Driving device and motor

Abstract

The invention provides a driving device and a motor, the driving device comprises a shell, a driving mechanism, a variable speed transmission mechanism and an output part, the driving mechanism comprises a stator part and a rotor part, an air gap is formed between the stator part and the rotor part, the variable speed transmission mechanism comprises an input part and an output part, the input part and the output part are in transmission fit, and the output part is in transmission fit with the input part. The input piece is connected with the rotor part, and the output piece is connected with the output part; the driving device further comprises a limiting mechanism and an end cover, the end cover is connected with the shell, the stator part is connected with the end cover or the shell, the limiting mechanism is located between the end cover and the input piece, one end of the limiting mechanism is connected with the end cover, and the other end of the limiting mechanism is connected with the input piece or the rotor part. The air gap is kept between the stator part and the rotor part in the axial direction of the driving mechanism through the limiting mechanism, the limiting mechanism is fixed through the end cover, machining is more convenient, and the machining difficulty of the stator part is reduced.

Description

Technical Field

[0001] The present application belongs to the field of driving, and specifically, relates to a driving device and a motor. Background Art

[0002] In engineering machinery, the motor drives the differential transmission mechanism to obtain the required speed and torque. In the related art, the output shaft of the disc motor is used to drive the output of the transmission mechanism. The disc motor includes a stator part, a rotor part, and a limiter arranged between the stator part and the rotor part. The limiter resists the axial magnetic attraction. Among them, the stator part is a powder metallurgy part, and the limiter is fixed by the intermediate bearing seat of the stator part. The processing requirements of the stator part are high, and the overall processing difficulty is relatively high. Summary of the invention

[0003] The present application aims to provide a driving device and a motor, aiming to reduce the difficulty of processing.

[0004] In order to achieve the above-mentioned object, the present application provides a driving device, including a housing, a driving mechanism, a speed-changing transmission mechanism and an output part, wherein the driving mechanism includes a stator part and a rotor part, an air gap is provided between the stator part and the rotor part, the speed-changing transmission mechanism includes an input member and an output member, the input member and the output member are in transmission cooperation, the input member is connected to the rotor part, and the output member is connected to the output part;

[0005] The driving device also includes a limiting mechanism and an end cover, wherein the end cover is connected to the housing, the stator part is connected to the end cover or the housing, the limiting mechanism is located between the end cover and the input member, one end of the limiting mechanism is connected to the end cover, and the other end of the limiting mechanism is connected to the input member or the rotor part.

[0006] The drive device provided in the present application has an end cover connected to the housing, a stator part connected to the end cover or the housing, an input part connected to the rotor part, and a limiting mechanism is arranged between the end cover and the input part, so that the stator part and the rotor part can maintain an air gap in the axial direction of the drive mechanism; the use of the end cover to fix the limiting mechanism makes processing more convenient and reduces the difficulty of processing the stator part.

[0007] In order to achieve the above-mentioned purpose, the present application also provides a motor, including a shell and a driving mechanism, the driving mechanism including a stator part and a rotor part, there is an air gap between the stator part and the rotor part, the motor also includes a first limiting mechanism and an end cover, the end cover is connected to the shell, the stator part is connected to the end cover or the shell, one end of the limiting mechanism is connected to the end cover, and the other end of the limiting mechanism is connected to the rotor part.

[0008] The motor provided in the present application has a stator portion connected to an end cover or a housing, and one end of a limiting mechanism is connected to the end cover, and the other end is connected to the rotor portion, so that an air gap can be maintained between the stator portion and the rotor portion in the axial direction of the driving mechanism; the use of an end cover to fix the limiting mechanism makes processing more convenient and reduces the difficulty of processing the stator portion. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] 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.

[0010] Figure 1 is a three-dimensional diagram of a driving device provided by the present application;

[0011] Figure 2 is a top view of a driving device provided by the present application;

[0012] Figure 3 yes Figure 2 AA section view;

[0013] Figure 4 It is a cross-sectional view of a driving mechanism and a speed transmission mechanism of a driving device provided by the present application;

[0014] Figure 5 It is a cross-sectional view of a drive device and a stator part and an end cover of a motor provided in the present application;

[0015] Figure 6 is a three-dimensional diagram of a magnetic steel and an input member of an embodiment provided in the present application;

[0016] Figure 7 It is a three-dimensional diagram of a magnet and an input member according to another embodiment provided in the present application. DETAILED DESCRIPTION

[0017] 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.

[0018] 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.

[0019] In the related art, the output shaft of a disc motor is used to drive the output of the transmission mechanism. The disc motor includes a stator part, a rotor part, and a limiter arranged between the stator part and the rotor part. The limiter resists the axial magnetic attraction. Among them, the stator part is a powder metallurgy part, and the limiter is fixed by the intermediate bearing seat of the stator part. The processing requirements of the stator part are high, and the overall processing difficulty is relatively high. In order to reduce the processing difficulty, this application provides a driving device, please refer to Figures 1 to 7 The driving device includes a housing 1, a driving mechanism 2, a speed transmission mechanism 4 and an output part 5. The driving mechanism 2 includes a stator part 21 and a rotor part 22. An air gap S is provided between the stator part 21 and the rotor part 22. The speed transmission mechanism 4 includes an input member 41 and an output member 42. The input member 41 and the output member 42 are in transmission cooperation. The input member 41 is connected to the rotor part 22, and the output member 42 is connected to the output part 5. The driving device also includes a limiting mechanism 8 and an end cover 11. The end cover 11 is connected to the housing 1, and the stator part 21 is connected to the end cover 11 or the housing 1. The limiting mechanism 8 is located between the end cover 11 and the input member 41. One end of the limiting mechanism 8 is connected to the end cover 11, and the other end of the limiting mechanism 8 is connected to the input member 41 or the rotor part 22. In the present application, when the driving mechanism 2 is powered on, a unidirectional magnetic attraction force will be generated in the axial direction. When the driving device cannot offset the unidirectional magnetic attraction force through the matching relationship between the components, the unidirectional magnetic attraction force will cause the rotor part 22 to slide axially in the direction of the stator part 21, or cause the stator part 21 to slide axially in the direction of the rotor part 22. In the present application, by adding a limiting mechanism 8 between the end cover 11 and the input member 41, the stator part 21 and the rotor part 22 maintain an air gap S in the axial direction of the driving mechanism 2, thereby reducing the displacement of the stator part 21 or the rotor part 22 in the axial direction caused by the axial magnetic attraction force. Compared with the method of directly fixing the limiting member by the stator part in the related art, the present application sets the limiting mechanism 8 between the end cover 11 and the input member 41, and uses the end cover 11 to support and fix the limiting mechanism 8, which can reduce the difficulty of processing, and is more convenient to install, and can withstand a larger load capacity, reducing the impact on the stator magnetic field performance.

[0020] In order to make the overall structure of the drive device more compact and smaller in size, please refer to Figure 3 and 4In some embodiments, the input member 41 further includes a first thrust groove 410, which is located at one end of the input member 41 facing the end cover 11, and the end cover 11 further includes a second thrust groove 111a, which is located at one end of the end cover 11 facing the input member 41, and the limiting mechanism 8 is located between the first thrust groove 410 and the second thrust groove 111a, and the two ends of the limiting mechanism 8 along the axial direction of the driving mechanism 2 are respectively abutted against the first thrust groove 410 and the second thrust groove 111a; the limiting mechanism 8 includes a first support member 81, a second support member 82 and a rolling member 83, the first support member 81 and the second support member 82 are arranged along the axial direction of the driving mechanism 2, and a plurality of rolling members 83 are arranged between the first support member 81 and the second support member 82, and one of the first support member 81 and the second support member 82 is at least partially located in the first thrust groove 410, and the other is at least partially located in the second thrust groove 111a. The first thrust groove 410 of the input member 41 is used to accommodate the limiting mechanism 8, which improves the space utilization rate, makes the overall structure more compact, can make fuller use of the space, and is conducive to the miniaturization of the driving device; the first thrust groove 410 and the second thrust groove 111a are used to position the limiting mechanism 8, so that the limiting mechanism 8 can be firmly fixed and the stator part 21 and the rotor part 22 can be limited.

[0021] In some embodiments, the limiting mechanism 8 is connected to the input member 41 and the end cover 11 by interference fit, which makes assembly more convenient. Figure 4 The first thrust groove 410 has at least one first circumferential wall surface 4100, and the second thrust groove 111a has at least one second circumferential wall surface 1110. One of the first support member 81 and the second support member 82 has an interference fit with the first circumferential wall surface 4100 of the first thrust groove 410, and the other has an interference fit with the second circumferential wall surface 1110 of the second thrust groove 111a. In some specific embodiments, the outer ring of the first support member 81 has an interference fit with the first circumferential wall surface 4100 of the first thrust groove 410, and the inner ring of the second support member 82 has an interference fit with the second circumferential wall surface 1110 of the second thrust groove 111a. Of course, in other embodiments, the inner ring of the first support member 81 may have an interference fit with the first circumferential wall surface 4100 of the first thrust groove 410, and the outer ring of the second support member 82 may have an interference fit with the second circumferential wall surface 1110 of the second thrust groove 111a. For specific embodiments, please refer to the embodiment of the invention again. Figure 4, the limiting mechanism 8 can adopt a one-way thrust ball bearing, and use the one-way thrust ball bearing to resist the axial magnetic attraction. Among them, the first support member 81 is a tight ring, and the second support member 82 is a loose ring. The tight ring cooperates with the end face and side face of the first thrust groove 410 of the input member 41, and the tight ring rotates synchronously with the input member 41; in addition, a boss structure can be added to the end cover 11, and the second thrust groove 111a is arranged on the boss structure, and the loose ring cooperates and fixes with the end face and side face of the second thrust groove 111a. Of course, the limiting mechanism 8 can also adopt a one-way thrust roller bearing and other bearings that can withstand axial loads; the limiting mechanism 8 is used to maintain the axial air gap S between the stator part 21 and the rotor part 22 in the driving mechanism 2.

[0022] In some embodiments, the end cover 11 is fixed to the shell 1 by at least one of an assembled connection, an integral connection, and a welded connection, and the end cover 11 is located at the end of the shell 1 facing away from the output portion 5; in this specific embodiment, there is no specific limitation on the connection method between the end cover 11 and the shell 1, which can be a detachable connection or a non-detachable connection. For example, the end cover 11 and the shell 1 are two separate parts before assembly and are connected by one or a combination of bonding, riveting, welding, bolting, and clamping. Among them, the bolt connection can prevent loosening by increasing the preload force and will not cause the material composition of the connection to be different. The welding connection does not require drilling, the cross section is not weakened, and no additional connectors are required. The structure is simple, the welding structure has good airtightness, and the rigidity and integrity are relatively large. The internal stress distribution of the bonding is uniform, and different materials can be connected. It is suitable for connecting thin materials and can connect materials of different thicknesses. The adhesive can better isolate the external corrosive medium, and it is also an insulating material, which can reduce the electrochemical corrosion of the substrate. There is no problem of weakening the strength of the substrate like riveting and screw holes. There is no need to consider the size matching of the components. The adhesive can have a certain elasticity and can be used in places with vibration.

[0023] The end cover 11 and the shell 1 can also be directly processed into one piece during the processing, for example, by one or more combinations of machining, casting, powder metallurgy, metal powder injection molding, and stamping to form an integrated piece. For example, it can be machined into an integrated piece, or it can be formed into an integrated piece through casting, powder metallurgy, metal injection molding, stamping and other processes, and it can also be processed again by machining after being formed into an integrated piece.

[0024] Please refer again Figure 4In some embodiments, the end cover 11 includes a limiting support portion 111, which is located on the side of the end cover 11 facing the input member 41 and extends along the axial direction of the driving mechanism 2. The limiting support portion 111 and the end cover 11 are fixed by at least one of an assembly connection, an integral connection, and a welding connection. The second thrust groove 111a is located at one end of the limiting support portion 111 facing the input member 41. In this embodiment, the limiting support portion 111 is used to support the second support member 82 of the limiting mechanism 8. By arranging the second thrust groove 111a on the end cover 11, processing is facilitated and the load-bearing capacity is greater.

[0025] In order to further improve the space utilization and make the overall structure more compact, in some embodiments, the stator part 21 includes a first through cavity 2110, and the limiting support part 111 is at least partially located in the first through cavity 2110. By accommodating the limiting support part 111 in the first through cavity 2110 of the stator part 21, the space can be more fully utilized, which is conducive to the miniaturization of the driving device.

[0026] Please refer again Figure 3 In order to improve the stability of transmission, in some embodiments, the driving device further includes a shaft 3, one end of the shaft 3 is at least partially located at the end cover 11, the other end of the shaft 3 is at least partially located at the output part 5, the axis of the shaft 3 is collinear with the axis of the driving mechanism 2, and the limiting mechanism 8 is located radially outside the shaft 3; the shaft 3 can not only play a supporting and connecting role, but also improve the concentricity of at least two of the input member 41, the stator part 21, the rotor part 22, and the output part 5, improve the transmission accuracy, improve the stability during movement, and extend the service life of the components in the driving device.

[0027] Please refer again Figure 3In order to further improve the stability of the transmission, in some embodiments, the driving device also includes a first rotating support member 9 and a second rotating support member 10, the first rotating support member 9 is at least partially located between the shaft 3 and the end cover 11, the second rotating support member 10 is at least partially located between the output part 5 and the shaft 3, and the shaft 3 is connected to the input member 41; in this embodiment, the two ends of the shaft 3 are rotatably connected to the end cover 11 and the output part 5 through the first rotating support member 9 and the second rotating support member 10, respectively, which improves the concentricity of the rotor, the stator, and the output part, making the transmission more stable; wherein, the shaft 3 and the input member 41 can be connected by interference fit, or can be connected and fixed by couplings, keys, etc. Specifically, in some embodiments, the end cover 11 further includes a first bearing limiting groove 112, the output portion 5 further includes a second bearing limiting groove 51, the first limiting member 31 and the second limiting member 32 are respectively installed at both ends of the shaft 3, the first rotating support member 9 is located between the first bearing limiting groove 112 and the first limiting member 31, the inner ring of the first rotating support member 9 abuts against the first limiting member 31, the outer ring of the first rotating support member 9 abuts against the first bearing limiting groove 112, the second rotating support member 10 is at least partially located in the second bearing limiting groove 51, and the inner ring of the second rotating support member 10 abuts against the first limiting member 31. 1 abuts against each other, and the outer ring of the second rotating support member 10 abuts against the second bearing limiting groove 51; wherein, the first rotating support member 9 includes at least one bearing, and the second rotating support member 10 includes at least one bearing; in some specific embodiments, the first bearing limiting groove 112 is located in the limiting support portion 111, the first limiting member 31 is a nut, and the second limiting member 32 is a retaining spring, and the first rotating support member 9 and the second rotating support member 10 can both use a deep groove ball bearing, wherein the first limiting member 31 abuts against the inner ring of the first rotating support member 9, and the retaining spring abuts against the inner ring of the second rotating support member 10. In addition, a gasket is additionally provided between the nut and the first rotating support member 9, and the bearing is fixed by the nut and the gasket, which makes assembly more convenient. In some other embodiments, the driving device also includes a third limiting member 14, which is installed on the end cover 11 and abuts against the outer ring of the first rotating support member 9, and the outer ring of the first rotating support member 9 is located between the first bearing limiting groove 112 and the third limiting member 14. Specifically, in this embodiment, the third limiter 14 can adopt a screw sleeve structure, the outer wall of the third limiter 14 is threadedly connected to the end cover 11, and the inner ring has a hollow cavity for the first limiter 31 to be placed and connected to the shaft 3.

[0028] Please refer again Figure 3 and Figure 4In some embodiments, the stator portion 21 and the rotor portion 22 are arranged along the axial direction of the driving mechanism 2; the stator portion 21 includes a stator core 211 and a coil winding 212, the stator core 211 includes a plurality of stator teeth 211b, the plurality of stator teeth 211b are evenly distributed around the axis of the driving mechanism 2, and the coil winding 212 is at least partially located outside the stator teeth 211b; in addition, in some embodiments, an insulating sleeve is installed at the position where the outlet wire of the coil winding 212 contacts the end cover 11, so as to reduce the hidden danger of direct contact between the coil winding 212 and the end cover 11 and wear and damage to the enameled wire. In addition, the stator core 211 also includes a chassis portion 211a, and the stator tooth portion 211b is connected to the chassis portion 211a. The stator tooth portion 211b is located between the chassis portion 211a and the rotor portion 22. The stator tooth portion 211b extends from the chassis portion 211a toward the rotor portion 22. In some embodiments, the extension direction of the stator tooth portion 211b is parallel to the axial direction of the driving mechanism 2, which facilitates the assembly of the coil winding 212.

[0029] In order to reduce the displacement of the stator core 211 caused by the axial magnetic attraction, please refer to Figure 3 and Figure 4 In some embodiments, the stator core 211 is connected to the end cover 11. The connection method between the two is not limited. It can be one or a combination of connection with bolts and other connecting parts, clamping, bonding, welding. In a specific embodiment, the stator core 211 is glued at the bottom to make its connection with the end cover 11 more secure. In order to further improve the reliability of the fixation of the stator core 211, the end cover 11 has a fixing groove 110, and the fixing groove 110 is located on the side of the end cover 11 facing the drive mechanism 2. The chassis part 211a is at least partially located in the fixing groove 110. The outer ring of the fixing groove 110 has a third limiting surface 110a, and the chassis part 211a is interference-fitted with the third limiting surface 110a; the stator core 211 and the third limiting surface 110a of the end cover 11 are interference-fitted to reduce the problem of displacement of the stator core under the action of the axial magnetic attraction. Specifically, in this embodiment, the outer wall of the chassis part 211a and the third limiting surface 110a can both be circumferential surfaces for easy assembly.

[0030] In order to further reduce the phenomenon of displacement of the stator core 211 caused by the axial magnetic attraction, please refer to Figure 3 and Figure 4In some embodiments, the drive device further includes a stator stopper 12 and a stator stopper groove 120. The stator stopper 12 is connected to the housing 1 or the end cover 11 by any one of assembly connection, integral connection or welding connection, or the stator stopper 12 is located between the housing 1 and the end cover 11, the stator stopper groove 120 is located between the stator stopper 12 and the end cover 11, and the stator core 211 is at least partially located in the stator stopper groove 120. In some embodiments, the stator stopper 12 is clamped between the housing 1 and the end cover 11, and can also be fixed by bolts. The stator stopper 12 is used to improve the problem of displacement of the stator core 211 under the action of axial magnetic attraction. Among them, the stator stopper groove 120 can overlap with the fixed groove 110, or it can be a groove body opened outside the fixed groove 110. It only needs to add a corresponding block to the outer ring of the stator core 211 to achieve the limit.

[0031] To increase the power density of the drive, please refer again to Figure 4In some embodiments, the rotor part 22 includes a mounting part 221 and a plurality of magnetic steels 222. The mounting part 221 is fixed to the input member 41 by at least one of assembly connection, integral connection, and welding connection. The magnetic steel 222 is connected to the mounting part 221; at least one magnetic steel 222 includes at least two magnetic steel splits 2220, and the plurality of magnetic steel splits 2220 of the same magnetic steel 222 are arranged along the radial or circumferential direction of the mounting part 221. In the present application, by connecting the mounting part of the rotor part to the input member of the speed change transmission mechanism, the spacing between the rotor part and the input member is reduced to a certain extent, so that the structure of the drive device is more compact, the number of parts is reduced, and the assembly dimension chain and tolerance are reduced. When the magnetic steel grade is determined, the use of a plurality of magnetic steel splits can increase the speed and then increase the power. Since at least part of the magnetic steel of the rotor part adopts a multi-stage structure formed by a plurality of magnetic steel splits, the structure of the drive device is more compact while increasing the power, and the power density of the drive device is increased. Among them, in this embodiment, there is no specific limitation on the connection method between the mounting portion 221 and the input member 41, which can be a detachable connection or a non-detachable connection. For example, the mounting portion 221 and the input member 41 are two separate parts before assembly, and are connected by one or a combination of bonding, riveting, welding, connecting member connection, and clamping during assembly. Among them, the connecting member can be a bolt, etc., and the bolt connection can prevent loosening by increasing the preload, will not cause phase change of the material composition at the connection, is easy to disassemble, and is convenient for maintenance; the welding connection does not require drilling, the cross-section is not weakened, and no additional connecting members are required. The structure is simple, the welding structure has good airtightness, and the rigidity and integrity are both large; the internal stress of the bonding is evenly distributed, different materials can be connected, and it is suitable for connecting thin materials. Materials of different thicknesses can be connected, the adhesive can better isolate external corrosive media, and it is also an insulating material itself, which can reduce the electrochemical corrosion of the substrate, and there is no problem of weakening the strength of the substrate similar to riveting and screw holes. There is no need to consider the size matching problem of the components. The adhesive can have a certain elasticity and can be used in places with vibration.

[0032] Of course, the mounting portion 221 and the input member 41 can also be directly processed into one piece during the processing, for example, through one or more combinations of machining, casting, powder metallurgy, metal powder injection molding, and stamping to form an integrated piece. For example, it can be machined into an integrated piece, or it can be formed into an integrated piece through casting, powder metallurgy, metal powder injection molding, stamping, etc., and it can also be processed again by machining after being formed into an integrated piece. In a specific embodiment, both are processed by machining, so that the same positioning processing can be performed on the machine tool to ensure the positioning accuracy of the two and reduce the error.

[0033] In some embodiments, all the magnetic steels 222 include multiple magnetic steel segments 2220, that is, the magnetic steel 222 is divided into multiple pieces along the circumferential direction or radial direction, which effectively reduces the eddy current loss. In some embodiments, the multiple magnetic steel segments 2220 of the same magnetic steel 222 can adopt an equal angle or equal width structure, or a variable angle or variable width structure. In a specific embodiment, Figure 6 As shown, the multiple magnetic steel parts 2220 of the same magnetic steel 222 are arranged along the radial direction of the mounting portion 221, and the multiple magnetic steel parts 2220 have the same width in the radial direction. Of course, the multiple magnetic steel parts 2220 of the same magnetic steel 222 can also be arranged along the circumference of the mounting portion 221, and the multiple magnetic steel parts 2220 adopt an equiangular structure, such as Figure 7 The two adjacent magnetic steel parts 2220 of the same magnetic steel 222 can adopt the same contour shape at the joint, which is convenient for processing and installation and can reduce the joint seam at the joint.

[0034] Please refer again Figure 3 and Figure 4In some embodiments, the input member 41 includes an elliptical disk 411a, and the mounting portion 221 is connected to the elliptical disk 411a; the input member 41 also includes a flexible bearing 411b, and the output member 42 includes a flexible wheel 421, and the flexible wheel 421 includes an outer tooth portion 421a, and the flexible bearing 411b is located between the elliptical disk 411a and the outer tooth portion 421a; the driving device also includes a fixing member 43, and the fixing member 43 includes a rigid wheel 431, and the rigid wheel 431 is connected to the housing 1, and the outer tooth portion 421a is located between the flexible bearing 411b and the rigid wheel 431, the rigid wheel 431 includes an inner tooth portion 431a, the inner tooth portion 431a is partially meshed with the outer tooth portion 421a, the number of teeth of the outer tooth portion 421a is less than the number of teeth of the inner tooth portion 431a; the flexible wheel 421 also includes a connecting portion 421b, the connecting portion 421b connects the outer tooth portion 421a and the output portion 5; in this embodiment, the flexible bearing 411b is sleeved on the outer periphery of the elliptical disk 411a to form a wave generator. When the driving mechanism 2 is powered on, the rotor part 22 drives the elliptical disk 411a to rotate. When the elliptical disk 411a rotates, the flexible bearing 411b undergoes elastic deformation. The shapes of the flexible bearing 411b and the elliptical disk 411a of the wave generator are consistent. The flexible bearing 411b contacts the flexible wheel 421, so that the flexible wheel 421 is stretched outward in two opposite directions along the long axis of the elliptical disk 411a. The rigid wheel 431 is connected and fixed to the housing 1. Due to the extrusion force, the outer tooth portion 421a of the flexible wheel 421 and the inner tooth portion 431a of the rigid wheel 431 are meshed at the two end points of the long axis of the elliptical disk 411a of the wave generator. Every time the wave generator rotates one circle, each tooth of the flexible wheel 421 and the rigid wheel 431 meshes once, but due to the difference in the number of teeth between the outer tooth portion 421a and the inner tooth portion 431a, the reduction ratio i is: the difference in the number of teeth / the number of teeth of the outer tooth portion 421a, where the difference in the number of teeth = the number of teeth of the outer tooth portion 421a - the number of teeth of the inner tooth portion 431a, therefore, the angle rotated by the outer tooth portion 421a is i×360°, thereby achieving a reduction effect. For example: assuming that the number of teeth of the outer tooth portion 421a is 200 and the number of teeth of the inner tooth portion 431a is 202, then i=-2 / 200=-0.01, that is, the rotation speed of the flexible wheel 421 is 1 / 100 of the rotation speed of the elliptical disk 411a, achieving a reduction effect, and "-" indicates that the output direction of the flexible wheel 421 is opposite to the rotation direction of the elliptical disk 411a. In this embodiment, the difference in the number of teeth can be 1, 2, or 3. Since there are many possible examples, they are not listed here one by one.

[0035] Please refer again Figure 4In some embodiments, the input member 41 further includes a limit plate 411c, which is connected to the input member 41, and has a second limit surface 411d on the side of the limit plate 411c facing the flexible bearing 411b, and has a third limit surface 411e on the side of the input member 41 facing the flexible bearing 411b, and the inner ring of the flexible bearing 411b is at least partially located between the first limit surface 411d and the third limit surface 411e.

[0036] Please refer again Figure 3 and Figure 4 In some embodiments, the output part 5 is at least partially located on the inner side of the housing 1, and the bearing member 6 is located between the output part 5 and the housing 1. The bearing member 6 includes a bearing inner ring, a bearing outer ring and a rolling component, and the rolling component is located between the bearing inner ring and the bearing outer ring; the bearing inner ring is connected to the outer wall of the output part, and the bearing outer ring is connected to the inner wall of the housing 1; the driving device also includes an inner limit flange 71 and an outer limit flange 72, the inner limit flange 71 is connected to the output part 5, and the inner limit flange 71 abuts against the outer end of the bearing inner ring along the axial direction of the driving mechanism 2 and away from the input member 41, and the outer limit flange 72 is connected to the housing 1, and the outer limit flange 72 abuts against the outer end of the bearing outer ring along the axial direction of the driving mechanism 2 and away from the input member 41. In this embodiment, the drive mechanism 2 and the speed transmission mechanism 4 are integrated into the same housing 1. The housing 1, the drive mechanism 2 and the speed transmission mechanism 4 share the same housing 1, which has high integration and reduces the number of parts. In addition, the drive mechanism 2 and the speed transmission mechanism 4 are supported by the same housing, which reduces the assembly dimension chain between the drive mechanism 2 and the speed transmission mechanism 4, and helps to improve the transmission accuracy. Specifically, the housing 1 includes a first part 101 and a second part 102. The drive mechanism 2 is at least partially located in the first part 101, and the speed transmission mechanism 4 is at least partially located in the second part 102. The first part 101 and the second part 102 are an integral part. The method of obtaining the integral part is not specifically limited. It can be obtained by one or more combinations of welding, casting, powder metallurgy, metal powder injection molding, etc., or it can be obtained by machining after welding or casting molding or powder metallurgy molding or metal powder injection molding, etc., or it can be obtained directly by machining. In a specific embodiment, the first part 101 and the second part 102 are both machined, so that the first part 101 and the second part 102 can be machined on a machine tool through the same positioning, ensuring the positioning accuracy of the first part 101 and the second part 102, reducing or avoiding the installation position deviation of the drive mechanism 2 and the speed transmission mechanism 4 to a high degree, and effectively improving the transmission accuracy between the drive mechanism 2 and the speed transmission mechanism 4. In the above embodiment, the drive device can also be provided with an input encoder 13, and the input encoder 13 includes a Hall element, wherein an induction magnet 30 is provided at one end of the shaft 3 facing the Hall element.

[0037] In the related art, the disc motor uses the intermediate bearing seat of the stator to fix the limiter, which has high requirements for the processing of the stator and is difficult to process as a whole. In order to reduce the processing difficulty, please refer to Figure 3 , the present application also provides a motor, including a driving mechanism 2, the driving mechanism 2 includes a stator part 21 and a rotor part 22, an air gap S is provided between the stator part 21 and the rotor part 22, the motor also includes a housing 1, an end cover 11 and a first limiting mechanism 8, the end cover 11 is connected to the housing 1, the stator part 21 is connected to the end cover 11 or the housing 1, one end of the limiting mechanism 8 is connected to the end cover 11, and the other end of the limiting mechanism 8 is connected to the rotor part 22. The limiting mechanism 8 can maintain an air gap between the stator part 21 and the rotor part 22 in the axial direction of the driving mechanism 2; in the present application, the end cover 11 is used to fix the limiting mechanism 8, which is more convenient to process, reduces the difficulty of processing the stator part 21, and the end cover 11 can withstand a large load capacity.

[0038] Please refer again Figures 3 to 5 In some embodiments, the driving mechanism 2, the limiting mechanism 8, and the end cover 11 can adopt the structure of any one embodiment or a combination of multiple embodiments of the above-mentioned driving device. The limiting mechanism 8 can be connected to the rotor part 22 and the end cover 11 by interference fit, which is more convenient for assembly; of course, other methods can also be used for connection and fixing. In a specific embodiment, the limiting mechanism 8 includes a first support member 81, a second support member 82, and a rolling member 83. The first support member 81 and the second support member 82 are arranged along the axial direction of the driving mechanism 2. A plurality of rolling members 83 are arranged between the first support member 81 and the second support member 82. The rotor part 22 includes a first thrust groove 410, and the end cover 11 includes a second thrust groove 111a. One of the first support member 81 and the second support member 82 is at least partially located in the first thrust groove 410 and has an interference fit, and the other is at least partially located in the second thrust groove 111a and has an interference fit.

[0039] Some technical implementations in the above embodiments may be combined or replaced.

[0040] The technical principles of the present application are described above in combination with specific implementations, but it should be noted that the above descriptions are only for explaining the principles of the present application and cannot be interpreted in any way as a specific limitation on the protection scope of the present application. Based on the explanation here, technicians in this field can think of other specific implementations or equivalent replacements of the present application without creative work, and they will all fall within the protection scope of the present application.

Claims

1. A driving device, characterized in that: The invention comprises a housing, a driving mechanism, a speed transmission mechanism and an output part, wherein the driving mechanism comprises a stator part and a rotor part, an air gap is provided between the stator part and the rotor part, the speed transmission mechanism comprises an input member and an output member, the input member and the output member are in transmission cooperation, the input member is connected to the rotor part, and the output member is connected to the output part; The driving device also includes a first limiting mechanism and an end cover, wherein the end cover is connected to the housing, the stator part is connected to the end cover or the housing, the limiting mechanism is located between the end cover and the input member, one end of the limiting mechanism is connected to the end cover, and the other end of the limiting mechanism is connected to the input member or the rotor part.

2. The driving device according to claim 1, characterized in that: The input member further comprises a first thrust groove, the first thrust groove is located at one end of the input member facing the end cover, the end cover further comprises a second thrust groove, the second thrust groove is located at one end of the end cover facing the input member, the limiting mechanism is located between the first thrust groove and the second thrust groove, and the two ends of the limiting mechanism along the axial direction of the driving mechanism are respectively in contact with the first thrust groove and the second thrust groove; The limiting mechanism comprises a first support member, a second support member and a rolling member, wherein the first support member and the second support member are arranged along the axial direction of the driving mechanism, a plurality of rolling members are arranged between the first support member and the second support member, and one of the first support member and the second support member is at least partially located in the first thrust groove, and the other is at least partially located in the second thrust groove; The limiting mechanism is used to maintain the air gap between the stator part and the rotor part in the axial direction of the driving mechanism.

3. The driving device according to claim 2, characterized in that: The first thrust groove has at least one first circumferential wall surface, the second thrust groove has at least one second circumferential wall surface, one of the first support member or the second support member has an interference fit with the first circumferential wall surface of the first thrust groove, and the other has an interference fit with the second circumferential wall surface of the second thrust groove.

4. The driving device according to claim 2, characterized in that: The end cover is fixed to the housing by at least one of assembly connection, integral connection and welding connection, and the end cover is located at one end of the housing facing away from the output part; The end cover comprises a limit support portion, the limit support portion is located on a side of the end cover facing the input member and extends along the axial direction of the driving mechanism, the limit support portion and the end cover are fixed by at least one of an assembly connection, an integral connection, and a welding connection, and the second thrust groove is located at an end of the limit support portion facing the input member; The stator portion includes a first through cavity, and the position-limiting support portion is at least partially located in the first through cavity.

5. The driving device according to claim 1, characterized in that: The driving device also includes a shaft, one end of which is at least partially located on the end cover, the other end of which is at least partially located on the output portion, the axis of the shaft is colinear with the axis of the driving mechanism, and the limiting mechanism is located radially outside the shaft.

6. The driving device according to claim 5, characterized in that: The drive device further comprises a first rotating support member and a second rotating support member, the first rotating support member is at least partially located between the shaft and the end cover, the second rotating support member is at least partially located between the output portion and the shaft, and the shaft is connected to the input member; The end cover further includes a first bearing limiting groove, the output part further includes a second bearing limiting groove, a first limiting member and a second limiting member are respectively installed at both ends of the shaft, the first rotating support member is located between the first bearing limiting groove and the first limiting member, the inner ring of the first rotating support member abuts against the first limiting member, the outer ring of the first rotating support member abuts against the first bearing limiting groove, the second rotating support member is at least partially located in the second bearing limiting groove, the inner ring of the second rotating support member abuts against the first limiting member, and the outer ring of the second rotating support member abuts against the second bearing limiting groove; The first rotation support includes at least one bearing, and the second rotation support includes at least one bearing.

7. The driving device according to claim 1, characterized in that: The stator part and the rotor part are arranged along the axial direction of the driving mechanism; The stator part includes a stator core and a coil winding, the stator core includes a plurality of stator teeth, the plurality of stator teeth are evenly distributed around the axis of the drive mechanism, and the coil winding is at least partially located outside the stator teeth; The stator core further includes a chassis portion, the stator teeth portion is connected to the chassis portion, the stator teeth portion is located between the chassis portion and the rotor portion, and the stator teeth portion extends from the chassis portion toward the rotor portion; The stator core is connected to the end cover, the end cover has a fixing groove, the fixing groove is located on the side of the end cover facing the driving mechanism, the chassis part is at least partially located in the fixing groove, the outer ring of the fixing groove has a third limiting surface, and the chassis part is interference fit with the third limiting surface; The driving device also includes a stator limiter and a stator limiter groove, wherein the stator limiter is connected to the shell or the end cover, or the stator limiter is located between the shell and the end cover, the stator limiter groove is located between the stator limiter and the end cover, and the stator core is at least partially located in the stator limiter groove.

8. The driving device according to claim 1, characterized in that: The rotor part includes a mounting part and a plurality of magnetic steels, the mounting part and the input member are fixed by at least one of assembly connection, integral connection and welding connection, and the magnetic steels are connected to the mounting part; At least one magnetic steel includes at least two magnetic steel parts, and the multiple magnetic steel parts of the same magnetic steel are arranged along the radial direction or circumferential direction of the mounting portion.

9. The driving device according to any one of claims 1 to 8, characterized in that: The input member comprises an elliptical disk, and the mounting portion is connected to the elliptical disk; The input member further comprises a flexible bearing, the output member comprises a flexible wheel, the flexible wheel comprises an external tooth portion, and the flexible bearing is located between the elliptical disk and the external tooth portion; The driving device further comprises a fixing member, the fixing member comprises a rigid wheel, the rigid wheel is connected to the housing, the outer tooth portion is located between the flexible bearing and the rigid wheel, the rigid wheel comprises an inner tooth portion, the inner tooth portion is partially meshed with the outer tooth portion, and the number of teeth of the outer tooth portion is less than the number of teeth of the inner tooth portion; The flexible wheel further comprises a connecting portion, wherein the connecting portion connects the outer tooth portion and the output portion; The input member further comprises a limit plate, the limit plate is connected to the input member, the limit plate has a second limit surface on a side facing the flexible bearing, the input member has a third limit surface on a side facing the flexible bearing, and the inner ring of the flexible bearing is at least partially located between the first limit surface and the third limit surface; The housing comprises a first part and a second part, the driving mechanism is at least partially located in the first part, the speed change transmission mechanism is at least partially located in the second part, and the first part and the second part are an integral part.

10. A motor, characterized in that: The invention comprises a driving mechanism, wherein the driving mechanism comprises a stator part and a rotor part, wherein an air gap is provided between the stator part and the rotor part, and the motor further comprises a housing, an end cover and a first limiting mechanism, wherein the end cover is connected to the housing, the stator part is connected to the end cover or the housing, one end of the limiting mechanism is connected to the end cover, and the other end of the limiting mechanism is connected to the rotor part.

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