receiving cavity;

[0006] A power output component, which is rotatable relative to the housing, includes a rigid wheel disposed at the opening;

[0007] A flexible wheel, which is at least partially disposed within the receiving cavity and is dynamically coupled to the rigid wheel, and is also fixedly connected to the housing;

[0008] A rotor, at least partially and rotatably mounted within the receiving cavity, a magnet mounted on the inner side of the rotor, and the rotor rotating coaxially with the rigid wheel;

[0009] A stator, which at least partially houses the rotor and is disposed opposite to the magnet at a distance;

[0010] A wave generator, comprising a flexible bearing and a cam, wherein the flexible bearing is disposed between the flexible wheel and the cam, and the cam is detachably mounted on the rotor or integrally formed with the rotor; the stator is used to drive the rotor to rotate relative to the housing, and when the rotor rotates, the wave generator causes the flexible wheel to deform, thereby driving the rigid wheel to rotate; and

[0011] A first position detection component is disposed within the receiving cavity and located inside the stator. The first position detection component is used to detect the rotational position information of the power output component.

[0012] The power equipment in this application includes the power module described in the above embodiments.

[0013] In the power module and power equipment of this application embodiment, the flexible wheel is at least partially disposed within the housing cavity and is dynamically coupled to the rigid wheel. The stator is at least partially fixedly installed within the housing cavity, and the rotor is rotatably installed within the housing cavity and located outside the stator. The rotor rotates coaxially with the rigid wheel. A flexible bearing is disposed between the flexible wheel and the cam. The cam is fixed to the rotor or is an integral structure with the rotor. The first position detection component is disposed within the housing cavity and located inside the stator. Thus, the flexible wheel is at least partially housed within the housing cavity, and both the stator and rotor are housed within the housing cavity. Fixing the cam of the wave generator to the rotor or making it an integral structure with the rotor effectively reduces the overall volume of the power module. Furthermore, arranging the rotor, stator, and first position detection component radially spaced apart effectively improves the structural compactness, further reducing the volume. In addition, the flexible wheel is fixed to the housing, and the rigid wheel is driven to rotate for power output through the deformation of the flexible wheel. The rotational inertia is small, effectively reducing vibration.

[0014] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0015] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, wherein:

[0016] Figure 1 This is a three-dimensional structural schematic diagram of the power equipment according to an embodiment of this application;

[0017] Figure 2 This is a three-dimensional structural diagram of the power module according to an embodiment of this application;

[0018] Figure 3 This is an exploded structural diagram of the power module according to an embodiment of this application;

[0019] Figure 4 This is another exploded structural diagram of the power module according to an embodiment of this application;

[0020] Figure 5 This is a cross-sectional schematic diagram of the power module according to an embodiment of this application;

[0021] Figure 6This is another cross-sectional schematic diagram of the power module according to an embodiment of this application;

[0022] Figure 7 This is another cross-sectional schematic diagram of the power module according to an embodiment of this application;

[0023] Figure 8 This is a schematic diagram of the housing of the power module according to an embodiment of this application;

[0024] Figure 9 This is a schematic diagram of the housing, first circuit board, and drive circuit board of the power module according to an embodiment of this application;

[0025] Figure 10 This is a schematic diagram of the flexible wheel structure of the power module according to an embodiment of this application;

[0026] Figure 11 This is a schematic diagram of the installation structure of a portion of the power module according to an embodiment of this application;

[0027] Figure 12 This is a structural schematic diagram of the rigid wheel and support member of the power module according to the embodiments of this application;

[0028] Figure 13 This is a schematic diagram of the connection structure between the rigid wheel and the support member of the power module in the embodiment of this application;

[0029] Figure 14 This is another cross-sectional schematic diagram of the power module according to the embodiments of this application;

[0030] Figure 15 This is another cross-sectional schematic diagram of the power module according to the embodiments of this application.

[0031] Explanation of key component symbols:

[0032] 1000 power equipment;

[0033] Power module 100, housing 10, opening 101, receiving cavity 102, bottom wall 103, groove 1031, surrounding wall 104, central shaft 105, wire hole 107, power output component 11, rigid wheel 111, first gear ring structure 1111, flange 112, protrusion 1121, flexible wheel 12, flexible wall 121, second gear ring structure 1211, mounting wall 122, mounting cavity 123, stator 13, rotor 14, magnet 15, wave generator 16, flexible bearing 161, cam 162, first position The system includes: a detection component 17, a first magnetic component 171, a first sensing component 172, a second circuit board 1721, a first sensing unit 1722, a fixing base 173, a first circuit board 18, a second position detection component 19, a second magnetic component 191, a second sensing component 192, a third circuit board 1921, a second sensing unit 1922, a support component 20, a rolling component 21, a first support bearing 22, a second support bearing 23, a mounting bracket 24, a fourth circuit board 25, a torque sensor 29, a drive circuit board 30, and a cover 31.

[0034] Torso 200, Feet 300. Detailed Implementation

[0035] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0036] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, 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, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. 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 indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0037] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0038] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0039] The following disclosure provides many different embodiments or examples for implementing different structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. Of course, these are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, various specific examples of processes and materials are provided in this application, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0040] Please see Figure 1 The power device 1000 in this application embodiment may include the power module 100 in this application embodiment. The power device 1000 may be a quadruped robot, such as a robot dog, a robot horse, etc. Of course, the power device 1000 may also be other types of robots, such as bipedal robots, hexapedal robots, etc. In addition, the power device 1000 is not limited to robots, but may also be other types of equipment, which are not limited here.

[0041] Taking a robot as an example, the power module 100 of this application embodiment can be installed at the joint of the robot, and the power module 100 can be used to drive the joint rotation. Specifically, the robot may include a torso 200 and a foot 300, with the foot 300 connected to the torso 200. The power module 100 is used to drive the foot 300 to move relative to the torso 200. For example, the power module 100 can be used to drive the entire foot 300 to move relative to the torso 200, or it can be used to drive the joint movement of the foot 300.

[0042] Please see Figures 2-5 The power module 100 of this application embodiment may include a housing 10, a power output component 11, a flexible wheel 12, a stator 13, a rotor 14, a magnet 15, a wave generator 16, and a first position detection component 17. The housing 10 has an opening 101 and a receiving cavity 102. The power output component 11 is rotatable relative to the housing 10. The power output component 11 includes a rigid wheel 111, which is disposed at the opening 101.

[0043] The flexible wheel 12 is at least partially disposed within the receiving cavity 102 and is dynamically coupled to the rigid wheel 111. The flexible wheel 12 is also fixedly connected to the housing 10. The rotor 14 is rotatably and at least partially mounted within the receiving cavity 102 of the housing 10. The rotor 14 is provided with a magnet 15. The stator 13 is at least partially housed within the rotor 14 and is spaced apart from the magnet 15. That is, the rotor 14 is rotatably mounted within the receiving cavity 102 and is located outside the stator 13. The rotor 14 rotates coaxially with the rigid wheel 111.

[0044] Please see Figure 4 ,exist Figure 4 In the embodiment shown, the stator 13 is fixedly installed in the receiving cavity 102 and is at least partially housed in the rotor 14. This can be understood as the inner wall of the rotor 14 forming an annular space, and the stator 13 is disposed on the inner side of the inner wall of the rotor 14 and is at least partially located within the annular space.

[0045] Of course, in some embodiments, a receiving cavity may be formed on the inner wall of the rotor 14, and the stator 13 may be at least partially housed in this receiving cavity. The specific arrangement of the stator 13 may be set according to the actual situation.

[0046] The wave generator 16 includes a flexible bearing 161 and a cam 162. The flexible bearing 161 is located between the flexible wheel 12 and the cam 162. The cam 162 is detachably mounted on the rotor 14 or is an integral structure with the rotor 14.

[0047] The stator 13 is used to drive the rotor 14 to rotate relative to the housing 10. When the rotor 14 rotates, it drives the flexible wheel 12 to deform through the wave generator 16, thereby driving the rigid wheel 111 to rotate.

[0048] The first position detection component 17 is disposed in the receiving cavity 102 and located inside the stator 13. The first position detection component 17 is used to detect the rotational position information of the power output component 11 to obtain the output speed of the entire power module 100.

[0049] It's understandable that the robot's power module is a core component, especially in legged mobile robots, where sufficient explosive force is required while maintaining a small size and light weight. In robots, joints are typically driven by motors and harmonic reducers. In related technologies, the motor and reducer systems are usually connected in series, increasing the axial dimension and making the robot's joints bulky and space-consuming, thus affecting the robot's movement. For example, during movement, the joints are more prone to collisions with external objects.

[0050] In the power module 100 and power device 1000 of this application embodiment, the flexible wheel 12 is at least partially disposed within the receiving cavity 102 and is dynamically coupled to the rigid wheel 111. The stator 13 is at least partially fixedly installed within the receiving cavity 102. The rotor 14 is rotatably installed within the receiving cavity 102 and located outside the stator 13. The rotor 14 rotates coaxially with the rigid wheel 111. A flexible bearing 161 is disposed between the flexible wheel 12 and the cam 162. The cam 162 is fixed to the rotor 14 or is an integral structure with the rotor 14. The first position detection component 17 is disposed within the receiving cavity 102 and located inside the stator 13. Thus, the flexible wheel 12 is at least partially housed within the housing cavity 102. Both the stator 13 and rotor 14 are housed within the housing cavity 102, and the cam 162 of the wave generator 16 is fixed to or integrated with the rotor 14, effectively reducing the overall volume of the power module 100. Furthermore, arranging the rotor 14, stator 13, and first position detection component 17 radially spaced apart effectively improves structural compactness, further reducing volume. In addition, the flexible wheel 12 is fixed to the housing 10, and the deformation of the flexible wheel 12 drives the rigid wheel 111 to rotate for power output. Its low moment of inertia effectively reduces vibration.

[0051] Specifically, in the embodiments of this application, after the stator 13 is energized, the stator 13 drives the rotor 14 to rotate, the rotor 14 drives the wave generator 16 to rotate, thereby causing the flexible wheel 12 to deform. During the deformation process, the flexible wheel 12 drives the rigid wheel 111 to rotate, thereby realizing power output.

[0052] The housing 10 serves as the load-bearing component of the entire power module 100. It can be made of metal or high-strength non-metallic materials to meet the load-bearing requirements. The power module 100 can be mounted on the main body of the power equipment 100 through the housing 10. For example, the power module 100 can be mounted on the robot's torso 300 through the mounting through holes on the housing 10.

[0053] The top of the housing 10 has an opening 101, and the rigid wheel 111 is located at the opening 101. This can be understood as the rigid wheel 111 being located near the opening 101. It can be located outside the opening 101, that is, outside the receiving cavity 102, or it can be located inside the opening 101. It can be completely or partially received within the receiving cavity 102; no specific limitation is made here. Figures 4 to 5 In the embodiment shown, the rigid wheel 111 is located outside the opening and outside the receiving cavity 102.

[0054] Specifically, the housing 10 may include a surrounding wall 104 and a bottom wall 103 connected to the surrounding wall 104. The surrounding wall 104 and the bottom wall 103 together form a receiving cavity 102. It is understood that in some embodiments, in order to improve heat dissipation efficiency, the surrounding wall 104 may be a hollow structure. For example, multiple heat dissipation holes (not shown in the figure) may be opened on the surrounding wall 104 to facilitate heat dissipation of heat-generating components such as the stator 13 disposed in the housing 10. Of course, in order to prevent external dust and impurities from entering the inner wall of the power module 100 while ensuring heat dissipation, a dustproof structure, such as a dustproof mesh, may be provided in the hollow area of ​​the surrounding wall 104. This can improve heat dissipation efficiency while preventing dust and impurities from falling into the power module 100.

[0055] In this application, the stator 13 and rotor 14 can be considered as a drive motor. Both the stator 13 and rotor 14 are disposed within the receiving cavity 102 of the housing 10, effectively embedding the motor within the housing 10, thus reducing the overall volume of the power module 100. In the embodiment of this application, the rotor 14 is disposed outside the stator 13, thus forming an external rotor motor.

[0056] There are multiple magnets 15, which can be arranged at intervals along the circumference of the rotor 14 by adhesive bonding. In some embodiments, the magnets 15 can be directly bonded to the rotor 14 with glue. In other embodiments, in order to improve the stability of the magnet installation, a mounting groove can be opened on the rotor 14, the magnet can be installed in the mounting groove and then fixed with glue. The specific method is not limited here.

[0057] Please see Figure 4 In one embodiment, the flexible wheel 12 is formed with a mounting cavity 123, in which the rotor 14 and the stator 13 are at least partially housed.

[0058] Thus, by at least partially arranging the flexible wheel 12 within the receiving cavity 102 of the housing 10 and at least partially housing the rotor 14 and stator 13 within the mounting cavity 123 of the flexible wheel 12, the structural compactness of the power module 100 can be improved, and the overall volume of the power module 100 can be further reduced.

[0059] It is understood that in such an implementation, the flexible wheel 12 is housed in the housing 10, while the rotor 14 and stator 13 are housed in the mounting cavity 123 of the flexible wheel 12. In this way, the flexible wheel 12, stator 13 and rotor 14 are arranged in a radially sequential manner, which can improve the compactness of the power module 100 structure and reduce the overall volume of the power module 100.

[0060] Specifically, please combine Figures 4 to 10 In this embodiment, the flexible wheel 12 may include a flexible wall 121 and a mounting wall 122 connected to each other. The flexible wall 121 extends along the axial direction of the rotor 14's rotation and is dynamically coupled to the rigid wheel 111. The mounting wall 122 is fixedly connected to the housing 10. The mounting wall 122 and the flexible wall 121 form a mounting cavity 123, in which the rotor 14 and stator 13 are completely housed. Thus, by completely housing the rotor 14 and stator 13 within the mounting cavity 123 formed by the flexible wheel 12, the volume can be further reduced.

[0061] In one embodiment, the housing 10 includes a surrounding wall 104, a central shaft portion 105, and a bottom wall 103 connecting the surrounding wall 104 and the central shaft portion 105. The surrounding wall 104 and the bottom wall 103 together form a receiving cavity 102. The mounting wall 122 of the flexible wheel 12 is fixedly connected to at least one of the surrounding wall 104, the bottom wall 103, and the central shaft portion 105. Thus, the flexible wheel 12 can be fixedly connected to the housing 10 simply by fixing the mounting wall 122 to at least one of the surrounding wall 104, the bottom wall 103, and the central shaft portion 105.

[0062] Specifically, please combine Figures 4-10 In the illustrated embodiment, the flexible wheel 12 is generally cup-shaped. The flexible wall 121 of the flexible wheel 12 extends along the axial direction of the rotor 14, that is, along the rotation axis of the rotor 14. The mounting wall 122 is connected to the bottom of the flexible wall 121 and bends inward relative to the flexible wall 121 in the radial direction, that is, bends inward relative to the flexible wall 121 toward the side where the rotation axis of the rotor 14 is located. The mounting wall 122 may have through holes. The mounting wall 122 can be fixedly mounted on the housing 10 by fasteners such as screws, bolts and pins passing through the through holes.

[0063] More specifically, in order to ensure the deformation of the flexible wall 121, the thickness of the flexible wall 121 can be set to be relatively thin, while a thicker mounting protrusion 1221 can be formed at the end of the mounting wall 122. The mounting protrusion 1221 is sleeved on the central shaft portion 105, and the mounting wall 122 can be fixedly connected to the housing 10 through the mounting protrusion 1221. The thickness of the mounting protrusion 121 can ensure the connection strength between the flexible wheel 12 and the housing 10. In this case, a through hole can be formed on the mounting protrusion 1221, and the mounting protrusion 1221 can be fixedly installed on the housing 10 by fastening elements such as pins, screws and bolts passing through the through hole.

[0064] It is understood that in other embodiments, the flexible wheel 12 may omit the mounting wall 122 or the mounting portion 122 may also extend along the axial direction of the rotor 14's rotation and be directly fixedly connected to the bottom wall 103 of the housing 10. It is understood that in such cases, the flexible wheel 14 may be generally cylindrical.

[0065] Of course, please see Figure 6 In other embodiments, the flexible wheel 12 may also be generally top hat shaped. In such embodiments, the mounting wall 122 of the flexible wheel 12 bends outward in the radial direction relative to the flexible wall 121, that is, it bends outward relative to the flexible wall 121 toward the side opposite to the rotation axis of the rotor 14. In this case, the flexible wall 121 directly forms the mounting cavity 123 alone, and the stator 13 and the rotor 14 can be at least partially housed in the mounting cavity 123.

[0066] Specifically, in this embodiment, the housing 10 can be a segmented housing 10, specifically divided into a first part and a second part arranged vertically. The second part can be disposed above the first part. An annular mounting portion 1221 can be formed on the mounting wall 122 of the flexible wheel 12, and this annular mounting portion 1221 can be installed between the first part and the second part. In this case, the first part and the second part of the housing 10 and the annular mounting portion 1221 of the flexible wheel 12 together form a receiving cavity 102.

[0067] In this application, the central shaft portion 105 may be formed at the center of the bottom wall 103, and the rotor 14 may be rotatably connected to the central shaft portion 105 and rotate around the central shaft portion 105. For example, a support bearing may be provided between the central shaft portion 105 and the rotor 14, and the support bearing may support the rotor 14 while affecting the rotation of the rotor 14.

[0068] It is understandable that in order to ensure that the flexible wheel 12 can undergo a sufficiently large deformation under the drive of the wave generator 16, it is preferable to fix the mounting wall 122 to the bottom wall 103 of the housing 10. This can increase the length of the flexible wall 121, so that the flexible wall 121 can undergo sufficient deformation under the action of the wave generator 16.

[0069] Please see Figure 3 as well as Figures 10 to 12 In one embodiment, a first gear ring structure 1111 is formed on the inner circumferential surface of the rigid wheel 111. The flexible wheel 12 includes a mounting wall 122 and a flexible wall 121. The mounting wall 122 is fixedly connected to the housing 10. A second gear ring structure 1211 is formed on the outer circumferential surface of the flexible wall 121 opposite to the first gear ring structure 1111 of the rigid wheel 111. The first gear ring structure 1111 and the second gear ring structure 1211 are partially meshed to enable dynamic coupling between the flexible wheel 12 and the rigid wheel 111. The number of teeth in the second gear ring structure 1211 is less than the number of teeth in the first gear ring structure 1111.

[0070] Thus, through the partial meshing of the first gear ring structure 1111 and the second gear ring structure 1211, the flexible wall 121 of the flexible wheel 12 can drive the rigid wheel 111 to rotate for power output when it deforms.

[0071] In one embodiment, the outer contour of the orthogonal projection of the cam 162 in the axial direction of the rotor 14 rotation is elliptical.

[0072] Thus, the elliptical cam 162 and the flexible bearing 161 can form a wave generator 16. When the rotor 14 rotates, the cam 162 can rotate to periodically drive the flexible wheel 12 to deform, thereby causing the flexible wheel 12 to drive the rigid wheel 111 to rotate.

[0073] Specifically, in such an embodiment, the cam 162 can be detachably mounted on the rotor 14 by fastening elements such as screws or bolts, or it can be directly integrated with the rotor 14. The profile of the cam 162 is elliptical, and the rotation axis of the cam 162 coincides with the rotation axis of the rotor 14. When the rotor 14 rotates, it can drive the cam 162 to rotate. When the cam 162 rotates, it drives the flexible wheel 12 to deform through the flexible bearing 161, thereby driving the rigid wheel 111 to rotate relative to the housing 10 to achieve power output.

[0074] Please refer to the following: Figures 3 to 6In one embodiment, the first position detection component 17 includes a first magnetic element 171 and a first sensing element 172. The first magnetic element 171 is fixedly connected to the power output component 11 through a first fixing seat 173. The first fixing seat 173 and the power output component 11 are an integral structure or a detachable connection structure. The first sensing element 172 is fixedly connected to the housing 10 and is arranged at a distance from the first magnetic element 171.

[0075] In this embodiment, the first magnetic element 171 can be a magnetic ring or a magnet, and the first sensing element 172 can be a Hall effect sensor. When the power output element 11 rotates, the first magnetic element 171 will rotate with the power output element 11, and the Hall effect sensor can detect the position of the first magnetic element 171 and thus detect the rotation position of the power output element 11, thereby calculating the rotation speed of the power output element 11 based on the rotation position.

[0076] Please see Figures 3 to 5 as well as Figure 10 In one embodiment, the power module 100 also includes a mounting bracket 24, which is fixedly connected to the housing 10. The stator 13 is mounted on the mounting bracket 24, and the first sensing element 172 is also mounted on the mounting bracket 24.

[0077] Thus, the mounting bracket 24 can support the first sensing element 172 while installing and supporting the stator 13, thereby installing the first position detection component 17 inside the stator 13.

[0078] Specifically, in this embodiment, the stator 13 is fixedly connected to the housing 10 or the flexible wheel 12 via a mounting bracket 24. Thus, the mounting bracket 24 can effectively support and stably mount the stator 13. The mounting bracket 24 can be positioned above the mounting wall 122 of the flexible wheel 12, and can be directly fixed together with fasteners such as screws, bolts, and pins. In this way, the mounting bracket 24 can press down on the mounting wall 122 of the flexible wheel 12, thereby improving the deformation resistance of the flexible wheel 12 and effectively preventing cracking of the flexible wheel 12.

[0079] Please see Figure 4 and Figure 5 In one embodiment, the mounting bracket 24 may include a mounting base 241 and a fixing member 242. The fixing member 242 protrudes from the mounting base 241, the stator 13 is mounted on the mounting base 241 and located on the outside of the fixing member 242, and the first sensing member 172 is mounted on the inside of the fixing member 242.

[0080] Thus, the stator 13 can be supported by the mounting base 241, thereby mounting the stator 13 on the outside of the fixing member 242 and located between the rotor 14 and the fixing member 242. The first sensing element 172 is mounted on the inside of the fixing member 242. The fixing member 242 can separate the stator 13 and the first position detection component 17, which can avoid the heat source concentration and local overheating, and can also prevent the magnetic field generated by the stator 13 during operation from affecting the detection accuracy of the first position detection component 17.

[0081] In one embodiment, a support portion 2422 is formed on the side of the fixing member 242 away from the stator. The first sensing element is supported on the support portion 2422. A wiring groove 2421 is provided on the support portion 2422. The first sensing element 172 is electrically connected to the first circuit board 18 through a connecting line 33 passing through the wiring groove 2421.

[0082] Thus, mounting the first sensing element 172 on the support portion 2422 of the mounting bracket 24 can ensure the stability of the installation and also enable the reuse of the element without the need to set up an additional support element to support the first sensing element 172, saving costs. At the same time, opening a wiring groove 2421 on the support portion 2422 also facilitates the wiring of the first sensing element 172.

[0083] Specifically, in this embodiment, the housing 10 may have a central shaft portion 105, the mounting bracket 24 is generally top hat shaped, the mounting base 241 and the fixing member 242 are L-shaped, the mounting base 241 is sleeved on the central shaft portion 105, the stator 13 is installed in the mounting space formed by the mounting base 124 and the fixing member 242, and the bearing portion 2421 protrudes from the inner wall of the fixing member 242 toward the rotation axis of the rotor 14, and it may be annular. The first sensing element 172 is supported on the bearing portion 2422 and is electrically connected to the first circuit board 18 through the wiring groove 2421. It can be understood that, in the illustrated embodiment, in order to save wiring space, in addition to the wiring groove 2421 formed on the bearing portion 2422, wiring holes for wiring may also be formed on the flexible wheel 12 and the bottom wall 103 of the housing 10.

[0084] Specifically, the first circuit board 18 can be the drive circuit board of the stator 13, and the first circuit board 18 can be disposed at the bottom of the bottom wall 104 of the housing 10, for example, as... Figure 4As shown, a receiving space 109 can be formed below the bottom wall 104 of the housing 10. The first circuit board 18 can be installed in the receiving space 109 to protect the first circuit board 18 and the electronic components on the first circuit board 18. In addition, a drive circuit board 30 can be provided at the bottom of the bottom wall 103 of the housing 10. The drive circuit board 30 can be electrically connected to the first circuit board 18 by plugging it in. The drive circuit board 30 can be electrically connected to the processor of the power equipment 1000. The drive circuit board 30 can receive control commands sent by the processor to control the energization of the stator 13, thereby controlling the rotational speed of the rotor 13.

[0085] Please see Figure 4 and Figure 5 In one embodiment, the power module 100 may further include a first support bearing 22, which is disposed between the rotor 14 and the mounting bracket 24. The first support bearing 22 is used to support the rotor 14 and the mounting bracket 24 in a state of relative rotation.

[0086] Thus, the first support bearing 22 can stably support the relative rotation of the rotor 14 and the mounting bracket 24 to ensure the stability of the rotor 14's rotation. Specifically, in this embodiment, the mounting bracket 24 can be located at the end of the rotor 14, and the first support bearing 22 can be mounted on the end of the rotor 14 and the mounting bracket 24. For example, the outer ring of the first support bearing 22 can be fixedly connected to the mounting bracket 24, and the inner ring can be fixedly connected to the end of the rotor 14.

[0087] It is understood that in some embodiments, the first support bearing 22 may not be disposed between the rotor 14 and the mounting bracket 24, but may be disposed directly between the rotor 14 and the central shaft portion 105. In this case, a receiving cavity is formed on the inner wall of the rotor 14, and the stator can be at least partially housed in this receiving cavity. The first support bearing 22 may be disposed between the portion of the rotor 14 near the central shaft portion 105 and the central shaft portion 105.

[0088] Please see Figures 5 to 7 In one embodiment, the first sensing element 172 includes a second circuit board 1721 and a first sensing unit 1722. The second circuit board 1721 and the first sensing unit 1722 are electrically connected. The first sensing unit 1722 and the first magnetic element 171 are arranged opposite each other at intervals. The second circuit board 1721 is supported on the mounting bracket 24. The second circuit board 1721 is electrically connected to the first circuit board 18 through the connecting line 33 passing through the wiring groove 2421.

[0089] Specifically, in this embodiment, the first sensing unit 1722 can be a magnetic induction chip, and the second circuit board 1721 can be a chip circuit board. The number of first sensing units 1722 can be single or multiple, and the first magnetic element 171 can be a ring-shaped magnetic sheet or a magnet. For example, when the first magnetic element 171 is a ring-shaped magnetic sheet, the number of magnetic induction chips can be one. When the first magnetic element 171 rotates with the power output component 11, the magnetic induction chip can read the rotation position of the ring-shaped magnetic sheet. Alternatively, when the first magnetic element 171 is a magnet, the number of first sensing units 1722 can be multiple. Multiple first sensing units 1722 can be arranged in a ring at intervals on the second circuit board 1721. When the power output component 11 drives the first magnetic element 171 to rotate, the multiple first sensing units 1722 can cooperate to detect the rotation position of the first magnetic element 171, thereby realizing the detection of the position of the power output component 11. It is understood that when mounting the first sensing element 172 on the mounting bracket, the second circuit board can be supported on the mounting bracket.

[0090] Of course, in some embodiments, the first sensing element 171 may only include the first sensing unit 1722 and omit the second circuit board 1721. In this way, the first sensing element 171 can be directly fixedly installed on the central shaft portion 105 of the housing 10, and then directly electrically connected to the first circuit board 18 provided at the bottom of the housing 10 after passing through the wiring groove 2421, thereby realizing the power supply of the first sensing unit 1722 and the transmission of detection signals.

[0091] Of course, in some embodiments, the first sensing element 172 may not be mounted on the mounting bracket 24, but may be directly mounted on the central shaft portion 105, simply by extending the length of the central shaft portion 105. In this case, a wiring groove may be provided on the central shaft portion 105, and the first sensing element 172 is electrically connected to the first circuit board 18 through a connecting wire 33 passing through the wiring groove. In this case, the second circuit board 1721 of the first sensing element 172 is sleeved on the central shaft portion 105, and the second circuit board 1721 is electrically connected to the first circuit board 18 through a connecting wire passing through the wiring groove on the central shaft portion.

[0092] In addition, in some embodiments, a wiring groove may be formed between the central shaft portion 105 and the mounting bracket 24, that is, the central shaft portion 105 and the mounting bracket 24 are spaced apart, and the space formed between them is the wiring groove. In this case, the first sensing element 172 can be mounted on the mounting bracket 24 and / or the central shaft portion 105, and the first sensing element 172 is electrically connected to the first circuit board 18 through a connecting wire passing through the wiring groove.

[0093] Please see Figures 3-7In one embodiment, the power module 100 further includes a second position detection component 19, which is installed in the receiving cavity 102. The second position detection component 19 includes a second magnetic element 191 and a second sensing element 192. The second magnetic element 191 is fixedly connected to the rotor 14 via a second fixing seat 193 to rotate synchronously with the rotor 14. The second fixing seat 193 and the rotor 14 are an integral structure or a detachable connection structure. The second sensing element 192 is fixedly connected to the housing 10 and is spaced apart from the second magnetic element 191. The second sensing element 192 is used to detect the rotational position of the second magnetic element 191.

[0094] Thus, the position and rotation speed of the rotor 14 can be accurately obtained through the second position detection component 19, enabling more precise control and achieving input detection. Placing the second position detection component 19 in the receiving cavity 102 further saves installation space in the housing 10, allowing the power module 100 to be made smaller.

[0095] Specifically, in such an embodiment, the second position detection component 19 can also be at least partially housed inside the mounting bracket 24 below the first position detection component 17. This can further reduce the axial stacking space of the entire power module 100, making the overall volume of the power module 100 smaller. At the same time, the second position detection component 19 can be separated from the stator 13 by the mounting bracket 24 and the rotor 14. On the one hand, this can avoid heat source concentration and local overheating. On the other hand, separating the two can prevent the magnetic field generated by the stator 13 during operation from affecting the detection accuracy of the second position detection component 19.

[0096] In such an embodiment, the second sensing element 192 may also be disposed on the support portion 2422 of the mounting bracket 24, and the second sensing element 192 may also be electrically connected to the first circuit board 18 through a connecting wire passing through the wiring groove 2421.

[0097] Furthermore, in such an embodiment, the second sensing element 192 may include a third circuit board 1921 and a second sensing unit 1922. The third circuit board 1921 and the second sensing unit 1922 are electrically connected. The second sensing unit 1922 and the second magnetic element 191 are arranged opposite each other at a distance. The third circuit board 1921 is fixedly connected to the housing 10. For example, the third circuit board 1921 may be fixedly mounted on the support portion 2422 of the mounting bracket 24 or mounted on the central shaft portion 105 of the housing 10.

[0098] Specifically, in this embodiment, the third circuit board 1921 and the second circuit board 1721 can be stacked, and the third circuit board 1921 can also be electrically connected to the first circuit board 18 via a connecting wire passing through the wiring groove 2421. Thus, by stacking the third circuit board 1921 and the second circuit board 1721 within the rotor 14, axial space can be saved. Furthermore, please refer to... Figure 4 In the illustrated configuration, the second circuit board 1721 and the third circuit board 1921 can be the same circuit board, that is, they can be integrated into a double-sided circuit board, with the first sensing unit 1722 and the second sensing unit 1922 respectively disposed on opposite sides of the circuit board. Of course, it is understood that in some embodiments, two separate stacked circuit boards can be used to power the first sensing unit 1722 and the second sensing unit 1922 and transmit detection signals respectively. In this case, the second circuit board 1721 and the third circuit board 1921 can be separated by a partition 32, and the second circuit board 1721 and the third circuit board 1921 are insulated from each other. The two circuit boards can be electrically connected to the first circuit board 18 via separate traces.

[0099] Furthermore, similar to the first magnetic element 171, the second magnetic element 191 can also be a ring-shaped magnetic sheet or a magnet, and its specific structure is the same as that of the first magnetic element 171, which will not be repeated here. Similarly, like the first sensing unit 1722, the second sensing unit 1922 can also be a magnetic induction chip, and the number of second sensing units 1922 can be single or multiple. Single or multiple second sensing units 1922 can be arranged in a ring at intervals on the third circuit board 1921. When the rotation drives the second magnetic element 191 to rotate, the multiple second sensing units 1922 can cooperate to detect the rotational position of the second magnetic element 191, thereby realizing the detection of the position of the rotor 14.

[0100] Of course, it is understood that in some embodiments, the second position detection component 19 may also be located in other positions within the receiving cavity 102. For example, in one example, the first position detection component 17 is located on the mounting bracket, while the second position detection component 19 is located on the central shaft portion 105, or both the first position detection component 17 and the second position detection component 19 are located on the central shaft portion 105. No specific limitation is made here.

[0101] Please see Figure 3-5 as well as Figure 10 In one embodiment, the power module 100 also includes a support member 20, which is disposed at the opening 101. A rigid wheel 111 is at least partially disposed inside the support member 20. A rolling element 21 is provided between the rigid wheel 111 and the support member 20. The rigid wheel 111 can rotate relative to the support member 20. The support member 20 is detachably connected to the housing 10.

[0102] In this way, the support member 20 can support the rotation of the rigid wheel 111 and provide a reaction force to the rigid wheel 111, which can effectively counteract the force of the external load on the rigid wheel 111 from all directions and thus improve the stability of rotation.

[0103] Specifically, please combine Figure 10 and Figure 11 In this implementation, the support member 20, the rigid wheel 111, and the rolling element 21 can be equivalent to a bearing. The support member 20 can be equivalent to the outer ring of the bearing, the rigid wheel 111 can be equivalent to the inner ring of the bearing, and the rolling element 21 can be equivalent to the balls or rollers of the bearing. Power coupling with the flexible wheel 12 can be achieved simply by forming a second toothed ring structure 1211 on the inner side of the rigid wheel 111. Furthermore, only the support member 20 and the rolling element 21 are needed to support the rotation of the rigid wheel 111, eliminating the need for an additional support bearing. This saves on components and reduces the radial dimension of the power module 100, resulting in a smaller overall size.

[0104] In the illustrated embodiment, the support member 20 is detachably connected to the housing 10, thus facilitating the detachment of the support member 20, the rolling member 21, and the rigid wheel 111 as a single unit. Of course, it is understood that in other embodiments, the support member 20 may also be an integral structure with the housing 10; no specific limitations are imposed here.

[0105] Furthermore, the fact that the support member 20 is disposed at the opening 101 of the housing 10 can be understood as the support member 20 being disposed inside the opening 101 of the housing 10 and located within the receiving cavity 102 of the housing 10, or it can be disposed outside the opening 101 and located outside the housing 10. In the illustrated embodiment, the support member 20 is disposed at the top of the opening 101 of the housing 10 and located outside the receiving cavity 102. It is understood that in other embodiments, the support member 20 may also be contained and enclosed by the housing 10, and no specific limitation is made here.

[0106] In the illustrated embodiment, the support member 20 is disposed on the outside of the rigid wheel 111 and completely covers the rigid wheel 111. It is understood that in other embodiments, to reduce the weight of the entire power module 100, the top of the rigid wheel 111 may be configured to protrude beyond the edge of the support member 20, while the bottom of the rigid wheel 111 may be configured to be lower than the support member 20 and housed within it. Thus, by partially removing the top of the support member 20 and partially removing the bottom of the rigid wheel 111, the weight of the entire power module 100 can be effectively reduced while ensuring that the support member 20 can support the rotation of the rigid wheel 111.

[0107] Furthermore, in some embodiments, the support member 20 may not be disposed on the outside of the rigid wheel 111, but may be disposed between the rigid wheel 111 and the housing 10. One end of the support member 20 may be fixed to the housing 10, and the other end may be rotatably fixed to the rigid wheel. For example, in some embodiments, the support member 20 may be annular and fixedly mounted on the housing 10. The support member 20 may have an annular groove, and an annular protrusion that cooperates with the annular groove is formed at the bottom of the rigid wheel 111. The two cooperate to support the rotation of the rigid wheel 111. For another example, in some embodiments, the support member 20 may be a bearing. The support member 20 may be directly disposed at the opening 101 of the housing 10, and its outer ring may be fixed to the housing 10 by welding or other means, and its inner ring may be fixed to the rigid wheel 111 by welding or other means.

[0108] In one embodiment, the outer peripheral surface of the support member 20 is flush with the outer peripheral surface of the housing 10.

[0109] This makes the appearance of the power module 100 more regular and neat, and at the same time avoids the outer peripheral surface of the support member 20 from being too protruding, which would result in an excessively large radial dimension.

[0110] Please see Figures 3 to 5 In one embodiment, the power output component 11 also includes a flange 112 fixedly connected to the rigid wheel 111. The flange 112 is installed at the opening 101 and covers the rigid wheel 111, the flexible wheel 12 and the cam 162.

[0111] Thus, on the one hand, by adding flange 112, the contact area of ​​the power output component 11 can be effectively increased or the connection points can be increased to improve the connection strength and ensure the stability of power transmission. On the other hand, flange 112 covering the rigid wheel 111 and the flexible wheel 12 can effectively protect the rigid wheel 111 and the flexible wheel 12, thereby effectively preventing external impurities or dust from entering the power module and affecting the reliability of transmission.

[0112] exist Figure 4 In the illustrated embodiment, the flange 112 is fixedly connected to one axial side of the rigid wheel 111. The connection is axial, achieved by creating axial fixing holes in both the rigid wheel 111 and the flange 112, and then using fasteners such as bolts and screws to secure them together. Power output is achieved through these axially inserted fasteners. In this configuration, the external load connected to the flange 112 can extend directly along the axial direction to be fixedly connected to the flange 112 in that direction.

[0113] Of course, please see Figure 13In other embodiments, the flange 112 can also be fixedly connected to the radial side of the rigid wheel 111. In such an embodiment, a fixing hole 1112 can be opened in the radial direction of the rigid wheel 111, and then the rigid wheel 111 and the flange 112 can be fixedly connected together by fasteners passing through the fixing hole 1112. In this way, the rigid wheel 111 outputs power to the flange 112 in the radial direction to drive the flange 112 to rotate. The direction of its power output is perpendicular to the rotation axis of the rigid wheel 111, which can effectively ensure the stability and reliability of the power output. In such an embodiment, the external load connected to the flange 112 can be fixedly connected to the flange 112 or the rigid wheel 111 in the radial direction of both the flange 112 and the rigid wheel 111.

[0114] For further information, please refer to [link / reference]. Figures 3 to 5 In one embodiment, the power module 100 has a second support bearing 23. A protrusion 1121 is formed on the side of the flange 112 facing the receiving cavity 102. The second support bearing 23 is disposed between the cam 162 and the protrusion 1121, and is used to support the flange 112 and the cam 162 in a state of relative rotation. Alternatively, the second support bearing 23 is disposed between the rotor 14 and the protrusion 1121, and is used to support the flange 112 and the rotor 14 in a state of relative rotation.

[0115] Thus, on the one hand, the second support bearing 23 can support the rotation of the rotor 14 and the cam 162 to ensure rotational stability. On the other hand, the second support bearing 23 can support the rotation of the cam 162 and the flange 112 at the same time, without the need to set up an additional support bearing to support the flange 112, reducing the use of parts and lowering costs.

[0116] Specifically, in such an embodiment, the protrusion 1121 can be formed at the center of the flange 112 or it can be set as an annular shape. The protrusion 1121 can be fixedly installed together with the first fixed seat 173 of the first position detection component 17 by means of screws, pins or bolts. When the flange 112 rotates, the flange 112 can drive the fixed seat 173 to rotate, thereby mobilizing the first magnetic component 171 to rotate.

[0117] In one implementation, the outer ring of the second support bearing 23 can be connected to the cam 162 by welding, interference fit, or other means. The inner ring of the second support bearing 23 can be fixedly connected to both the protrusion 1121 of the flange 112 and the fixed seat 173. In this way, the second support bearing 23 can support the rotation of the flange 112 and the rotation of the fixed seat 173 at the same time, thus improving the stability of the connection.

[0118] Please see Figures 4-9 In one embodiment, a fourth circuit board 25 is provided between the stator 13 and the mounting bracket 24. Thus, the fourth circuit board 25 can supply power to the stator.

[0119] Specifically, the stator 13 also includes a stator winding (not shown) wound on the stator core. The stator winding is electrically connected to the fourth circuit board 25, which can be electrically connected to the first circuit board 18. When energized, the stator winding generates a driving force to drive the rotor 14 to rotate, thereby causing the rotor 14 to rotate relative to the housing 10.

[0120] In this embodiment, a wire hole 107 can be formed on the bottom wall 103 of the housing 10. Similarly, a wire hole 107 can also be formed on the mounting protrusion 1221 of the flexible wheel 12. The fourth circuit board 25 can be electrically connected to the first circuit board 18 by the connecting wire passing through the wire hole 107, so that the fourth circuit board 25 can be connected to external circuits without the need for additional complex wiring, saving wiring space and further reducing the volume of the power module 100.

[0121] In some embodiments, an insulating sheet 26 may be provided between the fourth circuit board 25 and the mounting bracket 24. This insulating sheet 26 can isolate the mounting bracket 24 and the fourth circuit board 25 to prevent electrical connection between the fourth circuit board 25 and the mounting bracket 24, which could cause a short circuit in the stator 13. Of course, it is understood that in some embodiments, when the mounting bracket 24 is made of insulating material, the aforementioned insulating sheet 26 may not be provided. Furthermore, in some embodiments, the fourth circuit board 25 may be omitted, and the stator winding may be directly electrically connected to the first circuit board 18; specific details are not limited here.

[0122] In the embodiments of this application, the first circuit board 18 can be the power supply circuit board for the entire power module 100. The first circuit board 18 can be plugged into the drive circuit board 30. The first circuit board 18 can be used to supply power to the various components in the power module 100 and transmit control and detection signals. The first circuit board 18 can be disposed in the accommodating space 109 below the bottom wall 103 of the housing 10, which is located outside the receiving cavity 103.

[0123] The second circuit board 1721 is the carrier circuit board of the first position detection component 17, and the third circuit board 1921 is the carrier circuit board of the second position detection component 19. Both the second circuit board 1721 and the third circuit board 1921 can be electrically connected to the first circuit board 18 through the connecting wires passing through the wiring groove 2421. Of course, as mentioned above, the second circuit board 1721 and the third circuit board 1921 can also be integrated into a single circuit board to be directly electrically connected to the first circuit board 18, or the second circuit board 1721 and the third circuit board 1921 can be omitted and the first sensing unit 1722 and the second sensing unit 1922 can be directly electrically connected to the first circuit board 18 through the connecting wires.

[0124] The fourth circuit board 25 is a stator circuit board, mainly used to supply power to the stator windings of stator 13 to drive the rotor 14 to rotate. The fourth circuit board 25 can also be electrically connected to the first circuit via wiring 18. When the drive circuit board 30 receives control commands from the robot's processor, it can control the state of the stator through the first circuit board 18 and the fourth circuit board 25, thereby controlling the rotational speed of the rotor 14. Of course, it is understood that in some embodiments, the fourth circuit board 25 can be omitted, and the windings of stator 13 can be directly electrically connected to the first circuit board 18 via wiring.

[0125] Please see Figures 3 to 5 In one embodiment, the power module 100 also includes a hollow tube 27, which passes through the housing 10 and is fixedly connected to the housing 10.

[0126] In this way, the hollow tube 27 passing through the housing 10 allows the wiring to pass through the entire power module 100 to connect with other electronic components without having to lay wiring elsewhere, thus saving wiring space.

[0127] Specifically, in a robot, multiple power modules 100 are usually set up to realize the movement of the foot 300. For example, the movement of the entire foot 300 relative to the torso 200 can be realized by one power module 100, while the movement of the joints on the foot 300 can be realized by another power module 100. In this case, both power modules 100 need to be powered. At this time, a connecting wire can be passed through the hollow tube 27 of the power module 100 to connect to the battery cell of the other power module 100. For example, the connecting wire passing through the hollow tube 27 can be connected to the drive circuit board 30 of the two power modules 100, without the need to lay out the wiring externally.

[0128] In the illustrated embodiment, the hollow tube 27 may be located inside the central shaft portion 105 of the housing 10. One end of the hollow tube 27 may be fixedly connected to the bottom wall 103 of the housing 10. The hollow tube 27 and the central shaft portion 105 may have a wiring channel 34. The wiring channel 34 communicates with the wiring groove 2421 on the central shaft portion 105. A wiring hole 271 may be formed on the end of the hollow tube 27. The connecting line 33 connecting the first circuit board 18 and the second circuit board 1721 may pass through the wiring groove 2421 and the wiring channel 34, and then pass out through the wiring hole 217 on the hollow tube 27 to be electrically connected to the first circuit board 18 mounted on the bottom wall 103 of the housing 10.

[0129] Please see Figure 14 In one embodiment, the power module 100 also includes a heat sink 28, with a hollow tube 27 sleeved inside the heat sink 28, and the gap between the heat sink 28 and the hollow tube 27 is a coolant channel 281.

[0130] In this way, coolant can be introduced into the coolant channel 281 to cool the entire power module 100 and improve the heat dissipation performance of the power module 100.

[0131] Specifically, in this embodiment, the heat dissipation pipe 28 can be fixedly connected to the housing 10, the heat dissipation pipe 28 is located inside the central shaft portion 105, and the hollow tube 27 is located inside the heat dissipation pipe 28. Unlike the above embodiment, in this embodiment, the wiring channel 33 is formed by the heat dissipation pipe 28 and the central shaft portion 105 for wiring, and a coolant channel 281 is formed between the heat dissipation pipe 28 and the hollow tube 27 to dissipate heat from the power module 100. Simultaneously, the wiring hole 271 is also formed by the heat dissipation pipe 28.

[0132] Furthermore, in such an embodiment, the power equipment 1000 may have a coolant circulation pipe, and the heat dissipation pipe 28 may have an inlet and an outlet. Both the inlet and outlet of the heat dissipation pipe 28 are connected to coolant pipes. During the cooling process, an external cooling pump can be used to drive the coolant to circulate in the heat dissipation pipe 28 to remove heat, thereby avoiding the heat-generating elements of the power module 100 from being too concentrated, which would result in untimely heat dissipation.

[0133] Furthermore, in some embodiments, the entire power module 100 can be a sealed module, wherein sealing rings are provided at the connection points of the housing 10 and support member 20, the connection points of the flange 112 and hollow tube 27, the connection points of the flange 112 and rigid wheel 111, and the connection points of the mounting bracket 24 and flexible wheel 12, which are used to seal assembly gaps. Please refer to Figure 6An oil injection hole 108 can be formed on the housing 10, through which oil can be injected into the power module 100 to lubricate the various rotatable parts of the power module 100 and cool the heat-generating elements. It should be noted that the oil injected into the power module 100 is a non-conductive lubricating oil, which can provide lubrication without affecting the normal operation of the internal electronic components.

[0134] Please see Figures 4-6 In one embodiment, as shown in the figure, a cover 31 may be provided at the bottom of the housing 10. The cover 31 covers the accommodating space 109 of the bottom wall 103 of the housing 10, and both the drive circuit board 30 and the first circuit board 18 are housed within the accommodating space 109. In this way, the cover 31 can protect the drive circuit board 30 and the first circuit board 18, and also serve as a dustproof measure.

[0135] Of course, please see Figure 15 In some embodiments, the accommodating space 109 may not be formed at the bottom of the housing 10. Instead, the first circuit board 18 may be directly attached to the bottom wall 103 of the housing 10, thereby reducing the overall height of the housing 10 and the volume of the entire power module 100. In this case, the drive circuit board 30 can be externally mounted, for example, it can be mounted on the robot's torso 200 and electrically connected to the first circuit board 18 via connecting wires.

[0136] Please see Figure 4 , Figure 5 as well as Figure 8 and Figure 9 In one embodiment, the power module 100 also includes a torque sensor 29. The housing 10 includes a bottom wall 103, and the bottom wall 103 has a groove 1031. The torque sensor 29 is installed in the groove 1031 and is used to detect the output torque of the rigid wheel 111.

[0137] Thus, the torque sensor 29 is directly mounted on the housing 10. The torque on the rigid wheel 111 is applied to the housing 10 via the flexible wheel 12 and then directly to the torque sensor 29. The torque detected by the torque sensor 29 is the torque on the rigid wheel 111, making the detection more accurate and reliable. At the same time, the torque sensor 29 is set in the groove 1031 on the bottom wall 103 of the housing 10, which facilitates the assembly of the torque sensor 29. The overall structure is compact and can also protect the torque sensor 29.

[0138] Specifically, in the illustrated embodiment, the torque on the rigid wheel 111 acts on the flexible wall 121 of the flexible wheel 12, and then acts on the bottom wall 103 of the housing 10 through the mounting wall 122, and is then transmitted to the torque sensor 29 mounted on the bottom wall 103 to realize torque detection.

[0139] In the illustrated embodiment, a groove 1031 is formed on the bottom of the bottom wall 103 of the housing 10. A torque sensor 29 is installed in the groove 1031, and a first circuit board 18 is installed on the bottom wall 103 and covers the torque sensor 29. The torque sensor 29 is electrically connected to the first circuit board 18. The torque sensor 29 is preferably a strain gauge torque sensor 29. The strain gauge torque sensor 29 has a small volume and can be installed in the groove 1031 of the bottom wall 103, thereby reducing the overall volume of the power module 100.

[0140] Furthermore, in some embodiments, the material of the portion of the bottom wall 103 corresponding to the groove 1031 may be different from the material of other parts of the housing 10. The portion corresponding to the groove 1031 is more prone to deformation than other portions, so as to improve the accuracy and precision of torque detection by the torque sensor 29.

[0141] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with the described embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0142] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A power module, characterized in that, include: A housing having an opening and a receiving cavity; A power output component, which is rotatable relative to the housing, includes a rigid wheel disposed at the opening; A flexible wheel, which is at least partially disposed within the receiving cavity and is dynamically coupled to the rigid wheel, and is also fixedly connected to the housing; A rotor, at least partially and rotatably mounted within the receiving cavity, a magnet mounted on the inner side of the rotor, and the rotor rotating coaxially with the rigid wheel; A stator, which is at least partially housed within the rotor and disposed at a distance from the magnet; A wave generator includes a flexible bearing and a cam. The flexible bearing is disposed between the flexible wheel and the cam. The cam is detachably mounted on the rotor or is an integral structure with the rotor. The stator is used to drive the rotor to rotate relative to the housing. When the rotor rotates, the wave generator causes the flexible wheel to deform, thereby driving the rigid wheel to rotate. A first position detection component is disposed within the receiving cavity and located inside the stator. The first position detection component is used to detect the rotational position information of the power output component. The first position detection component includes a first magnetic element and a first sensing element. The first magnetic element is fixedly connected to the power output element through a first fixing base. The first fixing base and the power output element are an integral structure or a detachable connection structure. The first sensing element is fixedly connected to the housing and is disposed at a distance from the first magnetic element. The power module also includes a mounting bracket, which is fixedly connected to the housing. The stator is mounted on the mounting bracket, and the first sensing element is mounted on the mounting bracket. The flexible wheel has a mounting cavity, and the rotor and the stator are at least partially disposed within the mounting cavity; the power module further includes a second position detection component, which is installed within the receiving cavity. The second position detection component includes a second magnetic element and a second sensing element. The second magnetic element is fixedly connected to the rotor via a second fixing seat to rotate synchronously with the rotor. The second fixing seat and the rotor are either an integral structure or a detachable connection structure. The second sensing element is fixedly connected to the housing and is spaced apart from the second magnetic element. The second sensing element is used to detect the rotational position of the second magnetic element. The second sensing element includes a third circuit board and a second sensing unit. The third circuit board and the second sensing unit are electrically connected. The second sensing unit and the second magnetic element are arranged opposite to each other at intervals. The third circuit board is fixedly connected to the housing. The mounting bracket includes a mounting base and a fixing member. The fixing member protrudes from the mounting base, the stator is mounted on the mounting base and located outside the fixing member, and the first sensing element is mounted on the fixing member. The power module includes a first support bearing, which connects the rotor and the mounting bracket. The first support bearing is used to support the rotor and the mounting bracket in a state of relative rotation. The power output component also includes a flange fixedly connected to the rigid wheel, and the flange is installed at the opening; The power module also includes a second support bearing. The flange has a protrusion on one side facing the receiving cavity. The second support bearing is located between the cam and the protrusion. The second support bearing is used to support the flange and the cam in a state of relative rotation.

2. The power module according to claim 1, characterized in that, The first sensing element includes a second circuit board and a first sensing unit. The second circuit board and the first sensing unit are electrically connected, and the first sensing unit and the first magnetic element are disposed at a distance from each other.

3. The power module according to claim 1, characterized in that, The fixing member has a bearing portion formed on the side opposite to the stator. The first sensing element is supported on the bearing portion. A wiring groove is provided on the bearing portion. The first sensing element is electrically connected to the first circuit board through a connecting wire passing through the wiring groove.

4. The power module according to claim 1, characterized in that, A first toothed ring structure is formed on the inner circumferential surface of the rigid wheel. The flexible wheel includes a mounting wall and a flexible wall. The mounting wall is fixedly connected to the housing. A second toothed ring structure is formed on the outer circumferential surface of the flexible wall. The first toothed ring structure and the second toothed ring structure partially mesh to enable the flexible wheel and the rigid wheel to be dynamically coupled. The number of teeth in the second toothed ring structure is less than the number of teeth in the first toothed ring structure.

5. The power module according to claim 1, characterized in that, The flexible wheel includes a flexible wall and a mounting wall that are connected to each other. The flexible wall extends along the axial direction of the rotor's rotation. The mounting wall is fixedly connected to the housing. The mounting wall and the flexible wall form the mounting cavity. The rotor and the stator are completely housed in the mounting cavity, or the flexible wall forms the mounting cavity, and the rotor and the stator are at least partially housed in the mounting cavity.

6. The power module according to claim 5, characterized in that, The housing includes a surrounding wall, a central shaft portion, and a bottom wall connecting the surrounding wall and the central shaft portion. The surrounding wall and the bottom wall together form the receiving cavity. The flexible wheel is sleeved on the central shaft portion. The mounting wall is fixedly connected to at least one of the surrounding wall, the bottom wall, and the central shaft portion.

7. The power module according to claim 1, characterized in that, The power module also includes a support member disposed at the opening. The rigid wheel is at least partially disposed inside the support member. A rolling element is provided between the rigid wheel and the support member. The rigid wheel is rotatable relative to the support member. The support member is detachably connected to the housing. Alternatively, the support member and the housing are an integral structure.

8. The power module according to claim 1, characterized in that, The flange covers the rigid wheel and the flexible wheel.

9. The power module according to claim 1, characterized in that, The power module also includes a hollow tube, which passes through the housing and is fixedly connected to the housing.

10. The power module according to claim 9, characterized in that, The power module also includes a heat dissipation pipe, and the hollow tube is sleeved inside the heat dissipation pipe. The gap between the heat dissipation pipe and the hollow tube is a coolant channel.

11. The power module according to claim 1, characterized in that, The power module also includes a torque sensor. The housing includes a bottom wall with a groove. The torque sensor is installed in the groove and is used to detect the output torque of the rigid wheel.

12. A power equipment, characterized in that, Includes the power module as described in any one of claims 1-11.

13. The power equipment according to claim 12, characterized in that, The power unit includes a robot, which includes a torso and feet, and the power module is used to drive the feet to move relative to the torso.

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