CN117287497A - Execution device, vehicle and control method - Google Patents

Abstract

The invention provides an execution device, a vehicle and a control method. The execution device comprises: an upper housing having a first accommodation chamber therein; the lower shell is provided with a second accommodating cavity, a first end of the lower shell is connected with the upper shell, a second end of the lower shell is connected with the output shaft, and an inner gear ring is arranged on the inner peripheral surface of the lower shell; the motor is positioned in the first accommodating cavity; the cycloid gear assembly is positioned in the second accommodating cavity, the cycloid gear assembly is connected with a rotor of the motor through a rotating shaft, and one end of the rotating shaft, which is far away from the upper shell, is connected with the output shaft; the cycloidal gear assembly comprises at least three cycloidal gears, the rotating shaft is provided with at least three eccentric shaft sections, the at least three cycloidal gears are arranged in one-to-one correspondence with the at least three eccentric shaft sections, and the outer gear ring of the at least three cycloidal gears is arranged in cooperation with the inner gear ring of the lower shell. The high-speed-ratio high-rotation-speed high-torque high-speed motor has the advantages of small size, low noise, convenience in whole vehicle arrangement and the like.

Description

Execution device, vehicle and control method

Technical Field

The invention relates to the technical field of vehicles, in particular to an execution device, a vehicle and a control method.

Background

With the rapid development of the electric automobile market, automatic control of vehicles is widely applied, and the demand of automatic driving is increasing. The gear shifting actuating mechanism of the multi-gear speed reducer applied to the electric automobile in the market at present adopts a miniature actuating motor and reduction gear integrated mode, and gears of the speed reducing mechanism at present adopt cylindrical gears, worm gears, ball screws and the like, so that the mechanism is complex in structure, large in size, large in noise, high in cost and low in transmission efficiency, and is not suitable for the requirements of high-precision and high-efficiency gear shifting execution of the speed reducer in the future.

In the prior art, the external teeth of one cycloidal gear of a common pin gear cycloidal speed reducing mechanism are internally meshed with the same internal gear, so that the effect of one cycloidal gear in transmission is identical, and the influence on the transmission speed ratio is identical. In order to meet the requirement of the actuating mechanism for increasing the speed ratio, the pin wheel cycloid speed reducing mechanism in the prior art needs to be additionally provided with more than two stages of transmission, so that the size of the pin wheel cycloid actuating mechanism is increased, the cost and the weight of the actuating mechanism are increased, the transmission efficiency is reduced along with the increase of a machining size chain, the requirement on transmission precision is increased, and the machining process difficulty is correspondingly increased.

Disclosure of Invention

The invention mainly aims to provide an executing device, a vehicle and a control method, which are used for solving the problems of the prior art that the cost and the weight of an executing mechanism are increased, the transmission efficiency is reduced and the transmission precision is reduced.

In order to achieve the above object, according to one aspect of the present invention, there is provided an execution apparatus comprising: an upper housing having a first accommodation chamber therein; the lower shell is provided with a second accommodating cavity, a first end of the lower shell is connected with the upper shell, a second end of the lower shell is connected with the output shaft, and an inner gear ring is arranged on the inner peripheral surface of the lower shell; the motor is positioned in the first accommodating cavity; the cycloid gear assembly is positioned in the second accommodating cavity, the cycloid gear assembly is connected with a rotor of the motor through a rotating shaft, and one end of the rotating shaft, which is far away from the upper shell, is connected with the output shaft; the cycloidal gear assembly comprises at least three cycloidal gears, the rotating shaft is provided with at least three eccentric shaft sections, the at least three cycloidal gears are arranged in one-to-one correspondence with the at least three eccentric shaft sections, and the outer gear ring of the at least three cycloidal gears is arranged in cooperation with the inner gear ring of the lower shell.

Further, the at least three eccentric shaft sections comprise a first eccentric shaft section, a second eccentric shaft section and a third eccentric shaft section, and the axes of the first eccentric shaft section, the second eccentric shaft section and the third eccentric shaft section are parallel to each other; the at least three cycloidal gears include: the first cycloid gear is arranged close to the output shaft, the first cycloid gear is sleeved on the second cycloid gear of the first eccentric shaft section, the second cycloid gear is arranged close to the upper shell, and the second cycloid gear is sleeved on the second eccentric shaft section; the third cycloid gear is positioned between the first cycloid gear and the second cycloid gear, and the third cycloid gear is sleeved on the third eccentric shaft section.

Further, the first cycloid gear, the third cycloid gear and the second cycloid gear are installed at intervals of 120 degrees.

Further, the upper case includes: the first bearing is sleeved on the first eccentric shaft section, the first bearing is arranged close to the output shaft, and the outer peripheral surface of the first bearing is meshed with the inner gear of the first cycloid gear; the second bearing is sleeved on the second eccentric shaft section, the second bearing is arranged close to the upper shell, and the outer peripheral surface of the second bearing is meshed with the inner gear of the second cycloid gear; the third bearing is sleeved on the third eccentric shaft section, the third bearing is positioned between the first bearing and the second bearing, and the outer peripheral surface of the third bearing is meshed with the inner gear of the third cycloid gear.

Further, the upper case includes: a plurality of first sensor terminals disposed at intervals and located on an inner peripheral surface of the upper case; the first power supply terminals are arranged on the inner peripheral surface of the upper shell at intervals, and the upper shell, the first sensor terminals and the first power supply terminals are integrally formed.

Further, the motor includes motor stator and motor rotor, and motor rotor locates in the pivot that is located first accommodation chamber, and motor stator sets up in motor rotor's outer lane, and executive device still includes: the motor control unit is located the first intracavity that holds, and to keeping away from the one end setting of third cycloid gear, and motor control unit is used for monitoring the state of at least three cycloid gear, is equipped with a plurality of second sensor terminals, a plurality of second power supply terminal on the motor control unit, and a plurality of second sensor terminals set up with a plurality of first sensor terminals one-to-one, and a plurality of second power supply terminal set up with a plurality of first power supply terminal one-to-one.

Further, the executing device further comprises a sensor magnetic ring, the sensor magnetic ring is sleeved on the rotating shaft, the sensor magnetic ring is arranged between the motor control unit and the end part of the motor stator, and the sensor magnetic ring is electrically connected with the motor control unit.

Further, the executing device further includes: the fourth bearing is positioned at one end of the rotating shaft, which is close to the top of the upper shell; and the fifth bearing is positioned at one end of the rotating shaft close to the bottom of the lower shell.

Further, the executing device further includes: the first sealing ring is arranged at the joint of the upper shell and the lower shell; the second sealing ring is arranged between the lower shell and the output shaft.

According to another aspect of the present invention, there is provided a vehicle including: the vehicle includes an execution device, which is the execution device described above.

According to another aspect of the present invention, there is provided a control method of a vehicle for controlling the above-described vehicle, the method comprising the steps of: acquiring monitoring state information of a motor control unit, wherein the monitoring state information at least comprises: a rotational state of at least three cycloidal gears; based on the monitoring status information, it is determined whether the execution device is in a normal mode.

Further, determining whether the execution device is in a normal mode based on the monitoring status information includes: under the condition that the executing device is in the normal mode, the motor control unit executes a control signal of the whole vehicle controller and feeds back a current mode, a rotating speed signal and a rotating position signal of the executing device to the whole vehicle controller; under the condition that the executing device is not in the normal mode, the motor control unit does not execute the control signal of the whole vehicle controller and feeds back the current mode, the rotating speed signal and the rotating position signal of the executing device to the whole vehicle controller.

By adopting the technical scheme of the invention, at least three cycloid gears are arranged in one-to-one correspondence with at least three eccentric shaft sections on the rotating shaft, and the at least three cycloid gears are connected with the rotor of the motor through the rotating shaft, so that the at least three cycloid gears which are uniformly distributed are used for transmission, the stress of each gear is reduced, the large speed ratio, the high rotating speed and the large output torque of the actuating mechanism are realized, and the device has the advantages of small volume, simple structure, light weight, low noise, convenience in whole vehicle arrangement and the like.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:

fig. 1 shows a schematic structural view of a first embodiment of an actuator according to the invention;

fig. 2 shows a schematic structural view of a cycloidal gear assembly of an actuator according to the present invention;

fig. 3 shows a schematic structural view of an upper housing of the actuator according to the present invention;

fig. 4 shows a schematic structural view of a lower housing of the actuator according to the present invention;

fig. 5 shows a schematic structural view of a motor control unit of the actuator according to the present invention;

fig. 6 shows a schematic structural view of a first cycloidal gear of an actuator according to the present invention;

fig. 7 shows a schematic structural view of a second cycloidal gear of an actuator according to the present invention;

fig. 8 shows a schematic structural view of a third cycloidal gear of an actuator according to the present invention.

Wherein the above figures include the following reference numerals:

1. an upper housing; 2. a motor stator; 3. a motor rotor; 4. a threaded bushing; 5. a bolt; 6. cycloid gears; 7. a lower housing; 8. a second seal ring; 61. a first cycloidal gear; 62. a second cycloidal gear; 63. a third cycloidal gear; 9. an output shaft; 10. a fifth bearing; 11. a first bearing; 12. a second bearing; 13. a third bearing; 14. a first seal ring; 15. a sensor magnetic ring; 17. a motor control unit; 18. a fourth bearing; 19. a rotating shaft;

a1, a first sensor terminal; a2, a first power supply terminal;

b1, a second sensor terminal; b2, a second power supply terminal.

Detailed Description

It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Exemplary embodiments according to the present application will now be described in more detail with reference to the accompanying drawings. These exemplary embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of these exemplary embodiments to those skilled in the art, that in the drawings, it is possible to enlarge the thicknesses of layers and regions for clarity, and that identical reference numerals are used to designate identical devices, and thus descriptions thereof will be omitted.

Referring to fig. 1 to 8, an actuator is provided according to an embodiment of the present invention.

Specifically, as shown in fig. 1 and 4, the execution device includes: an upper housing 1, wherein a first accommodating cavity is formed in the upper housing 1; a lower housing 7, the lower housing 7 having a second accommodation chamber, a first end of the lower housing 7 being connected with the upper housing 1, a second end of the lower housing 7 being connected with an output shaft 9, an inner circumferential surface of the lower housing 7 being provided with an inner gear ring; the motor is positioned in the first accommodating cavity; the cycloid gear assembly is positioned in the second accommodating cavity, the cycloid gear assembly is connected with a rotor of the motor through a rotating shaft 19, and one end of the rotating shaft 19, which is far away from the upper shell 1, is connected with the output shaft 9; the cycloidal gear assembly comprises at least three cycloidal gears 6, the rotating shaft 19 is provided with at least three eccentric shaft sections, the at least three cycloidal gears 6 are arranged in one-to-one correspondence with the at least three eccentric shaft sections, and the outer gear ring of the at least three cycloidal gears 6 is arranged in cooperation with the inner gear ring of the lower shell 7.

In the embodiment, at least three cycloid gears are arranged in one-to-one correspondence with at least three eccentric shaft sections on the rotating shaft 19, and are connected with a rotor of a motor through the rotating shaft 19, so that at least three cycloid gears which are uniformly distributed are used for transmission, the stress of each gear is reduced, the large speed ratio, the high rotating speed and the large output torque of an actuating mechanism are realized, and the device has the advantages of small size, simple structure, light weight, low noise, convenience in whole vehicle arrangement and the like.

As shown in fig. 2, the at least three eccentric shaft sections comprise a first eccentric shaft section, a second eccentric shaft section and a third eccentric shaft section, and the axes of the first eccentric shaft section, the second eccentric shaft section and the third eccentric shaft section are parallel to each other; the at least three cycloidal gears 6 comprise: the first cycloid gear 61, the first cycloid gear 61 is close to the output shaft 9, the first cycloid gear 61 is sleeved on the second cycloid gear 62 of the first eccentric shaft section, the second cycloid gear 62 is close to the upper shell 1, and the second cycloid gear is sleeved on the second eccentric shaft section; and the third cycloid gear 63, the third cycloid gear 63 is positioned between the first cycloid gear 61 and the second cycloid gear 62, and the third cycloid gear 63 is sleeved on the third eccentric shaft section. By changing the position of the eccentric shaft section, the transmission ratio of the transmission can be changed.

As shown in fig. 6, 7 and 8, the first cycloid gear 61, the third cycloid gear 63 and the second cycloid gear 62 are installed at intervals of 120 °. During installation, the three marking points on the figures 6, 7 and 8 are assembled, so that the design can realize that the eccentric bending moment of the three eccentric cycloid gears is balanced along the circumferential direction during rotation, the stability and the reliability of three gear transmission can be ensured, and the vibration noise performance of the mechanism can be improved.

As shown in fig. 1, the upper case 1 includes: the first bearing 11, the first bearing 11 is sleeved on the first eccentric shaft section, the first bearing 11 is arranged close to the output shaft 9, and the outer peripheral surface of the first bearing 11 is meshed with the inner gear of the first cycloid gear 61; the second bearing 12, the second bearing 12 is sleeved on the second eccentric shaft section, the second bearing 12 is arranged close to the upper shell 1, and the outer peripheral surface of the second bearing 12 is meshed with the inner gear of the second cycloid gear 62; the third bearing 13, the third bearing 13 is sleeved on the third eccentric shaft section, the third bearing 13 is located between the first bearing 11 and the second bearing 12, and the outer peripheral surface of the third bearing 13 is meshed with the inner gear of the third cycloid gear 63. In this embodiment, through each gear and pivot 19 junction respectively be provided with the bearing, the bearing cooperation can support the weight and the load of gear, ensure the steady operation of gear, the use of bearing can reduce the friction between gear and the axle, reduce energy loss and wearing and tearing, the life of extension gear and axle, reasonable bearing cooperation can reduce the vibration and the noise of gear, improve the work efficiency and the travelling comfort of device, the gear can keep the stability of gear's position and relative angle with the bearing cooperation, ensure gear drive's precision and reliability.

As shown in fig. 3, the upper case 1 includes: a plurality of first sensor terminals a1, the plurality of first sensor terminals a1 being located on the inner peripheral surface of the upper case 1 and being arranged at intervals; the first power supply terminals a2 are provided at intervals on the inner peripheral surface of the upper case 1, and the upper case 1 is provided integrally with the first sensor terminals a1 and the first power supply terminals a 2. The arrangement saves the space of the mechanism and improves the space utilization rate.

As shown in fig. 5, the motor includes a motor stator 2 and a motor rotor 3, the motor rotor 3 is disposed on a rotating shaft 19 located in the first accommodating cavity, the motor stator 2 is disposed on an outer ring of the motor rotor 3, and the executing device further includes: the motor control unit 17, the motor control unit 17 is located first and holds the intracavity, and to keeping away from the one end setting of third cycloid gear 63, and the motor control unit 17 is used for monitoring the state of at least three cycloid gear 6, is equipped with a plurality of second sensor terminals b1, a plurality of second power supply terminal b2 on the motor control unit 17, and a plurality of second sensor terminals b1 and a plurality of first sensor terminals a1 one-to-one set up, and a plurality of second power supply terminal b2 and a plurality of first power supply terminal a2 one-to-one set up. This arrangement achieves the function of powering the motor.

Further, the executing device further comprises a sensor magnetic ring 15, the sensor magnetic ring 15 is sleeved on the rotating shaft 19, the sensor magnetic ring 15 is arranged between the motor control unit 17 and the end part of the motor stator 2, and the sensor magnetic ring 15 is electrically connected with the motor control unit 17. In this embodiment, the sensor magnetic ring can concentrate the magnetic field in a specific area by designing a proper shape and material, so as to improve the sensitivity and accuracy of the sensor. The sensor magnetic ring can ensure the stability and accuracy of the magnetic field in the sensor system by absorbing and shielding the interference of the external magnetic field, and improve the anti-interference capability of the sensor. The sensor magnetic ring can play a role in protecting the sensor and prevent the sensor from being damaged by the external environment, such as water resistance, dust resistance, vibration resistance and the like. The magnetic ring of the sensor can adjust the magnetic field intensity in the sensor system by changing the shape, the material, the size and other parameters of the magnetic ring of the sensor so as to meet different application requirements.

Further, the executing device further includes: a fourth bearing 18, the fourth bearing 18 being located at one end of the rotation shaft 19 near the top of the upper housing 1; a fifth bearing 10, the fifth bearing 10 being located at one end of the rotation shaft 19 near the bottom of the lower housing 7. The arrangement plays a role in supporting and reducing rotation friction, and improves the efficiency and service life of the executing device.

Further, the executing device further includes: the first sealing ring 14 is arranged at the joint of the upper shell 1 and the lower shell 7; the second seal ring 8, the second seal ring 8 is set up between lower body 7 and output shaft 9. Specifically, be equipped with the through-hole on the last casing 1, lower casing 7 is equipped with the through-hole, goes up casing 1 and lower casing 7 and passes the through-hole through bolt 5 and be connected, and the through-hole department of going up casing 1 is equipped with screw bush 4 for provide threaded connection's holding power, reinforcing connection's intensity and stability. The connecting device can bear the pressure and load of the connecting part, ensure the firmness of connection and prevent loosening and falling.

According to another aspect of the present invention, there is provided a vehicle including: the vehicle includes an execution device, which is the execution device described above. The execution device comprises: an upper housing 1, wherein a first accommodating cavity is formed in the upper housing 1; a lower housing 7, the lower housing 7 having a second accommodation chamber, a first end of the lower housing 7 being connected with the upper housing 1, a second end of the lower housing 7 being connected with an output shaft 9, an inner circumferential surface of the lower housing 7 being provided with an inner gear ring; the motor is positioned in the first accommodating cavity; the cycloid gear assembly is positioned in the second accommodating cavity, the cycloid gear assembly is connected with a rotor of the motor through a rotating shaft 19, and one end of the rotating shaft 19, which is far away from the upper shell 1, is connected with the output shaft 9; the cycloidal gear assembly comprises at least three cycloidal gears 6, the rotating shaft 19 is provided with at least three eccentric shaft sections, the at least three cycloidal gears 6 are arranged in one-to-one correspondence with the at least three eccentric shaft sections, and the outer gear ring of the at least three cycloidal gears 6 is arranged in cooperation with the inner gear ring of the lower shell 7.

In the embodiment, at least three cycloid gears are arranged in one-to-one correspondence with at least three eccentric shaft sections on the rotating shaft 19, and are connected with a rotor of a motor through the rotating shaft 19, so that at least three cycloid gears which are uniformly distributed are used for transmission, the stress of each gear is reduced, the large speed ratio, the high rotating speed and the large output torque of an actuating mechanism are realized, and the device has the advantages of small size, simple structure, light weight, low noise, convenience in whole vehicle arrangement and the like.

According to another aspect of the present invention, there is provided a control method of a vehicle for controlling the above-described vehicle, the method comprising the steps of:

s1: acquiring monitoring state information of a motor control unit, wherein the monitoring state information at least comprises: a rotational state of at least three cycloidal gears;

s2: based on the monitoring status information, it is determined whether the execution device is in a normal mode.

Through the steps, according to the monitoring state information, the three cycloid gears are confirmed to be in a normal mode or a fault mode.

Further, determining whether the execution device is in a normal mode based on the monitoring status information includes: under the condition that the executing device is in the normal mode, the motor control unit executes a control signal of the whole vehicle controller and feeds back a current mode, a rotating speed signal and a rotating position signal of the executing device to the whole vehicle controller; under the condition that the executing device is not in the normal mode, the motor control unit does not execute the control signal of the whole vehicle controller and feeds back the current mode, the rotating speed signal and the rotating position signal of the executing device to the whole vehicle controller.

Specifically, if the cycloid transmission device is in a fault mode, the motor control unit does not execute a control signal from the whole vehicle network, and feeds back a current mode, a rotating speed signal and a rotating position signal to the whole vehicle network; if the cycloid transmission device is in a normal mode, the motor control unit executes a control signal transmitted from the whole vehicle network and feeds back a current mode, a rotating speed signal and a rotating position signal to the whole vehicle network.

Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In addition to the foregoing, references in the specification to "one embodiment," "another embodiment," "an embodiment," etc., mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment described in general terms in the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment. Further, when a particular feature, structure, or characteristic is described in connection with any embodiment, it is intended that such feature, structure, or characteristic be implemented within the scope of the invention.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (12)

1. An execution device, comprising:

an upper housing (1), wherein a first accommodating cavity is formed in the upper housing (1);

the lower shell (7), the lower shell (7) is provided with a second accommodating cavity, a first end of the lower shell (7) is connected with the upper shell (1), a second end of the lower shell (7) is connected with an output shaft (9), and an inner circumferential surface of the lower shell (7) is provided with an annular gear;

the motor is positioned in the first accommodating cavity;

the cycloid gear assembly is positioned in the second accommodating cavity, the cycloid gear assembly is connected with a rotor of the motor through a rotating shaft (19), and one end, far away from the upper shell (1), of the rotating shaft (19) is connected with the output shaft (9);

the cycloid gear assembly comprises at least three cycloid gears (6), wherein the rotating shaft (19) is provided with at least three eccentric shaft sections, at least three cycloid gears (6) are arranged in one-to-one correspondence with the at least three eccentric shaft sections, and outer gear rings of the at least three cycloid gears (6) are arranged in cooperation with the inner gear rings of the lower shell (7).

2. The actuator of claim 1, wherein at least three of the eccentric shaft segments comprise a first eccentric shaft segment, a second eccentric shaft segment, and a third eccentric shaft segment, the axes of the first eccentric shaft segment, the second eccentric shaft segment, and the third eccentric shaft segment being parallel to one another;

at least three of the cycloidal gears (6) include:

the first cycloid gear (61) is arranged close to the output shaft (9), and the first cycloid gear (61) is sleeved on the first eccentric shaft section;

the second cycloid gear (62) is arranged close to the upper shell (1), and the second cycloid gear is sleeved on the second eccentric shaft section;

the third cycloid gear (63) is positioned between the first cycloid gear (61) and the second cycloid gear (62), and the third cycloid gear (63) is sleeved on the third eccentric shaft section.

3. The actuator according to claim 2, wherein the first cycloid gear (61), the third cycloid gear (63) and the second cycloid gear (62) are mounted at 120 ° intervals.

4. The execution device according to claim 2, characterized in that the upper housing (1) comprises:

the first bearing (11) is sleeved on the first eccentric shaft section, the first bearing (11) is arranged close to the output shaft (9), and the outer peripheral surface of the first bearing (11) is meshed with the inner gear of the first cycloid gear (61);

the second bearing (12) is sleeved on the second eccentric shaft section, the second bearing (12) is arranged close to the upper shell (1), and the outer peripheral surface of the second bearing (12) is meshed with the inner gear of the second cycloid gear (62);

the third bearing (13) is sleeved on the third eccentric shaft section, the third bearing (13) is located between the first bearing (11) and the second bearing (12), and the outer peripheral surface of the third bearing (13) is meshed with the inner gear of the third cycloid gear (63).

5. The execution device according to claim 2, characterized in that the upper housing (1) comprises:

a plurality of first sensor terminals (a 1), wherein the plurality of first sensor terminals (a 1) are disposed at intervals on the inner peripheral surface of the upper case (1);

the first power supply terminals (a 2) are arranged on the inner peripheral surface of the upper shell (1) at intervals, and the upper shell (1) is integrally formed with the first sensor terminals (a 1) and the first power supply terminals (a 2).

6. The execution device according to claim 5, characterized in that the motor comprises a motor stator (2) and a motor rotor (3), the motor rotor (3) being arranged on the rotating shaft (19) located in the first housing chamber, the motor stator (2) being arranged on an outer ring of the motor rotor (3), the execution device further comprising:

the motor control unit (17), motor control unit (17) are located first hold the intracavity, and to keeping away from the one end setting of third cycloid gear (63), motor control unit (17) are used for monitoring at least three cycloid gear (6) state, be equipped with a plurality of second sensor terminals (b 1), a plurality of second power supply terminal (b 2) on motor control unit (17), a plurality of second sensor terminal (b 1) and a plurality of first sensor terminal (a 1) one-to-one set up, a plurality of second power supply terminal (b 2) and a plurality of first power supply terminal (a 2) one-to-one set up.

7. The execution device according to claim 6, further comprising a sensor magnetic ring (15), wherein the sensor magnetic ring (15) is sleeved on the rotating shaft (19), the sensor magnetic ring (15) is disposed between the motor control unit (17) and an end portion of the motor stator (2), and the sensor magnetic ring (15) is electrically connected with the motor control unit (17).

8. The execution device according to claim 1, wherein the execution device further comprises:

a fourth bearing (18), wherein the fourth bearing (18) is positioned at one end of the rotating shaft (19) close to the top of the upper shell (1);

and a fifth bearing (10), wherein the fifth bearing (10) is positioned at one end of the rotating shaft (19) close to the bottom of the lower shell (7).

9. The execution device according to claim 1, wherein the execution device further comprises:

the first sealing ring (14) is arranged at the joint of the upper shell (1) and the lower shell (7);

and the second sealing ring (8) is arranged between the lower shell (7) and the output shaft (9).

10. A vehicle, characterized by comprising: the vehicle comprises an actuator as claimed in any one of claims 1 to 9.

11. A control method of a vehicle for controlling the vehicle according to claim 10, characterized by comprising the steps of:

acquiring monitoring state information of a motor control unit, wherein the monitoring state information at least comprises: a rotational state of at least three cycloidal gears;

based on the monitoring status information, it is determined whether the execution device is in a normal mode.

12. The control method according to claim 11, characterized in that determining whether the execution device is in a normal mode based on the monitoring state information, comprises:

under the condition that the executing device is in a normal mode, the motor control unit executes a control signal of a whole vehicle controller and feeds back a current mode, a rotating speed signal and a rotating position signal of the executing device to the whole vehicle controller;

and under the condition that the executing device is not in the normal mode, the motor control unit does not execute the control signal of the whole vehicle controller and feeds back the current mode, the rotating speed signal and the rotating position signal of the executing device to the whole vehicle controller.