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 shell comprises a first shell part and a second shell part, the stator part and the rotor part are at least partially located in the second shell part, 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 an RV speed reduction part and an output disc, the RV speed reduction part comprises an input part and an output part, the input part is in transmission connection with the main rotating shaft, and the output part is connected with the output disc; the RV speed reduction part is at least partially located in the first shell part, and the first shell part and the second shell part are an integrated piece or are assembled and matched. The stator part and the rotor part are at least partially located in the second shell part, the RV speed reduction part is at least partially located in the first shell part, and the first shell part and the second shell part are integrated or assembled and matched, so that the integration degree of the stator part, the rotor part and the RV speed reduction part is higher, the structure is simpler, and use is convenient.

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 reduction mechanism is connected to the output shaft of the disc motor through a coupling or other device, so that the output speed of the disc motor is reduced to be suitable for actual working conditions. However, since the reduction mechanism and the motor are two independent devices, they need to be connected through external components, making the overall structure complicated and inconvenient to use. Summary of the invention

[0004] The purpose of this application is to provide a driving device with a simple structure and more convenient use.

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

[0006] Wherein, the driving device includes an RV reduction part and an output disk, the RV reduction part includes an input part and an output part, the input part is transmission-connected to the main shaft, and the output part is connected to the output disk; the RV reduction part is at least partially located in the first shell part, and the first shell part and the second shell part are an integral part or assembled together.

[0007] In the present application, the stator part and the rotor part are at least partially located in the second shell part, and the RV reduction part is at least partially located in the first shell part, wherein the first shell part and the second shell part are an integral part or assembled together, so that the stator part, the rotor part and the RV reduction part are more integrated, the structure is simpler, and it is easy to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 A three-dimensional diagram of the driving device in this application;

[0009] Figure 2 It is a front view of the driving device in this application;

[0010] Figure 3 It is a cross-sectional view of the first embodiment of the present application;

[0011] Figure 4 The first embodiment of the present application is decomposed Figure 1 ;

[0012] Figure 5 Another perspective of the first embodiment of this application Figure 2 ;

[0013] Figure 6 It is a cross-sectional view of the RV speed reduction portion in this application;

[0014] Figure 7 is a cross-sectional view of the second embodiment of the present application;

[0015] Figure 8 The decomposition of the second embodiment of this application Figure 1 ;

[0016] Fig. 9 Another perspective of the second embodiment of this application Figure 2 ;

[0017] Fig.10 A top view of the driving device in this application;

[0018] Fig.11 A top view of the drive device in this application without the output disk;

[0019] Fig.12 It is a three-dimensional diagram of the first embodiment of the rotor part in this application;

[0020] Fig.13 This is an exploded view of the first embodiment of the rotor part in this application;

[0021] Fig.14 It is a three-dimensional diagram of the second embodiment of the rotor part in this application;

[0022] Fig.15 This is an exploded view of the second embodiment of the rotor part in this application. DETAILED DESCRIPTION

[0023] 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.

[0024] 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.

[0025] In the related art, during the use of the motor, a reducer is usually used to adjust the output speed of the motor, so as to adjust the speed to the required size. Commonly used reducers include harmonic reducers, RV reducers and planetary reducers. When in use, the reducer is connected to the output end of the motor through a coupling, etc., so as to achieve speed adjustment and achieve the purpose of deceleration. However, during assembly, it is necessary to ensure the coaxiality of the motor and the reducer. Not only does the assembly steps increase, but the connection between the two will also take up a large space, and the space utilization rate is also low.

[0026] The present application provides a driving device, such as Figure 1-15 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 stator part 2 and the rotor part 3 are at least partially located in the second shell part 102, the stator part 2 is connected to the inner wall of the shell 1, and the rotor part 3 is connected to the main shaft 4; wherein, the driving device includes an RV reduction part 5 and an output disk 6, the RV reduction part 5 includes an input part 501 and an output part 502, the input part 501 is transmission-connected to the main shaft 4, and the output part 502 is connected to the output disk 6; the RV reduction part 5 is at least partially located in the first shell part 101, and the first shell part 101 and the second shell part 102 are an integral part or assembled together.

[0027] After being energized, the stator part 2 generates electromagnetic force to drive the rotor part 3 to rotate, and the rotor 3 then drives the main shaft 4 to rotate. At this time, the rotation speed of the rotor part 3 is the same as the rotation speed of the main shaft 4. The main shaft 4 is connected to the RV reduction unit 5, driving the RV reduction unit 5 to rotate. The RV reduction unit 5 adjusts the rotation speed of the main shaft 4 to achieve the purpose of deceleration. After deceleration, it is output to the outside through the output part 502. The output part 502 is connected to the output disk 6. The output disk 6 can be used to connect to an external carrier, thereby driving the external carrier to rotate together.

[0028] Among them, when the first housing part 101 and the second housing part 102 are an integral part, the stator part 2, the rotor part 3 and the RV reduction part 5 are integrated in the same housing. During assembly, the stator part 2, the rotor part 3 and the RV reduction part 5 are assembled centrally, which greatly improves the integration and also greatly improves the space utilization. The RV reduction part is more suitable for large torque application scenarios and working conditions, and has higher fatigue strength, stiffness and life than the harmonic reducer. At the same time, the RV reduction part 5 has stable hysteresis accuracy, smooth transmission and easy processing of parts, and the price is relatively lower, which is more conducive to reducing costs.

[0029] The first shell part 101 and the second shell part 102 can be assembled and matched by means of snap fastening or bolting. There are no excessive restrictions here. It is only necessary that the two can be fastened together. Although the integrity of the assembly and matching will be reduced compared to that of a one-piece part, it is more convenient for the assembly process. The stator part 2 and the rotor part 3 can be assembled into the second shell part 102, and the RV reduction part 5 can be assembled into the first shell part 101. Then the two can be assembled to improve production efficiency. At the same time, the assembly and matching of the first shell part 101 and the second shell part 102 are compared to the two being separated, which also improves the utilization of space.

[0030] In the first embodiment, if Figure 3-6 As shown, the RV reduction unit 5 includes a flange 503, the driving device includes a first bearing 507, the flange 503 is interference fit with the inner ring of the first bearing 507, and the outer ring of the first bearing 507 is at least partially interference fit with the inner wall of the first housing part 101; the flange 503 has a accommodating cavity 5031, and the input part 501 is at least partially located in the accommodating cavity 5031.

[0031] The input part 501 includes a sun gear 5011 and a planetary gear 5012. The sun gear 5012 is interference fit with the main shaft 4, and the planetary gear 5012 is meshed with the sun gear 5011. The output part 502 includes a secondary shaft 5021, a second bearing 5022 and a third bearing 5023. One end of the secondary shaft 5021 is connected to the planetary gear 5012, and the other end of the secondary shaft 5021 is connected to the inner ring of the second bearing 5022. The outer ring of the second bearing 5022 is connected to the output disk 6. The secondary shaft 5021 is connected to the inner ring of the third bearing 5023. The flange 503 includes a through hole portion 5032. The through hole portion 5032 has a through hole 5033. The secondary shaft 5021 passes through the through hole 5033. The through hole portion 5032 includes a hole wall, and the outer ring of the third bearing 5023 is connected to the hole wall.

[0032] Among them, the RV reduction unit 5 includes a cycloidal wheel 504, a pin wheel 505, and a fourth bearing 506. The auxiliary shaft 5021 is connected to the inner ring of the fourth bearing 506. The cycloidal wheel 504 has a first hole 5041. The cycloidal wheel 504 includes a first hole wall. The first hole 5041 is at least partially located in the first hole wall. The outer ring of the fourth bearing 506 is connected to the first hole wall; the pin wheel 505 is at least partially interference fit with the inner wall of the first housing portion 101, and the pin wheel 505 and the cycloidal wheel 504 can engage.

[0033] In actual operation, the rotation of the main shaft 4 drives the sun gear 5011 which is in interference fit with the main shaft 4 to rotate, thereby driving the planetary gear 5012 to rotate, and the RV reduction unit 5 transmits the rotation of the main shaft 4 to the RV reduction unit 5 through the input unit 501 composed of the sun gear 5011 and the planetary gear 5012. The middle of the planetary gear 5012 is connected with the secondary shaft 5021, and the planetary gear 5012 is meshed with the sun gear 5011. When the planetary gear 5012 is driven to rotate, it will also revolve around the sun gear 5011 with the sun gear 5011 as the center, and the secondary shaft 5021 will also revolve around the sun gear 5011 and the main shaft 4 under the drive of the planetary gear 5012.

[0034] The auxiliary shaft 5021 is connected to the cycloid wheel 504 through the fourth bearing 506. During the rotation, the cycloid wheel 504 is driven to move together. The auxiliary shaft 5021 is a crank shaft. Therefore, when the cycloid wheel 504 is driven to move, the cycloid wheel 504 is partially meshed with the pin wheel 505. The end of the auxiliary shaft 5021 is connected to the output disk 6 through the second bearing 5022. The kinetic energy is transmitted to the external carrier through the output part 502 composed of the auxiliary shaft 5021, the second bearing 5022 and the third bearing 5023. Among them, the function of the third bearing 5023 is to provide a connection point for the auxiliary shaft 5021 on the one hand, and to ensure the stability of the auxiliary shaft 5021 when it rotates on the other hand. The secondary shaft 5021 is rotatably connected to the through hole portion 5032 of the flange 503 via the third bearing 5023, and the circumferential outer edge of the flange 503 is rotatably connected to the first housing portion 101 via the first bearing 507, so the secondary shaft 5021 will not have a negative impact on the flange 503 during rotation.

[0035] The RV speed reducer 5 includes two cycloid wheels 504 , and the two cycloid wheels 504 can mesh with each other.

[0036] When there are two cycloidal wheels 504, the two cycloidal wheels 504 are also rotatably connected to the secondary shaft 5021. At the same time, since the secondary shaft 5021 is a crank shaft, when connected to the two cycloidal wheels 504, the two cycloidal wheels 504 are staggered to form a phase angle difference of 180°, ensuring overall force balance and making the overall operation more stable.

[0037] Wherein, the driving device includes a fifth bearing 7, the first housing portion 101 includes a first step portion 1011, 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; the driving device includes a fixing flange 8, the fixing flange 8 is connected to the end face of the first housing portion 101, and the fixing flange 8 abuts against the outer ring of the fifth bearing 7; the flange 503 includes a connecting portion 5034, the cycloid wheel 504 has a second hole 5042, the connecting portion 5034 is at least partially located in the second hole 5042, and the connecting portion 5034 is connected to the output disk 6; the cycloid wheel 504 has a third hole 5043, and the main shaft 4 at least partially passes through the third hole 5043.

[0038] In the connection of the output disk 6, the output disk 6 is connected to the first step portion 1011 of the first housing portion 101 through the fifth bearing 7. At the same time, the fixing flange 8 cooperates with the first step portion 1011 to abut against the outer ring of the fifth bearing 7, so as to limit and fix the fifth bearing 7. At the same time, the output disk 6 is also connected to the connecting portion 5034 of the flange 503 to further improve the stability of the connection, so that the integrity and compactness of the overall structure are improved. The second hole 5042 and the third hole 5043 are both for preventing the connecting portion 5034 and the main shaft 4 from interfering with the movement of the cycloid wheel 504 during actual operation, playing a role of avoidance, and at the same time can also reduce the overall weight.

[0039] In addition, in order to further improve the stability of the output disk 6 and the connecting portion 5034, the driving device includes a connecting pin 9, a portion of which is connected to the connecting portion 5034, and another portion of which is connected to the output disk 6. The connecting pin 9 plays a connecting role on the one hand, and also plays a positioning role on the output disk 6 on the other hand, so that the position of the output disk 6 is more accurately positioned during assembly, and on the other hand, the output disk 6 is also more stable when outputting to the outside.

[0040] The fifth bearing 7 is a cross roller bearing. The first bearing 507 is a deep groove ball bearing. Compared with the traditional bearing, the cross roller bearing can play a better supporting role in the radial and axial directions, and is more conducive to the stability of the overall structure.

[0041] When the stator part 2 is assembled, the stator part 2 includes a stator disk 201 and a stator winding 202 , and the stator winding 202 is connected to the stator disk 201 ; the housing 1 includes a second housing part 102 , the second housing part 102 includes a second step part 1021 , and the stator disk 201 is connected to the second step part 1021 .

[0042] The second step portion 1021 provides a connection point for the stator portion 2, so that the stator portion 2 can be tightly assembled in the second housing portion 102; and the main shaft 4 at least partially passes through the stator disk 201, and is connected to the stator disk 201 through the connecting bearing 11, and the end of the main shaft 4 is also rotatably connected to the middle position of the output disk 6 through the bearing, thereby realizing the connection and fixation of the main shaft 4.

[0043] In another implementation of this embodiment, the stator part 2 includes two stator parts 2. In the axial direction of the main shaft 4, the two stator parts 2 are respectively located on both sides of the rotor part 3. On the one hand, it is convenient for heat dissipation. On the other hand, the rotor part 3 is balanced by the suction force of the stators on both sides, and the magnetic steel carrier will not bend due to unilateral force.

[0044] In the second embodiment, if Figures 7 to 9 As shown, a driving device, whose specific structure includes a shell 1, an input unit and an output unit, the input unit includes a stator part 2 and a rotor part 3, the output unit includes a main shaft 4, the stator part 2 and the rotor part 3 are at least partially located in the shell 1, the stator part 2 is connected to the inner wall of the shell 1, and the rotor part 3 is connected to the main shaft 4; wherein the rotor part 3 includes a first rotor 310 and a second rotor 320, and in the axial direction of the main shaft 4, the first rotor 310 and the second rotor 320 are located on opposite sides of the stator part 2; the driving device includes a speed reduction part 5, the output unit is connected to the speed reduction part 5, the speed reduction part 5 includes an input part 501 and an output part 502, the input part 501 is connected to the output unit, and the output part 502 is used to connect to an external carrier.

[0045] Its driving principle is the same as that of the first embodiment. Through the cooperation of the stator part 2 and the rotor part 3, the main shaft 4 is driven to rotate. No further details are given here. In the related art, a single rotor design is adopted, that is, a rotor is provided on one side of the stator in the axial direction, but the axial force it receives is biased to one side, so it is necessary to install a complex structure such as a thrust ball bearing to ensure the balance of the axial force. In this embodiment, the rotor part 3 is composed of a first rotor 310 and a second rotor 320, and the two are respectively located on both sides of the stator part 2. The design of the dual rotor structure can save the complex structure such as the thrust ball bearing required in the single rotor structure. The dual rotor design allows the magnetic circuits on the upper and lower sides of the stator part 2 coil to directly interact with the two rotors, and the performance utilization rate is higher.

[0046] 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 first rotor 310 includes a first rotor core 3011 and a first magnetic steel 3012, and the first magnetic steel 3012 is connected to the first rotor core 3011. The second rotor 320 includes a second rotor core 3021 and a second magnetic steel 3022, and the second magnetic steel 3022 is connected to the second rotor core 3021. The first rotor core 3011 and the second rotor core 3021 are respectively connected to the two sides of the extension part 402.

[0048] The first rotor core 3011 and the second rotor core 3021 in the dual rotor structure can be directly connected to the two sides of the extension part 402 by bolts, and the spacing between the two rotors is directly controlled by the thickness of the cushion layer and is very accurate, which can effectively improve the gap accuracy between the rotors. The fixing method of the main shaft 4 can also be optimized, and the first rotor 310 and the second rotor 320 can be more easily matched with the main shaft 4, and the positioning is more accurate. The above fixing method also greatly reduces the cost.

[0049] In which, 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 portion 402, and the outer ring of the connecting bearing 11 is connected to the stator portion 2; the housing 1 includes a second housing portion 102, the second housing portion 102 includes a second step portion 1021, the stator portion 2 and the rotor portion 3 are at least partially located in the second housing portion 102, and the circumferential outer edge of the stator portion 2 is connected to the second step portion 1021.

[0050] The stator core in the stator part 2 can be omitted, and the winding can be sealed in the stator core 210 by potting molding 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. 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.

[0051] In this embodiment, the speed reduction unit 5 is not limited to the RV speed reduction structure, but can also be a harmonic speed reduction structure or a planetary speed reduction structure, wherein the speed reduction unit 5 and the dual rotor structure can be integrated in the same housing, similar to the structure of the first embodiment, to improve the integration; although compared with the first embodiment, an additional rotor is added, but due to the small thickness of the rotor structure itself, the first rotor 310 and the second rotor 320 are arranged on both sides of the stator part 2, and the volume will not change much. Alternatively, the speed reduction unit 5 and the dual rotor structure are respectively located in two housings, and the two housings can be in an assembly-matching relationship or can be two independently separated, wherein the assembly-matching relationship can be a snap-fitting method or a bolted connection method.

[0052] The speed reduction unit 5 is described in detail below by taking the RV speed reduction structure as an example.

[0053] The housing 1 includes a first housing portion 101, the first housing portion 101 and the second housing portion 102 are an integral part or assembled together, the speed reduction portion 5 is at least partially located inside the first housing portion 101, the speed reduction portion 5 includes a flange 503, the driving device includes a first bearing 507, the flange 503 is interference fit with the inner ring of the first bearing 507, and the outer ring of the first bearing 507 is at least partially interference fit with the inner wall of the first housing portion 101; the flange 503 has a accommodating cavity 5031, and the input portion 501 is at least partially located in the accommodating cavity 5031.

[0054] The input part 501 includes a sun gear 5011 and a planetary gear 5012. The sun gear 5012 is interference fit with the main shaft 4, and the planetary gear 5012 is meshed with the sun gear 5011. The output part 502 includes a secondary shaft 5021, a second bearing 5022 and a third bearing 5023. One end of the secondary shaft 5021 is connected to the planetary gear 5012, and the other end of the secondary shaft 5021 is connected to the inner ring of the second bearing 5022. The driving device includes an output disk 6, and the outer ring of the second bearing 5022 is connected to the output disk 6; the secondary shaft 5021 is connected to the inner ring of the third bearing 5023, and the flange 503 includes a through hole portion 5032, the through hole portion 5032 has a through hole 5033, the secondary shaft 5021 passes through the through hole 5033, the through hole portion 5032 includes a hole wall, and the outer ring of the third bearing 5023 is connected to the hole wall.

[0055] The speed reduction unit 5 includes a cycloidal wheel 504, a pin wheel 505, and a fourth bearing 506. The auxiliary rotating shaft 5021 is connected to the inner ring of the fourth bearing 506. The cycloidal wheel 504 has a first hole 5041. The cycloidal wheel 504 includes a first hole wall. The first hole 5041 is at least partially located in the first hole wall. The outer ring of the fourth bearing 506 is connected to the first hole wall. The pin wheel 505 is at least partially interference fit with the inner wall of the first housing portion 101, and the pin wheel 505 and the cycloidal wheel 504 can mesh.

[0056] When the speed reduction unit 5 and the dual rotors are integrated into one housing, or assembled in two housings, and the two housings are in an assembly matching relationship, the speed reduction unit 5 and the dual rotors are connected to the same main shaft 4, which solves the problem of coaxiality on the one hand, and does not need to use external components on the other hand, because if the two are integrated in separate housings, two shafts need to be configured, and then the speed reduction unit 5 is connected and matched with the stator unit 2 and the dual rotor structure by using structures such as couplings. The efficiency and effect of assembly on the same main shaft 4 is also greatly improved, and the cost can also be reduced.

[0057] The driving device includes a fifth bearing 7, the first housing portion 101 includes a first step portion 1011, 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; the driving device includes a fixing flange 8, the fixing flange 8 is connected to the end face of the first housing portion 101, and the fixing flange 8 abuts against the outer ring of the fifth bearing 7; the flange 503 includes a connecting portion 5034, the cycloid wheel 504 has a second hole 5042, the connecting portion 5034 is at least partially located in the second hole 5042, and the connecting portion 5034 is connected to the output disk 6; the cycloid wheel 504 has a third hole 5043, and the main shaft 4 at least partially passes through the third hole 5043.

[0058] The connection structure of the output disk 6 is the same as that in the first embodiment, and its effects and functions are also the same, so they will not be described in detail here.

[0059] When the speed reduction unit 5 and the stator unit and the dual rotor structure are integrated in different housings, a brief introduction is also given below.

[0060] The driving device includes a first shell portion 101, which is spaced apart from the second shell portion 102. The speed reduction portion 5 is located in the first shell portion 101. The driving device includes a transmission shaft, which is at least partially located in the first shell portion 101. The speed reduction portion 5 is connected to the transmission shaft. The main shaft 4 is connected to the transmission shaft.

[0061] The driving device comprises an output flange, and the output part 502 is connected to the output flange.

[0062] Since the reduction unit 5, the stator unit 2 and the dual-rotor structure are respectively integrated in two separate housings, the main shaft 4 is configured in the second housing unit 102 for connecting the stator unit 2 and the dual-rotor structure, and the transmission shaft is configured in the first housing unit 101 for connecting the reduction unit 5. The transmission shaft is connected to the main shaft 4 through a coupling to transmit the torque generated when the main shaft 4 rotates, and then after being decelerated by the reduction unit 5, the speed of the main shaft 4 is adjusted, and then transmitted to the output flange through the output unit 502, and the output flange is used to connect an external carrier.

[0063] In the first embodiment and the second embodiment, the driving device includes a bottom cover 10 , and the bottom cover 10 is connected to the end surface of the second housing portion 102 .

[0064] The driving device further comprises an encoder, which is mounted at positions corresponding to the bottom cover 10 and the end of the main shaft 4 to monitor the rotation speed and operation status of the driving device.

[0065] In the first embodiment and the second embodiment, the rotor part 3 has the following two implementation modes, which are described below respectively.

[0066] 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.

[0067] 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.

[0068] The magnetic poles of adjacent magnetic steels 302 and adjacent magnetic strips 303 are opposite.

[0069] 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.

[0070] 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.

[0071] 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 penetrates at least part 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.

[0072] 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.

[0073] 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 passes through at least a portion of the rotor core 301, and compared with the first embodiment, it can further improve the overall torque and power of the drive device.

[0074] 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 also completely penetrate the rotor core 301, thereby dividing the rotor core 301 into Fig.15 The effect is best at this time because the magnetic strip 303 completely penetrates the rotor core 301.

[0075] 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.

[0076] In a further solution, if the magnetic strip 303 does not completely penetrate the rotor core 301, the fixed disk 304 is not required for connection. If the magnetic strip 303 completely penetrates 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.

[0077] 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.

[0078] 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.

[0079] 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 housing (1) comprises a first housing part (101) and a second housing part (102), the stator part (2) and the rotor part (3) are at least partially located inside the second housing part (102), 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 an RV reduction unit (5) and an output disk (6); the RV reduction unit (5) comprises an input unit (501) and an output unit (502); the input unit (501) is drivingly connected to the main shaft (4); and the output unit (502) is connected to the output disk (6); the RV reduction unit (5) is at least partially located in the first housing unit (101); the first housing unit (101) and the second housing unit (102) are an integral part or assembled together.

2. The driving device according to claim 1, characterized in that: The RV speed reduction unit (5) comprises a flange (503), the driving device comprises a first bearing (507), the flange (503) is interference fit with the inner ring of the first bearing (507), and the outer ring of the first bearing (507) is at least partially interference fit with the inner wall of the first housing unit (101); the flange (503) has a receiving cavity (5031), and the input unit (501) is at least partially located in the receiving cavity (5031).

3. The driving device according to claim 2, characterized in that: The input part (501) comprises a sun gear (5011) and a planetary gear (5012), the sun gear (5012) is interference fit with the main rotating shaft (4), and the planetary gear (5012) is meshed with the sun gear (5011); The output part (502) comprises an auxiliary shaft (5021), a second bearing (5022) and a third bearing (5023); one end of the auxiliary shaft (5021) is connected to the planetary gear (5012); the other end of the auxiliary shaft (5021) is connected to the inner ring of the second bearing (5022); and the outer ring of the second bearing (5022) is connected to the output disc (6); The secondary rotating shaft (5021) is connected to the inner ring of the third bearing (5023), the flange (503) includes a through hole portion (5032), the through hole portion (5032) has a through hole (5033), the secondary rotating shaft (5021) passes through the through hole (5033), the through hole portion (5032) includes a hole wall, and the outer ring of the third bearing (5023) is connected to the hole wall.

4. The driving device according to claim 3, characterized in that: The RV speed reducer (5) comprises a cycloid wheel (504), a pin wheel (505), and a fourth bearing (506); the secondary rotating shaft (5021) is connected to the inner ring of the fourth bearing (506); the cycloid wheel (504) has a first hole (5041); the cycloid wheel (504) comprises a first hole wall; the first hole (5041) is at least partially located in the first hole wall; and the outer ring of the fourth bearing (506) is connected to the first hole wall; The pin wheel (505) is at least partially interference-fitted with the inner wall of the first housing portion (101), and the pin wheel (505) is meshable with the cycloid wheel (504).

5. The driving device according to claim 4, characterized in that: The RV speed reduction unit (5) comprises two cycloid wheels (504), and the two cycloid wheels (504) are both capable of meshing with the cycloid wheel (504).

6. The driving device according to claim 4 or 5, characterized in that: The driving device comprises a fifth bearing (7), the first housing portion (101) comprises a first step portion (1011), 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); the driving device comprises a fixing flange (8), the fixing flange (8) is connected to the end surface of the first housing portion (101), and the fixing flange (8) abuts against the outer ring of the fifth bearing (7); The flange (503) comprises a connecting portion (5034), the cycloid wheel (504) has a second hole (5042), the connecting portion (5034) is at least partially located in the second hole (5042), and the connecting portion (5034) is connected to the output disk (6); The cycloid wheel (504) has a third hole (5043), and the main shaft (4) at least partially passes through the third hole (5043).

7. The driving device according to claim 6, characterized in that: The driving device comprises a connecting pin (9), a part of which is connected to the connecting portion (5034), and another part of which is connected to the output disk (6).

8. The driving device according to claim 6, characterized in that: The fifth bearings (7) are all cross roller bearings.

9. The driving device according to claim 1, characterized in that: The stator part (2) comprises a stator disc (201) and a stator winding (202), wherein the stator winding (202) is connected to the stator disc (201); the second housing part (102) comprises a second step part (1021), wherein the stator disc (201) is connected to the second step part (1021).

10. The driving device according to claim 9, characterized in that: The driving device comprises a bottom cover (10), wherein the bottom cover (10) is connected to the end surface of the second housing portion (102).

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