Electric machines and electronic devices

Abstract

Embodiments of the present application provide a motor and an electronic device, the motor comprising: a first driving module, a second driving module, a linkage assembly, a first output shaft and a second output shaft; wherein the linkage assembly is connected with the first driving module and the second driving module; the first output shaft and the second output shaft are both connected with the linkage assembly; the first driving module can drive the first output shaft to rotate through the linkage assembly, the second driving module can drive the second output shaft to rotate through the linkage assembly, the first driving module and the second driving module respectively adjust the rotating speeds of the first output shaft and the second output shaft, and the output powers of the first driving module and the second driving module can be distributed on the first output shaft and / or the second output shaft through the linkage assembly. The motor has high integration, compared with two motor schemes with only a single output shaft, the motor with two output shafts occupies less space and has less weight.

Description

Technical Field

[0001] This application relates to the technical field of gear drive mechanisms, and more particularly to an electric motor and electronic device. Background Technology

[0002] Existing robots, such as quadrupedal robot dogs, can include multiple motion mechanisms, such as legs. The robot can move through multiple motion mechanisms, and each motion mechanism can include multiple moving limbs, such as thighs and calves. Each moving limb requires a motor to drive it, and existing motors cannot meet the requirements. Summary of the Invention

[0003] This application provides a motor and an electronic device, in which a motor can drive two output shafts, and the rotational speeds of the two output shafts are adjustable, thereby driving two different components.

[0004] The first aspect of this application provides an electric motor, which includes:

[0005] First drive module;

[0006] Second drive module;

[0007] A linkage component is connected to the first drive module and the second drive module;

[0008] A first output shaft is connected to the linkage component, and the first drive module can drive the first output shaft to rotate through the linkage component;

[0009] The second output shaft is connected to the linkage component, and the second drive module can drive the second output shaft to rotate through the linkage component.

[0010] The first drive module and the second drive module respectively adjust the rotational speed of the first output shaft and the second output shaft, and the output power of the first drive module and the second drive module can be distributed on the first output shaft and / or the second output shaft through the linkage component.

[0011] A second aspect of this application provides a motor, comprising:

[0012] First drive module;

[0013] Second drive module;

[0014] First output axis;

[0015] The second output shaft; both the first and second output shafts are located on the same side of the motor, and the first output shaft is sleeved around the second output shaft;

[0016] The linkage component includes an input end, a gear module, and an output end that are sequentially connected in a transmission manner;

[0017] The first drive module and the second drive module are respectively driven connected to the input terminal, and the output terminal is driven connected to the first output shaft and the second output shaft;

[0018] The output power of the first drive module and the second drive module can be distributed on the first output shaft and / or the second output shaft through the gear module.

[0019] This application also provides an electronic device, which includes:

[0020] The motor is the motor described in the above embodiments.

[0021] In this embodiment, the first drive module and the second drive module of the motor can drive the first output shaft and the second output shaft to rotate through a linkage component, and the speeds of the first output shaft and the second output shaft are adjustable. For example, the speed of the first output shaft can be set to a first speed and the speed of the second output shaft can be set to a second speed as needed. Both the first speed and the second speed can be adjusted as needed. In this way, two output shafts with adjustable speeds can be obtained from one motor, which is equivalent to two motors with only one output shaft. In addition, by driving the first output shaft and the second output shaft through the same linkage component, the motor has a high degree of integration. Compared with the solution of two motors with only one output shaft, the motor with two output shafts occupies less space and is lighter. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings, wherein the same reference numerals in the following description denote the same parts.

[0024] Figure 1 This is a schematic diagram of the structure of the motor provided in an embodiment of this application.

[0025] Figure 2 for Figure 1 The diagram shows a cross-sectional view of the motor.

[0026] Figure 3 for Figure 1 The diagram shows the structure of the linkage component in the motor.

[0027] Figure 4 for Figure 3 An exploded view of the linked components shown.

[0028] Figure 5 for Figure 1 The exploded view of the motor shown.

[0029] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0030] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0031] This application provides an embodiment of a motor; please refer to [link / reference]. Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of the structure of the motor provided in an embodiment of this application. Figure 2 for Figure 1 The diagram shows a cross-sectional view of the motor. The motor 100 includes a housing 110, a first drive module 120, a second drive module 130, a linkage assembly 140, a first output shaft 150, and a second output shaft 160.

[0032] The housing 110 can form the overall frame of the motor 100 and serve as a support for other components.

[0033] The first drive module 120 is disposed within the housing 110. Exemplarily, the first drive module 120 can be a first stator-rotor module, which may include a first rotor, magnets, a first stator, etc. The rotor can rotate relative to the stator, and the stator may include magnetic sheets and coils, etc. The second drive module 130 is disposed within the housing 110 and spaced apart from the first drive module 120. Exemplarily, the second drive module 130 can be a second stator-rotor module, which may include a rotor, magnets, a stator, etc. The rotor can rotate relative to the stator, and the stator may include magnetic sheets and coils, etc. The second stator-rotor module may have the same structure as the first stator-rotor module (specifically including a second rotor, magnets, a second stator, etc.; detailed structure details are within the understanding of those skilled in the art and will not be elaborated here). In some other embodiments, the first drive module 120 and the second drive module 130 may also have different structures, which are not specifically limited here.

[0034] The linkage assembly 140 is disposed within the housing 110 and is connected to the first drive module 120 and the second drive module 130. The linkage assembly 140 may include different numbers and types of gears as needed. The linkage assembly 140 is connected to and can drive the first output shaft 150 to rotate, and is also connected to and can drive the second output shaft 160 to rotate.

[0035] In this design, the first drive module 120 and the second drive module 130 drive the first output shaft 150 and the second output shaft 160 to rotate via a linkage component 140, and the rotational speeds of the first output shaft 150 and the second output shaft 160 are adjustable. For example, the rotational speed of the first output shaft 150 can be set to a first speed, and the rotational speed of the second output shaft 160 can be set to a second speed, both of which can be adjusted as needed. Thus, two output shafts with adjustable speeds can be obtained from a single motor 100, equivalent to two motors 100 with only one output shaft each. In addition, by driving the first output shaft 150 and the second output shaft 160 through the same linkage component 140, the motor 100 has a high degree of integration. Compared to the solution of two motors 100 with only one output shaft each, the motor 100 with two output shafts occupies less space and is lighter in weight.

[0036] For ease of understanding, assume the input speed of the first drive module 120 is n1, the input speed of the second drive module 130 is n2, the output speed of the first output shaft 150 is n3, and the output speed of the second output shaft 160 is n4. Then, their corresponding input-output relationship is:

[0037] n3 = k1*n1 + k2*n2;

[0038] n4 = k3*n1 + k4*n2;

[0039] Among them, k1, k2, k3, and k4 are four fixed coefficients, which are determined based on the parameters of the corresponding gears in the linkage assembly 140. For example, the four coefficients can be determined by combining the values ​​of the gear module, number of teeth, gear center distance, and gear displacement coefficient of the corresponding gears in the linkage assembly 140. It can be understood that the first part of the gears in the linkage assembly 140 drives the first output shaft 150 to rotate, and the second part of the gears in the linkage assembly 140 drives the second output shaft 160 to rotate. The first part of the gears and the second part of the gears are at least partially different, which leads to the difference between coefficients k1 and k3, and between coefficients k2 and k4.

[0040] It should be noted that the rotational speeds n3 and n4 can be independent of each other, or they can be disproportionate. They can be adjusted arbitrarily, and their directions can be the same or opposite. Their values ​​can also be configured arbitrarily, simply by allocating the rotational speeds n3 and n4 according to the calculated coupling speed formula. Therefore, the rotation direction of the first output shaft 150 can switch between being in the same direction as and opposite to the rotation direction of the second output shaft 160. For example, if the rotation direction of the first output shaft 150 is clockwise, the rotation direction of the second output shaft 160 can be clockwise or can be switched to counterclockwise as needed.

[0041] Furthermore, according to the formula Power = Torque × Speed, the output power obtained by a single output shaft of the motor in this embodiment can be greater than the output of a single drive module. In the most extreme case, the output power of both drive modules can be concentrated on one output shaft. For example, when one output shaft is not rotating (or rotating but with zero output torque) and the other output shaft is rotating (or not rotating with zero output speed), it is equivalent to the power of both drive modules (distributed through the linkage component 140 to adjust speed and torque) being output to a single rotating output shaft. In short, the power (including speed and torque) of the two drive modules can be distributed, facilitating the formation of a combined force, and the output power (distribution of torque and speed between the two output shafts) is more flexible. By selecting appropriate speed and torque directions, it is possible to distribute the power of both motors to a single output shaft, resulting in an output greater than that of a single drive module.

[0042] Please combine Figure 3 and Figure 4 , Figure 3 for Figure 1 The diagram shows the structure of the linkage component in the motor. Figure 4 for Figure 3 The exploded view shows the linkage assembly. The linkage assembly 140 may include a central shaft 140a (serving as an input end of the linkage assembly 140) and a gear set 140b. A first drive module 120 is connected to the central shaft 140a and is capable of driving the central shaft 140a to rotate. The central shaft 140a drives the first output shaft 150 to rotate through the gear set 140b. A second drive module 130 is connected to the gear set 140b and drives the second output shaft 160 to rotate through the gear set 140b.

[0043] A central shaft 140a can be inserted into a first drive module 120, which can drive the central shaft 140a to rotate. The central shaft 140a drives the gears in the linkage assembly 140 to rotate, thereby rotating the first output shaft 150. The inner surface of the rotor of the first drive module 120 is fixedly connected to the central shaft 140a. For example, the central shaft 140a is positioned and pressed against a circumferential protrusion and groove structure on the inner surface of the rotor to achieve a fixed connection. A second drive module 130 can drive one gear in the gear set 140b to rotate, which in turn drives the other gears to rotate, thereby rotating the second output shaft 160.

[0044] The structure of the linkage assembly 140 can be configured as needed. For example, the end of the central shaft 140a (i.e., the connecting shaft of the first drive gear) has teeth 140a1 (i.e., the first drive gear); the gear set 140b (gear module) may include a first gear 141 (i.e., the second drive gear, i.e., an input end of the linkage assembly 140), multiple second gears 142, multiple third gears 143, a gear ring 144, and a rear planetary carrier 145. The first gear 141 is fitted onto the central shaft 140a and is rotatable relative to the central shaft 140a. Multiple second gears 142 are arranged around the first gear 141 and all mesh with the first gear 141. Multiple third gears 143 are arranged around the central shaft 140a and mesh with the teeth 140a1 of the central shaft 140a; the multiple third gears 143 also mesh with the multiple second gears 142 in a one-to-one correspondence. Multiple second gears 142 are disposed within and mesh with the gear ring 144, and the gear ring 144 is fixedly connected to the first output shaft 150. The rear planetary carrier 145 is sleeved on the central shaft 140a and is fixedly connected to the second output shaft 160. The rear planetary carrier 145 is provided with multiple first mounting parts 1452 and multiple second mounting parts 1454. The multiple first mounting parts 1452 are installed one-to-one with the multiple second gears 142, and the multiple second mounting parts 1454 are installed one-to-one with the multiple third gears 143.

[0045] The teeth of the central shaft 140a can drive the third gear 143 to rotate, the third gear 143 drives the second gear 142 to rotate, the second gear 142 drives the gear ring 144 to rotate, and the gear ring 144 drives the first output shaft 150 to rotate. The second drive module 130 drives the first gear 141 to rotate, the first gear 141 drives the second gear 142 to rotate, the second gear 142 rotates inside the gear ring 144, the second gear 142 drives the rear planetary carrier 145 to rotate, and the rear planetary carrier 145 drives the second output shaft 160 to rotate. The first gear 141, the second gear 142, the gear ring 144 and the rear planetary carrier 145 form a gear module.

[0046] The linkage component 140 can cooperate with the first drive module 120 and the second drive module 130 to drive the first output shaft 150 and the second output shaft 160 to rotate, and the rotational speeds of the first output shaft 150 and the second output shaft 160 can be adjusted as needed. Multiple gears of the linkage component 140 are all housed within the gear ring 144. The linkage component 140 has a compact structure, high integration, and small size, thus reducing the overall size of the motor 100. In this embodiment, both the first output shaft 150 and the second output shaft 160 are annular structures, and their axes coincide.

[0047] Optionally, the linkage assembly 140 may further include a first bearing 146, a second bearing 147, and a third bearing 148. The first bearing 146 is disposed between the central shaft 140a and the first gear 141, allowing the first gear 141 to rotate around the central shaft 140a via the first bearing 146. The second bearing 147 is disposed between the second gear 142 and the first mounting portion 1452, allowing the second gear 142 to rotate around the first mounting portion 1452 via the second bearing 147. The third bearing 148 is disposed between the third gear 143 and the second mounting portion 1454, allowing the third gear 143 to rotate around the second mounting portion 1454 via the third bearing 148. Through the first bearing 146, the second bearing 147, and the third bearing 148, the first gear 141 can rotate more effectively around the central shaft 140a, the second gear 142 can rotate more effectively around the first mounting portion 1452, and the third gear 143 can rotate more effectively around the second mounting portion 1454.

[0048] The central shaft 140a can be a hollow structure with a hollow cavity. The motor 100 also includes connecting wires that pass through the hollow cavity. The first drive module 120 and the second drive module 130 are connected to an external circuit through the connecting wires. Utilizing the hollow cavity in the middle of the central shaft 140a for the connecting wires facilitates their installation, effectively protects them, and prevents them from being exposed and tangled.

[0049] The connecting wires within the hollow cavity of the central shaft 140a can also be used to connect the first external circuit and the second external circuit. For example, the first external circuit can be a control circuit for controlling a motor, and the second external circuit can be a sensor for detection. The control circuit is connected to the sensor via the connecting wires passing through the central shaft 140a. The central shaft 140a can effectively protect the connecting wires, and the connecting wires are not easily exposed or tangled.

[0050] The first output shaft 150 and the second output shaft 160 are located on the same side of the housing 110. Both output shafts are at the outermost end and on the same side, which facilitates the connection of external rotating parts, while reducing load inertia and power consumption.

[0051] To facilitate a better understanding of the motor in this embodiment, the overall structure of the motor will be described in detail below. Please refer to... Figure 5 , Figure 5 for Figure 1 The diagram shows an exploded view of the motor. The motor 100 in this embodiment may further include a first main board 170 and a second main board 180, a first output bearing 150a, and a second output bearing 160a. The housing 110 includes a rear housing 112, a main housing 114, and a front cover 116. The rear housing 112 and the front cover 116 are disposed on both sides of the main housing 114. The main housing 114, the rear housing 112, and the front cover 116 constitute the main structure of the motor 100 and are used to support other structures. The first drive module 120 and the second drive module 130 are both mounted on the main housing 114. The first main board 170 and the second main board 180 are disposed within the main housing 114 and are corresponding to the first drive module 120 and the second drive module 130. For example, the first drive module 120 has a hollow structure, and the first main board 170 is disposed within the hollow structure of the first drive module 120. The second drive module 130 has a hollow structure, and the second main board 180 is disposed within the hollow structure of the second drive module 130 and adjacent to the first main board 170. The first bearing 146 is disposed within the main housing 114, and the central shaft 140a passes through the first drive module 120, the second drive module 130, the first main board 170, the second main board 180, and the first bearing 146. The motor 100 may also include a fourth bearing 120a and a fifth bearing 130a. The fourth bearing 120a is disposed between the main housing 114 and the first drive module 120, and the fifth bearing 130a is disposed between the main housing 114 and the rear planetary carrier 145.

[0052] To better understand the motor 100 in this embodiment, the assembly process of the motor 100 is described in detail below:

[0053] First, using the main shell 114 as the supporting base, which has a hollow structure, the first drive module 120 is installed into the main shell 114 and positioned therewith. Then, the first motherboard 170 and the second motherboard 180 are assembled into the inner cavity of the main shell 114.

[0054] Next, the second drive module 130 is installed into the main housing 114 and positioned therewith; wherein, the first motherboard 170 is located in the hollow area of ​​the first drive module 120 and the second motherboard 180 is located in the hollow area of ​​the second drive module 130.

[0055] Third, the central shaft 140a, the first bearing 146, and the first gear 141 are pre-assembled, for example, the first gear 141 is installed on the central shaft 140a through the first bearing 146; after this assembly, the module is installed into the main housing 114, and the end of the central shaft 140a away from the first gear 141 is passed through the second drive module 130, the first drive module 120, the first main board 170, and the second main board 180, and the circumferential protrusions and grooves on the rotor of the first drive module 120 are positioned and pressed together.

[0056] Fourth, first, assemble the three second gears 142 with the three second bearings 147, and the three third gears 143 with the three third bearings 148 in a one-to-one correspondence. Then, assemble the rear planetary carrier 145 into the main housing 114 and sleeve it on the central shaft 140a. Next, assemble the three sets of second gears 142 with the second bearings 147, and the three sets of third gears 143 with the third bearings 148 onto the rear planetary carrier 145. The teeth on the end face of the central shaft 140a mesh with the three third gears 143, the three third gears 143 mesh with the three second gears 142 respectively, and the first gear 141 meshes with the three second gears.

[0057] Fifth, install the second output shaft 160 and use screws to lock the second output shaft 160 to the rear planetary carrier 145.

[0058] Sixth, first assemble the gear ring 144 with the first output shaft 150, such as by tightening with screws, and then mesh the gear ring 144 with the three second gears 142.

[0059] Seventh, assemble the first output bearing 150a and the second output bearing 160a so that the first output shaft 150 is connected to the main housing 114 through the first output bearing 150a, and the second output shaft 160 is connected to the inner ring of the first output shaft 150 through the second output bearing 160a.

[0060] Eighth, install the front cover 116 into the side of the main housing 114 near the first output shaft and lock the front cover 116 to the main housing 114; install the rear housing 112 into the side of the main housing 114 away from the first output shaft and lock the rear housing 112 to the main housing 114.

[0061] This application also provides an electronic device, which includes a motor, which is any of the motors described in the above embodiments, and will not be repeated here. For details, please refer to the accompanying documentation. Figure 1 and Figure 6 , Figure 6This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device 10 may include a motion mechanism 200, which may include a first motion limb 220 and a second motion limb 240 connected to each other. A motor 100 is disposed within the motion mechanism 200 and is capable of driving the first motion limb 220 and the second motion limb 240. Specifically, please refer to... Figures 1 to 5 The first output shaft 150 of the motor 100 can drive the first moving limb 220 to move, and the second output shaft 160 of the motor 100 can drive the second moving limb 240 to move.

[0062] To better understand the electronic device 10, the following explanation uses a robot as an example. The motion mechanism 200 can be a leg, the first moving limb 220 can be the thigh, and the second moving limb 240 can be the lower leg. The first output shaft 150 drives the thigh to move, and the second output shaft 160 drives the lower leg to move. In other embodiments, the motion mechanism can also be a robot arm or other mechanical structures with related movements. For example, the first moving limb can be the robot's upper arm, and the second moving limb can be the robot's forearm. Further applications of the motion mechanism are beyond the understanding of those skilled in the art and will not be listed or detailed here.

[0063] In robots using related technologies, the legs can be divided into two parts: the thigh and the lower leg. The thigh and lower leg require two external rotor brushless DC motors for power. The thigh motor, which drives the thigh movement, is located on the inner side of the thigh, while the lower leg motor, which drives the lower leg movement, is connected to the output end of the thigh motor via a flange. The output end of the lower leg motor is then transmitted to the lower leg via a four-bar linkage or belt, driving the lower leg to rotate. Because the movement of the thigh and lower leg is driven by their respective motors, during normal walking or running, it is necessary to control the corresponding motors to perform certain movements, resulting in significant power consumption. The lower leg motor, thigh module, and lower leg components all become loads on the thigh motor, which has a large load inertia. The two motors (thigh and lower leg) contribute to the overall weight, size, and thickness of the robot.

[0064] Compared to robots that use two separate motors to drive the thigh and calf, the motor 100 in this embodiment has two output shafts, allowing for independent control of the thigh and calf. This high integration results in a smaller overall weight, size, and thickness. During normal walking or running, the dual drive modules within the motor 100 simultaneously share the power consumption of the thigh and calf, leading to lower power consumption and a more rational power distribution compared to separate motor control. Since both output shafts of the motor 100 are located at the outermost end and on the same side, the load of the motor 100 only includes the thigh and calf modules, reducing load inertia and further lowering power consumption during movement. The integration of the motors driving the thigh and calf reduces wiring between the thigh and calf motors compared to separate motor control, avoiding the wiring tangling issue encountered in the proposed two-motor combination design, thus improving connection reliability and stability.

[0065] For example, suppose the first output shaft 150 is externally connected to the thigh end, and the outer end of the second output shaft 160 is connected to the calf end via a four-bar linkage. When the calf needs to remain stationary while only the thigh rotates, the motion is as follows: With the calf stationary, the second output shaft 160 and the rear planetary carrier 145 need to remain stationary, and the second gear 142 and the third gear 143 need to rotate independently, not revolve around the central axis. In this case, the first drive module 120 provides power, driving the central shaft 140a to rotate (assuming clockwise). The third gear 143 rotates counterclockwise at a corresponding speed, and the second gear 142 rotates clockwise at a corresponding speed. This motion is then transmitted to the gear ring 144, which rotates clockwise at a corresponding speed, driving the first output shaft 150 to rotate clockwise at the same speed, thus driving the thigh to rotate.

[0066] In another example, to maintain the rotation of the rear planetary carrier 145, the first gear 141 needs to rotate counterclockwise at a certain speed synchronously, which requires the second drive module 130 to provide a corresponding speed value. When the rotational speed of the second drive module 130 is less than this value, the lower leg rotates clockwise; when the rotational speed of the second drive module 130 is greater than this value, the lower leg rotates counterclockwise. This example is only one form of motion. In the robot's walking or running state, generally both drive modules work together to drive the first output shaft 150 and the second output shaft 160 to rotate at corresponding speeds, and the output speed has a definite relationship with the rotational speed of the rotors of both drive modules.

[0067] The motor in this embodiment can coordinately input the power (torque and speed) of two drive modules into a novel gear reducer (the linkage component in this embodiment). This gear reducer has two input ends and two output ends, and a certain speed ratio relationship, i.e., a Jacobian matrix, is formed between the input and output ends by the gear mechanism itself. By designing the transmission relationship of the gear reducer, the power of the two motors can be dynamically distributed between the two joints, and the peak torque / power can be greater than that of a single motor, thereby achieving the goal of reducing motor power selection.

[0068] It should be noted that the motor in this embodiment can also be applied to an arm, such as the first output shaft driving the upper arm and the second output shaft driving the lower arm.

[0069] The electronic device in this embodiment can be a device that requires control of two output shafts. For example, the electronic device can be a mobile terminal with a built-in camera. The first output shaft of the motor can drive the camera to move between the inside and outside of the mobile terminal, and the second output shaft of the motor can drive the camera to rotate outside the mobile terminal.

[0070] The motor 100 also includes a first Hall sensor (not shown) and a second Hall sensor 182. The first Hall sensor detects a first magnetic flux of the first drive module 120, and the second Hall sensor 182 detects a second magnetic flux of the second drive module 130. For example, a first magnetic sheet 122 can be disposed on the rotor of the first drive module 120, and a second magnetic sheet 132 can be disposed on the rotor of the second drive module 130. The first Hall sensor is disposed on the first main board 170, and the second Hall sensor 182 is disposed on the second main board 180. The first magnetic sheet 122 rotates with the rotor of the first drive module 120, and the first Hall sensor can detect the change in magnetic flux of the first magnetic sheet 122 to obtain the first magnetic flux. The second magnetic sheet 132 rotates with the rotor of the second drive module 130, and the second Hall sensor 182 can detect the change in magnetic flux of the second magnetic sheet 132 to obtain the second magnetic flux.

[0071] The electronic device 10 also includes a processor 300, which is connected to a first Hall sensor and a second Hall sensor 182 to obtain a first magnetic flux and a second magnetic flux, and uses the first magnetic flux to obtain a first rotation value of the rotor of the first drive module 120, and uses the second magnetic flux to obtain a second rotation value of the rotor of the second drive module 130.

[0072] When the first difference between the first rotation value and the first target rotation value is greater than the first difference threshold, the processor 300 adjusts the first drive module 120 according to the first rotation value so that the difference between the adjusted rotation value of the first drive module 120 and the first target rotation value is less than the first difference.

[0073] When the second difference between the second rotation value and the second target rotation value is greater than the second difference threshold, the processor 300 adjusts the second drive module 130 according to the second rotation value so that the difference between the adjusted rotation value of the second drive module 130 and the second target rotation value is less than the second difference.

[0074] After obtaining the first rotation value and the second rotation value, the processor 300 can detect whether the first drive module 120 and the second drive module 130 rotate according to the preset rotation value. If not, the output can be adjusted so that the rotation value of the rotor of the first drive module 120 and the second drive module 130 reaches or approaches the preset rotation value. That is, feedback control is achieved by using the first magnetic flux and the second magnetic flux obtained by the first Hall sensor and the second Hall sensor 182.

[0075] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0076] In the description of this application, 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 technical features indicated. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more features.

[0077] The motors and electronic devices provided in the embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the methods and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. An electric motor, characterized in that, include: First drive module; Second drive module; A linkage component is connected to the first drive module and the second drive module; The first output shaft can be driven to rotate by the linkage component; The second output shaft can be driven to rotate by the linkage component; The first drive module and the second drive module respectively adjust the rotational speed of the first output shaft and the second output shaft, and the output power of the first drive module and the second drive module can be distributed on the first output shaft and / or the second output shaft through the linkage component; The linkage component includes a central shaft and a gear set. The first drive module is connected to the central shaft and can drive the central shaft to rotate. The central shaft drives the first output shaft to rotate through the gear set, and the second drive module is connected to the gear set and can drive the second output shaft to rotate through the gear set; The end of the central shaft has teeth; the gear set includes: A first gear, which is sleeved on the central shaft; A plurality of second gears are arranged around the first gear and all of them mesh with the first gear; Multiple third gears; the multiple third gears are arranged around the central axis and respectively mesh with the teeth of the central axis, and the multiple third gears also mesh with multiple second gears in a one-to-one correspondence; A gear ring, a plurality of second gears disposed within and meshing with the gear ring, the gear ring being fixedly connected to the first output shaft; and A rear planetary carrier is sleeved on the central shaft and fixedly connected to the second output shaft. A plurality of second gears and a plurality of third gears are respectively mounted on the rear planetary carrier. The teeth of the central shaft can drive the third gear to rotate, the third gear can drive the second gear to rotate, the second gear can drive the gear ring to rotate, and the gear ring can drive the first output shaft to rotate. The second drive module can drive the first gear to rotate, the first gear can drive the second gear to rotate, the second gear can revolve within the gear ring and thus drive the rear planetary carrier to rotate, and the rear planetary carrier can drive the second output shaft to rotate.

2. The motor according to claim 1, characterized in that, The linkage component also includes: A first bearing is disposed between the central shaft and the first gear, so that the first gear rotates around the central shaft via the first bearing; A second bearing is disposed between the second gear and the rear planetary carrier, such that the second gear rotates about the rear planetary carrier via the second bearing; and A third bearing is disposed between the third gear and the rear planetary carrier, so that the third gear rotates around the rear planetary carrier via the third bearing.

3. The motor according to claim 1, characterized in that, The central shaft has a hollow structure and a hollow cavity. The motor also includes a connecting wire that passes through the hollow cavity. The first drive module and the second drive module are connected to an external circuit through the connecting wire.

4. The motor according to claim 1, characterized in that, The central shaft has a hollow structure and a hollow cavity. The motor also includes a connecting wire that passes through the hollow cavity and is used to connect a first external circuit and a second external circuit.

5. The motor according to claim 1, characterized in that, The first drive module includes a first stator and a first rotor, the first rotor being sleeved on the central shaft and used to drive the central shaft to rotate; the second drive module includes a second stator and a second rotor, the second rotor being used to drive the first gear to rotate.

6. The motor according to any one of claims 1-4, characterized in that, The first output shaft and the second output shaft are disposed on the same side, and the first output shaft is sleeved on the second output shaft.

7. The motor according to claim 6, characterized in that, Both the first output shaft and the second output shaft are ring-shaped structures, and their axes coincide.

8. The motor according to any one of claims 1-4, characterized in that, The rotation direction of the first output shaft can be switched between being in the same direction as and opposite to the rotation direction of the second output shaft.

9. The motor according to any one of claims 1-4, characterized in that, The motor further includes a first Hall sensor and a second Hall sensor. The first Hall sensor is used to detect a first magnetic flux of the first drive module, and the second Hall sensor is used to detect a second magnetic flux of the second drive module.

10. An electric motor, characterized in that, include: First drive module; Second drive module; First output axis; The second output shaft; both the first and second output shafts are located on the same side of the motor, and the first output shaft is sleeved around the second output shaft; The linkage component includes an input end, a gear module, and an output end that are sequentially connected in a transmission manner; The first drive module and the second drive module are respectively driven connected to the input terminal, and the output terminal is driven connected to the first output shaft and the second output shaft; The output power of the first drive module and the second drive module can be distributed on the first output shaft and / or the second output shaft through the gear module; The linkage component includes a central shaft and a gear set. The first drive module is connected to the central shaft and can drive the central shaft to rotate. The central shaft drives the first output shaft to rotate through the gear set, and the second drive module is connected to the gear set and can drive the second output shaft to rotate through the gear set; The end of the central shaft has teeth; the gear set includes: A first gear, which is sleeved on the central shaft; A plurality of second gears are arranged around the first gear and all of them mesh with the first gear; Multiple third gears; the multiple third gears are arranged around the central axis and respectively mesh with the teeth of the central axis, and the multiple third gears also mesh with multiple second gears in a one-to-one correspondence; A gear ring, a plurality of second gears disposed within and meshing with the gear ring, the gear ring being fixedly connected to the first output shaft; and A rear planetary carrier is sleeved on the central shaft and fixedly connected to the second output shaft. A plurality of second gears and a plurality of third gears are respectively mounted on the rear planetary carrier. The teeth of the central shaft can drive the third gear to rotate, the third gear can drive the second gear to rotate, the second gear can drive the gear ring to rotate, and the gear ring can drive the first output shaft to rotate. The second drive module can drive the first gear to rotate, the first gear can drive the second gear to rotate, the second gear can revolve within the gear ring and thus drive the rear planetary carrier to rotate, and the rear planetary carrier can drive the second output shaft to rotate.

11. An electronic device, characterized in that, include: The motor is the motor as described in any one of claims 1-10.

12. The electronic device according to claim 11, characterized in that, The electronic device includes a motion mechanism, which includes a first motion limb and a second motion limb. The first output shaft drives the first motion limb to move, and the second output shaft drives the second motion limb to move.

13. The electronic device according to claim 11, characterized in that, The motor includes a processor, a first Hall sensor, and a second Hall sensor. The first Hall sensor is used to detect a first magnetic flux of the first drive module, and the second Hall sensor is used to detect a second magnetic flux of the second drive module. The processor is connected to the first Hall sensor and the second Hall sensor to obtain the first magnetic flux and the second magnetic flux, and uses the first magnetic flux to obtain a first rotation value of the rotor of the first drive module, and uses the second magnetic flux to obtain a second rotation value of the rotor of the second drive module.

14. The electronic device according to claim 13, characterized in that, When the first difference between the first rotation value and the first target rotation value is greater than the first difference threshold, the processor adjusts the first drive module according to the first rotation value so that the difference between the rotation value of the adjusted first drive module and the first target rotation value is less than the first difference. and / or When the second difference between the second rotation value and the second target rotation value is greater than the second difference threshold, the processor adjusts the second drive module according to the second rotation value so that the difference between the adjusted rotation value of the second drive module and the second target rotation value is less than the second difference.

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