Drive device

Abstract

The invention provides a driving device which comprises a shell, a stator part, a rotor part and a main rotating shaft, the stator part and the rotor part are at least partially located in the shell, the stator part is connected with the inner wall of the shell, and the rotor part is connected with the main rotating shaft; the driving device comprises a speed reduction part, the speed reduction part is connected with the main rotating shaft, and at least part of the speed reduction part is located in the shell; the rotor part comprises magnetic steels and magnetic strips, the magnetic steels are uniformly arranged at intervals in the circumferential direction of the main rotating shaft, and the magnetic strips are located between the adjacent magnetic steels. The driving device comprises the speed reduction part, at least part of the speed reduction part is located in the shell, and the speed reduction part adjusts the output rotating speed of the main rotating shaft, so that the rotating speed of the driving device is reduced.

Description

Technical Field

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

[0002] A motor is a device that converts electrical energy into mechanical energy and is often used in various types of construction machinery.

[0003] In the related art, the motor of the driving device can improve the overall torque and power through the cooperation of the rotor and the stator, but since the output speed of the motor is too high, it is not suitable for precise control. Summary of the invention

[0004] An object of the present application is to provide a driving device capable of reducing the rotation speed.

[0005] The present application provides a driving device, comprising a housing, a stator part, a rotor part and a main rotating shaft, wherein the stator part and the rotor part are at least partially located in the housing, the stator part is connected to the inner wall of the housing, and the rotor part is connected to the main rotating shaft;

[0006] The driving device comprises a speed reducing part, the speed reducing part is connected to the main rotating shaft, and the speed reducing part is at least partially located in the housing;

[0007] Wherein, the rotor part includes magnetic steel and magnetic strips. In the circumferential direction of the main shaft, the magnetic steels are evenly spaced and arranged, and the magnetic strips are located between adjacent magnetic steels.

[0008] In the present application, the driving device includes a speed reduction unit, which is at least partially located in the housing. The speed reduction unit adjusts the output speed of the main shaft to reduce the speed of the driving device, so that the driving device can be applied to precise control. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 A three-dimensional diagram of the driving device in this application;

[0010] Figure 2 It is a front view of the driving device in this application;

[0011] Figure 3 It is a cross-sectional view of the first embodiment of the present application;

[0012] Figure 4 It is an exploded view of the first embodiment of the present application;

[0013] Figure 5 This is an exploded view of the first embodiment of the present application from another perspective;

[0014] Figure 6 A top view of the first inner gear ring and the second inner gear ring in the first embodiment of the present application;

[0015] Figure 7 A top view of the first embodiment of the present application with the output tray removed;

[0016] Figure 8 is a cross-sectional view of the second embodiment of the present application;

[0017] Fig. 9 It is an exploded view of the second embodiment of the present application;

[0018] Fig.10 This is an exploded view of the second embodiment of the present application from another perspective;

[0019] Fig.11 A top view of the second embodiment of the present application without the output tray;

[0020] Fig.12 It is a three-dimensional diagram of the first embodiment of the rotor part in this application;

[0021] Fig.13 This is an exploded view of the first embodiment of the rotor part in this application;

[0022] Fig.14 It is a three-dimensional diagram of the second embodiment of the rotor part in this application;

[0023] Fig.15 This is an exploded view of the second embodiment of the rotor part in this application. DETAILED DESCRIPTION

[0024] In order to better understand the technical solution of the present application, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0025] It should be clear that the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0026] In the related art, a planetary reduction structure is also integrated in the drive device, and its structure is a single-layer planetary structure, specifically a sun gear connected to the shaft and a planetary gear meshing with the sun gear. The stator and rotor parts of the drive device cooperate to drive the shaft to rotate, and the shaft drives the planetary reduction structure to adjust the output speed of the shaft. Although a certain degree of adjustment can be achieved, for complex actual application environments and working conditions, the small transmission ratio of the single-layer planetary reduction structure is no longer suitable for actual production.

[0027] The present application provides a driving device, such as Figures 1 to 15As shown, a compound planetary structure is adopted, that is, the output speed of the drive device is adjusted by a double-layer planetary structure. Compared with a single-layer planetary reduction structure, a compound planetary structure can achieve a larger transmission ratio; compared with a harmonic reduction structure or an RV reduction structure, a compound planetary structure not only has a larger transmission ratio, but also has a simpler structure, a significantly reduced number of parts, which can greatly reduce costs and is easy to assemble. In the longitudinal direction, the structure of the compound planetary structure is more compact, which can reduce the overall volume of the drive device; on the other hand, the reduction in volume reduces the length of the main shaft 4, thereby reducing the tolerance of parts and assemblies, reducing the difficulty of processing, and improving assembly accuracy.

[0028] The basic principle of the planetary reduction system involved in this application is also briefly explained here. The basic principle of the planetary reduction system is that when the structure (number of teeth) is determined, the remaining variable is determined by controlling two of the three variables: the sun gear speed, the planetary carrier speed, and the steel wheel speed; if the gear ratio of the sun gear, the planetary gear, and the steel wheel is changed, when two of the controlled variables remain unchanged, the remaining variable finally determined will also change accordingly.

[0029] Therefore, this design principle utilizes a two-layer planetary reduction structure. By making two of the above three variables equal, but due to the different number of teeth, the residual terms of the two-layer planetary structure are different. As long as the relative changes of the two layers are small enough, when the residual term of the first layer is fixed to 0, the corresponding term of the second layer will also approach 0, thereby achieving a larger reduction ratio than the harmonic or cycloidal wheel under the same space occupancy.

[0030] In the first embodiment, if Figures 3 to 7 As shown, its specific structure includes a shell 1, a stator part 2, a rotor part 3 and a main shaft 4, the shell 1 includes a first shell part 101 and a second shell part 102, the second shell part 102 has a second inner cavity, the stator part 2 and the rotor part 3 are at least partially located in the second inner cavity, and the rotor part 3 is connected to the main shaft 4; the driving device includes a compound planetary reduction structure 12, the first shell part 101 has a first inner cavity, the compound planetary reduction structure 12 is at least partially located in the first inner cavity, and the compound planetary reduction structure 12 is connected to the main shaft 4; wherein the compound planetary reduction structure 12 includes a planet carrier 1210, and the planet carrier 1210 is used to connect to an external carrier.

[0031] When energized, the stator part 2 will generate a magnetic field to drive the rotor part 3, which cooperates with it magnetically, to rotate. The rotor part 3 is connected to the main shaft 4, driving the main shaft 4 to rotate. The main shaft 4 drives the compound planetary reduction structure 12 to rotate. The compound planetary reduction structure 12 thereby adjusts the output speed of the main shaft 4, and then uses the planetary carrier 1210 as an output carrier to connect to an external carrier to achieve output.

[0032] Among them, the compound planetary reduction structure 12 includes a first-stage planetary assembly 1201 and a second-stage planetary assembly 1202. The compound planetary reduction structure 12 includes a first inner ring gear 1203 and a second inner ring gear 1204. The first inner ring gear 1203 is meshed with the first-stage planetary assembly 1201, and the second inner ring gear 1204 is meshed with the second-stage planetary assembly 1202. The first inner ring gear 1203 and the second inner ring gear 1204 are rotatably connected to the inner wall of the first housing part 101; the planet carrier 1210 is connected to the second-stage planetary assembly 1202.

[0033] The first inner gear ring 1203 and the second inner gear ring 1204 have a difference in the number of teeth, and the first inner gear ring 1203 and the second inner gear ring 1204 are an integral part or fixedly connected; the driving device includes a main bearing 13, the outer ring of the main bearing 13 is interference fit with the inner wall of the first housing part 101, and the circumferential side walls of the first inner gear ring 1203 and the second inner gear ring 1204 are interference fit with the inner ring of the main bearing 13.

[0034] The primary planetary assembly 1201 and the secondary planetary assembly 1202 are both connected to the main shaft 4. In actual operation, the primary planetary assembly 1201 and the secondary planetary assembly 1202 rotate synchronously, that is, the main shaft 4 drives the two to rotate together; since the first inner gear ring 1203 and the second inner gear ring 1204 have a difference in the number of teeth, when the primary planetary assembly 1201 is meshed with the first inner gear ring 1203, and the secondary planetary assembly 1202 is meshed with the second inner gear ring 1204 for transmission, a higher transmission ratio can be achieved compared to a single-layer planetary structure. The first inner gear ring 1203 and the second inner gear ring 1204 are both rotatably connected to the first housing portion 101 through the main bearing 13. If the first inner gear ring 1203 and the second inner gear ring 1204 are both fixedly connected to the first housing portion 101, although a certain deceleration effect can be achieved, the transmission ratio will be greatly reduced.

[0035] More specifically, the first-stage planetary assembly 1201 includes a first sun gear 1205 and a first planetary gear 1206, the first sun gear 1205 and the first planetary gear 1206 have a tooth number difference, the first sun gear 1205 is fixedly connected to the main shaft 4, the first sun gear 1205 is meshed with the first planetary gear 1206, and the first planetary gear 1206 is meshed with the first inner ring 1203; the compound planetary reduction structure 12 includes a fixed frame 14, the circumferential side wall of the fixed frame 14 is interference fit with the inner wall of the first housing part 101, the fixed frame 14 includes a protrusion 1401, and the first planetary gear 1206 is rotatably connected to the protrusion 1401.

[0036] On the one hand, the fixing frame 14 provides a connection point for the first planetary gear 1206 in the first-stage planetary assembly 1201. The first planetary gear 1206 can be rotatably connected to the protrusion 1401 through a bearing, so that when the first planetary gear 1206 is driven to rotate by the first sun gear 1205, it can rotate around the protrusion 1401 instead of revolving around the first sun gear 1205 or the main shaft 4. On the other hand, in the axial direction of the main bearing 13, the fixing frame 14 has a limiting and fixing function for the main bearing 13, such as Figure 3 As shown, while the circumferential side wall of the outer ring of the main bearing 13 is interference fit with the first housing portion 101, the end face of the main bearing 13 in the axial direction abuts against the fixing frame 14. The fixing frame 14 can prevent the main bearing 13 from moving in the axial direction, thereby affecting the meshing transmission of the first inner gear ring 1203 and the second inner gear ring 1204 with the first-stage planetary assembly 1201 and the second-stage planetary assembly 1202 respectively.

[0037] The fixing frame 14 has a hole 1402 . In the axial direction of the main rotating shaft 4 , the hole 1402 penetrates the fixing frame 14 , and the main rotating shaft 4 at least partially passes through the hole 1402 .

[0038] The main shaft 4 does not contact the fixing frame 14, and the hole 1402 can play a role of avoidance, preventing interference between the rotating main shaft 4 and the fixing frame 14. Alternatively, a bearing is provided in the hole 1402, and the main shaft 4 is rotatably connected to the fixing frame 14 through the bearing, which can not only prevent interference, but also improve the tightness of the overall structural connection and improve the overall stability of the driving device.

[0039] The secondary planetary assembly 1202 includes a second sun gear 1207 and a second planetary gear 1208. The second sun gear 1207 and the second planetary gear 1208 also have a difference in the number of teeth. The second sun gear 1207 is fixedly connected to the main shaft 4, the second sun gear 1207 is meshed with the second planetary gear 1208, and the second planetary gear 1208 is meshed with the second inner ring gear 1204; the second planetary gear 1208 is rotationally connected to the planet carrier 1210, and the driving device includes an output disk 6, and the planet carrier 1210 and the output disk 6 are an integral part or fixedly connected.

[0040] The main rotating shaft 4 drives the second sun gear 1207 to rotate while driving the first sun gear 1205 to rotate. The second sun gear 1207 drives the second planetary gear 1208 meshing therewith to rotate. While the second planetary gear 1208 rotates, it also revolves around the second sun gear 1207. The planet carrier 1210 is rotatably connected to the second planetary gear 1208 through a bearing. During the process of the second planetary gear 1208 revolving around the second sun gear 1207, the planet carrier 1210 is driven to rotate to achieve output. The planet carrier 1210 is connected to the output disk 6, and the output disk 6 is further connected to an external carrier, or the planet carrier 1210 can also be directly connected to an external carrier to achieve power output. The output disk 6 can achieve a blocking effect, so that the first-stage planetary assembly 1201 and the second-stage planetary assembly 1202 are separated from external components. Because the meshing between the sun gear and the planetary gear is easily affected by external factors, when external debris or lines extend between the gears, it is easy to cause jamming. On the other hand, the switching of the output disc 6 can also make the connection with the external carrier more convenient. The output disc 6 also provides a connection point for the main shaft 4. The end of the main shaft 4 is connected to the output disc 6 through a bearing.

[0041] The first housing portion 101 includes a first step portion 1011 , the driving device includes a fifth bearing 7 , the inner ring of the fifth bearing 7 is connected to the circumferential side wall of the output disk 6 , and the outer ring of the fifth bearing 7 is connected to the first step portion 1011 .

[0042] The output disc 6 is connected to the first step portion 1011 through the fifth bearing 7, the outer ring of the fifth bearing 7 is interference fit with the first step portion 1011, and the end surface of the first housing portion 101 is connected with a fixing flange 8, which abuts against the outer ring of the fifth bearing 7 to limit and fix the fifth bearing 7. The fifth bearing 7 can be a cross roller bearing, which can provide good support effects in both axial and radial directions.

[0043] The second housing portion 102 includes a second step portion 1021 , and the circumferential outer edge of the stator portion 2 is connected to the second step portion 1021 ; the rotor portion 3 includes a first rotor 310 and a second rotor 320 , and in the axial direction of the stator portion 2 , the first rotor 310 and the second rotor 320 are located on opposite sides of the stator portion 2 .

[0044] In the connection and assembly of the stator part 2, the circumferential outer edge of the stator part 2 can be connected to the second step part 1021 by bolts or the like to achieve fixation. The rotor part 3 may also include only one rotor, which can also cooperate with the stator part 2 magnetically to drive the main shaft 4 to rotate together. However, the rotor part 3 includes a first rotor 310 and a second rotor 320, and the dual-rotor structure formed can effectively improve the output power of the motor without almost changing the overall volume of the drive device. The drive device is an axial magnetic flux motor device, and the stator and rotor are flat structures. An additional rotor will not take up too much space; but the dual-rotor structure can achieve axial force balance and eliminate complex structures such as thrust bearings. Because in the related art, the single-rotor structure will have the situation that the axial force is biased to one side. In order to avoid this situation, complex structures such as thrust ball bearings will be installed to balance the axial force.

[0045] When the dual-rotor structure is adopted, the stator core in the stator part 2 can be omitted, and the winding can be potted and formed so that the winding is sealed in the potting member to form an integrated structure, which is also easier to assemble. During assembly, the circumferential outer edge of the stator part 2 can also be connected to the second step part 1021 by bolts, etc. Since the winding can be supported and connected without the use of an iron core, the overall weight is reduced, the iron loss is also reduced, and the application scenarios are more extensive.

[0046] Specifically, the main shaft 4 includes a shaft body 401 and an extension portion 402. In the radial direction of the shaft body 401, the extension portion 402 extends outward from the circumferential side wall of the shaft body 401; in the axial direction of the shaft body 401, the first rotor 310 and the second rotor 320 are respectively connected to the two sides of the extension portion 402.

[0047] The driving device includes a connecting bearing 11 , the inner ring of the connecting bearing 11 is connected to the circumferential side wall of the extension part 402 , and the outer ring of the connecting bearing 11 is connected to the stator part 2 ; the end of the shaft body 401 is rotatably connected to the output disc 6 .

[0048] The first rotor 310 and the second rotor 320 can be connected to both sides of the extension part 402 by bolts, etc., and the spacing between the two rotors is directly controlled by the thickness of the cushion layer, so that the spacing between the two rotors is more accurate and easy to control. At the same time, this method also optimizes the fixing method of the main shaft 4. The main shaft 4 is rotatably connected to the stator part 2 through the connecting bearing 11, and then the positioning of the first rotor 310 and the second rotor 320 connected on both sides is also more accurate, making the connection and assembly simpler and the cost greatly reduced.

[0049] In the second embodiment, if Figures 8 to 11As shown, a driving device, whose specific structure includes a shell 1, a stator part 2, a rotor part 3 and a main shaft 4, the shell 1 includes a first shell part 101 and a second shell part 102, the second shell part 102 has a second inner cavity, the stator part 2 and the rotor part 3 are at least partially located in the second inner cavity, and the rotor part 3 is connected to the main shaft 4; the driving device includes a compound planetary reduction structure 12, the first shell part 101 has a first inner cavity, the compound planetary reduction structure 12 is at least partially located in the first inner cavity, and the compound planetary reduction structure 12 is connected to the main shaft 4; wherein the compound planetary reduction structure 12 includes a connecting steel wheel 1211, and the connecting steel wheel 1211 is used to connect to an external carrier.

[0050] The driving principle is the same as that of the first embodiment. In this embodiment, the steel wheel 1211 is connected as an output carrier for connecting to an external carrier.

[0051] Among them, the compound planetary reduction structure 12 includes a first-stage planetary assembly 1201 and a second-stage planetary assembly 1202. The compound planetary reduction structure 12 includes a fixed steel wheel 1212. The fixed steel wheel 1212 is interference fit with the inner wall of the first shell part 101. The connecting steel wheel 1211 is meshed with the first-stage planetary assembly 1201, and the fixed steel wheel 1212 is meshed with the second-stage planetary assembly 1202.

[0052] The first-stage planetary assembly 1201 includes a first sun gear 1205 and a first planetary gear 1206. The first sun gear 1205 is fixedly connected to the main shaft 4, the first sun gear 1205 is meshed with the first planetary gear 1206, and the first planetary gear 1206 is meshed with the fixed steel wheel 1212; the composite planetary reduction structure 12 includes a fixed frame 14, and the housing 1 includes an assembly portion 1012. In the radial direction of the main shaft 4, the assembly portion 1012 extends from the inner wall of the first housing portion 101 to the main shaft 4; the fixed frame 14 and the fixed steel wheel 1212 are an integral part or fixedly connected, and the fixed frame 14 is connected to the assembly portion 1012.

[0053] The secondary planetary assembly 1202 includes a second sun gear 1207 and a second planetary gear 1208. The second sun gear 1207 is fixedly connected to the main shaft 4, the second sun gear 1207 is meshed with the second planetary gear 1208, and the second planetary gear 1208 is meshed with the connecting steel wheel 1211; the first planetary gear 1206 and the second planetary gear 1208 are an integral part or fixedly connected.

[0054] In actual operation, the main shaft 4 drives the first sun gear 1205 and the second sun gear 1207 to rotate synchronously, wherein the fixed steel wheel 1212 is interference fit with the inner wall of the first housing portion 101, and the first sun gear 1205 drives the first planetary gear 1206 to rotate. During the rotation process, the first planetary gear 1206 also meshes with the fixed steel wheel 1212 and revolves around the first sun gear 1205; and the first planetary gear 1206 and the second planetary gear 1208 are an integral part or fixedly connected, so they also drive the second planetary gear 1208 to revolve around the second sun gear 1207 while rotating. Since the second planetary gear 1208 is meshed with the connecting steel wheel 1211, the connecting steel wheel 1211 also rotates under the drive of the second planetary gear 1208, thereby outputting power. The first planetary gear 1206 and the second planetary gear 1208 also rotate synchronously. Compared with the single-layer planetary structure, it also has a higher transmission ratio.

[0055] The driving device includes an output disk 6, which is an integral part or fixedly connected to the connecting steel wheel 1211; the composite planetary reduction structure 12 includes two planet carriers 1210, one of which is rotationally connected to the first planetary gear 1206, and the other planet carrier 1210 is rotationally connected to the second planetary gear 1208; the fixed frame 14 has a first annular groove 1403, and the output disk 6 has a second annular groove 601, one of which is at least partially located in the first annular groove 1403, and the other planet carrier 1210 is at least partially located in the second annular groove 601.

[0056] The function of the output disc 6 is the same as that in the first embodiment. The output disc 6 is connected to an external carrier to achieve power output. The output disc 6 can achieve a blocking effect, so that the first-stage planetary assembly 1201 and the second-stage planetary assembly 1202 are separated from the external components, because the meshing between the sun gear and the planetary gear is easily affected by external factors. When external debris or lines extend into the gears, it is easy to cause jamming. On the other hand, the switching of the output disc 6 can also make the connection with the external carrier more convenient. The output disc 6 also provides a point for connecting the main shaft 4. The end of the main shaft 4 is connected to the output disc 6 through a bearing.

[0057] The arrangement of one of the planet carriers 1210 allows the plurality of first planetary gears 1206 to maintain synchronization, and the other planet carrier 1210 also allows the plurality of second planetary gears 1208 to maintain synchronization, wherein the first annular groove 1403 and the second annular groove 601 are used to avoid the two planet carriers 1210 respectively, and there is no direct connection relationship between the first annular groove 1403 and the second annular groove 601 and the two planet carriers 1210. In order to achieve tightness and stability of the overall structural connection, needle bearings can be respectively arranged in the first annular groove 1403 and the second annular groove 601 in the axial direction of the main shaft 4, and the two needle bearings are respectively located between the output disc 6 and one of the planet carriers 1210, and between the fixed frame 14 and the other planet carrier 1210.

[0058] The first housing portion 101 includes a first step portion 1011 , and the driving device includes a fifth bearing 7 , an inner ring of the fifth bearing 7 is connected to the circumferential side wall of the output disc 6 , and an outer ring of the fifth bearing 7 is connected to the first step portion 1011 .

[0059] Similarly, this embodiment also includes a fixing flange 8, which is connected to the end face of the first housing portion 101, and limits and fixes the outer ring of the fifth bearing 7. The inner ring of the fifth bearing 7 has an interference fit with the circumferential side wall of the output disk 6. The inner ring of the fifth bearing 7 also has an interference fit with the connecting steel wheel 1211. When the connecting steel wheel 1211 is driven to rotate by the second planetary gear 1208, it will also drive the output disk 6 to rotate, thereby realizing output.

[0060] The fixing frame 14 has a hole 1402 . In the axial direction of the main rotating shaft 4 , the hole 1402 penetrates the fixing frame 14 , and the main rotating shaft 4 at least partially passes through the hole 1402 .

[0061] The second shell portion 102 includes a second step portion 1021, the stator portion 2 includes a stator disk 201 and a stator winding 202, the stator winding 202 is connected to the stator disk 201, and the stator disk 201 is connected to the second step portion 1021; the driving device includes a connecting bearing 11, the inner ring of the connecting bearing 11 is connected to the circumferential side wall of the main shaft 4, and the outer ring of the connecting bearing 11 is connected to the stator disk 201.

[0062] The function of the hole 1402 on the fixing frame 14 is the same as that in the first embodiment, and will not be described in detail here. In addition to the above-mentioned implementation, the structure of the stator part 2 can also adopt the solution in the first embodiment. In addition, the rotor part 3 can also adopt the design of the double rotor structure in the first embodiment, which will not be described in detail here. For details, please refer to the above-mentioned first embodiment.

[0063] Among them, the output disk 6 has a mounting hole 602, the driving device includes a mounting bearing 15, the mounting bearing 15 is at least partially located in the mounting hole 602, at least part of the end of the main shaft 4 passes through the mounting hole 602, the outer ring of the mounting bearing 15 is connected to the hole wall of the mounting hole 602, and the inner ring of the mounting bearing 15 is connected to the circumferential side wall of the end of the main shaft 4; the driving device includes a retaining ring 16, the retaining ring 16 is fixedly connected to the main shaft 4, and the edge of the retaining ring 16 abuts against the inner ring of the mounting bearing 15.

[0064] When the main rotating shaft 4 is connected and fixed, one end thereof is rotationally connected to the stator part 2 through the connecting bearing 11, and the other end thereof is rotationally connected to the output disk 6 through the mounting bearing 15, wherein the outer ring of the mounting bearing 15 is interference fit with the hole wall of the mounting hole 602, and a limiting portion is also provided on the side of the hole wall close to the inside of the first housing part 101 to support and limit the outer ring of the mounting bearing 15, and the edge of the retaining ring 16 connected to the end of the main rotating shaft 4 limits and fixes the inner ring of the mounting bearing 15, and the retaining ring 16 is located on the side of the output disk 6 close to the outside of the first housing part 101, and is clamped and fixed on both sides with the limiting portion, so that the selection of the fifth bearing 7 does not need to select a relatively expensive cross roller bearing, and an ordinary deep groove ball bearing can be used.

[0065] Compared with the first embodiment, the overall structure of this embodiment is simpler and more reliable, and uses fewer parts and components, resulting in lower manufacturing costs.

[0066] In both the first embodiment and the second embodiment, the first housing portion 101 and the second housing portion 102 may be an integral piece or assembled together.

[0067] The assembly can be done by snap-fit ​​or by bolt fixing, which can make the overall structure more compact and stable. The first housing portion 101 and the second housing portion 102 can also be a separated split structure. When the two adopt a separated split structure, in the second housing 102, the main shaft 4 connects the stator portion 2 and the rotor portion 3, and in the first housing 101, it also includes a transmission shaft, which is connected to the first sun gear 1205 and the second sun gear 1207. The main shaft 4 and the transmission shaft are connected through a coupling to achieve transmission.

[0068] In the first embodiment and the second embodiment, the rotor part 3 has the following two implementation modes, which are described below respectively.

[0069] In the related art, magnets are evenly spaced and pasted on the surface of the rotor core along the circumferential direction of the rotor core. Although they can coordinate magnetic flux with the stator part, their magnetic field is distributed on both sides of the rotor core, so that the overall efficiency of the drive device is low.

[0070] In the first embodiment, the rotor portion 3 includes a rotor core 301, a magnetic steel 302 and a magnetic strip 303. In the axial direction of the rotor core 301, the magnetic steel 302 is connected to one side of the rotor core 301, the magnetic strip 303 is connected to one side of the rotor core 301, the magnetic steel 302 and the magnetic strip 303 are located on the same side of the rotor core 301, and the magnetic strip 303 is located between adjacent magnetic steels 302.

[0071] The magnetic poles of adjacent magnetic steels 302 and adjacent magnetic strips 303 are opposite.

[0072] A transitional magnetic strip 303 with a magnetic force direction difference of 90° is arranged between two adjacent magnets 302 of opposite poles. This arrangement can effectively increase the strength of the magnetic field on one side and reduce the strength of the magnetic field on the other side, thereby increasing the overall power and torque of the drive device.

[0073] Among them, on the projection plane perpendicular to the axial direction of the rotor core 301, the area ratio of the magnetic steel 302 to the magnetic strip 303 is defined as a, and the range of a is: 2.5≤a≤5. In the preferred embodiment, the area ratio a of the magnetic steel 302 to the magnetic strip 303 is 4; under this ratio, compared with the magnetic steel distribution method in the related art, the torque and power can be effectively increased by more than 20% at the same speed.

[0074] In the second embodiment, the rotor part 3 includes a rotor core 301, a magnetic steel 302 and a magnetic strip 303. In the axial direction of the rotor core 301, the magnetic steel 302 is connected to one side of the rotor core 301, the magnetic strip 303 is connected to one side of the rotor core 301, the magnetic steel 302 and the magnetic strip 303 are located on the same side of the rotor core 301, and the magnetic strip 303 is located between adjacent magnetic steels 302; the magnetic strip 303 is embedded in at least a portion of the rotor core 301 along the axial direction of the rotor core 301. The magnetic poles of adjacent magnetic steels 302 are opposite; the magnetic poles of adjacent magnetic strips 303 are opposite.

[0075] On the projection plane perpendicular to the axial direction of the rotor core 301, the area ratio of the magnetic steel 302 to the magnetic strip 303 is defined as a, and the range of a is: 2.5≤a≤5. In the preferred embodiment, the area ratio a of the magnetic steel 302 to the magnetic strip 303 is 4.

[0076] In this embodiment, the arrangement of the magnet 302 and the magnetic strip 303 is the same as that in the first embodiment, and the ratio between the two and the optimal scheme are the same, and the effects and functions are the same. The magnetic strip 303 in this embodiment is embedded in at least a part of the rotor core 301, and compared with the first embodiment, it can further improve the overall torque and power of the drive device.

[0077] More specifically, the magnetic strip 303 can be partially embedded in the rotor core 301. In this case, the surface of the rotor core 301 has a groove to facilitate the embedding of the magnetic strip 303. Alternatively, the magnetic strip 303 can be completely embedded in the rotor core 301, thereby dividing the rotor core 301 into Fig.15 The effect is best at this time because the magnetic strips 303 are completely embedded in the rotor core 301.

[0078] Among them, the rotor part 3 includes a fixed disk 304, the fixed disk 304 has a accommodating cavity 3041, the fixed disk 304 includes a base plate 3042 and an annular rib 3043, in the axial direction of the fixed disk 304, the annular rib 3043 extends outward from one side of the base plate 3042; at least part of the wall of the base plate 3042 and the annular rib 3043 forms the cavity wall of the accommodating cavity 3041; the rotor core 301 is connected to the base plate 3042, and the rotor core 301, the magnet 302 and the magnetic strip 303 are at least partially located in the accommodating cavity 3041.

[0079] In a further solution, if the magnetic strip 303 is not completely embedded in the rotor core 301, the fixed disk 304 is not required for connection. If the magnetic strip 303 is completely embedded in the rotor core 301, the fixed disk 304 provides a point of connection for the rotor core 301, so that the integrity between the rotor core 301 and the magnetic strip 303 is stronger. If there is no fixed disk 304 to fix the overall connection, the blocky rotor core 301 is prone to fall off during actual use, affecting the operation of the drive device.

[0080] Although this embodiment is similar to the first embodiment, the effect brought about by this embodiment can increase the overall torque and power of the driving device by about 10% based on the first embodiment.

[0081] The above embodiments are only used to illustrate the present application but not to limit the technical solutions described in the present application. The understanding of this specification should be based on the technical personnel in the relevant technical field. For example, directional descriptions such as "front", "back", "left", "right", "up", and "down" are only used to describe the relationship between objects and are not substantive limitations. "Multiple" means at least two or more.

[0082] Although this specification has described the present application in detail with reference to the above-mentioned embodiments, a person of ordinary skill in the art should understand that a person of ordinary skill in the art can still modify or make equivalent substitutions to the present application, and all technical solutions and improvements thereof that do not depart from the spirit and scope of the present application should be included in the scope of the claims of the present application.

Claims

1. A driving device, characterized in that: The invention comprises a housing (1), a stator part (2), a rotor part (3) and a main rotating shaft (4), wherein the stator part (2) and the rotor part (3) are at least partially located inside the housing (1), the stator part (2) is connected to the inner wall of the housing (1), and the rotor part (3) is connected to the main rotating shaft (4); The driving device comprises a speed reducing part, the speed reducing part is connected to the main rotating shaft (4), and at least a part of the speed reducing part is located inside the housing (1); The rotor part (3) comprises magnetic steel (302) and magnetic strips (303); in the circumferential direction of the main shaft (4), the magnetic steel (302) is evenly spaced and arranged, and the magnetic strips (303) are located between adjacent magnetic steels (302).

2. The driving device according to claim 1, characterized in that: The rotor part (3) comprises a rotor core (301), wherein in the axial direction of the rotor core (301), the magnetic steel (302) is connected to one side of the rotor core (301), the magnetic strip (303) is connected to one side of the rotor core (301), and the magnetic steel (302) and the magnetic strip (303) are located on the same side of the rotor core (301).

3. The driving device according to claim 2, characterized in that: On a projection plane perpendicular to the axial direction of the rotor core (301), the area ratio of the magnetic steel (302) to the magnetic strip (303) is defined as a, and the range of a is: 2.5≤a≤5.

4. The driving device according to claim 3, characterized in that: The area ratio a of the magnetic steel (302) and the magnetic strip (303) is 4.

5. The driving device according to claim 1, characterized in that: The deceleration part is a compound planetary deceleration structure (12), and the compound planetary deceleration structure (12) comprises a primary planetary assembly (1201) and a secondary planetary assembly (1202), and both the primary planetary assembly (1201) and the secondary planetary assembly (1202) are connected to the main shaft (4).

6. The driving device according to claim 5, characterized in that: The compound planetary reduction structure (12) comprises a planet carrier (1210), the secondary planetary assembly (1202) is connected to the planet carrier (1210), and the planet carrier (1210) is used to be connected to an external carrier.

7. The driving device according to claim 5, characterized in that: The composite planetary reduction structure (12) comprises a connecting steel wheel (1211), the secondary planetary assembly (1202) is meshed with the connecting steel wheel (1211), and the connecting steel wheel (1211) is used to be connected to an external carrier.

8. The driving device according to claim 1, characterized in that: The stator part (2) comprises a stator disc (201) and a stator winding (202), the housing (1) comprises a second step portion (1021), the circumferential edge of the stator disc (201) is connected to the second step portion (1021), and the rotor core (301) is connected to the main shaft (4).

9. The driving device according to claim 1, characterized in that: The drive device comprises two rotor parts (3), and in the axial direction of the stator part (2), the two rotor parts (3) are respectively located on opposite sides of the stator part (2); the stator part (2) comprises a stator core (210) and a coil winding, and the coil winding is located in the stator core (210); the housing (1) comprises a second step part (1021), and the circumferential edge of the stator core (210) is connected to the second step part (1021).

10. The driving device according to claim 9, characterized in that: The main rotating shaft (4) comprises a shaft body (401) and an extension portion (402); in the radial direction of the shaft body (401), the extension portion (402) extends outward from the circumferential side wall of the shaft body (401); in the axial direction of the shaft body (401), the rotor cores (301) of the two rotor parts (3) are respectively connected to two sides of the extension portion (402).

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