A drive device

Abstract

The application provides a driving device, belonging to the technical field of driving structure. The driving device comprises a first driving motor, a rotor, a connecting shaft, a connecting piece and a second driving motor. The rotor is arranged on one side of the first driving motor along a first direction, and the first driving motor is configured to drive the rotor to rotate along an R axis. The connecting shaft is arranged in the first driving motor and the rotor along the first direction, the connecting piece is slidably connected with the connecting shaft along the first direction, and the connecting piece is connected with the rotor. The second driving motor is arranged on the side of the first driving motor away from the rotor along the first direction, and the second driving motor is configured to drive the connecting shaft to slide along the first direction. The driving device provided by the application not only can improve the space utilization of the driving device, but also can reduce the load mass in the first direction, and reduce the rotational inertia in the rotation direction, so as to avoid the waste of thrust and torque, and realize the maximization of transmission efficiency.

Description

Technical Field

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

[0002] Current market demands are increasingly stringent for ZR axes, requiring them to be small, lightweight, and capable of providing significant rotational torque and vertical thrust. However, traditional combinations of Z-axis lifting and rotational motion have significant drawbacks. There are two main approaches: First, the rotating shaft drives the Z-axis along with it. This method greatly increases the load inertia of the rotating shaft, requiring it to overcome greater resistance during operation and placing extremely high torque demands on the rotary motor, necessitating a larger motor size. Second, the Z-axis lifts while the rotating shaft moves. This method increases the load weight on the Z-axis, and as the motion cycle accelerates, the thrust requirements for the Z-axis lifting motor rise sharply, also leading to a larger motor size. Whether the Z-axis loads the R-axis or the R-axis loads the Z-axis, the heavier-loaded shaft faces more demanding requirements, severely hindering the miniaturization and weight reduction of ZR axes and failing to meet market demands for compact and efficient mechanical structures. Utility Model Content

[0003] In view of this, the purpose of this application is to overcome the shortcomings of the prior art and provide a driving device.

[0004] This application provides the following technical solution: a driving device having a first direction, comprising:

[0005] A first drive motor and a rotor, the rotor being disposed on one side of the first drive motor along the first direction, the first drive motor being configured to drive the rotor to rotate along the R-axis;

[0006] A connecting shaft and a connecting member are provided, wherein the connecting shaft passes through the first drive motor and the rotor along the first direction, and the connecting member is slidably connected to the connecting shaft along the first direction and is connected to the rotor;

[0007] A second drive motor is disposed along the first direction on the side of the first drive motor opposite to the rotor, and the second drive motor is configured to drive the connecting shaft to slide along the first direction.

[0008] In some embodiments, the second drive motor includes a stator and a mover, the stator and the mover are respectively sleeved on the connecting shaft, the stator is disposed on the side of the first drive motor opposite to the rotor, and the stator and the first drive motor define a receiving cavity;

[0009] The moving part is housed in the receiving cavity, and the moving part is rotatably connected to the connecting shaft.

[0010] In some embodiments, the stator defines an annular guide groove on the side facing the first drive motor, and the mover is at least partially disposed in the annular guide groove at the end facing away from the first drive motor.

[0011] In some embodiments, a bearing is provided between the mover and the connecting shaft, the inner ring of the bearing is sleeved on the connecting shaft, and the outer ring of the bearing is connected to the mover;

[0012] The moving part is provided with a limiting step on the side away from the bearing, and the outer ring abuts against the limiting step on the side facing the first drive motor.

[0013] In some embodiments, a limiting member is provided on the side of the bearing away from the first drive motor. The limiting member is connected to the connecting shaft and sleeved on the connecting shaft. The side of the limiting member facing the bearing abuts against the inner ring.

[0014] In some embodiments, a pressure block is provided on the side of the stator away from the first drive motor, the pressure block is sleeved on the connecting shaft, and there is a gap between the pressure block and the connecting shaft;

[0015] The pressure block is connected to the moving part on the side facing the first drive motor and abuts against the outer ring.

[0016] In some embodiments, the pressure block is provided with a pressure plate on a side away from the first drive motor, and a support plate is provided on the side of the stator away from the first drive motor. The support plate is disposed on the side of the pressure block away from the connecting shaft, and there is a gap between the support plate and the pressure block.

[0017] An elastic element is provided between the support plate and the pressure plate.

[0018] In some embodiments, the pressure plate is provided with a first limiting groove on the side facing the support plate, and one end of the elastic member is at least partially received in the first limiting groove;

[0019] The support plate is provided with a second limiting groove on the side facing the pressure plate, and the other end of the elastic member is at least partially received in the second limiting groove.

[0020] In some embodiments, a first encoder is provided on the side of the stator opposite to the first drive motor, and the first encoder is configured to detect the distance the connecting shaft moves along the first direction;

[0021] The second drive motor has a second encoder on the side near the rotor, and the second encoder is configured to detect the rotation angle of the connecting shaft.

[0022] In some embodiments, the connecting shaft is provided with a flow guide channel along the first direction.

[0023] The embodiments of this application have the following advantages: by connecting the connecting shaft to the first drive motor so that the connecting shaft can be driven to rotate along the R-axis by the first drive motor, by connecting the connecting shaft to the second drive motor so that the connecting shaft can be driven to slide along the first direction by the second drive motor, and by passing the connecting shaft through the first drive motor and the second drive motor along the first direction, not only can the space utilization of the drive device be improved, but also the load mass in the first direction can be reduced, and the rotational inertia in the rotation direction can be reduced, avoiding the waste of thrust and torque, and maximizing the transmission efficiency.

[0024] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This diagram shows a structural schematic of a driving device provided by some embodiments of the present invention from one perspective;

[0027] Figure 2 This diagram shows a structural schematic of a driving device provided by some embodiments of the present invention from another perspective;

[0028] Figure 3 It shows Figure 2 Cross-sectional view of section AA.

[0029] Explanation of key component symbols:

[0030] 100-First drive motor; 200-Rotor; 300-Connecting shaft; 400-Connector; 500-Second drive motor; 510-Stator; 520-Motor; 530-Receiving cavity; 511-Annular guide groove; 600-Bearing; 521-Limiting step; 700-Limiting component; 800-Pressure block; 900-Pressure plate; 1000-Support plate; 1100-Elastic component; 910-First limiting groove; 1010-Second limiting groove; 1200-First encoder; 1300-Second encoder; 310-Guide channel; 1400-Air circuit rotary joint.

[0031] Z - First direction. Detailed Implementation

[0032] The embodiments of this application are described in detail below. Examples of these embodiments are shown 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.

[0033] It should be noted that when an element is said to be "fixed" to another element, it can be directly on the other element or there may be an intervening element. When an element is said to be "connected" to another element, it can be directly connected to the other element or there may be an intervening element. Conversely, when an element is said to be "directly" on another element, there is no intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0034] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0035] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the template description is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0037] like Figures 1 to 3 As shown, some embodiments of this application provide a driving device having a first direction Z, which mainly improves the space utilization and compactness of the overall structure, not only reducing the overall size of the driving device, but also improving the transmission efficiency.

[0038] The drive unit includes a first drive motor 100, a rotor 200, a connecting shaft 300, a connecting piece 400, and a second drive motor 500.

[0039] In this embodiment, the first direction Z is the axial direction of the connecting shaft 300.

[0040] The rotor 200 is disposed on one side of the first drive motor 100 along the first direction Z, and the first drive motor 100 is configured to drive the rotor 200 to rotate along the R axis.

[0041] In this embodiment, the rotor 200 is a rotating panel, and the rotor 200 is connected to the output end of the first drive motor 100 so that the rotor 200 is driven to rotate along the R-axis through the output end of the first drive motor 100. It can be understood that the axis of the rotor 200 is parallel to the first direction Z, and the R-axis is parallel to the first direction Z.

[0042] In addition, the connecting shaft 300 passes through the first drive motor 100 and the rotor 200 along the first direction Z. There is a gap between the side wall of the connecting shaft 300 and the first drive motor 100 to avoid friction between the connecting shaft 300 and the first drive motor 100 during rotation or sliding relative to the first drive motor 100, thereby ensuring the smoothness and stability of the connecting shaft 300 during rotation or sliding. The connecting shaft 300 is connected to the rotor 200 in a transmission connection so that when the first drive motor 100 drives the rotor 200 to rotate along the R axis, the rotor 200 can drive the connecting shaft 300 to rotate synchronously.

[0043] In this embodiment, the connector 400 and the connecting shaft 300 are slidably connected along the first direction Z so that the connecting shaft 300 can slide relative to the connector 400 along the first direction Z. The connector 400 is also connected to the rotor 200 so that the rotor 200 can drive the connector 400 to rotate synchronously during the rotation along the R axis, and the connector 400 can drive the connecting shaft 300 to rotate synchronously.

[0044] The connection method between the connector 400 and the rotor 200 includes any one of the following: threaded connection, bolted connection, snap-fit, adhesive connection or interference fit, which can be specifically set according to the actual situation.

[0045] It is understandable that by passing the connecting shaft 300 through the first drive motor 100 and the rotor 200, the space utilization rate of the transmission connection structure between the connecting shaft 300, the first drive motor 100 and the rotor 200 is improved. This not only improves the space utilization rate along the first direction Z, but also improves the space utilization rate perpendicular to the first direction Z, so that the transmission connection structure is more compact and small.

[0046] Secondly, through the transmission connection structure of connecting shaft 300 and connecting piece 400, and the adoption of a load-reducing structural design, the load mass of ZR shaft in the Z-axis direction is reduced, and the rotational inertia in the rotational direction is reduced, avoiding the waste of thrust and torque, improving the power utilization rate of ZR shaft, and maximizing transmission efficiency.

[0047] In this embodiment, the connecting shaft 300 is a spline shaft, and the connecting piece 400 is a spline nut.

[0048] The second drive motor 500 is disposed along the first direction Z on the side of the first drive motor 100 away from the rotor 200. The connection method between the second drive motor 500 and the first drive motor 100 includes any one of threaded connection, bolt connection, snap-fit, adhesive, magnetic connection or interference fit, which can be specifically set according to the actual situation.

[0049] The second drive motor 500 is configured to drive the connecting shaft 300 to slide along the first direction Z. That is, the output end of the second drive motor 500 is connected to the connecting shaft 300 in a transmission connection, so that when the second drive motor 500 is running, the output end of the second drive motor 500 drives the connecting shaft 300 to slide relative to the first drive motor 100 along the first direction Z.

[0050] Since the connecting shaft 300 and the connecting member 400 are slidably connected along the first direction Z, and the connecting member 400 is connected to the first drive motor 100, the connecting member 400 limits the connecting shaft 300 along the direction perpendicular to the first direction Z, thereby ensuring the stability of the connecting shaft 300 during the process of the second drive motor 500 driving the connecting shaft 300 to slide along the first direction Z. It should be noted that the connecting shaft 300 passes through the second drive motor 500 along the first direction Z.

[0051] It is understandable that by connecting the connecting shaft 300 to the first drive motor 100, the connecting shaft 300 is driven to rotate along the R-axis by the first drive motor 100; by connecting the connecting shaft 300 to the second drive motor 500, the connecting shaft 300 is driven to slide along the first direction Z by the second drive motor 500; and by having the connecting shaft 300 pass through the first drive motor 100 and the second drive motor 500 along the first direction Z, not only can the space utilization of the drive device be improved, but the load mass in the first direction Z can also be reduced, while the rotational inertia in the rotational direction is reduced, avoiding the waste of thrust and torque, and maximizing the transmission efficiency.

[0052] like Figure 2 and Figure 3As shown, in some embodiments of this application, the second drive motor 500 includes a stator 510 and a mover 520, the stator 510 and the mover 520 being respectively sleeved on the connecting shaft 300, wherein there is a gap between the stator 510 and the connecting shaft 300 to avoid friction between the connecting shaft 300 and the stator 510 during rotation, so as to ensure the smoothness and stability of the connecting shaft 300 during rotation.

[0053] In this embodiment, the stator 510 is disposed on the side of the first drive motor 100 opposite to the rotor 200. The stator 510 and the first drive motor 100 define a receiving cavity 530. The connection method between the stator 510 and the first drive motor 100 includes any one of threaded connection, bolted connection, snap-fit, adhesive connection, or magnetic connection, which can be specifically set according to the actual situation. By fixing the stator 510 and the first drive motor 100 together, the stability of the stator 510 on the first drive motor 100 is ensured.

[0054] The mover 520 is housed in the receiving cavity 530 and is rotatably connected to the connecting shaft 300.

[0055] It should be noted that the mover 520 can rotate relative to the stator 510 along the R-axis, and the mover 520 can slide relative to the stator 510 along the first direction Z in the receiving cavity 530. It can be understood that the mover 520 is positioned between the first drive motor 100 and the stator 510 to limit the mover 520 along the first direction Z, thereby ensuring the stability of the mover 520 during its sliding along the first direction Z.

[0056] like Figure 1 and Figure 3 As shown, in some embodiments of this application, the stator 510 defines an annular guide groove 511 on the side facing the first drive motor 100, and the axis of the annular guide groove 511 coincides with the axis of the connecting shaft 300.

[0057] The end of the mover 520 facing away from the first drive motor 100 is at least partially disposed in the annular guide groove 511, so as to provide limiting and guiding function for the mover 520 through the groove wall of the annular guide groove 511, so as to ensure the stability and smoothness of the mover 520 during rotation along the R axis, and also to ensure the stability and smoothness of the mover 520 relative to the stator 510 during sliding in the first direction Z.

[0058] It is understandable that by coaxially connecting the connecting shaft 300, stator 510 and mover, the stability of the connecting shaft 300 during rotation is ensured. By slidably connecting the connecting shaft 300 and the connecting member 400, the connecting member 400 provides a limiting effect on the connecting shaft 300 along the first direction Z perpendicular to it, thereby ensuring the smoothness of the sliding of the connecting shaft 300 along the first direction Z and the accuracy of the sliding distance.

[0059] like Figure 3 As shown, in some embodiments of this application, a bearing 600 is provided between the mover 520 and the connecting shaft 300. It can be understood that the bearing 600 is disposed in the receiving cavity 530.

[0060] The inner ring of the bearing 600 is sleeved on the connecting shaft 300, and the outer ring of the bearing 600 is connected to the mover 520. It is understood that the bearing 600 is positioned between the connecting shaft 300 and the mover 520, thereby enabling the mover 520 to rotate coaxially relative to the connecting shaft 300.

[0061] In addition, the moving part 520 is provided with a limiting step 521 on the side away from the bearing 600. The outer ring abuts against the limiting step 521 on the side facing the first drive motor 100, so as to provide support and limit the bearing 600 through the limiting step 521, so as to ensure the stability of the bearing 600 between the connecting shaft 300 and the moving part 520, thereby ensuring the stability and smoothness of the moving part 520 during the rotation process relative to the connecting shaft 300.

[0062] It is worth noting that there is a gap between the side of the mover 520 facing the connecting shaft 300 and the side wall of the connecting shaft 300 to avoid friction during the rotation of the connecting shaft 300 relative to the mover 520, thereby ensuring the smoothness of the rotation of the mover 520 relative to the connecting shaft 300.

[0063] like Figure 2 and Figure 3 As shown, in some embodiments of this application, a limiting member 700 is provided on the side of the bearing 600 away from the first drive motor 100. The limiting member 700 is connected to the connecting shaft 300 and is sleeved on the connecting shaft 300. The side of the limiting member 700 facing the bearing 600 abuts against the inner ring, so as to limit the bearing 600 in the first direction Z by the limiting member 700, so as to ensure the stability of the connection between the bearing 600 and the connecting shaft 300.

[0064] It is understandable that the limiting joint and the limiting member 700 are respectively set on two opposite sides of the bearing 600 along the first direction Z, so as to limit the bearing 600 in the first direction Z through the limiting joint and the limiting member 700, thereby ensuring the stability of the bearing 600 on the connecting shaft 300.

[0065] The limiting component 700 can be any one of a retaining ring, locking nut, limiting block, limiting ring, or limiting platform, and can be specifically set according to the actual situation.

[0066] In this embodiment, the limiting member 700 is a locking nut, that is, the limiting member 700 and the connecting shaft 300 are threadedly connected to facilitate installation or disassembly, while ensuring the limiting quality of the limiting member 700 on the bearing 600.

[0067] like Figure 3 As shown, in some embodiments of this application, the stator 510 is provided with a pressure block 800 on the side away from the first drive motor 100. The pressure block 800 is disposed on the side of the bearing 600 away from the first drive motor 100. The pressure block 800 is sleeved on the connecting shaft 300, and there is a gap between the pressure block 800 and the connecting shaft 300 to avoid friction between the connecting shaft 300 and the pressure block 800 during rotation, so as to ensure the stability of the connecting shaft 300 during rotation.

[0068] The pressure block 800 is connected to the mover 520 on the side facing the first drive motor 100. The connection method between the pressure block 800 and the mover 520 includes at least one of threaded connection, bolt connection, snap-fit, adhesive or magnetic connection, which can be specifically set according to the actual situation.

[0069] Furthermore, by placing the pressure block 800 against the outer ring on the side facing the bearing 600, it can be understood that during the rotation of the mover 520 relative to the mover, the pressure block 800 can drive the outer ring of the bearing 600 to rotate relative to the inner ring.

[0070] It should be noted that the ball bearings on the side of the pressure block 800 facing the connecting shaft 300 are slidably connected to the spiral groove on the outer wall of the connecting shaft 300, so that the pressure block 800 slides along the spiral groove through the ball bearings during rotation, thereby driving the connecting shaft 300 to move along the first direction Z, so as to adjust the height of the connecting shaft 300 in the first direction Z.

[0071] like Figure 3 As shown, in some embodiments of this application, the pressure block 800 is provided with a pressure plate 900 some distance away from the first drive motor 100. The connection method between the pressure plate 900 and the pressure block 800 includes at least one of threaded connection, bolt connection, snap-fit, adhesive or magnetic connection, which can be specifically set according to the actual situation.

[0072] The stator 510 has a support plate 1000 on the side opposite to the first drive motor 100. The support plate 1000 is located on the side of the pressure block 800 opposite to the connecting shaft 300. There is a gap between the support plate 1000 and the pressure block 800 to avoid friction between the pressure block 800 and the support plate 1000 during rotation, thereby ensuring the stability and smoothness of the pressure block 800 during rotation, so as to ensure the smoothness of the movement 520 relative to the connecting shaft 300 during rotation.

[0073] In this embodiment, an elastic element 1100 is provided between the support plate 1000 and the pressure plate 900 to provide elastic force between the support plate 1000 and the pressure plate 900. This allows the connecting shaft 300 to provide gravity compensation during its movement along the first direction Z, thereby reducing the burden on the connecting shaft 300 to overcome the load gravity during its upward and downward movement along the first direction Z.

[0074] In addition, the elastic element 1100 can be any one of a helical spring, a tension spring, an elastic rubber, an elastic limit spring, or a shape memory alloy spring.

[0075] In this embodiment, the elastic element 1100 is a helical spring.

[0076] like Figure 3 As shown, in some embodiments of this application, the pressure plate 900 is provided with a first limiting groove 910 on the side facing the support plate 1000, and one end of the elastic member 1100 is at least partially received in the first limiting groove 910, so as to limit the end of the elastic member 1100 facing the pressure plate 900 by the groove wall of the first limiting groove 910, so as to ensure the stability of the connection between the end of the elastic member 1100 close to the pressure plate 900 and the pressure plate 900.

[0077] In addition, the support plate 1000 is provided with a second limiting groove 1010 on the side facing the pressure plate 900, and the other end of the elastic member 1100 is at least partially received in the second limiting groove 1010, so as to limit the end of the elastic member 1100 facing the support plate 1000 by the groove wall of the second limiting groove 1010, so as to ensure the stability of the connection between the end of the elastic member 1100 close to the support plate 1000 and the support plate 1000.

[0078] It is understandable that the elastic element 1100 is limited in the first direction Z by the pressure plate 900 and the support plate 1000 to ensure the stability of the elastic element 1100 between the pressure plate 900 and the support plate 1000.

[0079] It should be noted that the elastic force of the elastic element 1100 is parallel to the first direction Z.

[0080] like Figure 1 and Figure 2 As shown, in some embodiments of this application, the stator 510 is provided with a first encoder 1200 on the side opposite to the first drive motor 100, the detection end of the first encoder 1200 faces the connecting shaft 300, and the first encoder 1200 is configured to detect the movement distance of the connecting shaft 300 along the first direction Z.

[0081] In this embodiment, the first encoder 1200 is a linear encoder, which detects the linear distance that the connecting shaft 300 moves along the first direction Z.

[0082] like Figure 1 and Figure 2 As shown, in some embodiments of this application, the second drive motor 500 is provided with a second encoder 1300 on the side near the rotor 200, the detection end of the second encoder 1300 faces the rotor 200, and the second encoder 1300 is configured to detect the rotation angle of the connecting shaft 300.

[0083] It is understandable that, since the rotor 200 and the connecting shaft 300 are connected by a drive and the rotor 200 and the connecting shaft 300 rotate synchronously, the rotation angle of the rotor 200 is detected by the second encoder 1300, thereby realizing the detection of the rotation angle of the connecting shaft 300.

[0084] In this embodiment, the second encoder 1300 is an angle encoder.

[0085] like Figure 3 As shown, in some embodiments of this application, the connecting shaft 300 is provided with a flow channel 310 along the first direction Z, which not only reduces the weight of the connecting shaft 300 in the first direction Z, but also provides a gas path for vacuum adsorption at the actuator.

[0086] In addition, a gas path rotary joint 1400 is provided at the end of the connecting shaft 300 away from the rotor 200. The gas path rotary joint 1400 can be directly connected to a gas pipe and connected to a vacuum generator to provide a vacuum adsorption environment for the actuator end of the connecting shaft 300.

[0087] In all examples shown and described herein, any specific values ​​should be interpreted as merely exemplary and not as limitations; therefore, other examples of exemplary embodiments may have different values.

[0088] 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 further defined and explained in subsequent figures.

[0089] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these modifications and improvements all fall within the protection scope of this application.

Claims

1. A driving device having a first direction, characterized in that, include: A first drive motor and a rotor, the rotor being disposed on one side of the first drive motor along the first direction, the first drive motor being configured to drive the rotor to rotate along the R-axis; A connecting shaft and a connecting member are provided, wherein the connecting shaft passes through the first drive motor and the rotor along the first direction, and the connecting member is slidably connected to the connecting shaft along the first direction and is connected to the rotor; A second drive motor is disposed along the first direction on the side of the first drive motor opposite to the rotor, and the second drive motor is configured to drive the connecting shaft to slide along the first direction.

2. The driving device according to claim 1, characterized in that, The second drive motor includes a stator and a mover, the stator and the mover are respectively sleeved on the connecting shaft, the stator is disposed on the side of the first drive motor away from the rotor, and the stator and the first drive motor define a receiving cavity; The moving part is housed in the receiving cavity, and the moving part is rotatably connected to the connecting shaft.

3. The driving device according to claim 2, characterized in that, The stator defines an annular guide groove on the side facing the first drive motor, and the mover is at least partially disposed in the annular guide groove at the end facing away from the first drive motor.

4. The driving device according to claim 2, characterized in that, A bearing is provided between the moving element and the connecting shaft, the inner ring of the bearing is sleeved on the connecting shaft, and the outer ring of the bearing is connected to the moving element; The moving part is provided with a limiting step on the side away from the bearing, and the outer ring abuts against the limiting step on the side facing the first drive motor.

5. The driving device according to claim 4, characterized in that, The bearing has a limiting member on the side away from the first drive motor. The limiting member is connected to the connecting shaft and sleeved on the connecting shaft. The side of the limiting member facing the bearing abuts against the inner ring.

6. The driving device according to claim 4, characterized in that, The stator has a pressure block on the side opposite to the first drive motor. The pressure block is sleeved on the connecting shaft, and there is a gap between the pressure block and the connecting shaft. The pressure block is connected to the moving part on the side facing the first drive motor and abuts against the outer ring.

7. The driving device according to claim 6, characterized in that, The pressure block is provided with a pressure plate some distance away from the first drive motor, and the stator is provided with a support plate on the side away from the first drive motor. The support plate is located on the side of the pressure block away from the connecting shaft, and there is a gap between the support plate and the pressure block. An elastic element is provided between the support plate and the pressure plate.

8. The driving device according to claim 7, characterized in that, The pressure plate is provided with a first limiting groove on the side facing the support plate, and one end of the elastic member is at least partially received in the first limiting groove; The support plate is provided with a second limiting groove on the side facing the pressure plate, and the other end of the elastic member is at least partially received in the second limiting groove.

9. The driving device according to any one of claims 2 to 8, characterized in that, The stator is provided with a first encoder on the side opposite to the first drive motor. The first encoder is configured to detect the distance the connecting shaft moves along the first direction. The second drive motor has a second encoder on the side near the rotor, and the second encoder is configured to detect the rotation angle of the connecting shaft.

10. The driving device according to any one of claims 1 to 8, characterized in that, The connecting shaft is provided with a flow guide channel along the first direction.

Images