Rotating device

Abstract

The invention provides a rotating device which comprises a driving part, a shell and a rotating shaft, at least part of the driving part is located in the shell, and the driving part is connected with the rotating shaft; the rotating device comprises an output flange and a sensing part, the output flange is directly or indirectly connected with the rotating shaft, and the sensing part comprises a torque sensor; and the torque sensor is directly connected with the output flange. According to the rotating device, the torque sensor is directly connected with the output flange, and the overall size of the rotating device can be reduced in the axial direction of the output flange.

Description

Technical Field

[0001] The present application relates to the field of rotating devices, and in particular to an output flange of a rotating device. Background Art

[0002] In related art, a rotating device includes a drive unit and a rotating shaft. The drive unit is connected to the rotating shaft, which drives the rotating shaft to rotate. The rotating shaft, in turn, drives the output flange, which is connected to an external carrier. To detect the torque applied to the rotating device, a torque sensor is also provided. The torque sensor is first mounted on a mounting plate along the axial direction of the output flange. The mounting plate is then connected to the output flange, thereby sensing torque during actual operation of the rotating device. However, the installation of the mounting plate increases the overall axial size of the rotating device. Summary of the Invention

[0003] The present application provides a rotating device, comprising a driving portion, a housing, and a rotating shaft, wherein the driving portion is at least partially located within the housing and connected to the rotating shaft;

[0004] The rotating device includes an output flange and a sensing portion, wherein the output flange is directly or indirectly connected to the rotating shaft, and the sensing portion includes a torque sensor;

[0005] The torque sensor is directly connected to the output flange.

[0006] In the present application, the torque sensor is directly connected to the output flange, which can reduce the overall size of the rotating device in the axial direction of the output flange. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 This is a structural perspective diagram of the rotating device in this application;

[0008] Figure 2 This is a cross-sectional view of the rotating device in this application Figure 1 ;

[0009] Figure 3 A top view of the rotating device in this application;

[0010] Figure 4 A top view of the output flange structure in this application;

[0011] Figure 5 This is an exploded view of the output flange and cover plate matching in this application;

[0012] Figure 6 This is an exploded view of the output flange and cover plate from another perspective in this application;

[0013] Figure 7 A cross-sectional view of the output flange structure in this application;

[0014] Figure 8 This is a cross-sectional view of the rotating device in this application Figure 2 ;

[0015] Figure 9 This is a cross-sectional view of the rotating device in this application Figure 1 ;

[0016] Figure 10 This is a cross-sectional view of the rotating device from another perspective in this application Figure 1 ;

[0017] Figure 11 This is a cross-sectional view of the rotating device in this application Figure 2 ;

[0018] Figure 12 This is a cross-sectional view of the rotating device from another perspective in this application Figure 2 ;

[0019] Figure 13 This is a schematic diagram of the wiring method used in this application. DETAILED DESCRIPTION

[0020] 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.

[0021] It should be clear that the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0022] In the related art, the rotating device includes a driving part and a rotating shaft. The driving part is connected to the rotating shaft. The driving part drives the rotating shaft to rotate, and the rotating shaft then drives the output flange to rotate. The output flange is connected to an external carrier. In order to detect the magnitude of the torque borne by the rotating device, a torque sensor is also provided, wherein the output flange includes a disc, a ring body provided on the outer edge of the disc body, and a measuring body connecting the disc body and the ring body. The torque sensor is connected to the measuring body. During actual operation, the disc body of the output flange is driven to rotate by the rotating shaft, and the disc body drives the measuring body and the ring body to rotate. The ring body is indirectly or directly connected to the external carrier. Therefore, when the rotating shaft drives the external carrier to operate, torque is generated between the two. The torque causes the measuring body connected to the disc body and the ring body to deform, and then the torque sensor can perform sensing detection based on the deformation of the measuring body.

[0023] However, the problem is that the output flange structure is relatively complex, which is not conducive to production and processing, and the disc body and the ring body are connected through the measuring body. During the actual operation of the rotating device, the torque generated can easily cause the measuring body to break, resulting in the rotating device being unable to work normally.

[0024] In a first embodiment, the present application provides a rotating device, such as Figures 1 to 13 As shown, its specific structure includes a driving part 1, a shell 3 and a rotating shaft 4, the driving part 1 is at least partially located in the shell 3, and the driving part 1 is connected to the rotating shaft 4; the rotating device includes an output flange 5 and a sensing part 6, the output flange 5 is directly or indirectly connected to the rotating shaft 4, and the sensing part 6 includes a torque sensor 601; the torque sensor 601 is directly connected to the output flange 5.

[0025] The direct connection in this application refers to the connection between two parts or structures without the use of a third part or structure, but does not include the connection between two parts by glue or other adhesives. The connection by glue or other adhesives is also a direct connection.

[0026] The output flange 5 includes a sensing portion 500 . In the axial direction of the output flange 5 , the size of the sensing portion 500 is smaller than the sizes of other positions of the output flange 5 . The torque sensor 601 is connected to the sensing portion 500 .

[0027] The sensing portion 500 of the output flange 5 is smaller in size. When torque is generated, the sensing portion 500 can be deformed more easily, and the torque sensor 601 connected thereto can directly sense and detect the changes in the sensing portion 500, and thus detect the magnitude of the torque accordingly.

[0028] Specifically, the drive unit 1 rotates the rotating shaft 4, which directly or indirectly rotates the output flange 5. The output flange 5 is used to connect to an external carrier. Under the resistance of the external carrier, the corresponding torque generated causes the sensing portion 500 of the output flange 5 to deform. The torque sensor 601 senses and detects this deformation, converting the torque into an electrical signal for output. The sensing portion 500 is the smallest part of the output flange 5 in its axial direction. This location is most susceptible to deformation under the action of torque and is therefore easier to detect than other locations on the output flange 5.

[0029] like Figures 3 to 7 As shown, the output flange 5 includes an inner body 501, an outer body 502 and a crossbeam 503. The crossbeam 503 can connect the inner body 501 and the outer body 502, and the inner body 501 is connected to the speed reduction part 2; there are multiple crossbeams 503, and along the circumferential direction of the output flange 5, multiple crossbeams 503 are arranged at intervals. There are multiple sensing parts 500, and the sensing parts 500 are located between adjacent crossbeams 503. In the radial direction of the output flange 5, the sensing part 500 is connected to the inner body 501, and the sensing part 500 is connected to the outer body 502.

[0030] The inner body 501 is generally circular in shape, while the outer body 502 is generally annular in shape. The outer body 502 is located at the outer edge of the inner body 501. One end of a crossbeam 503 connects to the inner body 501, and the other end of the crossbeam 503 connects to the outer body 502, thereby forming the overall general shape of the output flange 5. Multiple crossbeams 503 are arranged at intervals along the circumference of the inner body 501. In one embodiment, the multiple crossbeams 503 are evenly spaced, thereby achieving a more uniform mass distribution of the output flange 5 and also a more uniform distribution of the sensing portion 500 between adjacent crossbeams 503. Consequently, when torque is generated, the deformation of the sensing portion 500 is more easily detected, and the detected data is more objective and accurate.

[0031] The crossbeam 503 connects the inner body 501 and the outer body 502, strengthens the overall structure of the output flange 5, and protects the sensing unit 500. When torque is generated in the circumferential direction of the output flange 5, the sensing unit 500 deforms under the action of the torque, and the majority of the force generated by the torque acts on the crossbeam 503, thereby reducing the risk of the sensing unit 500 fracturing. In related art, when torque is generated, the force generated acts directly on the measuring body. The measuring body not only serves as a connection, but if it deforms under the force generated by the torque for a long time, it is prone to plastic deformation or even fracture, thereby affecting the accuracy of the detection.

[0032] The overall shape of the sensing portion 500 is fan-shaped. In one embodiment, the sensing portion 500 is connected to the inner body 501 on one side in the radial direction of the output flange 5, and is connected to the outer body 502 on the other side. In the circumferential direction of the output flange 5, the sensing portion 500 has a gap between the two sides of the sensing portion 500 and the adjacent beams 503, thereby improving the accuracy of torque sensing.

[0033] In another embodiment, the sensing portion 500 is connected to the crossbeam 503 in the circumferential direction of the output flange 5. In this embodiment, the sensing portion 500 is connected to the inner body 501, the outer body 502, and the two adjacent crossbeams 503, thereby making the structure more compact and facilitating production and processing. It also improves the strength of the sensing portion 500 and, to a certain extent, improves the sealing of the rotating device, reducing the entry of external dust and other impurities into the interior through the gaps between the two sides of the sensing portion 500 and the adjacent crossbeams 503.

[0034] In the above two embodiments, the inner body 501 , the outer body 502 , the crossbeam 503 and the sensing part 500 are an integrated piece; in the axial direction of the output flange 5 , the thickness of the inner body 501 , the outer body 502 and the crossbeam 503 are all greater than that of the sensing part 500 .

[0035] The one-piece structure enhances the overall strength of the output flange 5. Specific processing methods include, but are not limited to, integral casting, precision machining, stamping, or extrusion. In the axial direction of the output flange 5, the sensing portion 500 is smaller than other locations. This dimension refers to thickness; the sensing portion 500 is thinner than the inner body 501, outer body 502, and crossbeam 503 of the output flange 5.

[0036] The rotating device includes a speed reducing unit 2 . The speed reducing unit 2 is at least partially located in the housing 3 . The speed reducing unit 2 is connected to the rotating shaft 4 . The speed reducing unit 2 is connected to the output flange 5 .

[0037] The indirect connection between the output flange 5 and the rotating shaft 4 is achieved through the reduction unit 2, which can be used to reduce the rotational speed of the rotating shaft 4 to adapt to the actual usage environment. Specifically, the drive unit 1 drives the rotating shaft 4 to rotate, which in turn drives the reduction unit 2, which in turn drives the output flange 5 to rotate. At this time, the speed of the output flange 5 is lower than that of the rotating shaft 4. The reduction unit 2 can be connected to the inner body 501 of the output flange 5.

[0038] like Figure 5 and 6 As shown, the rotating device includes a cover plate 7, which is connected to the crossbeam 503. There is a receiving cavity between the cover plate 7 and the sensing part 500, and the torque sensor 601 is at least partially located in the receiving cavity; the torque sensor 601 includes a strain gauge, which is bonded to the sensing part 500.

[0039] The thickness of the sensing part 500 is smaller than that of the beam 503, and there is a thickness difference between the two. After the cover plate 7 and the beam 503 are connected, a accommodating cavity is formed between the cover plate 7 and the sensing part 500, which can be used to accommodate the torque sensor 601 and provide space for its installation.

[0040] Cover plate 7 also serves as a protective shield for torque sensor 601, protecting it from external dust and impurities. Cover plate 7 includes a rubber plug 701, which is at least partially located within the housing cavity. This plug also provides abutment protection for torque sensor 601, reducing the risk of damage or dislodgment from external impacts.

[0041] The crossbeam 503 has a winding groove 5031, and the inner body 501 has a collecting groove 5011. The winding groove 5031 can be connected to the accommodating cavity, and the winding groove 5031 can be connected to the collecting groove 5011; the rotating device includes an collecting harness 8, and the collecting harness 8 includes a sensor cable 803, and the sensor cable 803 is electrically connected to the strain gauge; the collecting groove 5011 can accommodate at least part of the collecting harness 8, and the winding groove 5031 can accommodate at least part of the sensor cable 803.

[0042] The winding groove 5031 and the collection groove 5011 can both be used for routing the cables. On the one hand, this can save space, and on the other hand, it can standardize and collect the routing or arrangement paths of the cables, thereby reducing the risk of short circuits between the cables.

[0043] like Figure 2 Or as shown in 8 to 12, the deceleration part 2 can be a harmonic reducer, the deceleration part 2 includes a wave generator 201, a steel wheel 202, a flexible wheel 203 and a flexible wheel bracket 204, the wave generator 201 is fixedly connected to the rotating shaft 4, the wave generator 201 and the flexible wheel 203 can abut, the flexible wheel 203 and the steel wheel 202 can engage, the steel wheel 202 is fixedly connected to the housing 3, and the flexible wheel 203 is fixedly connected to the flexible wheel bracket 204; the rotating device includes a first bearing 9, the inner ring of the first bearing 9 is connected to the rotating shaft 4, the outer ring of the first bearing 9 is connected to the flexible wheel bracket 204, and the flexible wheel bracket 204 is fixedly connected to the inner body 501.

[0044] The transmission method is that the rotating shaft 4 drives the wave generator 201 to rotate. The rotation of the wave generator 201 causes the flexspline 203 to mesh and rotate with the steel wheel 202, where the steel wheel 202 is fixedly connected to the inner wall of the housing 3. The meshed and rotating flexspline 203 drives the flexspline bracket 204 to rotate together, thereby driving the inner body 501 of the output flange 5 to rotate. The first bearing 9 supports and connects the flexspline bracket 204. The rotation speed of the flexspline bracket 204 is different from that of the rotating shaft 4. The first bearing 9 ensures that the rotation of the rotating shaft 4 does not affect the flexspline bracket 204, and also fixes the relative position of the flexspline bracket 204. If the flexspline bracket 204 is not connected to the rotating shaft 4 through the first bearing 9, the position of the flexspline bracket 204 after connection with the flexspline 203 cannot be fixed due to the deformation of the flexspline 203, and the output cannot be stable.

[0045] The specific transmission and engagement principles between the wave generator 201 , the flexible spline 203 and the steel wheel 202 are the same as those in the related art and are not described in detail here.

[0046] The rotating device includes a second bearing 10 , an inner ring of the second bearing 10 is connected to the outer body 502 , and an outer ring of the second bearing 10 is connected to the housing 3 .

[0047] The relative position of the output flange 5 is limited and fixed by the second bearing 10. In the radial direction of the output flange 5, the second bearing 10 also supports and connects the output flange 5, making the output flange 5 more stable during rotation.

[0048] The rotating device also includes a first flange 31 and a second flange 32. The first flange 31 is connected to the outer body 502 and abuts the inner ring of the second bearing 10 in the axial direction of the output flange 5. The second flange 32 is connected to the housing 3 and abuts the outer ring of the second bearing 10 in the axial direction of the output flange 5. The first and second flanges 31 and 32 jointly limit the second bearing 10 in the axial direction, reducing the risk of the second bearing 10 loosening and improving the stability of the overall structure.

[0049] The first flange 31 can be connected to the outer body 502 by bolts, and the second flange 32 can be connected to the housing 3 by bolts.

[0050] The shaft 4 has a central passage 401 capable of accommodating at least a portion of the assembled wiring harness 8 .

[0051] The central channel 401 is also provided to facilitate the routing and arrangement of the cables of the rotating device, and to facilitate the collective management of the routing. It can also prevent the cables from becoming entangled with other components and affecting the operation of the components.

[0052] The driving unit 1 includes a rotor 101 , a stator 102 and a rotor bracket 103 . The rotor 101 is connected to the rotor bracket 103 . The rotor bracket 103 is fixedly connected to the rotating shaft 4 . The stator 102 is fixedly connected to the housing 3 .

[0053] The cooperation between the stator 102 and the rotor 101 is the same as that in the related art and will not be described in detail here.

[0054] In a second embodiment, the present application provides a rotating device, such as Figures 8 to 10 As shown, it includes a driving part 1, a shell 3 and a rotating shaft 4, the driving part 1 is at least partially located in the shell 3, and the driving part 1 is connected to the rotating shaft 4; the rotating device includes an output flange 5 and a sensing part 6, the output flange 5 is directly or indirectly connected to the rotating shaft 4, the sensing part 6 includes a first encoder assembly 602, and the first encoder assembly 602 is at least partially located in the shell 3; the first encoder assembly 602 includes a first receiver 6021 and a first generator 6022, the first receiver 6021 is connected to the output flange 5, and the first generator 6022 is directly or indirectly connected to the shell 3; the rotating device includes an aggregate harness 8, the aggregate harness includes a first encoder cable 801, the first encoder cable 801 is electrically connected to the first receiver 6021, the output flange 5 has a connecting hole 504, the rotating shaft 4 has a central channel 401, the connecting hole 504 and the central channel 401 can be connected, and the first encoder cable 801 can at least partially pass through the connecting hole 504 and the central channel 401.

[0055] In the related art, an encoder assembly is also provided in the rotating device. The encoder assembly includes a receiver and a generator, wherein the generator is connected to the output flange, and the receiver is fixedly connected to the housing. Therefore, when the output flange rotates, the generator can rotate with the output flange. The magnetic field change signal generated by the generator during the rotation process will be sensed and received by the receiver, thereby monitoring the rotation of the output flange. The receiver needs to be connected to an external circuit to transmit the signal. Therefore, it is necessary to open an outlet on the side wall of the housing for the receiver's connecting cable to be connected to the external circuit. However, some other components in the rotating device also need to be connected to the external circuit, such as the drive unit, which also needs to be connected to the external circuit through the opening of the outlet. Therefore, the outlet method of the above-mentioned encoder assembly makes the outlet method of the rotating device as a whole more cumbersome and messy.

[0056] In this embodiment, the first encoder assembly 602 can sense and monitor the rotation of the output flange 5, wherein the first receiver 6021 is connected to the output flange 5, and the first generator 6022 is fixedly connected to the shell 3 directly or indirectly. At this time, the first receiver 6021 will rotate with the rotation of the output flange 5, and the first generator 6022 is fixed relative to the shell 3, but the first generator 6022 and the first receiver 6021 rotate relative to each other, so the changes in the magnetic field can also be sensed and monitored, and then the rotation of the output flange 5 can be monitored.

[0057] After the first receiver 6021 is fixedly connected to the output flange 5, the first encoder cable 801 connected to the first receiver 6021 can pass through the hole on the output flange 5, then pass through the connecting hole 504, and then pass through the central channel 401 of the rotating shaft 4. This can reduce the need to open additional holes on the shell 3 to facilitate the outlet of the first encoder cable 801. This not only reduces the difficulty of processing and production and simplifies the production process, but also optimizes the overall wiring method of the rotating device, so that the rotating device of the present application will not have messy wiring compared to the related technology. After optimizing the wiring method of the first encoder component 602, it can also facilitate the management of cables.

[0058] The first receiver 6021 is fixed to the output flange 5. On the one hand, the first encoder cable 801 can be fixed with the output flange 5, and a hole can be directly opened on the output flange 5 for routing. Even if the output flange 5 rotates during operation, the first encoder cable 801 will rotate with the output flange 5. During actual assembly, a longer section of the first encoder cable 801 can be reserved and placed in the central channel 401. In this way, the output flange 5 will not break the first encoder cable 801 when rotating, and the rotating device in the present application can be used for robot joints or some industrial robot arm joints, etc. Its rotation angle will not be too large and will not affect the first encoder cable 801. If the first receiver 6021 is directly or indirectly fixedly connected to the shell 3, and the first generator 6022 is connected to the output flange 5, although the inductive monitoring function can also be realized, the first encoder cable 801 connected to the first receiver 6021 needs to pass through the rotating output flange 5 before entering the central channel 401. The rotation of the output flange 5 will pull the first encoder cable 801, which may cause the first encoder cable 801 to become disconnected from the first receiver 6021.

[0059] Specifically, the first generator 6022 includes a magnetic ring bracket 6023 and a first magnetic ring 6024, and the first magnetic ring 6024 is connected to the magnetic ring bracket 6023; on the projection plane perpendicular to the axial direction of the first magnetic ring 6024, the projection of the first receiver 6021 at least partially falls on the projection of the first magnetic ring 6024.

[0060] The first receiver 6021 includes a first sensor 6025 and a first electronic control board 6026. The first sensor 6025 is electrically connected to the first electronic control board 6026, which is connected to the output flange 5. The first electronic control board 6026 is electrically connected to the first encoder cable 801. On a projection plane perpendicular to the axial direction of the first magnetic ring 6024, the projection of the first sensor 6025 at least partially falls on the projection of the first magnetic ring 6024. The first sensor 6025 is located between the first electronic control board 6026.

[0061] The first encoder assembly 602 is a magnetic ring encoder. The first sensor 6025 can be driven by the output flange 5 to rotate and then sense the change in magnetic resistance of the first magnetic ring 6024, thereby converting it into an electrical signal for transmission. Its specific principle is the same as the working principle of the magnetic ring encoder in the related art, and will not be repeated here.

[0062] The rotating device includes a deceleration part 2, the deceleration part 2 includes a steel wheel 202, and the steel wheel 202 is fixedly connected to the inner wall of the shell 3; the first generator 6022 includes a connecting column 6027, the magnetic ring bracket 6023 is connected to the connecting column 6027, and the connecting column 6027 is fixedly connected to the steel wheel 202.

[0063] The provision of the speed reduction unit 2 can reduce the output speed of the rotating shaft 4, thereby reducing the speed of the output flange 5 and thus meeting practical application requirements. The connecting column 6027 used to support the magnetic ring bracket 6023 can be fixedly connected to the steel wheel 202, which is fixedly connected to the inner wall of the housing 3. Thus, the first generator 6022 is indirectly connected to the housing 3 through the steel wheel 202.

[0064] The connecting column 6027 is fixedly connected to the steel wheel 202. On the one hand, it is convenient for assembly. After the steel wheel 202 is assembled, the connecting column 6027 can be directly assembled and connected to the steel wheel 202. On the other hand, the setting of the connection points of the shell 3 can be reduced. The steel wheel 202 can be interference fit with the inner wall of the shell 3, and its circumferential size is equal to or approximately equal to the size of the shell 3. If additional connection points are set on the inner wall of the shell 3, it will not only increase the processing difficulty of the shell 3, but also make the assembly of the steel wheel 202 possible. There is a risk that it may not be assembled.

[0065] The output flange 5 includes an inner body 501, an outer body 502 and a crossbeam 503, and the crossbeam 503 connects the inner body 501 and the outer body 502;

[0066] The first encoder cable 801 can pass through the crossbeam 503 . The inner body 501 has a collecting groove 5011 . At least a portion of the first encoder cable 801 can pass through the collecting groove 5011 . The collecting groove 5011 can communicate with the communicating hole 504 .

[0067] A collecting groove 5011 is provided on the inner body 501 of the output flange 5. The setting of the collecting groove 5011 standardizes the routing path of the first encoder cable 801. On the other hand, it has the same function as in the first embodiment, which can save space and enable the first encoder cable 801 to be hidden, so as not to interfere with the connection or assembly of other components, and also protect the first encoder cable 801.

[0068] The sensing part 6 includes a torque sensor 601 , which is connected to the output flange 5 . The wiring harness 8 includes a sensor cable 803 , which is electrically connected to the torque sensor 601 . At least a portion of the sensor cable 803 can pass through the collecting groove 5011 and the connecting hole 504 .

[0069] Similarly, the collection groove 5011 can also be used for routing the torque sensor 601 or other components, which can centralize the cables of various components, facilitate management and standardize routing, and optimize the routing of the rotating device.

[0070] like Figure 2As shown, the shell 3 includes a partition plate 301, the partition plate 301 has a center hole 3011, the shell 3 includes a step portion 302, the rotating device includes a third bearing 11, the outer ring of the third bearing 11 is connected to the wall constituting the center hole 3011, the inner ring of the third bearing 11 is connected to the rotating shaft 4, and the steel wheel 202 is fixedly connected to the step portion 302.

[0071] The step portion 302 and the partition plate 301 are integrated. In the axial direction of the rotating shaft 4 , the driving portion 1 and the speed reduction portion 2 are respectively located on both sides of the partition plate 301 .

[0072] In the axial direction of the shell 3, the partition plate 301 divides the rotating device into two upper and lower chambers, one of which provides space for the installation of the drive unit 1, and the other provides space for the installation of the reduction unit 2. The rotating shaft 4 passes through the two chambers, and the center hole 3011 opened on the partition plate 301 enables the rotating shaft 4 to pass through the two chambers. The two ends are respectively connected to the drive unit 1 and the reduction unit 2. The third bearing 11 installed in the center hole 3011 can support the rotating shaft 4 and improve the stability of the operation of the rotating device.

[0073] The speed reduction unit 2 includes a wave generator 201, a flexible spline 203 and a flexible spline bracket 204. The rotating device includes a first bearing 9. The wave generator 201 is fixedly connected to the rotating shaft 4. The wave generator 201 is connected to the inner wall of the flexible spline 203. The outer wall of the flexible spline 203 is engaged with the steel wheel 202. The flexible spline 203 is fixedly connected to the flexible spline bracket 204. The flexible spline bracket 204 is connected to the outer ring of the first bearing 9. The inner ring of the first bearing 9 is connected to the rotating shaft 4.

[0074] The rotating shaft 4 includes a boss 402 , and the wave generator 201 is connected to the boss 402 .

[0075] In a more specific assembly, the wave generator 201 is fixedly connected to the boss 402 of the rotating shaft 4, and the steel wheel 202 is fixedly connected to the step portion 302. The fixed connection can be achieved by bolt locking, which facilitates disassembly and assembly while also facilitating subsequent inspection and maintenance. The flexspline 203 then engages with the steel wheel 202. The flexspline 203 can also be fixedly connected to the flexspline bracket 204 and the output flange 5 by bolting. Finally, the output of power is achieved through the connection of the output flange 5 to the external carrier. The flexspline bracket 204 can also be connected to the rotating shaft 4 via the first bearing 9. The first bearing 9 ensures that the position of the flexspline bracket 204 is relatively fixed while the rotation of the rotating shaft 4 does not affect it. The rotation of the flexspline bracket 204 is mainly driven by the rotation of the flexspline 203. Since the flexible spline 203 rotates during the operation of the rotating device and the flexible spline 203 also has a certain length in the axial direction, the connecting column 6027 can also separate the magnetic ring bracket 6023 and the flexible spline 203 by a certain distance in the axial direction, thereby preventing the eccentric rotation of the flexible spline 203 from affecting the magnetic ring bracket 6023 and also allowing the first magnetic ring 6024 connected to the magnetic ring bracket 6023 to be closer to the first receiver 6021.

[0076] In the third embodiment, the present application also provides a rotating device, including a driving part 1, a shell 3 and a rotating shaft 4, the driving part 1 is at least partially located in the shell 3, and the driving part 1 is connected to the rotating shaft 4; the rotating device includes a sensing part 6, the sensing part 6 includes a first encoder component 602 and a second encoder component 603, the first encoder component 602 is at least partially located in the shell 3, and the second encoder component 603 is at least partially located in the shell 3; the rotating device includes a collective wiring harness 8, the collective wiring harness 8 includes a first encoder cable 801, the rotating device includes a second encoder cable 802, the first encoder cable 801 is electrically connected to the first encoder component 602, and the second encoder cable 802 is electrically connected to the second encoder component 603; the shell 3 has a wire outlet 300, and the first encoder cable 801 and the second encoder cable 802 both pass through the wire outlet 300.

[0077] In the related art, two encoder assemblies are installed in the rotating device to monitor the rotation of the rotating shaft and the output flange respectively. The two encoder assemblies are usually located at both ends of the rotating shaft. In order to facilitate the connection of the connected cables with the external circuit, outlets are opened on the side walls of the shell. However, this will increase the difficulty of processing and producing the shell.

[0078] The present application provides a wire outlet 300 on the shell 3, and the first encoder cable 801 and the second encoder cable 802 both exit from the wire outlet 300, reducing the need to open multiple wire outlets 300 on the shell 3, thereby simplifying the production and processing steps of the shell 3, and also optimizing the overall wiring method of the rotating device. The first encoder cable 801 and the second encoder cable 802 exit from one wire outlet 300, and the first encoder cable 801 and the second encoder cable 802 can be gathered together and centrally exited, which is convenient for cable management.

[0079] In the axial direction of the housing 3 , the cable outlet 300 is farther away from the first encoder assembly 602 than the second encoder assembly 603 .

[0080] The rotating device includes an output flange 5 and a reduction part 2, the reduction part 2 is connected to the rotating shaft 4, and the output flange 5 is connected to the reduction part 2; the first encoder assembly 602 is connected to the output flange 5, and the second encoder assembly 603 is connected to the rotating shaft 4, the output flange 5 has a connecting hole 504, and the rotating shaft 4 has a center channel 401, and the connecting hole 504 can be connected to the center channel 401; the first encoder cable 801 can pass through the connecting hole 504 and the center channel 401.

[0081] Specifically, when the rotating device is actually operating, the driving unit 1 drives the rotating shaft 4 to rotate, the rotating shaft 4 drives the speed reduction unit 2 to operate, and the speed reduction unit 2 then drives the output flange 5 to rotate. After the speed reduction unit 2 reduces the speed of the output flange 5, its rotation speed is different from the rotation speed of the rotating shaft 4. Therefore, it is necessary to detect the rotation speed of the output flange 5 and the rotating shaft 4 to monitor the operating parameters of the rotating device in real time. The first encoder assembly 602 can monitor the operation of the output flange 5, and the second encoder assembly 603 can monitor the operation of the rotating shaft 4. Both need to be connected to the external circuit for wiring. If multiple outlets 300 are opened on the housing 3 as in the related art, although the purpose of monitoring can be achieved, this will cause the overall wiring of the rotating device to be messy. In addition, some other components of the rotating device also need to have wiring, so there will be many wiring lines, which is not easy to manage and is not convenient for the assembly of the rotating device in actual application.

[0082] In this embodiment, only one wire outlet 300 is provided. The first encoder cable 801 passes through the output flange 5, and passes through the connecting hole 504 and the central channel 401. After passing through the central channel 401, it passes out from the wire outlet 300. At the same time, the second encoder cable 802 can also be connected in parallel with it and pass out from the wire outlet 300.

[0083] The second encoder assembly 603 includes a second receiver 6031 and a second generator 6032. The rotating device includes a cover body 12, which is connected to the shell 3. In the axial direction of the shell 3, the cover body 12 and the output flange 5 are respectively located on opposite sides of the shell 3; the second receiver 6031 is connected to the cover body 12, and the second generator 6032 is connected to the rotating shaft 4.

[0084] The second generator 6032 includes a magnetic ring base 6033 and a second magnetic ring 6034. The second magnetic ring 6034 is connected to the magnetic ring base 6033, and the magnetic ring base 6033 is connected to the rotating shaft 4. Along the axial direction of the second magnetic ring 6034, the second receiver 6031 is at least partially opposite to the second magnetic ring 6034.

[0085] The second receiver 6031 includes a second sensor 6035 and a second electric control board 6036. The second sensor 6035 is electrically connected to the second electric control board 6036. The second electric control board 6036 is connected to the cover body 12. The second encoder cable 802 is electrically connected to the second electric control board 6036. Along the axial direction of the second magnetic ring 6034, the second sensor 6035 is located between the second electric control board 6036 and the second magnetic ring 6034. The second sensor 6035 is at least partially opposite to the second magnetic ring 6034.

[0086] The second encoder assembly 603 is also a magnetic ring encoder. Unlike the first encoder assembly 602, the second receiver 6031 in the second encoder assembly 603 is connected to the cover 12 and is relatively fixed. The second generator 6032 is fixedly connected to the rotating shaft 4 via a magnetic ring base 6033. Rotation of the rotating shaft 4 also drives the second generator 6032. During this rotation, the second sensor 6035 senses the magnetic changes generated by the rotation of the second magnetic ring 6034. The principle behind this is the same as that of the first encoder assembly 602 and related technologies, and will not be elaborated on here.

[0087] The first encoder assembly 602 includes a first receiver 6021 and a first generator 6022, the speed reduction unit 2 includes a steel wheel 202, the first generator 6022 includes a magnetic ring bracket 6023, a first magnetic ring 6024 and a connecting column 6027, the first magnetic ring 6024 is connected to the magnetic ring bracket 6023, the magnetic ring bracket 6023 is connected to the connecting column 6027, and the connecting column 6027 is fixedly connected to the steel wheel 202; on the projection plane perpendicular to the axial direction of the first magnetic ring 6024, the projection of the first receiver 6021 at least partially falls on the projection of the first magnetic ring 6024.

[0088] The first receiver 6021 includes a first sensor 6025 and a first electronic control board 6026. The first sensor 6025 is electrically connected to the first electronic control board 6026, which is connected to the output flange 5. The first electronic control board 6026 is electrically connected to the first encoder cable 801. On a projection plane perpendicular to the axial direction of the first magnetic ring 6024, the projection of the first sensor 6025 at least partially falls on the projection of the first magnetic ring 6024. The first sensor 6025 is located between the first electronic control board 6026.

[0089] The first encoder component 602 in this embodiment has the same structure as that in other embodiments.

[0090] The driving part 1 includes a rotor 101, a stator 102 and a rotor bracket 103. The rotor 101 is connected to the rotor bracket 103, the rotor bracket 103 is connected to the rotating shaft 4, and the stator 102 is connected to the inner wall of the shell 3; the rotor bracket 103 includes a cylinder 1031 and an inner ring plate 1032, the inner ring plate 1032 is connected to the inner wall of the cylinder 1031, the inner ring plate 1032 is connected to the rotating shaft 4, and the rotor 101 is connected to the circumferential side wall of the cylinder 1031.

[0091] The rotating device includes a stator cable, which is electrically connected to the stator 102 and can pass through the cable outlet 300 .

[0092] The stator cable connected to the drive unit 1 can also be routed out of this cable outlet 300, where it is assembled with the first encoder cable 801 and the second encoder cable 802. Simultaneously, the sensor cable 803 of the torque sensor 601 connected to the output flange 5 can pass through the connecting hole 504 and the central channel 401, also exiting from this cable outlet 300, thereby optimizing the overall cable routing of the rotating device. This makes the rotating device easier to assemble in actual applications, eliminating the need to consider the location of each cable outlet and how the cable routing should connect to the external circuit, as in related art, thereby improving assembly convenience.

[0093] The above embodiments are only used to illustrate the present application and are not intended to limit the technical solutions described in the present application. The understanding of this specification should be based on technical personnel in the relevant technical field. For example, directional descriptions such as "front", "back", "left", "right", "up", and "down" are only used to describe the relationship between objects and are not substantive limitations. "Multiple" means at least two or more.

[0094] Although this specification has described the present application in detail with reference to the above-mentioned embodiments, it should be understood by those skilled in the art that they can still modify or make equivalent substitutions to the present application, and all technical solutions and improvements thereto 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.

Claims

1. A rotating device, characterized in that: It comprises a driving part (1), a housing (3) and a rotating shaft (4), wherein the driving part (1) is at least partially located in the housing (3), and the driving part (1) is connected to the rotating shaft (4); The rotating device comprises an output flange (5) and a sensing portion (6), wherein the output flange (5) is directly or indirectly connected to the rotating shaft (4), and the sensing portion (6) comprises a torque sensor (601); The torque sensor (601) is directly connected to the output flange (5).

2. The rotating device according to claim 1, characterized in that The output flange (5) comprises a sensing portion (500), an inner body (501), an outer body (502) and a crossbeam (503), wherein the crossbeam (503) connects the inner body (501) and the outer body (502), the sensing portion (500) is connected to the inner body (501), and the sensing portion (500) is connected to the outer body (502); In the axial direction of the output flange (5), the thicknesses of the inner body (501), the outer body (502) and the crossbeam (503) are all greater than the sensing portion (500), and the sensing portion (500) is connected to the torque sensor (601).

3. The rotating device according to claim 2, characterized in that In the circumferential direction of the output flange (5), the sensing portion (500) is connected to the crossbeam (503), and the inner body (501), the outer body (502), the crossbeam (503) and the sensing portion (500) are an integrated part; There are multiple crossbeams (503), and the multiple crossbeams (503) are arranged at intervals along the circumferential direction of the output flange (5). There are multiple sensing parts (500), and the sensing parts (500) are located between adjacent crossbeams (503) in the radial direction of the output flange (5).

4. The rotating device according to claim 3, characterized in that The rotating device comprises a deceleration part (2), wherein the deceleration part (2) is at least partially located in the housing (3), the deceleration part (2) is connected to the rotating shaft (4), and the deceleration part (2) is connected to the output flange (5).

5. The rotating device according to claim 3 or 4, characterized in that: The rotating device comprises a cover plate (7), the cover plate (7) is connected to the crossbeam (503), a receiving cavity is provided between the cover plate (7) and the sensing portion (500), and the torque sensor (601) is at least partially located in the receiving cavity; The torque sensor (601) comprises a strain gauge, and the strain gauge is bonded to the sensing portion (500).

6. The rotating device according to claim 5, characterized in that The crossbeam (503) has a winding groove (5031), the inner body (501) has a collection groove (5011), the winding groove (5031) is able to communicate with the accommodating cavity, and the winding groove (5031) is able to communicate with the collection groove (5011); The rotating device includes a collection harness (8), the collection harness (8) includes a sensor cable (803), and the sensor cable (803) is electrically connected to the strain gauge; the collection slot (5011) is capable of accommodating at least a portion of the collection harness (8), and the winding slot (5031) is capable of accommodating at least a portion of the sensor cable (803).

7. The rotating device according to claim 6, characterized in that The deceleration part (2) comprises a wave generator (201), a steel wheel (202), a flexible wheel (203) and a flexible wheel bracket (204); the wave generator (201) is fixedly connected to the rotating shaft (4); the wave generator (201) and the flexible wheel (203) can abut against each other; the flexible wheel (203) and the steel wheel (202) can mesh; the steel wheel (202) is fixedly connected to the housing (3); and the flexible wheel (203) and the flexible wheel bracket (204) are fixedly connected; The rotating device comprises a first bearing (9), an inner ring of the first bearing (9) is connected to the rotating shaft (4), an outer ring of the first bearing (9) is connected to the flexible wheel bracket (204), and the flexible wheel bracket (204) is fixedly connected to the inner body (501).

8. The rotating device according to claim 6 or 7, characterized in that: The rotating device comprises a second bearing (10), the inner ring of the second bearing (10) is connected to the outer body (502), and the outer ring of the second bearing (10) is connected to the housing (3).

9. The rotating device according to claim 8, characterized in that The rotating shaft (4) has a central channel (401), and the central channel (401) is capable of accommodating at least part of the collective wiring harness (8).

10. The rotating device according to claim 8, characterized in that The driving part (1) comprises a rotor (101), a stator (102) and a rotor support (103); the rotor (101) is connected to the rotor support (103); the rotor support (103) is fixedly connected to the rotating shaft (4); and the stator (102) is fixedly connected to the housing (3).

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