Driving device and power equipment

Abstract

The invention discloses a driving device and power equipment. The driving device comprises a shell, a flexible wheel, a middle frame, an output piece and a motor. The shell comprises an enclosure wall and a support arm connected with the inner surface of the enclosure wall; the flexible wheel comprises a flexible part and a supporting part connected with the flexible part, and the supporting part is fixedly connected with the supporting arm; the middle frame is arranged in the shell and comprises a mounting part and a convex edge connected with the mounting part, the convex edge is fixedly connected with the supporting part, and the mounting part and the flexible wheel are located on the two sides of the supporting arm respectively; the output piece can rotate relative to the shell, and at least part of the output piece is arranged at the end of the shell and is close to the flexible wheel. The motor is fixed in the mounting part and used for providing rotation power for the output piece. According to the driving device, the internal space of the shell is reasonably utilized, so that the internal structure of the driving device is more compact, and miniaturization of the driving device is facilitated.

Description

Technical Field

[0001] The present application relates to the field of intelligent manufacturing technology, and in particular to a driving device and a power device. Background Art

[0002] In intelligent manufacturing and intelligent production, the robot arm plays a vital role. As one of the important parts of the robot arm, the driving joint of the robot arm has a relatively important influence on the volume, weight and other parameters of the robot arm. In order to reduce the volume and weight of the robot arm, the driving joint of the robot arm can use a harmonic reducer to achieve power transmission. To this end, how to arrange the internal structure of the driving joint to make the structure of the driving device more compact has become a research direction. Summary of the invention

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

[0004] The driving device of the embodiment of the present application includes:

[0005] A shell, the shell comprising a surrounding wall and a support arm connected to the inner surface of the surrounding wall;

[0006] A flexible wheel, the flexible wheel comprising a flexible portion and a supporting portion connected to the flexible portion, the supporting portion being fixedly connected to the supporting arm;

[0007] A middle frame is arranged in the shell, and comprises a mounting portion and a flange connected to the mounting portion, the flange is fixedly connected to the support portion, and the flexible wheel and at least part of the mounting portion are respectively located on both sides of the support arm;

[0008] An output member, the output member is rotatable relative to the housing, and the output member is at least partially disposed at an end of the housing and close to the flexible wheel;

[0009] The motor is fixed inside the mounting portion and is used to provide rotational power to the output member.

[0010] The power equipment of the embodiment of the present application includes the driving device described in the above embodiment.

[0011] In the drive device and power equipment of the embodiment of the present application, the support portion of the flexible wheel is fixedly connected to the support arm, and the convex edge of the middle frame is fixedly connected to the support portion, so that the middle frame and the flexible wheel are both fixed relative to the shell, thereby improving the stability of the parts. In addition, the mounting portion of the middle frame and the flexible wheel are respectively located on both sides of the support arm, and the motor is fixed inside the mounting portion of the middle frame, so that the internal space of the shell can be reasonably utilized, thereby making the internal structure of the drive device more compact, which is conducive to the miniaturization of the drive device.

[0012] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0014] Figure 1 It is a schematic diagram of the structure of the power equipment of the embodiment of the present application;

[0015] Figure 2 is a schematic diagram of the three-dimensional structure of a driving device according to an embodiment of the present application;

[0016] Figure 3 is a schematic diagram of the exploded structure of the driving device according to the embodiment of the present application;

[0017] Figure 4 is a cross-sectional schematic diagram of a driving device according to an embodiment of the present application;

[0018] Figure 5 is a schematic structural diagram of a housing of a driving device according to an embodiment of the present application;

[0019] Figure 6 is a schematic structural diagram of a flexible wheel of a driving device according to an embodiment of the present application;

[0020] Figure 7 is a schematic structural diagram of a middle frame of a driving device according to an embodiment of the present application;

[0021] Figure 8 is a schematic structural diagram of an output member of a driving device according to an embodiment of the present application;

[0022] Fig. 9 It is a schematic structural diagram of a wire clamp of a driving device according to an embodiment of the present application.

[0023] Description of main component symbols:

[0024] Power equipment 1000;

[0025] Driving device 100, shell 10, surrounding wall 101, support arm 102, upper cover 103, lower cover 104, opening 105, first central axis 1101, second central axis 1102, flexible wheel 11, flexible portion 111, support portion 112, middle frame 12, mounting portion 121, flange 122, limit member 1211, first bearing 18, output member 13, central axis 131, central through hole 1310, connecting piece 132, motor 14, stator 141, rotor 142, transmission member 15, wave generator 16, cam 161, rigid wheel 17, second bearing 19, bearing seat 191, wire clip 20, wire hole 201, integrated circuit board 30, integrated circuit board support seat 301, first detection device 41, second detection device 42, detection device support seat 401.

[0026] Robotic arm 1001, joint 200, end effector 300, arm 400, and base 500. DETAILED DESCRIPTION

[0027] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0028] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0029] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or mutual communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0030] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0031] The disclosure below provides many different embodiments or examples to realize the different structures of the present application. In order to simplify the disclosure of the present application, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplification and clarity, and does not indicate the relationship between the various embodiments and / or settings discussed in itself. In addition, the various specific processes and examples of materials provided in the present application, but those of ordinary skill in the art can realize the application of other processes and / or the use of other materials.

[0032] See also Figure 1 The embodiment of the present application discloses a power device 1000, which may be a robot arm 1001, such as a rectangular coordinate robot arm 1001, a cylindrical coordinate robot arm 1001, etc. Of course, the power device 1000 may also be other types of robot arms 1001, such as a multi-joint 200 robot arm 1001, specifically, an assembly robot arm 1001, a spraying robot arm 1001, a welding robot arm 1001, etc. In addition, the power device 1000 is not limited to the robot arm 1001, but may also be other types of equipment, which is not specifically limited here.

[0033] The power device 1000 includes a driving device 100. Taking the robot arm 1001 as an example, the driving device 100 of the embodiment of the present application can be installed at the joint 200 of the robot arm 1001, and the driving device 100 can serve as the driving joint 200 of the robot arm 1001. Specifically, the robot arm 1001 may include an execution end 300, an arm 400, a driving device 100, a joint 200, and a base 500. The arm 400 is used to connect the execution end 300, the joint 200, and the base 500, and drive the execution end 300 to move. The driving device 100 is used to drive the arm 400 and the execution end 300 to move relative to the base 500. For example, the driving device 100 drives the joint 200 to rotate, and drives the execution end 300 to move relative to the base 500 through the arm 400.

[0034] See also Figure 2 In one embodiment, there are two drive devices 100, the housings 10 of the two drive devices 100 are fixedly connected, and the central axes of the two drive devices 100 are arranged crosswise. For example, the two drive devices 100 respectively have a first central axis 1101 and a second central axis 1102, and the first central axis 1101 and the second central axis 1102 are arranged crosswise.

[0035] In this way, the two driving devices 100 can share a set of shells 10, reducing the weight of the driving devices 100. At the same time, the central axes of the two driving devices 100 are cross-arranged so that the 6-DOF robotic arm 1001 only needs to be provided with two connecting rods for connecting joints, thereby reducing the number of connecting rods and greatly reducing the weight of the robotic arm 1001.

[0036] Specifically, the robot arm 1001 may be a multi-joint robot arm 1001 , and a plurality of joints 200 may be provided on one robot arm 1001 . Two driving devices 100 are provided at each joint 200 , respectively, so that each joint 200 can obtain 2 degrees of freedom.

[0037] In this way, by matching the driving joint 200 of the driving device 100, a robotic arm system can be formed to achieve various complex functions.

[0038] See also Figure 3-Figure 4 The driving device 100 of the embodiment of the present application includes a housing 10, a flexible wheel 11, a middle frame 12, an output member 13 and a motor 14. The housing 10 includes a surrounding wall 101 and an arm 102 connected to the inner surface of the surrounding wall 101, and the flexible wheel 11 includes a flexible portion 111 and a support portion 112 connected to the flexible portion 111, and the support portion 112 is fixedly connected to the arm 102. The middle frame 12 is disposed in the housing 10 and includes a mounting portion 121 and a convex edge 122 connected to the mounting portion 121, and the convex edge 122 is fixedly connected to the support portion 112.

[0039] The flexible wheel 11 and at least part of the mounting portion 121 are respectively located on both sides of the support arm 102. The output member 13 is rotatable relative to the housing 10 and is at least partially disposed at the end of the housing 10 and close to the flexible wheel 11. The motor 14 is fixed inside the mounting portion 121 to provide rotational power to the output member 13.

[0040] It can be understood that the driving device 100 is the core component of the robot arm, especially in the modular robot arm 1001, which requires highly integrated motors, reducers, encoders, sensors and other components in a small size and light weight. In the robot arm 1001, the joints are usually driven by the motor 14 and the harmonic reducer.

[0041] In related technologies, the motor and the reduction system usually appear in series, which increases the axial size, causes the joint to be bulky, occupies too much space, and affects the operation of the robotic arm. For example, the joint is prone to collide with external objects during movement, which also affects the working performance of the robotic arm.

[0042] In the driving device 100 of the embodiment of the present application, the support portion 112 of the flexible wheel 11 is fixedly connected to the support arm 102, and the flange 122 of the middle frame 12 is fixedly connected to the support portion 112, so that the middle frame 12 and the flexible wheel 11 are both fixed relative to the housing 10, thereby improving the stability of the parts. In addition, the mounting portion 121 of the middle frame 12 and the flexible wheel 11 are respectively located on both sides of the support arm 102, and the motor 14 is fixed inside the mounting portion 121 of the middle frame 12, so that the internal space of the housing 10 can be reasonably utilized, thereby making the internal structure of the driving device 100 more compact, reducing the volume of the joint 200, and facilitating the miniaturization of the driving device 100 and facilitating the operation of the mechanical arm 1001. In addition, since the driving device 100 has a compact structure and a small volume, the overall weight of the power device 1000 can be reduced, and the load of the power device 1000 can be reduced.

[0043] Specifically, in the embodiment of the present application, the housing 10 serves as the bearing component of the entire drive device 100, and can be made of metal material or non-metal material with high strength to meet the bearing requirements. The drive device 100 can be installed on the main body of the power device 1000 through the housing 10, for example, the drive device 100 can be installed on the joint 200 of the mechanical arm 1001 through the mounting through hole on the housing 10.

[0044] The housing 10 includes a surrounding wall 101 and a support arm 102 connected to the inner surface of the surrounding wall 101. Figure 5 In the embodiment shown, the surrounding wall 101 and the support arm 102 are integrally formed and cannot be disassembled. Figure 4 and Figure 5The shell 10 may further include an upper cover 103 and a lower cover 104 , wherein the upper cover 103 may be annular and fixed to the surrounding wall 101 by screws and disposed on the top of the shell 10 .

[0045] The top of the housing 10 has an opening 105, and the upper cover 103 covers at least part of the opening 105. The lower cover 104 is approximately cup-shaped, fixedly connected to the surrounding wall 101, and covers the bottom of the housing 10. The support arm 102 may have a toothed edge, and is disposed on the inner side of the housing 10, and is spaced apart from the upper cover 103 and the lower cover 104. The support arm 102 is fixedly connected to the support portion 112 of the flexible wheel 11, so that the flexible wheel 11 is mounted on the housing 10.

[0046] Please combine Figure 6 The flexible portion 111 of the flexible wheel 11 may be cylindrical, and an external gear may be provided on the outer surface of the flexible portion 111. The support portion 112 may include a ring connected to the flexible portion 111 and provided with a screw hole. The flexible portion 111 is meshed with the rigid wheel 17 through the external gear, and the support portion 112 and the middle frame 12 and the support arm 102 may be fastened with screws, or may be bonded or otherwise connected and fixed. The flexible portion 111 may be deformed under the action of an external force, and the deformation is reversible when the external force is transferred.

[0047] See also Figure 7 The middle frame 12 may be provided with a convex edge 122 at the top, and a screw hole may be provided on the convex edge 122, so that the three parts of the flexible wheel 11 and the middle frame 12 can be locked at one time, saving bolts. The mounting portion 121 of the middle frame 12 may be a cylindrical structure with a stepped inner diameter, and is engaged with other components through inner diameters of different sizes.

[0048] See also Figure 4 , Figure 5 and Figure 7 In one embodiment, the flange 122 is embedded in the support arm 102. In this way, the middle frame 12 can be embedded with the support arm 102, making the structure more compact, and at the same time connecting the middle frame 12 and the shell 10 as a whole, increasing the connection strength of the internal structure.

[0049] Specifically, the flange 122 may include a fan-shaped flange, with a larger end facing outward and a smaller end facing inward, which is complementary to the toothed edge shape of the support arm 102. The flange 122 is engaged with the support arm 102 through the fan-shaped flange. The middle frame 12 may first be engaged with the support arm 102 through the flange 122, and then be locked with the flexible wheel 11 through the support portion 112, so that the flexible wheel 11 and the middle frame 12 form a whole and are fixed relative to the housing 10.

[0050] See also Figure 4In one embodiment, the motor 14 includes a stator 141 and a rotor 142, the stator 141 is fixed on the mounting portion 121, the driving device 100 includes a transmission member 15 and a wave generator 16, one end of the transmission member 15 is fixedly connected to the rotor 142, and the other end of the transmission member 15 extends into the flexible portion 111, the wave generator 16 is arranged between the transmission member 15 and the flexible portion 111, the stator 141 is used to drive the rotor 142 to rotate relative to the housing 10, and when the rotor 142 rotates, the flexible wheel 11 is driven to deform through the transmission member 15 and the wave generator 16.

[0051] In this way, the transmission member 15 can transmit the power of the motor 14 to the wave generator 16, so that the wave generator 16 deforms the flexible wheel 11 during the movement, thereby driving the output member 13 to rotate. In addition, the entire motor 14 is arranged inside the housing 10, reducing the volume of the entire driving device 100.

[0052] Specifically, the stator 141 and the rotor 142 are both disposed in the housing 10, which is equivalent to the motor 14 being built-in, thus effectively reducing the volume of the entire drive device 100. Figure 4 In the embodiment of the present invention, the rotor 142 is arranged on the inner side of the stator 141, and the two are equivalent to an inner rotor motor. The stator 141 may have a diameter smaller than the inner diameter of the mounting portion 121, and is sleeved inside the cylindrical structure of the mounting portion 121, and is fixed to the mounting portion 121 by gluing. After the stator 141 is energized, the stator 141 drives the rotor 142 to rotate, and the rotor 142 drives the wave generator 16 to rotate, thereby driving the flexible wheel 11 to deform, and the flexible wheel 11 drives the rigid wheel 17 to rotate during the deformation process to achieve power output.

[0053] See also Figure 4 In one embodiment, a first bearing 18 is disposed between the transmission member 15 and the mounting portion 121 , and the first bearing 18 connects the transmission member 15 and the mounting portion 121 .

[0054] In this way, the first bearing 18 connects the mounting portion 121 and the transmission member 15, thereby enhancing the stability of the transmission.

[0055] Specifically, the inner ring of the first bearing 18 cooperates with the central axis 131 of the output member 13, the outer ring and the middle frame 12 are fixed, the upper end of the inner ring is supported by the transmission member 15, and the upper end of the outer ring is pressed by the bearing cover plate (such as the limit member 1211 discussed below), and the bearing cover plate is locked on the middle frame 12.

[0056] See also Figure 4 In one embodiment, the first bearing 18 comprises a double-row angular contact bearing. Thus, the double-row angular contact bearing can save installation space relative to two angular contact bearings, making the internal structure of the driving device 100 more compact.

[0057] Specifically, the double-row angular contact bearing can bear radial loads and axial loads acting in two directions, can limit the bidirectional axial displacement of the mounting portion 121 and the transmission member 15, and the contact angle can be 30 degrees. The double-row angular contact bearing can provide a bearing configuration with higher rigidity than two single-row bearings and can withstand overturning moments.

[0058] See also Figure 4 In one embodiment, the driving device 100 includes a limit member 1211 fixedly connected to the mounting portion 121, the limit member 1211 presses one axial end of the first bearing 18 and is arranged close to the flexible wheel 11, and the limit member 1211, the transmission member 15 and the mounting portion 121 jointly limit the movement of the first bearing 18 relative to the mounting portion 121.

[0059] In this way, when the motor 14 drives the driving device 100 to rotate, the first bearing 18 is not easy to move relative to the mounting portion 121 inside the driving device 100, so that a stable transmission effect can be maintained.

[0060] Specifically, one axial end of the first bearing 18 is close to the flexible wheel 11, and the stopper 1211 presses the first bearing 18 between the flexible wheel 11 and the first bearing 18. The stopper 1211 can be a bearing cover plate, and is locked on the middle frame 12. The other axial end of the first bearing 18 is close to the rotor 142 of the motor 14, and is pressed against the mounting portion 121 of the middle frame 12. One end of the first bearing 18 close to the center of the surrounding wall 101 in the radial direction is close to the transmission member 15, and the other end is pressed against the mounting portion 121 of the middle frame 12.

[0061] It should be noted that in the implementation of the present application, the axial direction and the radial direction are both indicated as the axial direction and the radial direction of the driving device 100. Specifically, the extension direction of the rotation axis of the motor 14 is the axial direction, and the direction perpendicular to the axial direction is the radial direction.

[0062] See also Figure 4 and Figure 6 In one embodiment, the driving device 100 includes a rigid wheel 17 connected to the flexible portion 111 , the rigid wheel 17 is located on a side of the flexible portion 111 away from the wave generator 16 , and the output member 13 is fixedly connected to the rigid wheel 17 .

[0063] In this way, the rigid wheel 17 can provide the waveform output signal of the wave generator 16 to the output element 13 to achieve driving and control of the driving device 100.

[0064] Please combine Figure 3 and Figure 4Specifically, the rigid wheel 17 is arranged at the top of the driving device 100. The wave generator 16 may include an elliptical cam 161, which is installed inside the flexible wheel 11. The rigid wheel 17 is a rigid element that does not deform, has an internal gear, and is arranged outside the flexible wheel 11. The long axis of the wave generator 16 abuts against the inner ring of the flexible wheel 11, applies an outward force to the flexible wheel 11, and the inner diameter of the flexible wheel 11 becomes larger. The wave generator 16 may not abut against the flexible wheel 11 at the short axis position. The wave generator 16 rotates with the motor 14, and the position abutting against the flexible wheel 11 moves along the inner ring of the flexible wheel 11. The inner diameter of the flexible wheel 11 becomes larger at the position where the long axis of the wave generator 16 abuts. When the long axis rotates and moves away, the deformation can be restored, and the inner diameter becomes smaller, so that the flexible wheel 11 has a waveform deformation, and the motion signal of the motor 14 is output. The number of gears of the rigid wheel 17 is more than that of the flexible wheel 11. The gears at the long axis of the ellipse of the flexible wheel 11 are meshed, and the gears at the short axis are disengaged. As the wave generator 16 rotates, the position of the long axis against the flexible wheel 11 changes continuously, outputting the waveform of the wave generator 16 and driving the rigid wheel 17 to rotate along with the waveform of the wave generator 16. Since the rigid wheel 17 is fixedly connected to the output member 13, the output member 13 is driven to rotate along with the wave generator 16.

[0065] It should be pointed out that in the embodiment of the present application, the output member 13 and the rigid wheel 17 are two separate components. In other embodiments, the rigid wheel 17 and the output member 13 can be an integrated component, and the rigid wheel 17 can be a part directly connected to an external component to output the power of the drive device 100.

[0066] See also Figure 8 In one embodiment, the output member 13 includes a connecting piece 132 and a central shaft 131 connected to the connecting piece 132 , the connecting piece 132 is fixedly connected to the rigid wheel 17 , the central shaft 131 is coaxially arranged with the motor 14 , and the central shaft 131 has a central through hole 1310 .

[0067] Thus, the central shaft 131 has a central through hole 1310 so that the driving device 100 has a hollow structure, and the circuit can be arranged in the hollow structure, which simplifies the wiring scheme and improves the aesthetics of the driving device 100.

[0068] Specifically, the central shaft 131 and the rotor 142 of the motor 14 are interference fit and fixed by gluing, and the wiring harness (not shown) of the motor 14 to the power supply (not shown) can be arranged in the central through hole 1310 of the central shaft 131. The output member 13 can be fixedly connected to the rigid wheel 17 through the connecting piece 132 and rotate with the rigid wheel 17. The connecting piece 132 can be a disc-shaped structure with a central through hole 1310, and is arranged at the opening 105 of the housing 10. The connecting piece 132 can be flush with the upper cover 103 in the radial direction.

[0069] See also Figure 4 and Figure 6 In one embodiment, the driving device 100 includes a bearing seat 191 and a second bearing 19 both arranged in the housing 10, the bearing seat 191 is arranged on the side of the support portion 112 away from the flange 122, the bearing seat 191, the support portion 112 and the flange 122 are fastened together, and the second bearing 19 is arranged on the bearing seat 191 and connected to the rigid wheel 17.

[0070] In this way, the bearing seat 191 and the second bearing 19 can support the rotating rigid wheel 17 and maintain the stability of the internal structure of the driving device 100.

[0071] Specifically, the second bearing 19 can be a roller bearing, which is installed on the outer ring of the rigid wheel 17. The bearing seat 191 is locked with the rigid wheel 17, and the rigid wheel 17 and the second bearing 19 can form a whole, which is arranged between the flexible part 111 and the surrounding wall 101, and the gap is filled with grease.

[0072] See also Figure 4 In one embodiment, the transmission member 15 , the wave generator 16 , the flexible portion 111 , the rigid wheel 17 and the second bearing 19 are arranged in sequence along the radial direction of the motor 14 .

[0073] In this way, the transmission path can be shortened and the transmission effect can be more stable.

[0074] Specifically, the transmission member 15, the wave generator 16, the flexible portion 111, the rigid wheel 17 and the second bearing 19 constitute a transmission assembly 20. The transmission assembly 20 may have the same rotation axis as the rotor 142 of the motor 14. The motor 14 drives the transmission member 15 to rotate, drives the wave generator 16 to rotate, causes the flexible portion 111 to deform, and then drives the rigid wheel 17 to rotate, driving the driving device 100 to move as a whole.

[0075] See also Figure 6 and Fig. 9 In one embodiment, the driving device 100 includes a wire clamp 20 fixed relative to the housing 10 , and the wire clamp 20 is used to clamp the wire harness passing through the center of the driving device 100 .

[0076] In this way, the wire harnesses passing through the center of the driving device 100 can be integrated into one bundle, thereby avoiding wiring confusion and reducing the space occupied by the wire harnesses in the driving device 100 .

[0077] Specifically, the drive device 100 further includes an integrated circuit board 30 and an integrated circuit board support seat 301. The integrated circuit board 30 is fixedly connected to the lower cover 104 of the housing 10 through the integrated circuit board support seat 301. The wire clip 20 is arranged at the bottom of the housing 10 and connected to the integrated circuit board support seat 301. The wire harness of the drive device 100 can be arranged in the central through hole 1310 of the central shaft 131, pass through the wire clip 20 and be tightened and fixed by the wire clip 20. The wire harness of the drive device 100 includes power lines, signal lines, connecting lines, etc.

[0078] See also Fig. 9 In one embodiment, the wire clip 20 is elastic. In this way, the wire clip 20 is subjected to a certain degree of torsion and deformation, and the wire is straightened when the wire harness is twisted and bent with the rotation of the driving device 100, so as to prevent the wire from being loosened and wound and causing interference, thereby increasing the safety of the driving device 100.

[0079] Specifically, the wire clip 20 can be made of a material that can be deformed under a certain force and is not easy to conduct electricity, for example, the wire clip 20 is made of plastic. The wire clip 20 can be provided with mounting holes at both ends and a wire hole 201 in the middle section. The wire hole 201 can be closed to form a certain gripping force on the wire bundle passing through it. Generally speaking, the gripping force formed by the wire clip 20 is not less than 10% of the breaking force of the wire bundle used by the drive device 100.

[0080] See also Figure 4 In one embodiment, the driving device 100 includes a first detection device 41 and a second detection device 42 . The first detection device 41 is used to detect the working parameters of the motor 14 , and the second detection device 42 is used to detect the motion parameters of the output member 13 .

[0081] In this way, the driving device 100 is more accurate and stable in force control, and is more precise in control of movement position and movement speed.

[0082] Specifically, the first detection device 41 and the second detection device 42 can be devices that can collect the movement path of the object and convert the optical signal into an electromagnetic signal, for example, a magnetic disk. The drive device 100 also includes a detection device support seat 401, and the first detection device 41 and the second detection device 42 are fixedly connected to the detection device support seat 401 and the housing 10. The first detection device 41 and the second detection device 42 are both connected to the integrated circuit board 30 through a wiring harness, and can transmit electromagnetic signals to the integrated circuit board 30, and the integrated circuit board 30 can power the first detection device 41 and the second detection device 42.

[0083] The first detection device 41 detects the working parameters of the motor 14, which may be the rotation speed and the rotation angle of the motor 14. The second detection device 42 detects the motion parameters of the output member 13, which may be the rotation speed and the rotation angle of the output member 13. The ratio between the rotation speed of the output member 13 and the rotation speed of the motor 14 and the ratio between the rotation angle of the output member 13 and the rotation angle of the motor 14 should both conform to the transmission ratio of the transmission assembly 20. The results detected by the first detection device 41 and the second detection device 42 are compared. If the comparison result conforms to the designed output power, it can be verified that the drive device 100 is operating normally, and the output power of the drive device 100 is continuously detected to ensure the output effect of the drive device 100.

[0084] Please refer again Figure 2 In some embodiments, the two drive devices 100 may have independent motors 14 and transmission components 20 and the same internal structure. The first central axis 1101 and the second central axis 1102 of the two drive devices 100 may be perpendicular to each other, so that the independent movements of the two drive devices 100 are not easy to interfere with each other. The housing 10 of the drive device 100 may be cylindrical, and the axis of the cylinder may be the same as the central axis of the motor 14 and the transmission component 20.

[0085] In one example, the assembly process of the drive device 100 is as follows: first, the support portion 112 of the flexible wheel 11 is locked with the bearing seat 191, and the second bearing 19 is installed in the outer ring of the rigid wheel 17, and the whole is placed in the flexible wheel 11. Then, the rotor 142 of the motor 14 is fixed with the central shaft 131 by interference fit and gluing, and the stator 141 is fixed with the middle frame 12 by gluing; the inner ring of the first bearing 18 is matched with the central shaft 131, and the outer ring is matched and fixed with the middle frame 12, the upper end of the inner ring is supported by the transmission member 15, and the upper end of the outer ring is pressed by the limit member 1211 and locked on the middle frame 12.

[0086] Then, the assembled flexible wheel 11, rigid wheel 17, and second bearing 19 are fastened to the housing 10 by bolts. Next, the flange 122 of the middle frame 12 is embedded in the arm 102 of the housing 10 and fastened to the flexible wheel 11; the wave generator 16 is installed inside the flexible wheel 11, and the input member 131 is installed. Finally, the first detection device 41, the second detection device 42, and the detection device support seat 401 are bonded, the integrated circuit board 30 is fastened to the integrated circuit board support seat 31, and the integrated circuit board support seat 31 is fastened to the housing 10, the wire clip 20 is fastened to the integrated circuit board 30, and the upper cover 103 and the lower cover 104 are fastened.

[0087] Exemplarily, the working principle of the driving device 100 is as follows: the motor 14 drives the wave generator 16 to rotate through the transmission member 15, causing the flexible wheel 11 to deform, and then driving the rigid wheel 16 to rotate. The rigid wheel 16 is connected to external components (not shown) to output the power of the driving device 100.

[0088] In the description of this specification, the description with reference to the terms "one embodiment", "certain embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0089] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A driving device, It is characterized in that include: A housing, the housing comprising a surrounding wall and a support arm connected to an inner surface of the surrounding wall; A flexible wheel, the flexible wheel comprising a flexible portion and a support portion connected to the flexible portion, the support portion being fixedly connected to the support arm; A middle frame, the middle frame is arranged in the shell, the middle frame comprises a mounting portion and a convex edge connected to the mounting portion, the convex edge is fixedly connected to the support portion, the flexible wheel and at least part of the mounting portion are respectively located on both sides of the support arm; an output member, the output member being rotatable relative to the housing, the output member being at least partially disposed at an end of the housing and close to the flexible wheel; A motor is fixed inside the mounting portion and is used to provide rotational power to the output member.

2. The driving device according to claim 1, It is characterized in that The flange is embedded in the support arm.

3. The driving device according to claim 1, It is characterized in that The motor includes a stator and a rotor, the stator is fixed on the mounting portion, the driving device includes a transmission member and a wave generator, one end of the transmission member is fixedly connected to the rotor, the other end of the transmission member extends into the flexible portion, the wave generator is arranged between the transmission member and the flexible portion, the stator is used to drive the rotor to rotate relative to the housing, and when the rotor rotates, the flexible wheel is driven to deform through the transmission member and the wave generator.

4. The driving device according to claim 3, It is characterized in that A first bearing is provided between the transmission member and the mounting portion, and the first bearing connects the transmission member and the mounting portion.

5. The driving device according to claim 4, It is characterized in that The first bearing comprises a double row angular contact bearing.

6. The driving device according to claim 4, It is characterized in that The driving device includes a limit member fixedly connected to the mounting portion, the limit member presses one axial end of the first bearing and is arranged close to the flexible wheel, and the limit member, the transmission member and the mounting portion jointly limit the movement of the first bearing relative to the mounting portion.

7. The driving device according to claim 3, It is characterized in that The driving device comprises a rigid wheel connected to the flexible portion, the rigid wheel is located at a side of the flexible portion away from the wave generator, and the output member is fixedly connected to the rigid wheel.

8. The driving device according to claim 7, It is characterized in that The output member comprises a connecting plate and a central shaft connected to the connecting plate, the connecting plate is fixedly connected to the rigid wheel, the central shaft is coaxially arranged with the motor, and the central shaft has a central through hole.

9. The driving device according to claim 7, It is characterized in that The driving device includes a bearing seat and a second bearing both arranged in the housing, the bearing seat is arranged on the side of the support portion away from the flange, the bearing seat, the support portion and the flange are fastened together, and the second bearing is arranged on the bearing seat and connected to the rigid wheel.

10. The driving device according to claim 9, It is characterized in that The transmission member, the wave generator, the flexible portion, the rigid wheel and the second bearing are arranged in sequence along the radial direction of the motor.

11. The driving device according to claim 1, It is characterized in that The driving device comprises a wire clamp fixed relative to the housing, and the wire clamp is used to clamp a wire harness passing through the center of the driving device.

12. The driving device according to claim 11, It is characterized in that The wire passing clamp is elastic.

13. The driving device according to claim 1, It is characterized in that The driving device comprises a first detection device and a second detection device, wherein the first detection device is used to detect the working parameters of the motor, and the second detection device is used to detect the motion parameters of the output member.

14. A power device, It is characterized in that A driving device comprising any one of claims 1-13.

15. The power device according to claim 14, It is characterized in that There are two driving devices, the housings of the two driving devices are fixedly connected, and the central axes of the two driving devices are cross-arranged.

16. The power device according to claim 14, It is characterized in that The power device includes a robotic arm.

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