CN117798884A

CN117798884A - Driving device and robot having the same

Info

Publication number: CN117798884A
Application number: CN202211167597.XA
Authority: CN
Inventors: 王伟祥
Original assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Current assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Priority date: 2022-09-23
Filing date: 2022-09-23
Publication date: 2024-04-02
Also published as: WO2024060808A1

Abstract

The application relates to a driving device and a robot with the driving device, wherein the driving device comprises a power mechanism, a first speed reducing mechanism, a second speed reducing mechanism and a detection mechanism, and the power mechanism is used for forming an input end of the driving device; the first speed reducing mechanism is provided with a first input end, a first output end and a first speed reducing ratio; the second speed reducing mechanism is provided with a second input end, a second output end and a second speed reducing ratio; the detection mechanism is provided with a first detection component and a second detection component; the first reduction ratio is larger than the second reduction ratio, and the power mechanism is respectively connected with the first input end and the second input end so as to enable the first input end and the second input end to synchronously rotate; the first detection component is used for detecting motion information of the power mechanism; the second detection component is used for detecting motion information of the second output end. According to the driving device and the robot with the driving device, the driving device is controlled more accurately by comparing the motion information of the input end and the output end of the driving device.

Description

Driving device and robot having the same

Technical Field

The application relates to the technical field of motors, in particular to a driving device and a robot with the driving device.

Background

With the continuous development and popularization of motor technology, most devices are loaded with motors, so that the motors are utilized to provide driving force to realize movement of mechanical components, such as lifting, rotation, vibration and the like, so that the devices can realize corresponding functions. However, the transmission precision of the existing motor is not high, the input and output positions of the motor cannot be precisely controlled, and the controllability of the motor is reduced, so how to improve the transmission precision of the motor has become a main concern for the industry personnel.

Disclosure of Invention

In one aspect, a driving device is provided, the driving device includes a power mechanism, a first speed reduction mechanism, a second speed reduction mechanism, and a detection mechanism, the power mechanism is configured to form an input end of the driving device; the first speed reducing mechanism is provided with a first input end, a first output end and a first speed reducing ratio; the second speed reducing mechanism is provided with a second input end, a second output end and a second speed reducing ratio; the detection mechanism is provided with a first detection component and a second detection component; the first speed reduction ratio is larger than the second speed reduction ratio, and the power mechanism is respectively connected with the first input end and the second input end so that the first input end and the second input end can synchronously rotate;

The first detection component part is arranged at the first input end and is configured to detect motion information of the power mechanism; the second detection component part is arranged at the first output end and is configured to detect motion information of the second output end; the second output is configured to form an output of the driving device.

The embodiment of the application also provides a robot on the other hand, and the robot comprises the driving device.

The driving device and the robot with the driving device provided by the embodiment of the application are characterized in that the first reduction ratio of the first reduction mechanism is larger than the second reduction ratio of the second reduction mechanism, and when the first input end of the first reduction mechanism and the second input end of the second reduction mechanism synchronously rotate, the rotation angle of the first output end of the first reduction mechanism is smaller than that of the second output end of the second reduction mechanism. The motion information of the power mechanism can be further obtained by detecting the motion information of the first input end through the first detection component, the motion information of the first output end is detected through the second detection component, the motion information of the second output end is obtained through the corresponding relation between the first reduction ratio and the second reduction ratio, and the motion information of the input end and the output end of the driving device is further obtained, so that more accurate control of the driving device can be realized by comparing the motion information of the input end and the output end of the driving device, and the transmission precision and the controllability of the driving device are improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a driving device according to some embodiments of the present application;

FIG. 2 is a schematic view of the driving device of the embodiment of FIG. 1 from another perspective;

FIG. 3 is a schematic view showing the driving device of the embodiment of FIG. 1 in a disassembled configuration;

FIG. 4 is a schematic cross-sectional view of the housing assembly of the embodiment of FIG. 1 taken along the direction A-A;

FIG. 5 is a schematic view of a carrier in some embodiments of the present application;

FIG. 6 is a schematic view illustrating the structural separation of a first reduction mechanism according to some embodiments of the present application;

FIG. 7 is a schematic view of a partial cross-sectional structure of a drive device in some embodiments of the present application;

FIG. 8 is a schematic cross-sectional view of the drive device of the embodiment of FIG. 1 taken along the direction A-A;

FIG. 9 is a schematic view showing the second reduction mechanism in the embodiment of FIG. 8 in a split configuration;

FIG. 10 is a schematic view of the power mechanism of the embodiment of FIG. 8 in a disassembled configuration;

Fig. 11 is a block diagram illustrating a robot in some embodiments of the present application.

Detailed Description

The present application is described in further detail below with reference to the drawings and examples. It is specifically noted that the following examples are only for illustration of the present application, but do not limit the scope of the present application. Likewise, the following embodiments are only some, but not all, of the embodiments of the present application, and all other embodiments obtained by one of ordinary skill in the art without making any inventive effort are within the scope of the present application.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

Referring to fig. 1 to 3, fig. 1 is a schematic structural diagram of a driving device 10 according to some embodiments of the present application, fig. 2 is a schematic structural diagram of another view of the driving device 10 according to the embodiment of fig. 1, and fig. 3 is a schematic structural exploded view of the driving device 10 according to the embodiment of fig. 1.

The driving device 10 provided in the embodiment of the present application may be applied to various devices that need to provide driving force through electric energy, such as a biped robot or a quadruped robot, so as to implement walking or other corresponding functions of the robot, and the driving device 10 may be a servo motor or a steering engine.

It should be noted that, the driving device 10 in the embodiment of the present application is applied to a device such as a robot, and the device such as a robot may perform functions of walking, running, jumping, etc. under the driving of the driving device 10. A typical robot structure is, for example, a robot dog, that is, a robot structure including a robot body and four legs, however, the robot in this embodiment may also be a structure including two, three or more legs, or may even be a structure including one leg, which is not particularly limited herein. Based on the motion patterns of the driving device 10 for driving the robot to walk, run, jump, etc., a speed reducing mechanism is generally integrated in the driving device 10 to increase the output torque.

The driving apparatus 10 may include a housing assembly 100, a first reduction mechanism 200, a second reduction mechanism 300, a power mechanism 400, a detection mechanism 500, and a circuit board 600. The first speed reducing mechanism 200, the second speed reducing mechanism 300, the power mechanism 400, the detecting mechanism 500 and the circuit board 600 are all arranged in the housing assembly 100, the power mechanism 400 is respectively connected with the first speed reducing mechanism 200 and the second speed reducing mechanism 300, the first speed reducing mechanism 200 is configured to be linked with the power mechanism 400, and the second speed reducing mechanism 300 is configured to be linked with the power mechanism 400 for increasing the output torque of the driving device 10. Preferably, the power mechanism 400 may be configured to form an input of the driving apparatus 10, and the output of the second reduction mechanism 300 may be configured to form an output of the driving apparatus 10. The power mechanism 400 and the detection mechanism 500 are electrically connected to the circuit board 600, and the power mechanism 400 can provide driving force for the driving device 10 by using the electric energy transmitted by the circuit board 600. The detection mechanism 500 can detect the motion information of the output end of the second speed reduction mechanism 300 and the motion information of the power mechanism 400, and transmit the motion information to the circuit board 600, so that the circuit board 600 can more precisely control the input and output positions of the driving device 10 by comparing the motion information of the output end of the second speed reduction mechanism 300 and the motion information of the power mechanism 400, thereby improving the transmission precision and controllability of the driving device 10.

In fig. 1, an X direction is defined for the convenience of description below, and X may be a direction of the rotation axes of the second reduction mechanism 300 and the power mechanism 400, that is, an axial direction.

Further, the first reduction mechanism 200 is connected to the power mechanism 400 and is configured to be linked with the power mechanism 400. The first reduction mechanism 200 may have a first input 201, a first output 202, and a first reduction ratio, i.e., the first reduction ratio may be a rotational speed ratio of the first input 201 and the first output 202. The first input 201 is connected to the power mechanism 400 and is rotatable under the drive of the power mechanism 400. Based on this, the motion information of the power mechanism 400 can be obtained by acquiring the motion information of the first input terminal 201. The first reduction mechanism 200 may be a harmonic reducer to obtain a larger reduction ratio.

Of course, in other embodiments, the first reduction mechanism 200 may be another type of reduction gear such as a planetary reduction gear with small teeth difference, a cycloidal pin gear reduction gear, and so on, which will not be described in detail.

The second reduction mechanism 300 is connected to the power mechanism 400 and is configured to be linked with the power mechanism 400. The second reduction mechanism 300 may have a second input 301, a second output 302, and a second reduction ratio, i.e., the second reduction ratio may be a rotation speed ratio of the second input 301 and the second output 302. The second input 301 is connected to the power mechanism 400 and is rotatable under the drive of the power mechanism 400. The second reduction mechanism 300 may be a planetary reducer to achieve a reasonable reduction ratio.

Of course, in other embodiments, the second reduction mechanism 300 may also be one or more of planetary reduction gears, common reduction gears, cycloidal pin gear reduction gears, harmonic reduction gears, and other types of reduction gears, which will not be described in detail.

The power mechanism 400 is connected to the first input end 201 and the second input end 301, respectively, so as to synchronously drive the first input end 201 and the second input end 301 to rotate, so that the first input end 201 and the second input end 301 can synchronously rotate. Preferably, the first reduction ratio is greater than the second reduction ratio, at which time the rotation of the first output 202 and the second output 302 are not synchronized and the rotational speed of the first output 202 is less than the rotational speed of the second output 302. Thus, a larger range of rotational angles of the second output end 302 can be obtained by the detection mechanism 500 when the range of rotational angles of the first output end 202 is smaller. It will be appreciated that the power mechanism 400 may be configured to form an input to the drive apparatus 10 and the second output 302 of the second reduction mechanism 300 may be configured to form an output to the drive apparatus 10.

For example, when the first output end 202 rotates 1 revolution, the first input end 201 rotates m revolutions, m >1, at which time the first reduction ratio is m:1. at the same time, the second input 301 rotates m weeks, the second output 302 rotates n weeks, m > n >1, at which time the second reduction ratio is m: n. It can be seen that when the first output end 202 rotates by 1 week, the second output end 302 rotates by n weeks, so that the position of the first output end 202 corresponding to the second output end 302 is established at any angle within 1 week, and the range of the rotation angle of the second output end 202 is 0-n×360 °.

Referring to fig. 4 in conjunction with fig. 3, fig. 4 is a schematic cross-sectional view of the housing assembly 100 along the direction A-A in the embodiment of fig. 1. The housing assembly 100 may be used to mount the first reduction mechanism 200, the second reduction mechanism 300, the power mechanism 400, the detection mechanism 500, and the circuit board 600. The housing assembly 100 may include a first end cap 110 and a second end cap 120 disposed opposite to each other, a carrier 130 disposed between the first end cap 110 and the second end cap 120, and a limiting plate 140 disposed on the first end cap 110. The first end cover 110 may be connected to one side of the carrier 130, the second end cover 120 may be connected to the other opposite side of the carrier 130, and the first end cover 110 and the carrier 130 are enclosed to form a first accommodating cavity 101, and the second end cover 120 and the carrier 130 are enclosed to form a second accommodating cavity 102. The first accommodation chamber 101 is configured to accommodate the second reduction mechanism 300 and the power mechanism 400, and the second accommodation chamber 102 is configured to accommodate the first reduction mechanism 200, the detection mechanism 500, and the circuit board 600.

Wherein, the limiting plate 140 may be disposed at a side of the first end cover 110 facing away from the second end cover 120, which may be configured to limit the second reduction mechanism 300.

In an embodiment, the material of the housing assembly 100 may be hard plastic, so that not only the structural strength of the housing assembly 100 can be ensured, but also the weight of the housing assembly 100 can be reduced. Of course, in other embodiments, the material of the housing assembly 100 may be flexibly selected according to the actual requirement, which is not particularly limited in this embodiment.

The first end cap 110 may be configured to form a first receiving cavity 101 in cooperation with the carrier 130 to accommodate the second reduction mechanism 300 and the power mechanism 400. As shown in fig. 3 to 4, the first end cap 110 may include a bottom wall 111, an outer sidewall 112, and an inner sidewall 113. Wherein the outer sidewall 112 may be disposed on one side of the bottom wall 111, the inner sidewall 113 may be disposed on another opposite side of the bottom wall 111, and both the outer sidewall 112 and the inner sidewall 113 may be disposed around the bottom wall 111. The bottom wall 111 may be annularly disposed, the outer sidewall 112 may be disposed on an outer circumferential edge of the bottom wall 111, and the inner sidewall 113 may be disposed on an inner circumferential edge of the bottom wall 111, so that the first end cover 110 may be similar to a barrel in shape, so that the first end cover 110 and the carrier 130 are matched and surrounded to form the first accommodating cavity 101. Preferably, the height of the outer sidewall 112 in the axial direction X may be higher than the height of the inner sidewall 113 in the axial direction X, thereby increasing the space formed around the outer sidewall 112. The inner sidewall 113 may divide the first accommodating chamber 101 into a first accommodating space 1011 configured to accommodate the power mechanism 400 and a second accommodating space 1012 configured to accommodate the second reduction mechanism 300. Wherein, the first accommodation space 1011 and the second accommodation space 1012 are communicated with each other near one end of the carrier 130 to provide a linkage space for the power mechanism 400 and the second reduction mechanism 300. That is, a gap is formed between the end of the inner side wall 113 away from the bottom wall 111 and the carrier 130, and the power mechanism 400 may partially extend into the second accommodating space 1012 from the gap between the inner side wall 113 and the carrier 130 to realize linkage with the second speed reducing mechanism 300.

Preferably, the axial direction X may specifically be a direction perpendicular to the bottom wall 111.

In some embodiments, the shape of the first end cover 110 is not limited to a barrel shape, and may be specifically set according to practical requirements, which is not limited in this embodiment.

Further, the side of the bottom wall 111 located in the first accommodating cavity 101 may further be provided with a heat sink 114 made of heat conductive silica gel, and the heat sink 114 may be disposed opposite to the power mechanism 400, so that the heat dissipation efficiency of the first end cover 110 is further improved by using the heat sink 114.

The limiting plate 140 may be disposed on a side of the bottom wall 111 away from the carrier 130, and the limiting plate 140 may be used to limit the displacement of the second reduction mechanism 300 in the axial direction X, so as to avoid the second reduction mechanism 300 from moving along the axial direction X during the rotation process. As shown in fig. 3 to 4, the limiting plate 140 may be disposed in a ring shape to match the shape of the bottom wall 111, and the orthographic projection of the limiting plate 140 on the bottom wall 111 may also be disposed around the inner sidewall 113. The limiting plate 140 may further be disposed around the second reduction mechanism 300, and the limiting plate 140 may further have a zigzag structure in shape, such that the limiting plate 140 may have a flange protruding toward the second reduction mechanism 300, and the flange may further overlap to a side of the second reduction mechanism 300 perpendicular to the axial direction X, thereby limiting the displacement of the second reduction mechanism 300 in the axial direction X. In this embodiment, a screw hole may be disposed on a side of the first end cover 110 facing away from the carrier 130, and a screw may be disposed on the limiting plate 140, so that the limiting plate 140 may be fixedly connected with the first end cover 110 through the screw.

In some embodiments, the limiting plate 140 may also be fixedly connected to the first end cap 110 by an assembly method such as welding, clamping, and bonding. All directional indications (such as up, down, left, right, front, back … …) in the embodiments of the present application are merely used to explain the relative positional relationship, movement, etc. between the components in a particular gesture (as shown in the drawings), and if the particular gesture changes, the directional indication changes accordingly.

The second end cover 120 may be disposed on a side of the carrier 130 away from the first end cover 110, and the second end cover 120 may be configured to form the second accommodating cavity 102 in cooperation with the carrier 130, so as to accommodate the first speed reduction mechanism 200, the detection mechanism 500, and the circuit board 600, so that the detection mechanism 500 can detect the input/output motion information of the first speed reduction mechanism 200, the second speed reduction mechanism 300, and the motion information of the power mechanism 400. As shown in fig. 3 and 4, the second end cap 120 may include a top wall 121 and a side wall 122. The top wall 121 is spaced from the carrier 130, and the side wall 122 is disposed between the top wall 121 and the carrier 130 and is adapted to connect with the carrier 130 to assemble and fix the second end cap 120. The side wall 122 may be disposed annularly and surrounds the outer periphery of the top wall 121, so that the second end cap 120 can be engaged with the carrier 130 to form the second accommodating cavity 102.

In an embodiment, the second end cap 120 may further comprise a connecting wall 123 provided on the side wall 122, the connecting wall 123 is preferably provided at an end of the side wall 122 facing away from the top wall 121 and extending in a direction facing away from the second accommodating cavity 102, i.e. the connecting wall 123 may be understood as a lug structure provided on the side wall 122. Wherein the connecting wall 123 is configured for connecting and securing with the carrier 130 to mount the second end cap 120 to a side of the carrier 130 facing away from the first end cap 110. Preferably, the connecting wall 123 may be disposed around the outer circumference of the side wall 122.

Wherein, screw holes may be provided on the carrier 130, and screws may be provided on the connection wall 123, so that the connection wall 123 may be fixedly connected with the carrier 130 through the screws.

Of course, in other embodiments, the connecting wall 123 may be fixedly connected to the carrier 130 by an assembly method such as welding, clamping, and bonding.

The carrier 130 may be disposed between the first end cap 110 and the second end cap 120 and be assembled with the first end cap 110 and the second end cap 120, respectively, to form a unitary structure of the drive device 10. Optionally, the projection of the first end cap 110 onto the carrier 130 covers the projection of the second end cap 120 onto the carrier 130, i.e. the projection of the outer sidewall 112 onto the carrier 130 surrounds the periphery of the projection of the sidewall 122 onto the carrier 130.

Referring to fig. 5 to fig. 7 in conjunction with fig. 3, fig. 5 is a schematic structural diagram of the carrier 130 in some embodiments of the present application, fig. 6 is a partially exploded schematic structural diagram of the first reduction mechanism 200 in some embodiments of the present application, and fig. 7 is a partially cross-sectional schematic structural diagram of the driving device 10 in some embodiments of the present application, that is, a schematic cross-sectional structural diagram of the first reduction mechanism 200 assembled to the housing assembly 100.

The carrier 130 may include a first carrier 131, a second carrier 132, and a connection portion 133 connecting the first carrier 131 and the second carrier 132. The first bearing 131 is configured for assembling the first end cap 110 and the second end cap 120, i.e. the first bearing 131 is arranged between the first end cap 110 and the second end cap 120 and connects the first end cap 110 and the second end cap 120, respectively. The second carrier 132 is configured to mount the first reduction mechanism 200. The detection mechanism 500 is mounted on the first reduction mechanism 200 and the circuit board 600, respectively.

Preferably, the first bearing part 131, the second bearing part 132, and the connection part 133 may directly form the bearing member 130 of an integral structure through an integral molding process.

Specifically, the first bearing portion 131 may be disposed in an annular shape and surrounds the outer periphery of the second bearing portion 132, that is, the second bearing portion 132 may be disposed in an annular hollow area of the first bearing portion 131 and has a gap with an inner rim of the first bearing portion 131. The connection portion 133 is disposed between the first bearing portion 131 and the second bearing portion 132, and is connected to the first bearing portion 131 and the second bearing portion 132, respectively. The connecting portions 133 may be provided in plurality, and the connecting portions 133 may be uniformly distributed between the first bearing portion 131 and the second bearing portion 132, so as to ensure the overall structural strength of the bearing member 130. It should be understood that in the description of the present application, the meaning of "a plurality" is at least two, such as two, three, etc., unless explicitly defined otherwise.

The hollow area 1301 is disposed between the first bearing portion 131 and the second bearing portion 132, and the hollow area 1301 is communicated with the first accommodating cavity 101 and the second accommodating cavity 102, so that the power mechanism 400 disposed in the first accommodating cavity 101 and the circuit board 600 disposed in the second accommodating cavity 102 can be electrically connected through a circuit penetrating through the hollow area 1301.

In an embodiment, the first bearing portion 131 may also be similar in shape to a "zigzag" structure, such that the first bearing portion 131 may have a flange edge protruding toward the first end cap 110, and the flange edge may also overlap the outer side wall 112 of the first end cap 110 to achieve connection fixation of the first bearing portion 131 and the outer side wall 112. Wherein, screw holes may be provided on the first bearing portion 131, and screws may be provided on the outer side wall 112, so that the outer side wall 112 may be fixedly connected with the first bearing portion 131 through the screws. Of course, the outer side wall 112 may be fixedly connected to the first bearing portion 131 by an assembly method such as welding, clamping, and bonding.

Specifically, the first bearing part 131 may include a first fitting plate 1311 and a second fitting plate 1312 connected in a bent manner. The first assembly plate 1311 may be disposed in a ring shape and surrounds the outer periphery of the second bearing 132, and has a gap with the second bearing 132. Wherein the first fitting plate 1311 is located at a side of the outer sidewall 112 near the inner sidewall 113 and is configured to be coupled to the coupling wall 123 of the second end cap 120. The first assembly plate 1311 may be provided with a stud, and the connection wall 123 may be provided with a screw, such that the connection wall 123 may be fixedly connected with the first assembly plate 1311 by the screw. Of course, in other embodiments, the connecting wall 123 may be fixedly connected to the first assembly plate 1311 by an assembly method such as welding, clamping, and bonding.

The second mounting plate 1312 is disposed on a side of the first mounting plate 1311 facing away from the first end cover 110 and is disposed around an outer rim of the first mounting plate 1311, i.e., the second mounting plate 1312 extends from the outer rim of the first mounting plate 1311 in a direction facing away from the bottom wall 111 of the first end cover 110. Wherein the second mounting plate 1312 is located on a side of the outer side wall 112 adjacent to the inner side wall 113 and is configured to be coupled to the outer side wall 112 of the first end cap 110. Wherein, the second mounting plate 1312 may be provided with a stud, and the outer sidewall 112 may be provided with a screw, such that the outer sidewall 112 may be fixedly connected with the second mounting plate 1312 through the screw. Of course, in other embodiments, the outer side wall 112 may be fixedly connected to the second mounting plate 1312 by a mounting method such as welding, clamping, and bonding.

In an embodiment, the first bearing portion 131 may further include a bonding plate 1313, where the bonding plate 1313 is disposed at an end of the second mounting plate 1312 facing away from the first mounting plate 1311, and extends from the second mounting plate 1312 toward a direction facing away from the second bearing portion 132, i.e., the bonding plate 1313 protrudes from the second mounting plate 1312 toward the outer sidewall 112 of the first end cover 110. Wherein the splice plate 1313 may be configured to splice the end of the outer side wall 112 facing away from the bottom wall 111 to limit the carrier 130 in the X-direction. Optionally, the lapping plate 1313 and the first assembly plate 1311 are disposed at intervals in the X direction, the lapping plate 1313 overlapping the end of the outer side wall 112 facing away from the bottom wall 111, and the first assembly plate 1311 being located in the first receiving chamber 101.

The second bearing portion 132 may include a bearing plate 1321, a first surrounding wall 1322, and a second surrounding wall 1323, where the bearing plate 1321 may be located in an annular hollow area of the first mounting plate 1311 and spaced apart from the first mounting plate 1311. The central region of the carrier plate 1321 is provided with the assembly holes 1302, i.e., the carrier plate 1321 may be disposed in a ring shape. First perimeter wall 1322 can be disposed on an outer perimeter edge of carrier plate 1321 and second perimeter wall 1323 can be disposed on an inner perimeter edge of carrier plate 1321. In other words, the second wall 1323 is disposed around the outer periphery of the mounting hole 1302, and the first wall 1322 is disposed around the outer periphery of the second wall 1323 and spaced from the second wall 1323.

Wherein the first enclosure wall 1322 and the second enclosure wall 1323 are disposed on a side of the carrier plate 1321 away from the bottom wall 111 of the first end cap 110. Preferably, the height of the first wall 1322 in the axial direction X may be higher than the height of the second wall 1323 in the axial direction X, i.e., the height of the first wall 1322 protruding from the carrier plate 1321 may be higher than the height of the second wall 1323 protruding from the carrier plate 1321.

Further, the housing assembly 100 may further include a support 150 fitted in the second receiving chamber 102, the support 150 being coupled to the connection part 133 and configured to be used to mount the circuit board 600. The support 150 may include a first support portion 151 and a second support portion 152, the first support portion 151 being configured for fitting connection with the connection portion 133 to position the support 150. The second support 152 is configured to mount the circuit board 600.

The first supporting portion 151 may be disposed in a ring shape and may be located between the sidewall 122 and the second bearing portion 132 in a direction perpendicular to the X direction. Alternatively, in the X direction, the first supporting portion 151 and the first surrounding wall 1322 of the second bearing portion 132 partially overlap. Preferably, a gap is formed between the first supporting portion 151 and the side wall 122, so that the power mechanism 400 and the circuit board 600 can be electrically connected through a circuit penetrating through the gap.

The projection of the first supporting portion 151 projected onto the carrier 130 in the X direction covers at least part of the connection portion 133, wherein a stud may be provided on the connection portion 133, and a screw may be provided on the first supporting portion 151, so that the first supporting portion 151 may be fixedly connected with the connection portion 133 through the screw. Of course, in other embodiments, the first supporting portion 151 may be fixedly connected to the connecting portion 133 by an assembling manner such as welding, clamping, and bonding.

Preferably, the first supporting portion 151 and the second bearing portion 132 are disposed at intervals in the X direction.

The second supporting portion 152 is disposed on a side of the first supporting portion 151 facing away from the second bearing portion 132, and is disposed on an inner rim of the first supporting portion 151. The circuit board 600 is mounted on the second supporting portion 152. Preferably, the second supporting portion 152 may be disposed in a ring shape, and the circuit board 600 is disposed in a ring-shaped hollow area of the second supporting portion 152 and is assembled with the second supporting portion 152.

The second supporting portion 152 may be provided with a stud, and the circuit board 600 may be provided with a screw, so that the circuit board 600 may be fixedly connected with the second supporting portion 152 through the screw. Of course, in other embodiments, the second supporting portion 152 may be fixedly connected to the circuit board 600 by an assembly method such as welding, clamping, and bonding.

Preferably, the circuit board 600 and the first supporting part 151 are disposed at intervals in the X direction.

Further, the first reduction mechanism 200 may be coupled to the power mechanism 400 and configured to be coupled to the power mechanism 40. The first reduction mechanism 200 is assembled between the second bearing portion 132 and the support 150, and is disposed at a distance from the circuit board 600. The first reduction mechanism 200 may include a driving member 210, a driven member 220, and a fixing member 230, where the driving member 210 is configured to form a first input end 201 of the first reduction mechanism 200, and is connected to the driving mechanism 400 to rotate under the driving of the driving mechanism 400. The driven member 220 is configured to form the first output end 202 of the first reduction mechanism 200 and is linked with the driving member 210 to rotate under the action of the driving member 210, and the rotation speed of the driving member 210 is greater than the rotation speed of the driven member 220, i.e. the first reduction ratio may be the ratio of the rotation speeds of the driving member 210 and the driven member 220. The fixture 230 is configured to position the first reduction mechanism 200.

As described above, the first reduction mechanism 200 may be a harmonic reducer, that is, the driving member 210 may be a wave generator of the harmonic reducer, the driven member 220 may be a flexspline of the harmonic reducer, and the fixing member 230 may be a steel spline of the harmonic generator. Before the harmonic reducer is assembled, the flexible wheel and the inner hole thereof are circular, after the wave generator is arranged in the inner hole of the flexible wheel, the radial length of the wave generator is in a changing form in the circumferential direction, namely, the projection of the circumferential surface of the wave generator is not an equal-diameter circle, the flexible wheel is extruded by the wave generator to be supported to be similar to an ellipse form, so that the flexible wheel is meshed with the fixed steel wheel in the major axis direction of the ellipse, and the flexible wheel is separated from the fixed steel wheel in the minor axis direction of the ellipse.

The steel wheel or fixture 230 may be an annular structure having internal teeth, and the flexwheel or follower 220 may be a thin-walled cylindrical structure having external teeth and capable of being deformed. Further, the number of internal teeth of the fixing member 230 is greater than the number of external teeth of the driven member 220.

Because the steel wheel of the harmonic reducer is in a fixed state, when the wave generator rotates, the flexible wheel rotates along with the wave generator, the meshing and separating positions of the flexible wheel and the steel wheel are continuously changed in the rotating process of the flexible wheel, and when one tooth of the flexible wheel is meshed with one tooth of the steel wheel to be meshed with the tooth on the steel wheel again, the flexible wheel just rotates for a circle, and at the moment, the wave generator rotates for a plurality of circles.

That is, when the driven member 220 rotates one revolution, the driving member 210 rotates a plurality of revolutions, and the rotational speed of the driving member 210 is greater than the rotational speed of the driven member 220. The ratio of the number of rotations of the driving member 210 to the number of rotations of the driven member 220 is the reduction ratio of the harmonic reducer. When the number of rotations of the driven member 220 is 1 and the number of rotations of the driving member 210 is m (m > 1), the reduction ratio of the harmonic reducer is m:1.

specifically, the driving member 210 may be located in a hollow area defined by the first surrounding wall 1322, the driven member 220 may be located in a hollow area defined by the first surrounding wall 1322 and may be disposed around the periphery of the driving member 210, and the driven member 220 may move under the action of the driving member 210, and the fixing member 230 is disposed around the periphery of the driven member 220 and is assembled on the first surrounding wall 1322. The fixing member 230 may have a ring shape and have internal teeth, and the fixing member 230 is fixedly mounted to the inner side of the first surrounding wall 1322. The follower 220 may have a ring shape and have external teeth, and the number of external teeth of the follower 220 is smaller than the number of internal teeth of the fixture 230.

As mentioned above, the height of the first surrounding wall 1322 in the axial direction X may be higher than the height of the second surrounding wall 1323 in the axial direction X, and the portion of the first surrounding wall 1322 protruding from the second surrounding wall 1323 in the axial direction X is provided with the limiting portion 1303, that is, the limiting portion 1303 is disposed at the end of the first surrounding wall 1322 facing away from the carrier plate 1321, and the limiting portion 1303 is used for assembling the fixing member 230 and limiting the fixing member 230 in the axial direction X. The limiting part 1303 is substantially annular and step-shaped.

The follower 220 may include a first follower portion 221, a second follower portion 222, and a follower connection portion 223 connecting the first follower portion 221 and the second follower portion 222, which are sequentially disposed in the axial direction X. The first driven part 221 may have a ring shape and have external teeth for engagement with the fixing member 230. The second driven portion 222 is located at a side of the first driven portion 221 near the circuit board 600, and the driven connection portion 223 is disposed between the first driven portion 221 and the second driven portion 222. The projection of the first driven portion 221 projected on the circuit board 600 in the axial direction X surrounds the projection of the second driven portion 222 projected on the circuit board 600 in the axial direction X, so that step-shaped limiting structures are formed on two opposite sides of the driven connecting portion 223 in the axial direction X.

Further, the first reduction mechanism 200 may further include a first bearing 240 disposed between the driving member 210 and the driven member 220, and a second bearing 250 disposed between the driven member 220 and the supporting member 150, i.e., the first bearing 240 may be disposed around the driving member 210 and be interference-fitted with the driving member 210 and the driven member 220, respectively, in a direction perpendicular to the axial direction X. The second bearing 250 may be disposed around the driven member 220 and be interference fit-fitted with the driven member 220 and the support member 150, respectively, in a direction perpendicular to the axial direction X. Preferably, the first bearing 240 is disposed between the first driven portion 221 and the driving member 210, and the second bearing 250 is disposed between the second driven portion 222 and the second supporting portion 152. The first bearing 240 and the second bearing 250 respectively abut against the driven connection portion 223 for limiting the first bearing 240 and the second bearing 250 in the axial direction X. I.e. the driving member 210 is spaced from the driven member 220, with the assembly therebetween being accomplished by a first bearing 240. The follower 220 is spaced apart from the support 150, and the assembly therebetween is accomplished by a second bearing 250.

It is understood that the driving member 210 may be provided with a protrusion corresponding to the driven connecting portion 223, so as to cooperate with the driven connecting portion 223 to limit the first bearing 240 in the axial direction X. The second supporting portion 152 may be provided with a stepped structure corresponding to the driven connecting portion 223 to limit opposite sides of the second bearing 250 in the axial direction X in cooperation with the driven connecting portion 223. The first bearing 240 is a flexible bearing to drive the driven member 220 to rotate under the action of the driving member 210. Of course, in other embodiments, the second bearing 250 may also be a flange bearing, such that the second bearing 250 has a flange edge that is convexly disposed toward the follower 220 or the second support 152, and that may overlap the follower 220 or the second support 152, thereby limiting the follower 220 or the second support 152 in the axial direction X.

In an embodiment, the second driven portion 222 may have a first driven wall 2221 and a second driven wall 2222 connected in a bending manner, where the first driven wall 2221 is opposite to and spaced from the circuit board 600, and the second driven wall 2222 is disposed on a side of the first driven wall 2221 facing away from the circuit board 600 and connected to the driven connecting portion 223. The second bearing 250 may be disposed around the second driven wall 2222.

The first driven wall 2221 may be annular, and the second driven wall 2222 is disposed on an outer edge of the first driven wall 2221. One end of the driving member 210 may be exposed from the annular hollow region of the first driven wall 2221 and disposed opposite to the circuit board 600.

In an embodiment, the driving member 210 may include a main body 211, a first protrusion 212 and a second protrusion 213 disposed on opposite sides of the main body 211, wherein the main body 211 is configured for interference fit with the first bearing 240, the first protrusion 212 is disposed on a side of the main body 211 near the circuit board 500, and the second protrusion 213 is disposed on a side of the main body 211 facing away from the circuit board 500. Wherein the first protrusion 211, the second protrusion 212 and the follower 220 are coaxially disposed. Wherein the first protrusion 212 extends from the main body 211 to the hollow region of the first driven wall 2221 and is disposed at a distance from the first driven wall 2221, and the second protrusion 212 is configured to be connected to the power mechanism 400.

Further, the detection mechanism 500 has a first detection component 510 and a second detection component 520, where the first detection component 510 is partially disposed at the first input end 201, i.e. the driving member 210, and is configured to detect motion information of the power mechanism 400. The second detection assembly 520 is partially disposed at the first output 202, i.e., the follower 220, and is configured to detect movement information of the second output 302. The second output 302 can be understood to form the output of the drive device 10.

The first detection component 510 and the second detection component 520 are electrically connected with the circuit board 600, so that the first detection component 510 and the second detection component 520 can be utilized to form the detection of the input and output position, the rotation speed and other motion information of the driving device 10, so that the circuit board 600 can control the input and output position, the rotation speed and other motions of the driving device 10 more accurately by comparing the motion information detected by the first detection component 510 and the second detection component 520, and the transmission precision and the controllability of the driving device 10 are improved.

It will be appreciated that the motion information may refer to information such as a rotation angle, a rotation speed, and a rotation position of the output end of the second reduction mechanism 300 and the power mechanism 400 during rotation.

Specifically, the first detecting element 510 may include a first detected element 511 disposed on the driving element 210, and a first detecting element 512 disposed on the circuit board 600, where the first detecting element 512 is disposed opposite to the first detected element 511. Wherein the first detecting member 512 is configured to acquire the movement information of the power mechanism 400 through the first detected member 511.

The first detected element 511 is disposed on the driving element 210, and can be driven by the driving element 210 to move synchronously with the driving element 210. The first detecting element 512 is disposed on the circuit board 600, and can detect and obtain the motion information of the power mechanism 400 according to the motion of the first detected element 511. For example, the first detected member 511 may be directly fixed on a side of the driving member 210 near the circuit board 600, and is exposed from the hollow area of the first driven wall 2221 to be opposite to the first detected member 512. For another example, the first protrusion 212 is provided with a mounting groove 2101, and the first detected member 511 is at least partially embedded in the mounting groove 2101 and exposed from the hollow area of the first driven wall 2221 to be opposite to the first detected member 512, so that the first detected member 511 can perform synchronous movement with the driving member 210. The first detecting element 512 may be disposed on a side of the circuit board 600 near the driving element 210, so that the first detecting element 512 may detect the movement information of the driving element 210, that is, the movement information of the power mechanism 400, through the movement of the first detected element 511.

The first detecting component 510 may be an encoder component, that is, the first detected member 511 may be a code wheel, and the first detecting member 512 may be a reading head, so that the first detecting member 512 reads the position change of the first detected member 511, and obtains the motion information of the driving member 210 based on the position change.

The second sensing assembly 520 may include a second sensed member 521 disposed on the driven member 220, and a second sensing member 522 disposed on the circuit board 600, the second sensing member 522 being disposed opposite to the second sensed member 521. Wherein the second detecting member 522 is configured to acquire the movement information of the output end of the second reduction mechanism 300 through the second detected member 521.

The second detected member 521 is disposed on the driven member 220, and can be driven by the driven member 220 to move synchronously with the driven member 220. The second detecting member 522 is disposed on the circuit board 600, and can detect and obtain the motion information of the output end of the second speed reducing mechanism 300 according to the motion of the second detected member 521. For example, the second detected member 521 may be fixed on a side of the driven member 220 near the circuit board 600, so that the second detected member 521 may be disposed opposite to the circuit board 600 and may perform synchronous movement with the driven member 220. The second detecting member 522 may be disposed on a side of the circuit board 600 near the driven member 220, so that the second detecting member 522 may detect the movement information of the driven member 220, that is, the movement information of the output end of the second speed reducing mechanism 300 through the movement of the second detected member 521.

As described above, the first driven wall 2221 may be annular, the second driven wall 2222 is disposed on the outer edge of the first driven wall 2221, and the second detected element 521 may be annular and surrounds the inner edge of the first driven wall 2221. Preferably, the inner edge of the first driven wall 2221 is provided with a fitting portion 2102, and the second detected element 521 is sleeved on the fitting portion 2102 to realize fitting.

The second detecting component 520 may be an encoder component, that is, the second detected member 521 may be a code wheel, and the second detecting member 522 may be a reading head, so that the position change of the second detected member 521 is read by the second detecting member 522, and the motion information of the driven member 220, that is, the motion information of the output end of the second speed reducing mechanism 300, is obtained based on the position change.

Preferably, as described above, when the first output end 202 rotates by 1 week, the second output end 302 rotates by n weeks, so that the angular position of the second output end 302 can be obtained by detecting any angular position of the first output end 202 within 1 week, so that the rotation range of the second output end 202 can be 0 to n×360 °. Based on this, the second detection component 520 can be a single turn absolute value encoder.

In other embodiments, the first detecting component 510 and the second detecting component 520 may also use a combination scheme of an optical encoder and a magnetic encoder to obtain the corresponding motion information, which is not described in detail.

That is, the embodiment of the present application uses dual encoders to respectively detect and obtain the rotational speed, position, and other motion information of the input end and the output end of the driving device 10 based on the control requirement of the driving device 10, and completes the accurate control of the driving device 10 through the obtained motion information of the input end and the output end of the driving device 10. For example, the first detecting component 510 takes a single pair of magnetic pole magnetic encoders and the second detecting component 520 takes a dual-channel magnetic ring encoder as an example, and the first detecting component 510 and the second detecting component 520 cooperate to form a mechanical multi-turn encoder, so that the problems of accumulation of return difference caused by multi-stage gear transmission, large installation space required by multi-stage gear transmission and low transmission efficiency can be avoided compared with the traditional mechanical multi-turn encoder.

Illustrating: the number of external teeth of the driven member 220 is z1=80, the number of internal teeth of the fixed member 230 is z2=81, and then the transmission ratio of the first reduction mechanism 200, i.e. the harmonic reducer, is (Z1-Z2)/z1= -1/80, i.e. the driving member 210 rotates 80 turns, the driven member 220 rotates 1 turn, and the first reduction ratio of the first reduction mechanism 200 is 80:1. assume that the gear ratio of the second reduction mechanism 300 is-1/10, i.e., the second reduction ratio of the second reduction mechanism is 10:1, the driving member 210 rotates 80 turns, the driven member 220 rotates 1 turn, and the second output end 302 rotates 8 turns. The number of turns of the follower 220 has a fixed proportional relationship with the number of turns of the second output 302. Although the angle ranges that can be detected by the first detecting component 510 and the second detecting component 520 are all 0-360 °, the angle ranges that can be detected by the second output end 302 are 0-8×360°, so that the detection effect of the mechanical multi-turn encoder can be achieved.

Further, it may be defined that the number of external teeth of the driven member 220 is z1=m, the number of internal teeth of the fixed member 230 is z2=m+a, a is equal to or greater than 1, and the transmission ratio of the first reduction mechanism 200 is (Z1-Z2)/z1= -a/M, that is, the first reduction ratio is M/a, and when a=1, m=m.

The second reduction ratio is defined as n/1, where M/a > n/1, M > n >1. When the driven member 220 rotates for 1 turn, the driving member 210 rotates for M/a turns, and the second output end 302 rotates for n turns, at this time, the second detection assembly 520 detects any angular position of the driven member 220 within 1 week, so as to obtain any angular position of the second output end 302 within a measuring range of 0 to n×360 °.

The speed reducing mechanism based on the harmonic speed reducer can obtain a larger transmission ratio and correspondingly a larger measuring range. Because of the internal engagement of the driven member 220 and the fixed member 230, space is saved compared to the expanding gear drive. In addition, the first detection component 510 and the second detection component 520 can also acquire information such as the rotation speed of the driving device 10.

It can be appreciated that the embodiments of the present application require calibration of the positions of the input and output ends in the driving device 10 and the initial corresponding positions of the detection mechanism 500 before acquiring the motion information.

Referring to fig. 8 to 10, fig. 8 is a schematic cross-sectional structure of the driving device 10 along A-A in the embodiment of fig. 1, fig. 9 is a schematic structural exploded view of the second reduction mechanism 300 in the embodiment of fig. 8, and fig. 10 is a schematic structural exploded view of the power mechanism 400 in the embodiment of fig. 8.

The second reduction mechanism 300 may be disposed in the first accommodation chamber 101, and the second reduction mechanism 300 may be used to increase the output torque of the driving apparatus 10. The second reduction mechanism 300 may include: a transmission assembly 310 and a carrier 320. Wherein the transmission assembly 310 may be connected to the housing assembly 100 and the power mechanism 400, respectively, and configured to be coupled to the power mechanism 400, and the transmission assembly 310 may be the second input 301 of the second reduction mechanism 300. The planet carrier 320 may be connected to the transmission assembly 310 and may rotate under the driving of the transmission assembly 310, and the planet carrier 320 may be the second output end 302 of the second reduction mechanism 300.

Of course, in other embodiments, the output end of the second reduction mechanism 300 may be formed by fitting a structural member such as an output shaft to the carrier 320. In this embodiment, the second reduction mechanism 300 may adopt an NW planetary reducer scheme (N represents internal engagement and W represents external engagement), so that the second reduction mechanism 300 not only can increase the output torque of the driving device 10, but also can make the transmission ratio of the second reduction mechanism 300 more reasonable, increase the strength of the second reduction mechanism 300, and prolong the service life of the second reduction mechanism 300.

The transmission assembly 310 may be coupled to the power mechanism 400, and the transmission assembly 310 may be used to increase the output torque of the drive device 10. The transmission assembly 310 may include: a main gear 311, an internal gear 312, and a double gear 313. The main gear 311 may be disposed in the first accommodating cavity 101, and the main gear 311 may be connected to the power mechanism 400 and may rotate with the axial direction X as a rotation axis direction under the driving of the power mechanism 400. The internal gear 312 may also be disposed within the first receiving chamber 101, and the internal gear 312 may also be disposed around the main gear 311. The double gear 313 may be connected with the planet carrier 320, and the double gear 313 may also be meshed with the main gear 311 and the internal gear 312, respectively, so that the double gear 313 may roll relative to the internal gear 312 under the driving of the main gear 311, and further drive the planet carrier 320 to rotate. Wherein the main gear 311 may be the second input 301 of the second reduction mechanism 300.

Further, the main gear 311 may be disposed on a side of the inner side wall 113 facing away from the outer side wall 112, and the main gear 311 may also be disposed through the planet carrier 320, such that the main gear 311 may rotate relative to the planet carrier 320 under the driving of the power mechanism 400. For example, one end of the main gear 311 may be rotatably connected to the carrier 320, the other opposite end may be connected to the power mechanism 400, and the middle region of the main gear 311 may be provided with corresponding teeth for meshing with the duplex gear 313 to rotate the duplex gear 313. The inner gear 312 may be disposed around the main gear 311, and the inner gear 312 may be coupled with the inner sidewall 113 of the first end cap 110. Meanwhile, since the internal gear 312 is meshed with the duplex gear 313, in order to prevent the internal gear 312 from moving circumferentially under the drive of the duplex gear 313, the internal gear 312 may be fixedly disposed on the inner sidewall 113, thereby restricting the circumferential movement of the internal gear 312 and enabling the duplex gear 313 to roll relative to the internal gear 312. For example, the inner sidewall 113 may be disposed around the inner gear 312, and a limit pin may be disposed between the inner gear 312 and the inner sidewall 113, and the limit pin may interfere with the inner gear 312 and the inner sidewall 113, respectively, to limit circumferential movement of the inner gear 312. The double gear 313 may be disposed between the main gear 311 and the internal gear 312, and the double gear 313 may be meshed with the main gear 311 and the internal gear 312, respectively. Thus, when the main gear 311 is driven to rotate by the power mechanism 400, the duplex gear 313 can rotate under the driving of the main gear 311. Because the inner gear 312 is fixedly arranged on the inner side wall 113, the duplex gear 313 rolls relative to the inner gear 312, thereby driving the planet carrier 320 to rotate.

According to the embodiment of the application, the main gear 311 and the duplex gear 313 are arranged to form external engagement, and the internal gear 312 and the duplex gear 313 are arranged to form internal engagement, so that the scheme of the NW planetary reducer is formed, the output torque of the driving device 10 is larger, the transmission ratio of the second reduction mechanism 300 is distributed more reasonably, the strength of the main gear 311, the internal gear 312 and the duplex gear 313 is improved, and the service lives of the main gear 311, the internal gear 312 and the duplex gear 313 are prolonged.

The planet carrier 320 may be an output end of the second reduction mechanism 300, and the planet carrier 320 may be disposed in the first accommodating cavity 101, connected to the duplex gear 313, and capable of rotating under the driving of the duplex gear 313. The planet carrier 320 may be disposed on a side of the inner sidewall 113 facing away from the outer sidewall 112, and the planet carrier 320 may include: a first carrier 321, a second carrier 322, a rotating shaft 323, and a fixing member 324. Wherein the first and second carriers 321 and 322 may be disposed opposite to and spaced apart from each other such that there is a space between the first and second carriers 321 and 322 to mount the double gear 313. The rotation shaft 323 may be disposed between the first and second carriers 321 and 322, and the rotation shaft 323 may be further connected with the first and second carriers 321 and 322, respectively. The double gear 313 may be connected to the rotating shaft 323, and may drive the first planet carrier 321 and the second planet carrier 322 to rotate through the rotating shaft 323. The fixing member 324 may be inserted into the first and second carriers 321 and 322 to lock and fix the first and second carriers 321 and 322 to maintain rotational consistency of the first and second carriers 321 and 322.

The terms "first," "second," "third," and the like in this application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", and "a third" may explicitly or implicitly include at least one such feature.

Further, the first planet carrier 321 may be disposed on a side of the second planet carrier 322 facing away from the second end cover 120, and the first planet carrier 321 may be disposed in a ring shape, so that the main gear 311 may be disposed through the first planet carrier 321. Wherein, a third bearing 330 may be further disposed between the first carrier 321 and the main gear 311, and the third bearing 330 may be disposed around the main gear 311 to improve the coaxiality of the rotation of the first carrier 321 and the main gear 311. Meanwhile, the third bearing 330 may also be a flange bearing such that the third bearing 330 may have a flange side provided to protrude toward the first carrier 321, and the flange side may also overlap to a side of the first carrier 321 near the second carrier 322, thereby restricting displacement of the first carrier 321 in the axial direction X. Accordingly, the main gear 311 may be provided with a first limiting member 3111, and the first limiting member 3111 may be disposed around the main gear 311 and disposed on a side of the third bearing 330 facing away from the first carrier 321, so as to limit displacement of the third bearing 330 in the axial direction X, and prevent the third bearing 330 from axial movement. For example, the first limiting member 3111 may be a snap spring, and the first limiting member 3111 may be locked to the main gear 311, so that the first limiting member 3111 limits the third bearing 330. Of course, the first limiting member 3111 may not be limited to the snap spring, and the first limiting member 3111 may be required to limit the third bearing 330. In this embodiment, the first carrier 321 may be the second output end 302 of the second reduction mechanism 300, that is, an output flange of the entire driving device 10, which may be used to connect with other components outside the driving device 10 to drive the other components to perform functions such as lifting, rotating, or vibrating.

In order to further improve the rotation uniformity of the first carrier 321, to avoid the displacement of the first carrier 321 in the axial direction X, the limiting plate 140 may further be disposed around the first carrier 321, and a fourth bearing 160 may be disposed between the limiting plate 140 and the first carrier 321. Wherein the fourth bearing 160 may be a crossed roller bearing, and the flange edge of the limiting plate 140 may overlap to a side of the fourth bearing 160 facing away from the first carrier 321. Meanwhile, the first carrier 321 may be provided with a flange protruding toward the fourth bearing 160, and the flange may overlap to a side of the fourth bearing 160 near the second carrier 322. In this way, the displacement of the fourth bearing 160 in the axial direction X can be limited by the limiting plate 140, and then the displacement of the first planet carrier 321 in the axial direction X can be limited by the fourth bearing 160, so that the first planet carrier 321 is limited, and the first planet carrier 321 is prevented from being displaced along the axial direction X in the rotation process.

The second planet carrier 322 may be disposed on a side of the first planet carrier 321 near the second end cover 120, and the second planet carrier 322 may also be disposed in a ring shape to be matched with the first planet carrier 321, so that the main gear 311 is convenient to penetrate through the second planet carrier 322. Wherein, the second planet carrier 322 may be provided with a boss 3221 protruding toward the first planet carrier 321, and the first planet carrier 321 may be disposed at a side of the boss 3221 facing away from the second planet carrier 322, so that the first planet carrier 321 and the second planet carrier 322 may be disposed opposite to and at an interval, thereby providing a space for installation of the duplex gear 313. Accordingly, since the first carrier 321 is only connected to the boss 3221, the fixing member 324 may be inserted into the first carrier 321 and the boss 3221 to lock the first carrier 321 and the second carrier 322, thereby ensuring rotation consistency of the first carrier 321 and the second carrier 322. For example, the fixing member 324 may be a screw, and the first carrier 321 and the boss 3221 may be provided with corresponding screw holes, thereby achieving a fixed connection of the first carrier 321 and the second carrier 322. In addition, in order to further improve the connection stability of the first carrier 321 and the second carrier 322, the number of the protrusions 3221 may be three, and the three protrusions 3221 may be uniformly distributed on one side of the second carrier 322 adjacent to the first carrier 321. Accordingly, the number of the fixing members 324 may be three, and one fixing member 324 may be inserted into one boss 3221. Of course, the number of the bosses 3221 may be not limited to three, but may be two, four or five, and only the number of the fixing members 324 may be matched with the bosses 3221.

The rotating shaft 323 may be disposed between the first planet carrier 321 and the second planet carrier 322, and the rotating shaft 323 may be further connected with the first planet carrier 321 and the second planet carrier 322, so that the duplex gear 313 may drive the first planet carrier 321 and the second planet carrier 322 to rotate through the rotating shaft 323. One end of the rotation shaft 323 may be connected with the first carrier 321, and the other opposite end may be connected with the second carrier 322. The duplex gear 313 can be sleeved on the rotating shaft 323 and can rotate relative to the rotating shaft 323 under the drive of the main gear 311. Since the double gear 313 is further meshed with the internal gear 312, when the double gear 313 rotates relative to the rotation shaft 323, it also rolls relative to the internal gear 312, so that the double gear 313 can drive the first planet carrier 321 and the second planet carrier 322 to rotate through the rotation shaft 323. The rotating shaft 323 may be inserted into the first planet carrier 321 and the second planet carrier 322, and the rotating shaft 323 may also be in interference fit with the second planet carrier 322. In this way, when assembling, the duplex gear 313 can be assembled onto the rotating shaft 323, and then the first planet carrier 321 and the rotating shaft 323 are aligned for connection, so that the convenience of assembling is improved. In addition, the number of the rotating shafts 323 may be three, and the three rotating shafts 323 may be uniformly distributed on one side of the second planet carrier 322 close to the first planet carrier 321. Correspondingly, the number of the duplex gears 313 may be three, and one duplex gear 313 may be sleeved on one rotating shaft 323. Of course, the number of the rotating shafts 323 is not limited to three, and the number of the double gears 313 is only required to match the number of the rotating shafts 323.

The power mechanism 400 may be disposed in the first receiving chamber 101, and the power mechanism 400 may be used to provide driving force to the driving device 10. Power mechanism 400 may include a stator assembly 410 and a rotor assembly 420. The stator assembly 410 may be disposed between the outer sidewall 112 and the inner sidewall 113, and the stator assembly 410 may be electrically connected to the circuit board 600 and generate a magnetic force after being energized. The rotor assembly 420 may be disposed between the stator assembly 410 and the outer sidewall 112, and the rotor assembly 420 may be further connected to the main gear 311 and may be driven by the magnetic force of the stator assembly 410 to rotate, thereby driving the main gear 311 to rotate. In this embodiment, the detecting mechanism 500 may obtain the motion information of the power mechanism 400 by detecting the motion information of the rotor assembly 420, so that the circuit board 600 may more precisely control the input and output positions of the driving device 10 by comparing the motion information of the power mechanism 400 with the motion information of the output end of the second speed reducing mechanism 300, thereby improving the transmission precision and controllability of the driving device 10.

The stator assembly 410 may be disposed opposite to the rotor assembly 420, and when the stator assembly 410 is energized, a magnetic force is generated to drive the rotor assembly 420 to rotate, thereby providing driving force for the driving device 10. The stator assembly 410 may include: a metal piece 411 and a coil 412. The metal piece 411 may be formed by stacking multiple silicon steel sheets, and the metal piece 411 may be disposed between the outer sidewall 112 and the inner sidewall 113 and connected to a side of the inner sidewall 113 near the outer sidewall 112 to be fixed in the first accommodating cavity 101. For example, the metal member 411 may be fixedly connected to the inner sidewall 113 by bonding or clamping. The coil 412 can be wound on the metal piece 411, and the coil 412 can be changed into an electromagnet to generate magnetic force after being electrified, so that the rotor assembly 420 is driven to rotate the main gear 311, thereby providing driving force for the driving device 10. In the present embodiment, the metal member 411 and the coil 412 may be disposed opposite to and adjacent to the heat sink 114 on the bottom wall 111, so that the heat sink 114 conducts heat generated after the coil 412 is energized.

The rotor assembly 420 may be disposed between the metal member 411 and the outer sidewall 112, opposite to and spaced apart from the metal member 411 and the outer sidewall 112, to facilitate rotation of the rotor assembly 420. The rotor assembly 420 may include: a rotating frame 421, a permanent magnet 422, and a fixing plate 423.

The rotating frame 421 may be disposed at a side of the carrier 130 facing away from the second end cap 120, and the rotating frame 421 may be connected with the main gear 311. The fixed plate 423 is disposed on a side of the rotating frame 421 away from the carrier 130, and is disposed around an outer periphery of the rotating frame 421. The permanent magnet 422 is disposed on the fixed plate 423 and opposite to the coil 412, and the permanent magnet 422 can drive the rotating frame 421 to rotate under the driving of the magnetic force of the coil 412, so that the rotating frame 421 is utilized to drive the main gear 311 to rotate. The permanent magnets 422 may be provided in plurality and disposed on the fixing plate 423 in an array manner at equal intervals. Further, the rotating frame 421 can be further connected to the driving member 210, and the driving member 210 can be driven to rotate by the rotating frame 421. Preferably, the main gear 311 and the driving member 210 are assembled and connected to two opposite sides of the rotating frame 421, respectively, so that the rotating frame 421 is utilized to drive the main gear 311 and the driving member 210 to rotate synchronously, and the first detecting assembly 510 can be utilized to detect the movement information of the power mechanism 400.

Referring to fig. 3 in combination, the rotating frame 421 may include: a first fixing portion 4211, a carrying portion 4212, and a second fixing portion 4213. The first fixing portion 4211 is configured to connect the main gear 311 and the driving member 210, so that the rotating frame 421 drives the main gear 311 and the driving member 210 to rotate synchronously. The first fixing portion 4211 may be disposed around the main gear 311 and in interference fit with the main gear 311, so that the rotating frame 421 drives the main gear 311 to rotate. The first fixing portion 4211 may further be disposed around the second protrusion 213 of the driving member 210 and in interference fit with the driving member 210, so that the rotating frame 421 drives the driving member 210 to rotate.

Of course, in other embodiments, the first fixing portion 4211 may be connected to the main gear 311 and the driving member 210 by other fixing methods, and only the first fixing portion 4211 may be required to drive the main gear 311 and the driving member 210 to rotate synchronously.

The first fixing portion 4211 may further be disposed between the second planet carrier 322 and the main gear 311, and a fifth bearing 340 may be disposed between the first fixing portion 4211 and the second planet carrier 322, and the fifth bearing 340 may be disposed around the first fixing portion 4211 to improve rotational coaxiality of the main gear 311, the rotating frame 421, and the planet carrier 320. Meanwhile, the fifth bearing 340 may also be a flange bearing such that the fifth bearing 340 may have a flange side provided to protrude toward the second carrier 322, and the flange side may also overlap to a side of the second carrier 322 facing away from the first carrier 321, thereby restricting displacement of the second carrier 322 in the axial direction X. Accordingly, the first fixing portion 4211 may be provided with a second stopper 42111, and the second stopper 42111 may be disposed around the first fixing portion 4211 and on a side of the fifth bearing 340 facing away from the first carrier 321 to limit displacement of the fifth bearing 340 in the axial direction X. For example, the second limiting member 42111 may be a protruding edge formed by protruding from the first fixing portion 4211, and the fifth bearing 340 may be disposed on a side of the protruding edge near the second planet carrier 322, so that the protruding edge is used to limit the fifth bearing 340.

Of course, in other embodiments, the second limiting member 42111 may be a clip spring, and only the second limiting member 42111 is required to perform a limiting function on the fifth bearing 340.

The bearing portion 4212 may be disposed on a side of the first fixing portion 4211 facing away from the main gear 311, and a projection of the bearing portion 4212 on a plane perpendicular to the axial direction X covers a projection of the stator assembly 410 on a plane perpendicular to the axial direction X. The bearing portion 4212 may be disposed around the outer periphery of the first fixing portion 4211, and at least one through hole 42121 may be formed in the bearing portion 4212, and the through hole 42121 may be communicated with the first accommodating cavity 101 and the second accommodating cavity 102, so that the heat dissipation efficiency of the driving device 10 may be further improved by using the through hole 42121.

The second fixing portion 4213 may be disposed on an outer circumferential edge of the bearing portion 4212, and the second fixing portion 4213 may also be located between the metal piece 411 and the outer sidewall 112, which may be used to mount the fixing plate 423 such that the permanent magnet 422 can be disposed opposite to the coil 412 on the metal piece 411. The second fixing portion 4213 may be disposed on a side of the carrier portion 4212 facing away from the carrier 130. In the present embodiment, the first fixing portion 4211, the carrying portion 4212 and the second fixing portion 4213 are all disposed in a ring shape, and the second fixing portion 4213 may also be disposed around the metal member 411, so that the permanent magnet 422 is disposed opposite to the coil 412. Meanwhile, the first fixing portion 4211, the bearing portion 4212 and the second fixing portion 4213 may be integrally formed, and may be formed by a corresponding integral molding process, so as to improve the structural strength of the rotating frame 421. In addition, the fixing plate 423 and the permanent magnet 422 may be fixedly connected by attaching double sided tape. Of course, in some embodiments, the fixing plate 423 and the permanent magnet 422 may be connected by other fixing means.

As described above, the middle region of the carrier plate 1321 is provided with the assembly hole 1302, and the first fixing portion 4211 may also be disposed between the carrier 130 and the driving member 210, that is, one end of the first fixing portion 4211 extends into the assembly hole 1302 to be connected with the driving member 210. A sixth bearing 350 may be further disposed between the first fixed portion 4211 and the carrier 130, and the sixth bearing 350 may be disposed around the first fixed portion 4211 to improve rotational coaxiality of the driving member 210, the rotating frame 421, and the planet carrier 320. Meanwhile, the sixth bearing 350 may also be a flange bearing such that the sixth bearing 350 may have a flange side provided to protrude toward the carrier 130, and the flange side may be further overlapped to a side of the carrier 130 near the first carrier 321, thereby restricting displacement of the sixth bearing 350 in the axial direction X. Accordingly, the first fixing portion 4211 may be provided with a third limiting member 42112, and the third limiting member 42112 may be disposed around the first fixing portion 4211 and disposed at a side of the sixth bearing 350 near the first planet carrier 321 to limit displacement of the sixth bearing 350 in the axial direction X. For example, the third limiting member 42112 may be a protruding edge formed by protruding from the first fixing portion 4211, and the sixth bearing 350 may be disposed on a side of the protruding edge facing away from the second planet carrier 322, so that the protruding edge is used to limit the sixth bearing 350. Further, a limiting groove 42113 is provided at an end portion of the first fixing portion 4211 assembled with the driving member 210, and the second protrusion 213 of the driving member 210 is inserted into the limiting groove 42113 to achieve interference fit with the first fixing portion 4211, so that the rotating frame 421 drives the driving member 210 to rotate. The limiting groove 42113 can also limit the displacement of the driving member 210 in the axial direction X.

Of course, in other embodiments, the third limiting member 42112 may be a snap spring, and only the third limiting member 42112 may be required to perform a limiting function on the sixth bearing 350.

Further, since the circuit board 600 is disposed in the second accommodating cavity 102, the power mechanism 400 is disposed in the first accommodating cavity 101, and the coil 412 is electrically connected to the circuit board 600. In order to avoid that the wires connecting the coils 412 and the circuit board 600 contact the rotor assembly 420 to affect the rotation of the rotor assembly 420, the stator assembly 410 in this embodiment of the present application may further include an outgoing wire 413 and a wire clip 414, where the wire clip 414 is disposed between the rotor assembly 420 and the outer side wall 112, so as to cooperate with the outer side wall 112 to form a channel through which the outgoing wire 413 passes, and one end of the outgoing wire 413 passing through the channel is connected to the coils 412, and the other opposite end is connected to the circuit board 600.

For example, one end of the lead-out wire 413 is located at a side of the stator assembly 410 facing away from the carrier 130 and is connected to the coil 412 at that side. The lead wires 413 sequentially pass through the gap between the bottom wall 111 and the stator assembly 410, the channel between the line card 414 and the outer side wall 112, the hollow region 1301 of the bearing member 130, and the gap between the supporting member 150 and the side wall 122 from the position connected with the coil 421 to reach the circuit board 600, so as to realize electrical connection with the circuit board 600.

The number of the lead wires may be set as required by the lead wires 413, for example, one wire, two wires or three wires may be used, and the number is not particularly limited.

In this way, when the rotor assembly 410 rotates, the main gear 311 and the driving member 210 can be synchronously driven to rotate, and at this time, the first detecting assembly 510 disposed on the driving member 210 and the circuit board 600 can detect and obtain the motion information of the rotor assembly 410, i.e. the input end of the driving device 10. The rotation of the main gear 311 may drive the planet carrier 320 to rotate, i.e. realize torque output at the output end of the driving device 10, and at the same time, the rotation of the driving member 210 may drive the driven member 220 to rotate, and the motion information of the driven member 220 may be detected and obtained via the second detection assembly 520, and then the motion information at the output end of the driving device 10 of the planet carrier 320 may be obtained based on the reduction ratio of the first reduction mechanism 200 and the second reduction mechanism 300, i.e. the motion information of the driven member 220 may represent the motion information at the output end of the driving device 10 of the planet carrier 320. In this way, the circuit board 600 can realize more accurate control of the input and output of the driving device 10 by comparing the motion information of the driven member 220 and the driving member 210, and improve the transmission precision and controllability of the driving device 10.

In the actual assembly process, first, the fourth bearing 160 and the end face hole of the first end cover 110 are coaxially assembled, and the shaft shoulder of the first end cover 110 carries out axial X limit on the fourth bearing 160; one end of the lead wire 413 is connected to the circuit board 600, and the other end is connected to the coil 421; the stator assembly 410 is then assembled coaxially with the first end cap 110, and the stator assembly 410 is restrained by the inner side wall 113 of the first end cap 110; the inner gear 312 is then assembled coaxially with the inner bore of the stator assembly 410, with an interference fit, and the inner gear 312 is restrained and oriented by the inner sidewall 113 of the first end cap 110, ensuring that no axial play and no circumferential rotation of the inner gear 312 occurs. Next, the second reduction mechanism 300 is assembled, a plurality of rotating shafts 323 are uniformly mounted on the second carrier 322, then a plurality of duplicate gears 313 are coaxially mounted corresponding to the positions of the plurality of rotating shafts 323, then the third bearing 330 is coaxially mounted with the first carrier 321, and the third bearing 330 is mounted in a hole of the first carrier 321, the shoulder of the first carrier 321 limits the third bearing 330, then the first carrier 321 on which the third bearing 330 is mounted is aligned with the second carrier 322 on which the rotating shafts 323 and the duplicate gears 313 are mounted, and the first carrier 321 and the second carrier 322 are aligned by the fixing member 324 to complete the assembly of the second reduction mechanism 300. And then the second reduction mechanism 300 is assembled on the first end cover 110, on one hand, the first planet carrier 321 is installed in a bearing hole of the fourth bearing 160, and the shaft shoulder of the first planet carrier 321 is in contact fit with the lower end surface of the inner ring of the fourth bearing 160, so that the first planet carrier 321 is limited and cannot axially move, on the other hand, the double gear 313 is matched with the inner gear 312 in the circumferential direction, and the teeth of the double gear 313 are correctly meshed with the teeth of the inner gear 312. Next, the main gear 311 and the rotor assembly 420 are installed, and the main gear 311 and the rotor assembly 420 are required to be synchronously rotated, namely, the main gear 311 and the rotor assembly 420 are coaxially assembled, one shaft end of the main gear 311 is installed in a hole of the rotating frame 421 in an interference manner, the main gear 311 is axially positioned through a shaft shoulder of the rotating frame 421, the fifth bearing 340 is coaxially assembled with the rotating frame 421 before the main gear 311 is assembled, and the fifth bearing 340 is limited through the shaft shoulder of the rotating frame 421. The assembled main gear 311 and rotor assembly 420 are coaxially assembled with the second planet carrier 322 as a whole, on one hand, the teeth of the main gear 311 and the teeth of the duplex gear 313 are correctly meshed, on the other hand, the upper shaft end of the main gear 311 is assembled with the shaft hole of the third bearing 330, and the fifth bearing 340 is coaxially assembled with the hole of the second planet carrier 322. Then leading out the lead-out wires 413 from the hollowed-out area 1301 of the bearing piece 130 and connecting the lead-out wires with the circuit board 600; next, the sixth bearing 350 is mounted to the lower shaft end of the rotating frame 421, the sixth bearing 350 is restrained by the shoulder of the rotating frame 421, and then the carrier 130 is coaxially assembled with the sixth bearing 350 while the end surface of the carrier 130 is engaged with the first end cap 110, so that the assembly of the second reduction mechanism 300 and the power mechanism 400 is completed.

Next, the driving member 210 is coaxially assembled with the first bearing 240, and then the inner hole of the driven member 220 is mounted on the outer ring of the first bearing 240, and the first bearing 240 is limited by the driving member 210 and the driven member 220. The fixing member 230 is interference-fitted with the bearing member 130, the fixing member 230 does not rotate, and then the inner ring of the second bearing 250 is fitted with the outer ring of the output end of the driven member 220, and the second bearing 250 may be a standard bearing, a deep groove ball or other thin bearing.

And then the first detected piece 511 and the shaft hole at one end of the driving piece 210 are fixed by interference fit, adhesion fixation or other fixing methods, and the second detected piece 521 and the output shaft end of the driven piece 220 are fixed by interference fit, adhesion fixation or other fixing methods. The supporting member 150 is mounted and fixed on the bearing member 130, and the limiting of the second bearing 250 is completed, and finally the circuit board 600 provided with the first detecting member 512 and the second detecting member 522 is fixedly mounted on the supporting member 150. Finally, one shaft end of the driving member 210 is installed in the shaft hole of the rotating frame 421 in an interference manner, so that the driving member 210 and the rotating frame 421 synchronously rotate, and then the second end cover 120 is installed on the bearing member 130, so that the assembly of the driving device 10 is completed.

According to the driving device provided by the embodiment of the application, the power mechanism is respectively connected with the first input end of the first speed reducing mechanism and the second input end of the second speed reducing mechanism, so that the first input end and the second input end can synchronously rotate, and the motion information of the first input end and the second input end can represent the motion information of the input end of the driving device. Further by configuring the second output of the second reduction mechanism for forming the output of the drive means, the drive means can increase the output torque with the second reduction mechanism for obtaining a stronger driving force. Meanwhile, the first speed reducing mechanism and the detection mechanism arranged on the first speed reducing mechanism are used for respectively acquiring the motion information of the driving part, namely the first input end and the driven part, namely the first output end, and the motion information of the second output end of the second speed reducing mechanism can be acquired based on the corresponding relation of the speed reducing ratio of the first speed reducing mechanism and the second speed reducing mechanism, namely the motion information of the output end of the driving device is acquired, so that the driving device can control the input and output positions of the driving device more accurately by comparing the motion information of the first input end and the motion information of the first output end, and the transmission precision and the controllability of the driving device are improved.

Referring to fig. 11, fig. 11 is a schematic block diagram of a robot 900 according to some embodiments of the present application, where the robot 900 may be a machine device capable of performing walking, running, jumping, etc. by using the driving device 10 in the foregoing embodiments under the control of a control system. A typical robot structure is, for example, a robot dog, that is, a robot structure including a robot body and four legs, however, the robot in this embodiment may also be a structure including two, three or more legs, or may even be a structure including one leg, which is not particularly limited herein.

The robot 900 generally includes a robot main body 910, a control device 920 provided on the robot main body 910, an information acquisition device 930, a power supply 940, and a guide device 950. The robot body 910 can realize a movement pattern such as walking and running. The control device 920 may be disposed inside or outside the robot main body 910, so as to control the movement of the robot 900, and the control device 920 may also be used to control the working states of the information acquisition device 930, the power supply 940, the guiding device 950, and the like. It is understood that the control device 920 may be a control circuit board integrated with a data conversion module, an interface module, a processing module, etc., where the data conversion module may be connected to the information collecting device 930 and the guiding device 950 respectively through the interface module. The interface module may be, for example, a USB interface that meets the USB 2.0 specification, the USB3.0 specification, and the USB3.1 specification, and may include: micro USB interface or USB TYPE-C interface. In addition, the interface module may also be a signal interface. Even the interface module may be any other type of serial interface that can be used for serial data transmission. The data conversion module is configured to serialize and convert the data collected from the information collection device 930 through the interface module, and output the converted serial data through the interface module, so as to process the converted serial data, for example, transmit the processed serial data to the guiding device 950 or an external device. The data conversion module is further configured to convert serial data received through the interface module, so as to convert the received serial data into interface data matched with an interface protocol of the interface module, and transmit the converted interface data to the guiding device 950 or the external device through the interface module, so as to output the converted interface data through the interface module. The processing module may be, for example, an application processor (Application Processor, AP) for processing the received data and outputting the processed data (video data and/or audio data) via the control circuit board.

It is understood that the processing module may be, for example, a dedicated device configured with the robot 900, or the processing module may be an electronic device (such as a smart phone, a tablet computer, etc.) configured with the foregoing module. The processor (e.g., CPU or AP, etc.) in the electronic device may be the processing module, and by installing a corresponding application in the electronic device, the processor may perform corresponding processing on the data received through the control device 920.

The control circuit board may be implemented, for example, as an ASIC (Application Specific Integrated Circuit ) data integration processing chip, or may also be implemented as an FPGA (Field Programmable Gate Array ) or the like.

The information acquisition device 930 may include an audio data acquisition module, a video data acquisition module/image data acquisition module, and a sensing data acquisition module. The information acquisition device 930 may be connected to the control device 920 through an interface module, and transmit the acquired data information to the control device 920.

The audio data acquisition module may include, for example, a microphone and an audio Codec (Codec). The audio codec performs audio encoding on data collected through the microphone.

The video data acquisition module/image data acquisition module may include, for example, a camera such as a lens of a general camera, an IR (Infrared Ray) lens of an IR camera, or the like.

The sensing data acquisition module may include, for example, a proximity sensor, a gesture sensor, an acceleration sensor, and the like. The proximity sensor (for example, a distance sensor provided on the first FPC 523) is a generic term for a sensor that performs detection without touching a detection object, instead of a touch detection system such as a limit switch. The movement information and the presence information of the detectable object are converted into electrical signals. The sensing principle of the inductive proximity sensor is to detect magnetic loss caused by eddy current generated on the surface of a conductor by the influence of an external magnetic field. An alternating magnetic field is generated in the detection coil, and impedance change caused by eddy current generated by the metal body of the detection body is detected.

The attitude sensor is a high-performance three-dimensional motion attitude measurement system based on MEMS technology. The three-dimensional attitude and azimuth data after temperature compensation are obtained through an embedded low-power ARM processor by the aid of motion sensors such as a three-axis gyroscope, a three-axis accelerometer and a three-axis electronic compass. And outputting zero drift three-dimensional attitude azimuth data expressed by quaternion and Euler angles in real time by using a quaternion-based three-dimensional algorithm and a special data fusion technology.

The acceleration sensor is a sensor capable of measuring acceleration. The device is generally composed of a mass block, a damper, an elastic element, a sensitive element, an adaptive circuit and the like. During acceleration, the sensor obtains an acceleration value by measuring the inertial force borne by the mass block and utilizing Newton's second law. Common acceleration sensors include capacitive, inductive, strain, piezoresistive, piezoelectric, etc., according to the sensor sensing element.

A power supply 940 may be connected to the control device 920 via an interface module for providing electrical energy for the movement of the robot 900, and the power supply 940 is further configured for providing electrical energy for the operation of the control device 920, the information acquisition device 930, and the directing device 950.

The directing means 950 may be connected to the control means 920 via an interface module to perform corresponding directing functions under the control of the control means 920.

In an embodiment, the robot 900 may further include a storage device 960, the storage device 960 being disposed within the robot body 910. The storage 960 may include readable media in the form of volatile memory units, such as Random Access Memory (RAM) and/or cache memory units, and may further include Read Only Memory (ROM). Storage 960 may also include a program/utility having a set (at least one) of program modules including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.

In an embodiment, the robot 900 may also communicate with one or more external devices (e.g., cell phone, computer, etc.), one or more devices that enable a user to interact with the robot 900, and/or any device (e.g., router, modem, etc.) that enables the robot 900 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface. Also, the robot 900 may communicate with one or more networks, such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the internet, through a network adapter. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with robot 900, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.

It should be noted that although in the above detailed description several modules or units of a device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functions of two or more modules or units described above may be embodied in one module or unit, in accordance with embodiments of the present application. Conversely, the features and functions of one module or unit described above may be further divided into a plurality of modules or units to be embodied.

According to the driving device and the robot with the driving device, through comparing the motion information of the first input end and the first output end, the input and output positions of the driving device are controlled more accurately, the transmission precision and the controllability of the driving device are improved, and the control precision of the robot is further improved.

It should be noted that the terms "comprising" and "having," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may alternatively include other steps or elements not listed or inherent to such process, method, article, or apparatus.

The foregoing description is only a partial embodiment of the present application, and is not intended to limit the scope of the present application, and all equivalent devices or equivalent process transformations made by using the descriptions and the drawings of the present application, or direct or indirect application to other related technical fields, are included in the patent protection scope of the present application.

Claims

1. A driving device, characterized in that the driving device comprises:

A power mechanism configured to form an input of the drive device;

the first speed reducing mechanism is provided with a first input end, a first output end and a first speed reducing ratio;

the second speed reducing mechanism is provided with a second input end, a second output end and a second speed reducing ratio; and

the detection mechanism is provided with a first detection component and a second detection component;

the first speed reduction ratio is larger than the second speed reduction ratio, and the power mechanism is respectively connected with the first input end and the second input end so that the first input end and the second input end can synchronously rotate;

2. The drive of claim 1, wherein the first output rotates 1 revolution, the first input rotates m revolutions, and the second output rotates n revolutions; wherein m > n >1, and the range of the rotation angle of the second output end is 0-n×360 °.

3. The drive device according to claim 1, wherein the first detection assembly includes a first detected member provided on the first input end, and a first detection member provided opposite to the first detected member, the first detection member being configured to be able to acquire movement information of the power mechanism through the first detected member;

the second detection assembly comprises a second detected piece arranged on the first output end and a second detection piece arranged opposite to the second detected piece, and the second detection piece is configured to acquire motion information of the second output end through the second detected piece.

4. A driving device according to claim 3, wherein the second detection component is a single-turn absolute value encoder.

5. A drive arrangement according to claim 3, wherein the first reduction mechanism is coupled to the power mechanism and is configured to be coupled to the power mechanism; the first speed reducing mechanism comprises a driving piece and a driven piece, wherein the driving piece is configured to form the first input end, is connected with the power mechanism and is used for assembling the first detected piece; the follower is configured to form the first output and to mount the second inspected member; the first reduction ratio is the ratio of the rotating speeds of the driving piece and the driven piece.

6. The drive of claim 5, wherein the first reduction mechanism is a harmonic reducer.

7. The driving device according to claim 5, wherein the driving device includes a circuit board disposed at an interval from the first speed reducing mechanism, the first detecting member is disposed on the circuit board and disposed opposite to the first detected member, and the second detecting member is disposed on the circuit board and disposed opposite to the second detected member.

8. The drive of claim 7, comprising a housing assembly having a first housing cavity configured to house the second reduction mechanism, the power mechanism, and a second housing cavity configured to house the first reduction mechanism, the detection mechanism, the circuit board.

9. The drive of claim 8, wherein the housing assembly includes first and second oppositely disposed end caps and a carrier disposed between the first and second end caps, the first end cap and the carrier cooperatively defining the first receiving chamber, and the second end cap and the carrier cooperatively defining the second receiving chamber.

10. The drive of claim 9, wherein the power mechanism includes a rotor assembly rotatably coupled to the carrier, the rotor assembly configured to provide for synchronous rotation of the drive member and the second input.

11. The drive of claim 10, wherein the carrier comprises a first carrier portion and a second carrier portion, the first carrier portion being disposed between and connecting the first and second end caps, respectively, the second carrier portion being disposed within the second receiving cavity and configured to assemble the first reduction mechanism.

12. The driving device according to claim 11, wherein the second bearing portion includes a bearing plate, and a first surrounding wall and a second surrounding wall disposed on a side of the bearing plate facing away from the first end cover, the bearing plate is provided with an assembly hole, the first surrounding wall is disposed on an outer ring edge of the bearing plate, and the second surrounding wall is disposed on an inner ring edge of the bearing plate; one end of the rotor assembly is inserted into the assembly hole and is assembled with the bearing plate in a rotating way through a bearing.

13. The drive of claim 12, wherein the first wall protrudes above the carrier plate to a greater height than the second wall protrudes above the carrier plate.

14. The driving device as recited in claim 12 wherein said first deceleration mechanism further comprises a fixed member mounted on said first wall, said fixed member being disposed around the periphery of said driven member, said driven member being disposed around the periphery of said driving member, said driving member being operative to said driven member upon rotation thereof to cause said driven member to rotate;

wherein the fixing member has internal teeth, the driven member has external teeth, and when one external tooth of the driven member meshes with one internal tooth of the fixing member to one internal tooth core again, the driven member rotates one revolution, and the driving member rotates a plurality of revolutions.

15. The drive of claim 11, wherein the housing assembly further comprises a support member fitted in the second receiving chamber, the carrier member comprising a connecting portion connecting the first and second carrier portions, the first carrier portion being annular and surrounding a periphery of the second carrier portion, the connecting portion being disposed between the first and second carrier portions; the supporting piece is connected with the connecting part in an assembling way and is used for assembling the circuit board; wherein the support member and the second bearing portion are disposed at intervals.

16. The drive of claim 15, wherein there is a gap between the support and the second end cap.

17. The driving device according to claim 15, wherein the supporting member includes a first supporting portion for fitting connection with the connecting portion and a second supporting portion for fitting the circuit board; the second supporting part is rotationally connected with the driven piece through a bearing.

18. The drive device according to claim 17, wherein the driven member includes a first driven portion having external teeth for meshing with the internal teeth of the fixed member, and a second driven portion rotatably fitted with the second support portion through a bearing; and a flexible bearing is arranged between the first driven part and the driving part, and a second detected part is arranged on one side of the second driven part, which is close to the circuit board.

19. The drive of claim 12, wherein the driving member includes a main body portion, and first and second protrusions disposed on opposite sides of the main body portion, the main body portion acting on the driven member to rotate the driven member, the first protrusion disposed on a side of the main body portion adjacent to the circuit board and configured to mount the first inspected member, and the second protrusion disposed on a side of the main body portion facing away from the circuit board and configured to connect with the rotor assembly.

20. The driving device according to claim 12, wherein the rotor assembly comprises a rotating frame, a fixing plate arranged on the rotating frame, and a permanent magnet arranged on the fixing plate, the rotating frame is arranged on one side of the bearing piece, which is away from the second end cover, and the rotating frame is respectively connected with the driving piece and the second input end, so as to drive the driving piece and the second input end to synchronously rotate.

21. The drive of claim 20, wherein the power mechanism further comprises a stator assembly electrically connected to the circuit board and configured to generate a magnetic force to drive the rotor assembly to rotate after being energized, thereby driving the driving member and the second input terminal to synchronously rotate via the turret.

22. The drive of claim 20, wherein the second reduction mechanism comprises a transmission assembly and a planet carrier, the transmission assembly being coupled to the power mechanism and configured to be coupled to the power mechanism, the planet carrier being coupled to the transmission assembly and rotatable under the drive of the transmission assembly; wherein the transmission assembly is configured to form the second input and the planet carrier is configured to form the second output.

23. The driving device according to claim 22, wherein the transmission assembly comprises a main gear, an internal gear and a duplicate gear, the main gear is connected with the rotating frame and can rotate under the drive of the rotating frame, the internal gear is arranged around the main gear, and the duplicate gear is meshed with the main gear and the internal gear respectively and is connected with the planet carrier; wherein, the internal gear is fixed and assembled in the first end cover.

24. The drive of claim 23, wherein the planet carrier comprises a first planet carrier, a second planet carrier, a rotating shaft, and a fixed member, the first planet carrier and the second planet carrier being spaced apart and disposed opposite each other, the rotating shaft and the fixed member being disposed between the first planet carrier and the second planet carrier; the double gear drives the first planet carrier and the second planet carrier to synchronously rotate through the rotating shaft, and the fixing piece is used for locking and fixing the first planet carrier and the second planet carrier.

25. The drive of claim 22, wherein the second reduction mechanism is a planetary reducer.

26. A robot having a drive device according to any one of claims 1-25.