A decelerator for hall measurement angle and driving device

Abstract

The utility model relates to driver technical field especially relates to a kind of reducer and driving equipment of hall measurement angle.The shell body is equipped with containing hole and the control groove being communicated with containing hole, and the inner side wall of containing hole is equipped with the first inner tooth circle;Shell cover is detachably installed on shell body, and shell cover is used to open or close containing hole and control groove;Shell cover is equipped with the first through-hole being communicated with containing hole;All first planetary gears are circumferentially spaced apart and rotatably installed on output assembly, and first sun gear is engaged with all first planetary gears, and all first planetary gears are engaged with first inner tooth circle;Output assembly is equipped with the output shaft body passing through first through-hole;Control panel is installed in control groove, linear hall sensor is installed on control panel, magnet is installed on output assembly, and linear hall sensor is used to detect the rotation angle of output shaft body by magnet.The structure of the hall measurement angle's reducer is compact, occupies small space, has high stability, and has long service life.

Description

Technical Field

[0001] This utility model relates to the field of drive technology, and in particular to a reducer and drive device for Hall angle measurement. Background Technology

[0002] As living standards improve, people have increasingly higher demands for the intelligence of products used in daily life; the automatic lid-opening function is a specific feature of intelligent products such as smart toilets, smart dishwashers, smart sinks, smart washing machines, and home treadmills. To enable the actuator to precisely control the rotation angle of the lid, an angle sensor needs to be installed at the output end of the actuator.

[0003] In existing technologies, contact potentiometers are typically used to detect the rotation angle of the driver's output. The working principle of a contact potentiometer is to change the output voltage through the relative movement of a sliding contact and a resistive diaphragm, thereby reflecting the rotation angle of the driver's output. However, friction between the contact and the resistive diaphragm limits the lifespan of contact potentiometers, with a significant decrease in accuracy typically occurring after 50,000 cycles. Dust, oil, and humidity changes significantly affect the contact reliability of contact potentiometers, causing signal slippage. Furthermore, contact potentiometers require complex mechanical transmission mechanisms to connect the motor shaft and the potentiometer, increasing assembly errors and equipment size. Summary of the Invention

[0004] This utility model provides a reducer and drive device for Hall effect angle measurement to solve the technical problems of low reliability, short lifespan and large size of existing contact potentiometers.

[0005] An embodiment of this utility model provides a Hall effect angle measurement reducer, including a reduction mechanism, a control board, a magnet, and a linear Hall sensor; The reduction mechanism includes a housing, a housing cover, an output component, a first sun gear, and multiple first planetary gears; the housing has a receiving hole and a control groove communicating with the receiving hole, and a first internal gear ring is provided on the inner sidewall of the receiving hole; the housing cover is detachably mounted on the housing, and the housing cover is used to open or close the receiving hole and the control groove; the housing cover has a first through hole communicating with the receiving hole; All the first planetary gears are circumferentially spaced and rotatably mounted on the output assembly. The first sun gear meshes with all the first planetary gears, and all the first planetary gears mesh with the first internal gear ring. The output assembly is provided with an output shaft that passes through the first through hole. The control board is installed in the control slot, the linear Hall sensor is installed on the control board, and the magnet is installed on the output assembly. The linear Hall sensor is used to detect the rotation angle of the output shaft through the magnet.

[0006] Optionally, the output component includes a first planetary disk, the output shaft is disposed on the first planetary disk, and all the first planetary gears are circumferentially spaced and rotatably mounted on the first planetary disk; the magnet is mounted on the side of the first planetary disk opposite to the first planetary gears.

[0007] Optionally, the output component includes a detection gear and a first planetary disk with sector teeth, the output shaft is disposed on the first planetary disk, and all the first planetary gears are circumferentially spaced and rotatably mounted on the first planetary disk; the detection gear is rotatably mounted in the control slot and meshes with the sector teeth; the magnet is mounted on the detection gear.

[0008] Optionally, the first planetary disk is further provided with a first limiting part and a second limiting part, and the sector tooth is located between the first limiting part and the second limiting part; the first limiting part and the second limiting part are used to limit the rotation angle of the first planetary disk.

[0009] Optionally, the magnet has N poles and S poles spaced apart, and the boundary line between the N poles and the S poles is positioned opposite to the linear Hall sensor.

[0010] Optionally, a second internal gear ring is also provided on the inner wall of the receiving hole; The deceleration mechanism further includes a second planetary disk, a second sun gear, and multiple second planetary gears. The first sun gear is disposed on the second planetary disk. The second planetary disk has multiple second shafts distributed circumferentially on the side opposite to the first sun gear. The second planetary gears are rotatably sleeved on the second shafts in a corresponding manner. The second sun gear meshes with all the second planetary gears, and all the second planetary gears mesh with the second internal gear ring.

[0011] Optionally, the reduction mechanism further includes a clutch assembly, a third sun gear, and a plurality of third planet gears; the clutch assembly includes a first clutch body and a second clutch body that can rotate relative to each other, and the second sun gear is disposed on the first clutch body; The second clutch body has a plurality of third shafts distributed circumferentially on the side opposite to the first clutch body. The third planetary gears are rotatably sleeved on the third shafts one by one. The third sun gear meshes with all the third planetary gears, and all the third planetary gears mesh with the second internal gear ring.

[0012] Another embodiment of this utility model also provides a driving device, including a motor and the aforementioned Hall angle measuring reducer, wherein the motor is mounted on the housing and the output end of the motor is connected to the third sun gear.

[0013] Optionally, the motor is provided with a clamping groove for clamping the wire harness connected to the control board.

[0014] Optionally, the motor is provided with a groove; the drive device further includes an adapter cover, on which a first annular insertion portion and a second annular insertion portion are respectively provided on opposite sides; the first annular insertion portion is inserted into the receiving hole, and the second annular insertion portion is inserted into the groove.

[0015] In this invention, the first sun gear drives the first planetary gears to rotate, and the first planetary gears drive the output assembly to rotate. The magnet is mounted on the output assembly, and the linear Hall sensor is mounted on the control board. Thus, the linear Hall sensor can detect the rotation angle of the output shaft through the magnet. The magnet and the linear Hall sensor do not contact each other, thus preventing friction and extending the service life of both. Furthermore, dust, oil, and humidity changes are less likely to affect the linear Hall sensor, improving the reliability of its angle detection. The reducer for this Hall angle measurement is also compact and occupies little space. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments of this utility model will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of a drive device provided in an embodiment of the present invention; Figure 2 This is an exploded structural diagram of a driving device provided in an embodiment of the present invention; Figure 3 This is a cross-sectional view of a drive device provided in an embodiment of the present invention; Figure 4 This is a partial structural schematic diagram of a Hall effect angle measuring reducer provided in one embodiment of the present invention; Figure 5 This is a partial structural schematic diagram of a Hall effect angle measuring reducer provided in another embodiment of this utility model; Figure 6 This is a partial exploded structural diagram of a Hall effect angle measuring reducer provided in one embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of the outer cylinder provided in one embodiment of the present invention.

[0018] The reference numerals in the accompanying drawings are as follows: 1. Reduction mechanism; 11. Housing; 111. Receiving hole; 112. Control groove; 113. First internal gear ring; 114. Second internal gear ring; 12. Housing cover; 121. First through hole; 13. Output assembly; 131. Output shaft; 132. First planetary disk; 133. Detection gear; 134. Sector gear; 135. First limiting part; 14. First sun gear; 15. First planetary gear; 16. Second planetary disk; 161. 17. Second sun gear; 18. Second planetary gear; 19. Clutch assembly; 191. First clutch body; 192. Second clutch body; 101. Third sun gear; 102. Third planetary gear; 103. Third shaft; 2. Control board; 3. Magnet; 4. Linear Hall sensor; 5. Motor; 51. Gutter; 52. Groove; 6. Wiring harness; 7. Adapter cover; 71. First annular connector; 72. Second annular connector. Detailed Implementation

[0019] To make the technical problems solved, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0020] like Figures 1 to 5 As shown, an embodiment of the present invention provides a Hall effect angle measurement reducer, including a reduction mechanism 1, a control board 2, a magnet 3, and a linear Hall sensor 4; The reduction mechanism 1 includes a housing 11, a housing cover 12, an output component 13, a first sun gear 14, and a plurality of first planet gears 15; the housing 11 is provided with a receiving hole 111 and a control groove 112 communicating with the receiving hole 111, and a first internal gear ring 113 is provided on the inner side wall of the receiving hole 111; the housing cover 12 is detachably mounted on the housing 11, and the housing cover 12 is used to open or close the receiving hole 111 and the control groove 112; the housing cover 12 is provided with a first through hole 121 communicating with the receiving hole 111; All the first planetary gears 15 are circumferentially rotatably mounted on the output assembly 13, the first sun gear 14 meshes with all the first planetary gears 15, and all the first planetary gears 15 mesh with the first internal gear ring 113; the output assembly 13 is provided with an output shaft 131 passing through the first through hole 121. The control board 2 is installed in the control slot 112, the linear Hall sensor 4 is installed on the control board 2, and the magnet 3 is installed on the output assembly 13. The linear Hall sensor 4 is used to detect the rotation angle of the output shaft 131 through the magnet 3.

[0021] The linear Hall sensor 4 is electrically connected to the control board 2; the first sun gear 14 and the first planetary gear 15 are both located in the receiving hole 111; the number of the first planetary gears 15 can be set according to actual needs, for example, the first planetary gears 15 can be 3 or 4, etc.

[0022] In this invention, the first sun gear 14 drives the first planetary gear 15 to rotate, and the first planetary gear 15 drives the output assembly 13 to rotate. The magnet 3 is mounted on the output assembly 13, and the linear Hall sensor 4 is mounted on the control board 2. Thus, the linear Hall sensor 4 can detect the rotation angle of the output shaft 131 through the magnet 3. The magnet 3 and the linear Hall sensor 4 do not contact each other, thus preventing friction and extending the service life of both. Furthermore, dust, oil, and humidity changes are less likely to affect the linear Hall sensor 4, improving the reliability of its angle detection. The reducer for this Hall angle measurement is also compact and occupies little space.

[0023] In one embodiment, such as Figure 4 As shown, the output component 13 includes a first planetary disk 132, the output shaft 131 is disposed on the first planetary disk 132, and all the first planetary gears 15 are circumferentially spaced and rotatably mounted on the first planetary disk 132; the magnet 3 is mounted on the side of the first planetary disk 132 away from the first planetary gears 15.

[0024] The first planetary gear 15 can be rotatably mounted on the first planetary disk 132 via the first shaft. The magnet 3 can be a ring magnet 3 or an arc magnet 3. The magnet 3 is arranged around the output shaft 131. The first planetary gear 15 is rotatably mounted on the bottom of the first planetary disk 132, and the output shaft 131 is arranged on the top of the first planetary disk 132.

[0025] In this embodiment, the magnet 3 is mounted on the first planetary disk 132, and the Hall angle measuring reducer has a compact structure and occupies little space.

[0026] In one embodiment, such as Figure 5As shown, the output component 13 includes a detection gear 133 and a first planetary disk 132 with sector teeth 134. The output shaft 131 is disposed on the first planetary disk 132, and all the first planetary gears 15 are circumferentially spaced and rotatably mounted on the first planetary disk 132. The detection gear 133 is rotatably mounted in the control slot 112 and meshes with the sector teeth 134. The magnet 3 is mounted on the detection gear 133.

[0027] The detection gear 133 is engaged on the side of the first planetary disk 132.

[0028] Specifically, the first planetary disk 132 rotates with the detection gear 133 via the sector teeth 134, and the linear Hall sensor 4 detects the rotation angle of the detection gear 133 via the magnet 3, thereby detecting the rotation angle of the output shaft 131.

[0029] In one embodiment, such as Figure 5 and Figure 6 As shown, the first planetary disk 132 is also provided with a first limiting part 135 and a second limiting part, and the sector tooth 134 is located between the first limiting part 135 and the second limiting part; the first limiting part 135 and the second limiting part are used to limit the rotation angle of the first planetary disk 132.

[0030] The first limiting part 135 and the second limiting part are located on the left and right sides of the sector tooth 134, respectively, and both the first limiting part 135 and the second limiting part can be limiting protrusions.

[0031] In this embodiment, the detection gear 133 can mesh with the sector tooth 134, but cannot mesh with the first limiting part 135 and the second limiting part. Thus, the first limiting part 135 and the second limiting part can limit the rotation angle of the detection gear 133. In turn, the detection gear 133 can limit the rotation angle of the first planetary disk 132 through the first limiting part 135 and the second limiting part, thus avoiding the output shaft 131 from having an excessive rotation angle.

[0032] In one embodiment, such as Figure 4 As shown, the magnet 3 has N poles and S poles spaced apart, and the boundary line between the N poles and the S poles is positioned opposite to the linear Hall sensor 4.

[0033] The linear Hall sensor 4 is located at the point of strongest magnetism of the magnet 3, and the magnet 3 is close to the maximum stroke of the linear Hall sensor 4; the magnet 3 and the linear Hall sensor 4 are subjected to radial magnetization.

[0034] In one specific embodiment, when the output shaft 131 is rotated to half position, the boundary line between the N pole and the S pole passes through the linear Hall sensor 4.

[0035] In one embodiment, such as Figure 6 and Figure 7 As shown, a second internal gear ring 114 is also provided on the inner sidewall of the receiving hole 111; The deceleration mechanism 1 further includes a second planetary disk 16, a second sun gear 17, and a plurality of second planetary gears 18. The first sun gear 14 is disposed on the second planetary disk 16. The second planetary disk 16 has a plurality of second shafts 161 distributed circumferentially at intervals on the side opposite to the first sun gear 14. The second planetary gears 18 are rotatably sleeved on the second shafts 161 in a corresponding manner. The second sun gear 17 meshes with all the second planetary gears 18, and all the second planetary gears 18 mesh with the second internal gear ring 114.

[0036] The number of the second planetary gears 18 can be set according to actual needs, and the second sun gear 17 and the first sun gear 14 are coaxially arranged.

[0037] Specifically, the second sun gear 17 drives the second planetary disk 16 to rotate via the second planetary gear 18, and the second planetary disk 16 drives the first planetary disk 132 to rotate via the first sun gear 14 and the first planetary gear 15.

[0038] In this embodiment, the Hall-effect angle-measuring reducer has a two-stage planetary reduction ratio, and the Hall-effect angle-measuring reducer has a large speed reduction and torque increase effect.

[0039] In one embodiment, such as Figure 1 As shown, the deceleration mechanism 1 also includes a clutch assembly 19, a third sun gear 101, and a plurality of third planet gears 102; the clutch assembly 19 includes a first clutch body 191 and a second clutch body 192 that can rotate relative to each other, and the second sun gear 17 is disposed on the first clutch body 191; The second clutch body 192 has a plurality of third shafts 103 distributed circumferentially on the side opposite to the first clutch body 191. The third planetary gears 102 are rotatably sleeved on the third shafts 103 in a corresponding manner. The third sun gear 101 meshes with all the third planetary gears 102, and all the third planetary gears 102 mesh with the second internal gear ring 114.

[0040] The number of third planetary gears 102 can be set according to actual needs. The third sun gear 101 and the second sun gear 17 are coaxially arranged. When the torque on the first clutch is less than or equal to the preset torque, the first clutch 191 and the second clutch 192 will rotate synchronously. When the torque on the first clutch is greater than the preset torque, the first clutch 191 and the second clutch 192 will rotate relative to each other, which can avoid the accident of damage to the reducer of the Hall angle measurement due to excessive torsional force.

[0041] Specifically, the third sun gear 101 drives the second clutch 192 to rotate via the third planet gear 102, the second clutch 192 drives the second sun gear 17 to rotate via the first clutch 191, the second sun gear 17 drives the second planetary disk 16 to rotate via the second planet gear 18, and the second planetary disk 16 drives the first planetary disk 132 to rotate via the first sun gear 14 and the first planet gear 15.

[0042] In this embodiment, the Hall angle measuring reducer has a three-stage planetary reduction ratio, which further increases the reduction ratio of the Hall angle measuring reducer.

[0043] like Figures 1 to 3 As shown, another embodiment of the present invention also provides a driving device, including a motor 5 and the aforementioned Hall angle measuring reducer. The motor 5 is mounted on the housing 11, and the output end of the motor 5 is connected to the third sun gear 101.

[0044] The motor 5 can drive the third sun gear 101 to rotate. The third sun gear 101 drives the second clutch 192 to rotate via the third planetary gear 102. The second clutch 192 drives the second sun gear 17 to rotate via the first clutch 191. The second sun gear 17 drives the second planetary disk 16 to rotate via the second planetary gear 18. The second planetary disk 16 drives the first planetary disk 132 to rotate via the first sun gear 14 and the first planetary gear 15. Thus, the output shaft 131 can drive the external components to rotate.

[0045] In one embodiment, such as Figure 1 As shown, the motor 5 is provided with a clamping groove 51, which is used to clamp the wire harness 6 connected to the control board 2.

[0046] The control board 2 can be connected to external components via the wire harness 6, and the clamping groove 51 can hold the wire harness 6 to prevent it from becoming tangled.

[0047] In one embodiment, such as Figure 2As shown, the motor 5 is provided with a groove 52; the drive device also includes an adapter cover 7, and the adapter cover 7 is provided with a first annular insertion part 71 and a second annular insertion part 72 on opposite sides; the first annular insertion part 71 is inserted into the receiving hole 111, and the second annular insertion part 72 is inserted into the groove 52.

[0048] The first annular insertion part 71 is inserted into the receiving hole 111 of the outer cylinder, and the second annular insertion part 72 is inserted into the groove 52 of the motor 5. Thus, the adapter cover 7 can fix the motor 5 on the outer cylinder, thereby ensuring the aesthetics of the drive device.

[0049] Linear Hall sensor 4: It adopts SOT-23-3 package to reduce installation space. The range of linear Hall sensor 4 is matched with the magnetic field strength to ensure that the range can cover the working range as much as possible.

[0050] Control board 2 includes an MCU module. This MCU module is a low-cost, simplified instruction set MCU with 256 bytes of RAM, 4KB of ROM, and 128 bytes of EEPROM. It has a built-in 12-bit ADC (sampling rate up to 1MHz), an integrated 8-bit hardware PWM, and a serial port. Control board 2 features a PWM-to-DAC circuit (converting digital signals to analog signals, simulating different output voltages by adjusting the duty cycle of the PWM wave, and then smoothing the output through an RC filter to generate analog voltage): it converts the PWM signal to a DAC signal through two stages of RC filtering. Control board 2 also includes a serial port and DAC-compatible circuitry to achieve analog signal output, single-wire serial port compatibility, and reduces external wiring.

[0051] The workflow of this drive device is as follows: After the control board 2 is powered on, it executes a self-test program, reads the calibration data and calibration flag bit in the EEPROM; if the calibration flag bit is in an uncalibrated state, the signal output pin is left floating, the serial port is enabled, and it continuously enters the calibration waiting state, waiting for communication from the calibration host computer; if the calibration flag bit is in a calibrated state, the signal output pin is left floating, the single-wire serial port is enabled, and it enters a 500ms calibration waiting state to ensure that the calibration data can be modified later. If no communication from the host computer is detected after 500ms, it enters the normal working mode. The working mode is as follows: The MCU will perform a real-time angle calculation and calibration output workflow of 1kHz sampling -> calculation -> calibration -> output DAC signal; the ADC samples at 1kHz and filters it through a sliding window filtering algorithm. The filtered value will be converted by looking up the calibration data stored in the EEPROM and then calculated by a linear interpolation algorithm to obtain the angle data; after obtaining the angle data, the angle data will be converted into PWM duty cycle data again through a linear interpolation algorithm; the PWM duty cycle data will be converted into the target level output through the DAC conversion circuit.

[0052] The drive device also has a calibration mode: After entering calibration mode, the MCU will communicate with the calibration host computer via master-slave serial port; the calibration host computer is the master and the MCU is the slave. The master initiates a command, and the slave receives it and returns the corresponding data; the calibration host will control the motor 5 to drag the magnet 3 in a step value of 8° per second to perform calibration. Every 8° per second, the calibration host will send a command to the MCU to obtain the Hall AD value, and at the same time, the MCU will feed back the real-time sampling and filtering value; after the calibration sampling data is obtained, the calibration host computer will perform linear fitting on the Hall data and angle data to generate a corresponding mapping table and send it to the MCU. The MCU saves the data and notifies the host that the calibration is complete, and the entire calibration process ends.

[0053] The above-described embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model, and should all be included within the protection scope of this utility model.

Claims

1. A reducer for measuring angles using Hall effect sensors, characterized in that, Includes a speed reduction mechanism, control board, magnets, and linear Hall effect sensors; The reduction mechanism includes a housing, a housing cover, an output component, a first sun gear, and multiple first planetary gears; the housing has a receiving hole and a control groove communicating with the receiving hole, and a first internal gear ring is provided on the inner sidewall of the receiving hole; the housing cover is detachably mounted on the housing, and the housing cover is used to open or close the receiving hole and the control groove; the housing cover has a first through hole communicating with the receiving hole; All the first planetary gears are circumferentially spaced and rotatably mounted on the output assembly. The first sun gear meshes with all the first planetary gears, and all the first planetary gears mesh with the first internal gear ring. The output assembly is provided with an output shaft that passes through the first through hole. The control board is installed in the control slot, the linear Hall sensor is installed on the control board, and the magnet is installed on the output assembly. The linear Hall sensor is used to detect the rotation angle of the output shaft through the magnet.

2. The reducer for measuring angles using Hall effect sensors according to claim 1, characterized in that, The output component includes a first planetary disk, the output shaft is disposed on the first planetary disk, and all the first planetary gears are circumferentially spaced and rotatably mounted on the first planetary disk; the magnet is mounted on the side of the first planetary disk opposite to the first planetary gears.

3. The reducer for Hall effect angle measurement according to claim 1, characterized in that, The output component includes a detection gear and a first planetary disk with sector teeth. The output shaft is disposed on the first planetary disk, and all the first planetary gears are circumferentially spaced and rotatably mounted on the first planetary disk. The detection gear is rotatably mounted in the control slot and meshes with the sector teeth. The magnet is mounted on the detection gear.

4. The reducer for Hall effect angle measurement according to claim 3, characterized in that, The first planetary disk is further provided with a first limiting part and a second limiting part, and the sector tooth is located between the first limiting part and the second limiting part; the first limiting part and the second limiting part are used to limit the rotation angle of the first planetary disk.

5. The reducer for Hall effect angle measurement according to claim 1, characterized in that, The magnet has N poles and S poles spaced apart, and the boundary line between the N poles and the S poles is positioned opposite to the linear Hall sensor.

6. The reducer for measuring angles using Hall effect measurement according to any one of claims 1 to 5, characterized in that, A second internal gear ring is also provided on the inner wall of the receiving hole; The deceleration mechanism further includes a second planetary disk, a second sun gear, and multiple second planetary gears. The first sun gear is disposed on the second planetary disk. The second planetary disk has multiple second shafts distributed circumferentially on the side opposite to the first sun gear. The second planetary gears are rotatably sleeved on the second shafts in a corresponding manner. The second sun gear meshes with all the second planetary gears, and all the second planetary gears mesh with the second internal gear ring.

7. The reducer for Hall effect angle measurement according to claim 6, characterized in that, The deceleration mechanism further includes a clutch assembly, a third sun gear, and multiple third planetary gears; the clutch assembly includes a first clutch body and a second clutch body that can rotate relative to each other, and the second sun gear is disposed on the first clutch body; The second clutch body has a plurality of third shafts distributed circumferentially on the side opposite to the first clutch body. The third planetary gears are rotatably sleeved on the third shafts one by one. The third sun gear meshes with all the third planetary gears, and all the third planetary gears mesh with the second internal gear ring.

8. A driving device, characterized in that, It includes a motor and a reducer for measuring angles using Hall effect as described in claim 7, wherein the motor is mounted on the housing and the output of the motor is connected to the third sun gear.

9. The driving device according to claim 8, characterized in that, The motor is provided with a clamping groove for holding the wire harness connected to the control board.

10. The driving device according to claim 8, characterized in that, The motor is provided with a groove; the drive device also includes an adapter cover, on which a first annular insertion part and a second annular insertion part are respectively provided on opposite sides; the first annular insertion part is inserted into the receiving hole, and the second annular insertion part is inserted into the groove.

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