Driving module and mobile device

Abstract

The utility model discloses a driving module and a mobile device. The driving module comprises a slewing bearing, a sensor assembly, a driving assembly and a mounting structure; the slewing bearing comprises a bearing outer ring and a bearing inner ring, and the bearing outer ring is rotationally connected with the bearing inner 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, in the first direction, the reading encoder and the magnetic ring are oppositely arranged at an interval, and the first direction is the axial direction of the slewing bearing; 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 mounting structure and the driving assembly are located on the two sides of the slewing bearing respectively, and the sensor assembly is located between the slewing bearing and the driving assembly. The driving module provided by the utility model is high in reliability and small in occupied space.

Description

Driver modules and mobile devices 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 limitations in assembly methods, this results in numerous transition structures, a large space occupation, susceptibility to external environmental contamination, and poor stability. Summary of the Invention

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

[0005] A slewing bearing, comprising an outer support ring and an inner support ring, wherein the outer support ring and the inner support ring are rotatably connected;

[0006] 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;

[0007] A drive assembly connected to one of the outer support ring and the inner support ring;

[0008] 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;

[0009] In the first direction, the mounting structure and the drive assembly are located on both sides of the slewing bearing, and the sensor assembly is located between the slewing bearing and the drive assembly.

[0010] Optionally, the drive assembly includes a drive frame, a first drive member, a first drive wheel, a second drive member, and a second drive wheel;

[0011] Both the first driving member and the second driving member are disposed within the driving frame. The first driving wheel is driven by the first driving member, and the second driving wheel is driven by the second driving member. In a second direction, the first driving wheel and the second driving wheel are respectively located on both sides of the driving frame, and the second direction is perpendicular to the first direction.

[0012] One of the inner support ring and the outer support ring is connected to the drive frame, and the sensor assembly is located between the slewing bearing and the drive frame.

[0013] Optionally, the magnetic ring is fixed to the inner ring of the support, and the outer ring of the support is fixed to the drive frame;

[0014] The sensor assembly also includes an adjustment element, through which the reading encoder is movably connected to the drive frame, allowing the reading encoder to move closer to or further away from the magnetic ring along the first direction.

[0015] Optionally, the adjusting component is an adjusting stud, the adjusting stud has an external thread on its peripheral wall, a feature groove at one end, and is fixed to the reading encoder at the other end. The adjusting stud is movably connected to the drive frame through the external thread, and the feature groove is used to screw the adjusting stud.

[0016] Optionally, the drive frame includes a bracket and a frame, the bracket includes a support plate, a first mounting plate and a second mounting plate, and the first drive member and the second drive member are both disposed in the frame;

[0017] In the third direction, the support plate is connected between the first mounting plate and the second mounting plate, which are hinged to the frame, such that the support plate is located on the side of the frame closer to the slewing bearing;

[0018] The third direction is perpendicular to both the first direction and the second direction.

[0019] Optionally, the first mounting plate and the second mounting plate are respectively hinged to the frame via a pivot, and bushings are provided between the first mounting plate and the pivot and the pivot respectively.

[0020] Optionally, the support plate is provided with a plurality of limiting protrusions on the side near the frame, and the plurality of limiting protrusions can restrict the bracket from rotating relative to the frame about the first direction.

[0021] Optionally, the support plate 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.

[0022] Optionally, the support plate is provided with a first receiving groove, and the bottom wall of the first receiving groove is provided with a second receiving groove;

[0023] The slewing bearing is located in the first receiving groove, and the reading encoder is located in the second receiving groove.

[0024] 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;

[0025] Where n and s are both positive integers.

[0026] Optionally, the mounting structure is provided with at least one first calibration hole, and the slewing bearing is provided with at least one second calibration hole corresponding to the first calibration hole, wherein the first calibration hole is concentric with the second calibration hole in the first direction.

[0027] Optionally, the mounting structure is provided with a limiting post, and the slewing bearing is provided with a limiting groove. The limiting groove extends circumferentially along the slewing bearing, and one end of the limiting post extends into the limiting groove and can abut against the two end sidewalls of the limiting groove.

[0028] According to a second aspect of this application, a mobile device is provided, comprising: the driving module described in the first aspect.

[0029] 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. Thus, when applied to mobile equipment, it can measure and provide feedback on the rotation angle when the transport vehicle turns.

[0030] 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 entire sensor assembly is placed between the slewing bearing and the drive assembly, so that the mounting structure and the drive assembly can respectively shield the sensor assembly, avoid pollution from the external environment, reduce the space occupied, and improve the reliability of the drive module.

[0031] 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

[0032] 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:

[0033] Figure 1 is a schematic diagram of the structure of a driver module provided in this application;

[0034] Figure 2 is an exploded view of Figure 1;

[0035] Figure 3 is a partial structural assembly diagram of a drive module provided in this application;

[0036] Figure 4 is a side view of Figure 3;

[0037] Figure 5 is a cross-sectional view AA of Figure 4;

[0038] Figure 6 is a magnified view of part B in Figure 5;

[0039] Figure 7 is a schematic diagram of the assembly of the reading encoder and the bracket provided in this application;

[0040] Figure 8 is a schematic diagram of the structure of the adjusting stud provided in this application;

[0041] Figure 9 is a structural schematic diagram of the slewing bearing provided in this application;

[0042] Figure 10 is a CC sectional view of Figure 9;

[0043] Figure 11 is a schematic diagram of the structure of the double-track magnetic ring provided in this application.

[0044] Figure label:

[0045] 1. Slewing bearing; 11. Outer ring of bearing; 111. Second calibration hole; 112. Limiting groove; 12. Inner ring of bearing;

[0046] 2. Sensor assembly; 21. Magnetic ring; 211. Inner rail; 212. Outer rail; 22. Reading encoder; 221. Connecting terminal; 222. Reading head; 23. Adjusting stud; 231. External thread; 232. Feature groove; 233. Threaded hole;

[0047] 3. Drive assembly; 31. Drive frame; 311. Bracket; 3111. Support plate; 3112. First mounting plate; 3113. Second mounting plate; 3114. Limiting protrusion; 3115. Cable outlet hole; 3116. Cable routing hole; 3117. First receiving groove; 3118. Second receiving groove; 312. Frame; 313. Rotating shaft; 314. Bushing;

[0048] 4. Installation structure; 41. First calibration hole; 42. Limiting post; 43. Calibration post. Detailed Implementation

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] As shown in Figures 1 to 11, according to a first aspect of this application, a drive module is provided, comprising: a slewing bearing 1, a sensor assembly 2, a drive assembly 3, and a mounting structure 4; the slewing bearing 1 includes an outer support ring 11 and an inner support ring 12, which are rotatably connected; 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, and the first direction is the axial direction of the slewing bearing 1; 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, and the mounting structure 4 is rotatable relative to the drive assembly 3 about the first direction; in the first direction, the mounting structure 4 and the drive assembly 3 are located on opposite sides of the slewing bearing 1, and the sensor assembly 2 is located between the slewing bearing 1 and the drive assembly 3.

[0054] Specifically, in this embodiment, 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.

[0055] 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 are spaced apart in the first direction (Z direction in the figure). The magnetic ring 21 is coaxial with the slewing bearing 1 and is horizontally set on the slewing bearing 1. The reading head 222 of the reading encoder 22 is positioned opposite to the magnetic ring 21 with a gap. The reading head 222 of the reading encoder 22 can detect the change in magnetic field when the magnetic grating rotates above the magnetic ring 21, realizing non-contact reading between the reading encoder 22 and the magnetic ring 21. There is no wear during operation, which improves the service life of the sensor assembly 2 and simplifies the assembly structure. Furthermore, the sensor is set between the drive assembly 3 and the slewing bearing 1, so that the mounting structure 4 and the drive assembly 3 can respectively shield and protect the two sides of the sensor assembly 2 in the first direction, avoiding pollution from the external environment and improving the reliability of the drive module.

[0056] Optionally, as shown in Figures 1 to 3, the drive assembly 3 includes a drive frame 31, a first drive member, a first drive wheel, a second drive member, and a second drive wheel; both the first drive member and the second drive member are disposed within the drive frame 31, the first drive wheel is drivenly connected to the first drive member, and the second drive wheel is drivenly connected to the second drive member, and in a second direction, the first drive wheel and the second drive wheel are respectively located on both sides of the drive frame 31, and the second direction is perpendicular to the first direction; one of the inner support ring 12 and the outer support ring 11 is connected to the drive frame 31, and the sensor assembly 2 is located between the slewing bearing 1 and the drive frame 31.

[0057] Specifically, in this embodiment, the drive assembly 3 has two drive members, which are used to drive two drive wheels respectively. The first drive member and the second drive member are assembled in the drive frame 31, and their output ends are respectively driven to the first drive wheel and the second drive wheel along the second direction to realize the driving and steering functions of the vehicle. As shown in Figure 3, the support outer ring 11 is set above the drive frame 31, and the first drive member and the second drive member are set inside the drive frame 31. In practical applications, the drive frame 31 can isolate the first drive member, the second drive member and the sensor assembly 2 from each other, preventing external dust, grease and other substances from entering the sensor assembly 2 during operation, and further improving the reliability of the sensor assembly 2. The first drive member and the second drive member can each adopt a combination of motor and reducer, that is, the drive wheel is connected to the motor through the reducer to meet the driving requirements of the vehicle.

[0058] Optionally, as shown in Figure 2, the magnetic ring 21 is fixed to the inner support ring 12, and the outer support ring 11 is fixed to the drive frame 31; the sensor assembly 2 also includes an adjusting member, and the reading encoder 22 is movably connected to the drive frame 31 through the adjusting member, so that the reading encoder 22 can move closer to or further away from the magnetic ring 21 along the first direction.

[0059] Specifically, in this embodiment, the magnetic ring 21 is fixed to the inner ring of the bearing, the outer ring 11 is fixed to the drive frame 31, and the reading encoder 22 is movably connected to the drive frame 31 through an adjusting member. This allows the distance between the reading encoder 22 and the magnetic ring 21 to be adjusted during assembly by changing the position of the reading encoder 22 in the first direction. This compensates for manufacturing and assembly tolerances between the assembled parts, ensuring the stability of the encoder reading and improving the reliability of the sensor assembly 2. The magnetic ring 21 can be fixed to the inner ring 12 of the support via a mounting base, or it can be fixed to the mounting base by adhesive bonding.

[0060] Optionally, as shown in Figures 5 to 8, the adjusting component is an adjusting stud 23. The peripheral wall of the adjusting stud 23 is provided with an external thread 231, one end is provided with a feature groove 232, and the other end is fixed to the reading encoder 22. The adjusting stud 23 is movably connected to the drive frame 31 through the external thread 231, and the feature groove 232 is used to screw the adjusting stud 23.

[0061] Specifically, in this embodiment, the adjustment component is implemented using an adjusting stud 23. The reading encoder 22 can be fixed to one end of the adjusting stud 23 via a threaded hole 233 at one end, and is movably mounted on the drive frame 31 via an external thread 231 on the outer wall of the adjusting stud 23. This allows the reading encoder 22 to move along the adjusting stud 23 in the first direction relative to the drive frame 31, thereby moving away from or closer to the magnetic ring 21. The feature groove 232 facilitates the tightening of the adjusting stud 23. The feature groove 232 can be a slotted groove, a cross groove, etc., and is not limited here. When the reading encoder 22 is adjusted to a suitable position, the adjusting stud 23 can be fixed in this position using an adjusting nut. The adjustment and assembly are relatively simple, improving the reliability of the detection and reducing the assembly difficulty.

[0062] Optionally, as shown in Figures 1 to 5, the drive frame 31 includes a bracket 311 and a frame 312. The bracket 311 includes a support plate 3111, a first mounting plate 3112, and a second mounting plate 3113. The first drive member and the second drive member are both disposed within the frame 312. In the third direction, the support plate 3111 is connected between the first mounting plate 3112 and the second mounting plate 3113. The first mounting plate 3112 and the second mounting plate 3113 are hinged to the frame 312, so that the support plate 3111 is located on the side of the frame 312 closer to the slewing bearing 1. The third direction is perpendicular to the first direction and the second direction.

[0063] Specifically, in this embodiment, the bracket 311 provides support for the slewing bearing 1, sensor assembly 2, etc., through the support plate 3111. Furthermore, the frame 312 is hinged to the first mounting plate 3112 and the second mounting plate 3113, allowing the frame 312 to rotate relative to the bracket 311 in a third direction to adapt to uneven road surfaces and improve the stability of the drive module. Additionally, the support plate 3111 can be provided with a limiting groove matching the slewing bearing 1 on the side facing the slewing bearing 1 to facilitate installation and positioning, and to reduce the overall installation size of the drive module in the first direction.

[0064] Optionally, as shown in Figure 2, the first mounting plate 3112 and the second mounting plate 3113 are respectively hinged to the frame 312 via a rotating shaft 313, and bushings 314 are respectively provided between the first mounting plate 3112 and the second mounting plate 3113 and the rotating shaft 313.

[0065] Specifically, in this embodiment, bushings 314 are respectively provided between the first mounting plate 3112 and the second mounting plate 3113 and the rotating shaft 313. This reduces the friction and wear between the rotating shaft 313 and the frame 312 or the bracket 311 when the frame 312 swings relative to the bracket 311 around the rotating shaft 313, thereby improving the reliability of the connection and the service life of the structure. The two bushings 314 can be interference-fitted into the frame 312 at the position corresponding to the rotating shaft 313 and extend between the frame 312 and the bracket 311 to prevent wear between the frame 312 and the bracket 311.

[0066] Optionally, as shown in Figures 4 and 5, the support plate 3111 is provided with a plurality of limiting protrusions 3114 on the side near the frame 312, and the plurality of limiting protrusions 3114 can restrict the bracket 311 from rotating relative to the frame 312 about a first direction.

[0067] Specifically, in this embodiment, the limiting protrusion 3114 can limit the rotation angle of the bracket 311 relative to the frame 312 in the first direction, avoiding excessive rotation (e.g., more than one revolution) that could cause the connecting harness in the drive module to be broken, thus improving the reliability of the drive module connection. As shown in Figures 4 and 5, four limiting screws are installed around the bracket 311 as limiting protrusions 3114. The four screws can limit the swing of the frame 312 by abutting against the end face of the frame 312 respectively.

[0068] Optionally, the support plate 3111 is provided with a first receiving groove 3117, and the bottom wall of the first receiving groove 3117 is provided with a second receiving groove 3118; wherein, the slewing bearing 1 is located in the first receiving groove 3117, and the reading encoder 22 is located in the second receiving groove 3118.

[0069] Specifically, in this embodiment, by providing a first receiving groove 3117 and a second receiving groove 3118 on the support plate 3111, the positioning and installation of the slewing bearing 1 and the reading encoder 22 are facilitated during the assembly of the drive module, simplifying the assembly process. Furthermore, after assembly, the first receiving groove 3117 and the second receiving groove 3118 can also limit the circumferential displacement and sway of the slewing bearing 1 and the reading encoder 22, respectively, improving the stability of the structure. The provision of the first receiving groove 3117 and the second receiving groove 3118 also reduces the overall height of the drive module in the first direction.

[0070] Optionally, as shown in Figure 7, the support plate 3111 is provided with a wire outlet hole 3115 and a wire routing hole 3116. The wire outlet hole 3115 is opposite to the connection terminal 221 of the reading encoder 22, and the wire routing hole 3116 is connected to the inner side of the support inner ring 12.

[0071] Specifically, in this embodiment, the reading encoder 22 is connected to the support plate 3111. In order to facilitate the wiring of the sensor assembly 2, a wire outlet hole 3115 can be formed at the position corresponding to the connection terminal 221 of the encoder, and a wire outlet hole 3116 is provided at the position corresponding to the support inner ring 12 of the support plate 3111. 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 outlet hole 3116 and the inner side of the support inner ring 12, 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, thus improving the reliability of the wire harness connection.

[0072] Optionally, as shown in Figure 11, the magnetic ring 21 includes an outer track 212 and an inner track 211. The inner track 211 is connected to the inner side of the outer track 212. The inner track 211 has n magnetic poles, and the outer track 212 has (n+s) magnetic poles; where n and s are both positive integers.

[0073] Specifically, in this embodiment, a dual-track magnetic ring 21 is selected, which includes two magnetic tracks: an outer track 212 and an inner track 211. The outer track 212 has a certain number of more magnetic poles than the inner track 211, for example, one or two more magnetic poles than the inner track 211 (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 211 and the outer track 212 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.

[0074] 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.

[0075] Optionally, as shown in Figures 1 and 9, the mounting structure 4 is provided with at least one first calibration hole 41, and the slewing bearing 1 is provided with at least one second calibration hole 111 corresponding to the first calibration hole 41. The first calibration hole 41 is concentric with the second calibration hole 111 in a first direction.

[0076] 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 43 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 43 is a calibration tool and needs to be removed after the drive module is assembled and the calibration is completed.

[0077] Optionally, as shown in Figures 1 to 3 and Figure 9, a limiting post 42 is provided on the mounting structure 4, and a limiting groove 112 is provided on the slewing bearing 1. The limiting groove 112 extends circumferentially along the slewing bearing 1, and one end of the limiting post 42 extends into the limiting groove 112 and can abut against the two end sidewalls of the limiting groove 112.

[0078] Specifically, a limiting post 42 is provided on the mounting structure 4, so that when the mounting structure 4 rotates relative to the bottom drive assembly 3, its rotation angle is limited by the side wall of either end of the limiting groove 112 on the slewing bearing 1 through the limiting post 42 abutting against it. The length of the limiting groove 112 can be adjusted to change the overall rotation angle of the mounting structure 4 relative to the drive assembly 3, preventing the connecting harness from breaking when the differential rotation exceeds one revolution, thus improving the reliability of the entire drive module.

[0079] In one embodiment, the upper limit post 42 of the mounting structure 4 can be implemented by a limit screw. When the mounting structure 4 exceeds the set turning angle, the limit screw abuts against the side wall of either end of the limit groove 112 to limit the turning. The setting of the limit screw simplifies the processing difficulty of the limit post 42.

[0080] According to a second aspect of this application, a mobile device is provided, comprising: a driver module as described in the first aspect.

[0081] Specifically, in this embodiment, the mobile device can be a mobile robot or a mobile vehicle. 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, improving the integration of the mobile vehicle, and the sensor assembly 2 is located between the slewing bearing 1 and the drive assembly 3, thus avoiding external oil or dust contamination.

[0082] 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.

[0083] 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 driving module, characterized in that, include: A slewing bearing, comprising an outer support ring and an inner support ring, the outer support ring and the inner support ring being rotatably connected; a sensor assembly, comprising a magnetic ring and a reading encoder, one of the magnetic ring and the reading encoder being connected to the outer support ring, and the other being connected to the inner support ring, 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, the drive assembly being connected to one of the outer support ring and the inner support ring; a mounting structure, the mounting structure being connected to the other of the inner support ring and the outer support ring, the mounting structure being rotatable relative to the drive assembly about the first direction; in the first direction, the mounting structure and the drive assembly are respectively located on both sides of the slewing bearing, and the sensor assembly is located between the slewing bearing and the drive assembly.

2. The driving module according to claim 1, characterized in that, The drive assembly includes a drive frame, a first drive member, a first drive wheel, a second drive member, and a second drive wheel. Both the first and second drive members are disposed within the drive frame. The first drive wheel is driveably connected to the first drive member, and the second drive wheel is driveably connected to the second drive member. In a second direction, the first drive wheel and the second drive wheel are located on opposite sides of the drive frame, and the second direction is perpendicular to the first direction. One of the inner and outer support rings is connected to the drive frame, and the sensor assembly is located between the slewing bearing and the drive frame.

3. The driving module according to claim 2, characterized in that, The magnetic ring is fixed to the inner ring of the support, and the outer ring of the support is fixed to the drive frame; the sensor assembly also includes an adjusting member, and the reading encoder is movably connected to the drive frame through the adjusting member, so that the reading encoder can move closer to or further away from the magnetic ring along the first direction.

4. The driving module according to claim 3, characterized in that, The adjusting component is an adjusting stud. The adjusting stud has an external thread on its peripheral wall, a feature groove at one end, and is fixed to the reading encoder at the other end. The adjusting stud is movably connected to the drive frame through the external thread, and the feature groove is used to screw the adjusting stud.

5. The driving module according to claim 2, characterized in that, The drive frame includes a bracket and a frame. The bracket includes a support plate, a first mounting plate, and a second mounting plate. The first drive member and the second drive member are both disposed within the frame. In a third direction, the support plate is connected between the first mounting plate and the second mounting plate. The first mounting plate and the second mounting plate are hinged to the frame, such that the support plate is located on the side of the frame closer to the slewing bearing. The third direction is perpendicular to the first direction and the second direction.

6. The driving module according to claim 5, characterized in that, The first mounting plate and the second mounting plate are respectively hinged to the frame via a pivot, and bushings are provided between the first mounting plate and the pivot and the pivot respectively.

7. The driving module according to claim 5, characterized in that, The support plate has multiple limiting protrusions on one side near the frame, and these limiting protrusions can restrict the bracket from rotating relative to the frame around the first direction.

8. The driving module according to claim 5, characterized in that, The support plate 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.

9. The driving module according to claim 5, characterized in that, The support plate is provided with a first receiving groove, and the bottom wall of the first receiving groove is provided with a second receiving groove; wherein, the slewing bearing is located in the first receiving groove, and the reading encoder is located in the second receiving groove.

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

11. The driving module according to claim 1, characterized in that, The mounting structure is provided with at least one first calibration hole, and the slewing bearing 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.

12. The driving module according to claim 1, characterized in that, The mounting structure is provided with a limiting post, and the slewing bearing is provided with a limiting groove. The limiting groove extends circumferentially along the slewing bearing, and one end of the limiting post extends into the limiting groove and can abut against the two end sidewalls of the limiting groove.

13. A mobile device, characterized in that, include: The driving module according to any one of claims 1-12.

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