Drive device and robot having same

Abstract

The invention relates to a driving device and a robot with the driving device. The driving device comprises a power mechanism, a speed reducing mechanism and a detection mechanism. The power mechanism is provided with a first output end. The speed reducing mechanism is provided with a second input end and a second output end, and the second input end is connected with the first output end; the detection mechanism is provided with a first detection assembly and a second detection assembly, the first detection assembly comprises a first detected piece and a first detection piece, and the first detected piece is arranged on the first output end or the second input end and can rotate relative to the first detection piece; the second detection assembly comprises a second detected piece and a second detection piece, and the second detected piece is arranged on the second output end and can rotate relative to the second detection piece. According to the driving device provided by the invention, the motion information of the first output end and the motion information of the second output end are respectively obtained through the detection mechanism, so that the driving device can be accurately controlled by comparing the motion information of the first output end and the motion information of the second output end.

Description

Technical Field

[0001] The present application relates to the field of motor technology, 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 use motors to provide driving force to achieve the movement of mechanical parts, such as lifting, rotation, and vibration, so that the equipment can achieve corresponding functions. However, existing motors cannot accurately control the position of motor input and output, which reduces the controllability of the motor. Summary of the invention

[0003] On the one hand, an embodiment of the present application provides a driving device, which includes a power mechanism, a reduction mechanism and a detection mechanism; the power mechanism has a first output end; the reduction mechanism has a second input end and a second output end, the second input end is connected to the first output end and can rotate synchronously with the first output end; the second output end is configured to form the output end of the driving device; the detection mechanism has a first detection component and a second detection component, the first detection component is configured to detect the motion information of the first output end, and the second detection component is configured to detect the motion information of the output end of the driving device; wherein, the first detection component includes a first detected member and a first detection member that are relatively arranged, the first detected member is arranged on the first output end or the second input end, and can rotate relative to the first detection member; the second detection component includes a second detected member and a second detection member that are relatively arranged, the second detected member is arranged on the second output end, and can rotate relative to the second detection member.

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

[0005] The driving device and the robot having the driving device provided in the embodiment of the present application are configured to connect the first output end of the power mechanism with the second input end of the speed reduction mechanism, so that the first output end and the second input end can rotate synchronously. Further, by configuring the second output end of the speed reduction mechanism to form the output end of the driving device, and obtaining the motion information of the first output end and the motion information of the second output end respectively through the detection mechanism, the driving device can compare the motion information of the first output end and the second output end, so as to control the driving device more accurately, thereby improving the transmission accuracy and controllability of the driving device. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. 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 creative work.

[0007] Figure 1 is a schematic diagram of the structure of a driving device in some embodiments of the present application;

[0008] Figure 2 yes Figure 1 A schematic diagram of a partial structural disassembly of a driving device in an embodiment;

[0009] Figure 3 yes Figure 1 A schematic cross-sectional view of the driving device in the embodiment;

[0010] Figure 4 is a schematic diagram of the structure of the housing in some embodiments of the present application;

[0011] Figure 5 yes Figure 4 A schematic structural diagram of the housing from another perspective in the embodiment;

[0012] Figure 6 is a partial structural schematic diagram of a housing assembly in some embodiments of the present application;

[0013] Figure 7 is a schematic diagram of the structure of a rotor assembly in some embodiments of the present application;

[0014] Figure 8 yes Figure 7 Another perspective structural schematic diagram of the rotor assembly in the embodiment;

[0015] Fig. 9 is a schematic diagram of the structure of the connecting member in some embodiments of the present application;

[0016] Fig.10 It is a schematic diagram of the structural disassembly of the speed reduction mechanism in some embodiments of the present application;

[0017] Fig.11 It is a schematic diagram of the structural disassembly of the speed reduction mechanism in some embodiments of the present application;

[0018] Fig.12 is a schematic diagram of the structural disassembly of a camshaft assembly in some embodiments of the present application;

[0019] Fig.13 is a schematic diagram of a top view of a deceleration mechanism in some embodiments of the present application;

[0020] Fig.14It is a schematic block diagram of the structure of the robot in some embodiments of the present application. DETAILED DESCRIPTION

[0021] The present application is further described in detail below in conjunction with the accompanying drawings and examples. It is particularly noted that the following examples are only used to illustrate the present application, but are not intended to limit the scope of the present application. Similarly, the following examples are only some embodiments of the present application rather than all embodiments, and all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0022] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0023] See also Figures 1 to 3 , Figure 1 is a schematic diagram of the structure of the driving device 10 in some embodiments of the present application, Figure 2 yes Figure 1 A schematic diagram of the partial structural disassembly of the driving device 10 in the embodiment, Figure 3 yes Figure 1 A schematic diagram of the cross-sectional structure of the driving device 10 in the embodiment.

[0024] The driving device 10 provided in the embodiment of the present application can be applied to various types of equipment that require driving force provided by electric energy, such as a bipedal robot or a quadrupedal robot, to realize the walking of the robot or other corresponding functions, and the driving device 10 can specifically be a servo motor or a steering gear.

[0025] It should be noted that the driving device 10 in the embodiment of the present application is applied to equipment such as robots, which can complete functions such as walking, running, and jumping under the drive of the driving device 10. A typical robot structure is, for example, a robot dog, that is, a robot structure including a robot body and four legs. Of course, the robot in this embodiment can also be a structure including two, three or more legs, or even a structure including one leg, which is not specifically limited here. Based on the driving device 10 driving the robot to walk, run, jump, and other motion forms, a reduction mechanism is usually integrated in the driving device 10 to increase the output torque.

[0026] The drive device 10 may include a housing assembly 100, a power mechanism 200, a speed reduction mechanism 300, a detection mechanism 400 and a circuit board 500. The housing assembly 100 is configured to carry the power mechanism 200, the speed reduction mechanism 300, the detection mechanism 400 and the circuit board 500. Specifically, the power mechanism 200 may be mounted on the housing assembly 100, and the speed reduction mechanism 300 is disposed on one side of the power mechanism 200 and connected to the housing assembly 100. The circuit board 500 is mounted on the housing assembly 100 and spaced apart from the power mechanism 200. The detection mechanism 400 is partially mounted on the housing assembly 100, and the other part is mounted on the power mechanism 200 and the speed reduction mechanism 300, so that relative rotation can occur between the above two parts. The speed reduction mechanism 300 may also be connected to the power mechanism 200, and is configured to be linked with the power mechanism 200 to increase the output torque of the drive device 10. The power mechanism 200 and the detection mechanism 400 are both electrically connected to the circuit board 500, and the power mechanism 200 can use the electric energy transmitted by the circuit board 500 to provide driving force for the drive device 10. The detection mechanism 400 can detect the motion information of the output end of the reduction mechanism 300 (i.e., the output end of the drive device 10) and the motion information of the power mechanism 200 (i.e., the input end of the drive device 10), and transmit them to the circuit board 500, 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 output end of the reduction mechanism 300 with the motion information of the power mechanism 200, thereby improving the transmission accuracy and controllability of the drive device 10.

[0027] Further, the power mechanism 200 has a first output end (not shown in the figure, and will be described in detail below), and the first output end is configured as the input end of the drive device 10. The reduction mechanism 300 is arranged on one side of the power mechanism 200, and has a second input end and a second output end (not shown in the figure, and will be described in detail below) arranged opposite to each other. The second input end of the reduction mechanism 300 is connected to the first output end of the power mechanism 200 and can rotate synchronously with the first output end. The second output end of the reduction mechanism 300 is configured to form the output end of the drive device 10. The detection mechanism 400 may have a first detection component 410 and a second detection component 420, wherein the first detection component 410 is configured to detect motion information of the input end of the drive device 10 (i.e., the first output end of the power mechanism 200), and the second detection component 420 is configured to detect motion information of the output end of the drive device 10 (i.e., the second output end of the reduction mechanism 300), and transmit the motion information to the circuit board 500, 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 input and output ends of the drive device 10, thereby improving the transmission accuracy and controllability of the drive device 10.

[0028] in, Figure 2 The X direction is defined in order to facilitate the following description, and X may be the direction of the rotation axis of the power mechanism 200 and the reduction mechanism 300, that is, the axial direction.

[0029] Specifically, the power mechanism 200 and the circuit board 500 are both assembled on the housing assembly 100 and arranged at intervals, and the speed reduction mechanism 300 is arranged on a side of the power mechanism 200 away from the circuit board 500 .

[0030] The housing assembly 100 may include a housing 110, an end cover 120, and a connector 130. The power mechanism 200 and the circuit board 500 are both assembled in the housing 110, and the reduction mechanism 300 is assembled outside the housing 110. One end of the connector 130 is connected to the housing 110, and the other end is arranged corresponding to the second output end of the reduction mechanism 300. Among them, the housing 110 has a first accommodating groove 101 and a second accommodating groove 102, and the notches of the first accommodating groove 101 and the second accommodating groove 102 are opposite. The end cover 120 can be connected to one side of the housing 110, and cover the notch of the first accommodating groove 101, so as to cooperate with the housing 110 to enclose and form an assembly space for assembling the circuit board 500. The second accommodating groove 102 can be used to assemble the power mechanism 200. The speed reduction mechanism 300 can be connected to the other opposite side of the housing 110 and cover the notch of the second accommodating groove 102 to cooperate with the housing 110 to form an installation space for installing the power mechanism 200. The connecting member 130 is fixedly connected to the housing 110 and extends into the speed reduction mechanism 300 so that the speed reduction mechanism 300 can rotate relative to the connecting member 130.

[0031] Specifically, one end of the connector 130 connected to the housing 110 is assembled in the first receiving groove 101 and is spaced apart from and opposite to the circuit board 500. The other end of the connector 130 opposite to the second output end of the speed reduction mechanism 300 can enter the interior of the speed reduction mechanism 300.

[0032] The detection mechanism 400 has a portion that remains stationary relative to the housing 110 and the connecting member 130, and another portion that can rotate relative to the housing 110 and the connecting member 130, so that the stationary portion and the rotating portion can cooperate to obtain the motion information of the driving device 10. The stationary portion can be mounted on the housing 110 and / or the connecting member 130, and the rotating portion can be mounted on the power mechanism 200 and / or the speed reduction mechanism 300, which will be described in detail below.

[0033] In one embodiment, the material of the housing 110, the end cover 120, and the connector 130 may be hard plastic, which not only ensures the structural strength of the housing assembly 100, but also reduces the weight of the housing assembly 100. Of course, in other embodiments, the material of the housing assembly 100 may also be flexibly selected according to actual needs, and this embodiment does not specifically limit this.

[0034] Combination Figure 2 and Figure 3 See also Figure 4 and Figure 5 , Figure 4 is a schematic diagram of the structure of the housing 110 in some embodiments of the present application, Figure 5 yes Figure 4 A schematic structural diagram of the housing 110 from another perspective in the embodiment. The housing 110 may include a bottom wall 111 , an outer wall 112 , an inner wall 113 and a top wall 114 .

[0035] The outer wall 112 may be disposed on one side of the bottom wall 111, the inner wall 113 may be disposed on the other opposite side of the bottom wall 111, and the outer wall 112 may also be disposed around the bottom wall 111. The top wall 114 is disposed on the side of the inner wall 113 away from the bottom wall 111, and the inner wall 113 may also be disposed around the top wall 114. Meanwhile, the bottom wall 111 may also be disposed in an annular shape, the outer wall 112 may be disposed on the outer ring edge of the bottom wall 111, and the inner wall 113 may be disposed on the inner ring edge of the bottom wall 111, so that the housing 110 may be similar to a barrel in appearance. The shape of the top wall 114 can be adapted to the space formed by the inner side wall 113, and the top wall 114 can be arranged in the area of ​​the inner side wall 113 away from the bottom wall 111 in the axial direction X, so that the top wall 114 and the inner side wall 133 can cooperate to form the first receiving groove 101, that is, the top wall 114 and the inner side wall 133 are respectively the bottom wall and the side wall of the first receiving groove 101, so that the circuit board 500 can be installed in the first receiving groove 101. Further, the bottom wall 111, the outer side wall 112, the inner side wall 113, and the top wall 114 cooperate to form the second receiving groove 102, so that the power mechanism 200 can be installed in the second receiving groove 102.

[0036] In this embodiment, the power mechanism 200 and the speed reduction mechanism 300 can rotate with the axial direction X as the rotation axis direction, and the axial direction X can specifically be a direction perpendicular to the top wall 114 .

[0037] Furthermore, a heat sink 140 may be provided on one side of the bottom wall 111 close to the second receiving groove 102, so that the heat sink 140 can be used to dissipate heat from the power mechanism 200 in the second receiving groove 102 to prevent high temperature from affecting the operation of the power mechanism 200. The heat sink 140 may be a plurality of heat dissipation ribs distributed on the bottom wall 111, and the plurality of heat dissipation ribs may be arranged in a circular ring shape to improve the heat dissipation efficiency of the housing 110. Of course, in other embodiments, the heat sink 140 may be a structural adhesive such as thermally conductive silicone, graphene, etc. that is provided on the bottom wall 111 and can conduct heat quickly.

[0038] Optionally, the bottom wall 111 may be provided with an escape opening 1111 connecting the first receiving groove 101 and the second receiving groove 102, so that a signal connection device such as a wire can pass through the escape opening 1111 to connect the power mechanism 200 and the circuit board 500. For example, the wire connecting the power mechanism 200 and the circuit board 500 can be passed through the escape opening 1111. When the end cover 120 is covered on the notch of the first receiving groove 101 to close the first receiving groove 101, the end cover 120 simultaneously covers the escape opening 1111 to close it, so as to prevent external water vapor and the like from entering the interior of the housing 110.

[0039] Combined with reference Figure 6 , Figure 6 It is a partial structural schematic diagram of the shell assembly 100 in some embodiments of the present application, wherein, as mentioned above, the end cover 120 is connected to one side of the bottom wall 111, and the end cover 120 can be arranged opposite to the top wall 114, and cover the first accommodating groove 101 and the avoidance opening 1111, so as to close the first accommodating groove 101 and the avoidance opening 1111 on the shell 110, thereby protecting the circuit board 500 and the power mechanism 200.

[0040] A plurality of first screws 1112 may be provided on the side of the bottom wall 111 away from the second receiving groove 102, and screws 1113 may be provided on the end cover 120, and the screws 1113 and the first screws 1112 enable the end cover 120 to be fixedly connected to the bottom wall 111. Of course, in other embodiments, the end cover 120 may also be fixedly connected to the bottom wall 111 by assembly methods such as welding, clamping or bonding.

[0041] At the same time, in order to facilitate the assembly of the drive device 10 with other devices, a second screw 1114 may be provided on the side of the bottom wall 111 away from the second accommodating groove 102, so that the drive device 10 can be fixedly connected with other devices by screws, thereby realizing the assembly of the drive device 10 with other devices. The number of the second screw 1114 may also be multiple, and the multiple second screws 1114 may be evenly distributed on the side of the bottom wall 111 away from the second accommodating groove 102, so as to improve the structural strength of the connection between the drive device 10 and other devices.

[0042] In one embodiment, at least one stud 1141 may be provided on the bottom wall of the first receiving groove 101, i.e., the top wall 114 of the housing 110, and the stud 1141 is configured to be used for assembling the circuit board 500, so that the circuit board 500 is spaced apart from the top wall 114 when assembled in the first receiving groove 101. The stud 1141 may be provided close to or adjacent to the side wall of the first receiving groove 101, i.e., the inner side wall 113 of the housing 110, so as to avoid occupying the middle space of the first receiving groove 101. A plurality of studs 1141 may be provided, and the plurality of studs 1141 may be uniformly distributed in sequence in the circumferential direction of the inner side wall 113.

[0043] 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 power mechanism 200 and to facilitate the bearing of the reduction mechanism 300. In some embodiments, the shape of the housing 110 may not be limited to a cylindrical shape, and its shape may 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 and specifically defined. In the embodiments of this application, all directional indications (such as up, down, left, right, front, back...) are only used to explain the relative position relationship, movement, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication also changes accordingly. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus comprising a series of steps or units is not limited to the listed steps or units, but may optionally include unlisted steps or units, or may optionally include other steps or units inherent to the process, method, product or apparatus.

[0044] See again Figure 2 and Figure 3, the power mechanism 200 can be arranged in the second containing groove 102, and the power mechanism 200 can be used to provide driving force for the driving device 10. The power mechanism 200 may include a stator assembly 210 and a rotor assembly 220. Among them, the stator assembly 210 can be arranged between the outer side wall 112 and the inner side wall 113, that is, assembled in the second containing groove 102. The rotor assembly 220 can be arranged between the stator assembly 210 and the outer side wall 112, and the rotor assembly 220 can also be connected to the reduction mechanism 300 to drive the reduction mechanism 300 to rotate. In this embodiment, the rotor assembly 220 is rotatably connected to the bottom wall of the first containing groove 101, that is, the top wall 114 of the shell 110. The detection mechanism 400 can obtain the motion information of the power mechanism 200 by detecting the motion information of the rotor assembly 220, 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 200 with the motion information of the output end of the speed reduction mechanism 300, thereby improving the transmission accuracy and controllability of the drive device 10. Among them, the rotor assembly 220 is configured to form a first output end of the power mechanism 200.

[0045] Specifically, the rotor assembly 220 is configured to form the input end of the drive device 10, and can rotate under the magnetic force of the stator assembly 210, thereby inputting a torque. The reduction mechanism 300 is connected to the rotor assembly 220, and is configured to be linked with the rotor assembly 220, so as to rotate under the drive of the rotor assembly 220, and is used to increase the output torque of the drive device 10. Among them, the reduction mechanism 300 can have a second input end and a second output end, and the second input end is connected to the rotor assembly 220 so that the second input end and the rotor assembly 220 can rotate synchronously. The second output end of the reduction mechanism 300 is configured to form the output end of the drive device 10.

[0046] Further, the speed reduction mechanism 300 may also have a first reduction ratio, which may be a speed ratio of the second input end and the second output end. The second input end is connected to the rotor assembly 220 and may rotate synchronously with the rotor assembly 220; the second output end may be used to form the output end of the drive device 10. Based on this, the motion information of the input end and the output end of the drive device 10 may be obtained by obtaining the motion information of the second input end and the second output end. Among them, the speed reduction mechanism 300 may be a harmonic reducer to obtain a larger reduction ratio. Of course, in other embodiments, the speed reduction mechanism 300 may also be other types of reducers such as a planetary transmission reducer with a small tooth difference and a cycloidal pinwheel reducer, which will not be described in detail. It can be understood that the cycloidal pinwheel reducer has the advantages of high reducer overlap, high load-bearing capacity, small backlash, and low noise, so the speed reduction mechanism 300 in this application preferably adopts a cycloidal pinwheel reducer.

[0047] Optionally, the stator assembly 210 can be arranged opposite to the rotor assembly 220, and the stator assembly 210 generates magnetic force after being energized to drive the rotor assembly 220 to rotate, thereby providing driving force for the drive device 10. The stator assembly 210 may include: a metal part 211 and a coil 212. Among them, the metal part 211 can be formed by stacking multiple layers of silicon steel sheets, and the metal part 211 can be arranged between the outer wall 112 and the inner wall 113, and connected to the side of the inner wall 113 close to the outer wall 112 to be fixed in the second accommodating groove 102. For example, the metal part 211 can be fixedly connected to the inner wall 113 by bonding or clamping. The coil 212 can be wound on the metal part 211, and the coil 212 can become an electromagnet to generate magnetic force after being energized, driving the rotor assembly 220 to drive the reduction mechanism 300 to rotate, thereby providing driving force for the drive device 10. In this embodiment, the metal member 211 and the coil 212 can be arranged opposite to and adjacent to the heat sink 140 on the bottom wall 111, so that the heat sink 140 can conduct the heat generated by the coil 212 after being energized. Furthermore, the coil 212 can be electrically connected to the circuit board 500 through a wire.

[0048] The rotor assembly 220 may be disposed between the metal member 211 and the outer side wall 112 , and may be disposed opposite to and spaced from the metal member 211 and the outer side wall 112 , so as to facilitate the rotation of the rotor assembly 220 .

[0049] Combination Figure 3 See also Figure 7 and Figure 8 , Figure 7 is a schematic diagram of the structure of the rotor assembly 220 in some embodiments of the present application, Figure 8 yes Figure 7 Another perspective structural diagram of the rotor assembly 220 in the embodiment. The rotor assembly 220 may include a rotating frame 221 , a permanent magnet 222 , and a fixing plate 223 .

[0050] The rotating frame 221 may be disposed on a side of the stator assembly 210 away from the bottom wall 111 , and the rotating frame 221 may be connected to the speed reduction mechanism 300 . The rotating frame 221 may be configured to form a first output end of the power mechanism 200 .

[0051] The fixing plate 223 is disposed on one side of the rotating frame 221 close to the bottom wall 111, and is disposed around the outer periphery of the rotating frame 221, that is, the fixing plate 223 extends from the outer periphery of the rotating frame 221 to between the metal member 211 and the outer side wall 112. The permanent magnet 222 is disposed on the fixing plate 223 and is disposed opposite to the coil 212. The permanent magnet 222 can drive the rotating frame 221 to rotate under the magnetic force of the coil 212, and then use the rotating frame 221 to drive the speed reduction mechanism 300 to rotate. There can be multiple permanent magnets 222, and they can be arranged on the fixing plate 223 in an array manner at equal intervals.

[0052] One side of the rotating frame 221 is rotatably connected to the top wall 114 of the housing 110, so that the rotating frame 221 can rotate relative to the housing 110 under the drive of the stator assembly 210; the other opposite side of the rotating frame 221 is connected to the speed reduction mechanism 300, so that the rotating frame 221 drives the speed reduction mechanism 300 to rotate. Figure 7 and Figure 8 As shown, the rotating frame 221 may include: a bearing portion 2211, and a first positioning portion 2212 and a second positioning portion 2213 provided on opposite sides of the bearing portion 2211. The bearing portion 2211 is configured to be used for assembling the fixing plate 223, that is, the fixing plate 223 can be assembled on the outer peripheral edge of the bearing portion 2211, so that the fixing plate 223 can be located between the metal member 211 and the outer side wall 112, so that the permanent magnet 222 can be arranged opposite to the coil 212 on the metal member 211. The first positioning portion 2212 is configured to be rotatably connected to the bottom wall of the first accommodating groove 101, that is, the top wall 114 of the housing 110, so that the rotating frame 221 can rotate relative to the housing 110 under the drive of the stator assembly 210. The second positioning portion 2213 is configured to be connected to the speed reduction mechanism 300, so that the rotating frame 221 drives the speed reduction mechanism 300 to rotate.

[0053] In one embodiment, the bearing portion 2211, the first positioning portion 2212, and the second positioning portion 2213 may be an integral structure, and the three may be formed by a corresponding integral molding process to improve the structural strength of the rotating frame 221. The fixing plate 223 and the permanent magnet 222 may be fixedly connected by attaching double-sided tape. Of course, in some embodiments, the fixing plate 223 and the permanent magnet 222 may also be connected by other fixing methods.

[0054] Furthermore, the bearing portion 2211 can be arranged outside the first accommodating groove 101, that is, on the side of the top wall 114 of the shell 110 close to the reduction mechanism 300, and the projection of the bearing portion 2211 on the plane perpendicular to the axial direction X covers the projection of the stator assembly 210 on the plane perpendicular to the axial direction X.

[0055] In one embodiment, the first positioning portion 2212 and the second positioning portion 2213 are both arranged in an annular shape, and the bearing portion 2211 may be provided with a first through hole 2215 that is respectively connected to the annular hollow areas of the first positioning portion 2212 and the second positioning portion 2213, that is, the two ends of the first through hole 2215 are respectively connected to the annular hollow areas of the first positioning portion 2212 and the second positioning portion 2213, so as to provide an escape channel for the connecting member 130 to extend into the speed reduction mechanism 300. Optionally, the first through hole 2215, the first positioning portion 2212 and the second positioning portion 2213 may be coaxially arranged. Optionally, the aperture of the first through hole 2215 may not exceed the inner diameter of the first positioning portion 2212. Optionally, the aperture of the first through hole 2215 may not exceed the inner diameter of the second positioning portion 2213. Optionally, the inner diameters of the first positioning portion 2212 and the second positioning portion 2213 may be the same or different, and the outer diameters of the first positioning portion 2212 and the second positioning portion 2213 may be the same or different. Optionally, at least one second through hole 2216 may be provided on the bearing portion 2211, and the second through hole 2216 may be connected to the second accommodating groove 102, so that the heat dissipation efficiency of the driving device 10 may be further improved by using the second through hole 2216.

[0056] In one embodiment, the bearing portion 2211 may be disposed on the top wall 114, and may be rotatably connected to the top wall 114 via the first positioning portion 2212. Figure 4 As shown, the top wall 114 is provided with an avoidance hole 1142, and the first positioning portion 2212 is penetrated through the avoidance hole 1142 and can rotate relative to the avoidance hole 1142. Further, a first bearing 1143 can be provided between the first positioning portion 2212 and the inner wall of the avoidance hole 1142, and the first bearing 1143 can be arranged around the first positioning portion 2212 to improve the rotation coaxiality when the rotating frame 221 rotates. At the same time, the first bearing 1143 can also be a flange bearing, so that the first bearing 1143 can have a flange edge protruding toward the top wall 114, and the flange edge can also overlap the side of the top wall 114 away from the bottom wall 111, so as to limit the displacement of the first bearing 1143 in the axial direction X. Accordingly, the first positioning portion 2212 can abut against the side of the first bearing 1143 away from the top wall 114, so as to cooperate with the top wall 114 to limit the displacement of the first bearing 1143 in the axial direction X. Of course, in other embodiments, a side of the first bearing 1143 close to the bearing portion 2211 may abut against the bearing portion 2211 to cooperate with the top wall 114 to limit the first bearing 1143 in the axial direction X.

[0057] See again Figure 3, the connecting member 130 can be arranged in the first receiving groove 101, one end of the connecting member 130 is connected to the housing 110, and the other end is arranged corresponding to the second output end of the speed reduction mechanism 300. Specifically, the end of the connecting member 130 connected to the housing 110 can be assembled in the first receiving groove 101, that is, it can be fixedly connected with the inner wall of the first receiving groove 101 (the inner wall can be the bottom wall or side wall of the first receiving groove 101) by screwing, clamping, welding or bonding. The other end of the connecting member 130 enters the speed reduction mechanism 300 to correspond to the second output end of the speed reduction mechanism 300. In other words, the connecting member 130 can be positioned and assembled in the first accommodating groove 101, and can pass through the first positioning portion 2212, the first through hole 2215 and the second positioning portion 2213 in sequence, and be spaced apart from the inner side walls of the first positioning portion 2212, the second through hole 2216 and the second positioning portion 2213 respectively to avoid interfering with the rotation of the rotating frame 221 relative to the connecting member 130.

[0058] Combination Figure 3 See also Fig. 9 , Fig. 9 1 is a schematic diagram of the structure of the connector 130 in some embodiments of the present application. The connector 130 may include a first connector 131 and a second connector 132. The first connector 131 may be disposed in the first accommodating groove 101 and fixedly connected to the housing 110. The second connector 132 extends from the first connector 131 in a direction away from the end cover 120 and passes through the avoidance hole 1142 on the top wall 114 to extend into the speed reduction mechanism 300. For example, the first connector 131 may be fixedly connected to the inner side wall 113 by means of screw connection, clamping, bonding or welding, and / or the first connector 131 may be fixedly connected to the top wall 114 by means of screw connection, clamping, bonding or welding. Among them, the first connector 131 and the second connector 132 may be an integrally formed structure. In addition, in other embodiments, the first connector 131 and the second connector 132 may be separately formed and assembled together to form the connector 130.

[0059] In one embodiment, if Figure 5As shown, a convex portion 1144 may be provided on one side of the top wall 114 close to the end cover 120, and the convex portion 1144 is arranged corresponding to the avoidance hole 1142. The first connecting portion 131 may be fixedly connected to the convex portion 1144 by screwing, clamping, bonding or welding. Optionally, the convex portion 1144 may be an annular structure arranged around the outer periphery of the avoidance hole 1142, the first connecting portion 131 may be fixedly arranged on the side of the convex portion 1144 away from the top wall 114, and the second connecting portion 132 may pass through the convex portion 1144 and the avoidance hole 1142 in sequence and extend into the speed reduction mechanism 300. Further, the first bearing 1143 may be arranged between the first positioning portion 2212 and the convex portion 1144, so that the rotating frame 221 can rotate relative to the convex portion 1144.

[0060] In one embodiment, the detection mechanism 400 may include a first detection component 410 and a second detection component 420, wherein the first detection component 410 is configured to detect motion information of the input end of the driving device 10, and the second detection component 420 is configured to detect motion information of the output end of the driving device 10. The first detection component 410 and the second detection component 420 are both electrically connected to the circuit board 500. With such a configuration, the first detection component 410 and the second detection component 420 can be used to detect motion information such as the position and rotation speed of the input and output of the driving device 10, so that the circuit board 500 can more accurately control the motion such as the position and rotation speed of the input and output of the driving 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 driving device 10. It can be understood that the motion information can be information such as the rotation angle, the rotation speed, and the rotation position.

[0061] Specifically, the first detection component 410 may include a first detection member 411 and a first detected member 412 that are relatively arranged, and the first detected member 412 can rotate relative to the first detection member 411, so that the first detection member 411 can obtain the motion information of the driving device 10. The first detected member 412 may be a magnet, and the first detection member 411 may be a Hall sensor, so that the motion information of the first detected member 412 can be obtained through the change in magnetic field intensity sensed by the first detection member 411, and the motion information of the rotating frame 221 can be obtained based on this.

[0062] Of course, in other embodiments, the first detection component 410 can also be an encoder component, that is, the first detected component 412 can be a code disk, and the first detection component 411 can be a reader, thereby reading the position change of the first detected component 412 through the first detection component 411, and obtaining the motion information of the rotating frame 221 based on this.

[0063] In one embodiment, the first detected member 412 may be arranged on the rotating frame 221, and may move synchronously with the rotating frame 221 under the drive of the rotating frame 221. The first detection member 411 may be arranged on the circuit board 500, and is arranged opposite to the first detected member 412. When the rotating frame 221 drives the first detected member 412 to rotate relative to the first detection member 411, the first detection member 411 may obtain the motion information of the power mechanism 200 according to the motion information of the first detected member 412. Of course, in other embodiments, the first detection member 411 may be assembled in the first accommodating groove 101 and assembled relative to the housing 110, the first detection member 411 is electrically connected to the circuit board 500 to realize signal transmission, and the first detected member 412 may be assembled on the rotating frame 221 and is arranged opposite to the first detection member 411, so that the second detected member 412 can rotate relative to the first detection member 411.

[0064] For example, the first detected member 412 can be directly fixed on the side of the rotating frame 221 close to the circuit board 500, and opposite to the first detecting member 411. For another example, the first detected member 412 can be directly fixed on the first positioning portion 2212, and opposite to the first detecting member 411; or, the first positioning portion 2212 can be provided with a mounting groove for assembling the first detected member 412.

[0065] In one embodiment, a bearing member 2217 may be provided on the side of the first positioning portion 2212 away from the bearing portion 2211, and the bearing member 2217 is configured to carry the first detected member 412 so that the first detected member 412 can rotate synchronously with the rotating frame 221. The bearing member 2217 is opposite to the circuit board 500 and is spaced apart.

[0066] The bearing member 2217 may be annular, and the annular hollow area of ​​the bearing member 2217 may communicate with the annular hollow area of ​​the first positioning portion 2212. The bearing member 2217 may be fixedly assembled with the first positioning portion 2212 by means of snap connection, bonding, screw connection, welding or interference fit.

[0067] In one embodiment, the second detection component 420 may include a second detection member 421 and a second detected member 422 that are arranged relatively to each other, and the second detected member 422 can rotate relative to the second detection member 421, so that the second detection member 422 can obtain the motion information of the driving device 10. The second detected member 422 may be a magnet, and the second detection member 421 may be a Hall sensor, so that the motion information of the second detected member 422 can be obtained through the change in magnetic field intensity sensed by the second detection member 421, and the motion information of the deceleration mechanism 300 can be obtained based on this.

[0068] Of course, in other embodiments, the second detection component 420 can also be an encoder component, that is, the second detected component 422 can be a code disk, and the second detection component 421 can be a reading head, thereby reading the position change of the second detected component 422 through the second detection component 421, and obtaining the motion information of the deceleration mechanism 300 based on this.

[0069] The second detected member 422 may be disposed on the deceleration mechanism 300, and may move synchronously with the deceleration mechanism 300 under the drive of the deceleration mechanism 300. The second detection member 421 may be disposed on the connecting member 130, and may obtain the motion information of the deceleration mechanism 300 according to the motion information of the second detected member 422. The second detection member 421 is electrically connected to the circuit board 500 to realize signal transmission.

[0070] Optionally, the second detection member 421 may be disposed on the end of the second connection portion 132 of the connection member 130 that is away from the first connection portion 131. The second detection member 421 may be electrically connected to the circuit board 500 via a wire. The connection member 130 may have a space inside that can accommodate the wire, that is, the wire connecting the second detection member 421 and the circuit board 500 is disposed inside the connection member 130, which can simplify the assembly of the drive device 10 and protect the wire.

[0071] Combination Figure 3 See also Fig.10 and Fig.11 , Fig.10 is a schematic diagram of the structural disassembly of the speed reduction mechanism 300 in some embodiments of the present application, Fig.11 yes Fig.10 Schematic diagram of partial structural disassembly of the speed reduction mechanism 300 in the embodiment. The speed reduction mechanism 300 is arranged outside the housing 110 and has a portion connected to the housing 100 and another portion connected to the rotating frame 221 of the rotor assembly 220 .

[0072] Specifically, the speed reduction mechanism 300 may include: a fixed component 310 connected to the housing 110, and a speed reduction component 320 connected to the rotating frame 221. The fixed component 310 is arranged around the periphery of the speed reduction component 320 and is connected to the outer side wall 112 of the housing 110. The input end of the speed reduction component 320 is connected to the rotating frame 221 so as to rotate synchronously with the rotating frame 221 under the drive of the rotating frame 221. The input end of the speed reduction component 320 is configured to form a second input end of the speed reduction mechanism 300, and the output end of the speed reduction component 320 is configured to form a second output end of the speed reduction mechanism 300, i.e., the output end of the driving device 10.

[0073] The fixing assembly 310 may include: a positioning shell 311 connected to the housing 110, and a cover 312 disposed on the side of the positioning shell 311 away from the housing 110. The positioning shell 311 may be annular and disposed around the periphery of the reduction assembly 320. The shape of the positioning shell 311 is adapted to the shape of the outer side wall 112 of the housing 110, and is fixedly connected to the outer side wall 112 of the housing 110, so as to position and assemble the reduction mechanism 300 on the housing assembly 100. Optionally, the positioning shell 311 may be fixedly connected to the outer side wall 112 by screwing, clamping, or welding.

[0074] The cover 312 is disposed on the side of the positioning shell 311 away from the housing 110 and is annularly arranged, and its annular hollow space can be configured to avoid the output end of the deceleration assembly 320. The cover 312 can be fixedly assembled on the side of the positioning shell 311 away from the housing 110.

[0075] In one embodiment, the speed reduction mechanism 300 may further include a second bearing 330, which may be disposed between the cover 312 and the output end of the speed reduction assembly 320, and the second bearing 330 may be disposed around the output end of the speed reduction assembly 320 to provide rotational coaxiality when the output end of the speed reduction assembly 320 rotates. Optionally, the second bearing 330 may be a flange bearing, so that the second bearing 330 may have a flange edge protruding toward the cover 312, and the flange edge may also overlap the side of the cover 312 facing the positioning shell 311, thereby limiting the displacement of the second bearing 330 in the axial direction X. Accordingly, the output end of the speed reduction assembly 320 may abut against the side of the second bearing 330 close to the positioning shell 311, so as to cooperate with the cover 312 to limit the displacement of the second bearing 330 in the axial direction X.

[0076] Optionally, the second bearing 330 can be a cross roller bearing, whose outer ring abuts against the machine cover 312 on the side facing away from the positioning shell 311, and whose inner ring abuts against the output end of the reduction assembly 320 on the side close to the positioning shell 311, thereby limiting the displacement of the second bearing 330 in the axial direction X.

[0077] Optionally, the fixing assembly 310 may further include a positioning member 313 disposed between the positioning shell 311 and the machine cover 312, and the positioning member 313 cooperates with the machine cover 312 to limit the displacement of the second bearing 330 in the axial direction X. The side of the outer ring of the second bearing 330 away from the positioning shell 311 abuts against the machine cover 312, and the side of the outer ring of the second bearing 330 close to the positioning shell 311 abuts against the positioning member 313, thereby limiting the displacement of the second bearing 330 in the axial direction X.

[0078] The positioning member 313 and the cover 312 may be integrally formed structural members. Of course, in other embodiments, the positioning member 313 and the cover 312 are formed separately, and the opposite sides of the positioning member 313 are fixedly connected to the cover 312 and the positioning shell 311. The positioning member 313 may be fixedly connected to the cover 312 and the positioning shell 311 by screwing, clamping, or welding.

[0079] In one embodiment, the positioning shell 311, the cover 312 and the positioning member 313 are all annular and coaxially arranged. Among them, the positioning shell 311 may be provided with a limiting portion 3111, which may be a protrusion protruding from the surface of the positioning shell 311 and arranged at a distance from the end of the positioning shell 311 away from the cover 312, so as to reserve a portion for the positioning shell 311 to be connected with the outer wall 112. For example, when the outer diameter of the positioning shell 311 does not exceed the inner diameter of the outer wall 112, the limiting portion 3111 is protruding from the outer surface of the positioning shell 311; when the inner diameter of the positioning shell 311 is not less than the outer diameter of the outer wall 112, the limiting portion 3111 is protruding from the inner surface of the positioning shell 311.

[0080] Further, the positioning member 313 may include a main body 3131 in an annular shape, an abutment portion 3132 disposed on one side of the main body 3131, and a first clamping portion 3133 disposed on the inner ring wall of the main body 3131. The main body 3131 is coaxially arranged with the positioning shell 311 and is fixedly connected with the positioning shell 311. The abutment portion 3132 is convexly arranged on the side of the main body 3131 away from the positioning shell 311 and abuts against the cover 312. The first clamping portion 3133 is convexly arranged on the inner ring wall of the main body 3131 and abuts against the side of the outer ring of the second bearing 330 close to the positioning shell 311 to limit the second bearing 330 in the axial direction X. The outer ring of the second bearing 330 may abut against the inner ring wall of the main body 3131 to limit the second bearing 330 in the direction perpendicular to the axial direction X.

[0081] The cover 312 may include a ring-shaped cover body 3121, a bending portion 3122 bent and connected to the cover body 3121, and a second clamping portion 3123 bent and connected to the bending portion 3122. The cover body 3121 is coaxially arranged with the main body 3131 and fixedly connected to the main body 3131. The cover body 3121 is arranged on a side of the main body 3131 away from the positioning shell 311, and the bending portion 3122 extends from the inner ring of the cover body 3121 in a direction away from the positioning shell 311. The second clamping portion 3123 extends from the end of the bending portion 3122 away from the cover body 3121 in a direction away from the bending portion 3122. Further, the bending portion 3122 may abut against a side of the abutting portion 3132 away from the first clamping portion 3133. The second clamping portion can abut against the end of the abutting portion 3132 away from the main body portion 3131 and protrude from the end to cooperate with the first clamping portion 3133 to clamp the opposite sides of the outer ring of the second bearing 330, thereby limiting the second bearing 330 in the axial direction X.

[0082] In one embodiment, the reduction assembly 320 may include: a camshaft assembly 321 connected to the rotating frame 221 of the rotor assembly 220, a cycloidal wheel 322 sleeved on the camshaft assembly 321, an output frame 323 penetrated through the cycloidal wheel 322 and connected to the cycloidal wheel 322, and a pin tooth 324 capable of meshing with the outer periphery of the cycloidal wheel 322. Further, one end of the camshaft assembly 321 is connected to the rotating frame 221 so as to rotate synchronously with the rotating frame 221 under the drive of the rotating frame 221. The camshaft assembly 321 may be configured to form the input end of the reduction assembly 320. The cycloidal wheel 332 is sleeved on the camshaft assembly 321 so that the camshaft assembly 321 can drive the cycloidal wheel 332 to eccentrically swing; at the same time, the cycloidal wheel 332 meshes with the pin tooth 324 so that the cycloidal wheel 332 can drive the output frame 323 to rotate. The output frame 323 is configured to form the output end of the reduction assembly 320. The ratio of the rotation speed of the output carrier 323 to the rotation speed of the camshaft assembly 321 is the reduction ratio of the reduction assembly 320 .

[0083] The needle teeth 324 may be disposed on the inner wall of the positioning shell 311, and there may be a plurality of needle teeth 324, which may be evenly spaced and distributed on the inner wall of the positioning shell 311. The needle teeth 324 may be a columnar structure, and its axis may be parallel to the axial direction X.

[0084] Optionally, the speed reduction mechanism 300 may further include a first washer 340, which may be disposed between the positioning member 313 and the positioning shell 311. Further, the first washer 340 is disposed between the positioning member 313 and the pin tooth 324. The first washer 340 may be disposed on a side of the positioning member 313 close to the positioning shell 311 by bonding, snap-fitting, or screwing. Optionally, the speed reduction mechanism 300 may further include a second washer 350, which may be disposed between the positioning shell 311 and the rotating frame 221. Further, the second washer 350 is disposed between the rotating frame 221 and the pin tooth 324. Optionally, the second washer 350 may be disposed on a side of the positioning shell 311 close to the rotating frame 221 by bonding, snap-fitting, or screwing. Of course, in other embodiments, the first gasket 340 can be provided on the side of the positioning shell 311 close to the positioning member 313 by bonding, clamping, or screwing. The second gasket 350 can be provided on the side of the rotating frame 221 close to the positioning shell 311 by bonding, clamping, or screwing.

[0085] In one embodiment, the second positioning portion 2213 of the rotating frame 221 can be arranged around the end of the camshaft assembly 321 and have an interference fit with the camshaft assembly 321, so that the rotating frame 221 can drive the camshaft assembly 321 to rotate. Of course, in other embodiments, the second positioning portion 2213 can also be connected to the camshaft assembly 321 by other fixing methods, and it is only necessary to enable the second positioning portion 2213 to drive the camshaft assembly 321 to rotate synchronously.

[0086] Combined with reference Fig.12 , Fig.12 : is a schematic diagram of the structure of the camshaft assembly 321 in some embodiments of the present application. The camshaft assembly 321 may include a camshaft 3211 and a needle bearing 3212 sleeved on the camshaft 3211. The inner ring surface of the needle bearing 3212 may be interference fit with the camshaft 3211 for positioning, and the outer ring surface of the needle bearing 3212 may contact the center hole 3221 of the cycloid wheel 322 to drive the cycloid wheel 322 to rotate.

[0087] Furthermore, the cam shaft 3211 may be interference fit with the second positioning portion 2213 of the rotating frame 221 , so that the rotating member 221 can drive the cam shaft 3211 to rotate.

[0088] Optionally, the camshaft assembly 321 may further include a sleeve 3213 disposed between the camshaft 3211 and the needle bearing 3212, the sleeve 3213 being sleeved on the camshaft 3211 and connected to the camshaft 3211 by interference fit, and the needle bearing 3212 being sleeved on the sleeve 3213 and connected to the sleeve 3213 by interference fit. Of course, in other embodiments, the sleeve 3213 may be fixedly connected to the camshaft 3211 by means of a connection method such as a snap connection, bonding, or screw connection, and the needle bearing 3212 may be fixedly connected to the sleeve 3213 by means of a connection method such as a snap connection, bonding, or screw connection.

[0089] It can be understood that the camshaft 3211 can generally be composed of a cylindrical shaft body and a plurality of cams sequentially sleeved on the shaft body. Fig.12 As shown, the camshaft 3211 may be composed of a shaft body and two cams sequentially sleeved on the shaft body in the circumferential direction of the shaft body, and the two cams may be arranged symmetrically at 180°. Of course, in other embodiments, the camshaft 3211 may be composed of a shaft body and three cams sequentially sleeved on the shaft body in the circumferential direction of the shaft body, and the three cams may be arranged symmetrically at 120°. Furthermore, each cam is sleeved with a shaft sleeve 3213, and each shaft sleeve 3213 is sleeved with a needle bearing 3212.

[0090] It should be understood that, in the description of the present application, “plurality” means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0091] In one embodiment, a first groove is provided on the outer side of the shaft body of the camshaft 3211, and a second groove corresponding to the first groove is provided on the inner ring wall of the second positioning portion 2213 of the rotating frame 221. The camshaft 3211 and the second positioning portion 2213 can be fixedly assembled by a latch 3201, and the latch 3201 is inserted into the space formed by the first groove and the second groove to achieve fixed assembly.

[0092] Furthermore, a plurality of cycloid wheels 322 may be provided, and each cycloid wheel 322 is sleeved on each needle bearing 3212 of the camshaft assembly 321. Fig.11 and Fig.12 As shown, there are two cycloid wheels 322 , and the two cycloid wheels 322 are symmetrically arranged at 180°; accordingly, two cams are sequentially sleeved on the shaft body of the camshaft 3211 , and a needle roller bearing 3212 is sleeved on each cam.

[0093] It is understandable that the cycloid wheel 322 may be annular, that is, have a center hole 3221, and the cycloid wheel 322 is sleeved on the camshaft assembly 321 through the center hole 3221 to rotate under the drive of the camshaft assembly 321. The outer ring of the cycloid wheel 322 is toothed for meshing with the needle teeth 324.

[0094] Furthermore, the cycloid wheel 322 may also have a plurality of column holes 3222 arranged around the central hole 3221. Optionally, the plurality of column holes 3222 are evenly distributed around the periphery of the central hole 3221.

[0095] The output rack 323 may include a guide post 3231 inserted into the post hole 3222, and a first output rack 3232 disposed at one end of the guide post 3231. The outer diameter of the guide post 3231 is smaller than the outer diameter of the post hole 3222, so that the guide post 3213 can roll on the inner wall of the post hole 3222, thereby achieving the purpose of deceleration. The first output rack 3232 is connected to the side of the guide post 3231 away from the housing 110, and may be configured to form the output end of the deceleration assembly 320.

[0096] Specifically, the first output frame 3232 may be annular and may be sleeved on the end of the camshaft 3211 away from the housing 110. A third bearing 360 may be provided between the inner ring wall of the first output frame 3232 and the camshaft 3211, and the third bearing 360 may be provided around the end of the camshaft 3211 away from the housing 110.

[0097] Optionally, the third bearing 360 may be a flange bearing, so that the third bearing 360 may have a flange edge protruding toward the first output frame 3232, and the flange edge may also overlap the side of the first output frame 3232 facing the housing 110, thereby limiting the displacement of the third bearing 360 in the axial direction X. Accordingly, the camshaft 3211 may abut against the side of the third bearing 360 close to the housing 110, so as to cooperate with the first output frame 3232 to limit the displacement of the third bearing 360 in the axial direction X. Of course, in other embodiments, the first output frame 3232 may abut against the side of the outer ring of the third bearing 360 away from the housing 110, and the camshaft 3211 may abut against the side of the inner ring of the third bearing 360 close to the housing 110, that is, the first output frame 3232 and the camshaft 3211 cooperate to clamp the third bearing 360 to limit the displacement in the axial direction X.

[0098] As mentioned above, the opposite sides of the outer ring of the second bearing 330 respectively abut against the cover 312 and the positioning member 313 , and the inner ring of the second bearing 330 can abut against the first output frame 3232 and be sleeved on the first output frame 3232 to improve the rotation coaxiality of the first output frame 3232 .

[0099] In one embodiment, the output frame 323 may further include a second output frame 3233, wherein the second output frame 3233 and the first output frame 3232 are respectively connected to the opposite ends of the guide column 3231 and can rotate synchronously. The cycloid wheel 322 is arranged between the second output frame 3233 and the first output frame 3232. Optionally, a third washer 3202 is arranged between the first output frame 3232 and the cycloid wheel 322 to avoid interference between the first output frame 3232 and the cycloid wheel 322. Optionally, a fourth washer 3203 is arranged between the second output frame 3233 and the cycloid wheel 322 to avoid interference between the second output frame 3233 and the cycloid wheel 322. Optionally, a fifth washer 3204 is arranged between two adjacent cycloid wheels 322 to avoid interference between two adjacent cycloid wheels 322.

[0100] Furthermore, a fifth washer 3235 may be provided between the cam on the camshaft 3211 and the first output frame 3232 to avoid mutual interference between the camshaft 3211 and the first output frame 3232. Similarly, a sixth washer 3236 may be provided between the cam on the camshaft 3211 and the second output frame 3233 to avoid mutual interference between the camshaft 3211 and the second output frame 3233.

[0101] In one embodiment, the output frame 323 may further include a guide column sleeve 3234 sleeved on the guide column 3231 to facilitate the rolling of the guide column 3231 in the column hole 3222. Furthermore, a seventh washer 3237 is provided between the guide sleeve 3234 and the first output frame 3232, and the seventh washer 3237 may be sleeved on the guide column 3231 to avoid mutual interference.

[0102] In one embodiment, the driving device 10 may further include a fourth bearing 370, which may be disposed around the second positioning portion 2213, and the second output frame 3233 may be disposed around the fourth bearing 370 to improve the rotational coaxiality of the second output frame 3233. Optionally, the fourth bearing 370 may be a flange bearing, so that the fourth bearing 370 may have a flange edge protruding toward the second output frame 3233, and the flange edge may also overlap the side of the second output frame 3233 close to the housing 110, thereby limiting the displacement of the fourth bearing 370 in the axial direction X. Accordingly, the second positioning portion 2213 may abut against the side of the fourth bearing 370 close to the housing 110, thereby limiting the displacement of the fourth bearing 370 in the axial direction X.

[0103] Of course, in other embodiments, the outer ring of the fourth bearing 370 can abut against the second output frame 3233 on the side facing away from the housing 110, and the inner ring of the fourth bearing 370 can abut against the second positioning portion 2213 on the side close to the housing 110, so that the second output frame 3233 and the second positioning portion 2213 cooperate to limit the fourth bearing 370 in the axial direction X.

[0104] Optionally, a positioning sleeve 2218 may be sleeved on the second positioning portion 2213, and the positioning sleeve 2218 is interference-fitted with the second positioning portion 2213 to achieve fixed assembly. Of course, in other embodiments, the positioning sleeve 2218 may also be connected and fixed to the second positioning portion 2213 by means of screw connection, clamping connection, or bonding. Further, the side of the outer ring of the fourth bearing 370 facing away from the housing 110 may abut against the second output frame 3233, and the side of the inner ring of the fourth bearing 370 close to the housing 110 may abut against the positioning sleeve 2218, so that the second output frame 3233 and the positioning sleeve 2218 cooperate to limit the fourth bearing 370 in the axial direction X.

[0105] Combined with the following Fig.13 To illustrate the working principle of the speed reduction mechanism 300 in the embodiment of the present application, wherein: Fig.13 It is a schematic diagram of the top view of the speed reduction mechanism 300 in some embodiments of the present application.

[0106] Specifically, since the camshaft 3211 is connected to the rotating frame 221, the camshaft 3211 can rotate synchronously with the rotating frame 221. The camshaft 3211 drives the cycloid wheel 322 to rotate, so that the cycloid wheel 322 not only rotates around its own axis, but also revolves around the central axis of the camshaft 3211. The multiple needle teeth 324 are respectively engaged with the two cycloid wheels 322. The two cycloid wheels 322 are arranged 180° symmetrically on the camshaft assembly 321 to offset the inertia formed by the eccentric motion. The center of the guide column 3231, the center of the corresponding column hole 3222, the center of the camshaft 3211, and the center of the cycloid wheel 322 form multiple parallelograms.

[0107] like Fig.13As shown, the side length a is the distance from the center of the guide column 3231 to the center of the output frame 323. The side length b is the distance from the center of the cycloid wheel 322 to the center of the column hole 3222. The side length c is the distance from the center of the output frame 323 to the center of the cycloid wheel 322 (that is, the distance from the positioning shell 311 to the center of the cycloid wheel 322, or the distance from the center of the camshaft 3211 to the center of the cycloid wheel 322). The side length d is the distance from the center of the guide column 3231 to the center of the column hole 3222. Among them, the side length a = the side length b, and the side a is parallel to the side b; the side length c = the side length d, and the side c is parallel to the side d. According to the parallelogram law, the rotation speed of the side a = the rotation speed of the side b, so the rotation speed of the cycloid wheel 322 is equal to the rotation speed of the output frame 323.

[0108] It can be understood that the above-mentioned speed reduction mechanism 300 can be a cycloidal pinwheel reducer, and the working principle of the cycloidal pinwheel reducer that is not fully described is within the scope of understanding of those skilled in the art.

[0109] See again Figure 3 The detection mechanism 400 may have a first detection component 410 and a second detection component 420, wherein the first detection component 410 is configured to detect motion information of the input end of the drive device 10 (i.e., the first output end of the power mechanism 200), and the second detection component 420 is configured to detect motion information of the output end of the drive device 10 (i.e., the second output end of the reduction mechanism 300), and transmit the motion information to the circuit board 500, 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 input and output ends of the drive device 10, thereby improving the transmission accuracy and controllability of the drive device 10.

[0110] As mentioned above, the circuit board 500 is assembled in the first accommodating groove 101 and is spaced apart from the protrusion 1144 on the top wall 114. The first connecting portion 131 of the connecting member 130 is arranged in the first accommodating groove 101 and is fixedly connected to the protrusion 1144 to assemble and position the connecting member 130. The second connecting portion 132 of the connecting member 130 passes through the first positioning portion 2212, the first through hole 2215 and the second positioning portion 2213 in sequence, and is spaced apart from the inner side walls of the first positioning portion 2212, the second through hole 2216 and the second positioning portion 2213 respectively to avoid interfering with the rotation of the rotating frame 221. The end of the second connecting portion 132 away from the first connecting portion 131 is penetrated through the camshaft 3211 of the reduction assembly 320, and the end of the second connecting portion 132 away from the first connecting portion 131 is exposed to the side of the camshaft 3211 away from the rotating frame 221. Among them, the first connecting portion 131 can be arranged opposite to the circuit board 500.

[0111] The first detection component 410 may include a first detection member 411 disposed on the circuit board 500, and a first detected member 412 disposed on the rotating frame 221, so that the rotating frame 221 can drive the first detected member 412 to move relative to the first detection member 411, and thereby the first detection member 411 can obtain motion information of the rotating frame 221, i.e., the first output end of the power mechanism 200.

[0112] The second detection assembly 420 may include a second detection member 421 and a second detected member 422 that are arranged opposite to each other, and the second detected member 422 can rotate relative to the second detection member 421, so that the second detection member 422 can obtain the motion information of the output end of the driving device 10. The second detection member 421 may be arranged on the second connecting portion 132 of the connecting member 130, and the second detected member 422 may be arranged on the output frame 323 and arranged opposite to the second detection member 421.

[0113] In one embodiment, the reduction assembly 320 may further include an output cover 325, which may be connected to the output frame 323 to rotate synchronously with the output frame 323 under the drive of the output frame 323. The output cover 325 may be configured to form a second output end of the reduction mechanism 300, i.e., an output end of the driving device 10.

[0114] Further, the output cover 325 can be arranged on the side of the output frame 323 away from the housing 110, and the surface of the output cover 325 away from the output frame 323 can be configured to form the appearance surface of one side of the driving device 10. Further, the output cover 325 can be arranged on the side of the first output frame 3232 away from the cycloid wheel 322, and can be fixedly connected to the first output frame 3232 by screwing, clamping or welding. The machine cover 312 is arranged around the periphery of the output cover 325, and is arranged with a gap between the output cover 325.

[0115] The output cover 325 cooperates with the first output frame 3232 to clamp the two opposite sides of the inner ring of the second bearing 330 to limit the second bearing 330 in the axial direction X.

[0116] In one embodiment, the end of the second connection portion 132 of the connection member 130 away from the first connection portion 131 is exposed to the annular hollow area of ​​the first output frame 3232, and the output cover 325 covers the annular hollow area of ​​the first output frame 3232. The second detection member 421 is provided on the end of the second connection portion 132 exposed to the annular hollow area of ​​the first output frame 3232, and the second detected member 422 is provided on the area of ​​the output cover 325 exposed to the annular hollow area of ​​the first output frame 3232, and is arranged opposite to the second detection member 421. Further, the second detection member 421 can be electrically connected to the circuit board 500 through the lead wire 401.

[0117] Optionally, the connector 130 may have a hollow pipe for the lead wire 401 to pass through, and the hollow pipe of the connector 130 is connected to the first receiving groove 101 so that the second detection member 421 can be electrically connected to the circuit board 500 through the lead wire 401 .

[0118] The number of lead wires of the lead wire 401 can be set as required, such as one lead wire, two lead wires, or three lead wires, without specific limitation.

[0119] In one embodiment, a bearing plate 133 may be provided on the second connection portion 132 of the connection member 130, and the bearing plate 133 is configured to carry the second detection member 421 to ensure the stability of the assembly of the second detection member 421. The first output frame 3232 is arranged around the periphery of the bearing plate 133 and is spaced from the bearing plate 133 to avoid interference of the bearing plate 133 with the first output frame 3232. Optionally, the camshaft 3211 may be an annular tubular structure, the second connection portion 132 is passed through the camshaft 3211, the bearing plate 133 is arranged on the end of the second connection portion 132 away from the first connection portion 131, and the cross-sectional area of ​​the bearing plate 133 is larger than the inner ring area of ​​the camshaft 3211.

[0120] The terms "first", "second", and "third" in this application are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as "first", "second", and "third" may explicitly or implicitly include at least one of the features.

[0121] The detection mechanism 400 provided in the embodiment of the present application, the first detection component 410 and the second detection component 420 are arranged on opposite sides of the output frame 323 of the speed reduction mechanism 300, which can avoid mutual interference between the two during operation. In particular, when the first detection component 410 and the second detection component 420 both use magnetic encoders, the distance between the two is relatively far, so that the control of the input and output ends of the drive device 10 is more accurate. Of course, in other embodiments, the first detection component 410 and the second detection component 420 can also use a combination of optical encoders and / or magnetic encoders to obtain corresponding motion information, which will not be elaborated.

[0122] Based on the control requirements of the drive device, the embodiment of the present application uses a dual detection component to respectively detect and obtain the rotation speed, position and other motion information of the input and output ends of the drive device, and completes the precise control of the drive device through the acquired motion information of the input and output ends of the drive device. It can be understood that the embodiment of the present application needs to calibrate the initial corresponding positions of the input and output ends of the drive device before acquiring the motion information.

[0123] In the above manner, when the rotor assembly 220 rotates, the camshaft assembly 321 and the first detected member 412 can be synchronously driven to rotate. At this time, the first detection member 411 provided on the circuit board 500 can detect the motion information of the rotor assembly 220, i.e., the input end of the driving device 10. The rotation of the camshaft assembly 321 can drive the output frame 323 to rotate, i.e., realize the torque output of the output end of the driving device 10. At the same time, the rotation of the output frame 323 can drive the second detected member 422 to rotate, and the motion information of the output frame 323, i.e., the motion information of the output end of the driving device 10, can be detected by the second detection member 421 provided on the connecting member 130. The first detection member 411 and the second detection member 421 are electrically connected to the circuit board 500 respectively, so that the circuit board 500 can realize more accurate control of the input and output of the driving device 10 by comparing the motion information of the rotating frame 221 and the output frame 323, thereby improving the transmission accuracy and controllability of the driving device 10.

[0124] The driving device provided in the embodiment of the present application is connected with the second input end of the speed reduction mechanism by setting the first output end of the power mechanism to rotate synchronously with the second input end, and the motion information of the first output end and the second input end can represent the motion information of the input end of the driving device. Further, by configuring the second output end of the speed reduction mechanism to form the output end of the driving device, the driving device can increase the output torque by using the speed reduction mechanism to obtain a stronger driving force. At the same time, the motion information of the first output end and the motion information of the second output end are respectively obtained through the detection mechanism, that is, the motion information of the input end and the output end of the driving device is obtained, so that the driving device can more accurately control the position of the input and output of the driving device by comparing the motion information of the first output end and the second output end, thereby improving the transmission accuracy and controllability of the driving device.

[0125] See also Fig.14 , Fig.14 1 is a schematic block diagram of the structure of the robot 900 in some embodiments of the present application, wherein the robot 900 may be a machine device that can complete functions such as walking, running, and jumping under the control of the control system through the driving device 10 in the aforementioned embodiment. A typical robot structure is, for example, a robot dog, that is, a robot structure including a robot body and four legs. Of course, the robot in this embodiment may also be a structure including two, three or more legs, or even a structure including one leg, which is not specifically limited here.

[0126] The robot 900 generally includes a robot body 910, and a control device 920, an information collection device 930, a power supply 940 and a guiding device 950 arranged on the robot body 910. Among them, the robot body 910 can realize walking, running and other movement forms. The control device 920 can be arranged inside or outside the robot body 910 to control the robot 900 to move, and the control device 920 can also be used to control the working state of the information collection device 930, the power supply 940 and the guiding device 950. It can be understood that the control device 920 can be a control circuit board integrated with modules such as a data conversion module, an interface module, and a processing module, and the data conversion module can be connected to the information collection device 930 and the guiding device 950 respectively through the interface module. The interface module can be, for example, a USB interface that meets the USB 2.0 specification, the USB 3.0 specification and the USB 3.1 specification, and can include: a Micro USB interface or a USB TYPE-C interface. In addition, the interface module can also be a signal interface. Even the interface module can also be any other type of serial interface that can be used for serial data transmission. The data conversion module is used to serialize the data collected from the information collection device 930 through the interface module, and output the converted serial data through the interface module to process the converted serial data, such as transmitting it to the guidance device 950 or an external device. The data conversion module is also used to convert the serial data received through the interface module to convert the received serial data into interface data that matches the interface protocol of the interface module, and transmit the converted interface data to the guidance device 950 or an external device through the interface module, so as to output the converted interface data through the interface module. The processing module can be, for example, an application processor (AP), which is used to process the received data and output the processed data (video data and / or audio data) through the control circuit board.

[0127] It is understandable that the processing module may be, for example, a dedicated device supporting the robot 900, or the processing module may also be an electronic device (such as a smart phone, a tablet computer, etc.) equipped with the above module. The processor (such as a CPU or an AP, etc.) in the electronic device may be the above processing module, and by installing a corresponding application in the electronic device, the processor thereof may perform corresponding processing on the data received by the control device 920.

[0128] The control circuit board may be implemented as an ASIC (Application Specific Integrated Circuit) data integration processing chip, or may be implemented as an FPGA (Field Programmable Gate Array) or the like.

[0129] The information collection device 930 may include an audio data collection module, a video data collection module / image data collection module and a sensor data collection module. The information collection device 930 may be connected to the control device 920 via an interface module and transmit the collected data information to the control device 920.

[0130] The audio data acquisition module may include, for example, a microphone and an audio codec (Codec). The audio codec performs audio encoding on the data collected by the microphone.

[0131] The video data acquisition module / image data acquisition module may include, for example, a camera, such as a lens of an ordinary camera, an IR lens of an IR (Infrared Ray) camera, etc.

[0132] The sensing data acquisition module may include, for example, a proximity sensor, a posture sensor, and an acceleration sensor. A proximity sensor (such as a distance sensor provided on the first FPC523) is a general term for sensors that replace contact detection methods such as limit switches and are used for detection without contacting the detection object. The movement information and existence information of the detected object are converted into electrical signals. The detection principle of the inductive proximity sensor is to detect the magnetic loss caused by the eddy current generated on the surface of the conductor through the influence of an external magnetic field. An AC magnetic field is generated in the detection coil, and the impedance change caused by the eddy current generated by the metal body of the detection object is detected.

[0133] The attitude sensor is a high-performance 3D motion attitude measurement system based on MEMS technology. It contains motion sensors such as a three-axis gyroscope, a three-axis accelerometer, and a three-axis electronic compass. It obtains temperature-compensated 3D attitude and orientation data through an embedded low-power ARM processor. Using a quaternion-based 3D algorithm and special data fusion technology, it outputs zero-drift 3D attitude and orientation data expressed in quaternions and Euler angles in real time.

[0134] An accelerometer is a sensor that can measure acceleration. It is usually composed of a mass block, a damper, an elastic element, a sensitive element, and an adaptive circuit. During the acceleration process, the sensor measures the inertial force on the mass block and uses Newton's second law to obtain the acceleration value. Depending on the different sensitive elements of the sensor, common accelerometers include capacitive, inductive, strain gauge, piezoresistive, and piezoelectric.

[0135] The power supply 940 can be connected to the control device 920 via an interface module to provide power for the movement of the robot 900 , and the power supply 940 is also configured to provide power for the operation of the control device 920 , the information collection device 930 , and the guidance device 950 .

[0136] The guiding device 950 can be connected to the control device 920 through the interface module to perform corresponding guiding functions under the control of the control device 920.

[0137] In one embodiment, the robot 900 may further include a storage device 960, which is disposed in the robot body 910. The storage device 960 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) and / or a cache memory unit, and may further include a read-only memory unit (ROM). The storage device 960 may also include a program / utility having a set (at least one) of program modules, such program modules including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination thereof may include the implementation of a network environment.

[0138] In one embodiment, the robot 900 may also communicate with one or more external devices (e.g., mobile phones, computers, etc.), one or more devices that enable a user to interact with the robot 900, and / or any device that enables the robot 900 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface. Furthermore, the robot 900 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the robot 900, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0139] It should be noted that, although several modules or units of the equipment for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into being embodied by multiple modules or units.

[0140] The drive device and the robot having the drive device provided in the embodiments of the present application can more accurately control the input and output positions of the drive device by comparing the motion information of the first output terminal and the second output terminal, thereby improving the transmission accuracy and controllability of the drive device and further improving the control accuracy of the robot.

[0141] It should be noted that the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0142] The above descriptions are only some embodiments of the present application, and do not limit the protection scope 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 patent protection scope of the present application.

Claims

1. A driving device, characterized in that: The driving device comprises: A power mechanism having a first output end; a speed reduction mechanism having a second input end and a second output end, wherein the second input end is connected to the first output end and can rotate synchronously with the first output end; the second output end is configured to form an output end of the driving device; and A detection mechanism, comprising a first detection component and a second detection component, wherein the first detection component is configured to detect motion information of the first output end, and the second detection component is configured to detect motion information of the output end of the driving device; Wherein, the first detection component includes a first detected member and a first detecting member which are arranged opposite to each other, the first detected member is arranged on the first output end or the second input end, and can rotate relative to the first detecting member; the second detection component includes a second detected member and a second detecting member which are arranged opposite to each other, the second detected member is arranged on the second output end, and can rotate relative to the second detecting member.

2. The driving device according to claim 1, characterized in that: The driving device also includes a shell assembly and a circuit board, the shell assembly has a first accommodating groove and a second accommodating groove, the circuit board is assembled in the first accommodating groove, the power mechanism is assembled in the second accommodating groove and is electrically connected to the circuit board; wherein the first detection member and the second detection member are respectively assembled on the shell assembly and are respectively electrically connected to the circuit board.

3. The driving device according to claim 2, characterized in that: The housing assembly includes a housing and a connecting member, wherein the housing is arranged to form the first accommodating groove and the second accommodating groove; the speed reduction mechanism is assembled outside the housing and is linked with the power mechanism; One end of the connecting member is disposed in the first accommodating groove and connected to the housing, and the other end of the connecting member is configured to carry the second detecting member.

4. The driving device according to claim 3, characterized in that: The power mechanism comprises a stator assembly and a rotor assembly, wherein the rotor assembly is rotatably connected to the bottom wall of the first receiving groove, and the stator assembly is assembled in the second receiving groove and electrically connected to the circuit board; Wherein, the stator assembly is configured to generate magnetic force to drive the rotor assembly to rotate after being energized, and the rotor assembly is configured to form a first output end of the power mechanism.

5. The driving device according to claim 4, characterized in that: The rotor assembly comprises a rotating frame, and the rotating frame is rotatably connected to the bottom wall of the first accommodating groove; wherein the first detected member is arranged on the rotating frame, and the first detecting member is arranged on the circuit board.

6. The driving device according to claim 5, characterized in that: The rotating frame includes a bearing portion and a first positioning portion disposed on the bearing portion; wherein the first positioning portion is rotatably connected to the bottom wall of the first accommodating groove.

7. The driving device according to claim 6, characterized in that: A bearing member is provided on a side of the first positioning portion facing away from the bearing member, and the bearing member is configured to bear the first detected member; wherein the bearing member is opposite to the circuit board and spaced apart from the circuit board.

8. The driving device according to claim 5, characterized in that: The speed reduction mechanism comprises a fixing assembly connected to the housing and a speed reduction assembly connected to the rotating frame; The fixing assembly is disposed around the periphery of the reduction assembly, and the reduction assembly is connected to the rotating frame so as to rotate under the drive of the rotating frame.

9. The driving device according to claim 8, characterized in that: The fixing assembly comprises a positioning shell connected to the shell, and a cover arranged on a side of the positioning shell away from the shell; The reduction assembly includes a camshaft group connected to the rotating frame, a cycloid wheel sleeved on the camshaft group, an output frame connected to the cycloid wheel, and a needle tooth capable of meshing with the outer periphery of the cycloid wheel; Wherein, the camshaft assembly is configured to form a second input end of the reduction mechanism, and the output frame is configured to form a second output end of the reduction mechanism; the needle teeth are arranged on the inner ring wall of the positioning shell.

10. The driving device according to claim 9, characterized in that: The camshaft assembly includes a camshaft and a needle bearing sleeved on the camshaft, wherein the outer ring surface of the needle bearing abuts against the center hole of the cycloid wheel to drive the cycloid wheel to rotate; wherein the camshaft is connected to the rotating member to form a second input end of the reduction mechanism.

11. The driving device according to claim 10, characterized in that: The cycloid wheel has a plurality of column holes arranged around the center hole, and the output frame includes a guide column passing through the column hole and a first output frame arranged at one end of the guide column; wherein the outer diameter of the guide column is smaller than the inner diameter of the column hole so that the guide column can roll on the inner wall of the column hole; the first output frame is arranged on the side of the guide column away from the shell.

12. The driving device according to claim 11, characterized in that: The reduction assembly further includes an output cover connected to the first output frame; wherein the output cover is configured to form a second output end of the reduction mechanism; The connecting member includes a first connecting portion and a second connecting portion, wherein the first connecting portion is arranged in the first accommodating groove and connected to the housing, and the second connecting portion is passed through the camshaft; wherein the second detecting member is arranged on the second connecting portion, and the second detected member is arranged on the output cover.

13. The driving device according to claim 1, characterized in that: The first detecting member is a Hall sensor, and the first detected member is a magnet; and / or the second detecting member is a Hall sensor, and the second detected member is a magnet.

14. A robot, characterized in that: The robot has a driving device according to any one of claims 1 to 13.

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