Drive device

Abstract

The invention provides a driving device which comprises a shell and a variable-speed transmission mechanism, the variable-speed transmission mechanism comprises an input part, an output part and a fixing part, the input part and the output part are in transmission fit, and the fixing part is connected with the shell; the driving device further comprises at least one positioning piece, the at least one positioning piece is connected with one of the fixing piece and the shell, the other one of the fixing piece and the shell is provided with at least one stopping groove, the positioning piece comprises at least one clamping part, the clamping part extends in the radial direction of the fixing piece, and the stopping groove is formed in the other one of the fixing piece and the shell. And at least one clamping part of at least one positioning piece is at least partially clamped into the stop groove. According to the driving device, torque and shearing force are resisted through cooperation of the stop groove and the clamping part, overall assembly is facilitated, and the difficulty of technological assembly is reduced.

Description

Technical Field

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

[0002] In engineering machinery, the differential transmission mechanism is driven by a motor to obtain the required speed and torque. In the related art, the drive device uses the motor output shaft to drive the transmission mechanism output, and its housing assembly is connected as a whole by screws, and the transmission mechanism is installed in the housing assembly; wherein, a screw avoidance hole is provided on the fixed wheel of the transmission mechanism, for the connecting screws in the housing assembly to pass through along the axial direction of the transmission mechanism, and the fixed wheel is prevented from rotating by the cooperation between the connecting screws and the screw avoidance hole; and the screw itself has a relatively weak shear resistance, and mainly relies on friction to resist shear, and it requires a large pre-tightening force to resist the shear force, and the process assembly is difficult. Summary of the invention

[0003] The present application aims to provide a driving device, aiming to reduce the difficulty of process assembly.

[0004] In order to achieve the above-mentioned purpose, the present application provides a driving device, including a housing and a speed change transmission mechanism, the speed change transmission mechanism including an input member, an output member and a fixed member, the input member and the output member are in transmission cooperation, and the fixed member is connected to the housing; the driving device also includes at least one positioning member, at least one positioning member is connected to one of the fixed member and the housing, and the other of the fixed member and the housing has at least one stop groove, the positioning member includes at least one locking portion, the locking portion extends along the radial direction of the fixed member, and at least one locking portion of at least one positioning member is at least partially engaged in the stop groove.

[0005] The driving device provided in the present application has a positioning member connected to one of the fixing member and the shell, and the other of the fixing member and the shell has at least one stop groove. The positioning member includes a locking portion extending along the radial direction of the fixing member, and the locking portion is at least partially locked in the stop groove. The torque and shear force are resisted by the cooperation between the stop groove and the locking portion, which facilitates the overall assembly and reduces the difficulty of process assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0007] Figure 1 is a three-dimensional diagram of a driving device provided by the present application;

[0008] Figure 2 is a top view of a driving device provided by the present application;

[0009] Figure 3 yes Figure 2 AA section view;

[0010] 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;

[0011] Figure 5 is a cross-sectional view of a stator portion and an end cover of a driving device provided by the present application;

[0012] Figure 6 It is a top view of a housing and a speed-changing transmission mechanism of a driving device provided by the present application;

[0013] Figure 7 yes Figure 6 BB section view;

[0014] Figure 8 It is a structural diagram of a fixing member of a driving device provided in the present application;

[0015] Fig. 9 It is a structural diagram of a housing of a driving device provided in the present application;

[0016] Fig.10 is another structural diagram of a fixing member of a driving device provided in the present application;

[0017] Fig.11 This is another structural diagram of the housing of a driving device provided in this application. DETAILED DESCRIPTION

[0018] 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.

[0019] 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.

[0020] In the related art, the housing assembly of the drive device is connected as a whole by screws, and the transmission mechanism is installed in the housing assembly; wherein, the fixed wheel of the transmission mechanism is provided with a screw avoidance hole for the connection screws in the housing assembly to pass through, and the fixed wheel is prevented from rotating by the cooperation between the connection screws and the screw avoidance hole; and the screw itself has a relatively weak shear resistance, and mainly relies on friction to resist shear, and requires a large pre-tightening force to resist shear force, and the difficulty of process assembly is relatively large. In order to reduce the difficulty of process assembly, this application proposes a drive device, please refer to Figures 6 to 11 The drive device includes a housing 1 and a speed transmission mechanism 4, wherein the speed transmission mechanism 4 includes an input member 41, an output member 42 and a fixing member 43, wherein the input member 41 and the output member 42 are in transmission cooperation, and the fixing member 43 is connected to the housing 1; the drive device also includes at least one positioning member 100, wherein at least one positioning member 100 is connected to one of the fixing member 43 and the housing 1, and the other of the fixing member 43 and the housing 1 has at least one stop groove 200, wherein the positioning member 100 includes at least one stop portion 1001, wherein the stop portion 1001 extends along the radial direction of the fixing member 43, and at least one stop portion 1001 of at least one positioning member 100 is at least partially stuck in the stop groove 200. The present application utilizes the stop groove 200 to limit the stop portion 1001 of the positioning member 100 to resist torque and shear force, thereby facilitating overall assembly and reducing the difficulty of process assembly.

[0021] Please refer again Figures 7 to 11In some embodiments, the positioning member 100 is fixed to the fixing member 43 or the shell 1 by at least one of an assembly connection, an integral connection, and a welding connection. In this specific embodiment, there is no specific limitation on the connection method between the positioning member 100 and the fixing member 43 or the shell 1, which can be a detachable connection or a non-detachable connection. For example, the positioning member 100 and the fixing member 43 or 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, 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 parts are required. The structure is simple, the welding structure has good airtightness, and the rigidity and integrity are large. The internal stress distribution of the bonding is uniform. The adhesive can be evenly connected to different materials and is suitable for connecting thin materials. It can connect materials of different thicknesses. The adhesive can better isolate external corrosive media and is also an insulating material. It can reduce the electrochemical corrosion of the substrate. There is no problem of weakening the strength of the substrate due to 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. The positioning member 100 and the fixing member 43 or the shell 1 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 injection molding, stamping and other processes, and it can also be processed again by machining after being formed into an integrated piece.

[0022] In some embodiments, see Figure 7 and Fig.11, the stop groove 200 includes at least one stop surface 201, and at least one stop portion 1001 of at least one positioning member 100 abuts against at least one stop surface 201 of the stop groove 200; the stop groove 200 is at least used to limit the relative rotation between the fixing member 43 and the housing 1. The present application uses positioning members and stop grooves to limit the circumferential rotation of the fixing member, which can reduce the number of bolts and simplify the assembly process. Among them, there are many structures of the positioning member 100 and the stop groove 200, and the cross-sectional shape is not specifically limited, as long as it can meet the requirements of limiting the relative rotation between the fixing member 43 and the housing 1, for example, the positioning member 100 and the stop portion 1001 are protrusions, and the stop groove 200 is a groove. In the related art, the use of screws and avoidance holes to fix the fixed wheel needs to consider the fit between the shaft and the hole, and the processing accuracy of the hole is relatively high. In addition, the resistance to torque and shear force is guaranteed by the number and spacing of bolts, which requires a large number of bolts, and the assembly and disassembly is complicated, which is not conducive to the process assembly process. The present application utilizes a structure in which the groove and the protrusion cooperate to limit the relative rotation between the fixing member 43 and the housing 1 , while reducing the number of bolts for easy assembly and disassembly.

[0023] Please refer again Figure 8 and Fig. 9 In a specific embodiment, the stop surface 201 includes a first stop surface 200a and a second stop surface 200b, which are arranged opposite to each other and arranged along the circumferential direction, and the stop portion 1001 is located between the first stop surface 200a and the second stop surface 200b. The first stop surface 200a and the second stop surface 200b can be used to limit the clockwise and counterclockwise rotation of the fixing member relative to the shell; wherein the first stop surface 200a and the second stop surface 200b can be arranged along the radial direction of the fixing member 43, and the cross-sectional shape of the positioning member 100 and the stop groove 200 is the same, which is convenient for installation and positioning. Please refer to Fig.10 and Fig.11 In some other embodiments, the stop groove 200 may also be a groove with an arc surface, wherein the stop surface 201 is an arc surface, and the end of the stop portion 1001 abuts against the stop surface 201. When the cross-sectional shape of the positioning member 100 and the stop groove 200 is the same, processing and assembly are convenient.

[0024] In order to facilitate processing, in some embodiments, the driving device includes a plurality of positioning members 100 and a plurality of stop grooves 200, and the plurality of positioning members 100 are connected to one of the housing 1 and the fixing member 43, and the plurality of stop grooves 200 are arranged on the other of the housing 1 and the fixing member 43, which is convenient for processing. Of course, it is also possible to adopt a method in which a part of the positioning members 100 is connected to the fixing member 43, and the same number of stop grooves 200 are correspondingly arranged on the housing 1; at the same time, another part of the positioning members 100 is connected to the housing 1, and the same number of stop grooves 200 are correspondingly arranged on the fixing member 43;

[0025] exist Figures 8 to 11 In the illustrated embodiment, a plurality of positioning members 100 are evenly arranged with the axis of the speed transmission mechanism 4 as the center, and a plurality of stop grooves 200 are evenly arranged with the axis of the speed transmission mechanism 4 as the center; in some embodiments, the positioning members 100 and the stop grooves 200 are evenly distributed on the circumference, which facilitates the fast positioning of the fixing member 43 and the housing 1 and is more convenient for assembly. Among them, the number of positioning members 100 and the stop grooves 200 is the same, and each positioning member 100 is arranged in a one-to-one correspondence with each stop groove 200; in addition, the stop portion 1001 extends along the radial direction of the fixing member 43, which may coincide with the horizontal direction, or may have a certain angle with the horizontal direction, and be in an inclined state. In a specific embodiment, the positioning member 100 and the stop portion 1001 are both in a horizontal state.

[0026] Please refer again Figure 8 and Fig. 9 In some embodiments, the fixing member 43 includes a fixing portion 431 and a positioning portion 432, the fixing portion 431 and the positioning portion 432 are arranged along the axial direction of the fixing member 43, and the fixing portion 431 and the positioning portion 432 are connected; the housing 1 also includes a positioning support portion 15, the positioning support portion 15 extends along the radial direction of the housing 1 toward the axis of the housing 1, the housing 1 and the positioning support portion 15 are fixed by at least one of assembly connection, integral connection, and welding connection, the positioning support portion 15 has a positioning cavity 151, the positioning portion 432 is at least partially located in the positioning cavity 151, and the fixing member 43 is positioned by the positioning support portion 15. In a specific embodiment, the cross section of the positioning cavity 151 is circular, and the positioning portion 432 is cylindrical, which is convenient for positioning.

[0027] Please refer again Figure 7 In some embodiments, the driving device further includes a connecting member 300, and the fixing member 43 is connected to the housing 1 through at least one connecting member 300. The connecting member 300 is at least used to maintain the relative position of the fixing member 43 and the housing 1 in the axial direction of the speed change transmission mechanism 4. In some embodiments, the connecting member 300 is a bolt, and the fixing member 43 is installed and fixed to the housing 1 through the bolt. Among them, the fixing part 431 also includes a first mounting hole 4311, and the positioning support part 15 also includes a second mounting hole 152. The fixing part 431 is connected to the positioning support part 15 through at least one connecting member 300. In some embodiments, the fixing part 431 also includes a first positioning pin hole 4312, and the positioning support part 15 also includes a second positioning pin hole. The positioning pin can be used to realize the positioning of the fixing member 43 and the housing 1, which is convenient for subsequent assembly.

[0028] See also Figure 7In some embodiments, the positioning member 100 is located between the fixing portion 431 and the positioning support portion 15. Specifically, in some embodiments, the positioning member 100 is connected to the fixing portion 431, the positioning member 100 is located on the side of the fixing portion 431 facing the positioning support portion 15, and the stop groove 200 is located on the side of the positioning support portion 15 facing the fixing portion 431. Of course, in other embodiments, the positioning member 100 can be connected to the positioning support portion 15, the positioning member 100 is located on the side of the positioning support portion 15 facing the fixing portion 431, and the stop groove 200 is located on the side of the fixing portion 431 facing the positioning support portion 15.

[0029] In some other embodiments, the positioning member 100 may be located between the fixing portion 431 and the housing 1; specifically, in some embodiments, the positioning member 100 is connected to the housing 1, the positioning member 100 is located on the inner ring side of the housing 1, and the stop groove 200 is located on the outer ring side of the fixing portion 431. Of course, in some other embodiments, the positioning member 100 may be connected to the fixing portion 431, the positioning member 100 is located on the outer ring side of the fixing portion 431, and the stop groove 200 is located on the inner ring side of the housing 1.

[0030] In some other embodiments, the positioning member 100 may be located between the positioning portion 432 and the positioning support portion 15. Specifically, in some embodiments, the positioning member 100 is connected to the positioning portion 432, the positioning member 100 is located on the outer ring side of the positioning portion 432, and the stop groove 200 is located on the inner ring side of the positioning support portion 15. Of course, in some other embodiments, the positioning member 100 may be connected to the positioning support portion 15, the positioning member 100 is located on the inner ring side of the positioning support portion 15, and the stop groove 200 is located on the outer ring side of the positioning portion 432.

[0031] This application provides a driving device, see Figures 1 to 5 The drive device further includes a drive mechanism 2 and an output part 5. The drive mechanism 2 includes a stator part 21 and a rotor part 22. There is an air gap S between the stator part 21 and the rotor part 22. The speed change 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. Please refer to Figure 3 and Figure 4In some embodiments, the speed transmission mechanism 4 adopts a harmonic reducer, the input member 41 includes an elliptical disk 411a, the rotor portion 22 includes a mounting portion 221 and a plurality of magnetic steels 222, the mounting portion 221 is connected to the elliptical disk 411a; the input member 41 also includes a flexible bearing 411b, the output member 42 includes a flexible wheel 421, the flexible wheel 421 includes an outer tooth portion 421a, the flexible bearing 411b is located between the elliptical disk 411a and the outer tooth portion 421a; the outer tooth portion 42 1a is located between the flexible bearing 411b and the fixed part 43, the fixed part 43 includes a rigid wheel, the rigid wheel includes an inner tooth portion 43a, the inner tooth portion 43a 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 43a; 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 fixing part 43 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 43a of the fixing part 43 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, the flexible wheel 421 meshes with each tooth of the fixed member 43 once, but due to the difference in the number of teeth between the outer tooth portion 421a and the inner tooth portion 43a, the reduction ratio i is: the difference in the number of teeth / the number of teeth of the outer tooth portion 421a, wherein 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 43a, 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 43a 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 examples, they are not listed here one by one. Of course, in some other embodiments, the speed transmission mechanism 4 may also be other types of reducers, such as an RV reducer.

[0032] 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.

[0033] 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 processed on a machine tool through the same positioning, thereby ensuring the positioning accuracy of the first part 101 and the second part 102, reducing or avoiding the installation position deviation of the driving mechanism 2 and the speed transmission mechanism 4 to a large extent, and effectively improving the transmission accuracy between the driving mechanism 2 and the speed transmission mechanism 4.

[0034] In some embodiments, the driving device further includes a limiting mechanism 8 and an end cover 11, 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 or the stator part 21, and the other end of the limiting mechanism 8 is connected to the input member 41 or the rotor part 22, and there is an air gap S between the stator part 21 and the rotor part 22, and the limiting mechanism 8 is used to maintain the air gap S between the stator part 21 and the rotor part 22 in the axial direction of the driving mechanism 2. In a specific embodiment, 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 due to the axial magnetic attraction. When the limiting mechanism 8 is arranged between the end cover 11 and the input member 41, the limiting mechanism 8 is supported and fixed by the end cover 11, which can reduce the difficulty of processing, and is more convenient to install, and can withstand a larger load capacity, thereby reducing the impact on the stator magnetic field performance.

[0035] In order to make the overall structure of the drive device more compact and smaller in size, please refer to Figure 3 and 4 In 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.

[0036] 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 is interference fit with the first circumferential wall surface 4100 of the first thrust groove 410, and the other is 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 is 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 is 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 be 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 be 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.

[0037] 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.

[0038] 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.

[0039] Please refer again Figure 4 In 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.

[0040] 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.

[0041] 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.

[0042] Please refer again Figure 3 In 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. Abutment, 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 at 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 adopt deep groove ball bearings or angular contact bearings, 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, please refer to Figure 5The driving device further includes a third stopper 13, which is mounted 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 stopper groove 112 and the third stopper 13. Specifically, in this embodiment, the third stopper 13 can adopt a screw sleeve structure, the outer wall of the third stopper 13 is threadedly connected to the end cover 11, and the inner ring has a hollow through cavity, which can be placed in the first stopper 31 and connected to the shaft 3.

[0043] Please refer again Figure 3 and Figure 4 In 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.

[0044] 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.

[0045] 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 4 In 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.

[0046] 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 parts. The plurality of magnetic steel parts of the same magnetic steel 222 are arranged along the radial or circumferential direction of the mounting part 221, or some of the magnetic steel parts are arranged along the radial direction, and some of the magnetic steel parts are arranged along the circumferential direction. 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 multiple magnetic steel parts 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 multiple magnetic steel parts, 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.

[0047] 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.

[0048] Among them, in some embodiments, all the magnetic steels 222 include multiple magnetic steel splits, 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. Among them, the multiple magnetic steel splits 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, the multiple magnetic steel splits of the same magnetic steel 222 are arranged along the radial direction of the mounting portion 221, and the multiple magnetic steel splits are of equal width in the radial direction. Of course, the multiple magnetic steel splits of the same magnetic steel 222 can also be arranged along the circumference of the mounting portion 221, and the multiple magnetic steel splits adopt an equal angle structure. Two adjacent magnetic steel splits 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 seam at the joint.

[0049] 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.

[0050] Some technical implementations in the above embodiments may be combined or replaced.

[0051] 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: It includes a housing and a speed change transmission mechanism, wherein the speed change transmission mechanism includes an input member, an output member and a fixed member, wherein the input member and the output member are in transmission cooperation, and the fixed member is connected to the housing; The driving device also includes at least one positioning member, which is connected to one of the fixing member and the shell, and the other of the fixing member and the shell has at least one stop groove. The positioning member includes at least one locking portion, which extends radially along the fixing member, and at least one locking portion of at least one positioning member is at least partially locked in the stop groove.

2. The driving device according to claim 1, characterized in that: The positioning member is fixed to the fixing member or the housing by at least one of an assembly connection, an integral connection, and a welding connection; The stop groove comprises at least one stop surface, and at least one stop portion of at least one positioning member abuts against at least one stop surface of the stop groove; The stop groove is at least used to limit the relative rotation between the fixing member and the housing.

3. The driving device according to claim 1, characterized in that: The driving device comprises a plurality of positioning members and a plurality of stop grooves, wherein the plurality of positioning members are connected to one of the housing and the fixing member, and the plurality of stop grooves are arranged on the other of the housing and the fixing member; The plurality of positioning members are evenly arranged with the axis of the speed change transmission mechanism as the center, and the plurality of stop grooves are evenly arranged with the axis of the speed change transmission mechanism as the center; The number of the positioning members is the same as that of the stop grooves, and each positioning member is arranged in one-to-one correspondence with each stop groove.

4. The driving device according to claim 1, characterized in that: The fixing member comprises a fixing portion and a positioning portion, wherein the fixing portion and the positioning portion are arranged along the axial direction of the fixing member, and the fixing portion and the positioning portion are connected; The housing further comprises a positioning support portion, the housing and the positioning support portion are fixed by at least one of an assembly connection, an integral connection, and a welding connection, the positioning support portion has a positioning cavity, and the positioning portion is at least partially located in the positioning cavity; The driving device further comprises a connecting member, the fixing member is connected to the housing via at least one connecting member, and the connecting member is at least used to maintain the relative position of the fixing member and the housing in the axial direction of the speed change transmission mechanism; The fixing portion further includes a first mounting hole, the positioning support portion further includes a second mounting hole, and the fixing portion is connected to the positioning support portion via at least one connecting member.

5. The driving device according to claim 4, characterized in that: The positioning member is located between the fixing portion and the positioning support portion; The positioning member is connected to the fixing portion, the positioning member is located on a side of the fixing portion facing the positioning support portion, and the stop groove is located on a side of the positioning support portion facing the fixing portion; Alternatively, the positioning member is connected to the positioning support portion, the positioning member is located on a side of the positioning support portion facing the fixing portion, and the stopping groove is located on a side of the fixing portion facing the positioning support portion.

6. The driving device according to claim 4, characterized in that: The positioning member is located between the fixing portion and the housing; The positioning member is connected to the housing, the positioning member is located on the inner ring side of the housing, and the stop groove is located on the outer ring side of the fixing portion; Alternatively, the positioning member is connected to the fixing portion, the positioning member is located on the outer ring side of the fixing portion, and the stop groove is located on the inner ring side of the housing.

7. The driving device according to claim 4, characterized in that: The positioning member is located between the positioning portion and the positioning support portion; The positioning member is connected to the positioning portion, the positioning member is located at the outer ring side of the positioning portion, and the stop groove is located at the inner ring side of the positioning support portion; Alternatively, the positioning member is connected to the positioning support portion, the positioning member is located on the inner ring side of the positioning support portion, and the stop groove is located on the outer ring side of the positioning portion.

8. The driving device according to any one of claims 1 to 7, characterized in that: The drive device further comprises a drive mechanism and a variable output part, wherein the drive mechanism comprises a stator part and a rotor part, and the variable speed transmission mechanism comprises an input member and an output member, wherein 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 input member includes an elliptical disk, the rotor portion includes a mounting portion and a plurality of magnetic steels, 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 outer tooth portion, the flexible bearing is located between the elliptical disk and the outer tooth portion, the outer tooth portion is located between the flexible bearing and a fixed member, the fixed member comprises a 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 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.

9. The driving device according to claim 8, characterized in that: The driving device also includes a limiting mechanism and an end cover, wherein the end cover is connected to the housing, and the stator part is connected to the end cover or the housing, one end of the limiting mechanism is connected to the end cover or the stator part, and the other end of the limiting mechanism is connected to the input member or the rotor part, and an air gap is provided between the stator part and the rotor part, and 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.

10. The driving device according to claim 9, characterized in that: The driving device further comprises a shaft, one end of the shaft is at least partially located at the end cover, the other end of the shaft is at least partially located at 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; The driving device further comprises a first rotating support and a second rotating support, wherein the first rotating support is at least partially located between the shaft and the end cover, and the second rotating support is at least partially located between the output portion and the shaft, and the shaft is connected to the input member.

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