Power module and power device

Abstract

The application discloses a power module and a power equipment. The power module comprises a shell, a stator, a rotor, an end cover, a flange plate, a planet carrier, a plurality of planet gears, a sun gear and a position detection assembly. The end cover is fixedly connected with the shell, the flange plate is rotationally connected with the end cover, the planet carrier is fixedly connected with the flange plate and arranged in the shell, an inner ring gear is fixedly installed on the side of the end cover facing the rotor, the plurality of planet gears are installed between the planet carrier and the flange plate, and the sun gear can drive the plurality of planet gears to rotate under the driving of the rotor, so that the planet carrier and the flange plate are driven to rotate. The position detection assembly comprises a magnetic part and a sensing part. The magnetic part is installed on the planet carrier, the sensing part is installed on the side of the end cover facing the rotor and is arranged in spaced relation with the magnetic part, and the sensing part and the magnetic part are matched to detect the rotating position information of the planet carrier. In this way, the rotating positions of the planet carrier and the flange plate can be directly detected through the matching of the sensing part and the magnetic part, so that the accurate detection of the position signal is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of power transmission, and particularly relates to a power module and a power equipment. BACKGROUND

[0002] In a machine such as a robot, a power module is usually used to drive the movement of the machine. For example, in a robot, the power module can be installed at a joint of the robot, and the power module constitutes the joint of the robot to drive the movement of the robot. In order to accurately control the rotation of the rotor and the output member in the power module, the rotation position of the rotor and the output member is usually detected, and therefore, how to accurately detect the position signal of the rotor and the output member of the power module becomes a technical problem to be solved. SUMMARY

[0003] The present application provides a power module and a power equipment.

[0004] The power module of the present application embodiment comprises:

[0005] A shell is provided with an opening;

[0006] A stator is fixedly installed in the shell;

[0007] A rotor is rotatably installed in the shell, and the stator is used to drive the rotor to rotate relative to the shell;

[0008] An end cover is arranged at the opening and fixedly connected with the shell;

[0009] A flange plate is rotatably connected with the end cover;

[0010] A planet carrier is fixedly connected with the flange plate and arranged in the shell;

[0011] An inner ring is fixedly installed on the side of the end cover facing the rotor, and a plurality of planet wheels are installed between the planet carrier and the flange plate, and the plurality of planet wheels are engaged with the inner ring;

[0012] A sun gear is fixedly connected with the rotor at one end and engaged with the plurality of planet wheels at the other end, and the sun gear can drive the plurality of planet wheels to rotate and thus drive the planet carrier and the flange plate to rotate under the driving of the rotor; and

[0013] A position detection assembly comprises a magnetic member and a sensing member, the magnetic member is installed on the planet carrier, the sensing member is installed on the side of the end cover facing the rotor and arranged in spaced relation with the magnetic member, and the sensing member and the magnetic member cooperate to detect the rotation position information of the planet carrier.

[0014] In some embodiments, the magnetic member is a radial magnet; or

[0015] the magnetic member is a Hall magnetic ring; or

[0016] the magnetic member is an axial magnet.

[0017] In some embodiments, the planet carrier is provided with a first annular mounting groove on a side thereof facing the end cover, the magnetic member is a radial magnet or a Hall magnetic ring, and the magnetic member is mounted in the first annular mounting groove.

[0018] In some embodiments, the planet carrier comprises a body and an annular mounting portion, the annular mounting portion is arranged around the body, and the annular mounting portion and the body are fixedly connected by a plurality of spaced-apart connecting rods.

[0019] The body is fixedly connected with the flange plate, and the annular mounting portion is formed with the first annular mounting groove on a side thereof facing the end cover.

[0020] In some embodiments, the planet carrier comprises a body and a mounting portion, the mounting portion is radially protruded on the body, the body is fixedly connected with the flange plate, a magnetic member is mounted on a side of the mounting portion facing the end cover, and the magnetic member is an axial magnet.

[0021] In some embodiments, the sensing member comprises a circuit board and a sensing unit arranged on the circuit board, the circuit board is mounted on a side of the end cover facing the rotor, and the sensing unit is arranged in spaced-apart relation with the magnetic member.

[0022] In some embodiments, the end cover is formed with a first annular protrusion on a side thereof facing the rotor, the inner ring gear is fixedly mounted on an inner wall of the first annular protrusion, and the circuit board is arranged around the first annular protrusion.

[0023] In some embodiments, an edge of the end cover on a side thereof facing the rotor is formed with a second annular protrusion, the second annular protrusion is arranged around the first annular protrusion, a second annular mounting groove is formed between the first annular protrusion and the second annular protrusion, and the circuit board is mounted in the second annular mounting groove.

[0024] In some embodiments, the spacing distance between the magnetic member and the sensing member is 0.25-3 mm.

[0025] In some embodiments, a support bearing is arranged between the flange plate and the end cover, an outer ring of the support bearing is fixedly connected with the end cover, and an inner ring of the support bearing is fixedly connected with the flange plate.

[0026] The power module further comprises a bearing gland, which is uniformly spaced in a circumferential direction and has a plurality of threaded holes, and the bearing gland is mounted on the end cover by means of fasteners passing through the threaded holes and abutting the outer ring of the support bearing.

[0027] In some embodiments, the rotor comprises a rotor support and a magnetic steel fixedly connected with the rotor support and oppositely arranged with the stator, the rotor support is rotatable relative to the casing, the sun gear is formed with a mounting shaft portion at one end of the rotor support, the outer circumferential surface of the mounting shaft portion is formed with at least one chamfered corner, and the rotor support is formed with a mounting hole matched with the mounting shaft portion in shape.

[0028] The power equipment of the embodiments of the present application comprises the power module of any of the above embodiments

[0029] In the power module and the power equipment of the embodiments of the present application, the magnetic member is mounted on the planet carrier, the sensing member is mounted on the side of the end cover facing the rotor and oppositely arranged with the magnetic member, and the sensing member and the magnetic member cooperate to detect the rotational position information of the planet carrier. In this way, the rotational positions of the planet carrier and the flange plate can be directly detected by the cooperation of the sensing member and the magnetic member to realize accurate detection of the position signal. In addition, the magnetic member and the sensing member are directly arranged on the planet carrier and the side of the end cover facing the planet carrier, respectively, and oppositely arranged. Therefore, the magnetic member only needs to use a magnet with weak magnetism to send a stable position signal, has strong anti-interference ability and high position detection accuracy.

[0030] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0031] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the following description, including the appended drawings, wherein:

[0032] Figure 1 is a perspective structural schematic diagram of the power equipment of the embodiments of the present application;

[0033] Figure 2 is a perspective structural schematic diagram of the power module of the embodiments of the present application;

[0034] Figure 3 is an exploded structural schematic diagram of the power module of the embodiments of the present application;

[0035] Figure 4 is a sectional schematic diagram of the power module of the embodiments of the present application;

[0036] Figure 5 is an exploded schematic view of a partial structure of a power module of an embodiment of the present application;

[0037] Figure 6 is a plan schematic of a partial structure of a power module of an embodiment of the present application;

[0038] Figure 7 is a structural schematic of a carrier and a position detection assembly of a power module of an embodiment of the present application;

[0039] Figure 8 is a structural schematic of a carrier in Figure 7

[0040] Figure 9 is a structural schematic of a sensing member of a power module of an embodiment of the present application;

[0041] Figure 10 is a structural schematic of a magnetic member of a power module of an embodiment of the present application;

[0042] Figure 11 is another structural schematic of a sensing member of a power module of an embodiment of the present application;

[0043] Figure 12 is a three-dimensional structural schematic of a partial structure of a power module of an embodiment of the present application;

[0044] Figure 13 is a plan schematic of a partial structure of a power module in Figure 12

[0045] Figure 14 is another structural schematic of a carrier and a position detection assembly of a power module of an embodiment of the present application;

[0046] Figure 15 is a structural schematic of a carrier in Figure 14

[0047] Figure 16 is a structural schematic of a sensing member in Figure 14

[0048] Figure 17 is a mounting structural schematic of an end cover and a sensing member of a power module of an embodiment of the present application;

[0049] Figure 18 is another mounting structural schematic of an end cover and a sensing member of a power module of an embodiment of the present application;

[0050] Figure 19 is a plan schematic of a power module of an embodiment of the present application;

[0051] Figure 20 ​​​​This is a schematic diagram of the sun gear of the power module according to an embodiment of this application.

[0052] Explanation of key component symbols:

[0053] 1000 power equipment;

[0054] Power module 100, housing 10, opening 11, stator 20, rotor 30, rotor bracket 31, mounting hole 311, magnet 32, end cover 40, internal gear ring 41, first annular protrusion 42, second annular protrusion 43, second annular mounting groove 44, flange 50, planetary carrier 60, body 61, annular mounting part 62, first annular mounting groove 621, connecting rod 63, mounting part 64, planetary gear 70, sun gear 80, mounting shaft part 81, chamfer 811, position detection component 90, magnetic component 91, sensing component 92, circuit board 921, sensing unit 922, support bearing 110, bearing cover 120, threaded hole 121, drive circuit board 130, rear cover 140;

[0055] Torso 200, Feet 300. Detailed Implementation

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] Please see Figures 2-4 The power module 100 of this application embodiment may include a housing 10, a stator 20, a rotor 30, an end cover 40, a flange 50, a planetary carrier 60, a plurality of planetary gears 70, a sun gear 80, and a position detection component 90.

[0064] The housing 10 has an opening 11. The stator 20 is fixedly installed inside the housing 10, and the rotor 30 is rotatably installed inside the housing 10. The stator 20 is used to drive the rotor 30 to rotate relative to the housing 10. The end cover 40 is located at the opening 11 and is fixedly connected to the housing 10. The flange 50 is rotatably connected to the end cover 40. The planetary carrier 60 is fixedly connected to the flange 50 and is located inside the housing 10. An internal gear ring 41 is fixedly installed on the side of the end cover 40 facing the rotor 30. Multiple planetary gears 70 are installed between the planetary carrier 60 and the flange 50, and the multiple planetary gears 70 mesh with the internal gear ring 41.

[0065] One end of the sun gear 80 is fixedly connected to the rotor 30, and the other end meshes with multiple planet gears 70. Driven by the rotor 30, the sun gear 80 can drive the multiple planet gears 70 to rotate, thereby driving the planet carrier 60 and the flange 50 to rotate.

[0066] The position detection component 90 includes a magnetic element 91 and a sensing element 92. The magnetic element 91 is mounted on the planetary carrier 60, and the sensing element 92 is mounted on the side of the end cover 40 facing the rotor 30 and is spaced apart from the magnetic element 91. The sensing element 92 cooperates with the magnetic element 91 to detect the rotational position information of the planetary carrier 60.

[0067] In the power module 100 and power equipment 1000 of this application embodiment, the magnetic element 91 is mounted on the planetary carrier 60, and the sensing element 92 is mounted on the side of the end cover 40 facing the rotor 30 and is spaced apart from the magnetic element 91. The sensing element 92 cooperates with the magnetic element 91 to detect the rotational position information of the planetary carrier 60. In this way, the rotational position of the planetary carrier 60 and the flange 50 can be directly detected by the cooperation of the sensing element 92 and the magnetic element 91, thereby achieving accurate detection of position signals.

[0068] Furthermore, in related technologies, the magnetic components and sensing components in the power module are usually positioned far apart or even separated by other components. In such cases, only strong magnets can be used as magnetic components. However, since there is a lot of magnetic material inside the motor, using strong magnets as magnetic components will make the signal easily interfered with, resulting in inaccurate position detection.

[0069] In this application, the magnetic component 91 is disposed on the planetary carrier 60, and the sensing component 92 is directly disposed on the side of the end cover 40 facing the planetary carrier 60. The two are directly spaced and opposite each other. In this way, the distance between the two is small and there are no other components to block them. The magnetic component 91 only needs to use a magnet with weak magnetism to send a stable position signal, which has strong anti-interference ability and high position detection accuracy.

[0070] Specifically, please refer to Figures 3-4 In the embodiments of this application, the end cap 40 is installed at the opening 11, the planetary carrier 60 is located inside the housing 10 and above the end cap 40, the magnetic element 91 can be installed on the side of the planetary carrier 60 facing the end cap 40, and the sensing element 92 can be installed on the side of the end cap 40 facing the planetary carrier 60 and opposite to the magnetic element 91. The end cap 40 can be fixedly connected to the housing 10 by fasteners such as screws. Preferably, in the illustrated embodiment, the end cap 40 is installed inside the housing 10, and mounting holes are formed in both the housing 10 and the end cap 40 in the radial direction. The two can be fixedly connected together by the radial mounting holes and screws, which makes it simpler and more convenient to disassemble and install them. Of course, it is understood that in other embodiments, the two can also be fixedly connected together in other ways, for example, they can also be fixedly connected together by mounting holes in the axial direction. The specific method is not limited here.

[0071] Please see Figures 3-4 The rotor 30 is housed inside the housing 10. In the illustrated embodiment, the stator 20 is located inside the rotor 30, which can be equivalent to an external rotor motor. Of course, it is understood that in other embodiments, the stator 20 can also be located outside the rotor 30, which can be equivalent to an internal rotor motor. No specific limitation is made here.

[0072] Please see Figures 3-5 Multiple planetary gears 70 are mounted between the planet carrier 60 and the flange 50 and can rotate relative to both. For example, the planetary gears 70 can be inserted into the corresponding shaft holes on the planet carrier 60 and the flange 50 through the shafts at both ends. The sun gear 80 is located at the center of the multiple planetary gears 70 and meshes with all of the multiple planetary gears 70. The internal gear ring 41 is located on the outer periphery of the multiple planetary gears 70 and meshes with all of the multiple planetary gears 70. The central axis of the internal gear ring 41 coincides with the rotation axis of the sun gear 80. The flange 50 is equivalent to the output component of the power module 100 and can be used to connect external loads.

[0073] After the stator 20 is energized, the stator 20 drives the rotor 30 to rotate. The rotor 30 drives the sun gear 80 to rotate. The sun gear 80 drives multiple planet gears 70 to rotate around their own rotation axis. Since the planet gears 70 mesh with the internal gear ring 41, while the planet gears 70 are rotating, they also revolve around the rotation axis of the sun gear 80. In this way, when the planet gears 70 revolve around the rotation axis of the sun gear 80, the planet gears 70 will drive the flange 50 and the planet carrier 60 to rotate synchronously, thereby realizing the output of power.

[0074] Please see Figure 4 In some embodiments, the magnetic element 91 is located at the edge of the planet carrier 60, and the sensing element 92 is also located at the edge of the end cap 40. The distance between the sensing element 92 and the magnetic element 91 is 0.25mm-3mm.

[0075] Thus, the distance between the two is small, which allows the magnetic component 91 to achieve position detection using only a weak magnetic magnet, improving anti-interference capability and position detection accuracy.

[0076] Specifically, in this application, the spacing between the sensing element 92 and the magnetic element 91 is preferably 0.25mm-1mm. For example, the spacing between them can be any value among 0.25mm, 0.35mm, 0.45mm, 0.55mm, 0.65mm, 0.75mm, 0.85mm, 0.9mm, and 0.25mm-1mm. This ensures that the spacing between them is sufficiently small without causing interference, thereby improving anti-interference capability and detection accuracy.

[0077] In some embodiments, the magnetic element 91 is a radial magnet; or the magnetic element 91 is a Hall magnetic ring; or the magnetic element 91 is an axial magnet. Thus, the magnetic element 91 can use various types of magnets to achieve different detection accuracies.

[0078] Specifically, in the embodiments of this application, the rotational position information may include the rotation angle and the number of rotations. When the magnetic component 91 is a radial magnet, the sensing component 92 may include multiple Hall effect sensing elements, and a single Hall effect sensing element may cooperate with the radial magnet to detect the rotational position information. When the magnetic component 91 is a Hall effect magnetic ring, the sensing component 92 may include a single Hall effect sensing element, and a single Hall effect sensing element may cooperate with the Hall effect magnetic ring to detect the rotational position information. When the magnetic component 91 is an axial magnet, the sensing component 92 may include multiple Hall effect sensing elements, and the multiple Hall effect sensing elements may be spaced apart along the rotation direction. The rotational position information can be detected through the combination of multiple Hall effect sensing elements.

[0079] More specifically, a radial magnet is a magnet formed by magnetizing along the radial direction, and an axial magnet is a magnet formed by magnetizing along the axial direction. Please refer to [link / reference]. Figure 10 , Figure 10 The diagram illustrates the specific structure of a Hall effect magnetic ring, which includes a first annular portion 911 and a second annular portion 912. The first annular portion 911 includes multiple first N poles 9111 and multiple first S poles 9112, with the first S poles 9112 and the first N poles 9111 arranged alternately. The second annular portion 912 surrounds the outside of the first annular portion 911, and includes multiple second N poles 9121 and multiple second S poles 9122, with the second S poles 9122 and the second N poles 9121 arranged alternately. The second N poles 9121 and the first N poles 9111 are at least partially offset from each other, and the second S poles 9122 and the first S poles 9112 are at least partially offset from each other.

[0080] It is understood that in the embodiments of this application, when using a Hall magnetic ring, the position detection component 90 has the highest detection accuracy, followed by the radial magnet, while the axial magnet is slightly lower than the former two. The specific type of magnetic component 91 used can be selected according to the actual situation, and no specific restrictions are imposed here.

[0081] Please see Figures 5-8 , Figures 5-8 The diagram shows the specific structure of the planetary carrier 60 and the specific installation position of the magnetic component 91 when the magnetic component 91 is a radial magnet or a Hall magnetic ring. In this embodiment, the planetary carrier 60 has a first annular mounting groove 621 on the side facing the end cover 40, and the magnetic component 91 is a radial magnet or a Hall magnetic ring, and the magnetic component 91 is installed in the first annular mounting groove 621.

[0082] Thus, by forming the first annular mounting groove 621 on the planetary carrier 60, the magnetic component 91 can be stably mounted, and the stacking height of the entire power module 100 can be effectively reduced, which is beneficial to the miniaturization of the power module 100.

[0083] Further, please refer to Figure 8 In this embodiment, the planetary carrier 60 includes a body 61 and an annular mounting portion 62, which surrounds the body 61. The annular mounting portion 62 and the body 61 are fixedly connected by a plurality of spaced connecting rods 63. The body 61 is fixedly connected to the flange 50, and the annular mounting portion 62 has a first annular mounting groove 621 formed on the side facing the end cover 40.

[0084] Thus, the planetary carrier 60 can be fixed by the flange 50 of the body 61, and the magnetic component 91 can be installed by the annular mounting part 62. The body 61 and the annular mounting part 62 are fixedly connected by several spaced connecting rods 63, which can make the body 61 and the annular part hollow, thereby effectively reducing the weight of the entire power module 100 and also facilitating heat dissipation.

[0085] Specifically, please refer to Figure 6 and Figure 10 In this embodiment, both the radial magnet and the Hall effect magnetic ring are annular, and the body 61 is also substantially annular. Multiple protrusions 611, which are fixedly connected to the flange 50, can be formed on the body 61. The sun gear 80 is inserted into the body 61 and meshes with multiple planet gears 70. The annular mounting portion 62 is arranged around the outside of the body 61. The connecting rod 63 protrudes radially from the body 61 and is fixedly connected to the annular mounting portion 62. Alternatively, the body 61, the annular mounting portion 62, and the connecting rod 63 are integrally formed, with multiple connecting rods 63 spaced apart to form a hollow area. A first annular mounting groove 621 is formed on the side of the annular mounting portion 62 facing the end cover 40. The radial magnet or the Hall effect magnetic ring is installed in the first annular mounting groove 621. It can be completely contained within the first annular mounting groove 621 or partially protruding from the annular mounting portion 62; the specific arrangement is not limited here.

[0086] Please see Figures 12-15 , Figures 12-15 The diagram shows the specific structure of the planetary carrier 60 and the specific installation position of the magnetic component 91 when the magnetic component 91 is an axial magnet. In this embodiment, when the magnetic component 91 is an axial magnet, the planetary carrier 60 includes a body 61 and a mounting part 64. The mounting part 64 protrudes radially from the body 61. The body 61 is fixedly connected to the flange 50. The magnetic component 91 is installed on the side of the mounting part 64 facing the end cover 40.

[0087] Thus, only a mounting part 64 needs to be provided along the radial direction of the main body 61, and the axial magnet can be directly mounted on the mounting part 64 without the need for other structures, which can effectively reduce the volume and weight of the planet carrier 60.

[0088] Specifically, in this embodiment, the structure of the body 61 is basically the same as that of the above embodiment, and will not be repeated here. The mounting part 64 can be a rod protruding in the radial direction of the body 61. The mounting part 64 has a mounting groove on the side facing the end cover 40, and the axial magnet is installed in the mounting groove.

[0089] Please see Figure 9 , Figure 11 and Figure 16In some embodiments, the sensing element 92 includes a circuit board 921 and a sensing unit 922 disposed on the circuit board 921. The circuit board 921 is mounted on the side of the end cover 40 facing the rotor 30, and the sensing unit 922 is disposed opposite to the magnetic element 91 at a distance.

[0090] Thus, the circuit board 921 can power the sensing unit 922 and transmit detection signals, and the sensing unit 922 can cooperate with the magnetic component 91 to realize the detection of position information.

[0091] Specifically, the sensing unit 922 may be a Hall sensor, and the circuit board 921 may be ring-shaped. Please refer to [link / reference]. Figure 9 , Figure 9 The diagram shows the structure of the sensing element 92 when the magnetic element 91 is a radial magnet. When the magnetic element 91 is a radial magnet, there can be multiple sensing units 922. Multiple sensing units 922 are evenly spaced on the circuit board 921 in the circumferential direction.

[0092] Further, please refer to Figure 11 , Figure 11 The diagram shows the structure of the sensing element 92 when the magnetic element 91 is a Hall magnetic ring. In this case, the number of sensing units 922 can be a single one.

[0093] In addition, please see Figure 16 , Figure 16 The diagram shows the structure of the sensing element 92 when the magnetic element 91 is an axial magnet. In this case, there are multiple sensing units 922, which are evenly spaced on the circuit board 921 in the circumferential direction.

[0094] Furthermore, it should be noted that the distance between the magnetic element 91 and the sensing element 92 mentioned above refers to the distance between the upper surface of the sensing unit 922 and the lower surface of the magnetic element 91. That is to say, the distance between the upper surface of the sensing unit 922 and the lower surface of the magnetic element 91 can be 0.25mm-3mm, preferably 0.25mm-1mm.

[0095] Please see Figure 17 In some embodiments, the end cap 40 has a first annular protrusion 42 formed on the side facing the rotor 30, the internal gear ring 41 is fixedly mounted on the inner wall of the first annular protrusion 42, and the circuit board 921 is arranged around the first annular protrusion 42.

[0096] Thus, the internal gear ring 41 can be fixed by setting the first annular protrusion 42, so that multiple planetary gears 70 can drive the planet carrier 60 and flange 50 to rotate under the action of the internal gear ring 41. The circuit board 921 is set around the first annular protrusion 42, which can effectively reduce the stacking height of the entire power module 100.

[0097] Specifically, the first annular protrusion 42 is protruding at the middle position of the end cover 40. The internal gear ring 41 can be fixedly installed on the inner side of the first annular protrusion 42 by interference fit or other fixed connection method. The internal gear ring 41 can be completely housed in the first annular protrusion 42. In this way, the contact surface between the internal gear ring 41 and the first annular protrusion 42 is large, which can ensure the stability of the installation of the internal gear ring 41.

[0098] Furthermore, by surrounding the first annular protrusion 42 with the circuit board 921 and supporting it on the end cover 40, the circuit board 921 can be prevented from stacking with the first annular protrusion 42 in the axial direction of the power module, thereby effectively reducing the axial width of the entire power module 100. It should be noted that "axial width" can be understood as the height in the axial direction of the power module 100, that is, the height in the rotational axial direction of the flange 50 and the planetary carrier 60. If the same description is used below, it can also be understood here.

[0099] Further, please refer to Figure 18 In some embodiments, the end cap 40 has a second annular protrusion 43 formed on the edge facing the rotor 30. The second annular protrusion 43 is arranged around the first annular protrusion 42. A second annular mounting groove 44 is formed between the first annular protrusion 42 and the second annular protrusion 43. The circuit board 921 is mounted in the second annular mounting groove 44.

[0100] Thus, the second annular mounting groove 44 formed between the second annular protrusion 43 and the first annular protrusion 42 can accurately position and match the installation of the circuit board 921, avoiding the impact on position detection accuracy due to inaccurate positioning during the installation process.

[0101] Specifically, in this embodiment, the second annular protrusion 43 is flush with or lower than the first annular protrusion 42. That is, the axial width of the second annular protrusion 43 is less than or equal to the axial width of the first annular protrusion 42. This effectively avoids an increase in the overall height of the power module 100 due to the excessive height of the second annular protrusion 43. Of course, it is understood that in this embodiment, the circuit board 921 can be mounted on the bottom wall of the second annular mounting groove 44 or on the side wall of the second annular mounting groove 44. Furthermore, in other embodiments, the circuit board 921 can also be mounted on the top of the second annular protrusion 43 or on the side of the second annular protrusion 43. No specific limitation is made here, as long as the circuit board 921 can be stably mounted.

[0102] Please see Figure 11 , Figure 17 and Figure 19In some embodiments, the end cap 40 is further provided with a plurality of first mounting holes 45, and the circuit board 921 is provided with a plurality of second mounting holes 9211. The second mounting holes 9211 correspond to the first mounting holes 45. The circuit board 921 can be fixedly mounted on the end cap 40 by fasteners (not shown) passing through the first mounting holes 45 and the second mounting holes 9211.

[0103] Specifically, in some embodiments, the first mounting hole 45 can be a light hole, and the second mounting hole 9211 can be a threaded hole. The fastener can be a screw or bolt or other threaded component. The threaded component passes through the first mounting hole 45 and is threadedly connected to the second mounting hole 9211. In this way, during the installation of the position detection component 90, the distance between the sensing unit 922 and the magnetic component 91 on the circuit board 921 can be adjusted by rotating the fastener to enable it to work properly. That is to say, the position detection component 90 can be adjusted by rotating the fastener to enable it to perform normal detection functions. Furthermore, it is understood that after prolonged use of the power module 100, the position of the circuit board 921 may shift, causing the position detection component 90 to malfunction. In such cases, calibration can be achieved by adjusting the distance between the sensing unit 922 and the magnetic component 91 on the circuit board 921 by rotating the threaded component without disassembling the power module 100. This makes maintenance and adjustment more convenient.

[0104] Please see Figures 2-4 as well as Figure 19 In some embodiments, a support bearing 110 is provided between the flange 50 and the end cover 40. The outer ring of the support bearing 110 is fixedly connected to the end cover 40, and the inner ring of the support bearing 110 is fixedly connected to the flange 50.

[0105] The power module 100 also includes a bearing cover 120, which has a plurality of threaded holes 121 spaced apart in the circumferential direction. The bearing cover 120 is mounted on the end cover 40 and abuts against the outer ring of the support bearing 110 by fasteners passing through the threaded holes 121.

[0106] Thus, the support bearing 110 can stably support the rotation of the flange 50, and the bearing cover 120 can stably limit the support bearing 110 to prevent the support bearing 110 from moving in the axial direction and affecting the rotation of the flange 50. At the same time, the bearing cover 120 has multiple threaded holes 121 spaced along the circumferential direction, which can make the force on the support bearing 110 more uniform, which helps to improve the life and reliability of the support bearing 110.

[0107] Specifically, in this embodiment, the support bearing 110 can be a crossed roller bearing, the bearing cap 120 can be petal-shaped, and multiple threaded holes 121 are evenly spaced along the circumferential direction. Please refer to [link / reference]. Figure 19 In the illustrated embodiment, there are eight threaded holes 121, which are evenly distributed circumferentially. This ensures that when the bearing cap 120 presses against the outer ring of the support bearing 110, the evenly distributed threaded holes 121 result in a more uniform outer ring, thus improving the lifespan and reliability of the support bearing 110. Of course, it is understood that in other embodiments, the number of threaded holes 121 may be less than eight or more; there is no specific limitation here, as long as the multiple threaded holes 121 are evenly spaced to ensure uniform force distribution on the support bearing 110.

[0108] Please see Figure 3 , Figure 4 as well as Figure 20 In some embodiments, the rotor 30 includes a rotor support 31 and a magnet 32. The magnet 32 ​​is fixedly connected to the rotor support 31 and is spaced apart from the stator 20. The rotor support 31 is rotatable relative to the housing 10. The sun gear 80 has a mounting shaft portion 81 at one end facing the rotor support 31. At least one chamfer 811 is formed on the outer peripheral surface of the mounting shaft portion 81. The rotor support 31 has a mounting hole 311 that mates with the mounting shaft portion 81. The shape of the mounting hole 311 matches the shape of the mounting shaft portion 81.

[0109] Thus, at least one chamfer 811 is formed on the mounting shaft portion 81 of the sun gear 80, and the mounting hole 311 on the rotor support 31 matches the mounting shaft portion 81. In this way, by forming the chamfer structure 811, the rotor support 31 can stably drive the mounting shaft portion 81 to rotate, which facilitates the transmission of torque and makes it less prone to slippage and failure.

[0110] Specifically, as shown in the figure, the chamfer 811 is formed along the axial direction of the mounting shaft portion 811. It can be understood that in related technologies, the connection between the sun gear and the rotor support is achieved through an interference fit between the shaft and the hole. Since the sun gear is made of structural steel and the rotor support is made of aluminum alloy, and this area transmits a large torque, frequent use can cause relative displacement (slippage) between the shaft portion of the sun gear and the mounting hole of the rotor support. In this embodiment, the chamfer 811 on the outer circumferential surface of the mounting shaft portion 81 of the sun gear 80 facilitates torque transmission and reduces the risk of slippage failure. In the illustrated embodiment, there are two chamfers 811, symmetrically arranged on the outer circumferential surface of the mounting shaft portion 811. Thus, the mounting shaft portion 811 acts as a flat shaft portion, thereby restricting the rotation between the sun gear 20 and the rotor support 31.

[0111] In addition, please see Figure 3In such an embodiment, the rotor 30 may also include a rotor back iron 33, which may be fixedly mounted on the rotor support 31, and the magnet 32 ​​may be fixedly mounted on the inner side of the rotor back iron 33.

[0112] Furthermore, in such an embodiment, the mounting shaft 81 transitions into the inner wall of the mounting hole 311.

[0113] In this way, the transitional fit between the two facilitates multiple disassembly and assembly, while also avoiding the generation of aluminum shavings during installation.

[0114] Specifically, it can be understood that in related technologies, when an interference fit is used, the shaft of the sun gear 80 is pressed into the rotor support 31 by a press, which can easily lead to structural damage after repeated disassembly and assembly. In this embodiment, however, the mounting shaft 81 and the mounting hole 311 have a transition fit, so repeated assembly and disassembly will not damage the structure of the mounting hole 311 of the rotor support 31, facilitating repeated disassembly and assembly. At the same time, when an interference fit is used, aluminum shavings are left after the teeth of the sun gear 80 are pressed into the inner ring of the rotor support 31, which are difficult to clean and may fall into the power module 100, causing insulation failure of the power module 100. In this embodiment, however, the transition fit between the mounting shaft 81 and the inner wall of the mounting hole 311 will not produce aluminum shavings.

[0115] Please see Figure 3 and Figure 4 In the embodiment of this application, the power module 100 also includes a rear cover 140 and a drive circuit board 130. The rear cover 140 is disposed on the end of the housing 10 opposite to the end cover 40. The drive circuit board 130 is installed inside the housing 10 and is electrically connected to the circuit board 921 of the stator 20 and the sensing element 92. The drive circuit board 130 is used to drive the stator 20 and the circuit board 921 of the sensing element 92 to work.

[0116] In addition, please see Figure 3 and Figure 4 In some embodiments, the power module 100 further includes an encoder assembly 150 for detecting rotational position information of the rotor 30.

[0117] Thus, the encoder assembly 150 and the position detection assembly 90 can detect the rotational position information of the input (rotor 30) and output (planetary carrier 60 and flange 50) to better control the power module 100.

[0118] 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.

[0119] 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: The casing has an opening; The stator is fixedly installed inside the housing; A rotor, rotatably mounted within the housing, and a stator for driving the rotor to rotate relative to the housing; An end cap is provided at the opening and is fixedly connected to the housing; A flange, which is rotatably connected to the end cover; Planetary carrier, which is fixedly connected to the flange and is disposed inside the housing; An internal gear ring is fixedly installed on the side of the end cover facing the rotor, and multiple planetary gears are installed between the planet carrier and the flange, and the multiple planetary gears mesh with the internal gear ring; The sun gear has one end fixedly connected to the rotor and the other end meshing with the plurality of planet gears. Driven by the rotor, the sun gear can drive the plurality of planet gears to rotate, thereby driving the planet carrier and the flange to rotate. and A position detection component includes a magnetic component and a sensing component. The magnetic component is mounted on the planetary carrier, and the sensing component is mounted on the side of the end cover facing the rotor and is directly spaced opposite to the magnetic component. The sensing component cooperates with the magnetic component to detect the rotational position information of the planetary carrier. The planetary carrier has a first annular mounting groove on the side facing the end cap, and the magnetic component is installed in the first annular mounting groove; The distance between the magnetic component and the sensing component is 0.25mm-3mm.

2. The power module according to claim 1, characterized in that, The magnetic component is a radial magnet; or The magnetic component is a Hall effect magnetic ring; or The magnetic component is an axial magnet.

3. The power module according to claim 1, characterized in that, The planetary carrier includes a body and an annular mounting part, the annular mounting part is arranged around the body, and the annular mounting part and the body are fixedly connected by a number of spaced connecting rods. The body is fixedly connected to the flange, and the annular mounting portion has a first annular mounting groove formed on the side facing the end cover.

4. The power module according to claim 2, characterized in that, The planetary carrier includes a body and a mounting part. The mounting part protrudes radially from the body. The body is fixedly connected to the flange. A magnetic element is installed on the side of the mounting part facing the end cover. The magnetic element is an axial magnet.

5. The power module according to claim 1, characterized in that, The sensing element includes a circuit board and a sensing unit disposed on the circuit board. The circuit board is mounted on the side of the end cover facing the rotor, and the sensing unit is disposed opposite to the magnetic element at a distance.

6. The power module according to claim 5, characterized in that, The end cap has a first annular protrusion on the side facing the rotor, the internal gear ring is fixedly installed on the inner wall of the first annular protrusion, and the circuit board is arranged around the first annular protrusion.

7. The power module according to claim 6, characterized in that, The end cap has a second annular protrusion on the edge facing the rotor. The second annular protrusion surrounds the first annular protrusion. A second annular mounting groove is formed between the first annular protrusion and the second annular protrusion. The circuit board is mounted in the second annular mounting groove.

8. The power module according to claim 1, characterized in that, A support bearing is provided between the flange and the end cover. The outer ring of the support bearing is fixedly connected to the end cover, and the inner ring of the support bearing is fixedly connected to the flange. The power module also includes a bearing cover, which has multiple threaded holes evenly spaced along the circumferential direction. The bearing cover is installed on the end cover by fasteners passing through the threaded holes and abuts against the outer ring of the support bearing.

9. The power module according to claim 1, characterized in that, The rotor includes a rotor support and a magnet. The magnet is fixedly connected to the rotor support and is spaced apart from the stator. The rotor support is rotatable relative to the housing. The sun gear has a mounting shaft at one end facing the rotor support. At least one chamfer is formed on the outer circumferential surface of the mounting shaft. The rotor support has a mounting hole that mates with the mounting shaft. The shape of the mounting hole matches the shape of the mounting shaft.

10. A power equipment, characterized in that, Includes the power module as described in any one of claims 1-9.

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