Drive system and motor actuator

Abstract

The present application discloses a driving system and a motor actuator. The driving system has a motor actuator and a driving arm. The motor actuator has a housing, a motor mechanism, a harmonic reduction mechanism, a connecting mechanism, a lead shaft and a brake mechanism. The motor mechanism and the harmonic reduction mechanism are respectively arranged in a first chamber of the housing. The harmonic reduction mechanism is connected to a rotating shaft of the motor mechanism. The connecting mechanism is connected to the harmonic reduction mechanism. The lead shaft is arranged in an axis configuration space of the rotating shaft, and the lead shaft is connected to the harmonic reduction mechanism for synchronous rotation. The lead shaft has a line configuration space for configuring an electric wire. The brake mechanism is arranged in a second chamber of the housing. The driving arm is connected to the connecting mechanism. Accordingly, the driving system can greatly improve the service life.

Description

Technical Field

[0001] The present application relates to a drive system and a motor actuator, and more particularly to a drive system and a motor actuator with a prolonged service life. Background Art

[0002] The existing drive system includes a robot arm and a motor actuator. The motor actuator includes a housing, a harmonic reducer disposed in the housing, a motor, a sensor, and a driver. A rotating shaft of the motor is connected to the harmonic reducer, and the sensor is electrically connected to the driver through a wire. The sensor can sense the rotation speed and position of the rotating shaft, and further control the operation of the robot arm by commanding the driver and the motor.

[0003] However, in order to ensure the smoothness of the harmonic reducer during operation and avoid friction loss, the existing drive system will add lubricating grease into the harmonic reducer to reduce the unexpected friction between its internal components. However, in fact, the lubricating grease in the harmonic reducer often seeps into the motor, resulting in a significant reduction in the service life of the existing drive system.

[0004] Therefore, the inventors believe that the above defects can be improved, and have devoted themselves to research and applied scientific principles to finally propose a drive system and motor actuator that are reasonably designed and effectively improve the above defects. Summary of the invention

[0005] The technical problem to be solved by the present application is to provide a driving system and a motor actuator to address the deficiencies of the prior art.

[0006] The embodiment of the present application discloses a drive system, including: a motor actuator, including: a shell, having a first chamber and a second chamber located on opposite sides; a motor mechanism, arranged in the first chamber, the motor mechanism including a stator, a rotor, and a rotating shaft, one end of the rotating shaft extends into the second chamber and is defined as a motor input end, the other end of the rotating shaft is defined as a motor output end, and the rotating shaft has an axis configuration space; a harmonic reduction mechanism, arranged in the first chamber, the harmonic reduction mechanism including a gear assembly and a wave generating unit, the wave generating unit is connected to the motor output end, and the wave generating unit can be connected to the rotating shaft Synchronous rotation, the wave generating unit cooperates with the gear assembly to generate a rotation speed difference between them; a connecting mechanism, connecting the gear assembly, the connecting mechanism can rotate synchronously with the gear assembly; a lead shaft, arranged in the shaft configuration space, the lead shaft is connected to the gear assembly for synchronous rotation, the lead shaft has a wire configuration space, the wire configuration space is connected to the second chamber and the outside of the shell, and can be used to configure an electric wire; and a braking mechanism, arranged in the second chamber and corresponding to the position of the motor input end, the braking mechanism can selectively reduce the rotation speed of the rotating shaft through the motor input end; and a driving arm, connected to the connecting mechanism.

[0007] Preferably, the rotating shaft defines an axial direction, and a value of a length of the rotor along the axial direction divided by a length of the rotating shaft along the axial direction is between 0.13 and 0.24.

[0008] Preferably, the driving system further includes a first sensing module, a second sensing module and a driver, the first sensing module, the second sensing module and the driver are arranged in the second chamber, the first sensing module can sense the rotation speed and position of the rotating shaft, the second sensing module can sense the rotation speed and position of the connecting mechanism or the lead shaft, the driver is electrically coupled to the first sensing module, the second sensing module, the motor mechanism and the braking mechanism, and the driver can control the motor mechanism and the braking mechanism according to the first sensing module and the second sensing module.

[0009] Preferably, the shell further includes a main shell and an end cover, the end cover is arranged at one end of the main shell, so that the end cover and the inner edge of the main shell together form the first chamber and the second chamber, and the end cover can move between an open position and a closed position; when the end cover is in the open position, the first sensing module, the second sensing module, the braking mechanism, and the driver located in the second chamber are exposed; when the end cover is in the closed position, the first sensing module, the second sensing module, the braking mechanism, and the driver are blocked.

[0010] Preferably, the rotating shaft defines an axial direction; the second chamber has a first subspace and a second subspace, the first subspace and the first chamber are arranged along the axial direction and connected to each other, the second subspace is arranged on a common side of the first subspace and the first chamber, the second subspace connects the first subspace and the outside of the shell, and the second subspace can be used for connection to another motor actuator.

[0011] Preferably, the inner edge of the rotating shaft does not contact the outer edge of the lead shaft; the driving system further comprises at least one oil seal, and at least one of the oil seals is disposed between the rotating shaft and the lead shaft.

[0012] Preferably, the harmonic reduction mechanism further includes a first lubricating material disposed inside the harmonic reduction mechanism, and the lead shaft further includes a second lubricating material disposed in the wire configuration space; the connecting mechanism is integrally connected to the lead shaft.

[0013] Preferably, the rotor includes an iron core, the iron core is sleeved on the rotating shaft, and the rotor cooperates with the stator through the iron core to drive the rotating shaft to rotate.

[0014] Preferably, the rotor includes a plurality of magnetic components, and the plurality of magnetic components are annularly arranged on the rotating shaft. The rotor drives the rotating shaft to rotate by cooperating with the stator through the plurality of magnetic components.

[0015] Preferably, the shell includes a main shell, an end cover, and a fixing member, the end cover is arranged at one end of the main shell, and the end cover and the main shell together form a accommodating space, the fixing member is arranged in the accommodating space, so that the accommodating space is divided into the first chamber and the second chamber; wherein, the main shell has a maximum outer diameter and a minimum inner diameter, and the minimum inner diameter is not less than 75% of the maximum outer diameter.

[0016] Preferably, the rotating shaft defines an axial direction; the main shell includes a transverse section and a longitudinal section perpendicular to the transverse section, and the shortest distance from the fixing member along the axial direction to the center of the longitudinal section is between 15% and 25% of the length of the rotating shaft along the axial direction.

[0017] Preferably, the rotating shaft defines an axial direction; a side edge of the main shell facing the end cover and a side edge of the end cover facing the main shell are arranged substantially along a radial direction perpendicular to the axial direction.

[0018] The present application also discloses a motor actuator, comprising: a housing having a first chamber and a second chamber located on opposite sides; a motor mechanism disposed in the first chamber, the motor mechanism comprising a stator, a rotor, and a rotating shaft, one end of the rotating shaft extending into the second chamber and defined as a motor input end, the other end of the rotating shaft being defined as a motor output end, the rotating shaft having an axis configuration space; a harmonic reduction mechanism disposed in the first chamber, the harmonic reduction mechanism comprising a gear assembly and a wave generating unit, the wave generating unit being connected to the motor output end, the wave generating unit being able to The shaft rotates synchronously, and the wave generating unit cooperates with the gear assembly to generate a rotation speed difference between them; a connecting mechanism, connecting the gear assembly, and the connecting mechanism can rotate synchronously with the gear assembly; a lead shaft, arranged in the shaft configuration space, the lead shaft is connected to the gear assembly to rotate synchronously, the lead shaft has a wire configuration space, the wire configuration space is connected to the second chamber and the outside of the shell, and can be used to configure an electric wire; and a braking mechanism, arranged in the second chamber and corresponding to the position of the motor input end, the braking mechanism can selectively reduce the rotation speed of the shaft through the motor input end.

[0019] Preferably, the rotating shaft defines an axial direction, and a value of a length of the rotor along the axial direction divided by a length of the rotating shaft along the axial direction is between 0.13 and 0.24.

[0020] Preferably, the motor actuator further comprises a first sensing module, a second sensing module and a driver, wherein the first sensing module, the second sensing module and the driver are arranged in the second chamber, the first sensing module can sense the rotation speed and position of the rotating shaft, the second sensing module can sense the rotation speed and position of the connecting mechanism or the lead shaft, the driver is electrically coupled to the first sensing module, the second sensing module, the motor mechanism and the brake mechanism, and the driver can control the motor mechanism and the brake mechanism according to the first sensing module and the second sensing module; the housing further comprises a main shell and an end cover, wherein the end cover is arranged at one end of the main shell, so that the end cover and the inner edge of the main shell together form the first chamber and the second chamber, and the end cover can move between an open position and a closed position; when the end cover is in the open position, the first sensing module, the second sensing module, the brake mechanism and the driver located in the second chamber are exposed; when the end cover is in the closed position, the first sensing module, the second sensing module, the brake mechanism and the driver are blocked.

[0021] Preferably, the rotating shaft defines an axial direction; the second chamber has a first subspace and a second subspace, the first subspace and the first chamber are arranged along the axial direction and are connected to each other, the second subspace is arranged on a common side of the first subspace and the first chamber, the second subspace is connected to the first subspace and the outside of the shell, the lead shaft is arranged in the first chamber and the first subspace, and the second subspace can be used for connection to another motor actuator.

[0022] Preferably, the inner edge of the rotating shaft does not contact the outer edge of the lead shaft; the driving system further includes at least one oil seal, and at least one of the oil seals is arranged between the rotating shaft and the lead shaft; the harmonic reduction mechanism further includes a first lubricating material arranged inside it.

[0023] Preferably, the shell includes a main shell, an end cover, and a fixing member, the end cover is arranged at one end of the main shell, and the end cover and the main shell together form a accommodating space, the fixing member is arranged in the accommodating space, so that the accommodating space is divided into the first chamber and the second chamber; wherein, the main shell has a maximum outer diameter and a minimum inner diameter, and the minimum inner diameter is not less than 75% of the maximum outer diameter.

[0024] Preferably, the rotating shaft defines an axial direction; the main shell includes a transverse section and a longitudinal section perpendicular to the transverse section, and the shortest distance from the fixing member along the axial direction to the center of the longitudinal section is between 15% and 25% of the length of the rotating shaft along the axial direction.

[0025] Preferably, the rotating shaft defines an axial direction; a side edge of the main shell facing the end cover and a side edge of the end cover facing the main shell are arranged substantially along a radial direction perpendicular to the axial direction.

[0026] In summary, the drive system and motor actuator provided in the present application can effectively prevent the wire from being damaged by friction with the inner edge of the rotating shaft through the technical solutions of "the shaft configuration space of the lead shaft can be used for setting the wire" and "the rotation speed of the lead shaft is lower than the rotation speed of the rotating shaft", thereby greatly improving the life of the wire.

[0027] To further understand the features and technical contents of the present application, please refer to the following detailed description and drawings of the present application. However, such description and drawings are only used to illustrate the present application and are not intended to limit the scope of protection of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a three-dimensional schematic diagram of the driving system of the first embodiment of the present application.

[0029] Figure 2 It is a three-dimensional schematic diagram of a motor actuator according to the first embodiment of the present application.

[0030] Figure 3 It is a partially exploded schematic diagram of the motor mechanism, harmonic reduction mechanism, connection mechanism, and lead shaft of the first embodiment of the present application.

[0031] Figure 4 for Figure 2 Schematic cross-sectional view of line IV-IV.

[0032] Figure 5 It is a three-dimensional schematic diagram of two motor actuators of the first embodiment of the present application when they are assembled.

[0033] Figure 6 It is a cross-sectional schematic diagram of a motor actuator according to the first embodiment of the present application.

[0034] Figure 7 It is a cross-sectional schematic diagram of the motor actuator of the second embodiment of the present application in the open position.

[0035] Figure 8 It is a cross-sectional schematic diagram of the motor actuator of the second embodiment of the present application in the closed position.

[0036] Fig. 9 It is a partially exploded schematic diagram of the motor mechanism, harmonic reduction mechanism, connection mechanism, and lead shaft of the third embodiment of the present application.

[0037] Fig.10 It is a cross-sectional schematic diagram of a motor actuator according to the third embodiment of the present application.

[0038] Fig.11 It is a cross-sectional schematic diagram of another aspect of the motor actuator of the third embodiment of the present application.

[0039] Fig.12 It is a three-dimensional schematic diagram of a shell according to the fourth embodiment of the present application.

[0040] Fig.13 It is a three-dimensional schematic diagram of the main shell and the end cover of the fourth embodiment of the present application.

[0041] Fig.14 It is a schematic side view of the main shell of the fourth embodiment of the present application.

[0042] Fig.15 It is a cross-sectional schematic diagram of a motor actuator according to a fourth embodiment of the present application. DETAILED DESCRIPTION

[0043] The following is an explanation of the embodiments disclosed in the present application through specific embodiments. Those skilled in the art can understand the advantages and effects of the present application from the contents disclosed in this specification. The present application can be implemented or applied through other different specific embodiments, and the details in this specification can also be modified and changed in various ways based on different viewpoints and applications without departing from the concept of the present application. In addition, the drawings of the present application are only simple schematic illustrations and are not depicted according to actual sizes. It is stated in advance. The following embodiments will further explain the relevant technical contents of the present application in detail, but the disclosed contents are not intended to limit the scope of protection of the present application.

[0044] It should be understood that, although the terms "first", "second", "third", etc. may be used herein to describe various components or signals, these components or signals should not be limited by these terms. These terms are mainly used to distinguish one component from another component, or one signal from another signal. In addition, the term "or" used herein may include any one or more combinations of the associated listed items depending on the actual situation. Furthermore, the term "electrically coupled" used herein refers to one of "indirect electrical connection" and "direct electrical connection".

[0045] [First embodiment]

[0046] See also Figures 1 to 6 As shown, the first embodiment of the present application provides a driving system 1000, and the driving system 1000 includes a motor actuator 100 and a driving arm 200, and the motor actuator 100 can drive the aforementioned driving arm 200 to move or rotate. It should be noted that the above-mentioned motor actuator 100 and the driving arm 200 are collectively defined as the driving system 1000 in this embodiment. However, the present application is not limited to this. For example, the motor actuator 100 can also be used alone (such as: sold) or used in combination with other components. The following will introduce the structure of each component of the driving system 1000 respectively, and explain the connection relationship between the various components of the driving system 1000 when appropriate.

[0047] Cooperate Figures 2 to 4 As shown, the motor actuator 100 includes a housing 1, a motor mechanism 2, a harmonic reduction mechanism 3, a connection mechanism 4, at least one oil seal, a brake mechanism 6, a lead shaft 7, a first sensing module 8A, a second sensing module 8B and a driver 9.

[0048] See first Figure 2 and Figure 4As shown, the housing 1 is substantially cylindrical in this embodiment, but the present application is not limited to this embodiment. The housing 1 has a length direction LD extending along its length. The housing 1 is a hollow structure and is separated by a first chamber 11 and a second chamber 12. The first chamber 11 and the second chamber 12 are respectively arranged on opposite sides of the housing 1 along the length direction LD.

[0049] Further, if Figure 1 , Figure 4 and Figure 5 As shown, the second chamber 12 has a first subspace 121 and a second subspace 122. The first subspace 121 and the first chamber 11 are arranged along the length direction LD and communicate with each other. The second subspace 122 is arranged on a common side of the first subspace 121 and the first chamber 11, and the second subspace 122 communicates with the first subspace 121 and the outside of the housing 1, so that the second subspace 122 can be used for another motor actuator 100' to connect (such as Figure 5 That is to say, the positional relationship between the first chamber 11, the first subspace 121 and the second subspace 122 is approximately: Figure 2 and Figure 4 The "L"-shaped configuration shown in the figure, but the present application is not limited to the embodiment.

[0050] For example, in other embodiments not shown in the present application, the second chamber 12 may not have the second subspace 122, and the first subspace 121 is connected to the first chamber 12 only along the length direction LD but not directly connected to the outside of the housing 1. In other words, the positional relationship between the first chamber 11 and the first subspace 121 of the second chamber 12 is roughly an "I"-shaped configuration.

[0051] Then cooperate Figure 3 and Figure 4 As shown, the motor mechanism 2 is disposed in the first chamber 11. The motor mechanism 2 includes a stator 21, a rotor 22 and a rotating shaft 23. The detailed components and connection relationships of the motor mechanism 2 will be described below.

[0052] The rotor 22 is disposed in the first chamber 11 and surrounds a portion of the rotating shaft 23. In this embodiment, the rotor 22 has an iron core 221, and the iron core 221 is sleeved on the rotating shaft 23, so that the rotor 22 can drive the rotating shaft 23 to rotate (rotate) through the iron core 221 in cooperation with the stator 21. It should be noted that the detailed manner in which the rotor 22 cooperates with the stator 21 to drive the rotating shaft 23 to rotate is a technology well known to those skilled in the art, and is not the focus of this case, so it will not be described in detail here.

[0053] Then cooperate with Figure 3 and Figure 4As shown, the rotating shaft 23 is disposed in the housing 1 along the length direction LD, and an axial direction SD along which the rotating shaft 23 extends is the same as the length direction LD. Specifically, the length LN1 of the rotating shaft 23 in this embodiment is greater than the length of the first chamber 11 along the axial direction SD (or the length direction LD), and the value of the length LN2 of the rotor 22 along the axial direction SD divided by the length LN1 of the rotating shaft 23 along the axial direction SD is preferably between 0.13 and 0.24. In other words, one end of the rotating shaft 23 will extend into the second chamber 12, and the other end will be located in the first chamber 11, but the present application is not limited to this embodiment.

[0054] In addition, in order to clearly illustrate the detailed features of the rotating shaft 23 and the connection relationship with other components, the rotating shaft 23 is further defined as a motor input end 23B at one end of the second chamber 12, and a motor output end 23A at one end of the rotating shaft 23 in the first chamber 11.

[0055] Continue to cooperate Figure 3 and Figure 4 As shown, the rotating shaft 23 in this embodiment has a first large diameter section 231 and a first small diameter section 232 of a hollow structure, and the internal space of the first large diameter section 231 and the internal space of the first small diameter section 232 are connected to each other, thereby forming a shaft configuration space SP connecting the first chamber 11 and the second chamber 12. Among them, the first large diameter section 231 is located in the first chamber 11, and the first small diameter section 232 is located in the second chamber 12, and the inner diameter of the first large diameter section 231 is greater than the inner diameter of the first small diameter section 232. In other words, the motor input end 23B is located on the first small diameter section 232, and the motor output end 23A is located on the first large diameter section 231.

[0056] like Figure 4 As shown, the harmonic reduction mechanism 3 is disposed in the first chamber 11. The harmonic reduction mechanism 3 comprises a gear assembly 31, a wave generating unit 32, a rear end cover 33, and a first lubricating material 34. The detailed components of the harmonic reduction mechanism 3 will be described below.

[0057] The gear assembly 31 has a rigid wheel 311 and a flexible wheel 312 disposed in the rigid wheel 311. The rigid wheel 311 is made of metal material, and the flexible wheel 312 is disposed on the inner edge of the rigid wheel 311. The flexible wheel 312 is made of flexible metal material, and the inner diameter of the flexible wheel 312 is smaller than the outer diameter of the wave generating unit 32. The wave generating unit 32 is surrounded by the inner edge of the flexible wheel 312 due to the flexible property of the flexible wheel 312, and when the wave generating unit 32 is surrounded by the flexible wheel 312, the flexible wheel 312 is substantially elliptical.

[0058] The wave generating unit 32 is connected to the motor output end 23A, and the motor output end 23A can drive the wave generating unit 32 to rotate, so that the flexible wheel 312 meshes with the inner edge teeth of the rigid wheel 311 through its outer edge teeth and matches the elliptical shape of the flexible wheel 312, thereby achieving the effect of speed difference. In addition, the first lubricating material 34 is disposed between the gear assembly 31 and the wave generating unit 32, so that the mechanical matching relationship between the gear assembly 31 and the wave generating unit 32 is smoother.

[0059] The rear end cover 33 is disposed between the gear assembly 31 and the motor mechanism 2. Specifically, the rear end cover 33 has a first section 331 parallel to the axial direction SD and a second section 332 perpendicular to the first section 331, that is, the rear end cover 33 is substantially in an "L" shape in this embodiment, but the present application is not limited to this embodiment.

[0060] Continuation Figure 3 and Figure 4 As shown, the lead shaft 7 is disposed in the shaft configuration space SP and connected to the rigid wheel 311 of the gear assembly 31, so that the lead shaft 7 can rotate synchronously with the rigid wheel 311. The lead shaft 7 has a wire configuration space LP, which communicates with the second chamber 12 and the outside of the housing 1, and the wire configuration space LP can be used to configure a wire 300.

[0061] Specifically, the lead shaft 7 in this embodiment has a second thick diameter section 71 corresponding to the position of the first thick diameter section 231 and a second thin diameter section 72 corresponding to the position of the first thin diameter section 232. The inner diameter of the second thick diameter section 71 is larger than the inner diameter of the second thin diameter section 72, and the inner space of the second thick diameter section 71 and the inner space of the second thin diameter section 72 are connected to each other, thereby forming a line configuration space LP together. However, the present application is not limited to this embodiment. For example, the second thick diameter section 71 and the second thin diameter section 72 of the lead shaft 7 may also be as follows: Figure 6 Design and adjust in a timely manner.

[0062] In addition, the lead shaft 7 can further have a second lubricating material L2, which is disposed in the wire configuration space LP so that the surface of the wire 300 is coated with the second lubricating material L2, thereby reducing the friction of the wire 300 with the inner edge of the lead shaft 7, thereby greatly improving the life of the wire 300.

[0063] In this embodiment, at least one oil seal is two in number. For the convenience of description, the two oil seals are defined as a first oil seal 5A and a second oil seal 5B. The first oil seal 5A is disposed between the harmonic reduction mechanism 3 and the rotating shaft 23, and the second oil seal 5B is disposed between the rotating shaft 23 and the lead shaft 7. The detailed arrangement positions of the first oil seal 5A and the second oil seal 5B and the effects that can be achieved are described below.

[0064] The first oil seal 5A is disposed between the first section 331 of the rear end cover 33 and the rotating shaft 23, so that the rear end cover 33 and the first oil seal 5A can jointly form a barrier wall LW. The barrier wall LW can completely separate the gear assembly 31 and the wave generating unit 32 from the motor mechanism 2, thereby preventing the first lubricating material 34 in the harmonic reduction mechanism 3 from leaking or external dust from entering the harmonic reducer 3.

[0065] The second oil seal 5B is disposed between the first large diameter section 231 and the second large diameter section 71, so that the first lubricating material 34 in the harmonic reducer 3 does not pass between the first large diameter section 231 and the second large diameter section 71, thereby preventing the first lubricating material 34 from penetrating into the first chamber 11 or the second chamber 12 and affecting other components.

[0066] The connecting mechanism 4 is connected to the gear assembly 31. In this embodiment, the connecting mechanism 4 is a flange and is disposed on a side of the housing 1 corresponding to the first chamber 11. The connecting mechanism 4 is connected to the rigid wheel 311 of the gear assembly 31, so that the rotation speed of the connecting mechanism 4 when driven by the rigid wheel 311 can be lower than the rotation speed of the rotating shaft 23 of the motor mechanism 2, thereby driving the driving arm 200 connected to the connecting mechanism 4 to rotate or move. Among them, when the rotating shaft 23 of the motor mechanism 2 rotates at a high speed, the lead shaft 7 can rotate at a low speed relative to the rotating shaft 23 through the connecting mechanism 4, so that the wire 300 disposed in the wire configuration space LP can effectively avoid being damaged by friction on the inner edge of the rotating shaft 23.

[0067] The brake mechanism 6 is disposed in the second chamber 12 and corresponds to the position of the motor input end 23B. The brake mechanism 6 can selectively reduce the rotation speed of the shaft 23 through the motor input end 23B, thereby further reducing the rotation speed of the connecting mechanism 4 .

[0068] The first sensing module 8A, the second sensing module 8B, and the driver 9 are disposed in the second chamber 12. The first sensing module 8A can sense the rotation speed and position of the rotating shaft 23, the second sensing module 8B can sense the rotation speed and position of the connecting mechanism 4, and the driver 9 is electrically coupled to the first sensing module 8A, the second sensing module 8B, the motor mechanism 2, and the braking mechanism 6. The driver 9 can control the motor mechanism 2 and the braking mechanism 6 according to the data measured by the first sensing module 8A and the second sensing module 8B.

[0069] [Second embodiment]

[0070] See also Figure 7 and Figure 8 As shown, it is another embodiment of the present application. This embodiment is similar to the driving system 1000 of the first embodiment, and the similarities between the two embodiments are not repeated here. The difference between this embodiment and the first embodiment of the driving system 1000 is mainly that:

[0071] In this embodiment, the housing 1 is composed of a main housing 13 and an end cover 14. The end cover 14 is disposed at one end of the main housing 13 so that the end cover 14 and the inner edge of the main housing 13 together form a first chamber 11 and a second chamber 12. The end cover 14 can move between an open position P1 and a closed position P2.

[0072] Specifically, the main housing 13 and the end cover 14 are connected in a pivoted manner in this embodiment, and the end cover 14 can pivot relative to the main housing 13 so that the end cover 14 is in the open position P1 (such as Figure 7 as shown) and the closed position P2 (as shown Figure 8 When the end cover 14 is in the open position P1, the first sensing module 8A, the second sensing module 8B, the brake mechanism 6, and the driver 9 located in the second chamber 12 are exposed, so that it is convenient for the user to repair the components in the second chamber 12. When the end cover 14 is in the closed position P2, the first sensing module 8A, the second sensing module 8B, the brake mechanism 6, and the driver 9 are shielded, so as to prevent the components in the second chamber 12 from being exposed and damaged.

[0073] Of course, the connection between the main shell 13 and the end cover 14 is not limited to the hinged connection. For example, the end cover 14 can also be fixed to the main shell 13 by a fastener. When the user wants to repair, he only needs to remove the fastener to detach the end cover 14 from the main shell 13 for repair.

[0074] [Third embodiment]

[0075] See also Fig. 9 and Fig.10 As shown, it is another embodiment of the present application. This embodiment is similar to the drive system 1000 of the first embodiment, and the similarities between the two embodiments are no longer repeated. The difference between this embodiment and the first embodiment of the drive system 1000 mentioned above is mainly that the rotor 22 in this embodiment does not have an iron core 221, and the connecting mechanism 4 and the lead shaft 7 are integrally connected in this embodiment.

[0076] Specifically, the rotor 22 in this embodiment has a plurality of magnetic members 222, which are annularly arranged on the rotating shaft 23, and the rotor 22 drives the rotating shaft 23 to rotate by cooperating with the stator 21 through the plurality of magnetic members 222. Accordingly, the drive system 1000 provided in the present application can reduce the tolerance of the rotating shaft 23, the wave generating unit 32 and the rotor 22 during assembly through the design of "multiple magnetic members 222 arranged on the rotating shaft 23" and "the connecting mechanism 4 and the lead shaft 7 are integrally connected", and greatly reduce the deformation caused by the rotor 22 and the rotating shaft 23 when they are fitted and pressed, thereby increasing the assembly efficiency of the rotor 22 and the rotating shaft 23, which is manually or automatically assembled.

[0077] It should be noted that the second thick-diameter section 71 and the second thin-diameter section 72 of the lead shaft 7 in this embodiment are substantially the same as the lead shaft 7 of the first embodiment. Therefore, the lead shaft 7 can also be similar to the first embodiment. Fig.11 Design and adjust in a timely manner.

[0078] [Fourth embodiment]

[0079] See also Figures 12 to 15 As shown, it is another embodiment of the present application. This embodiment is similar to the driving system 1000 of the first embodiment, and the similarities between the two embodiments are not repeated here. The difference between this embodiment and the first embodiment of the driving system 1000 is mainly that:

[0080] In this embodiment, the housing 1 is composed of a main housing 13' of a straight-through type, an end cover 14' disposed on the main housing 13', and a fixing member 15. The main housing 13' is a substantially T-shaped cylindrical structure and has a transverse section 131 and a longitudinal section 132 perpendicular to the transverse section 131. The transverse section 131 has a maximum outer diameter R1 and a minimum inner diameter R2, and the aforementioned minimum inner diameter R2 is not less than 75% of the maximum outer diameter R1, so that the interior of the transverse section 131 of the main housing 13' is substantially straight-through.

[0081] Generally speaking, if Fig.13 and Fig.14 As shown, the aforementioned straight-through state means that when the main shell 13' is projected onto an imaginary plane (or end cover 14') along the axial direction SD, the area surrounded by the minimum inner diameter R2 accounts for more than 55% of the area surrounded by the maximum outer diameter R1. It is understandable that during the manufacturing process of the main shell 13' using the straight-through type (or straight-through state), the user can directly install each component (for example, the motor mechanism 2) in the main shell 13' without being blocked by the partition structure (for example, the locking wall) in the main shell 13', thereby greatly improving the convenience during installation.

[0082] Furthermore, the end cover 14' is disposed at one end of the transverse section 131 in the axial direction SD, and together with the main shell 13', forms a receiving space. The fixing member 15 is disposed in the transverse section 131 of the main shell 13' and is located in the receiving space, so that the receiving space is divided into a first chamber 11 and a second chamber 12, that is, the fixing member 15 of this embodiment replaces the partition structure in the main shell. Accordingly, the user can first configure the other components of the motor actuator 100 in the main shell 13', and then install the fixing member 15 to fix the other components in the main shell 13', thereby saving labor time and cost during assembly. Of course, the user can also choose to install the fixing member 15 first and then install the other components of the motor actuator 100 according to the actual situation.

[0083] It is worth noting that, in a preferred embodiment, the shortest distance LN3 of the fixing member 15 to the center of the longitudinal section 132 along the axial direction SD is preferably between 15% and 25% of the length LN1 of the rotating shaft 23 along the axial direction SD (e.g. Fig.15 shown).

[0084] In addition, in order to increase the processing speed of the shell 1 during manufacture, the shell 1 is further designed in this embodiment so that the shell 1 can save more processing time. Fig.13 As shown, a side edge 1311 of the transverse section 131 facing the end cover 14' and a side edge 141 of the end cover 14' facing the transverse section 131 are arranged substantially along a radial direction HD perpendicular to the axial direction SD in this embodiment. Accordingly, when the main shell 13' and the end cover 14' are processed (e.g., cut), it is not necessary to confirm whether the side edges 1311, 141 of the main shell 13' and the end cover 14' are accurately aligned with each other (e.g., angle matching).

[0085] The above description is only a preferred feasible embodiment of the present application and is not intended to limit the protection scope of the present application. All equivalent changes and modifications made according to the patent scope of the present application shall fall within the protection scope of the claims of the present application.

Claims

1. A drive system, characterized in that: The drive system comprises: A motor actuator comprising: A housing having a first chamber and a second chamber located on opposite sides; a motor mechanism disposed in the first chamber, the motor mechanism comprising a stator, a rotor, and a rotating shaft, one end of the rotating shaft extending into the second chamber and defined as a motor input end, the other end of the rotating shaft defined as a motor output end, the rotating shaft having an axis configuration space; a harmonic reduction mechanism, disposed in the first chamber, the harmonic reduction mechanism comprising a gear assembly and a wave generating unit, the wave generating unit being connected to the output end of the motor, the wave generating unit being able to rotate synchronously with the rotating shaft, and the wave generating unit cooperating with the gear assembly to generate a rotation speed difference between them; a connecting mechanism connected to the gear assembly, wherein the connecting mechanism can rotate synchronously with the gear assembly; a lead shaft, disposed in the shaft configuration space, the lead shaft connected to the gear assembly for synchronous rotation, the lead shaft having a wire configuration space, the wire configuration space communicating with the second chamber and the outside of the shell, and capable of configuring a wire; wherein the lead shaft has a second thick-diameter section adjacent to the outside of the shell and a second thin-diameter section adjacent to the second chamber, and the lead shaft further comprises a second lubricating material in the second thin-diameter section; and a brake mechanism, disposed in the second chamber and corresponding to the position of the motor input end, the brake mechanism can selectively reduce the rotation speed of the shaft through the motor input end; and A driving arm is connected to the connecting mechanism.

2. The drive system according to claim 1, characterized in that: The rotating shaft defines an axial direction, and a value of a length of the rotor along the axial direction divided by a length of the rotating shaft along the axial direction is between 0.13 and 0.

24.

3. The drive system according to claim 1, characterized in that: The driving system further includes a first sensing module, a second sensing module and a driver. The first sensing module, the second sensing module and the driver are arranged in the second chamber. The first sensing module can sense the rotation speed and position of the rotating shaft. The second sensing module can sense the rotation speed and position of the connecting mechanism or the lead shaft. The driver is electrically coupled to the first sensing module, the second sensing module, the motor mechanism and the braking mechanism. The driver can control the motor mechanism and the braking mechanism according to the first sensing module and the second sensing module.

4. The drive system according to claim 3, characterized in that: The shell further includes a main shell and an end cover, wherein the end cover is disposed at one end of the main shell so that the end cover and the inner edge of the main shell together form the first chamber and the second chamber, and the end cover can move between an open position and a closed position; when the end cover is in the open position, the first sensing module, the second sensing module, the braking mechanism, and the driver located in the second chamber are exposed; when the end cover is in the closed position, the first sensing module, the second sensing module, the braking mechanism, and the driver are blocked.

5. The drive system according to claim 1, characterized in that: The rotating shaft defines an axial direction; the second chamber has a first subspace and a second subspace, the first subspace and the first chamber are arranged along the axial direction and connected to each other, the second subspace is arranged on a common side of the first subspace and the first chamber, the second subspace connects the first subspace and the outside of the shell, and the second subspace can be used for connection to another motor actuator.

6. The drive system according to claim 1, characterized in that: The inner edge of the rotating shaft does not contact the outer edge of the lead shaft; the driving system further comprises at least one oil seal, and at least one oil seal is arranged between the rotating shaft and the lead shaft.

7. The drive system according to claim 1, characterized in that: The harmonic speed reduction mechanism further includes a first lubricating material disposed inside the harmonic speed reduction mechanism, and the lead shaft further includes a second lubricating material disposed in the wire configuration space; the connecting mechanism is integrally connected to the lead shaft.

8. The drive system according to claim 1, characterized in that: The rotor includes an iron core, and the iron core is sleeved on the rotating shaft. The rotor cooperates with the stator through the iron core to drive the rotating shaft to rotate.

9. The drive system according to claim 1, characterized in that: The rotor includes a plurality of magnetic components, and the plurality of magnetic components are annularly arranged on the rotating shaft. The rotor drives the rotating shaft to rotate by cooperating with the stator through the plurality of magnetic components.

10. The drive system according to claim 1, characterized in that: The shell includes a main shell, an end cover, and a fixing member, wherein the end cover is arranged at one end of the main shell, and the end cover and the main shell together form a accommodating space, and the fixing member is arranged in the accommodating space so that the accommodating space is divided into the first chamber and the second chamber; wherein the main shell has a maximum outer diameter and a minimum inner diameter, and the minimum inner diameter is not less than 75% of the maximum outer diameter.

11. The drive system according to claim 10, characterized in that: The rotating shaft defines an axial direction; the main shell includes a transverse section and a longitudinal section perpendicular to the transverse section, and the shortest distance from the fixing member along the axial direction to the center of the longitudinal section is between 15% and 25% of the length of the rotating shaft along the axial direction.

12. The drive system according to claim 10, characterized in that: The rotating shaft defines an axial direction; a side edge of the main shell facing the end cover and a side edge of the end cover facing the main shell are arranged substantially along a radial direction perpendicular to the axial direction.

13. A motor actuator, characterized in that: The motor actuator comprises: A housing having a first chamber and a second chamber located on opposite sides; a motor mechanism disposed in the first chamber, the motor mechanism comprising a stator, a rotor, and a rotating shaft, one end of the rotating shaft extending into the second chamber and defined as a motor input end, the other end of the rotating shaft defined as a motor output end, the rotating shaft having an axis configuration space; a harmonic reduction mechanism, disposed in the first chamber, the harmonic reduction mechanism comprising a gear assembly and a wave generating unit, the wave generating unit being connected to the output end of the motor, the wave generating unit being able to rotate synchronously with the rotating shaft, and the wave generating unit cooperating with the gear assembly to generate a rotation speed difference between them; a connecting mechanism connected to the gear assembly, wherein the connecting mechanism can rotate synchronously with the gear assembly; a lead shaft, disposed in the shaft configuration space, the lead shaft connected to the gear assembly for synchronous rotation, the lead shaft having a wire configuration space, the wire configuration space communicating with the second chamber and the outside of the housing, and capable of configuring a wire; wherein the lead shaft has a second thick-diameter section adjacent to the outside of the housing and a second thin-diameter section adjacent to the second chamber, and the lead shaft further comprises a second lubricating material in the second thin-diameter section; and A brake mechanism is disposed in the second chamber and corresponds to the position of the motor input end, and the brake mechanism can selectively reduce the rotation speed of the shaft through the motor input end.

14. The motor actuator according to claim 13, characterized in that: The rotating shaft defines an axial direction, and a value of a length of the rotor along the axial direction divided by a length of the rotating shaft along the axial direction is between 0.13 and 0.

24.

15. The motor actuator according to claim 13, characterized in that: The motor actuator further includes a first sensing module, a second sensing module and a driver, wherein the first sensing module, the second sensing module and the driver are arranged in the second chamber, the first sensing module can sense the rotation speed and position of the rotating shaft, the second sensing module can sense the rotation speed and position of the connecting mechanism or the lead shaft, the driver is electrically coupled to the first sensing module, the second sensing module, the motor mechanism and the brake mechanism, and the driver can control the motor mechanism and the brake mechanism according to the first sensing module and the second sensing module; the housing further includes a main shell and an end cover, the end cover is arranged at one end of the main shell, so that the end cover and the inner edge of the main shell together form the first chamber and the second chamber, and the end cover can move between an open position and a closed position; when the end cover is in the open position, the first sensing module, the second sensing module, the brake mechanism and the driver located in the second chamber are exposed; when the end cover is in the closed position, the first sensing module, the second sensing module, the brake mechanism and the driver are blocked.

16. The motor actuator according to claim 13, characterized in that: The rotating shaft defines an axial direction; the second chamber has a first subspace and a second subspace, the first subspace and the first chamber are arranged along the axial direction and are connected to each other, the second subspace is arranged on a common side of the first subspace and the first chamber, the second subspace is connected to the first subspace and the outside of the shell, the lead shaft is arranged in the first chamber and the first subspace, and the second subspace can be used for connection to another motor actuator.

17. The motor actuator according to claim 13, characterized in that: The inner edge of the rotating shaft does not contact the outer edge of the lead shaft; the motor actuator further includes at least one oil seal, and at least one oil seal is arranged between the rotating shaft and the lead shaft; the harmonic reduction mechanism further includes a first lubricating material arranged inside it.

18. The motor actuator according to claim 13, characterized in that: The shell includes a main shell, an end cover, and a fixing member, wherein the end cover is arranged at one end of the main shell, and the end cover and the main shell together form a accommodating space, and the fixing member is arranged in the accommodating space so that the accommodating space is divided into the first chamber and the second chamber; wherein the main shell has a maximum outer diameter and a minimum inner diameter, and the minimum inner diameter is not less than 75% of the maximum outer diameter.

19. The motor actuator according to claim 18, characterized in that The rotating shaft defines an axial direction; the main shell includes a transverse section and a longitudinal section perpendicular to the transverse section, and the shortest distance from the fixing member along the axial direction to the center of the longitudinal section is between 15% and 25% of the length of the rotating shaft along the axial direction.

20. The motor actuator according to claim 18, characterized in that The rotating shaft defines an axial direction; a side edge of the main shell facing the end cover and a side edge of the end cover facing the main shell are arranged substantially along a radial direction perpendicular to the axial direction.

Images