Drive device

Abstract

The invention provides a driving device which comprises a driving part, a speed regulation part, an output part and a machine shell, at least part of the driving part is located in the machine shell, at least part of the speed regulation part is located in the machine shell, the driving part comprises a stator part and a rotor part, the stator part is connected with the machine shell, and the rotor part is in running fit with the stator part; the speed regulating part comprises an input piece and an output piece, the input piece and the output piece are in transmission fit, and the output piece is connected with the output part; the driving device comprises a limiting part, the limiting part comprises a limiting groove and a limiting block, the limiting groove is located in one of the input piece and the rotor part, the limiting block is located in the other one of the input piece and the rotor part, the input piece is connected with the rotor part, and the limiting block is located in the limiting groove. The limiting block is at least partially located in the limiting groove; therefore, the coaxiality of the input piece and the rotor part is improved.

Description

Technical Field

[0001] This application relates to the field of drive device technology, and in particular to a drive device. Background Technology

[0002] The drive unit of the related technology includes a drive unit, a speed regulating unit, and an output unit. The drive unit includes a stator unit and a rotor unit, which are rotatably coupled. The speed regulating unit includes an input component and an output component, which are drively coupled to the input component. The rotor unit is connected to the input component, which drives the input component to rotate. The output component is connected to the output unit, which drives the output unit to rotate. The output unit is connected to an external carrier.

[0003] During the assembly process, the rotor and the input component may shift due to structural or assembly factors, resulting in low coaxiality after assembly. Summary of the Invention

[0004] This application provides a drive device for improving coaxiality.

[0005] This application provides a driving device, characterized in that it includes a driving unit, a speed regulating unit, an output unit, and a housing. The driving unit is at least partially located in the housing, and the speed regulating unit is at least partially located in the housing. The driving unit includes a stator and a rotor, the stator being connected to the housing, and the rotor and stator being rotatably coupled. The speed regulating unit includes an input component and an output component, the input component and the output component being drively coupled, and the output component being connected to the output unit. The driving device includes a limiting unit, the limiting unit including a limiting groove and a limiting block. The limiting groove is located in one of the input component and the rotor, and the limiting block is located in the other of the input component and the rotor. The input component is connected to the rotor, and the limiting block is at least partially located in the limiting groove.

[0006] The drive device provided in this application includes a limiting part, which includes a limiting groove and a limiting block. The limiting groove is located in one of the input part and the rotor part, and the limiting block is located in the other of the input part and the rotor part. Before the input part and the rotor part are assembled and fixed, they can be positioned and installed by the limiting block and the limiting groove, and then fixed to improve the coaxiality of the input part and the rotor part. Attached Figure Description

[0007] Figure 1 This is a three-dimensional schematic diagram of a driving device according to this application;

[0008] Figure 2 This is a cross-sectional schematic diagram of a driving device according to this application;

[0009] Figure 3 This is an exploded schematic diagram of a driving device according to this application;

[0010] Figure 4 This is a cross-sectional schematic diagram of a housing according to this application;

[0011] Figure 5 This is a plan view of an output section according to this application;

[0012] Figure 6 This is a three-dimensional schematic diagram of an output section according to this application;

[0013] Figure 7 This is a cross-sectional schematic diagram of an output section of this application;

[0014] Figure 8 This is a cross-sectional schematic diagram of an input component according to this application;

[0015] Figure 9 This is a cross-sectional view of the connection between an input component and a mounting part according to this application;

[0016] Figure 10 This is a cross-sectional schematic diagram of the mounting portion of a rotor section according to this application;

[0017] Figure 11 This is a perspective view of a rotor mounting section according to the present application;

[0018] Figure 12 A cross-sectional schematic diagram showing the arrangement of a first bearing and a second bearing according to this application;

[0019] Figure 13 This is a cross-sectional schematic diagram of the connection between a rotating shaft and an input component according to this application;

[0020] Figure 14 This is a cross-sectional schematic diagram of a rotating shaft portion according to this application;

[0021] Figure 15 This is a three-dimensional schematic diagram of an end cap according to this application;

[0022] Figure 16 This is a three-dimensional schematic diagram of an input component according to this application;

[0023] Figure 17 This is a cross-sectional schematic diagram of a speed regulating part according to this application;

[0024] Figure 18 This is a three-dimensional schematic diagram of a stator section according to this application;

[0025] Figure 19 This is a three-dimensional schematic diagram of a rotor section according to this application. Detailed Implementation

[0026] The following description is intended to disclose the present invention and enable those skilled in the art to implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art. The basic principles of the invention defined in the following description can be applied to other embodiments, modifications, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the invention. All technical solutions and improvements that do not depart from the spirit and scope of this application should be covered within the scope of the claims of this application.

[0027] Those skilled in the art should understand that, in the disclosure of this invention, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limiting this invention.

[0028] It is understood that the term "a" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element can be one, while in another embodiment, the number of the element can be multiple, and the term "a" should not be understood as a limitation on the number.

[0029] This application provides a driving device, which has wide applications, such as actuators and robot joints. Currently, in related technologies, driving devices include a driving unit and an output unit, which are connected. The output unit is connected to an external carrier. To detect the magnitude of the torque borne by the rotating device, a torque sensor is also provided. The output unit includes an output flange, which includes a disc, a ring disposed on the outer edge of the disc, and a measuring body connecting the disc and the ring. The torque sensor is connected to the measuring body. During actual operation, the disc of the output flange is connected to the driving unit, and the disc drives the measuring body and the ring to rotate. The ring is indirectly and directly connected to the external carrier. Therefore, when the driving unit drives the external carrier to rotate, torque is generated between them. This torque causes deformation of the measuring body connecting the disc and the ring, and the torque sensor can detect this deformation.

[0030] However, the problem with this is that the output section structure is relatively complex. In related technologies, the disc, ring and measuring body are connected, and the output section has no hollow structure. Therefore, the measuring body is difficult to deform or deforms only slightly. The output section structure in related technologies reduces the detection sensitivity of the torque sensor. In particular, the deformation of the measuring body will affect the detection sensitivity and accuracy of the torque sensor.

[0031] To solve the above problems, the following will refer to Figures 1 to 19This application is described in whole or in part by way of the following: the direction of this application is based on... Figure 2 As shown, F1 is the radial direction of the drive device, and F2 is the axial direction of the drive device.

[0032] Main references Figures 1 to 3 As shown, this application provides a driving device, including a driving part 9 and a housing 1, with the driving part 9 at least partially located within the housing 1; the driving device includes an output part 2 and a sensing part 6, the output part 2 having a gap 24, the output part 2 including a first part 21, a crossbeam part 22 and a second part 23, the crossbeam part 22 connecting the first part 21 and the second part 23, at least a portion of the gap 24 located between the first part 21, the crossbeam part 22 and the second part 23, the first part 21 being directly or indirectly connected to the driving part 9, where direct connection in this application refers to connection between two components or structures without the use of a third-party component or structure, but the two The connection between two components via glue or other adhesives is not included. Connections via glue or other adhesives are also considered direct connections. If a direct connection is used, the drive unit 9 includes a drive motor, which includes a drive shaft. The drive shaft is connected to the first part 21, and the first part 21 drives the second part 23 to rotate. If an indirect connection is used, the drive device also includes a speed regulating unit 7. The drive unit 9 is connected to the speed regulating unit 7, and the speed regulating unit 7 is connected to the first part 21. The drive unit 9 drives the speed regulating unit 7 to rotate, and the speed regulating unit 7 drives the first part 21 to rotate. This application mainly focuses on the indirect connection scheme. The structure and connection method will be described in detail below.

[0033] Furthermore, in this embodiment, the connection includes assembly connection and integral component. The integral component will be specifically indicated, and if not described, it can be understood as assembly connection.

[0034] The sensing unit 6 includes a torque sensor 61, which is connected to the crossbeam 22. The driving device includes a bearing 5, which connects the second part 23 and the housing 1. Since the second part 23 is connected to an external carrier, the first part 21 rotates, and the crossbeam 22 drives the second part 23 to rotate, thereby driving the external carrier to rotate. A gap 24 is provided, located between the first part 21, the crossbeam 22, and the second part 23. When torque is generated, the crossbeam 22 is more likely to deform, thereby driving the torque sensor connected to it to rotate. Sensor 601 can directly sense and detect changes in the crossbeam 22 to improve the detection sensitivity of torque sensor 61, and can detect the magnitude of torque accordingly, thus improving detection accuracy. In addition, the drive device also includes an inner ring cover 4 and an outer ring cover 3. The inner ring cover 4 is connected to the second part 23 and abuts against one end of the inner ring of the bearing 5. The outer ring cover 3 is connected to the end of the housing 1 and abuts against one end of the outer ring of the bearing 5. The inner ring cover 4 and the outer ring cover 3 can prevent the bearing 5 from detaching from the housing 1.

[0035] For details, please refer to Figure 1 , Figures 5 to 7 The drive unit 9 drives the speed regulating unit 7 to rotate, and the speed regulating unit 7 directly or indirectly drives the output unit 2 to rotate. The output unit 2 is used to connect to an external carrier. Under the resistance of the external carrier, the corresponding torque causes the crossbeam 22 of the output unit 2 to deform. The torque sensor 61 senses and detects this deformation, and then converts the torque into an electrical signal output. The output unit 2 is provided with a gap 24, and the gap is located between the first part 21, the crossbeam 22 and the second part 23. This position is also the most likely to deform under the action of torque, and it is also easier to be detected than other positions of the output unit 2.

[0036] Please refer to it again. Figures 5 to 7 The second part 23 includes a ring part 231 and a flange part 232. The first part 21 is located at the inner ring of the ring part 231. The flange part 232 and the ring part 231 are integral parts. The flange part 232 extends radially toward the first part 21 along the ring part 231. The gap 24 is located between the flange part 232 and the crossbeam part 22. The flange part 232 can reduce the gap size. If the gap is too large, it will easily lead to insufficient connection strength of the output part 2 and easy breakage of the output part 2. On the other hand, the ring part 231 is connected to the external carrier. In order to make the connection with the external carrier more stable, the flange part 232 needs to be engaged and fixed at part of the external carrier to increase the contact area of ​​the second part 23.

[0037] In addition, please see Figure 5 It can be seen that the first part 21 is roughly circular in shape, and the second part 23 is roughly annular in shape. Of course, in some other embodiments, the first part 21 can also be square, rhomboid, or other shapes. The first part 21 is located at the inner ring of the ring part 231, and the second part 23 is located at the outer edge of the first part 21. One end of the crossbeam part 22 is connected to the first part 21, and the other end of the crossbeam part 22 is connected to the second part 23, thus forming the general shape of the output part 2. In this application, there are multiple crossbeam parts 22. Multiple crossbeam parts 22 are arranged at intervals along the circumferential direction of the output part 2, so that the overall mass distribution of the output part 2 is more uniform. There are multiple gaps 24. Each gap 24 is located between two adjacent crossbeam parts 22, which also makes the gaps 24 located in adjacent crossbeam parts 22 more uniform. Thus, when torque is generated, the deformation of the crossbeam part 22 is easier to detect, and the detected data is more objective and accurate. The crossbeam part 22 extends radially along the first part 21.

[0038] Please refer to it again. Figure 5As shown, the gap 24 includes a first clearance gap 241, a second clearance gap 242, and a third clearance gap 243. The first clearance gap 241, the second clearance gap 242, and the third clearance gap 243 are connected. The first clearance gap 241 is located between one side of the flange portion 232 and the adjacent crossbeam portion 22. The second clearance gap 242 is located between the flange portion 232 and the first portion 21. The third clearance gap 243 is located between the other side of the flange portion 232 and the adjacent crossbeam portion 22. That is, the gap 24 is generally in the shape of a bent linear line. The size of the gap 24 should not be too large or too small. If the size is too large, it will affect the structural strength of the output portion 2. If the size is too small, it will affect the structural strength of the output portion 2. If the deformation of the output part 2 is affected to a certain extent, and in this application, the flange part 232 and the ring part 231 are integral parts. In other embodiments, the flange part 232 can be integral parts with the first part 21. In this application, integral parts are interpreted as non-assembly connections. The substrate can be processed by casting, forging, stamping, extrusion, metal injection molding, metal powder metallurgy, etc., and then processed by machining. Alternatively, integral parts can be directly processed by casting, forging, stamping, extrusion, metal injection molding, metal powder metallurgy, etc. In some applications, the effect is directly related. If an integral extrusion molding method is adopted, the interpretation of "integral parts" can be supplemented as appropriate.

[0039] Furthermore, please refer to Figures 5 to 7 The first part 21 and the crossbeam part 22 can be integrated, or the second part 23 and the crossbeam part 22 can be integrated, or the first part 21, the second part 23 and the crossbeam part 22 can be integrated. This application mainly describes the solution where the first part 21, the second part 23 and the crossbeam part 22 are integrated. By making the first part 21, the second part 23 and the crossbeam part 22 into an integrated component, the overall structural strength of the output part 2 can be improved, the manufacturing and processing efficiency of the components can be improved, and the coaxiality of the first part 21 and the second part 23 can be improved. If the three are set as an assembly connection, after the three are manufactured and processed independently, they still need to be assembled. The increase in assembly process will affect the manufacturing and processing efficiency, that is, the productivity is low. Secondly, during the assembly process, the assembly accuracy may vary due to wear or contamination, and the coaxiality cannot be effectively guaranteed.

[0040] Please refer to it again. Figure 7 In the axial direction of the output section 2, the thickness L of the crossbeam section 22 is less than the thickness H of the first section 21 and / or the thickness M of the second section 23; the torque sensor 61 includes a strain gauge 611, which is bonded to the crossbeam section 22. In this application, the crossbeam section 22 is the part of the output section 2 with the smallest size in its axial direction. This position is also the most prone to deformation under the action of torque, and is also easier to be detected than other positions of the output section 2. This size refers to the thickness of the crossbeam section 22 along the axial direction of the output section 2.

[0041] Please refer to it again. Figure 2 , Figure 17 The drive unit includes a speed regulating section 7, which is at least partially located inside the housing 1. The drive unit 9 is connected to the speed regulating section 7, and the speed regulating section 7 is connected to the first part 21. The speed regulating section is used to reduce the speed of the drive unit 9, changing the high speed to a low speed. The speed regulating section 7 includes an input component 72, an output component 71, and a fixing component 73. The fixing component 73 is connected to the housing 1. The input component 72, the output component 71, and the fixing component 73 are in a transmission cooperation. The input component 72 is connected to the rotor part 91, and the output component 71 is connected to the first part 21. Specifically, the output component 71 includes a flexible wheel 711, and the input component 72 includes an elliptical disk 721. The moving part 9 includes a flexible bearing 74, the fixed part 73 includes a rigid wheel 731, and the flexible wheel 711 includes an external toothed portion 711a. In a direction perpendicular to the distribution direction of the rotor part 91 and the stator part 92, the flexible bearing 74 is located between the elliptical disk 721 and the external toothed portion 711a. The rigid wheel 731 is connected to the housing 1, and the external toothed portion 711a is located between the flexible bearing 74 and the rigid wheel 731. The rigid wheel 731 includes an internal toothed portion 731a, which partially meshes with the external toothed portion 711a. The number of teeth in the external toothed portion 711a is less than the number of teeth in the internal toothed portion 731a. The flexible wheel 711 also includes a connecting portion 711b. The connecting part 711b connects the external toothed part 711a and the first part 21. Its deceleration principle is as follows: before assembly, the inner hole of the flexible wheel 711 is circular. When the elliptical disk 721 is inserted into the flexible wheel 711, because the elliptical disk 721 is elliptical and its length is slightly larger than the inner diameter of the flexible wheel 711, the flexible wheel 711 partially deforms after being pressed into it. At least part of the flexible wheel 711 is stretched into an elliptical shape by the elliptical disk 721. The external toothed part 711a of the flexible wheel 711 in the direction of the major axis of the ellipse partially meshes with the internal toothed part 731a of the rigid wheel 731. The external toothed part 711a of the flexible wheel 711 in the direction of the minor axis of the ellipse... The internal tooth portion 731a of the flexible gear 711a separates from the internal tooth portion 731a of the rigid gear 731. As the flexible gear 711 rotates, the remaining external tooth portion 711a and internal tooth portion 731a are either in a meshing state or in a disengaged state. During the rotation of the elliptical disk 721, when one of the teeth of the flexible gear 711 goes from meshing with a tooth of the rigid gear 731 to meshing with that tooth of the rigid gear 731 again, the flexible gear 711 has rotated exactly one revolution, while the elliptical disk 721 has rotated many revolutions. The ratio of the number of revolutions of the elliptical disk 721 to the number of revolutions of the flexible gear 711 is the reduction ratio of the harmonic gear reducer, hence its reduction ratio is very large. Since the drive unit 9 has a high rotational speed, if the drive device is connected to the robot joint, its output unit does not need a high rotational speed. Therefore, a speed regulating unit 7 is provided to reduce high-speed operation and increase torque.

[0042] Furthermore, the drive unit 9 can be either a radial flux motor or an axial flux motor. In a radial flux motor, the stator and rotor are distributed along a line perpendicular to the motor's rotation center. The stator can be located outside the rotor, or vice versa. However, since radial flux motors are mostly elongated cylindrical in shape with a large axial dimension, they are relatively bulky. In applications with limited space, the use of radial flux motors is restricted; therefore, please refer to [further details]. Figure 2 , Figure 18 as well as Figure 19 In this application, the drive unit 9 adopts an axial flux motor, i.e., a disc motor. Specifically, the drive unit 9 includes a stator 92 and a rotor 91, which are distributed along the axial direction of the drive device. The stator 92 is connected to the housing 1. Compared with conventional inner or outer rotors, the disc motor, with its stator 92 and rotor 91 distributed along the axial direction of the drive device, can shorten the axial height of the drive device, so that the drive device can be better applied to robot joints or other actuators, thus expanding the application scenarios of the drive device. It also increases the magnetic field area, resulting in higher efficiency.

[0043] Specifically, please refer to Figure 2The drive unit 9 and the speed regulating unit 7 are distributed in the same direction as the stator unit 92 and the rotor unit 91, facilitating the connection between the rotor unit 91 and the input unit 72. The rotor unit 91 is located between the stator unit 92 and the speed regulating unit 7. Along the axial direction of the drive unit 9, there is a gap Q between the rotor unit 91 and the stator unit 92. The stator unit 92 includes a stator core 921 and a coil winding 922. The stator core 921 includes an end plate portion 921a and a stator tooth portion 921b. Connected to end plate portion 921a, stator teeth 921b are located between end plate portion 921a and rotor portion 91. Stator teeth 921b extend from end plate portion 921a toward rotor portion 91. There are multiple stator teeth 921b, evenly distributed around the axis of drive portion 9. Each stator tooth 921b is wound with a coil winding. End plate portion 921a is connected to and fixed to housing 1. In this embodiment, the connection between end plate portion 921a and housing 1... The connection method is not specifically limited and can be one or a combination of bolts, snap-fit, adhesive, welding, etc. The rotor part 91 includes magnets 911 and mounting part 912. The magnets 911 are connected to the mounting part 912 and are evenly distributed around the axis of the drive part 9. The magnets 911 are located between the mounting part 912 and the stator part 92. The mounting part 912 has magnetic properties. After the drive part 9 is powered on, due to the magnetic effect of the current, polarity is generated on the coil winding 922, which interacts with the magnets 911 of the rotor part 91. Since the mounting part 912 connected to the magnets 911 is connected to the input part 72, it drives the input part 72 to rotate. After the input part 72 and the output part 71 are driven to output the speed and torque of the output part 2 connected to the output part 71. In addition, there is a gap Q between the rotor part 91 and the stator part 92 to avoid interference between the rotor part 91 and the stator part 92 during operation.

[0044] Currently, in related technologies, the rotor 91 and the input component 72 are two separate parts before assembly. They are generally connected and fixed during assembly. During assembly, they are connected by one or a combination of methods such as bonding, riveting, welding, connecting with connectors, and snap-fitting. However, since the rotor 91 and the input component 72 are not pre-positioned before assembly, they may be misaligned due to human factors or assembly factors during assembly. This results in lower coaxiality after assembly, reduced coaxiality, poor rotational stability, and ultimately, low rotational smoothness during output.

[0045] To address the aforementioned problems, this application provides a driving device, such as... Figure 2 and Figure 12As shown, the device includes a drive unit 9, a speed regulating unit 7, an output unit 2, and a housing 1. The drive unit 9 is at least partially located in the housing 1, and the speed regulating unit 7 is at least partially located in the housing 1. The drive unit 9 includes a stator 92 and a rotor 91. The stator 92 is connected to the housing 1, and the rotor 91 and stator 92 are rotatably coupled. The speed regulating unit 7 includes an input component 72 and an output component 71. The input component 72 and output component 71 are drive-coupled, and the output component 71 is connected to the output unit 2. The drive device includes a bearing component 5, which connects the output unit 2 and the housing 1. The drive unit 9 can be a radial flux motor or an axial flux motor. In a radial flux motor, the stator and rotor are distributed along a path perpendicular to the rotation center of the motor. The stator can be located outside the rotor, or the rotor can be located outside the stator. However, since radial flux motors are mostly cylindrical with a large axial dimension, they are relatively large in size. In some applications with limited space, the use of radial flux motors is restricted. Therefore, in this application, please refer to... Figure 12 The drive unit 9 adopts an axial flux motor, i.e. a disc motor. The specific structure of the disc motor has been described above, so it will not be repeated here. In addition, the structure and deceleration principle of the speed control unit 7 have also been described above, so it will not be repeated here. The output unit 2 can adopt either the output flange with gap mentioned above or the output flange without gap.

[0046] It is worth mentioning that, such as Figure 12 As shown, the drive device includes a limiting part 8, which includes a limiting groove 81 and a limiting block 82. The limiting groove 81 is located in one of the input member 72 and the rotor part 91, and the limiting block 82 is located in the other of the input member 72 and the rotor part 91. The input member 72 is connected to the rotor part 91. The limiting block 82 is at least partially located in the limiting groove 81. Before the input member and the rotor part are assembled and fixed, they are first installed by positioning through the limiting block and the limiting groove, and then connected and fixed. Because the limiting block and the limiting groove are already adapted, the radial movement of the rotor part 91 and the input member 72 in the drive device is restricted, thereby improving the coaxiality of the input member and the rotor part.

[0047] Specifically, please refer to Figures 8 to 12As shown, the limiting groove 81 is located in the input component 72. The limiting groove 81 can be milled in the input component 72 by a milling cutter. The limiting block 82 is located in the rotor part 91, and the limiting block 82 and the rotor part 91 are integral parts. The limiting block 82 extends along the axial direction of the drive device, and the groove opening of the limiting groove 81 faces the limiting block 82. The limiting block 82 and the rotor part 91 are made of the same material. The advantage of integral molding is that it can improve the efficiency of manufacturing and processing. On the other hand, the integral part can improve the coaxiality of the two compared with the assembly connection. In addition, in some embodiments, there are multiple limiting blocks, such as two limiting blocks 82. The limiting blocks are symmetrically arranged radially along the rotor part 91, and two limiting grooves 81 are correspondingly provided. The two limiting grooves 81 correspond to the two limiting blocks 82. The limiting grooves 81 are provided in the input component 72, and the two limiting blocks 82 are respectively inserted into the two limiting grooves 81 to restrict the radial movement of the input component 72 and the rotor part 91.

[0048] Please see Figure 8 and Figure 11 As shown, in this embodiment, the limiting block 82 includes an annular protrusion 821, which is coaxially arranged with the rotor portion 91. The limiting groove 81 includes an annular groove 811, which is coaxially arranged with the input component 72. The annular protrusion 821 and the annular groove 811 are coaxially distributed, and the annular protrusion 821 is located within the annular groove 811. Compared with other structures, using the annular protrusion 821 and the annular groove 811 for positioning and installation is more conducive to improving the coaxiality of the rotor portion 91 and the input component 72. This is because firstly, the annular groove 811 and the annular protrusion 821 are coaxially distributed, and secondly, the annular groove 811 and the input component 72 are coaxially arranged, and the annular protrusion 821 and the rotor portion 91 are coaxially arranged. As long as the annular groove 811 and the annular protrusion 821 are connected, the input component 72 and the rotor portion 91 will also be coaxially arranged.

[0049] Furthermore, because the rotor 91 and the input component 72 need to rotate together during operation, such as Figure 9 As shown, the rotor 91 has a first mounting hole 913, the limiting block 82 has a second mounting hole 822, the first mounting hole 913 and the second mounting hole 822 communicate with each other, the input component 72 has a mating hole 723, the mating hole 723 corresponds to the second mounting hole 822, the first mounting hole 913 corresponds to the second mounting hole 822, and the second mounting hole 822 is located between the first mounting hole 913 and the mating hole 723; the drive device includes a fastener 10, the fastener 10 connects the rotor 91, the limiting block 82 and the input component 72, part of the fastener 10 is located in the first mounting hole 913, part of the fastener 10 is located in the second mounting hole 822, and part of the fastener 10 is located in the mating hole 723, the fastener 10 can restrict the rotor 91 and the input component 72 to rotate relative to each other in the circumference, wherein the mating hole 723 is a through hole, and the first mounting hole 913 and the second mounting hole 822 are threaded holes.

[0050] As mentioned above, this embodiment uses an axial flux motor. Therefore, the distribution direction of the limiting block 82 and the limiting groove 81 is the same as the distribution direction of the stator part 92 and the rotor part 91, so as to facilitate the docking and installation of the limiting block and the limiting groove.

[0051] Please refer to it again. Figure 11 and Figure 12 The limiting block 82 and the mounting part 912 are integrated. The magnet 911 and the limiting block 82 are located on both sides of the mounting part 912. The mounting part 912 has a first annular channel 912a and a second annular channel 912b. Along the radial direction of the mounting part 912, the first annular channel 912a is located outside the second annular channel 912b. The limiting block 82, the first annular channel 912a and the second annular channel 912b are located on the same side of the mounting part 912. The first annular channel 912a and the second annular channel 912b make the mounting part 912 form a roughly maze structure. In order to stabilize rotation and reduce wear of parts, the speed regulating part 7 in the drive device will be filled with lubricating oil. The setting of the first annular channel 912a and the second annular channel 912b can seal the lubricating oil in the speed regulating part 7 and prevent the lubricating oil from splashing to other parts.

[0052] For further information, please refer to [link / reference]. Figure 2 and Figure 4 The housing 1 includes a first part 111 and a second part 112. The speed regulating unit 7 is mounted on the first part 111, and the drive unit 9 is mounted on the second part 112. The first part 111 and the second part 112 are a single piece, i.e., they form a single cylindrical body. This means that the mounting positions of the drive unit 9 and the speed regulating unit 7 can be machined on the same cylindrical body using the same positioning method, reducing or avoiding positioning deviations during machining. Furthermore, using the same cylindrical body avoids the assembly process between different housings, thus preventing... The installation deviation between the housings means that after the speed regulating unit 7 and the drive unit 9 are connected, the dimensional chain of the coaxiality of the elliptical disk, flexible bearing, rigid wheel, rotor, and flexible wheel is not affected by the machining and positioning errors of different housings or the assembly errors between housings. The dimensional chain of the coaxiality of the elliptical disk, flexible bearing, rigid wheel, rotor, and flexible wheel is reduced, and the concentricity of the wave generator and the rigid wheel, as well as the concentricity of the elliptical disk, flexible bearing, rigid wheel, rotor, and flexible wheel, is improved. This can reduce the mechanical wear of the speed regulating unit 7 and the drive unit 9, improve their working stability, and extend their service life.

[0053] In addition, in related technologies, a support block is provided to ensure smooth rotation of the speed regulating unit. The support block is connected to the input component of the speed regulating unit. When the input component rotates, it slides and rubs against the support block. Over time, the support block will wear down the input component, affecting its use. Although the support block is made of wear-resistant material, wear between the components still occurs.

[0054] To solve the above problems, as Figure 2As shown, this application provides a driving device, including a driving unit 9, a speed regulating unit 7, an output unit 2, and a housing 1. The driving unit 9 is at least partially located in the housing 1, and the speed regulating unit 7 is at least partially located in the housing 1. The speed regulating unit 7 includes an input component 72 and an output component 71. The input component 72 is connected to the driving unit 9, and the output component 71 is in a transmission cooperation with the input component 72. The output component 71 is connected to the output unit 2. The driving device includes a bearing component 5, which connects the output unit 2 and the housing 1. The driving unit 9 can be a radial flux motor or an axial flux motor. In this embodiment, an axial flux motor, i.e., a disc motor, is used. The specific structure of the disc motor has been described above and will not be repeated here. In addition, the structure and deceleration principle of the speed regulating unit 7 have also been described above and will not be repeated here. The output unit 2 can be either the output flange with a gap mentioned above or the output flange without a gap. The housing can be two housings assembled into one or a housing in which the first part and the second part are integrated.

[0055] It is worth mentioning that the drive device includes a first bearing 12 and a second bearing 13; along the axial direction of the speed regulating unit 7, the first bearing 12 is connected to the input component 72, and along the radial direction of the speed regulating unit 7, the second bearing 13 is connected to the input component 72. The first bearing 12 provides axial support for the input component 72, and the second bearing 13 provides radial support for the input component 72. The arrangement of the first bearing 12 and the second bearing 13 can reduce the wear of the input component 72. Since the input component 72 plays a key transmission role in the drive device, if the input component 72 is worn, the entire drive device cannot operate effectively. This application can improve the service life of the input component 72.

[0056] Specifically, such as Figure 8 and Figure 16 As shown, the input component 72 includes a disc portion 722 and a shaft portion 724. The shaft portion 724 and the disc portion 722 are integral parts, and the disc portion 722 and the shaft portion 724 are located on the same axis. The first bearing 12 is connected to the disc portion 722, and the second bearing 13 is connected to the shaft portion 724. The first bearing 12 is a thrust bearing, and the second bearing 13 is a deep groove ball bearing. The input component 72 is designed with a disc portion 722 and a shaft portion 724 so that it can be connected to the first bearing 12 in the axial direction and to the second bearing 13 in the radial direction. The purpose of setting the first bearing 12 and the second bearing 13 is that the input component 72 wobbles during rotation, resulting in poor rotational stability. One of the factors causing this is the structure of the harmonic reducer itself. If only the first bearing 12 is set, the axial wobble of the input component 72 can be reduced, and the axial rotational stability of the input component 72 can be improved. However, there is still radial offset wobble. Therefore, the second bearing 13 is set to ensure that the input component 72 rotates stably in both the axial and radial directions and to provide it with axial and radial support.

[0057] Furthermore, the drive device includes an end cover 15, which is connected to the housing 1. Along the axial direction of the drive device, the speed regulating part 7 is located between the output part 2 and the end cover 15. The input part 72 is coaxially arranged with the end cover 15. One side of the first bearing 12 is connected to the disc part 722, and the other side is connected to the end cover 15. One side of the second bearing 13 is connected to the shaft part 724, and the other side is connected to the end cover 15. The other sides of the first bearing 12 and the second bearing 13 are both connected to the end cover 15. Since the end cover 15 is connected to and fixed to the housing 1, the bearing is generally required to rotate on one side and not on the other side. Therefore, the solution of connecting the other sides of the first bearing 12 and the second bearing 13 to the end cover 15 is more preferred. Of course, in other embodiments, the connection to the end cover 15 is indirect. For example, the end cover 15 is provided with a gasket, and the first bearing 12 and the second bearing 13 are first connected to the gasket, and the gasket is connected to the end cover.

[0058] like Figure 15 As shown, the end cap 15 includes a flat portion 151, a boss portion 152, and a ring portion 153. The flat portion 151, the boss portion 152, and the ring portion 153 are integral parts. Along the axial direction of the drive device, the boss portion 152 is located between the ring portion 153 and the flat portion 151. The boss portion 152, the flat portion 151, and the ring portion 153 are coaxially distributed, which has the advantage of improving the coaxiality of the end cap 15 and the input component 72. The end cap 15 has an outer step 154 ​​and an inner step 155. The outer step 154 ​​is located on the ring portion 155. Between the outer ring of part 153 and the boss part 152, the inner step 155 is located in the inner ring of the boss part 153. The first bearing 12 connects the outer step 154 ​​and the disc part 722. The shaft part 724 is located in the inner ring of the boss part 153. The second bearing 13 connects the inner step 155 and the shaft part 724. The outer step 154 ​​and the inner step 155 are provided to limit the movement, preventing the first bearing 12 and the second bearing 13 from detaching from the end cover 15, and also preventing the balls in the first bearing 12 and the second bearing 13 from detaching from the bearing itself.

[0059] Furthermore, such as Figure 2 and Figure 13 To further improve the coaxiality of the input component 72, the output component 71, and the output section 2, the drive device also includes a third bearing 14 and a rotating shaft 16. The rotating shaft 16 is coaxially distributed with the shaft section 724. The output component 71 has an inner cavity V, and the rotating shaft 16 is at least partially located in the inner cavity V. One end of the rotating shaft 16 is connected to the output component 71. Along the radial direction of the drive device, the third bearing 14 connects the other end of the rotating shaft 16 and the disk section 722. The third bearing 14 is provided for the stability of the rotating shaft 16 when it rotates. If the third bearing 14 is not provided, one end of the rotating shaft 16 will wobble when it rotates.

[0060] like Figure 2 and Figure 14As shown, the input component 72 includes a ring portion 725, which is integral with the disk portion 722. Along the axial direction of the drive device, the disk portion 722 is located between the ring portion 725 and the disk portion 722. The ring portion 725 and the shaft portion 724 are coaxially distributed. One end of the rotating shaft portion 16 is at least partially located in the inner ring of the ring portion 725. The third bearing 14 connects the rotating shaft portion 16 and the ring portion 725. The ring portion 725 is configured to prevent the third bearing 14 from disengaging from the input component 72 and the rotating shaft portion 16 during rotation. Furthermore, the ring portion 725 can improve the coaxiality of the input component 72 and the rotating shaft portion 16.

[0061] Furthermore, such as Figure 2 and Figure 14 The drive device includes a crimping part 17, which is integrated with the rotating shaft part 16. The crimping part 17 extends radially along the rotating shaft part 16. The drive device includes a connector 18, which connects the crimping part 17, the output part 71, and the output part 2. Along the axial direction of the drive device, a portion of the output part 71 is located between the output part 2 and the crimping part 17. The crimping part 17 can increase its contact area, so that the connector 18 is evenly stressed when screwed in. This protects the flexible wheel from damage and also ensures even contact between the flexible wheel and the output part 2.

[0062] Those skilled in the art should understand that the embodiments of the present invention described above and shown in the accompanying drawings are merely examples and do not limit the present invention.

[0063] The objective of this invention has been fully and effectively achieved. The function and structural principles of this invention have been shown and explained in the embodiments. Without departing from the stated principles, the implementation of this invention may have any variations or modifications.

Claims

1. A driving device, characterized in that, The device includes a drive unit (9), a speed regulating unit (7), an output unit (2), and a housing (1). The drive unit (9) is at least partially located in the housing (1), and the speed regulating unit (7) is at least partially located in the housing (1). The drive unit (9) includes a stator (92) and a rotor (91). The stator (92) is connected to the housing (1), and the rotor (91) and the stator (92) are rotatably coupled. The speed regulating unit (7) includes an input component (72) and an output component (71). The input component (72) and the output component (71) are drive-coupled, and the output component (71) is connected to the output unit (2). The drive device includes a limiting part (8), which includes a limiting groove (81) and a limiting block (82). The limiting groove (81) is located in one of the input member (72) and the rotor part (91), and the limiting block (82) is located in the other of the input member (72) and the rotor part (91). The input member (72) is connected to the rotor part (91), and the limiting block (82) is at least partially located in the limiting groove (81).

2. The driving device according to claim 1, characterized in that, The limiting groove (81) is located on the input component (72), the limiting block (82) is located on the rotor part (91), and the limiting block (82) and the rotor part (91) are integral parts; the limiting block (82) extends along the axial direction of the driving device, and the opening of the limiting groove (81) faces the limiting block (82); the driving device includes a bearing component (5), and the bearing component (5) connects the output part (2) and the housing (1).

3. The driving device according to claim 2, characterized in that, The limiting block (82) includes an annular protrusion (821), which is coaxially arranged with the rotor part (91). The limiting groove (81) includes an annular groove (811), which is coaxially arranged with the input part (72). The annular protrusion (821) and the annular groove (811) are coaxially distributed, and the annular protrusion (821) is located in the annular groove (811).

4. The driving device according to any one of claims 1 to 3, characterized in that, The rotor (91) has a first mounting hole (913), the limiting block (82) has a second mounting hole (822), the first mounting hole (913) and the second mounting hole (822) are connected, the input component (72) has a mating hole (723), the mating hole (723) corresponds to the second mounting hole (822), and the second mounting hole (822) is located between the first mounting hole (913) and the mating hole (723); the drive device includes a fastener (10), the fastener (10) connects the rotor (91), the limiting block (82) and the input component (72), the fastener (10) is partially located in the first mounting hole (913), the fastener (10) is partially located in the second mounting hole (822), and the fastener (10) is partially located in the mating hole (723).

5. The driving device according to claim 4, characterized in that, The stator (92) and the rotor (91) are distributed along the axial direction of the drive device. The distribution direction of the limiting block (82) and the limiting groove (81) is the same as that of the stator (92) and the rotor (91). The rotor (91) is located between the stator (92) and the speed regulating part (7). Along the axial direction of the drive part (9), there is a gap (Q) between the rotor (91) and the stator (92).

6. The driving device according to claim 5, characterized in that, The rotor section (91) includes a magnet (911) and a mounting section (912). The magnet (911) is connected to the mounting section (912), and the magnets (911) are evenly distributed around the axis of the drive section (9). The magnets (911) are located between the mounting section (912) and the stator section (92). The mounting section (912) has magnetic conductivity.

7. The driving device according to claim 6, characterized in that, The limiting block (82) and the mounting part (912) are integral parts. The magnet (911) and the limiting block (82) are located on both sides of the mounting part (912). The mounting part (912) has a first annular channel (912a) and a second annular channel (912b). Along the radial direction of the mounting part (912), the first annular channel (912a) is located outside the second annular channel (912b). The limiting block (82), the first annular channel (912a) and the second annular channel (912b) are located on the same side of the mounting part (912).

8. The driving device according to claim 5, characterized in that, The stator section (92) includes a stator core (921) and a coil winding (922). The stator core (921) includes an end plate section (921a) and a stator tooth section (921b). The stator tooth section (921b) is connected to the end plate section (921a). The stator tooth section (921b) is located between the end plate section (921a) and the rotor section (91). The stator tooth section (921b) extends from the end plate section (921a) toward the rotor section (91). There are multiple stator teeth section (921b). The stator teeth section (921b) is evenly distributed around the axis of the drive section (9). Each stator tooth section (921b) is wound with the coil winding (922). The end plate section (921a) is connected to the housing (1).

9. The driving device according to any one of claims 1 to 3, characterized in that, The speed regulating unit (7) further includes a fixing member (73), the output member (71) includes a flexible wheel (711), the input member (72) includes an elliptical disk (721), the drive unit (9) includes a flexible bearing (74), the fixing member (73) includes a rigid wheel (731), the flexible wheel (711) includes an external toothed portion (711a), and the flexible bearing (74) is located between the elliptical disk (721) and the external toothed portion (711a) in a direction perpendicular to the distribution direction of the rotor part (91) and the stator part (92); The rigid wheel (731) is connected to the housing (1). The external toothed portion (711a) is located between the flexible bearing (74) and the rigid wheel (731). The rigid wheel (731) includes an internal toothed portion (731a). The internal toothed portion (731a) partially meshes with the external toothed portion (711a). The number of teeth of the external toothed portion (711a) is less than the number of teeth of the internal toothed portion (731a). The flexible wheel (711) also includes a connecting portion (711b). The connecting portion (711b) connects the external toothed portion (711a) and the output portion (2).

10. The driving device according to any one of claims 1 to 3, characterized in that, The housing (1) includes a first part (111) and a second part (112). The speed regulating part (7) is installed on the first part (111), and the driving part (9) is installed on the second part (112). The first part (111) and the second part (112) are an integral piece.

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