Drive device and robot

Abstract

The utility model discloses a driving device and a robot. The driving device comprises a driving plate assembly which is provided with a first encoder and a second encoder; the rotor assembly is provided with a first output part, the first output part is provided with a first magnet, and the first encoder can detect the position of the first magnet; and the speed reducer assembly is in transmission connection with the rotor assembly, the speed reducer assembly is provided with a second output part, the second output part is provided with a second magnet, and the second encoder can detect the position of the second magnet. The first encoder can detect the position of the first output part of the rotor assembly, and the second encoder can detect the position of the second output part of the speed reducer assembly, so that when the driving device is powered off and restarted, the mechanical zero position does not need to be found again.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and more specifically, to a drive device and a robot. Background Technology

[0002] In related technologies, robot power units generally include: a motor (comprising a stator and a rotor, its function being to convert electrical energy into kinetic energy); a reducer (which converts the output power of the motor's rotor, reducing the system's output speed while increasing the system's output torque); and an encoder (used to acquire the motor's position for accurate motor control). However, in current power units, the encoder can only read the rotor's position to control the motor, but it cannot obtain the accurate position of the reducer's output flange. Therefore, the robot needs to re-locate its mechanical zero position each time it is powered off and restarted.

[0003] Therefore, a new technical solution is needed to solve the above-mentioned technical problems. Utility Model Content

[0004] One objective of this invention is to provide a new technical solution for a drive device.

[0005] According to a first aspect of the present invention, a driving device is provided. The driving device includes:

[0006] The drive board assembly includes a first encoder and a second encoder.

[0007] A rotor assembly having a first output section, the first output section having a first magnet, and a first encoder capable of detecting the position of the first magnet;

[0008] A speed reducer assembly is drivenly connected to the rotor assembly. The speed reducer assembly has a second output section, which is provided with a second magnet. A second encoder is capable of detecting the position of the second magnet.

[0009] Optionally, the reducer assembly includes a double planetary gear set, which includes a first gear and a second gear. The diameter of the first gear is larger than the diameter of the second gear. The number of teeth on the first gear is A, and the number of teeth on the second gear is B, satisfying A = n * B, where n is a positive integer.

[0010] Optionally, the first magnet and the second magnet are ring-shaped or prismatic.

[0011] Optionally, it also includes a first housing, in which the drive board assembly is mounted.

[0012] Optionally, it also includes a second housing and a stator, wherein the stator and rotor assembly are mounted within the second housing.

[0013] Optionally, it also includes a third housing connected to the second housing, and the reducer assembly is rotatably disposed within the third housing.

[0014] Optionally, the reducer assembly further includes a double planetary gear and an external gear ring. The double planetary gear includes a first gear and a second gear. The diameter of the first gear is larger than the diameter of the second gear. The external gear ring is mounted on the second housing, and the second gear meshes with the external gear ring.

[0015] Optionally, the reducer assembly further includes a sun gear, which is drively connected to the rotor assembly and meshes with the first gear.

[0016] Optionally, the reducer assembly further includes a planetary carrier, on which the second magnet is disposed.

[0017] According to a second aspect of the present invention, a robot is provided. The robot includes the drive device described in the above embodiments.

[0018] One technical advantage of this application is that the first encoder can detect the position of the first output part of the rotor assembly, and the second encoder can detect the position of the second output part of the reducer assembly, so that when the drive device is powered off and restarted, there is no need to find the mechanical zero position again.

[0019] Other features and advantages of the present invention will become clear from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings. Attached Figure Description

[0020] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the present invention and, together with their description, serve to explain the principles of the present invention.

[0021] Figure 1 This is an exploded view of the structure of a drive device according to an embodiment of the present invention.

[0022] Figure 2 This is a schematic diagram of the structure of a driving device according to an embodiment of the present invention.

[0023] Figure 3 This is an exploded view of the drive board assembly according to one embodiment of the present invention.

[0024] Figure 4 This is an exploded view of the reducer assembly according to one embodiment of the present invention.

[0025] Figure 5 This is a schematic diagram of the rotor assembly according to an embodiment of the present invention.

[0026] Figure label:

[0027] 1. Drive board assembly; 11. First encoder; 12. Second encoder; 2. Rotor assembly; 21. First magnet; 22. Rotor body; 23. Rotor support; 24. Third bearing; 3. Reducer assembly; 31. Double planetary gear; 311. First gear; 312. Second gear; 32. External gear ring; 33. Sun gear; 34. Planetary carrier; 341. First support; 342. Second support; 35. Second magnet; 36. First bearing; 37. Second bearing; 38. Planetary shaft; 41. First housing; 42. Second housing; 5. Second housing; 6. Third housing; 7. Fastener. Detailed Implementation

[0028] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present invention.

[0029] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the invention or its application or use.

[0030] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0031] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0032] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0033] According to one embodiment of the present invention, a driving device is provided. For example... Figures 1 to 5 As shown, the drive device includes a drive plate assembly 1, a rotor assembly 2, and a reducer assembly 3. The drive plate assembly 1 is equipped with a first encoder 11 and a second encoder 12. The rotor assembly 2 has a first output section, which includes a first magnet 21. The first encoder 11 can detect the position of the first magnet 21. The reducer assembly 3 is drively connected to the rotor assembly 2. The reducer assembly 3 has a second output section, which includes a second magnet 35. The second encoder 12 can detect the position of the second magnet 35.

[0034] In this example, the first encoder 11 can detect the position of the first output section of the rotor assembly 2, and the second encoder 12 can detect the position of the second output section of the reducer assembly 3, so that when the drive device is powered off and restarted, it is not necessary to re-find the mechanical zero position. The first magnet 21 and the second magnet 35 can be magnets or other magnetic materials; those skilled in the art can determine their own options based on the actual situation, and no specific limitations are made here.

[0035] The drive board assembly 1 may include a drive board, on which a first encoder 11 and a second encoder 12 are provided.

[0036] It should be noted that the rotor assembly 2 and the reducer assembly 3 are connected in a driving connection; for example, the first output part of the rotor assembly 2 is connected in a driving connection to the input part of the reducer assembly 3. The second output part of the reducer assembly 3 can output torque. The reducer assembly 3 can convert the output power of the rotor assembly 2, reduce the output speed, and increase the output torque.

[0037] In one example, such as Figure 4 As shown, the reducer assembly 3 includes a double planetary gear 31, which includes a first gear 311 and a second gear 312. The diameter of the first gear 311 is larger than the diameter of the second gear 312. The number of teeth of the first gear 311 is A, and the number of teeth of the second gear 312 is B, satisfying A = n * B, where n is a positive integer.

[0038] like Figure 4 As shown, in this example, the reducer assembly 3 can be an NW planetary reducer, i.e., a double-planetary gear reducer. The double planetary gear 31 includes a first gear 311 and a second gear 312 arranged axially, i.e., the first gear 311 and the second gear 312 are coaxially arranged. The first gear 311 can mesh with the sun gear 33. The second gear 312 can mesh with the internal teeth of the external gear ring 32. The number of teeth of the first gear 311 is A, and the number of teeth of the second gear 312 is B, satisfying A = n * B, where n is a positive integer. For example, n can be 2, 3, 4, or 5, etc., which can be determined by those skilled in the art according to the actual situation, and is not specifically limited here.

[0039] It should be noted that the number of teeth of the first gear 311 and the second gear 312 are multiples of positive integers, so as to facilitate the assembly of the double planetary gear 31, thereby improving the production efficiency of the reducer assembly 3.

[0040] It should also be noted that the first gear 311 and the second gear 312 can be integrally formed, or the first gear 311 and the second gear 312 can be fixedly connected by welding or other means to form a double planetary gear 31.

[0041] It should also be noted that multiple double planetary gears 31 can be provided, for example, three or four double planetary gears 31 can be provided, and those skilled in the art can decide according to the actual situation, without making specific limitations here.

[0042] In one example, the first magnet 21 and the second magnet 35 are ring-shaped or prismatic. For example, the first magnet 21 and the second magnet 35 can be a circular ring structure, a square prism structure, or other irregular shapes. Of course, those skilled in the art can determine the specific shapes of the first magnet 21 and the second magnet 35 according to the actual situation, and no specific limitation is made here.

[0043] In one example, the drive unit also includes a first housing, within which the drive plate assembly 1 is mounted.

[0044] like Figure 1 As shown, the first housing includes a first outer shell 41 and a second outer shell 42. The drive plate assembly 1 can be fixedly installed inside the second outer shell 42 by screws or studs. The first outer shell 41 can be fixedly connected to the open end of the second outer shell 42 by screws or studs, thereby providing protection for the drive plate assembly 1.

[0045] In one example, such as Figure 1 As shown, the drive device also includes a second housing 5 and a stator, wherein the stator and rotor assembly 2 are installed inside the second housing 5.

[0046] like Figure 1 As shown, in this example, the rotor assembly 2 includes a rotor body 22, and the stator can be installed in the second housing 5. The rotor body 22 cooperates with the stator so that the rotor body 22 can rotate.

[0047] It should be noted that the rotor assembly 2 can be located inside the stator or outside the stator. Those skilled in the art can decide according to the actual situation, and no specific limitation is made here.

[0048] like Figure 5 As shown, in this example, the rotor assembly 2 also includes a rotor support 23. The rotor body 22 is sleeved on the rotor support 23, and the rotation of the rotor body 22 drives the rotor support 23 to rotate. One side of the sun gear 33 can be fixedly connected to the rotor support 23. The sun gear 33 and the rotor support 23 are coaxially arranged, and the rotor support 23 can drive the sun gear 33 to rotate, thereby driving the double planetary gear 31 to rotate. The first magnet 21 can be disposed on the rotor support 23, and the first magnet 21 can rotate synchronously with the rotor support 23.

[0049] It should be noted that, as Figure 5As shown, the rotor assembly 2 also includes a third bearing 24. The inner ring of the third bearing 24 can be fitted onto the rotor support 23, and the outer ring of the third bearing 24 can be connected to the inner wall of the second housing 5, which helps the rotor support 23 to rotate more smoothly and reduces energy loss.

[0050] In one example, such as Figure 1 and Figure 2 As shown, the drive device also includes a third housing 6, which is connected to the second housing 5, and the reducer assembly 3 is rotatably disposed within the third housing 6.

[0051] In this example, the second housing 5 and the third housing 6 can be connected by a fastener 7, wherein the fastener 7 can be embedded inside the third housing 6. Alternatively, as... Figure 2 As shown, the fastener 7 can also be connected to the third housing 6 from the outside of the third housing 6.

[0052] It should be noted that fastener 7 can be a screw or stud, etc., which can be determined by those skilled in the art according to the actual situation, and no specific limitation is made here.

[0053] In one example, such as Figure 1 and Figure 4 As shown, the reducer assembly 3 further includes a double planetary gear 31 and an external gear ring 32. The double planetary gear 31 includes a first gear 311 and a second gear 312. The diameter of the first gear 311 is larger than the diameter of the second gear 312. The external gear ring 32 is mounted on the second housing 5, and the second gear 312 meshes with the external gear ring 32.

[0054] like Figure 1 and Figure 4 As shown, in this example, the inner wall of the outer gear ring 32 is provided with meshing teeth, and the second gear 312 meshes with the meshing teeth of the outer gear ring 32. The outer gear ring 32 can be fixedly connected to the second housing 5 by screws or studs; this can be determined by those skilled in the art according to the actual situation, and no specific limitation is made here.

[0055] In one example, such as Figure 1 and Figure 5 As shown, the reducer assembly 3 also includes a sun gear 33, which is connected to the rotor assembly 2 and meshes with the first gear 311.

[0056] like Figure 1 and Figure 5As shown, in this example, the sun gear 33 has teeth and a connecting portion. The teeth can mesh with the first gear 311, and the connecting portion can be driven to the rotor assembly 2. For example, the connecting portion can be connected to the rotor support 23. The rotor support 23 can drive the sun gear 33 to rotate, thereby driving the first gear 311 to rotate.

[0057] In one example, such as Figure 1 and Figure 4 As shown, the reducer assembly 3 also includes a planetary carrier 34, and the second magnet 35 is disposed on the planetary carrier 34.

[0058] like Figure 1 and Figure 4 As shown, in this example, the planetary carrier 34 includes a first support 341 and a second support 342, which can be fixedly connected by screws or studs. The second magnet 35 can be mounted on the second support 342. That is, the double planetary gear 31 can drive the planetary carrier 34 to rotate, and the planetary carrier 34 can serve as a second output unit.

[0059] It should be noted that the reducer assembly 3 also includes a planetary shaft 38, which is connected to the planetary gears and the planet carrier 34. After the planetary gears and the external gear ring 32 work together to reduce speed, the power is output by the planet carrier 34.

[0060] like Figure 4 As shown, it should also be noted that the reducer assembly 3 further includes a first bearing 36, the inner ring of which can be fitted onto the planetary carrier 34. For example, the first bearing 36 can be fitted onto the outer periphery of the first support 341. The first bearing 36 is installed inside the third housing 6, thereby enabling the planetary carrier 34 to rotate more smoothly.

[0061] like Figure 4 As shown, it should also be noted that a second bearing 37 is also provided inside the planetary carrier 34. For example, the second bearing 37 can be located inside the first support 341. The sun gear 33 has teeth that mesh with the first gear 311. Connecting parts are provided on both sides of the teeth of the sun gear 33. One connecting part can be connected to the second bearing 37, and the other connecting part can be connected to the rotor support 23, thereby providing support for the rotor assembly 2 and enabling the sun gear 33 to rotate more smoothly.

[0062] According to another embodiment of the present invention, a robot is provided. This robot includes the drive device described in the above embodiments. Figures 1 to 5As shown, the drive device includes a drive plate assembly 1, a rotor assembly 2, and a reducer assembly 3. The drive plate assembly 1 is equipped with a first encoder 11 and a second encoder 12. The rotor assembly 2 has a first output section with a first magnet 21, and the first encoder 11 can detect the position of the first magnet 21. The reducer assembly 3 is drively connected to the rotor assembly 2 and has a second output section with a second magnet 35, and the second encoder 12 can detect the position of the second magnet 35. By using the first encoder 11 to detect the position of the first output section of the rotor assembly 2 and the second encoder 12 to detect the position of the second output section of the reducer assembly 3, it is possible to eliminate the need to re-find the mechanical zero position when the drive device is powered off and restarted.

[0063] It should be noted that the drive device is capable of driving the robot's limbs and other structural movements. The robot can be a bipedal robot, a quadrupedal robot, or other types of robots, as can be determined by those skilled in the art based on the actual situation; no specific limitations are made here.

[0064] The above embodiments mainly describe the differences between the various embodiments. As long as the different optimization features between the various embodiments are not contradictory, they can be combined to form a better embodiment. For the sake of brevity, they will not be elaborated here.

[0065] Although specific embodiments of the present invention have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A drive device characterized by comprising: include: The drive board assembly (1) is provided with a first encoder (11) and a second encoder (12); The rotor assembly (2) has a first output section, the first output section is provided with a first magnet (21), and the first encoder (11) is capable of detecting the position of the first magnet (21); The reducer assembly (3) is driven to the rotor assembly (2). The reducer assembly (3) has a second output section. The second output section is provided with a second magnet (35). The second encoder (12) is capable of detecting the position of the second magnet (35).

2. The drive apparatus according to claim 1, characterized by The reducer assembly (3) includes a double planetary gear (31), which includes a first gear (311) and a second gear (312). The diameter of the first gear (311) is larger than the diameter of the second gear (312). The number of teeth of the first gear (311) is A, and the number of teeth of the second gear (312) is B, satisfying A = n * B, where n is a positive integer.

3. The drive apparatus according to claim 1, characterized by The first magnet (21) and the second magnet (35) are ring-shaped or prismatic.

4. The drive apparatus according to claim 1, characterized by It also includes a first housing, in which the drive board assembly (1) is mounted.

5. The driving device according to claim 1, characterized in that, It also includes a second housing (5) and a stator, wherein the stator and rotor assembly (2) is installed within the second housing (5).

6. The drive apparatus according to claim 5, characterized by It also includes a third housing (6), which is connected to the second housing (5), and the reducer assembly (3) is rotatably disposed within the third housing (6).

7. The drive apparatus according to claim 5, characterized by The reducer assembly (3) further includes a double planetary gear (31) and an external gear ring (32). The double planetary gear (31) includes a first gear (311) and a second gear (312). The diameter of the first gear (311) is larger than the diameter of the second gear (312). The external gear ring (32) is mounted on the second housing (5). The second gear (312) meshes with the external gear ring (32).

8. The drive apparatus according to claim 7, characterized by The reducer assembly (3) further includes a sun gear (33), which is connected to the rotor assembly (2) and meshes with the first gear (311).

9. The drive apparatus according to claim 1, characterized by The reducer assembly (3) further includes a planet carrier (34), on which the second magnet (35) is disposed.

10. A robot, characterized in that Includes the drive device as described in any one of claims 1 to 9.

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