Driving module and mobile device

Abstract

The utility model discloses a driving module and a mobile device. The driving module comprises a rotary assembly, a sensor assembly, a driving assembly and a mounting structure; the slewing assembly comprises a slewing bearing, the slewing bearing comprises a bearing outer ring and a bearing inner ring, and the bearing inner ring is rotationally connected with the bearing outer ring; the sensor assembly comprises a magnetic ring and a reading encoder, one of the magnetic ring and the reading encoder is connected to the bearing outer ring, the other one of the magnetic ring and the reading encoder is connected to the bearing inner ring, and in the first direction, the reading encoder and the magnetic ring are oppositely arranged at an interval; the driving assembly is connected with one of the bearing outer ring and the bearing inner ring, the mounting structure is connected with the other one of the bearing inner ring and the bearing outer ring, and the mounting structure can rotate around a first direction relative to the driving assembly; in the first direction, the driving assembly and the mounting structure are located on the two opposite sides of the slewing bearing respectively, and the sensor assembly is located between the slewing bearing and the mounting structure. The driving module is simple in structure, small in occupied space and convenient to disassemble, assemble and maintain.

Description

Technical Field

[0001] This application belongs to the field of transportation equipment technology, specifically relating to a drive module and a mobile device. Background Technology

[0002] A differential steering wheel is an electromechanical integrated product that combines two sets of electric drive wheel mechanisms and a steering feedback unit. It can achieve movement in any direction within a two-dimensional plane, such as zero turning radius, lateral movement, straight movement, and lateral movement. In existing technologies, the differential steering wheels of transport vehicles typically use external encoders to detect the differential rotation angle. However, due to assembly limitations, this results in numerous transition structures, occupying a large amount of space and affecting the overall size of the steering wheel. Utility Model Content

[0003] This application aims to provide a driver module and a mobile device that at least solves one of the problems in the background art.

[0004] To solve the above-mentioned technical problems, this application is implemented as follows:

[0005] According to a first aspect of this application, a driver module is provided, comprising:

[0006] A slewing assembly, the slewing assembly including a slewing bearing, the slewing bearing including an outer support ring and an inner support ring, the inner support ring being rotatably connected to the outer support ring;

[0007] A sensor assembly, comprising a magnetic ring and a reading encoder, wherein one of the magnetic ring and the reading encoder is connected to the outer ring of the support, and the other is connected to the inner ring of the support, wherein the reading encoder is opposite to and spaced apart from the magnetic ring in a first direction, the first direction being the axial direction of the slewing bearing;

[0008] A drive assembly connected to one of the outer support ring and the inner support ring;

[0009] The mounting structure is connected to another of the inner and outer support rings, and the mounting structure is rotatable relative to the drive assembly about the first direction;

[0010] In the first direction, the drive assembly and the mounting structure are located on opposite sides of the slewing bearing, and the sensor assembly is located between the slewing bearing and the mounting structure.

[0011] Optionally, the magnetic ring includes an outer track and an inner track, the inner track being connected inside the outer track, the inner track having n magnetic poles, and the outer track having (n+s) magnetic poles;

[0012] Where n and s are both positive integers.

[0013] Optionally, the sensor assembly further includes a mounting base, the magnetic ring is fixed to the mounting base, and the mounting base is fixed to the outer ring of the support or the inner ring of the support.

[0014] Optionally, the mounting structure is provided with at least one first calibration hole, and the outer ring of the support or the inner ring of the support is provided with at least one second calibration hole corresponding to the first calibration hole, and the first calibration hole is concentric with the second calibration hole in the first direction.

[0015] Optionally, the rotary assembly further includes a stop block disposed on the outer ring of the support and protruding toward one side of the mounting structure, the stop block being disposed circumferentially along the outer ring of the support;

[0016] The mounting structure is connected to the inner ring of the support. The mounting structure has a protruding limiting part on the side facing the slewing bearing. When the outer ring of the support and the inner ring of the support rotate relative to each other, the limiting part can abut against the stop block.

[0017] Optionally, the mounting structure is provided with a wire outlet hole and a wire routing hole, the wire outlet hole being opposite to the connection terminal of the reading encoder, and the wire routing hole communicating with the inner side of the inner ring of the support.

[0018] Optionally, the drive assembly includes a support structure, a first drive member, a first drive wheel, a second drive member, and a second drive wheel;

[0019] The outer ring of the support, the first driving member and the second driving member are respectively disposed on the bracket structure, the first driving wheel is assembled on the output end of the first driving member, and the second driving wheel is assembled on the output end of the second driving member;

[0020] In the second direction, the first drive wheel and the second drive wheel are located on both sides of the bracket structure and share the same axial direction, which is the second direction and is perpendicular to the first direction.

[0021] Optionally, the bracket structure includes a support plate, a first mounting part and a second mounting part, and two rotating shafts;

[0022] Both the first driving member and the second driving member are disposed on the side of the support plate away from the slewing bearing, and the first mounting part and the second mounting part are disposed at intervals on the side of the support plate close to the slewing bearing;

[0023] The slewing bearing is located between the first mounting portion and the second mounting portion, and is hinged to the first mounting portion and the second mounting portion respectively via two rotating shafts.

[0024] Optionally, the rotary assembly further includes two bushings, which are respectively fixed to the outer ring of the support.

[0025] One bushing extends between the outer ring of the support and the first mounting portion, and the other bushing extends between the outer ring of the support and the second mounting portion.

[0026] Optionally, the support structure further includes two limiting blocks, which are spaced apart along the second direction on the side of the support plate near the slewing bearing. The slewing bearing is located between the two limiting blocks and can abut against one of the limiting blocks.

[0027] According to a second aspect of this application, a mobile device is provided, comprising: the driving module described in the first aspect.

[0028] In the embodiments of this application, by setting the magnetic ring and the reading encoder of the sensor assembly on the outer ring and the inner ring of the support respectively, and by setting the reading encoder and the magnetic ring opposite to each other and spaced apart in the axial direction of the slewing bearing, when the drive module rotates differentially, the reading encoder can detect the relative rotation angle between the outer ring and the inner ring of the support according to the relative position with the magnetic ring, so that when it is applied to a mobile device, it can measure and feedback the rotation angle when it turns.

[0029] In the above structure, the reading encoder and the magnetic ring are spaced apart in the first direction, so that the reading encoder and the magnetic ring are installed in a non-contact manner. The reading encoder and the magnetic ring are located between the mounting structure and the slewing bearing. The assembly method simplifies the assembly structure, saves space, and facilitates the maintenance and replacement of the reading encoder.

[0030] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0031] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0032] Figure 1 This is a schematic diagram of the driver module provided in this application;

[0033] Figure 2 yes Figure 1 Exploded view;

[0034] Figure 3 This is a partial structural diagram of the driver module provided in this application;

[0035] Figure 4 This is a schematic diagram of the slewing bearing provided in this application;

[0036] Figure 5 yes Figure 4 AA section view;

[0037] Figure 6 This is a schematic diagram of the magnetic ring provided in this application.

[0038] Figure label:

[0039] 1. Slewing bearing; 11. Outer ring of bearing; 111. Second calibration hole; 112. Stop block; 113. Bushing; 12. Inner ring of bearing;

[0040] 2. Sensor assembly; 21. Magnetic ring; 211. Outer rail; 212. Inner rail; 22. Reading encoder; 221. Connecting terminal; 222. Reading head; 23. Mounting base;

[0041] 3. Drive assembly; 31. Bracket structure; 311. Support plate; 312. First mounting part; 313. Second mounting part; 32. Rotating shaft; 33. Limiting block; 34. First driving component; 35. Second driving component; 36. First driving wheel; 37. Second driving wheel;

[0042] 4. Installation structure; 41. First calibration hole; 42. Limiting part; 43. Cable outlet hole; 44. Cable routing hole; 45. Calibration post. Detailed Implementation

[0043] Embodiments of this application will now be described in detail. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application are within the scope of protection of this application.

[0044] The terms "first" and "second" in the specification and claims of this application may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise stated, "multiple" means two or more. Furthermore, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0045] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application 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 this application.

[0046] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0047] like Figures 1 to 6 As shown, according to a first aspect of this application, a drive module is provided, comprising: a slewing assembly, a sensor assembly 2, a drive assembly 3, and a mounting structure 4; the slewing assembly includes a slewing bearing 1, which includes an outer support ring 11 and an inner support ring 12, the inner support ring 12 being rotatably connected to the outer support ring 11; the sensor assembly 2 includes a magnetic ring 21 and a reading encoder 22, one of which is connected to the outer support ring 11, and the other is connected to the inner support ring 12; in a first direction, the reading encoder 22 is opposite to and spaced apart from the magnetic ring 21; the first direction is the axial direction of the slewing bearing 1; the drive assembly 3 is connected to the outer support ring 11; the drive assembly 3 is connected to one of the outer support ring 11 and the inner support ring 12; the mounting structure 4 is connected to the other of the inner support ring 12 and the outer support ring 11; the mounting structure 4 is rotatable relative to the drive assembly 3 about the first direction; in the first direction, the drive assembly 3 and the mounting structure 4 are located on opposite sides of the slewing bearing 1, and the sensor assembly 2 is located between the slewing bearing 1 and the mounting structure 4.

[0048] Specifically, in this application, the drive module can be applied to the differential steering wheel structure of a vehicle. The mounting structure 4 and the drive assembly 3 are respectively connected to the inner support ring 12 and the outer support ring 11. The sensor assembly 2, magnetic ring 21 and reading encoder 22 used to detect the rotation angle are respectively fixed to the outer support ring 11 and the inner support ring 12. The mounting structure 4 can be used to assemble mobile equipment, such as the frame of a mobile vehicle. The drive assembly 3 can integrate two sets of electric drive wheel mechanisms to realize the differential rotation of the steering wheel. During the differential rotation, the reading encoder 22 remains fixed relative to the frame, and the magnetic ring 21 can rotate with the drive assembly 3 relative to the frame. Alternatively, the magnetic ring 21 remains fixed relative to the frame, and the reading encoder 22 rotates with the drive assembly 3 relative to the frame. This allows the reading encoder 22 to measure and feedback the rotation angle of the drive assembly 3 relative to the frame without contacting the magnetic ring 21. This angle detection method simplifies the number of parts in the sensor assembly 2 and the related assembly components, greatly saving space.

[0049] In the above structure, the magnetic ring 21 and the reading encoder 22 are fixed to the inner support ring 12 and the outer support ring 11, respectively, and the magnetic ring 21 and the reading encoder 22 are spaced apart in the first direction (X direction in the figure). The magnetic ring 21 is coaxial with the slewing bearing 1 and is horizontally set on the slewing bearing 1, so that the reading head 222 of the reading encoder 22 is relatively set with a gap between it and the magnetic ring 21. The reading head 222 of the reading encoder 22 can detect the change of magnetic field when the magnetic grating rotates above the magnetic ring 21, realize non-contact reading between the reading encoder 22 and the magnetic ring 21, and have no wear during operation, which improves the service life of the sensor assembly 2 and simplifies the assembly structure.

[0050] like Figure 2 and Figure 3 As shown, in this embodiment, the drive assembly 3 and the mounting assembly are located on opposite sides of the slewing bearing 1, which isolates the sensor and drive assembly 3. The sensor assembly 2, especially the reading encoder 22, is located away from the drive assembly 3, effectively avoiding the influence of external dust, oil, and other environmental factors, thus improving the reliability of the sensor assembly 2's detection. Furthermore, by placing the sensor assembly 2 between the mounting structure 4 and the slewing bearing 1, the sensor assembly 2, especially the reading encoder 22, can be located on top of the drive module. When maintenance is required, it can be directly disassembled and replaced from the side closest to the mounting structure 4, reducing maintenance costs and improving maintenance efficiency.

[0051] The arrangement between the reading encoder 22 and the magnetic ring 21 makes the disassembly and assembly of the reading encoder 22 simpler, facilitating subsequent disassembly and maintenance.

[0052] Optionally, such as Figure 6As shown, the magnetic ring 21 includes an outer track 211 and an inner track 212. The inner track 212 is connected to the inner side of the outer track 211. The inner track 212 has n magnetic poles, and the outer track 211 has (n+s) magnetic poles; where n and s are both positive integers.

[0053] Specifically, in this embodiment, a dual-track magnetic ring 21 is selected, which includes two magnetic tracks: an outer track 211 and an inner track 212. The outer track 211 has a certain number of more magnetic poles than the inner track 212, for example, one or two more magnetic poles (e.g., 64 poles for the outer track and 62 poles for the inner track). This ensures that at any given position around the magnetic ring 21, the offset angle between the inner track 212 and the outer track 211 is unique, thereby achieving high-precision angle measurement. Using a dual-track single-turn absolute encoder for differential rotation angle detection eliminates the need for repeated self-calibration restarts, simplifying the detection process.

[0054] In the above structure, the structure of the dual-track magnetic ring 21 can effectively suppress common-mode and differential interference, improve signal integrity and communication quality, and has good environmental adaptability. It can adapt to harsh environments such as dust, vibration, high oil content, and oil contamination. In addition, it can achieve high-precision measurement in a small space, reducing the space occupied by the entire module.

[0055] Optionally, such as Figure 2 and Figure 3 As shown, the sensor assembly 2 also includes a mounting base 23, a magnetic ring 21 fixed to the mounting base 23, and the mounting base 23 fixed to the outer support ring 11 or the inner support ring 12.

[0056] Specifically, in this embodiment, the magnetic ring 21 is fixed to the outer ring 11 or the inner ring 12 of the support via the mounting base 23, so that the magnetic ring 21 and the mounting base 23 can be fixed as a whole to the slewing bearing 1. The fixing of the magnetic ring 21 to the mounting base 23 can usually be achieved by adhesive bonding, simplifying the installation process. Alternatively, the magnetic ring 21 can also be directly bonded to the outer ring 11 or the inner ring 12 of the support to reduce the number of mounting parts.

[0057] Optionally, such as Figures 2 to 4 As shown, the mounting structure 4 is provided with at least one first calibration hole 41, and the outer ring 11 or the inner ring 12 of the support is provided with at least one second calibration hole 111 corresponding to the first calibration hole 41, and the first calibration hole 41 is concentric with the second calibration hole 111 in the first direction.

[0058] Specifically, in this embodiment, the mounting structure 4 and the outer support ring 11 (or the inner support ring 12) are respectively provided with a first calibration hole 41 and a second calibration hole 111. When the first calibration hole 41 and the corresponding second calibration hole 111 are concentric in the first direction, zero-position calibration can be performed by passing the calibration post 45 through both the first calibration hole 41 and the second calibration hole 111 simultaneously. This state can be recorded as the zero rotation angle, which is convenient for positioning and measurement. The number of the first calibration hole 41 and the second calibration hole 111 can be designed according to actual needs and is not limited here. In addition, the calibration post 45 is a calibration tool and needs to be removed after the drive module is assembled and the calibration is completed.

[0059] Optionally, such as Figure 2 and Figure 3 As shown, the slewing assembly also includes a stop block 112 disposed on the outer ring 11 of the support and protruding towards the side of the mounting structure 4. The stop block 112 is disposed circumferentially along the outer ring 11 of the support. The mounting structure 4 is connected to the inner ring 12 of the support. The mounting structure 4 is provided with a protruding limiting part 42 on the side of the slewing support 1. When the outer ring 11 of the support and the inner ring 12 of the support rotate relative to each other, the limiting part 42 can abut against the stop block 112.

[0060] Specifically, in this embodiment, the mounting structure 4 is connected to the inner support ring 12, and the drive assembly 3 is connected to the outer support ring 11. By providing a stop block 112 on the outer support ring 11 and a limiting part 42 on the mounting structure 4, when the mounting structure 4 rotates relative to the drive assembly 3 at the bottom, its rotation angle can be limited by the limiting part 42 abutting against the stop block 112.

[0061] The number of stop blocks 112 can be set to one or two, as long as they can limit the 360° rotation of the mounting structure 4 relative to the drive assembly 3. When there are two stop blocks 112, they are spaced apart circumferentially along the outer ring 11 of the support. When the mounting structure 4 rotates relative to the bottom drive assembly 3, the rotation angle is limited by the limiting part 42 abutting against one of the stop blocks 112. The setting position of the two stop blocks 112 can adjust the overall rotation angle of the mounting structure 4 relative to the drive assembly 3, preventing the connecting wire harness from breaking when the differential rotation exceeds one revolution, thus improving the reliability of the entire drive module.

[0062] In one embodiment, the protruding limiting part 42 on the mounting structure 4 can be implemented by a limiting screw. When the mounting structure 4 exceeds the set turning angle, the limiting screw can abut against any limiting block 33 to limit the turning. The setting of the limiting screw simplifies the processing difficulty of the limiting part 42.

[0063] Optionally, such as Figure 1 and Figure 2As shown, the mounting structure 4 is provided with a wire outlet hole 43 and a wire routing hole 44. The wire outlet hole 43 is opposite to the connection terminal 221 of the reading encoder 22, and the wire routing hole 44 is connected to the inner side of the support inner ring 12.

[0064] Specifically, in this embodiment, the mounting structure 4 can be designed as a plate-like structure. When the plate-like mounting structure 4 is connected to the inner ring 12 of the support, it can completely cover the sensor assembly 2. In order to facilitate the routing of the sensor assembly 2, a wire outlet hole 43 can be formed at the position corresponding to the connection terminal 221 of the encoder, and a wire routing hole 44 is provided at the position of the mounting structure 4 corresponding to the inner ring 12 of the support. This allows the connection harness of the reading encoder 22 and the connection harness of the drive assembly 3 to be routed through the wire routing hole 44 and the inner side of the inner ring 12 of the support, avoiding the wire harness from being exposed. At the same time, it can also prevent the wire harness from being broken or interfering with other structures during rotation, thereby improving the reliability of the wire harness connection.

[0065] Optionally, such as Figure 2 and Figure 3 As shown, the drive assembly 3 includes a support structure 31, a first drive member 34, a first drive wheel 36, a second drive member 35, and a second drive wheel 37. The outer support ring 11, the first drive member 34, and the second drive member 35 are respectively disposed on the support structure 31. The first drive wheel 36 is mounted on the output end of the first drive member 34, and the second drive wheel 37 is mounted on the output end of the second drive member 35. In the second direction (Y direction in the figure), the first drive wheel 36 and the second drive wheel 37 are located on both sides of the support structure 31 and are coaxial. Their axis is the second direction, which is perpendicular to the first direction.

[0066] Specifically, in this embodiment, the drive assembly 3 has two drive members, each used to drive two drive wheels. The support structure 31 can be designed as a frame. The first drive member 34 and the second drive member 35 can be assembled in the frame. The output ends of the first drive wheel 36 and the second drive wheel 37 are respectively assembled along the second direction to realize the vehicle's driving and steering functions. Figure 3 As shown, the outer support ring 11 is positioned above the bracket structure 31 to facilitate the assembly of the sensor assembly 2 and the mounting structure 4. The first drive component 34 and the second drive component 35 can each be a combination of a motor and a reducer, meaning the drive wheels are connected to the motor via a reducer to meet the vehicle's driving requirements.

[0067] Optionally, such as Figure 2 and Figure 3As shown, the bracket structure 31 includes a support plate 311, a first mounting part 312 and a second mounting part 313, and two rotating shafts; the first driving member 34 and the second driving member 35 are both disposed on the side of the support plate 311 away from the slewing bearing 1, and the first mounting part 312 and the second mounting part 313 are disposed at intervals on the side of the support plate 311 close to the slewing bearing 1; the slewing bearing 1 is located between the first mounting part 312 and the second mounting part 313, and is hinged to the first mounting part 312 and the second mounting part 313 respectively through two rotating shafts 32.

[0068] Specifically, in this embodiment, the first mounting portion 312 and the second mounting portion 313 on the support plate 311 are used to mount the slewing bearing 1, so that the bracket structure 31 can be connected to the outer ring 11 or the inner ring 12 of the support. The first mounting portion 312 and the second mounting portion 313 can be positioned opposite each other at the two side edges of the support plate 311. The corresponding positions of the slewing bearing 1 are hinged to the first mounting portion 312 and the second mounting portion 313 via a pivot 32, allowing the bracket structure 31 as a whole to rotate relative to the slewing bearing 1 around the pivot 32, adapting to uneven road surfaces and improving vehicle driving comfort.

[0069] In the above structure, the first mounting part 312 and the second mounting part 313 can be arranged on both sides of the support plate 311 in a direction perpendicular to the second direction. The first mounting part 312 and the second mounting part 313 are designed as plates to limit the slewing bearing 1 in a direction perpendicular to the second direction, so as to prevent the slewing bearing 1 from shaking in this direction and improve the reliability of the assembly.

[0070] Optionally, such as Figure 2 As shown, the slewing assembly also includes two bushings 113, which are respectively fixed on the slewing bearing 1; wherein, one bushing 113 extends between the outer ring of the bearing 11 and the first mounting part 312, and the other bushing 113 extends between the outer ring of the bearing 11 and the second mounting part 313.

[0071] Specifically, in this embodiment, the bushing 113 prevents wear caused by prolonged relative rotation between the rotating shaft 32 and the outer support ring 11, the first mounting portion 312, and the second mounting portion 313, and also reduces friction, thereby improving the service life of the structure. Each bushing 113 is interference-fitted into the corresponding mounting hole of the slewing bearing 1, extending from the inside of the mounting hole to the outside, thus isolating the outer support ring 11 from wear between it and the first mounting portion 312 or the second mounting portion 313, and reducing friction.

[0072] Optionally, such as Figure 2As shown, the support structure 31 also includes two limiting blocks 33. The two limiting blocks 33 are spaced apart along the second direction on the side of the support plate 311 near the slewing bearing 1. The outer ring 11 of the support is located between the two limiting blocks 33 and can abut against one of the limiting blocks 33.

[0073] Specifically, in this embodiment, two limiting blocks 33 are arranged on the support plate 311 along the second direction and located on both sides of the slewing bearing 1 to limit the swing between the slewing bearing 1 and the entire support structure 31. That is, when the slewing bearing 1 swings around the shaft 32 beyond a certain angle, the slewing bearing 1 abuts against the limiting block 33 on the corresponding side, so that the swing of the drive component 3 around the shaft 32 can be limited to a certain range, thereby further improving the reliability of the structure.

[0074] According to a second aspect of this application, a mobile device is provided, comprising: a driver module as described in the first aspect.

[0075] Specifically, in this embodiment, the mobile device can be a mobile vehicle or a mobile robot. The mobile vehicle can be used for transportation, employing the drive module provided in the first aspect of this application as a differential steering wheel structure to achieve steering and movement. The vehicle's frame is connected to the mounting structure 4, allowing the entire frame to rotate relative to the drive assembly 3. The sensor assembly 2 can accurately measure this rotation angle, reducing the space occupied by the drive module on the mobile vehicle and improving the integration of the mobile vehicle.

[0076] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0077] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A driver module, characterized in that, include: A slewing assembly, the slewing assembly including a slewing bearing, the slewing bearing including an outer support ring and an inner support ring, the inner support ring being rotatably connected to the outer support ring; A sensor assembly, comprising a magnetic ring and a reading encoder, wherein one of the magnetic ring and the reading encoder is connected to the outer ring of the support, and the other is connected to the inner ring of the support, wherein the reading encoder is opposite to and spaced apart from the magnetic ring in a first direction, the first direction being the axial direction of the slewing bearing; A drive assembly connected to one of the outer support ring and the inner support ring; The mounting structure is connected to another of the inner and outer support rings, and the mounting structure is rotatable relative to the drive assembly about the first direction; In the first direction, the drive assembly and the mounting structure are located on opposite sides of the slewing bearing, and the sensor assembly is located between the slewing bearing and the mounting structure.

2. The driving module according to claim 1, characterized in that, The magnetic ring includes an outer track and an inner track, the inner track being connected to the inner side of the outer track, the inner track having n magnetic poles, and the outer track having (n+s) magnetic poles; Where n and s are both positive integers.

3. The driving module according to claim 1, characterized in that, The sensor assembly also includes a mounting base, the magnetic ring is fixed to the mounting base, and the mounting base is fixed to the outer ring of the support or the inner ring of the support.

4. The driving module according to claim 1, characterized in that, The mounting structure is provided with at least one first calibration hole, and the outer ring of the support or the inner ring of the support is provided with at least one second calibration hole corresponding to the first calibration hole. The first calibration hole is concentric with the second calibration hole in the first direction.

5. The driving module according to claim 1, characterized in that, The rotary assembly also includes a stop block disposed on the outer ring of the support and protruding toward one side of the mounting structure, the stop block being disposed circumferentially along the outer ring of the support; The mounting structure is connected to the inner ring of the support. The mounting structure has a protruding limiting part on the side facing the slewing bearing. When the outer ring of the support and the inner ring of the support rotate relative to each other, the limiting part can abut against the stop block.

6. The driving module according to claim 1, characterized in that, The mounting structure is provided with a wire outlet hole and a wire routing hole. The wire outlet hole is opposite to the connection terminal of the reading encoder, and the wire routing hole is connected to the inner side of the inner ring of the support.

7. The driving module according to claim 1, characterized in that, The drive assembly includes a support structure, a first drive component, a first drive wheel, a second drive component, and a second drive wheel; The outer ring of the support, the first driving member and the second driving member are respectively disposed on the bracket structure, the first driving wheel is assembled on the output end of the first driving member, and the second driving wheel is assembled on the output end of the second driving member; In the second direction, the first drive wheel and the second drive wheel are located on both sides of the bracket structure and share the same axial direction, which is the second direction and is perpendicular to the first direction.

8. The driving module according to claim 7, characterized in that, The bracket structure includes a support plate, a first mounting part and a second mounting part, and two rotating shafts; Both the first driving member and the second driving member are disposed on the side of the support plate away from the slewing bearing, and the first mounting part and the second mounting part are disposed at intervals on the side of the support plate close to the slewing bearing; The slewing bearing is located between the first mounting portion and the second mounting portion, and is hinged to the first mounting portion and the second mounting portion respectively via two rotating shafts.

9. The driving module according to claim 8, characterized in that, The rotary assembly also includes two bushings, which are respectively fixed on the outer ring of the support. One bushing extends between the outer ring of the support and the first mounting portion, and the other bushing extends between the outer ring of the support and the second mounting portion.

10. The driving module according to claim 8, characterized in that, The support structure also includes two limiting blocks, which are spaced apart along the second direction on the side of the support plate near the slewing bearing. The slewing bearing is located between the two limiting blocks and can abut against one of the limiting blocks.

11. A mobile device, characterized in that, include: The driving module according to any one of claims 1-10.

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