Driving device and robot having the same

Abstract

The present application provides a drive device and a robot having the same. The drive device includes a reduction mechanism, a power mechanism, and a detection mechanism. The power mechanism is connected to the reduction mechanism and configured to be interlocked with the reduction mechanism. The detection mechanism is configured to detect motion information from the output end of the reduction mechanism and motion information from the power mechanism. By means of the above, the transmission accuracy and controllability of the drive device can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of motors, and in particular to a driving device and a robot having the driving device. Background Art

[0002] With the continuous development and popularization of motor technology, most devices are equipped with motors, which provide driving force to achieve the movement of mechanical components, such as lifting, rotation, and vibration, allowing the equipment to perform corresponding functions. However, the transmission accuracy of existing motors is not high, and the position of the motor input and output cannot be accurately controlled, which reduces the controllability of the motor. Therefore, how to improve the transmission accuracy of motors has become a major concern for industry professionals. Summary of the Invention

[0003] On the one hand, an embodiment of the present application provides a driving device, which includes: a deceleration mechanism, a power mechanism and a detection mechanism; the power mechanism is connected to the deceleration mechanism and is configured to be linked with the deceleration mechanism; the detection mechanism is configured to detect motion information of the output end of the deceleration mechanism and motion information of the power mechanism.

[0004] On the other hand, an embodiment of the present application further provides a robot, which includes the above-mentioned driving device.

[0005] The drive device provided in the embodiments of the present application is provided with a connected reduction mechanism and a power mechanism, and the power mechanism and the reduction mechanism are linked, so that the power mechanism can use the reduction mechanism to increase the output torque of the drive device to obtain a stronger driving force. At the same time, by providing a detection mechanism, and the detection mechanism is used to detect the motion information of the power mechanism and the motion information of the output end of the reduction mechanism respectively, the drive device can more accurately control the input and output positions of the drive device by comparing the motion information of the power mechanism and the motion information of the output end of the reduction mechanism, thereby improving the transmission accuracy and controllability of the drive device. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0007] Figure 1 1 is a schematic structural diagram of a driving device 10 provided in an embodiment of the present application;

[0008] Figure 2 yes Figure 1A schematic diagram of the exploded structure of the middle drive device 10;

[0009] Figure 3 yes Figure 2 A schematic structural diagram of the middle housing 100;

[0010] Figure 4 yes Figure 1 A schematic diagram of the cross-sectional structure of the middle housing 100 along line V-V;

[0011] Figure 5 yes Figure 3 A schematic structural diagram of the middle housing 100 from another perspective;

[0012] Figure 6 yes Figure 1 A schematic cross-sectional view of the middle housing 100 and the speed reduction mechanism 200 along line V-V;

[0013] Figure 7 yes Figure 6 Schematic diagram of the assembly of the middle transmission assembly 210 and the planetary carrier 220;

[0014] Figure 8 yes Figure 6 A schematic structural diagram of the middle output shaft 230;

[0015] Figure 9 yes Figure 1 A schematic cross-sectional view of the middle drive device 10 along line V-V;

[0016] Figure 10 yes Figure 9 A partial enlarged view of point F in the middle

[0017] Figure 11 yes Figure 9 A schematic structural diagram of the middle rotor assembly 320;

[0018] Figure 12 yes Figure 11 Schematic diagram of the structure of the mounting cover 323. DETAILED DESCRIPTION

[0019] The present application will be further described in detail below in conjunction with the accompanying drawings and examples. It is particularly noted that the following examples are only intended to illustrate the present application and are not intended to limit the scope of the present application. Similarly, the following examples are only some examples of the present application and not all examples. All other examples obtained by those of ordinary skill in the art without creative work are intended to fall within the scope of protection of this application.

[0020] References to "embodiments" in this application mean that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0021] See also Figures 1 to 2 , Figure 1 is a schematic structural diagram of the driving device 10 provided in an embodiment of the present application, Figure 2 yes Figure 1 Schematic diagram of the exploded structure of the middle drive device 10.

[0022] The driving device 10 provided in the embodiment of the present application can be applied to various devices that require driving force provided by electric energy, such as a bipedal robot or a quadrupedal robot, to realize the walking or other corresponding functions of the robot, and the driving device 10 can be a servo motor or a steering gear. Figures 1 to 2 As shown, the drive device 10 may include: a housing 100, a reduction mechanism 200, a power mechanism 300, a detection mechanism 400, and a circuit board 500. The reduction mechanism 200, the power mechanism 300, the detection mechanism 400, and the circuit board 500 are all disposed within the housing 100, with the reduction mechanism 200 connected to the power mechanism 300 and configured to interlock with the power mechanism 300 to increase the output torque of the drive device 10. The power mechanism 300 and the detection mechanism 400 are both electrically connected to the circuit board 500, and the power mechanism 300 can use the electrical energy transmitted by the circuit board 500 to provide driving force for the drive device 10. The detection mechanism 400 can detect motion information from the output end of the reduction mechanism 200 and the motion information of the power mechanism 300, and transmit the motion information to the circuit board 500. By comparing the motion information from the output end of the reduction mechanism 200 with the motion information from the power mechanism 300, the circuit board 500 can more accurately control the input and output positions of the drive device 10, thereby improving the transmission accuracy and controllability of the drive device 10.

[0023] Please combine Figure 2 See Figures 3 to 5 , Figure 3 yes Figure 2 A schematic structural diagram of the middle housing 100, Figure 4 yes Figure 1 A schematic diagram of the cross-sectional structure of the middle shell 100 along V-V, Figure 5 yes Figure 3 A schematic structural diagram of the middle housing 100 from another perspective.

[0024] The housing 100 can be used to install the speed reduction mechanism 200, the power mechanism 300, the detection mechanism 400 and the circuit board 500. Figures 2 to 3 As shown, the housing 100 may include: a box body 110, an upper cover 120, a lower cover 130 and a limiting plate 140. The upper cover 120 may be connected to one side of the box body 110, and the lower cover 130 may be connected to the other opposite side of the box body 110, and the box body 110, the upper cover 120 and the lower cover 130 may be jointly enclosed to form a accommodating space 101 for accommodating the reduction mechanism 200, the power mechanism 300, the detection mechanism 400 and the circuit board 500. The limiting plate 140 may be provided on the side of the upper cover 120 facing away from the box body 110, and may be used to limit the reduction mechanism 200. In this embodiment, the material of the housing 100 may be hard plastic, which not only ensures the structural strength of the housing 100, but also reduces the weight of the housing 100. In some embodiments, the material of the housing 100 may also be selected according to actual needs, which is not limited in this embodiment.

[0025] The box body 110 can be used to form a receiving space 101 together with the upper cover 120 and the lower cover 130 to accommodate the speed reduction mechanism 200, the power mechanism 300, the detection mechanism 400 and the circuit board 500. Figures 3 and 4 As shown, the box body 110 may include: a bottom wall 111, an outer wall 112, an inner wall 113, and a top wall 114. The outer wall 112 may be arranged on one side of the bottom wall 111, and the inner wall 113 may be arranged on the other opposite side of the bottom wall 111, and the outer wall 112 may also be arranged around the bottom wall 111. The top wall 114 is arranged on the side of the inner wall 113 facing away from the bottom wall 111, and the inner wall 113 may also be arranged around the top wall 114. At the same time, the bottom wall 111 may also be arranged in an annular shape, the outer wall 112 may be arranged on the outer edge of the bottom wall 111, and the inner wall 113 may be arranged on the inner edge of the bottom wall 111, so that the box body 110 can be similar to a barrel in appearance, so that the box body 110, the upper cover 120, and the lower cover 130 can jointly enclose the accommodating space 101. The shape of the top wall 114 can be adapted to the space formed by the inner sidewall 113, and the top wall 114 can be located in a region of the inner sidewall 113 that is away from the bottom wall 111 in the axial direction X. This allows the top wall 114 to be recessed into the housing 110 to form a clearance space 1011, thereby allowing the circuit board 500 to be installed in the clearance space 1011. In this embodiment, the reduction mechanism 200 and the power mechanism 300 can rotate about the axial direction X, and the axial direction X can specifically be perpendicular to the top wall 114.

[0026] Furthermore, a heat dissipation rib 1111 may be provided on the side of the bottom wall 111 facing away from the storage space 101, so that the heat dissipation rib 1111 is used to dissipate heat from the power mechanism 300 in the storage space 101, thereby preventing high temperature from affecting the operation of the power mechanism 300. The number of heat dissipation ribs 1111 can be multiple, and the multiple heat dissipation ribs 1111 can be arranged in a circular ring to improve the heat dissipation efficiency of the box body 110. Accordingly, in order to further improve the heat dissipation efficiency, a heat sink 1112 made of thermally conductive silicone can be provided on the side of the bottom wall 111 located in the storage space 101, and the heat sink 1112 can be arranged opposite to the power mechanism 300, so that the heat dissipation efficiency of the box body 110 can be further improved by using the heat sink 1112. At the same time, in order to facilitate the assembly of the drive device 10 with other equipment, a stud 1113 can be provided on the side of the bottom wall 111 facing away from the storage space 101, so that the drive device 10 can be fixedly connected to other equipment by screws, thereby realizing the assembly of the drive device 10 with other equipment. The number of studs 1113 can also be multiple, and multiple studs 1113 can be evenly distributed on the side of the bottom wall 111 away from the accommodating space 101 to enhance the structural strength of the connection between the drive device 10 and other devices. In addition, the height of the outer wall 112 in the axial direction X can be higher than the height of the inner wall 113 in the axial direction X, thereby increasing the space formed by the outer wall 112 to accommodate the reduction mechanism 200 and the power mechanism 300. In this embodiment, the avoidance space 1011 can be a part of the accommodating space 101, and the remaining part of the accommodating space 101 can be formed by the bottom wall 111, the outer wall 112, the inner wall 113, the top wall 114 and the upper cover 120. In some embodiments, the shape of the box body 110 is not limited to a cylindrical shape, and its shape can also be specifically set according to actual needs, which is not limited in this embodiment. In the description of this application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly defined.

[0027] The upper cover 120 can be provided on one side of the box body 110, and the upper cover 120 can be used to install the speed reduction mechanism 200 so that the speed reduction mechanism 200 can rotate under the drive of the power mechanism 300. Figures 3 and 4As shown, the upper cover 120 can be disposed on a side of the outer wall 112 that is away from the bottom wall 111 in the axial direction X, and the upper cover 120 can be annularly arranged to match the shape of the outer wall 112. Furthermore, the upper cover 120 can also be disposed opposite the bottom wall 111, and the orthographic projection of the upper cover 120 on the bottom wall 111 can also be disposed around the inner wall 113. The upper cover 120 can be disposed around the reduction mechanism 200 and fixedly connected to the reduction mechanism 200, so that the reduction mechanism 200 can rotate relative to the upper cover 120 under the drive of the power mechanism 300, thereby providing a corresponding driving force for the drive device 10. In this embodiment, a screw hole can be provided on the side of the upper cover 120 that is disposed opposite the outer wall 112, and screws 102 can be provided on the outer wall 112, so that the outer wall 112 is fixedly connected to the upper cover 120 via the screws 102. In some embodiments, the upper cover 120 can also be fixedly connected to the outer wall 112 through assembly methods such as welding, clamping, and bonding.

[0028] The lower cover 130 can be disposed on the other opposite side of the box body 110, and the lower cover 130 can be disposed opposite to the top wall 114 to close the escape space 1011 formed by the top wall 114 on the box body 110 to protect the circuit board 500. Figures 4 and 5 As shown, the lower cover 130 can be connected to the side of the bottom wall 111 facing away from the upper cover 120, and the inner sidewall 113 can also be arranged around the lower cover 130. In other words, the lower cover 130 can be arranged to cover the escape space 1011, thereby sealing the escape space 1011 and protecting the circuit board 500. In this embodiment, the side of the bottom wall 111 facing away from the upper cover 120 can also be provided with screw holes, and the lower cover 130 can be provided with screws 102, so that the lower cover 130 can also be fixedly connected to the bottom wall 111 via the screws 102. In some embodiments, the lower cover 130 can also be fixedly connected to the bottom wall 111 through assembly methods such as welding, clamping, and bonding.

[0029] The limiting plate 140 can be provided on the side of the upper cover 120 away from the bottom wall 111, and the limiting plate 140 can be used to limit the displacement of the reduction mechanism 200 in the axial direction X to prevent the reduction mechanism 200 from moving along the axial direction X during the rotation process. Figures 3 and 4As shown, the limiting plate 140 can be arranged in an annular shape to adapt to the shape of the upper cover 120, and the orthographic projection of the limiting plate 140 on the bottom wall 111 can also be arranged around the inner side wall 113. The limiting plate 140 can also be arranged around the reduction mechanism 200, and the limiting plate 140 can also be similar to a "Z"-shaped structure in appearance, so that the limiting plate 140 can have a flange edge protruding toward the reduction mechanism 200, and the flange edge can also overlap the side of the reduction mechanism 200 perpendicular to the axial direction X, thereby limiting the displacement of the reduction mechanism 200 in the axial direction X. In this embodiment, the side of the upper cover 120 facing away from the bottom wall 111 can also be provided with a screw hole, and the limiting plate 140 can also be provided with a screw 102, so that the limiting plate 140 can be fixedly connected to the upper cover 120 by the screw 102. In some embodiments, the limiting plate 140 can also be fixedly connected to the upper cover 120 by assembly methods such as welding, clamping, and bonding. All directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative positional relationship, movement, etc. between the components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices.

[0030] See also Figures 6 to 8 , Figure 6 yes Figure 1 Schematic diagram of the cross-sectional structure of the middle housing 100 and the speed reduction mechanism 200 along V-V, Figure 7 yes Figure 6 Schematic diagram of the assembly of the middle transmission assembly 210 and the planetary carrier 220, Figure 8 yes Figure 6 Schematic diagram of the structure of the middle output shaft 230.

[0031] The speed reduction mechanism 200 may be disposed in the accommodation space 101, and the speed reduction mechanism 200 may be used to increase the output torque of the driving device 10. Figures 6 to 7As shown, the reduction mechanism 200 may include: a transmission assembly 210, a planetary carrier 220, and an output shaft 230. The transmission assembly 210 may be connected to the housing 100 and the power mechanism 300, respectively, and may be configured to interlock with the power mechanism 300. The planetary carrier 220 may be connected to the transmission assembly 210 and may rotate under the drive of the transmission assembly 210. The output shaft 230 may be disposed through the transmission assembly 210 and may be the output end of the reduction mechanism 200. The output shaft 230 may also be connected to the planetary carrier 220 and may rotate axially under the drive of the planetary carrier 220. In this embodiment, the reduction mechanism 200 may adopt an NW planetary reducer design (N represents internal meshing, W represents external meshing). This design not only increases the output torque of the drive device 10, but also provides a more reasonable transmission ratio distribution of the reduction mechanism 200, thereby increasing the strength of the reduction mechanism 200 and extending its service life.

[0032] The transmission assembly 210 can be connected to the power mechanism 300, and the transmission assembly 210 can be used to increase the output torque of the driving device 10. Figures 6 and 7 As shown, the transmission assembly 210 may include: a main gear 211, an internal gear 212 and a duplex gear 213. Among them, the main gear 211 may be arranged in the accommodating space 101, and the main gear 211 may be connected to the power mechanism 300, and may rotate with the axial direction X as the rotation axis under the drive of the power mechanism 300. The internal gear 212 may also be arranged in the accommodating space 101, and the internal gear 212 may also be arranged around the main gear 211. The duplex gear 213 may be connected to the planetary carrier 220, and the duplex gear 213 may also be meshed with the main gear 211 and the internal gear 212 respectively, so that the duplex gear 213 can roll relative to the internal gear 212 under the drive of the main gear 211, thereby driving the planetary carrier 220 to rotate.

[0033] Furthermore, the main gear 211 can be disposed on a side of the top wall 114 facing away from the lower cover 130, and the main gear 211 can also be inserted through the planetary carrier 220, so that the main gear 211 can rotate relative to the planetary carrier 220 under the drive of the power mechanism 300. For example, one end of the main gear 211 can be rotatably connected to the planetary carrier 220, and the other opposite end can be connected to the power mechanism 300. The middle area of the main gear 211 can be provided with a corresponding tooth portion for engaging with the double gear 213 to drive the double gear 213 to rotate. The internal gear 212 can be disposed around the main gear 211 and can be connected to the upper cover 120. At the same time, since the internal gear 212 meshes with the duplex gear 213, to prevent the internal gear 212 from circumferentially moving under the drive of the duplex gear 213, the internal gear 212 can be fixed to the upper cover 120, thereby limiting the circumferential movement of the internal gear 212 and allowing the duplex gear 213 to roll relative to the internal gear 212. For example, the upper cover 120 can be disposed around the internal gear 212, and a limit pin 214 can be disposed between the internal gear 212 and the upper cover 120. The limit pin 214 can interfere with the internal gear 212 and the upper cover 120, respectively, to limit the circumferential movement of the internal gear 212. The duplex gear 213 can be disposed between the main gear 211 and the internal gear 212, and the duplex gear 213 can mesh with the main gear 211 and the internal gear 212, respectively. For example, the large teeth 2131 of the duplex gear 213 can mesh with the main gear 211, while the small teeth 2132 coaxially connected to the large teeth 2131 can mesh with the internal gear 212. Thus, when the main gear 211 rotates under the drive of the power mechanism 300, the duplex gear 213 can also rotate under the drive of the main gear 211. Furthermore, because the internal gear 212 is fixed to the upper cover 120, the duplex gear 213 rolls relative to the internal gear 212, thereby driving the planetary carrier 220 to rotate.

[0034] In the embodiment of the present application, the main gear 211 is externally meshed with the large teeth 2131 of the duplex gear 213, and the internal gear 212 is internally meshed with the small teeth 2132 of the duplex gear 213, thereby forming a NW planetary reducer solution. This not only increases the output torque of the drive device 10, but also makes the transmission ratio distribution of the reduction mechanism 200 more reasonable, thereby improving the strength of the main gear 211, the internal gear 212 and the duplex gear 213, and extending the service life of the main gear 211, the internal gear 212 and the duplex gear 213.

[0035] The planet carrier 220 may be the output end of the reduction mechanism 200, and the planet carrier 220 may be disposed in the accommodation space 101, connected to the double gear 213, and may rotate under the drive of the double gear 213, thereby driving the output shaft 230 to rotate axially. Figures 6 and 7As shown, the planet carrier 220 can be positioned opposite the top wall 114 and can include a first planet carrier 221, a second planet carrier 222, a rotating shaft 223, and a fixing member 224. The first and second planet carriers 221, 222 can be positioned opposite each other and spaced apart, with a space between them for mounting the duplex gear 213. The rotating shaft 223 can be positioned between the first and second planet carriers 221, 222 and can be connected to each of the first and second planet carriers 221, 222. The duplex gear 213 can be connected to the rotating shaft 223 and can be driven to rotate by the rotating shaft 223. The fixing member 224 can be inserted between the first and second planet carriers 221, 222 to lock the first and second planet carriers 221, 222, thereby maintaining their rotational consistency. The terms "first," "second," and "third" in this application are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the quantity of the technical features indicated. Therefore, a feature specified as "first," "second," or "third" may explicitly or implicitly include at least one of such features.

[0036] Furthermore, the first planet carrier 221 can be disposed on the side of the second planet carrier 222 facing away from the top wall 114, and the first planet carrier 221 can be arranged in an annular shape, so that the main gear 211 can be inserted into the first planet carrier 221. A second bearing A can be disposed between the first planet carrier 221 and the main gear 211, and the second bearing A can be disposed around the main gear 211 to improve the coaxiality of the rotation of the first planet carrier 221 and the main gear 211. Furthermore, the second bearing A can be a flange bearing, such that the second bearing A can have a flange edge protruding toward the first planet carrier 221, and the flange edge can also overlap the side of the first planet carrier 221 facing away from the second planet carrier 222, thereby limiting the displacement of the first planet carrier 221 in the axial direction X. Accordingly, the main gear 211 can be provided with a first limiting member 2111, and the first limiting member 2111 can be arranged around the main gear 211 and arranged on the side of the second bearing A away from the second planetary carrier 222 to limit the displacement of the second bearing A in the axial direction X and prevent the second bearing A from axial movement. For example, the first limiting member 2111 can be a retaining spring, and the first limiting member 2111 can be locked on the main gear 211 so that the first limiting member 2111 can limit the second bearing A. Of course, the first limiting member 2111 is not limited to a retaining spring, and it is only necessary that the first limiting member 2111 can play a limiting role on the second bearing A. In this embodiment, the first planetary carrier 221 can be the output end of the reduction mechanism 200, that is, the output flange of the entire drive device 10, which can be used to connect with other components outside the drive device 10 to drive other components to achieve functions such as lifting, rotation, or vibration.

[0037] To further improve the rotational uniformity of the first planet carrier 221 and prevent displacement of the first planet carrier 221 in the axial direction X, a limit plate 140 may be disposed around the first planet carrier 221, with a fifth bearing B disposed between the limit plate 140 and the first planet carrier 221. The fifth bearing B may be a crossed roller bearing, and the flange of the limit plate 140 may overlap the side of the fifth bearing B facing away from the second planet carrier 222. Furthermore, the first planet carrier 221 may also be provided with a flange protruding toward the fifth bearing B, which may overlap the side of the fifth bearing B closer to the second planet carrier 222. In this manner, the limit plate 140 first limits the displacement of the fifth bearing B in the axial direction X, and then the fifth bearing B limits the displacement of the first planet carrier 221 in the axial direction X, thereby limiting the position of the first planet carrier 221 and preventing displacement of the first planet carrier 221 in the axial direction X during rotation.

[0038] The second planet carrier 222 can be disposed on a side of the first planet carrier 221 near the top wall 114. The second planet carrier 222 can also be annularly configured to match the first planet carrier 221, thereby facilitating the insertion of the main gear 211 into the second planet carrier 222. The second planet carrier 222 can be provided with a boss 2221 protruding toward the first planet carrier 221. The first planet carrier 221 can be disposed on the side of the boss 2221 facing away from the second planet carrier 222, allowing the first and second planet carriers 221 and 222 to be positioned opposite each other and spaced apart, thereby providing space for the installation of the duplex gear 213. Accordingly, since the first planet carrier 221 is only connected to the boss 2221, the fixing member 224 can be inserted between the first planet carrier 221 and the boss 2221 to lock the first and second planet carriers 221 and 222, ensuring the consistent rotation of the first and second planet carriers 221 and 222. For example, the fixing member 224 can be a screw, and the first planet carrier 221 and the boss 2221 can be provided with corresponding screw holes, thereby achieving a fixed connection between the first planet carrier 221 and the second planet carrier 222. In addition, to further improve the stability of the connection between the first planet carrier 221 and the second planet carrier 222, the number of bosses 2221 can be three, and the three bosses 2221 can be evenly distributed on the side of the second planet carrier 222 close to the first planet carrier 221. Accordingly, the number of fixing members 224 can also be three, and one fixing member 224 can be inserted into each boss 2221. Of course, the number of bosses 2221 is not limited to three, and can also be two, four, or five, as long as the number of fixing members 224 matches the number of bosses 2221.

[0039] The rotating shaft 223 can be disposed between the first planet carrier 221 and the second planet carrier 222, and the rotating shaft 223 can also be connected to the first planet carrier 221 and the second planet carrier 222 respectively, so that the double gear 213 can drive the first planet carrier 221 and the second planet carrier 222 to rotate through the rotating shaft 223. Figures 6 and 7As shown, one end of the rotating shaft 223 can be connected to the first planetary carrier 221, and the other opposite end can be connected to the second planetary carrier 222. The duplex gear 213 can be sleeved on the rotating shaft 223 and can rotate relative to the rotating shaft 223 driven by the main gear 211. Because the duplex gear 213 also meshes with the internal gear 212, when the duplex gear 213 rotates relative to the rotating shaft 223, it also rolls relative to the internal gear 212, allowing the duplex gear 213 to drive the first and second planetary carriers 221 and 222 to rotate via the rotating shaft 223. The rotating shaft 223 can be inserted between the first and second planetary carriers 221 and 222, and can also have an interference fit with the second planetary carrier 222. This arrangement allows for easier assembly by first assembling the duplex gear 213 onto the rotating shaft 223 and then aligning the first planetary carrier 221 with the rotating shaft 223. Furthermore, the number of rotating shafts 223 can be three, and the three rotating shafts 223 can be evenly distributed on the side of the second planetary carrier 222 close to the first planetary carrier 221. Accordingly, the number of double gears 213 can also be three, and one double gear 213 can be mounted on one rotating shaft 223. Of course, the number of rotating shafts 223 is not limited to three; the number of double gears 213 only needs to match the number of rotating shafts 223.

[0040] The output shaft 230 can be connected to the planet carrier 220 and can rotate axially under the drive of the planet carrier 220. Figure 6 and Figure 8 As shown, the output shaft 230 can be inserted into the main gear 211, and the output shaft 230 can include: a shaft body 231 and an end cover 232. The shaft body 231 can be inserted into the main gear 211, and the main gear 211 can also rotate relative to the shaft body 231 under the drive of the power mechanism 300. The end cover 232 can be disposed at one end of the shaft body 231, and the end cover 232 can also be connected to the first planetary carrier 221, so that the first planetary carrier 221 can drive the shaft body 231 to rotate axially through the end cover 232. For example, the end cover 232 can be connected to the side of the first planetary carrier 221 facing away from the second planetary carrier 222, and the end cover 232 can be screwed to the second planetary carrier 222 to ensure the reliability of the connection between the end cover 232 and the first planetary carrier 221.

[0041] Since the first planetary carrier 221 is the output end of the reduction mechanism 200, and the output shaft 230 is connected to the first planetary carrier 221 and can rotate under the drive of the first planetary carrier 221, the output shaft 230 can also be considered the output end of the reduction mechanism 200. The detection mechanism 400 can be disposed on the output shaft 230, so that the detection mechanism 400 can obtain the motion information of the first planetary carrier 221 by detecting the motion information of the output shaft 230. Accordingly, since the circuit board 500 is disposed in the avoidance space 1011 between the top wall 114 and the lower cover 130, the output shaft 230 can also be disposed through the top wall 114, so that the detection mechanism 400 on the output shaft 230 cooperates with the circuit board 500 to realize the detection function of the detection mechanism 400. For example, the shaft 231 can be disposed through the top wall 114, and the end of the shaft 231 away from the end cover 232 can be disposed opposite the circuit board 500. At the same time, a first mounting groove 2311 may be provided on the side of the shaft 231 opposite to the lower cover 130 , and the detection mechanism 400 may be disposed in the first mounting groove 2311 to facilitate the detection mechanism 400 and the circuit board 500 to perform coordinated detection.

[0042] See also Figures 9 to 12 , Figure 9 yes Figure 1 A schematic diagram of the cross-sectional structure of the middle drive device 10 along V-V, Figure 10 yes Figure 9 A partial enlarged view of point F in the middle. Figure 11 yes Figure 9 A schematic structural diagram of the middle rotor assembly 320, Figure 12 yes Figure 11 Schematic diagram of the structure of the mounting cover 323.

[0043] The power mechanism 300 can be disposed in the accommodating space 101, and the power mechanism 300 can be used to provide driving force for the driving device 10. Figure 9 As shown, the power mechanism 300 may include: a stator assembly 310 and a rotor assembly 320. The stator assembly 310 may be disposed between the outer wall 112 and the inner wall 113, and may also be electrically connected to the circuit board 500 and may generate magnetic force when energized. The rotor assembly 320 may be disposed between the stator assembly 310 and the outer wall 112, and may also be connected to the main gear 211 and may rotate under the magnetic force of the stator assembly 310, thereby driving the main gear 211 to rotate. In this embodiment, the detection mechanism 400 may obtain motion information of the power mechanism 300 by detecting the motion information of the rotor assembly 320, so that the circuit board 500 can more accurately control the input and output positions of the drive device 10 by comparing the motion information of the power mechanism 300 with the motion information of the output end of the reduction mechanism 200, thereby improving the transmission accuracy and controllability of the drive device 10.

[0044] The stator assembly 310 can be arranged opposite to the rotor assembly 320, and when the stator assembly 310 is energized, the housing generates magnetic force to drive the rotor assembly 320 to rotate, thereby providing driving force for the driving device 10. Figure 9 As shown, the stator assembly 310 may include a metal member 311 and a coil 312. The metal member 311 may be formed from multiple layers of laminated silicon steel sheets. The metal member 311 may be positioned between the outer wall 112 and the inner wall 113 and connected to the side of the inner wall 113 proximal to the outer wall 112, thereby securing the stator assembly 310 within the accommodating space 101. For example, the metal member 311 may be fixedly connected to the inner wall 113 by bonding or snapping. The coil 312 may be wound around the metal member 311. When energized, the coil 312 may become an electromagnet to generate magnetic force, driving the rotor assembly 320 to rotate the main gear 211, thereby providing driving force for the drive device 10. In this embodiment, the metal member 311 and the coil 312 may be positioned opposite and adjacent to the heat sink 1112 on the bottom wall 111, so that the heat sink 1112 can conduct heat generated by the coil 312 when energized.

[0045] The rotor assembly 320 may be disposed between the metal member 311 and the outer wall 112, and may be disposed opposite to and spaced from the metal member 311 and the outer wall 112 to facilitate the rotation of the rotor assembly 320. Figures 9 to 11 As shown, the rotor assembly 320 may include: a rotating frame 321, a permanent magnet 322, and a mounting cover 323. The rotating frame 321 may be disposed between the metal member 311 and the outer wall 112, and the rotating frame 321 may be connected to the main gear 211. The permanent magnet 322 may be disposed on the rotating frame 321 and disposed opposite the coil 312. The permanent magnet 322 may be driven by the magnetic force of the coil 312 to drive the rotating frame 321 to rotate, thereby driving the main gear 211 to rotate. The mounting cover 323 may be disposed on the rotating frame 321, and the mounting cover 323 may be used to mount the detection mechanism 400, so that the detection mechanism 400 can obtain motion information of the power mechanism 300 through the motion information of the rotating frame 321.

[0046] The rotating frame 321 may include: a fixing portion 3211, a bearing portion 3212 and a connecting portion 3213. Figures 9 to 11As shown, the fixed portion 3211 can be disposed around the main gear 211 and form an interference fit with the main gear 211, facilitating the rotation of the rotating frame 321 with the main gear 211. Of course, the fixed portion 3211 can also be connected to the main gear 211 through other fixing methods, as long as the fixed portion 3211 can drive the main gear 211 to rotate. The fixed portion 3211 can also be disposed between the second planetary carrier 222 and the main gear 211. A third bearing C can also be disposed between the fixed portion 3211 and the second planetary carrier 222. The third bearing C can be disposed around the fixed portion 3211 to improve the rotational coaxiality of the main gear 211, the rotating frame 321, and the planetary carrier 220. Furthermore, the third bearing C can also be a flange bearing, such that the third bearing C can have a flange protruding toward the second planetary carrier 222. The flange can also overlap the side of the second planetary carrier 222 facing away from the first planetary carrier 221, thereby limiting the displacement of the second planetary carrier 222 in the axial direction X. Accordingly, the fixing portion 3211 can be provided with a second limiting member 32111. The second limiting member 32111 can be disposed around the fixing portion 3211 and on the side of the third bearing C facing away from the first planetary carrier 221, thereby limiting the displacement of the third bearing C in the axial direction X. For example, the second limiting member 32111 can be a protruding edge formed on the fixing portion 3211. The third bearing C can be disposed on the side of the protruding edge closer to the second planetary carrier 222, thereby utilizing the protruding edge to limit the position of the third bearing C. Of course, the second limiting member 32111 can also be a retaining spring; it is sufficient that the second limiting member 32111 can limit the position of the third bearing C.

[0047] The bearing portion 3212 can be disposed on a side of the fixing portion 3211 facing away from the main gear 211, and the bearing portion 3212 can also be located between the metal member 311 and the outer wall 112. It can be used to mount the permanent magnet 322 so that the permanent magnet 322 can be disposed opposite the coil 312 on the metal member 311. For example, a notch 32121 can be provided on the bearing portion 3212, and the notch 32121 is used to accommodate the permanent magnet 322. At the same time, the bearing portion 3212 is further provided with a fixing plate 32122 on the side facing away from the metal member 311, and the fixing plate 32122 can be disposed around the bearing portion 3212 and connected to the permanent magnet 322 to fix the permanent magnet 322 in the notch 32121, thereby preventing the permanent magnet 322 from being thrown out during rotation. The connecting portion 3213 can be arranged on the side of the top wall 114 facing away from the lower cover 130, and the connecting portion 3213 can also be arranged between the fixing portion 3211 and the bearing portion 3212, and connected to the fixing portion 3211 and the bearing portion 3212 respectively, so that when the permanent magnet 322 on the bearing portion 3212 moves, the bearing portion 3212 can drive the fixing portion 3211 to rotate through the connecting portion 3213. In this embodiment, the fixing portion 3211 and the bearing portion 3212 are both arranged in an annular shape, and the bearing portion 3212 can also be arranged around the metal part 311 so that the permanent magnet 322 and the coil 312 are arranged relative to each other. At the same time, the fixing portion 3211, the bearing portion 3212 and the connecting portion 3213 can be an integral structure, and the three can be formed by a corresponding integral molding process to improve the structural strength of the rotating frame 321. In addition, the fixing plate 32122 and the permanent magnet 322 can be fixedly connected by attaching double-sided tape. Of course, in some embodiments, the fixing plate 32122 and the permanent magnet 322 may also be connected by other fixing methods, and the fixing plate 32122 only needs to fix the permanent magnet 322 in the notch 32121 .

[0048] The mounting cover 323 can be disposed on the fixing portion 3211 so that when the fixing portion 3211 drives the main gear 211 to rotate, the detection mechanism 400 can detect the motion information of the fixing portion 3211. Figures 10 to 12As shown, the mounting cover 323 can be disposed on a side of the fixing portion 3211 facing away from the first planet carrier 221, and the fixing portion 3211 can be inserted into and engaged with the mounting cover 323. For example, a slot 3231 can be provided on a side of the mounting cover 323 near the fixing portion 3211, and a first latch 3232 can be provided on the inner sidewall of the slot 3231. Accordingly, the fixing portion 3211 can be provided with a second latch 32112. When the fixing portion 3211 and the mounting cover 323 are assembled, the first latch 3232 and the second latch 32112 can be offset to allow the fixing portion 3211 to be inserted into the slot 3231. After the fixing portion 3211 is inserted into the slot 3231, the fixing portion 3211 can be rotated to engage the first latch 3232 and the second latch 32112, thereby completing the assembly of the fixing portion 3211 and the mounting cover 323. The slot 3231 can be annular to match the shape of the fixing portion 3211. Furthermore, to facilitate installation of the detection mechanism 400, a second mounting groove 3233 can be provided on the side of the mounting cover 323 facing away from the fixing portion 3211, and the detection mechanism 400 can be disposed within the second mounting groove 3233. In this embodiment, the mounting cover 323 can be annular to match the shape of the fixing portion 3211, and can also be disposed around the end of the shaft 231 away from the end cap 232.

[0049] Furthermore, since the circuit board 500 is disposed within the clearance space 1011 between the top wall 114 and the lower cover 130, to facilitate the detection mechanism 400 on the mounting cover 323 and the circuit board 500 to cooperate and detect, the fixing portion 3211 can also be disposed through the top wall 114, and the side of the fixing portion 3211 facing away from the first planetary carrier 221 can be located within the clearance space 1011, so that the mounting cover 323 can be disposed within the clearance space 1011, opposite the circuit board 500, to facilitate the detection mechanism 400 on the mounting cover 323 and the circuit board 500 to cooperate and detect. Since the fixing portion 3211 is disposed through the top wall 114, the fixing portion 3211 is also disposed around the end of the shaft 231 away from the end cover 232. In order to improve the coaxiality of the rotation of the fixing part 3211 and the shaft body 231, a first bearing D can be arranged between the fixing part 3211 and the shaft body 231, and the first bearing D can also be arranged between the mounting cover 323 and the main gear 211, so that the area where the mounting cover 323 is located in the space formed around the fixing part 3211 can limit the first bearing D, thereby preventing the first bearing D from falling out from between the fixing part 3211 and the shaft body 231 during rotation.

[0050] Accordingly, a fourth bearing E may be provided between the fixed portion 3211 and the top wall 114, allowing the rotating frame 321 to be coaxial with the fifth bearing A, thereby ensuring the circular runout of the rotating frame 321 and improving the transmission accuracy of the rotating frame 321. Furthermore, the fourth bearing E may be a flange bearing, such that the fourth bearing E may have a flange edge protruding toward the top wall 114, and the flange edge may also overlap the side of the top wall 114 near the lower cover 130, thereby limiting the displacement of the rotating frame 321 in the axial direction X. Furthermore, the fixed portion 3211 may be provided with a third limiting member 32113, which may be disposed around the fixed portion 3211 and on the side of the fourth bearing E facing away from the first planetary carrier 221, thereby limiting the displacement of the fourth bearing E in the axial direction X. For example, the third limiting member 32113 can be a retaining spring, and the third limiting member 32113 can be locked to the fixing portion 3211, so that the third limiting member 32113 can limit the fourth bearing E. Of course, the third limiting member 32113 is not limited to a retaining spring; it only needs to be able to limit the fourth bearing E.

[0051] The detection mechanism 400 can be arranged in the accommodation space 101, and can be used to detect the motion information of the output end of the speed reduction mechanism 200 and the motion information of the power mechanism 300, and transmit it to the circuit board 500, so that the circuit board 500 can compare the motion information of the output end of the speed reduction mechanism 200 with the motion information of the power mechanism 300, thereby more accurately controlling the input and output positions of the driving device 10. Figures 9 and 10 As shown, the detection mechanism 400 may include: a first detection component 410 and a second detection component 420. Among them, the first detection component 410 can be used to detect the motion information of the output end of the reduction mechanism 200, and the second detection component 420 can be used to detect the motion information of the power mechanism 300, and the first detection component 410 and the second detection component 420 are both electrically connected to the circuit board 500. In this way, the first detection component 410 and the second detection component 420 can be used to detect the position of the input and output of the drive device 10, so that the circuit board 500 can more accurately control the position of the input and output of the drive device 10 by comparing the motion information detected by the first detection component 410 and the second detection component 420, thereby improving the transmission accuracy and controllability of the drive device 10. In this embodiment, the motion information can refer to the output end of the reduction mechanism 200 and the power mechanism 300, that is, the rotation angle, rotation speed and rotation position of the output shaft 230 and the rotating frame 321 during the rotation process.

[0052] Specifically, the first detection component 410 may include: a first detected component 411 and a first detection component 412. The first detected component 411 may be arranged on the output end of the reduction mechanism 200 and may move under the drive of the reduction mechanism 200. The first detection component 412 may be arranged on the circuit board 500 and arranged opposite to the first detected component 411, and the first detection component 412 may detect and obtain the motion information of the output end of the reduction mechanism 200 based on the movement of the first detected component 411. For example, the first detected component 411 may be arranged at the end of the shaft 231 away from the end cover 232, and the first detected component 411 may also be arranged in the first mounting groove 2311, so that the first detected component 411 may be arranged opposite to the circuit board 500. The first detecting member 412 can be disposed on a side of the circuit board 500 near the top wall 114, and the first detecting member 412 can be disposed opposite the first detected member 411, so that the first detecting member 412 can detect the movement of the first detected member 411 to obtain motion information of the output shaft 230, that is, motion information of the output end of the reduction mechanism 200. In this embodiment, the first detected member 411 can be a magnetic encoder, and the first detecting member 412 can be a Hall effect sensor. Thus, the first detecting member 412 can detect changes in the magnetic field of the first detected member 411 to obtain motion information of the output shaft 230.

[0053] Accordingly, the second detection component 420 may include: a second detected member 421 and a second detection member 422. The second detected member 421 may be disposed on the power mechanism 300 and may move under the drive of the power mechanism 300. The second detection member 422 may be disposed on the circuit board 500 and disposed opposite to the second detected member 421. The second detection member 422 may detect and obtain motion information of the power mechanism 300 based on the motion of the second detected member 421. For example, the second detected member 421 may be disposed on a side of the mounting cover 323 close to the circuit board 500, and the second detected member 421 may also be disposed in the second mounting groove 3233, so that the second detected member 421 may be disposed opposite to the circuit board 500. The second detecting member 422 can be disposed on a side of the circuit board 500 near the top wall 114, and the second detecting member 422 can be disposed opposite the second detected member 421, so that the second detecting member 422 can detect the movement of the second detected member 421 and obtain motion information of the rotating frame 321, that is, the motion information of the power mechanism 300. In this embodiment, the second detected member 421 can also be disposed around the first detected member 411, that is, the second detected member 421 can be arranged in an annular shape. Correspondingly, the second mounting groove 3233 can also be arranged in an annular shape to adapt to the second detected member 421. The second detecting member 422 can be disposed on a side of the second detected member 421 facing away from the first detected member 411, and the second detected member 421 can be disposed radially opposite. At the same time, the second detected member 421 can also be a magnetic encoder, and the second detecting member 422 can also be a Hall effect sensor. Thus, the second detecting member 422 can detect changes in the magnetic field of the second detected member 421 to obtain motion information of the rotating frame 321. In some embodiments, the first detection component 410 and the second detection component 420 may also use a combination of an optical encoder and a magnetic encoder to detect the motion information of the output end of the deceleration mechanism 200 and the motion information of the power mechanism 300 .

[0054] In this manner, when the first planetary carrier 221 rotates, the output shaft 230 drives the first detected member 411 to rotate, and the first detecting member 412 on the circuit board 500 can detect the motion information of the output shaft 230 through the first detected member 411. When the rotating frame 321 rotates, the mounting cover 323 drives the second detected member 421 to rotate, and the second detecting member 422 on the circuit board 500 can detect the motion information of the rotating frame 321 through the second detected member 421. In this way, by comparing the motion information of the output shaft 230 and the rotating frame 321, the circuit board 500 can more accurately control the input and output of the drive device 10, thereby improving the transmission accuracy and controllability of the drive device 10.

[0055] The drive device 10 provided in the embodiment of the present application is provided with a reduction mechanism 200 and a power mechanism 300 connected to each other, and the power mechanism 300 can be used to drive the reduction mechanism 200 to rotate, so that the power mechanism 300 can use the reduction mechanism 200 to increase the output torque of the drive device 10 to obtain a stronger driving force. At the same time, by providing a detection mechanism 400, and the detection mechanism 400 is used to detect the motion information of the power mechanism 300 and the motion information of the output end of the reduction mechanism 200 respectively, the drive device 10 can more accurately control the input and output positions of the drive device 10 by comparing the motion information of the power mechanism 300 with the motion information of the output end of the reduction mechanism 200, thereby improving the transmission accuracy and controllability of the drive device 10.

[0056] The above descriptions are only some embodiments of the present application and do not limit the scope of protection of the present application. Any equivalent device or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the scope of patent protection of the present application.

Claims

1. A driving device, characterized in that: The driving device includes: a speed reduction mechanism, a power mechanism, a circuit board, a detection mechanism and a housing; The reduction mechanism includes: a transmission assembly, a planetary carrier, and an output shaft; the transmission assembly is connected to the power mechanism and is configured to be linked with the power mechanism; the planetary carrier is the output end of the reduction mechanism, and the planetary carrier is also connected to the transmission assembly and can rotate under the drive of the transmission assembly; the output shaft is provided in the transmission assembly and connected to the planetary carrier, and the output shaft can also rotate axially under the drive of the planetary carrier; The circuit board is arranged opposite to the end of the output shaft away from the planet carrier; the detection mechanism includes: a first detection component and a second detection component; The first detection assembly includes: a first detected member and a first detecting member; the first detected member is disposed on an end of the output shaft away from the planet carrier; the first detecting member is disposed on the circuit board and is opposite to the first detected member, and the first detecting member is configured to detect motion information of the output shaft through the first detected member to obtain motion information of the planet carrier; The second detection assembly includes: a second detected member and a second detecting member; the second detected member is disposed on the power mechanism; the second detecting member is disposed on the circuit board and is arranged opposite to the second detected member, and the second detecting member is configured to detect motion information of the power mechanism through the second detected member; The housing includes: a box body, an upper cover, and a lower cover; the upper cover is connected to one side of the box body, and the lower cover is connected to the other opposite side of the box body, and the box body, the upper cover, and the lower cover are jointly enclosed to form an accommodation space for accommodating the deceleration mechanism, the power mechanism, the detection mechanism, and the circuit board; The box body includes: a bottom wall, an outer wall, an inner wall, and a top wall; the outer wall is arranged on one side of the bottom wall, the inner wall is arranged on the other opposite side of the bottom wall, and the outer wall is also arranged around the bottom wall; the top wall is arranged on the side of the inner wall away from the bottom wall, and the inner wall is also arranged around the top wall; the upper cover is arranged on the side of the outer wall away from the bottom wall, and the orthographic projection of the upper cover on the bottom wall is also arranged around the inner wall; the lower cover is connected to the bottom wall, and the inner wall is also arranged around the lower cover; the end of the output shaft away from the planet carrier is passed through the top wall; The inner side wall, the top wall and the lower cover are jointly arranged to form an escape space for accommodating the circuit board, and the escape space is a part of the accommodating space; the bottom wall, the outer side wall, the inner side wall, the top wall and the upper cover are jointly arranged to form the remaining part of the accommodating space, and the deceleration mechanism and the power mechanism are located in the remaining part of the accommodating space; a heat sink is also provided on one side of the bottom wall located in the accommodating space, and the heat sink is also arranged opposite to the power mechanism.

2. The driving device according to claim 1, characterized in that The planet carrier includes: a first planet carrier, a second planet carrier and a rotating shaft; The first planet carrier and the second planet carrier are arranged opposite to each other and at intervals; the rotating shaft is arranged between the first planet carrier and the second planet carrier, and one end of the rotating shaft is connected to the first planet carrier, and the other opposite end is connected to the second planet carrier; the transmission assembly is connected to the rotating shaft, and can drive the first planet carrier and the second planet carrier to rotate through the rotating shaft; the output shaft is connected to the first planet carrier and can rotate axially under the drive of the first planet carrier; wherein, the first planet carrier is the output end of the reduction mechanism, and the first detection member is configured to detect the motion information of the output shaft through the first detected member to obtain the motion information of the first planet carrier.

3. The driving device according to claim 2, characterized in that The planet carrier further comprises: a fixing member; The fixing member is inserted into the first planet carrier and the second planet carrier, and is configured to lock the first planet carrier and the second planet carrier so that the first planet carrier and the second planet carrier rotate synchronously.

4. The driving device according to claim 3, characterized in that The second planet carrier is provided with a boss, and the first planet carrier is provided on a side of the boss away from the second planet carrier, so that the first planet carrier and the second planet carrier are opposite and spaced apart; wherein the fixing member is inserted into the boss.

5. The driving device according to claim 4, characterized in that The number of the fixing members and the number of the bosses are both three, and one fixing member is inserted into one boss.

6. The driving device according to claim 2, characterized in that The transmission assembly includes: a main gear, an internal gear and a duplex gear; The main gear is provided through the first planetary carrier and the second planetary carrier, and the main gear is also connected to the power mechanism and can rotate under the drive of the power mechanism; the internal gear is arranged around the main gear; the double gear is sleeved on the rotating shaft and meshes with the main gear and the internal gear respectively, and the double gear can roll relative to the internal gear under the drive of the main gear to drive the first planetary carrier and the second planetary carrier to rotate; the output shaft is provided through the main gear.

7. The driving device according to claim 6, characterized in that The number of the double gears and the number of the rotating shafts are both three, and one double gear is sleeved on one rotating shaft.

8. The driving device according to claim 6, characterized in that The output shaft comprises: a shaft body and an end cover; The shaft is passed through the main gear; the end cover is arranged at one end of the shaft and is connected to the first planetary carrier so that the first planetary carrier can drive the shaft to rotate axially; the first detected part is arranged at the end of the shaft away from the end cover.

9. The driving device according to claim 8, characterized in that The power mechanism includes: a stator assembly and a rotor assembly; The stator assembly and the rotor assembly are arranged opposite to each other, and the rotor assembly is also connected to the main gear; wherein, when the stator assembly is energized, it can generate magnetic force to drive the rotor assembly to rotate, so that the rotor assembly drives the main gear to rotate; the second detected part is arranged on the rotor assembly; the second detecting part is configured to detect the motion information of the rotor assembly through the second detected part to obtain the motion information of the power mechanism.

10. The driving device according to claim 9, characterized in that The rotor assembly includes: a rotating frame, a permanent magnet and a mounting cover; The rotating frame is connected to the main gear, and the rotating frame is also arranged around the stator assembly; the permanent magnet is arranged on the rotating frame and is arranged opposite to the stator assembly; the mounting cover is arranged on the rotating frame and is configured to be used for mounting the second detected member; wherein, the permanent magnet can drive the rotating frame to rotate under the magnetic force of the stator assembly, so that the rotating frame drives the main gear to rotate; the second detection member is configured to detect the movement information of the mounting cover through the second detection member to obtain the movement information of the rotating frame.

11. The driving device according to claim 10, characterized in that: The rotating frame includes: a fixing portion, a bearing portion and a connecting portion; The fixing portion is arranged around the main gear and has an interference fit with the main gear; the bearing portion is arranged on a side of the fixing portion away from the main gear and is spaced apart from the fixing portion, and the bearing portion is also arranged around the stator assembly; the connecting portion is arranged between the fixing portion and the bearing portion and is respectively connected to the fixing portion and the bearing portion; the permanent magnet is arranged on the bearing portion; and the mounting cover is arranged on the fixing portion.

12. The driving device according to claim 11, characterized in that The fixing portion is also arranged between the second planetary carrier and the main gear, and the fixing portion is also arranged around the end of the shaft away from the end cover; the mounting cover is arranged on the side of the fixing portion away from the first planetary carrier, and the mounting cover is also arranged around the end of the shaft away from the end cover; wherein, the fixing portion is inserted into the mounting cover and is clamped with the mounting cover.

13. The driving device according to claim 12, characterized in that A first bearing is provided between the fixing portion and the shaft body, and the first bearing is also located between the main gear and the mounting cover; the mounting cover is further configured to limit the axial displacement of the first bearing.

14. The driving device according to claim 12, characterized in that A second bearing is provided between the first planetary carrier and the main gear, and the second bearing is configured to limit the axial displacement of the first planetary carrier; a third bearing is provided between the second planetary carrier and the fixed part, and the third bearing is configured to limit the axial displacement of the second planetary carrier; wherein the second bearing and the third bearing are both flange bearings.

15. The driving device according to claim 14, characterized in that The main gear is also provided with a first limit member, and the first limit member is located on the side of the second bearing away from the second planetary carrier, and is configured to limit the axial displacement of the second bearing; the fixing portion is also provided with a second limit member, and the second limit member is located on the side of the third bearing away from the first planetary carrier, and is configured to limit the axial displacement of the third bearing.

16. The driving device according to claim 12, characterized in that The circuit board is arranged opposite to the end of the shaft away from the end cover; and the stator assembly is electrically connected to the circuit board.

17. The driving device according to claim 16, characterized in that The first detected component and the second detected component are both magnetic encoders, and the first detecting component and the second detecting component are both Hall sensors.

18. The driving device according to claim 17, characterized in that The second detected member is arranged on a side of the installation cover close to the circuit board, and the second detected member is also arranged around the first detected member; wherein the second detecting member is also located on a side of the second detected member away from the first detected member.

19. The driving device according to claim 17, characterized in that The stator assembly includes: a metal part and a coil; The metal part and the permanent magnet are arranged opposite to each other, and the coil is wound around the metal part; the bearing part is arranged around the metal part; wherein, when the coil is energized, it can generate magnetic force to drive the permanent magnet to drive the rotating frame to rotate.

20. The driving device according to claim 19, characterized in that The internal gear is connected to the upper cover, and the upper cover is also arranged around the internal gear.

21. The driving device according to claim 20, characterized in that The metal part is arranged on the side of the inner wall close to the outer wall; the bearing part is located between the metal part and the outer wall; the connecting part is arranged on the side of the top wall away from the lower cover; the fixing part is also passed through the top wall; the circuit board is arranged between the top wall and the lower cover.

22. The driving device according to claim 21, characterized in that A fourth bearing is further provided between the fixing portion and the top wall, and the fourth bearing is configured to limit the axial displacement of the fixing portion; wherein the fourth bearing is a flange bearing.

23. The driving device according to claim 22, characterized in that The fixing portion is further provided with a third limiting member, and the third limiting member is provided on a side of the fourth bearing away from the second planet carrier, and is configured to limit the axial displacement of the fourth bearing.

24. The driving device according to claim 21, characterized in that The housing further comprises: a limiting plate; The limit plate is arranged on the side of the upper cover away from the bottom wall, and the orthographic projection of the limit plate on the bottom wall is arranged around the inner wall; the limit plate is also arranged around the first planetary carrier, and a fifth bearing is also arranged between the limit plate and the first planetary carrier; wherein, the fifth bearing is configured to limit the axial displacement of the first planetary carrier; the limit plate is configured to limit the axial displacement of the fifth bearing.

25. The driving device according to claim 21, characterized in that The heat sink is provided on a side of the bottom wall close to the metal component, and heat dissipation ribs are further provided on a side of the bottom wall away from the metal component.

26. A robot, characterized in that: The robot comprises the driving device according to any one of claims 1-25.

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