Drive device

Abstract

The invention provides a driving device which comprises a machine shell, a speed adjusting assembly, an output assembly and a driving assembly, the speed adjusting assembly and the driving assembly are both arranged in the machine shell, the speed adjusting assembly comprises an input part and an output part, the input part is in transmission fit with the output part, the input part is connected with the driving assembly, and the output part is connected with the driving assembly. The output piece is connected with the output assembly; the driving device comprises a connecting part, the connecting part comprises a connecting piece and a pressing connection part, the output piece comprises a butt joint part, the connecting piece is connected with the output assembly, the butt joint part and the pressing connection part, the butt joint part is located between the output assembly and the pressing connection part, and the connecting stability of the output piece and the output flange is improved.

Description

Technical Field

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

[0002] The driving device of the related technology includes a speed regulation component, a driving component, an output component and a shell. The output component and the speed regulation component are connected, and the driving component and the speed regulation component are connected. The output shaft of the driving component drives the speed regulation component to rotate, and the speed regulation component drives the output component to rotate, and the output component is connected to an external carrier. In the related technology, the output member and the output component of the driving device are directly connected and fixed with a connecting member, but the tightening force of each connecting member is different, resulting in uneven force on the output member and the output component, and the connection stability between the output member and the output component is low. Summary of the Invention

[0003] The present application provides a driving device that improves connection stability.

[0004] The present application provides a driving device, comprising a housing, a speed regulating assembly, an output assembly, and a driving assembly, wherein the speed regulating assembly and the driving assembly are both disposed within the housing, the speed regulating assembly comprising an input member and an output member, the input member and the output member being in transmission engagement, the input member being connected to the driving assembly;

[0005] The driving device includes a connecting component, which includes a connecting component and a crimping portion. The output component includes a flat connection portion. The connecting component connects the output component, the flat connection portion and the crimping portion. The flat connection portion is located between the output component and the crimping portion. One side of the flat connection portion contacts the output component, and the other side of the flat connection portion contacts the crimping portion.

[0006] The driving device provided in the present application is provided with a crimping portion, and the connecting piece connects the output component, the flat connection portion and the crimping portion. Through the pressure between the crimping portion and the flat connection portion, the contact area between the connecting piece and the flat connection portion and the contact area between the flat connection portion and the output component can be increased, the force is evenly distributed, and the stability of the connection between the output component and the output flange is improved. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0008] Figure 2 is a planar cross-sectional view of a driving device of the present application;

[0009] Figure 3 It is an exploded diagram of a driving device of the present application;

[0010] Figure 4 It is a three-dimensional diagram of a casing of the present application;

[0011] Figure 5 is a planar cross-sectional view of a housing of the present application;

[0012] Figure 6 This is a three-dimensional diagram of the connection between the housing and the reading unit of the present application;

[0013] Figure 7 is a planar cross-sectional view of the housing and the reading portion of the present application;

[0014] Figure 8 is an assembly drawing of the drive device of the present application;

[0015] Figure 9 is an assembly drawing of the drive device of the present application;

[0016] Figure 10 is a planar cross-sectional view of the output flange, connecting components and flexible pulley of the present application;

[0017] Figure 11 is an exploded view of the output flange, connecting components and flexible pulley of the present application;

[0018] Figure 12 It is a perspective view of the reading portion of the present application;

[0019] Figure 13 is a perspective view of the retainer of the present application;

[0020] Figure 14 is a perspective view of the crimping portion of the present application;

[0021] Figure 15 It is a cross-sectional view of the crimping portion of the present application. DETAILED DESCRIPTION

[0022] The following description is intended to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are for example only, and those skilled in the art may conceive of other obvious variations. The basic principles of the present invention defined in the following description can be applied to other embodiments, variations, improvements, equivalents, and other technical solutions that do not deviate from the spirit and scope of the present invention. All technical solutions and improvements thereof that do not depart from the spirit and scope of the present application should be included within the scope of the claims of the present application.

[0023] Those skilled in the art should understand that, in the disclosure of the present invention, the terms "longitudinal", "transverse", "up", "down", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like to indicate orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the above terms should not be understood as limiting the present invention.

[0024] It is understandable that the term "one" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element may be one, while in another embodiment, the number of the elements may be multiple, and the term "one" should not be understood as a limitation on the quantity.

[0025] The present application provides a driving device, which can be applied to actuators, etc. and has a wide range of applications. In the current driving device of the related art, the speed encoder is distributed on one side of the housing 1. Sufficient installation space needs to be reserved for the speed encoder to facilitate the installation of the speed encoder, which limits the installation order of the driving device. In other words, the installation order of the driving device of the related art is to first install the driving component 4 into the housing 1, then install the rigid wheel 33 in the reduction component into the housing 1, and then press-fit the flexible wheel 311 and the wave generator 321. After that, the two are installed together into the housing 1 and meshed with the rigid wheel 33. The wave generator 321 is docked with the output shaft 41, and then the reading part 22 of the encoder is installed into the housing 1, and then the output component 5 is connected to the flexible wheel 311 to complete the installation. It can be seen that such an installation order is cumbersome and difficult to install. If the reading part 22 is first installed into the housing 1, and then the reduction component and the output component 5 are press-fitted into the housing 1, the reading part 22 will interfere with the press-fitting process of the reduction component.

[0026] To solve the above assembly problems, the following will refer to Figures 1 to 15 The present application is described in whole or in part. Figure 2 、 Figure 5 as well as Figure 15 As shown, F1 is the radial direction of the housing 1, F2 is the axial direction of the housing 1, F3 is the thickness direction of the connecting bracket, and F4 is the length direction of the connecting bracket.

[0027] Main references Figures 1 to 3As shown, the present application provides a driving device, including a housing 1, an encoder assembly 2, a speed regulation assembly 3, a driving assembly 4 and an output assembly 5. The housing 1 has an installation cavity 11, the speed regulation assembly 3 is at least partially located in the installation cavity 11, the output assembly 5 is connected to the speed regulation assembly 3, and the speed regulation assembly 3 is connected to the driving assembly 4; the encoder assembly 2 includes an encoding part 21 and a reading part 22, the encoding part 21 is connected to the housing 1 or the output assembly 5, the reading part 22 is slidably connected to the wall of the housing 1 forming the installation cavity 11, and the reading part 22 can move radially along the housing 1, that is, the reading part 22 and the wall of the housing 1 can be pre-installed first, and the reading part 22 is slidably connected to the wall of the housing 1, wherein there are many ways of sliding connection, such as a slideway is provided on the wall of the housing 1, and a slide groove corresponding to the slideway is provided on the reading part 22, so that the reading part 22 can slide relative to the wall of the casing 1. After sliding to a predetermined position, the reading part 22 can be connected and fixed to the wall of the casing 1 by means of clips, bolts, etc. The advantage of using a sliding connection is that the reading part 22 can be pre-installed into the casing 1 without affecting or interfering with the installation of other components. In addition, the conventional assembly sequence can be changed, that is, the speed control component 3 and the output component 5 can be assembled into one, and then both can be pressed into the casing 1 at the same time. During this pressing process, it is only necessary to slide the reading part 22 along the radial direction of the casing 1. After the reading part 22 slides, it can avoid the pressing of the speed control component 3. After the speed control component 3 and the output component 5 are pressed, the reading part 22 can be reset to easily complete the assembly of the entire drive device. Such a setting can effectively reduce the difficulty of assembly and improve the assembly efficiency.

[0028] Specifically, in the present application, the encoder component 2 adopts a hollow absolute encoder and is read in a non-contact manner, wherein the encoding part 21 includes an encoding disk 211, which has a hollow circular ring structure. The encoding disk 211 can be a magnetic ring. The encoding disk 211 can be connected to the output component 5, or can be connected to the speed regulation component 3. The encoding disk 211 is coaxially arranged with the output component 5 and the speed regulation component 3, which means that the encoding disk 211 rotates synchronously with the output component 5 or the speed regulation component 3. The non-contact type indicates that the reading part 22 has no contact with the encoding disk 211, and there is a certain gap between the two. The rotation information of the output component 5 and the speed regulation component 3 is issued by the rotation of the encoding disk 211, and the reading part 22 reads the rotation information issued by the encoding disk 211. The reading part 22 converts the rotation information into an electrical signal output. The reading part 22 includes a photosensitive element or a magnetic sensitive element to achieve non-contact reading. In addition, the rotation information includes rotation angle, rotation speed, angular velocity, etc.

[0029] For further information, see Figure 12As shown, the reading part 22 includes a reading member 221 and a holder 222, the reading member 221 and the holder 222 are connected, the holder 222 is slidably connected to the wall of the casing 1, the reading member 221 is a PCB board, and the PCB board is provided with a photosensitive element or a magnetic sensitive element. In some embodiments, the reading member 221 and the holder 222 can be implemented as an integral part, wherein the integral part should be understood as a non-assembly connection, and can be processed by casting, forging, stamping, extrusion, metal injection molding, metal powder metallurgy... After the base is processed, it can be processed by machining, or it can be directly processed into an integral part by casting, forging, stamping, extrusion, metal injection molding, metal powder metallurgy, etc., and the effect part in some applications is directly In connection, if an integral extrusion molding method is adopted, the explanation of "integrated part" may be supplemented as appropriate. In this embodiment, the reading member 221 and the retaining frame 222 are assembled and connected. Since the materials of the retaining frame 222 and the reading member 221 are different, the reading member 221 and the retaining frame 222 are fixed by screws. In some other embodiments, the reading member 221 and the retaining frame 222 are connected and fixed by snapping. In this embodiment, the retaining frame 222 is made of metal or plastic material, and the retaining frame 222 is slidably connected to the wall of the casing 1, and the reading member 221 is indirectly connected to the wall of the casing 1. The retaining frame 222 is driven to move and slide relative to the wall of the casing 1, and the reading member 221 is displaced accordingly.

[0030] See also Figure 13 As shown, the retaining frame 222 includes a main body 2221 and an adjusting portion 2222. The main body 2221 and the adjusting portion 2222 are an integral part, wherein the main body 2221 and the adjusting portion 2222 are made of the same material, that is, metal. The main body 2221 and the adjusting portion 2222 are integrally formed by a stamping process. The adjusting portion 2222 has an adjusting hole 2a. The first direction F5 is defined as the thickness direction of the adjusting portion 2222, and the second direction F6 is defined as the length direction of the adjusting portion 2222. Along the first direction F5, the adjusting hole 2a passes through the adjusting portion 2222. Along the second direction F6, the aperture of the adjusting hole 2a is the sliding distance of the reading member 221. The adjusting hole 2a can be formed by a stamping process, a milling groove, or a drilling process. The wall of the casing 1 has a first through hole 12, and the first through hole 12 extends radially through the casing 1. The adjusting portion 2222 is at least partially located in the first through hole 12. In this embodiment, part of the adjusting portion 2222 is located in the first through hole 12. The purpose of providing the first through hole 12 is to enable the adjusting portion 2222 to slide relative to the casing 1, and the purpose of providing the adjusting hole 2a is to connect with the casing 1 through the fastener 6 passing through the adjusting hole 2a. By tightening the fastener 6, the fastener 6 and the casing 1 can clamp and fix the adjusting portion 2222. After the fastener 6 is loosened, the adjusting portion 2222 can slide relative to the casing 1, and part of the fastener 6 is located in the adjusting hole 2a.

[0031] For further information, see Figures 4 to 7 As shown, in this embodiment, the wall of the casing 1 has a second through hole 13 and a threaded hole 14, the second through hole 13 extends through the axial direction of the casing 1, and the threaded hole 14 is arranged along the axial direction of the casing 1, the second through hole 13 and the threaded hole 14 are coaxially arranged, the second through hole 13 and the threaded hole 14 are respectively located on both sides of the first through hole 12, the first through hole 12 and the second through hole 13 are connected, and the threaded hole 14 is connected to the first through hole 12; the driving device also includes a fastener 6, part of the fastener 6 is located in the adjustment hole 2a, and part of the fastener 6 is located in the threaded hole 14, wherein in this embodiment, the fastener 6 is a bolt, and in some other embodiments, the fastener 6 can be a clip, an expansion screw, etc., as mentioned above, the fastener 6 can tighten the adjustment part 2222 to move, and can also loosen the adjustment part 2222, the fastener 6 penetrates from the second through hole 13, and penetrates the adjustment hole 2a, and enters the threaded hole 14, the fastener 6 has an external thread, which is adapted to the internal thread of the threaded hole 14, and then the fastener 6 can be screwed into the threaded hole 14.

[0032] See also Figure 13 As shown, the adjustment hole 2a has a first adjustment hole a-1 and a second adjustment hole a-2, and the first adjustment hole a-1 and the second adjustment hole a-2 are distributed in parallel. The radial length of the first adjustment hole a-1 along the casing 1 is equal to the radial length of the second adjustment hole a-2 along the casing 1. Accordingly, the driving device includes two fasteners 6, the first adjustment hole a-1 is equipped with a fastener 6, and the second adjustment hole a-2 is equipped with a fastener 6 to prevent the adjustment part 2222 from deflecting during the movement process. If only one adjustment hole 2a and one fastener 6 are set, the adjustment part 2222 is likely to deviate around the fastener 6 during the movement of the adjustment part 2222, and there will still be interference after the deviation. By setting two parallel distributed adjustment holes 2a and two fasteners 6, the adjustment part 2222 can be limited from deviating during the sliding process to ensure its radial sliding along the casing 1.

[0033] In this embodiment, the speed regulating assembly 3 includes a rigid wheel 33, a flexible wheel 311 and a wave generator 321. The wave generator 321 is connected to the inner wall of the flexible wheel 311, the rigid wheel 33 is meshed with the outer wall of the flexible wheel 311, and the rigid wheel 33 is fixedly connected to the wall of the housing 1. The output assembly 5 includes an output flange 51, and the flexible wheel 311 is fixedly connected to the output flange 51. The encoder assembly 2 includes a wiring portion 23, the wiring portion 23 is fixedly connected to the housing 1, the wiring portion 23 is electrically connected to the reading portion 22, the encoding disk 211 is fixedly connected to the output flange 51, and the reading member 221 is located between the flexible wheel 311 and the output flange 51, and the reading member 221 is located below the encoding disk 211. Figure 12As shown, the reading member 221 is semi-arc-shaped, the main body 2221 is crescent-shaped, and the main body 2221 is connected to the reading member 221; wherein, the wave generator 321 includes an elliptical wheel and a flexible bearing, the inner ring 301 of the flexible bearing is sleeved on the circumferential wall of the elliptical wheel, and the wave generator 321 is elliptical as a whole. Before assembly, the inner hole of the flexible wheel 311 is circular. When the wave generator 321 is installed in the flexible wheel 311, due to the elliptical shape of the wave generator 321, its length is slightly larger than the flexible wheel 311. The inner hole diameter of the flexible wheel 311 is deformed. The flexible wheel 311 is at least partially supported into an elliptical shape by the wave generator 321. The outer wall of the at least elliptical flexible wheel 311 is provided with a first tooth portion (not shown in the figure) in the circumferential direction. The inner ring 301 wall of the rigid wheel 33 is provided with a second tooth portion (not shown in the figure). The rigid wheel 33 is circular. The first tooth portion of the flexible wheel 311 in the direction of the major axis of the ellipse is partially meshed with the second tooth portion of the rigid wheel 33. The first tooth portion of the flexible wheel 311 in the direction of the minor axis of the ellipse is partially meshed with the second tooth portion of the rigid wheel 33. The first and second teeth of the remaining gear 311 are either in an engaged or disengaged state as the flexspline 311 rotates. The working principle is that when one of the teeth of the flexspline 311 meshes with a tooth of the rigid wheel 33 and then meshes with the same tooth on the rigid wheel 33 again as the wave generator 321 rotates, the flexspline 311 rotates exactly one circle, and at this time, the wave generator 321 rotates many circles. The ratio of the number of revolutions of the wave generator 321 to the number of revolutions of the flexspline 311 is the reduction ratio of the harmonic gear reducer, so the reduction ratio is very large. The rigid wheel 33 is fixed in the housing 1. The wave generator 321 is connected to the other end of the output shaft 41. The stator 43 drives the rotor 42 to rotate, and the rotor 42 drives the output shaft 41 to rotate synchronously. The output shaft 41 rotates synchronously with the wave generator 321. In addition, in this embodiment, the end of the output shaft 41 is inserted into the inner hole of the rotor 42, and the output shaft 41 and the rotor 42 are connected and fixed by bolts and gaskets.

[0034] In addition, in the related art, the assembly sequence of the drive device is: first assemble the drive mechanism, press it into the second part 16 of the casing 1, and then assemble the speed control component 3. After the speed control component 3 is assembled, it is press-fitted into the first part 15 of the casing 1, and then the encoder is installed, and the output component 5 is docked with the speed control component 3. It can be seen that its assembly is extremely cumbersome and difficult to assemble.

[0035] See also Figure 8 and Figure 9 This embodiment further provides a method for assembling a drive device, comprising:

[0036] The rotor 42 and stator 43 of the drive assembly 4 are mounted on the second portion 16 of the housing 1 , and the stator 43 is connected to the wall of the housing 1 of the first portion 15 , with the rotor 42 located on the inner circumference of the stator 43 ;

[0037] The rigid wheel 33 of the speed regulating assembly 3 is mounted on the first portion 15 of the casing 1 , and the rigid wheel 33 is fixedly connected to the wall of the casing 1 of the first portion 15 ;

[0038] The reading portion 22 is slidably connected to the wall of the housing 1 forming the mounting cavity 11 , and the reading portion 22 is located in the first portion 15 ;

[0039] The output shaft 41 of the driving assembly 4 is connected to the wave generator 321 of the speed regulating assembly 3. The wave generator 321 is press-fitted and fixed to the flexible spline 311 of the speed regulating assembly 3. The flexible spline 311 is connected to the output assembly 5. The encoder unit 21 is connected to the output assembly 5 or the flexible spline 311.

[0040] The reading unit 22 is moved toward the outside of the housing 1 along the radial direction of the housing 1, and the output shaft 41, the flexible spline 311, and the output assembly 5 are press-fitted into the housing 1. The output shaft 41 is connected to the rotating shaft, and the flexible spline 311 is engaged with the rigid spline 33. The reading unit 22 is moved toward the inside of the housing 1, and the fastener 6 is used to connect and fix the reading unit 22 to the housing 1.

[0041] In summary, this embodiment changes the assembly sequence of the related art. The speed regulating component 3 and the output component 5 can be assembled first, and then the speed regulating component 3 and the output component 5 can be pressed into the housing 1 as a whole by utilizing the slidability of the reading part 22, and the reading part 22 will not interfere with the pressing. The assembly method provided by this embodiment can optimize the assembly sequence, reduce the assembly difficulty, and improve the assembly efficiency.

[0042] In addition, in the related art, the output member 31 of the driving device and the output assembly 5 are directly connected and fixed by the connecting member 71, but the tightening force of each connecting member 71 is different, resulting in uneven force on the output member 31 and the output assembly 5, and the connection stability between the output member 31 and the output assembly 5 is low. Secondly, the flexible wheel 311 is more likely to deform than the rigid wheel 33, and its uneven force can easily lead to different degrees of deformation of the flexible wheel 311, which in turn can easily cause the bending part of the flexible wheel 311 to break, thereby reducing the service life of the flexible wheel 311. Therefore, in another embodiment, the driving device includes a mechanical The housing 1, the speed regulating assembly 3, the output assembly 5 and the drive assembly 4, the speed regulating assembly 3 and the drive assembly 4 are all arranged in the housing 1, wherein the housing 1 can be an integrated housing or two parts assembled into a housing 1, the speed regulating assembly 3 includes an input member 32 and an output member 31, the input member 32 and the output member 31 are transmission-matched, the input member 32 is connected to the drive assembly 4, and the output member 31 is connected to the output assembly 5; the drive device includes a connecting member 7, the connecting member 7 includes a connecting member 71 and a crimping portion 72, the output member 31 includes a flat connection portion 312, the connecting member 71 is connected to the output assembly 5 , flat portion 312 and crimping portion 72, the flat portion 312 is located between the output assembly 5 and the crimping portion 72. In this embodiment, the input member 32 and the drive assembly 4 can be directly connected or indirectly connected. By adding the crimping portion 72, the connecting member 71 is connected to the output assembly 5, the flat portion 312 and the crimping portion 72. The pressure of the crimping portion 72 and the flat portion 312 can increase the contact area between the connecting member 71 and the flat portion 312, and the contact area between the flat portion 312 and the output assembly 5. The force is evenly distributed, and the connection stability between the output member 31 and the output flange 51 is improved. At the same time, it can prevent the flexible wheel 311 from excessive deformation, avoid damage to the flexible wheel 311, and extend the service life of the flexible wheel 311. In addition, in this embodiment, the connecting member 71 is a bolt. In some other embodiments, the connecting member 71 can be a rivet or a pin, that is, the connecting member 71 includes a first end 75 and a second end 76. The radial width of the first end 75 along the casing 1 is smaller than the radial width of the second end 76 along the casing 1. The first end 75 is connected to the output component 5, and the second end 76 is in contact with the crimping portion 72. The radial width of the crimping portion 72 along the casing 1 is larger than the radial width of the second end 76 along the casing 1.

[0043] Specifically, see Figure 14 and Figure 15As shown, the crimping portion 72 includes a crimping ring 721, the crimping ring 721 has a first hole 1a, the first hole 1a extends through the thickness direction of the crimping ring 721, the flat portion 312 has a second hole 3a, the second hole 3a extends through the axial direction of the output member 31, the output component 5 has a third hole 4a, the third hole 4a extends through the axial direction of the output component 5, part of the connecting member 71 is located in the first hole 1a, part of the connecting member 71 is located in the second hole 3a, part of the connecting member 71 is located in the third hole 4a, the first hole 1a, the second hole 3a and the third hole 4a correspond to each other, the second hole 3a is located between the first hole 1a and the third hole 4a, wherein the first hole 1a or the third hole 4a can be set as a threaded hole 14, if the first hole 1a is set as a threaded hole 14, the connecting member 71 is inserted from the third hole 4a, and after passing through the second hole 3a, it is aligned with the first hole 1a The threads are connected, that is, the insertion direction of the connecting piece 71 is from the output component 5 to the crimping part 72. If the third hole 4a is set as a threaded hole 14, the connecting piece 71 is inserted from the first hole 1a, passes through the second hole 3a, and is connected with the thread of the third hole 4a, that is, the insertion direction of the connecting piece 71 is from the crimping part 72 to the output piece 31. The insertion direction of the connecting piece 71 will also affect the assembly sequence of the speed regulation component 3 and the output flange 51. For example, if the insertion direction of the output component 5 to the crimping part 72 is adopted, the speed regulation component 3 can be pressed into the casing 1 first, and then the output component 5 can be connected to the speed regulation component 3. The speed regulation component 3 and the output component 5 can also be assembled and connected first, and then pressed into the casing 1 as a whole. If the insertion direction of the crimping part 72 to the output piece 31 is adopted, the speed regulation component 3 and the output component 5 need to be assembled and connected first, and then pressed into the casing 1 as a whole.

[0044] In addition, in this embodiment, the first hole 1a, the second hole 3a and the third hole 4a are coaxially arranged, which has the advantage of ensuring that after the connecting member 71 connects the three, the coaxiality of the speed regulating component 3, the output component 5 and the crimping part 72 is improved.

[0045] In this embodiment, the third hole 4a is set as a threaded hole 14, so the insertion direction of the crimping portion 72 to the output member 31 is adopted. It is necessary to first assemble and connect the speed regulating component 3 and the output component 5, and then press-fit them into the housing 1 as a whole. The connecting member 71 includes a screw portion 711 and an abutting portion 712. The screw portion 711 and the abutting portion 712 are an integral part. One end of the screw portion 711 is located in the threaded hole 14, the abutting portion 712 is in contact with the crimping portion 72, and the two sides of the flat portion 312 are in contact with the output component 5 and the crimping portion 72 respectively.

[0046] Please refer again Figure 14As shown, the crimping ring 721 has a fourth hole 5a, the aperture of the fourth hole 5a is larger than the aperture of the first hole 1a, the fourth hole 5a extends through the thickness direction of the crimping ring 721, the fourth hole 5a is located at the center of the crimping ring 721, and multiple first holes 1a are distributed along the circumferential direction of the fourth hole 5a. The fourth hole 5a is used to facilitate the penetration of the output shaft 41.

[0047] In order to ensure the smooth rotation and prevent the connection between the flexible wheel 311 and the output component 5 from being offset, please refer to Figure 10 As shown, the flat portion 312 includes a connecting boss 3121, the second hole 3a is located on the connecting boss 3121, the output assembly 5 includes an outer convex ring 52 extending toward the connecting boss 3121, the outer convex ring 52 and the output flange 51 are integral, the crimping ring 721 includes an inner convex ring 7211 extending toward the connecting boss, the outer convex ring 52 abuts against the outer circumference of the connecting boss 3121, and the inner convex ring 7211 abuts against the inner circumference of the connecting boss 3121. When the connector 71 is connected to the output flange 5 1. After the flat connection portion 312 and the crimping ring 721 are connected, the outer peripheral side of the connecting boss 3121 abuts against the outer convex ring 52, and the inner peripheral side of the connecting boss 3121 abuts against the inner convex ring 7211. The connecting boss 3121 is clamped between the outer convex ring 52 and the inner convex ring 7211 to limit the movement of the connecting boss 3121, thereby improving the connection stability among the output flange 51, the flat connection portion 312 and the crimping ring 721, and preventing the flat connection portion 312 from detaching during rotation.

[0048] In this embodiment, the speed regulation assembly 3 includes a rigid wheel 33, the output member 31 includes a flexible wheel 311, the flexible wheel 311 includes a flat connection portion 312, and the input member 32 includes a wave generator 321. The movement principle of the speed regulation assembly 3 has been explained above and will not be repeated here. The wave generator 321 is transmission-connected to the inner wall of the flexible wheel 311, the rigid wheel 33 is meshedly connected to the outer wall portion of the flexible wheel 311, and the rigid wheel 33 is fixedly connected to the housing 1; the driving assembly 4 includes a rotor 42, a stator 43 and an output shaft 41. Along the radial direction of the output shaft 41, the stator 43 is located on the outer peripheral side of the rotor 42, the rotor 42 is connected to the output shaft 41, the stator 43 is connected to the housing 1, the output shaft 41 is connected to the wave generator 321, and one end of the output shaft 41 passes through the output member 31.

[0049] In addition, in order to further improve the coaxiality of the drive assembly 4, the speed regulation assembly 3 and the output assembly 5 to improve the driving capacity, in this embodiment, the casing 1 includes a first part 15 and a second part 16, the speed regulation assembly 3 is installed on the first part 15, and the stator 43 and the rotor 42 are installed on the second part 16; the shell includes a cylinder 17, the first part 15 and the second part 16 are both located in the cylinder 17, and the cylinder 17 is an integral part. In other words, the first part 15 and the second part 16 are an integral part, that is, the rotor 42 and the speed regulation assembly 3 are installed on the same support, which helps to improve the concentricity of the speed regulation assembly 3 and the motor output part, thereby reducing the mechanical loss of the reduction unit.

[0050] In this embodiment, the driving component 4 is in the form of an inner rotor 42 , that is, the rotor 42 is located on the inner circumference of the stator 43 , and the speed regulating component 3 adopts a harmonic reduction structure.

[0051] Also, see Figure 5 and Figure 7 As shown, the inner wall of the cylinder 17 has a mounting boss 171 and a partition 172. The mounting boss 171 and the partition 172 are integrated. The first part 15 and the second part 16 are respectively located on both sides of the partition 172. The mounting boss 171 has a first mounting hole 171a, and the partition 172 has a second mounting hole 172a and a third mounting hole 172b. The second mounting hole 172a is located between the first mounting hole 171a and the third mounting hole 172b. The first mounting hole 171a The diameter of the second mounting hole 172a is larger than the diameter of the third mounting hole 172b; the mounting boss 171 has a fourth mounting hole 171b, the rigid wheel 33 has a flange 331, the driving device has a mounting member 18, the mounting member 18 connects the flange 331 and the mounting boss 171, the speed regulation assembly 3 is partially located in the first mounting hole 171a, and the first mounting hole 171a, the second mounting hole 172a and the third mounting hole 172b are coaxially arranged.

[0052] The driving device includes a first bearing 19 and a second bearing 20. The first bearing 19 is located in the second mounting hole 172a. The output shaft 41 is driven and matched with the cylinder 17 through the first bearing 19. The output assembly 5 includes an output flange 51. The output flange 51 has a fifth mounting hole 51a. The fifth mounting hole 51a is coaxially arranged with the second mounting hole 172a. The second bearing 20 is located in the fifth mounting hole 51a. The output shaft 41 is driven and matched with the output flange 51 through the second bearing 20. The arrangement of the first bearing 19 and the second bearing 20 further improves the rotational coaxiality of the speed regulating assembly 3 and the driving assembly 4, and improves the rotational stability of the output shaft 41.

[0053] like Figure 2As shown, the drive device includes a third bearing 30. The first portion 15 has a sixth mounting hole 15a, which is coaxially arranged with the second mounting hole 172a. The third bearing 30 includes an inner ring 301 and an outer ring 302. The outer ring 302 at least partially engages with the sixth mounting hole 15a. The inner ring 301 is connected to the outer circumference of the output flange 51. The configuration of the third bearing 30 enables transmission engagement of the output flange 51 relative to the cylinder 17, while effectively improving the rotational stability of the output flange 51. Furthermore, the drive device includes an inner ring gland 27 and an outer ring gland 28. The inner ring gland 27 is connected to the output flange 51 and abuts one end of the inner ring 301. The outer ring gland 28 is connected to the end of the housing 1 and abuts one end of the outer ring 302. The inner ring gland 27 and the outer ring gland 28 prevent the third bearing 30 from separating from the housing 1.

[0054] Those skilled in the art should understand that the embodiments of the present invention described above and shown in the accompanying drawings are only for illustrative purposes and are not intended to limit the present invention.

[0055] The purpose of the present invention has been completely and effectively achieved. The functional and structural principles of the present invention have been demonstrated and explained in the embodiments, and the embodiments of the present invention may be modified or altered in any way without departing from the principles.

Claims

1. A driving device, characterized in that: The invention comprises a housing (1), a speed regulating assembly (3), an output assembly (5) and a drive assembly (4); the speed regulating assembly (3) and the drive assembly (4) are both arranged in the housing (1); the speed regulating assembly (3) comprises an input member (32) and an output member (31); the input member (32) and the output member (31) are in transmission cooperation; and the input member (32) is connected to the drive assembly (4); The driving device (300) includes a connecting component (7), the connecting component (7) includes a connecting component (71) and a crimping portion (72), the output component (31) includes a flat connection portion (312), the connecting component (71) connects the output component (5), the flat connection portion (312) and the crimping portion (72), the flat connection portion (312) is located between the output component (5) and the crimping portion (72), one side of the flat connection portion (312) contacts the output component (5), and the other side of the flat connection portion (312) contacts the crimping portion (72).

2. The driving device according to claim 1, characterized in that The connecting member (71) includes a first end (75) and a second end (76), wherein the radial width of the first end (75) along the housing (1) is smaller than the radial width of the second end (76) along the housing (1), the first end (75) is connected to the output assembly (5), and the second end (76) is in contact with the crimping portion (72), and the radial width of the crimping portion (72) along the housing (1) is larger than the radial width of the second end (76) along the housing (1).

3. The driving device according to claim 1, characterized in that The crimping portion (72) includes a crimping ring (721), the crimping ring (721) has a first hole (1a), the first hole (1a) extends through the thickness direction of the crimping ring (721), the flat portion (312) has a second hole (3a), the second hole (3a) extends through the axial direction of the output member (31), the output assembly (5) has a third hole (4a), the third hole (4a) extends through the axial direction of the output assembly (5), a portion of the connecting member (71) is located in the first hole (1a), a portion of the connecting member (71) is located in the second hole (3a), and a portion of the connecting member (71) is located in the third hole (4a), the first hole (1a), the second hole (3a) and the third hole (4a) correspond to each other, and the second hole (3a) is located between the first hole (1a) and the third hole (4a).

4. The driving device according to claim 3, characterized in that The third hole (4a) is a threaded hole, and the connecting piece (71) includes a screw portion (711) and an abutting portion (712). The screw portion (711) and the abutting portion (712) are an integral piece, one end of the screw portion (711) is located in the third hole (4a), and the abutting portion (712) is in contact with the crimping portion (72).

5. The driving device according to claim 3, characterized in that The crimping ring (721) has a fourth hole (5a), the diameter of the fourth hole (5a) is larger than the diameter of the first hole (1a), the fourth hole (5a) extends through the thickness direction of the crimping ring (721), the fourth hole (5a) is located at the center of the crimping ring (721), and a plurality of the first holes (1a) are distributed along the circumferential direction of the fourth hole (5a).

6. The driving device according to any one of claims 3 to 5, characterized in that: The flat connection portion (312) includes a connecting boss (3121), the second hole (3a) is located on the connecting boss (3121), the output assembly (5) includes an outer convex ring (52) extending toward the connecting boss (3121) and an output flange (51), the outer convex ring (52) and the output flange (51) are integral, the crimping ring (721) includes an inner convex ring (7211) extending toward the connecting boss (3121), the outer convex ring (52) abuts against the outer peripheral side of the connecting boss (3121), and the inner convex ring (7211) abuts against the inner peripheral side of the connecting boss (3121).

7. The driving device according to any one of claims 1 to 5, characterized in that: The speed regulating assembly (3) includes a rigid wheel (33), the output member (31) includes a flexible wheel (311), the flexible wheel (311) includes a flat connection portion (312), the input member (32) includes a wave generator (321), the wave generator (321) is in transmission connection with the inner wall of the flexible wheel (311), the rigid wheel (33) is meshedly connected with the outer wall portion of the flexible wheel (311), and the rigid wheel (33) is fixedly connected to the housing (1); The driving assembly (4) includes a rotor (42), a stator (43) and an output shaft (41). Along the radial direction of the output shaft (41), the stator (43) is located on the outer peripheral side of the rotor (42). The rotor (42) is connected to the output shaft (41). The stator (43) is connected to the housing (1). The output shaft (41) is connected to the wave generator (321). One end of the output shaft (41) passes through the output member (31).

8. The driving device according to claim 7, characterized in that The housing (1) comprises a first portion (15) and a second portion (16), the speed regulating assembly (3) is mounted on the first portion (15), and the stator (43) and the rotor (42) are mounted on the second portion (16); The shell comprises a cylinder (17), the first part (15) and the second part (16) are both located in the cylinder (17), and the cylinder (17) is an integral piece.

9. The driving device according to claim 8, characterized in that The inner wall of the cylinder (17) includes a mounting boss (171) and a partition (172). The mounting boss (171) and the partition (172) are an integral part. The first part (15) and the second part (16) are respectively located on both sides of the partition (172). The mounting boss (171) has a first mounting hole (171a). The partition (172) has a second mounting hole (172a) and a third mounting hole (172b). The second mounting hole (172a) is located between the first mounting hole (171a) and the third mounting hole (172b). The diameter of the first mounting hole (171a) is larger than that of the third mounting hole (172b). The diameter of the second mounting hole (172a) is greater than the diameter of the third mounting hole (172b); the mounting boss (171) has a fourth mounting hole (171b); the rigid wheel (33) has a flange (331); the driving device (300) has a mounting member (18); the mounting member (18) connects the flange (331) and the mounting boss (171); the speed regulating assembly (3) is partially located in the first mounting hole (171a); the first mounting hole (171a), the second mounting hole (172a) and the third mounting hole (172b) are coaxially arranged.

10. The driving device according to claim 9, characterized in that The driving device (300) includes a first bearing (19) and a second bearing (20), the first bearing (19) is located in the second mounting hole (172a), the output shaft (41) is in transmission cooperation with the cylinder (17) through the first bearing (19), the output assembly (5) includes an output flange (51), the output flange (51) has a fifth mounting hole (51a), the fifth mounting hole (51a) is coaxially arranged with the second mounting hole (172a), the second bearing (20) is located in the fifth mounting hole (51a), and the output shaft (41) is in transmission cooperation with the output flange (51) through the second bearing (20); The driving device (300) includes a third bearing (30), the first portion (15) has a sixth mounting hole (15a), the sixth mounting hole (15a) is coaxially arranged with the second mounting hole (172a), the third bearing (30) includes an inner ring (301) and an outer ring (302), the outer ring (302) at least partially cooperates with the sixth mounting hole (15a), and the inner ring (301) is connected to the outer peripheral side of the output flange (51).

11. The driving device according to claim 10, characterized in that: The driving device (300) includes an inner ring pressure cover (27) and an outer ring pressure cover (28), wherein the inner ring pressure cover (27) is connected to the output flange (51), and the inner ring pressure cover (27) abuts against one end of the inner ring (301); the outer ring pressure cover (28) is connected to the end of the casing (1), and the outer ring pressure cover (28) abuts against one end of the outer ring (302).

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