Drive device and control method thereof

Abstract

The application discloses a driving device and a control method thereof. The driving device comprises a casing, a rotating feedback shaft is arranged in the casing, a motor driving shaft is rotatably sleeved on the rotating feedback shaft, a first speed reduction unit is drivingly connected to the motor driving shaft, the first speed reduction unit is drivingly connected to a second speed reduction unit, the rotating feedback shaft is rotationally matched with a rotating output part of the second speed reduction unit, a brake is connected to the motor driving shaft, the brake is located on two sides of the first speed reduction unit, a first magnetic ring is fixedly connected to the motor driving shaft, a second magnetic ring is drivingly connected to the rotating feedback shaft, the first magnetic ring and the second magnetic ring are located on a side, which is away from the rotor, of the brake, and in a vertical projection of the rotating feedback shaft, the first magnetic ring and the second magnetic ring are arranged in a staggered mode. The above scheme can improve the end operation precision and dynamic stiffness of the driving device.

Description

Technical Field

[0001] This invention generally relates to the field of motor technology, and specifically to a drive device and its control method. Background Technology

[0002] Currently, robot joints generally use motors as their power source. To achieve stable and precise control of the joints, existing solutions typically use separate reducers, brakes, and encoders connected in series with the motor. For example, the motor is connected to the input shaft of the reducer via a coupling, the output shaft of the reducer is connected to the encoder, and the brake is connected to either the motor or the reducer. This series connection of separate components results in a loose structure, long axial dimensions, and insufficient connection rigidity. Furthermore, since the encoder is only connected to the output shaft of the reducer, it cannot compensate for reducer transmission errors and elastic deformations in real time, leading to limitations in the positioning accuracy and dynamic rigidity of the output shaft (also known as the transmission end). Summary of the Invention

[0003] This application aims to provide a drive device and its control method, at least for providing the end-effector running accuracy and dynamic stiffness of the drive device.

[0004] In a first aspect, the present invention provides a driving device comprising: A casing with openings at both ends; A rotational feedback shaft is provided inside the housing. A motor drive shaft is rotatably mounted on the rotational feedback shaft. A rotor is non-rotatingly mounted on the motor drive shaft. A stator is mounted on the outside of the rotor. The stator is fixedly connected to the housing. The first reduction unit is driven and connected to the motor drive shaft, the first reduction unit is driven and connected to the second reduction unit, and the rotation feedback shaft is anti-rotationally engaged with the rotation output component of the second reduction unit; A brake is connected to the motor drive shaft, and the brake and the first reduction unit are located on opposite sides of the rotor; A first magnetic ring is fixedly connected to the motor drive shaft, and a second magnetic ring is drivenly connected to the rotation feedback shaft. The first magnetic ring and the second magnetic ring are respectively located on the side of the brake away from the rotor, and in the orthogonal projection perpendicular to the axis of the rotation feedback shaft, the first magnetic ring and the second magnetic ring are misaligned.

[0005] In one possible implementation, the rotor includes a motor rotor hub that engages with the motor drive shaft in a non-rotational manner. A first groove is provided on the side of the motor rotor hub facing away from the brake. A connecting wall is provided on the inner wall of the housing, and a connecting sleeve is fixedly connected to the connecting wall. At least one end of the connecting sleeve is located within the first groove. The connecting sleeve has at least three stepped holes, namely a first stepped hole, a second stepped hole, and a third stepped hole. A first pressure plate is rotatably connected to the first stepped hole, an internal gear ring is fixedly connected to the second stepped hole, and a second pressure plate is rotatably connected to the third stepped hole. The first pressure plate and the second pressure plate are fixedly connected. The first reduction unit includes a first driving gear, which is anti-rotatably connected to the motor drive wheel. At least three first driven gears are provided outside the first driving gear, and each first driven gear meshes with the first driving gear. A plurality of first pins are provided between the first pressure plate and the second pressure plate, and each first pin is rotatably connected to a first driven gear.

[0006] As an implementation method, a first wear-resistant shim is provided between the first pressure plate and the first driven gear, and a second wear-resistant shim is provided between the second pressure plate and the first driven gear. The first wear-resistant shim and the second wear-resistant shim are respectively fitted onto the first pin.

[0007] As one possible implementation, the second deceleration unit is disposed on the side of the second pressure plate opposite to the first pressure plate; The second reduction unit includes a power input shaft, which is rotatably mounted on the rotation feedback shaft and fixedly connected to the second pressure plate; The power input shaft is provided with a first eccentric shaft section and a second eccentric shaft section in sequence. The first eccentric shaft section and the second eccentric shaft section are 180° out of phase. The first eccentric shaft section is rotatably connected to the first wheel, and the second eccentric shaft section is rotatably connected to the second wheel. The outer circumference of the first wheel and the second wheel is provided with an odd number of arc-shaped teeth, and the first wheel and the second wheel are 180° out of phase. The housing is fixedly connected to a first support seat and a second support seat that snap together. The first support seat has a first annular flange, and the second support seat has a second annular flange. A plurality of second pins are evenly arranged between the first annular flange and the second annular flange. The first wheel and the second wheel respectively mesh with the second pins. The power input shaft is rotatably connected to a third pressure plate and a fourth pressure plate. The first wheel and the second wheel are both located between the third pressure plate and the fourth pressure plate. A third pin, which is fixedly connected to the third pressure plate and the fourth pressure plate, passes through the first wheel and the second wheel in sequence. The diameter of the through hole provided on the first wheel and the second wheel for the third pin to pass through is larger than the diameter of the third pin. The outer circumferential surface of the third pin is in line contact with the inner circumferential surface of the through hole.

[0008] As an implementation method, the fourth pressure plate is the power output shaft of the rotation output component of the drive device. The fourth pressure plate has a second groove on the side opposite to the third pressure plate, and a flange is provided at the end of the rotation feedback shaft. The flange is fixedly connected to the second groove.

[0009] As one possible implementation, a third support base is fixedly connected to the housing. The third support base has a third groove on the side opposite to the rotor. The brake is disposed in the third groove. The brake includes a spline sleeve, which is fixedly connected to the motor drive shaft. A first brake disc with spline engagement is slidably connected to the outer side of the spline sleeve. A second brake disc and a third brake disc are disposed on both sides of the first brake disc. An electromagnet is disposed on the side of the second brake disc opposite to the first brake disc. A spring is disposed between the electromagnet and the second brake disc. The second brake disc and the electromagnet are in a non-rotating sliding engagement. The third brake disc is fixedly connected to the electromagnet. The electromagnet is fixedly connected to the third support base.

[0010] As an implementation, the opening of the third groove is fixedly connected to the support plate, and a second driven gear is rotatably connected to the side of the support plate opposite to the brake. The second driven gear is provided with a mounting groove, and the second magnetic ring is fixedly connected in the mounting groove. The axis of the second magnetic ring is coaxial with the axis of the second driven gear. A second driving gear is anti-rotatingly connected to the rotation feedback shaft, and the second driving gear meshes with the second driven gear.

[0011] As an alternative implementation, the nominal diameters of the second driving gear and the second driven gear are the same.

[0012] As one possible implementation, a drive circuit board is provided on the side of the brake away from the rotor, and a first reading head and a second reading head are provided on the drive circuit board. The first reading head is positioned directly opposite the first magnetic ring, and the second reading head is positioned directly opposite the second magnetic ring.

[0013] In a second aspect, the present invention provides a control method for the above-mentioned driving device, comprising: In response to a drive control signal, the brake is controlled to release the motor drive shaft, causing the rotor to rotate; During the rotor rotation process, the rotation amount of the first magnetic ring and the second magnetic ring are simultaneously acquired at predetermined time intervals, and the rotation error of the rotation output component is determined based on the current rotation amount of the first magnetic ring and the second magnetic ring. The rotation of the rotor is compensated based on the rotational error.

[0014] The above-described solution integrates the motor (including rotor, stator, and motor drive shaft), first reduction unit, second reduction unit, brake, first magnetic ring, and second magnetic ring into a single drive device. Compared to the connection of discrete components in existing technologies, this solution has a compact structure, particularly reducing axial dimensions and improving connection rigidity, thus meeting the dynamic rigidity requirements at the end of the drive device. Furthermore, by fixing the first magnetic ring to the motor drive shaft and drivingly connecting the second magnetic ring to the rotational feedback shaft, closed-loop control is achieved, improving the end-operation accuracy of the drive device. Attached Figure Description

[0015] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the structure of the driving device provided in an embodiment of the present invention; Figure 2 This is a structural schematic diagram of the first deceleration unit provided in an embodiment of the present invention; Figure 3 for Figure 1 A magnified view of part A in the middle; Figure 4 This is a structural schematic diagram of the second deceleration unit provided in an embodiment of the present invention; Figure 5 for Figure 1 A magnified view of part B in the middle; Figure 6 This is a schematic diagram of the structure of the first magnetic ring and the second magnetic ring provided in an embodiment of the present invention.

[0016] Explanation of reference numerals in the attached figures: 1. Housing; 2. Third support base; 3. Drive circuit board; 4. Second driven gear; 5. Second magnetic ring; 6. Second driving gear; 7. Motor drive shaft; 8. Rotation feedback shaft; 9. First magnetic ring; 10. Third groove; 11. Stator; 12. Motor rotor hub; 13. Permanent magnet; 14. First groove; 15. Sealing ring; 16. Second pin; 17. First wheel; 18. Second wheel; 19. Third pin; 20. First eccentric shaft section; 21. Second eccentric shaft section; 22. Flange; 23. Second groove; 23. Rotation output component. 24, power input shaft; 25, first driving gear; 26, first driven gear; 27, internal gear ring; 28, first pin; 29, needle roller; 30, connecting sleeve; 31, first pressure plate; 32, second pressure plate; 33, first wear-resistant shim; 34, second wear-resistant shim; 35, pin; 36, first support seat; 37, second support seat; 38, through hole; 39, electromagnet; 40, spring; 41, first brake disc; 42, second brake disc; 43, third brake disc; 44, spline sleeve; 45, pin; 46, third pressure plate; 47. Detailed Implementation

[0017] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0018] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0019] The present invention aims to provide a drive device that integrates a motor, a first reduction unit, a second reduction unit, a brake, a first magnetic ring 9, and a second magnetic ring 5 into one unit, so as to improve the operating accuracy and dynamic stiffness of the drive device.

[0020] Firstly, such as Figures 1-6 As shown, the present invention provides a driving device, comprising: The housing 1 has openings at both ends; the housing 1 may be, for example, not limited to, generally in the shape of a straight tube with openings at both ends, and end caps may be provided on the openings at both ends to encapsulate the rotor, stator 11, first reduction unit, second reduction unit, brake, first magnetic ring 9 and second magnetic ring 5 inside the housing 1.

[0021] The outer wall of the housing 1 has a concave-convex heat dissipation structure at least corresponding to the position where the stator 11 is set, so as to conduct the heat generated by the motor formed by the rotor and stator 11 during operation to the outside of the drive device in a timely manner, and avoid the abnormal operation of the drive device due to internal heat accumulation.

[0022] The housing 1 can be a steel housing or an aluminum alloy housing, etc.

[0023] A rotational feedback shaft 8 is provided inside the housing 1. A motor drive shaft 7 is rotatably mounted on the rotational feedback shaft 8. A rotor is non-rotatingly mounted on the motor drive shaft 7. A stator 11 is mounted on the outside of the rotor. The stator 11 is fixedly connected to the housing 1. As one possible implementation, the rotational feedback shaft 8 can be a hollow shaft. Of course, in other implementations, the rotational feedback shaft 8 can also be a solid shaft.

[0024] The stator 11 and rotor constitute an electric motor, which can serve as the power source for the drive device. In this example, a permanent magnet 13 is installed in the rotor, and a drive coil is installed in the stator 11; the drive coil can contact the inner wall of the housing 1, facilitating the direct transfer of heat generated by the drive coil to the external environment through the housing 1. Of course, in other examples, the drive coil can be installed in the rotor, and the permanent magnet can be installed in the stator 11.

[0025] The anti-rotation set mentioned in this article refers to two mutually fitting components that are interlocked, for example, one component has a hole and the other component passes through that hole, and the two components cannot rotate relative to each other, such as through a spline, flat key or other structure to achieve anti-rotation.

[0026] The motor drive shaft 7 is driven by a first reduction unit, which is connected to a second reduction unit. The rotation feedback shaft 8 is anti-rotationally engaged with the rotation output component 24 of the second reduction unit. By using the first and second reduction units arranged in series, two-stage reduction is achieved to give the end of the drive device a high speed adjustment range. When the drive device is used in the robot joint, the running speed of the robot joint can be precisely controlled.

[0027] By engaging the rotation feedback shaft 8 with the rotation output component 24 of the second reduction unit to prevent rotation, the rotation of the rotation output component 24 of the second reduction unit can be transmitted to the second magnetic ring 5 via the rotation feedback shaft 8, so that the second magnetic ring 5 can measure the rotation of the rotation output component 24, that is, measure the rotation of the output end of the drive device, and provide measurement data for closed-loop control.

[0028] The rotation output component 24 can be, for example, the power output shaft of the drive device.

[0029] A brake is connected to the motor drive shaft 7. The brake and the first reduction unit are located on opposite sides of the rotor to improve the space utilization within the housing 1, enhance compactness, and reduce the axial dimension of the driver, thereby improving the dynamic stiffness of the drive device. In this example, the brake is a normally closed brake, meaning that it remains in a braking state when the power is off, preventing the motor from rotating. For example, when applied to robot joints, it can maintain the robot joint's angle at the time of power failure without change, preventing the robot joint from falling rapidly due to gravity and causing damage after power failure.

[0030] A first magnetic ring 9 is fixedly connected to the motor drive shaft 7, and a second magnetic ring 5 is drivenly connected to the rotation feedback shaft 8. The first magnetic ring 9 and the second magnetic ring 5 are respectively located on the side of the brake away from the rotor, and in the orthogonal projection perpendicular to the axis of the rotation feedback shaft 8, the first magnetic ring 9 and the second magnetic ring 5 are misaligned.

[0031] The rotation amount of the rotor is detected by the first magnetic ring 9, and the rotation amount of the rotation output component 24 is detected by the second magnetic ring 5. The rotation error is determined by detecting these two rotation amounts, and compensation control is performed based on the rotation error. This compensation control realizes closed-loop control, which can improve the operating accuracy of the drive device.

[0032] The first magnetic ring 9 and the second magnetic ring 5 are absolute encoders. By using the first magnetic ring 9 and the second magnetic ring 5 to detect rotation, they can adapt to compact space and anti-pollution requirements.

[0033] In addition, the staggered arrangement of the first magnetic ring 9 and the second magnetic ring 5 can avoid mutual interference during detection and help improve detection accuracy.

[0034] The above solution integrates the motor (including the rotor, stator 11, and motor drive shaft 7), the first reduction unit, the second reduction unit, the brake, the first magnetic ring 9, and the second magnetic ring 5 into a single drive device. Compared to the connection of discrete components in the prior art, this solution has a compact structure, especially in reducing axial dimensions, which is beneficial for improving connection rigidity and further meeting the dynamic rigidity requirements of the drive device's end effector. Furthermore, by fixing the first magnetic ring 9 to the motor drive shaft 7 and drivingly connecting the second magnetic ring 5 to the rotational feedback shaft 8, closed-loop control is achieved, improving the end-efficiency operation of the drive device.

[0035] As an implementation, the rotor includes a motor rotor hub 12 that engages with the motor drive shaft 7 in a non-rotational manner. The motor rotor hub 12 has a first groove 14 on the side facing away from the brake. A connecting wall is provided on the inner wall of the housing 1, and a connecting sleeve 31 is fixedly connected to the connecting wall. At least one end of the connecting sleeve 31 is located within the first groove 14. This structure can improve the compactness of the axial component arrangement and facilitate the reduction of axial dimensions. The connecting sleeve 31 has at least three stepped holes, namely a first stepped hole, a second stepped hole, and a third stepped hole. A first pressure plate 32 is rotatably connected to the first stepped hole, an internal gear ring 28 is fixedly connected to the second stepped hole, and a second pressure plate 33 is rotatably connected to the third stepped hole. The first pressure plate 32 and the second pressure plate 33 are fixedly connected. The internal gear ring 28 and the connecting sleeve 31 are fixedly connected by a pin 36.

[0036] The first reduction unit includes a first drive gear 26, which is anti-rotatably connected to the motor drive wheel. At least three first driven gears 27 are provided outside the first drive gear 26, and each first driven gear 27 meshes with the first drive gear 26. A plurality of first pins 29 are provided between the first pressure plate 32 and the second pressure plate 33, and each first pin 29 is rotatably connected to a corresponding first driven gear 27.

[0037] The first pressure plate 32 and the second pressure plate 33 can be rotatably mounted in the connecting sleeve 31 via bearings.

[0038] The first pressure plate 32 and the second pressure plate 33 can be separate components connected by connectors, such as bolts. Alternatively, the first pressure plate 32 and the second pressure plate 33 can be an integral component, such as an integrally cast component.

[0039] Multiple needle rollers 30 can be provided between the first pin 29 and the first driven gear 27. The axis of the needle rollers 30 is parallel to the axis of the first pin 29. By providing the needle rollers 30, rolling friction between the first pin 29 and the first driven gear 27 can be achieved.

[0040] As an implementation, a first wear-resistant shim 34 is provided between the first pressure plate 32 and the first driven gear 27, and a second wear-resistant shim 35 is provided between the second pressure plate 33 and the first driven gear 27. The first wear-resistant shim 34 and the second wear-resistant shim 35 are respectively fitted onto the first pin 29. By providing the first wear-resistant shim 34 and the second wear-resistant shim 35 on both sides of the first driven gear 27, the service life of the first reduction unit can be improved.

[0041] As one possible implementation, the second deceleration unit is disposed on the side of the second pressure plate 33 opposite to the first pressure plate 32; The second reduction unit includes a power input shaft 25, which is rotatably mounted on the rotation feedback shaft 8 and fixedly connected to the second pressure plate 33. The end face of the second pressure plate 33 facing the power input shaft 25 is provided with at least two first pin holes, and the end face of the power input shaft 25 facing the second pressure plate 33 is provided with at least two second pin holes. The first pin holes and the second pin holes are respectively interference-fitted with the connecting pin 46 to eliminate the connection gap between the first reduction unit and the second reduction unit and improve the transmission accuracy.

[0042] The power input shaft 25 is sequentially provided with a first eccentric shaft segment 20 and a second eccentric shaft segment 21. The first eccentric shaft segment 20 and the second eccentric shaft segment 21 are 180° out of phase. It can be understood that both the first eccentric shaft segment 20 and the second eccentric shaft segment 21 can be circular shaft segments, and their axes are eccentrically positioned relative to the axis of the power input shaft 25. Furthermore, the axes of the first eccentric shaft segment 20 and the second eccentric shaft segment 21 are located on opposite sides of the axis of the power input shaft 25. Figure 4 As shown, the axis of the first eccentric shaft segment 20 is located above the axis of the power input shaft 25, and the axis of the second eccentric shaft segment 21 is located below the axis of the power input shaft 25. Furthermore, all three pass through the same straight line, such that the first eccentric shaft segment 20 and the second eccentric shaft segment 21 are 180° out of phase.

[0043] The first eccentric shaft segment 20 is rotatably connected to the first wheel 17, and the second eccentric shaft segment 21 is rotatably connected to the second wheel 18. The outer circumferences of the first wheel 17 and the second wheel 18 are provided with an odd number of arc-shaped teeth, and the phase difference between the first wheel 17 and the second wheel 18 is 180°. In this example, the first wheel 17 and the second wheel 18 adopt the same structure, and they are installed one-to-one after the first eccentric shaft segment 20 and the second eccentric shaft segment 21, as shown below. Figure 4 As shown, the top center of the first disc 17 is a tooth groove, and the bottom center of the second disc 18 is a tooth groove, so that the phase difference between the first disc 17 and the second disc 18 is 180°.

[0044] A first support seat 37 and a second support seat 38 are fixedly connected to the housing 1. The first support seat 37 has a first annular flange, and the second support seat 38 has a second annular flange. A plurality of second pins 16 are evenly arranged between the first annular flange and the second annular flange. The first wheel 17 and the second wheel 18 respectively mesh with the second pins 16. Figure 4 As shown, the top center of the first disc 17 is engaged with the second pin 16, and the bottom center of the second disc 18 is engaged with the second pin 16.

[0045] The second support 38 can serve as an end cap.

[0046] The third pressure plate 47 and the fourth pressure plate are rotatably connected to the power input shaft 25. The first wheel 17 and the second wheel 18 are both located between the third pressure plate 47 and the fourth pressure plate. The third pin 19, which is fixedly connected to the third pressure plate 47 and the fourth pressure plate, passes through the first wheel 17 and the second wheel 18 in sequence. The diameter of the through hole 39 provided on the first wheel 17 and the second wheel 18 for the third pin 19 to pass through is larger than the diameter of the third pin 19. The outer peripheral surface of the third pin 19 is in line contact with the inner peripheral surface of the through hole 39.

[0047] Wear-resistant gaskets are respectively provided between the third pressure plate 47 and the first wheel 17, and between the fourth pressure plate and the second wheel 18.

[0048] In one possible implementation, the fourth pressure plate is the rotation output component 24 of the drive device. A second groove 23 is provided on the side of the fourth pressure plate opposite to the third pressure plate 47. A flange 22 is provided at the end of the rotation feedback shaft 8, and the flange 22 is fixedly connected to the second groove 23. For example, the flange 22 can be fixedly connected to the bottom of the second groove 23 using screws.

[0049] A sealing ring 15 is provided between the third pressure plate 47 and the first support base 37.

[0050] As another possible approach, see at least the following: Figure 5 As shown, a third support base 2 is fixedly connected to the housing 1. A third groove 10 is provided on the side of the third support base 2 away from the rotor. The brake is disposed in the third groove 10. The brake includes a spline sleeve 45, which is fixedly connected to the motor drive shaft 7. A first brake disc 42 with spline engagement is slidably connected to the outer side of the spline sleeve 45. A second brake disc 43 and a third brake disc 44 are respectively disposed on both sides of the first brake disc 42. An electromagnet 40 is provided on the side of the second brake disc 43 away from the first brake disc 42. A spring 41 is provided between the electromagnet 40 and the second brake disc 43. The second brake disc 43 and the electromagnet 40 are in anti-rotation sliding engagement. The third brake disc 44 is fixedly connected to the electromagnet 40. The electromagnet 40 is fixedly connected to the third support base 2.

[0051] like Figure 5As shown, when power is off, the electromagnet 40 loses its magnetic force, and the spring 41 pushes the second brake disc 43 to the left. After the second brake disc 43 contacts the first brake disc 42, it continues to push the first brake disc 42 to the left until it contacts the third brake disc 44. At this time, the first brake disc 42 is sandwiched between the second brake disc 43 and the third brake disc 44. Since the third brake disc 44 is fixed to the electromagnet 40, and the electromagnet 40 is fixed to the third support 2, and the inner ring of the first brake disc 42 is provided with a spline groove, which engages with the spline on the outer circumference of the spline sleeve 45, which is also fixed to the motor drive shaft 7, the brake achieves braking of the motor drive shaft 7. Conversely, when the electromagnet 40 is energized, it attracts the second brake disc 43 to move to the right to release the first brake disc 42. At this time, the rotor can drive the motor drive shaft 7 to rotate normally.

[0052] As an implementation, the opening of the third groove 10 is fixedly connected to the support plate, and a second driven gear 4 is rotatably connected to the side of the support plate opposite to the brake. The second driven gear 4 is provided with a mounting groove, and the second magnetic ring 5 is fixedly connected in the mounting groove. The axis of the second magnetic ring 5 is coaxial with the axis of the second driven gear 4. A second driving gear 6 is anti-rotatingly connected to the rotation feedback shaft 8, and the second driving gear 6 meshes with the second driven gear 4.

[0053] As an implementation method, the nominal diameters of the second driving gear 6 and the second driven gear 4 are the same, thus achieving a 1:1 transmission. The rotation amount measured by the second magnetic ring 5 is the rotation amount of the rotation output component 24 without data conversion.

[0054] As one possible implementation, a drive circuit board 3 is provided on the side of the brake away from the rotor. The drive circuit board 3 is equipped with a first reading head and a second reading head. The first reading head is positioned directly opposite the first magnetic ring 9, and the second reading head is positioned directly opposite the second magnetic ring 5. Positioning the first and second reading heads on the same drive circuit board 3 avoids data delays during measurement, thus improving measurement accuracy and real-time performance.

[0055] In a second aspect, the present invention provides a control method for the above-mentioned driving device, comprising: In response to a drive control signal, the brake is controlled to release the motor drive shaft 7, causing the rotor to rotate; When driving the drive device, the drive system sends a drive control signal to the drive device. The drive control signal may include a pulse-width modulation (PWM) signal. After receiving the drive control signal, the brake is activated first to release the motor drive shaft 7, so that the rotor can rotate accordingly according to the drive control signal to output the target speed, rotation amount and torque.

[0056] During the rotor rotation process, the rotation amount of the first magnetic ring 9 and the second magnetic ring 5 are simultaneously acquired at predetermined time intervals, and the rotation error of the rotation output component 24 is determined based on the current rotation amount of the first magnetic ring 9 and the second magnetic ring 5. To improve control accuracy, the rotation amounts of the first magnetic ring 9 and the second magnetic ring 5 are simultaneously acquired at predetermined time intervals during the rotor rotation process. The time interval can be determined according to specific circumstances. Generally, the smaller the time interval, the higher the control accuracy.

[0057] The reduction ratio of the first reduction unit and the second reduction unit is fixed. The target rotation amount of the rotation output component 24 can be directly calculated by the rotation amount of the rotor detected by the first magnetic ring 9. Due to the existence of transmission error, the actual rotation amount of the rotation output component 24 detected by the second magnetic ring 5 may deviate from the target rotation amount. The specific rotation error can be determined based on the difference between the target rotation amount and the actual rotation amount.

[0058] The rotation of the rotor is compensated based on the rotation error.

[0059] After determining the rotational error, the current rotor speed can be determined again in real time based on the detection value of the first magnetic ring 9, and a compensated PWM signal can be determined based on the current speed and rotational error. The rotor rotation can be compensated by the PWM signal to obtain the accurate rotation amount of the rotation output component 24.

[0060] During the control of the drive device, the system monitors in real time whether a stop signal or a system power failure signal is received. If received, the power supply to the brake is immediately disconnected, causing the brake to apply pressure to the motor drive shaft 7, thus achieving braking. If no signal is received, the rotation amounts of the first magnetic ring 9 and the second magnetic ring 5 are continuously acquired at predetermined time intervals, and the rotor rotation is continuously compensated based on the rotation error.

[0061] It should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., used above to indicate orientation or positional relationships are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise stated, "a plurality of" means two or more.

[0062] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A driving device, characterized in that, include: A casing with openings at both ends (1); The housing (1) is provided with a rotation feedback shaft (8), a motor drive shaft (7) is rotatably mounted on the rotation feedback shaft (8), a rotor is anti-rotating mounted on the motor drive shaft (7), a stator (11) is mounted on the outside of the rotor, and the stator (11) is fixedly connected to the housing (1). The first reduction unit is driven and connected to the motor drive shaft (7), the first reduction unit is driven and connected to the second reduction unit, and the rotation feedback shaft (8) is anti-rotationally engaged with the rotation output component (24) of the second reduction unit; A brake is connected to the motor drive shaft (7), and the brake and the first reduction unit are located on opposite sides of the rotor; A first magnetic ring (9) is fixedly connected to the motor drive shaft (7), and a second magnetic ring (5) is driven to the rotation feedback shaft (8). The first magnetic ring (9) and the second magnetic ring (5) are respectively located on the side of the brake away from the rotor. In the orthogonal projection perpendicular to the axis of the rotation feedback shaft (8), the first magnetic ring (9) and the second magnetic ring (5) are misaligned.

2. The driving device according to claim 1, characterized in that, The rotor includes a motor rotor hub (12) that engages with the motor drive shaft (7) for anti-rotation. The motor rotor hub (12) has a first groove (14) on the side away from the brake. A connecting wall is provided on the inner wall of the housing (1). A connecting sleeve (31) is fixedly connected to the connecting wall. At least one end of the connecting sleeve (31) is located in the first groove (14). The connecting sleeve (31) has at least three stepped holes, namely a first stepped hole, a second stepped hole and a third stepped hole. A first pressure plate (32) is connected to the first stepped hole. An internal gear ring (28) is fixedly connected to the second stepped hole. A second pressure plate (33) is rotatably connected to the third stepped hole. The first pressure plate (32) and the second pressure plate (33) are fixedly connected. The first deceleration unit includes a first drive gear (26), which is anti-rotatably connected to the motor drive wheel. At least three first driven gears (27) are provided outside the first drive gear (26), and each first driven gear (27) meshes with the first drive gear (26). A plurality of first pins (29) are provided between the first pressure plate (32) and the second pressure plate (33), and each first pin (29) is rotatably connected to the first driven gear (27) in a corresponding manner.

3. The driving device according to claim 2, characterized in that, A first wear-resistant pad (34) is provided between the first pressure plate (32) and the first driven gear (27), and a second wear-resistant pad (35) is provided between the second pressure plate (33) and the first driven gear (27). The first wear-resistant pad (34) and the second wear-resistant pad (35) are respectively fitted on the first pin (29).

4. The driving device according to claim 2 or 3, characterized in that, The second deceleration unit is disposed on the side of the second pressure plate (33) opposite to the first pressure plate (32); The second reduction unit includes a power input shaft (25), which is rotatably mounted on the rotation feedback shaft (8) and fixedly connected to the second pressure plate (33); The power input shaft (25) is sequentially provided with a first eccentric shaft section (20) and a second eccentric shaft section (21). The first eccentric shaft section (20) and the second eccentric shaft section (21) are 180° out of phase. The first eccentric shaft section (20) is rotatably connected to the first wheel (17), and the second eccentric shaft section (21) is rotatably connected to the second wheel (18). The outer circumference of the first wheel (17) and the second wheel (18) is provided with an odd number of arc-shaped teeth, and the phase difference between the first wheel (17) and the second wheel (18) is 180°. The housing (1) is fixedly connected with a first support seat (37) and a second support seat (38) that are fastened together. The first support seat (37) has a first annular flange, and the second support seat (38) has a second annular flange. A plurality of second pins (16) are evenly arranged between the first annular flange and the second annular flange. The first wheel (17) and the second wheel (18) respectively mesh with the second pins (16). The third pressure plate (47) and the fourth pressure plate are rotatably connected on the power input shaft (25). The first wheel (17) and the second wheel (18) are both located between the third pressure plate (47) and the fourth pressure plate. The third pin (19) fixedly connected to the third pressure plate (47) and the fourth pressure plate passes through the first wheel (17) and the second wheel (18) in sequence. The diameter of the through hole provided on the first wheel (17) and the second wheel (18) for the third pin (19) to pass through is larger than the diameter of the third pin (19). The outer peripheral surface of the third pin (19) is in line contact with the inner peripheral surface of the through hole.

5. The driving device according to claim 4, characterized in that, The fourth pressure plate is the rotation output component (24) of the drive device. The fourth pressure plate has a second groove (23) on the side opposite to the third pressure plate (47). The end of the rotation feedback shaft (8) is provided with a flange (22), which is fixedly connected to the second groove (23).

6. The driving device according to any one of claims 1-3, characterized in that, A third support base (2) is fixedly connected to the housing (1). A third groove (10) is provided on the side of the third support base (2) away from the rotor. The brake is located in the third groove. The brake includes a spline sleeve (45). The spline sleeve (45) is fixedly connected to the motor drive shaft (7). A first brake disc (42) with spline engagement is slidably connected to the outside of the spline sleeve (45). A second brake disc (43) and a third brake disc (44) are respectively placed on both sides of the first brake disc (42). An electromagnet (40) is provided on the side of the second brake disc (43) away from the first brake disc (42). A spring (41) is provided between the electromagnet (40) and the second brake disc (43). The second brake disc (43) and the electromagnet (40) are in anti-rotation sliding engagement. The third brake disc (44) is fixedly connected to the electromagnet (40). The electromagnet (40) is fixedly connected to the third support base (2).

7. The driving device according to claim 6, characterized in that, The opening of the third groove (10) is fixedly connected to the support plate. A second driven gear (4) is rotatably connected to the side of the support plate away from the brake. The second driven gear (4) is provided with an installation groove. The second magnetic ring (5) is fixedly connected in the installation groove. The axis of the second magnetic ring (5) is coaxial with the axis of the second driven gear (4). A second driving gear (6) is anti-rotated connected to the rotation feedback shaft (8). The second driving gear (6) meshes with the second driven gear (4).

8. The driving device according to claim 7, characterized in that, The nominal diameter of the second driving gear (6) is the same as that of the second driven gear (4).

9. The driving device according to any one of claims 1-3, characterized in that, The brake is provided with a drive circuit board (3) on the side away from the rotor. The drive circuit board (3) is provided with a first reading head and a second reading head. The first reading head is positioned opposite the first magnetic ring (9), and the second reading head is positioned opposite the second magnetic ring (5).

10. A control method for a drive device as described in any one of claims 1-9, characterized in that: In response to a drive control signal, the brake is controlled to release the motor drive shaft (7), causing the rotor to rotate; During the rotor rotation process, the rotation amount of the first magnetic ring (9) and the second magnetic ring (5) are simultaneously acquired at predetermined time intervals, and the rotation error of the rotation output component (24) is determined based on the current rotation amount of the first magnetic ring (9) and the second magnetic ring (5); The rotation of the rotor is compensated based on the rotation error.

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