CN215944726U

CN215944726U - Power module and power equipment

Info

Publication number: CN215944726U
Application number: CN202122420048.6U
Authority: CN
Inventors: 华宁; 赵同阳
Original assignee: Shenzhen Pengxing Intelligent Research Co Ltd
Current assignee: Shenzhen Zhongqing Robot Technology Co ltd
Priority date: 2021-09-30
Filing date: 2021-09-30
Publication date: 2022-03-04
Anticipated expiration: 2031-09-30

Abstract

The application discloses power module and power equipment, power module include casing, power take off spare, compliant wheel, stator, rotor, magnet and wave generator. The casing is formed with the opening and accepts the chamber, and power take off spare includes the rigidity wheel, and the opening part is located to the rigidity wheel. The flexible wheel is at least partially arranged in the accommodating cavity and is in power coupling with the rigid wheel, and the flexible wheel is also fixedly connected with the shell. The stator is at least partially fixedly mounted in the receiving cavity. The rotor is at least partially positioned on the inner side of the stator, the rotor is provided with a magnet, and the rotor and the rigid wheel rotate coaxially. The flexible bearing is arranged between the flexible wheel and the fixing part, and the fixing part is detachably arranged on the rotor or is in an integral structure with the rotor. The stator is used for driving the rotor to rotate relative to the shell, and the flexible wheel is driven to deform through the wave generator to drive the rigid wheel to rotate when the rotor rotates. Therefore, the rigid wheel is driven to rotate through the deformation of the flexible wheel to output power, the rotational inertia is small, and the vibration can be reduced.

Description

Power module and power equipment

Technical Field

The application relates to the technical field of power transmission, in particular to a power module and power equipment.

Background

A robot power module is a core component of a robot, and particularly, in a legged mobile robot, it is required to exert a sufficiently large explosive force with a small size and a light weight. In the related art, the motor and the speed reducer system are usually in series connection, which increases the axial size, causes the joint of the robot to be too bulky, occupies too large space, and affects the advance of the robot, for example, the joint is likely to collide with an external object during the moving and advancing process, and affects the overall beauty of the robot. In addition, the flexible gear of the harmonic reducer is generally adopted for output in the related technology, so that the rotational inertia is large and the vibration is large.

SUMMERY OF THE UTILITY MODEL

The application provides a power module and power equipment.

The power module of this application embodiment includes:

a housing formed with an opening and an accommodating chamber;

the power output piece can rotate relative to the shell and comprises a rigid wheel, and the rigid wheel is arranged at the opening;

a compliant wheel at least partially disposed within the housing cavity and dynamically coupled to the rigid wheel, the compliant wheel further fixedly connected to the housing;

a stator at least partially fixedly mounted within the receiving cavity;

the rotor is rotatably arranged in the accommodating cavity and at least partially positioned on the inner side of the stator, a magnet is arranged on the rotor, the magnet and the stator are oppositely arranged at intervals, and the rotor and the rigid wheel rotate coaxially; and

the wave generator comprises a flexible bearing and a fixed part, the flexible bearing is arranged between the flexible wheel and the fixed part, and the fixed part is detachably arranged on the rotor or is in an integral structure with the rotor;

the stator is used for driving the rotor to rotate relative to the shell, and the rotor drives the flexible wheel to deform through the wave generator to drive the rigid wheel to rotate when rotating.

The power equipment of the embodiment of the application comprises the power module.

In the power module and the power equipment of the embodiment of the application, the flexible wheel is at least partially arranged in the accommodating cavity and is in power coupling with the rigid wheel, the stator is fixedly arranged in the accommodating cavity, the rotor is rotatably arranged in the accommodating cavity and is positioned on the inner side of the stator, and the rotor and the rigid wheel rotate coaxially. The flexible bearing is arranged between the flexible wheel and the fixing part, and the fixing part is fixed on the rotor or integrated with the rotor. Therefore, the flexible wheel is at least partially accommodated in the accommodating cavity, the stator and the rotor are accommodated in the accommodating cavity, and the fixing part of the wave generator is fixed on the rotor or is integrated with the rotor, so that the volume of the whole power module can be effectively reduced. Meanwhile, the flexible wheel is fixed with the shell, the rigid wheel is driven to rotate through the deformation of the flexible wheel to output power, the rotational inertia is small, and the vibration can be effectively reduced.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic perspective view of a power plant according to an embodiment of the present application;

FIG. 2 is a schematic perspective view of a power module according to an embodiment of the present disclosure;

FIG. 3 is an exploded view of the power module according to the embodiment of the present disclosure;

FIG. 4 is a schematic cross-sectional view of a power module according to an embodiment of the present disclosure;

FIG. 5 is another schematic cross-sectional view of a power module according to an embodiment of the present disclosure;

FIG. 6 is an enlarged schematic view at VI of FIG. 5;

FIG. 7 is a schematic cross-sectional view of another embodiment of a power module of the present application;

FIG. 8 is a schematic structural view of a housing of the power module of an embodiment of the present application;

fig. 9 is a schematic structural diagram of a housing, a first circuit board and a driving circuit board of the power module according to the embodiment of the present disclosure;

FIG. 10 is a schematic view of an installation structure of a housing and a torque sensor of the power module according to the embodiment of the present disclosure;

FIG. 11 is a schematic illustration of a compliant wheel configuration of a power module according to an embodiment of the present application;

fig. 12 is a schematic view of an installation structure of a rotor, a fixing portion, and a magnet of the power module according to the embodiment of the present application;

FIG. 13 is a schematic structural view of a stator, a rotor, and a wave generator of the power module of an embodiment of the present application;

FIG. 14 is a schematic structural view of a rigid wheel and a support member of the power module of the present application;

FIG. 15 is a schematic cross-sectional view of another embodiment of a power module of the present application;

FIG. 16 is a schematic cross-sectional view of another embodiment of a power module of the present application;

fig. 17 is a schematic cross-sectional view of a power module according to an embodiment of the present application.

Description of the main element symbols:

a power plant 1000;

the power module 100, the housing 10, the opening 101, the receiving cavity 102, the bottom wall 103, the recess 1031, the surrounding wall 104, the central shaft 105, the wire passing hole 107, the power output member 11, the rigid wheel 111, the first ring gear structure 1111, the flange 112, the protrusion 1121, the flexible wheel 12, the flexible wall 121, the second ring gear structure 1211, the mounting wall 122, the mounting cavity 123, the stator 13, the stator core 131, the steel sheet 1311, the rotor 14, the magnet 15, the wave generator 16, the flexible bearing 161, the fixing portion 162, the cam 1621, the mounting portion 1622, the first position detecting element 17, the first magnetic element 171, the first sensing element 172, the second circuit board 1721, the first sensing unit 1722, the fixing seat 173, the first circuit board 18, the second position detecting element 19, the second magnetic element 191, the second sensing element 192, the third circuit board 1921, the second sensing unit 1922, the support 20, the rolling element 21, the first support bearing 22, the second support bearing 23, the first position detecting element, The mounting bracket 24, the mounting base 241, the fixing piece 242, the fourth circuit board 25, the insulating sheet 26, the hollow tube 27, the radiating tube 28, the torque sensor 29, the driving circuit board 30, the sealing cover 31 and the partition plate 32;

torso 200, and foot 300.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and are only for the purpose of explaining the present application and are not to be construed as limiting the present application.

In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be construed as limiting the present application. Furthermore, the terms "first", "second" and "first" 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, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The following disclosure provides many different embodiments or examples for implementing different features of the application. In order to simplify the disclosure of the present application, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present application. Moreover, the present application may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, while various specific examples of processes and materials are provided herein, one of ordinary skill in the art will recognize that other processes may be used and/or other materials may be used.

Referring to fig. 1, a power plant 1000 according to an embodiment of the present disclosure may include the power module 100 according to an embodiment of the present disclosure, and the power plant 1000 may be a quadruped robot, such as a robot dog, a robot horse, etc., but the power plant 1000 may also be other types of robots, such as a biped robot, a hexapod robot, etc. In addition, the power plant 1000 is not limited to a robot, and may be other types of plants, and is not limited herein.

Taking a robot as an example, the power module 100 according to the embodiment of the present disclosure may be installed at a joint of the robot, and the power module 100 may be configured to drive the joint to rotate. Specifically, the robot may include a torso 200 and a foot 300, the foot 300 being coupled to the torso 200, and the power module 100 being configured to drive the foot 300 to move relative to the torso 200, for example, the power module 100 may be configured to drive the entire foot 300 to move relative to the torso 200, or to drive the articulation of the foot 300.

Referring to fig. 2-5, a power module 100 according to an embodiment of the present disclosure may include a housing 10, a power output member 11, a compliant wheel 12, a stator 13, a rotor 14, a magnet 15, and a wave generator 16. The housing 10 is formed with an opening 101 and a housing chamber 102, the power take-off 11 is rotatable relative to the housing 10, the power take-off 11 includes a rigid wheel 111, and the rigid wheel 111 is provided at the opening 101.

The compliant wheel 12 is disposed at least partially within the housing 102 and is dynamically coupled to the rigid wheel 111, the compliant wheel 12 also being fixedly coupled to the housing 10. The stator 13 is at least partially fixedly mounted within the housing cavity 102. The rotor 14 is rotatably installed in the housing cavity 102 and located inside the stator 13, the magnet 15 is disposed on the rotor 14, the magnet 15 is disposed opposite to the stator 13 at an interval, and the rotor 14 and the rigid wheel 111 rotate coaxially.

The wave generator 16 includes a flexible bearing 161 and a fixing portion 162, the flexible bearing 161 being disposed between the flexible wheel 12 and the fixing portion 162, and the fixing portion 162 being detachably mounted on the rotor 14 or being integrally constructed with the rotor 14.

The stator 13 is used for driving the rotor 14 to rotate relative to the housing 10, and when the rotor 14 rotates, the wave generator 16 drives the flexible wheel 12 to deform so as to drive the rigid wheel 111 to rotate.

It can be understood that the robot power module is a core component of the robot, and particularly in the mobile legged robot, the robot power module is required to exert a sufficiently large explosive force under the condition of small volume and light weight. In the related art, the motor and the speed reducer system are usually in series connection, which increases the axial size, causes the joint of the robot to be too bulky, occupies too large space, and affects the advance of the robot, for example, the joint is likely to collide with an external object during the moving and advancing process, and affects the overall beauty of the robot. In addition, the flexible gear of the harmonic reducer is generally adopted for output in the related technology, so that the rotational inertia is large and the vibration is large.

In the power module 100 and the power plant 1000 according to the embodiment of the present application, the flexible wheel 12 is at least partially disposed in the housing cavity 102 and is dynamically coupled to the rigid wheel 111, the stator 13 is fixedly mounted in the housing cavity 102, the rotor 14 is rotatably mounted in the housing cavity 102 and located inside the stator 13, and the rotor 14 rotates coaxially with the rigid wheel 111. The compliant bearing 161 is disposed between the compliant wheel 12 and the fixed portion 162, and the fixed portion 162 is fixed to the rotor 14 or is integral with the rotor 14. As such, the compliant wheel 12 is at least partially received in the receiving cavity 102, and the stator 13 and the rotor 14 are both received in the receiving cavity 102 and the fixing portion 162 of the wave generator 16 is fixed to the rotor 14 or is integrally formed with the rotor 14, which can effectively reduce the volume of the entire power module 100. Meanwhile, the flexible wheel 12 is fixed with the shell 10, the rigid wheel 111 is driven to rotate through the deformation of the flexible wheel 12 to output power, the rotational inertia is small, and the vibration can be effectively reduced.

Specifically, in the embodiment of the present application, after the stator 13 is powered on, the stator 13 drives the rotor 14 to rotate, the rotor 14 drives the wave generator 16 to rotate so as to drive the flexible wheel 12 to deform, and the flexible wheel 12 drives the rigid wheel 111 to rotate in the deformation process so as to implement power output.

The housing 10 serves as a bearing part of the whole power module 100, and may be made of a metal material or a non-metal material with high strength to meet the bearing requirement, the power module 100 may be mounted on the main body of the power equipment 100 through the housing 10, for example, the power module 100 may be mounted on the trunk 300 of the robot through a mounting through hole on the housing 10.

The top of the housing 10 has an opening 101, and the rigid wheel 111 is disposed at the opening 101, which can be understood that the rigid wheel 111 is disposed near the opening 101, and it can be located outside the opening 101, that is, outside the receiving cavity 102, or inside the opening 101, and it can be completely received in the receiving cavity 102 or partially received in the receiving cavity 102, and is not limited herein, and in the embodiment shown in fig. 4 to 5, the rigid wheel 111 is located outside the opening and outside the receiving cavity 102.

Specifically, the housing 10 may include a bottom wall 103 having a surrounding wall 104 connected to the surrounding wall 104, and the surrounding wall 104 and the bottom wall 103 together define a receiving cavity 102, and it is understood that, in some embodiments, in order to improve the heat dissipation efficiency, the surrounding wall 104 may be a hollow structure, for example, a plurality of heat dissipation holes (not shown) may be formed on the surrounding wall 104 to facilitate heat dissipation of a heat generating element such as the stator 13 disposed in the housing 10. Of course, in order to prevent external dust and impurities from entering the inner wall of the power module 100 while ensuring heat dissipation, a dustproof structure, such as a dustproof net, may be disposed on the hollow area of the surrounding wall 104, so as to prevent the dust and impurities from falling into the power module 100 while improving heat dissipation efficiency.

In the present application, the stator 13 and the rotor 14 may correspond to driving motors, and the arrangement of the stator 13 and the rotor 14 in the receiving cavity 102 of the housing 10 corresponds to the arrangement of the motor in the housing 10, which may effectively reduce the volume of the whole power module 100.

The number of the magnets 15 is plural, the plural magnets 15 may be arranged at intervals along the circumferential direction of the rotor 14 by a bonding manner, in some embodiments, the magnets 15 may be directly bonded to the rotor 14 by glue, in other embodiments, in order to improve the stability of the installation of the magnets 15, an installation groove may be formed in the rotor 14, and the magnets may be fixed by glue after being installed in the installation groove, which is not particularly limited herein.

Referring to fig. 4, as an embodiment, the compliant wheel 12 is formed with a mounting cavity 123, and the rotor 14 and the stator 13 are at least partially received in the mounting cavity 123.

In this way, the compliant wheel 12 is at least partially disposed in the housing cavity 102 of the housing 10, and the rotor 14 and the stator 13 are at least partially housed in the mounting cavity 123 of the compliant wheel 12, which can improve the compactness of the power module 100 and further reduce the overall volume of the power module 100.

It will be appreciated that in such an embodiment, the compliant wheel 12 is housed in the housing 10, and the rotor 14 and the stator 13 are housed in the mounting cavity 123 of the compliant wheel 12, so that the arrangement of the compliant wheel 12, the stator 13 and the rotor 14 in a radially sequential nested manner can improve the compactness of the power module 100, and thus reduce the overall size of the power module 100.

Specifically, in such an embodiment, compliant wheel 12 may include a compliant wall 121 and a mounting wall 122 connected to each other, compliant wall 121 extending in an axial direction of rotation of rotor 14, compliant wall 121 being dynamically coupled to rigid wheel 111, and mounting wall 122 being fixedly connected to housing 10. Mounting wall 122 and flexible wall 121 enclose a mounting cavity 123, and rotor 14 and stator 13 are all housed in mounting cavity 123. In this way, the rotor 14 and the stator 13 are completely accommodated in the mounting cavity 123 formed by the compliant wheel 12, and the volume can be further reduced.

Referring to fig. 8 to 10, as an embodiment, the housing 10 includes a surrounding wall 104, a central shaft portion 105, and a bottom wall 103 connecting the surrounding wall 104 and the central shaft portion 105, the surrounding wall 104 and the bottom wall 103 together define a receiving cavity 102, and the mounting wall 122 of the flexible wheel 12 is fixedly connected to at least one of the surrounding wall 104, the bottom wall 103, and the central shaft portion 105. In this manner, the compliant wheel 12 and the housing 10 can be fixedly attached by only fixedly attaching the mounting wall 122 to at least one of the peripheral wall 104, the bottom wall 103, and the central shaft portion 105.

Specifically, referring to fig. 4, 5 and 10, in the illustrated embodiment, the compliant wheel 12 is substantially cup-shaped, the compliant wall 121 of the compliant wheel 12 extends along an axial direction of rotation of the rotor 14, that is, along a rotation axis of the rotor 14, the mounting wall 122 is connected to a bottom of the compliant wall 121 and bends inward relative to the compliant wall 121 along a radial direction, that is, bends and extends toward a side of the rotation axis of the rotor 14 relative to the compliant wall 121, a through hole is formed in the mounting wall 122, and the mounting wall 122 can be fixedly mounted on the housing 10 by a fastener such as a screw, a bolt, a pin, and the like, which is inserted through the through hole.

More specifically, in order to ensure the deformation of the flexible wall 121, the thickness of the flexible wall 121 may be set to be thin, a mounting protrusion 1221 with a thick thickness may be formed at an end of the mounting wall 122, the mounting protrusion 1221 is sleeved on the central shaft portion 105, the mounting wall 122 may be fixedly connected to the housing 10 by the mounting protrusion 1221, the mounting protrusion 121 is thick to ensure the connection strength between the flexible wheel 12 and the housing 10, in such a case, a through hole may be formed on the mounting protrusion 1221, and the mounting protrusion 1221 may be fixedly mounted on the housing 10 by a fastening element such as a pin, a screw, or a bolt penetrating through the through hole.

It will be appreciated that in other embodiments, the compliant wheel 12 may omit the mounting wall 122 or directly extend the mounting portion 122 also in the axial direction of rotation of the rotor 14 and be fixedly connected directly to the bottom wall 103 of the housing 10. It will be appreciated that in such a case, the compliant wheel 14 may be substantially cylindrical.

Of course, referring to fig. 7, in other embodiments, the compliant wheel 12 may also be substantially hat-shaped, in such embodiments, the mounting wall 122 of the compliant wheel 12 is bent and extended outward in the radial direction relative to the compliant wall 121, that is, is bent and extended toward the side away from the rotation axis of the rotor 14 relative to the compliant wall 121, in such a case, the compliant wall 121 directly and separately encloses a mounting cavity 123, and the stator 13 and the rotor 14 may be at least partially accommodated in the mounting cavity 123.

Specifically, in such embodiments, the housing 10 may be a segmented housing 10, and in particular may be divided into a first portion and a second portion arranged one above the other, the second portion may be disposed above the first portion, and an annular mounting portion 1221 may be formed on the mounting wall 122 of the compliant wheel 12, and the annular mounting portion 1221 may be mounted between the first portion and the second portion. In such a case, the first and second portions of the housing 10 and the annular mounting portion 1221 of the compliant wheel 12 together enclose the receiving cavity 102.

In the present application, a central shaft portion 105 may be formed at a central position of the bottom wall 103, and the rotor 14 may be rotatably connected to the central shaft portion 105, which rotates around the central shaft portion 105, for example, a support bearing may be provided between the central shaft portion 105 and the rotor 14, and the support bearing may affect the rotation of the rotor 14 while supporting the rotor 14.

It will be appreciated that, in order to ensure that the compliant wheel 12 is sufficiently deformed by the wave generator 16, it may be preferable to fixedly connect the mounting wall 122 to the bottom wall 103 of the housing 10, so that the length of the compliant wall 121 is increased to allow sufficient deformation of the compliant wall 121 by the wave generator 16.

Referring to fig. 3 and 11, as an embodiment, a first ring gear structure 1111 is formed on an inner circumferential surface of the rigid wheel 111. The flexible gear 12 includes a mounting wall 122 and a flexible wall 121, the mounting wall 122 is fixedly connected to the housing 10, a second ring gear structure 1211 is formed on an outer circumferential surface of the flexible wall 121 opposite to the first ring gear structure 1111 of the rigid gear 111, the first ring gear structure 1111 and the second ring gear structure 1211 are partially engaged to couple the flexible gear 12 and the rigid gear 111, and the number of teeth of the second ring gear structure 1211 is less than that of the first ring gear structure 1111.

In this way, the flexible wall 121 of the flexible wheel 12 can drive the rigid wheel 111 to rotate to perform power output when being deformed by the partial meshing of the first ring gear structure 1111 and the second ring gear structure 1211.

As an embodiment, the fixing portion 162 of the wave generator 16 includes a cam 1621, the cam 1621 is detachably mounted on the rotor 14 or the cam 1621 is integrally configured with the rotor 14, and an outline of an orthographic projection of the cam 1621 in an axial direction of rotation of the rotor 14 is elliptical.

In this way, the elliptical cam 1621 and the compliant bearing 161 may constitute the wave generator 16, and as the rotor 14 rotates, the cam 1621 follows and is able to rotate to periodically cause the compliant wheel 12 to deform, such that the compliant wheel 12 drives the rigid wheel 111 to rotate.

Specifically, in such an embodiment, the cam 1621 may be detachably mounted on the rotor 14 through a fastening element such as a screw or a bolt or may be directly integrated with the rotor 14, the contour of the cam 1621 is elliptical, the rotation axis of the cam 1621 coincides with the rotation axis of the rotor 14, the rotor 14 may drive the cam 1621 to rotate when rotating, and the flexible bearing 161 drives the flexible wheel 12 to deform when the cam 1621 rotates, so as to drive the rigid wheel 111 to rotate relative to the housing 10 to achieve power output.

Referring to fig. 4, 5 and 12, in the illustrated embodiment, the fixing portion 162 may include a mounting portion 1622 and the cam 1621, the mounting portion 1622 may be integrated with the rotor 14, and the cam 1621 may be detachably mounted on the mounting portion 1622, but it should be understood that in other embodiments, the cam 1621 may be integrally formed with the rotor 14 together with the mounting portion 1622, and the specific configuration is not limited herein. In the embodiment shown in fig. 4 and 5, the mounting portion 1622 is integrally formed with the rotor 14, the cam 1621 is detachably mounted on the mounting portion 1622, the rotor 14 may include an annular limiting portion 141, the limiting portion 141 extends toward one side of the stator 13 and is located at a connection position of the mounting portion 1622 and the rotor 14, and the cam 1621 is sleeved on the mounting portion 1622 and abuts against the limiting portion 141.

Referring to fig. 3 to 6, as an embodiment, the power module 100 further includes a first position detecting element 17, the first position detecting element 17 is disposed in the accommodating cavity 102, the first position detecting element 17 includes a first magnetic element 171 and a first sensing element 172, the first magnetic element 171 is fixedly connected to the power output element 11 through a fixing base 173, the fixing base 173 and the power output element 11 are an integral structure or a detachable connection structure, and the first sensing element 172 is fixedly connected to the housing 10 and disposed opposite to the first magnetic element 171 at an interval.

Thus, the position and the rotation speed of the power output element 11 can be accurately obtained by the first position detecting element 17 for more accurate control, and the installation space of the housing 10 can be further saved by disposing the first position detecting element 17 in the accommodating cavity 102, so that the volume of the power module 100 can be made smaller.

Further, in such embodiments, the rotor 14 may be annular and the first position sensing assembly 17 may be at least partially housed within the rotor 14. Therefore, the stacking space of the whole power module 100 in the axial direction can be further reduced, so that the whole volume of the power module 100 can be smaller, and meanwhile, the first position detection assembly 17 and the stator 13 can be separated through the rotor 14, on one hand, local overheating caused by concentrated heat sources can be avoided, and on the other hand, the first position detection assembly 17 can be prevented from being influenced by a magnetic field generated by the stator 13 during working due to the separation of the first position detection assembly and the stator 13.

Specifically, in such an embodiment, the rotor 14 may have a hollow ring shape, and the first position detection member 17 may preferably be entirely housed within the rotor 14. Of course, in other embodiments, the first position detecting assembly 17 may be partially housed in the rotor 14 or disposed outside the rotor 14, for example, the length of the rotor 14 may be set to be short, only a part of the first position detecting assembly 17 is disposed in the rotor 14, and another part protrudes from the bottom of the rotor 14. Of course, in some embodiments, the first position detecting assembly 17 may also be disposed outside the rotor 14, for example, the first position detecting assembly 17 may be disposed in a space between the stator 13 and the wave generator 16 above, and is not limited herein.

In this application, the first magnetic member 171 may be a magnetic ring or a magnet, the first sensing member 172 may be a hall detection element, when the power output member 11 rotates, the first magnetic member 171 may rotate along with the power output member 11, and the hall detection element may detect the position of the first magnetic member 171 and then detect the rotational position of the power output member 11, so as to calculate the rotational speed of the power output member 11 according to the rotational position.

Referring to fig. 4, 5, 8 and 9, as an embodiment, the housing 10 is formed with a central shaft 105, the first sensing element 172 is disposed on the central shaft 105, the central shaft 105 is provided with a wiring slot 1051, and the first sensing element 172 is electrically connected to the first circuit board 18 through a connection line 33 passing through the wiring slot 1051.

So, central axial region 105 can support and install first sensing piece 172, simultaneously, sets up trough 1051 on central axial region 105 and thereby it makes first sensing piece 172 accessible wear to establish trough 1051's connecting wire 33 and first circuit board 18 electric connection and realize the power supply to first sensing piece 172 to make first sensing piece 172 accessible, need not to set up complicated line structure of walking, has practiced thrift the line space of walking for power module 100's structure is compacter, further reduces the volume.

Specifically, the first circuit board 18 may be a driving circuit board of the stator 13, and the first circuit board 18 may be disposed at the bottom of the bottom wall 104 of the casing 10, for example, as shown in fig. 4, the casing 10 may form an accommodating space 109 below the bottom wall 104, and the first circuit board 18 may be mounted in the accommodating space 109 to protect the first circuit board 18 and electronic components on the first circuit board 18. In addition, the bottom of the bottom wall 103 of the casing 10 may further be provided with a driving circuit board 30, the driving circuit board 30 may be electrically connected to the first circuit board 18 in an inserting manner, the driving circuit board 30 may be used to be electrically connected to a processor of the power equipment 1000, and the driving circuit board 30 may receive a control command sent by the processor to control the power-on condition of the stator 13, so as to control the rotation speed of the rotor 13.

The first sensing member 172 can be sleeved on the central shaft 105 of the fixed mounting casing 10, in order to realize power supply of the first sensing member 172, the connecting wire 33 connected with the first sensing member 172 can pass through the central shaft 105 through the wiring groove 1051 and then be electrically connected with the first circuit board 18 mounted at the bottom of the casing 10, and the first sensing member 172 can transmit a sensing signal to the first circuit board 18 and the driving circuit board 30, so that the processor can acquire the real-time rotation position and the real-time rotation speed of the power output member 11 in real time.

Referring to fig. 5 to 7, as an embodiment, the first sensing element 172 includes a second circuit board 1721 and a first sensing unit 1722, the second circuit board 1721 is electrically connected to the first sensing unit 1722, the first sensing unit 1722 and the first magnetic element 171 are disposed opposite to each other at an interval, the second circuit board 1721 is disposed on the central shaft portion 105, and the second circuit board 1721 is electrically connected to the first circuit board 18 through a connection line 33 passing through the wiring slot 1051.

Thus, the second circuit board 1721 is disposed on the central shaft 105, the first sensing unit 1722 is disposed on the circuit board, the first sensing unit 1722 is capable of cooperating with the first magnetic component 171 to detect the rotation position of the power output component 11, and the second circuit board 1721 is electrically connected to the first circuit board 18 under the housing 10 through the wiring slot 1051 via the connecting wire 33 to supply power to the first sensing unit 1722.

Specifically, in this embodiment, the first sensing units 1722 may be magnetic induction chips, the second circuit board 1721 may be a chip circuit board, the number of the first sensing units 1722 may be one or more, and the first magnetic member 171 may be a ring-shaped magnetic sheet or a magnet. For example, when the first magnetic member 171 is a ring-shaped magnetic sheet, the number of the magnetic induction chips may be one, and when the first magnetic member 171 rotates following the power output member 11, the magnetic induction chips may read the rotational position of the ring-shaped magnetic sheet. For another example, when the first magnetic element 171 is a magnet, the number of the first sensing units 1722 is plural, the plural first sensing units 1722 may be disposed on the second circuit board 1721 at annular intervals, and when the power output element 11 drives the first magnetic element 171 to rotate, the plural first sensing units 1722 may cooperate to detect the rotation position of the first magnetic element 171, so as to detect the position of the power output element 11.

Of course, in some embodiments, the first sensing element 171 may only include the first sensing unit 1722 and omit the second circuit board 1721, such that the first sensing element 171 can be directly and fixedly mounted on the central shaft portion 105 of the housing 10, and then directly electrically connected to the first circuit board 18 disposed at the bottom of the housing 10 after being routed through the routing slot 1051, thereby implementing power supply and transmission of the detection signal of the first sensing unit 1722.

Furthermore, in the illustrated embodiment, the first sensing member 172 includes a second circuit board 1721, and both the second circuit board 1721 and the first sensing unit 1722 are completely housed within the rotor 14. It is understood that in other embodiments, the second circuit board 1721 may be disposed at the bottom of the rotor 14 and outside the rotor 14, and the first sensing unit 1722 may be disposed on the second circuit board, which may be disposed inside the rotor 14 or outside the rotor, as long as the first sensing unit 1722 and the first magnetic element 171 can be disposed and rotated relatively. Of course, in some embodiments, the second circuit board 1721 may also be sleeved outside the rotor 14 and fixedly connected to the housing 10, for example, the second circuit board 1721 may be fixedly connected to the stator 13 to fix the housing 10, and the first sensing unit 1722 is disposed on the second circuit board 1721 and opposite to the first magnetic member 171 to detect rotation, which is not limited herein.

Referring to fig. 5 to 7, as an embodiment, the power module 100 may further include a second position detecting assembly 19, the second position detecting assembly 19 is installed in the accommodating cavity 102, the second position detecting assembly 19 includes a second magnetic member 191 and a second sensing member 192, the second magnetic member 191 is fixedly connected to the rotor 14 to rotate synchronously with the rotor 14, the second sensing member 192 is fixedly connected to the housing 10 and disposed opposite to the second magnetic member 191 at an interval, and the second sensing member 192 is used for detecting a rotation position of the second magnetic member 191.

In this way, the position and the rotation speed of the rotor 14 can be accurately obtained by the second position detecting assembly 19, so that the control is more accurate, that is, the input detection is realized. The second position detecting element 19 is disposed in the receiving cavity 102 to further save the installation space of the housing 10 so that the power module 100 can be made smaller.

Specifically, in such an embodiment, the second position detecting assembly 19 may also be at least partially housed in the rotor 14, so that the stacking space of the entire power module 100 in the axial direction may be further reduced to make the overall volume of the power module 100 smaller, and meanwhile, the second position detecting assembly 19 may be separated from the stator 13 by the rotor 14, on one hand, local overheating caused by heat source concentration may be avoided, and on the other hand, the magnetic field generated by the stator 13 during operation may be prevented from affecting the detection accuracy of the second position detecting assembly 19 by separating the two.

In such an embodiment, the second sensing element 192 may be disposed on the central shaft portion 105, and the second sensing element 192 may be electrically connected to the first circuit board 18 through a connection wire passing through the wiring groove 1051.

Further, in such an embodiment, the second sensing member 192 may include a third circuit board 1921 and a second sensing unit 1922, the third circuit board 1921 is electrically connected to the second sensing unit 1922, the second sensing unit 1922 and the second magnetic member 191 are disposed in a spaced and opposite manner, and the third circuit board 1921 is fixedly connected to the housing 10.

Specifically, in this embodiment, like the second circuit board 1721, the third circuit board 1921 may also be disposed on the central shaft portion 105 of the housing 10, the third circuit board 1921 and the second circuit board 1721 may be stacked, and the third circuit board 1921 may also be electrically connected to the first circuit board 18 through a connection wire passing through the wiring slot 1051. In this way, by disposing the third circuit board 1921 and the second circuit board 1721 in a stacked manner within the rotor 14, space in the axial direction can be saved.

In addition, like the first magnetic member 171, the second magnetic member 191 may be a ring-shaped magnetic sheet or a magnet, and the specific structure thereof is the same as that of the first magnetic member 171, and will not be described again. Meanwhile, like the first sensing unit 1722, the second sensing unit 1922 may also be a magnetic induction chip, and the number of the second sensing units 1922 may also be a single or multiple. A single or a plurality of second sensing units 1922 may be disposed on the third circuit board 1921 at annular intervals, and when the second magnetic member 191 rotates due to the rotation, the plurality of second sensing units 1922 may cooperate to detect the rotation position of the second magnetic member 191, so as to detect the position of the rotor 14.

Referring to fig. 6, in the illustrated embodiment, the second circuit board 1721 and the third circuit board 1921 are stacked at intervals by the partition 32, the second circuit board 1721 is isolated from the third circuit board 1921, and the two circuit boards can be electrically connected to the first circuit board 18 by separate traces. Of course, it is understood that, for convenience of installation and saving of parts, the second circuit board 1721 and the third circuit board 1921 may be integrally formed as a double-layer circuit board, and the two circuit boards are electrically connected to each other, so that the two circuit boards do not need to be separated by the partition 32, which is convenient for installation and disassembly, and meanwhile, additional connection does not need to be provided to electrically connect with the first circuit board 18, respectively, which saves cost.

Of course, it is understood that in some embodiments, the second position detecting assembly 19 may be disposed at other positions in the receiving cavity 102, for example, it may be disposed below the rotor 14 or disposed outside the rotor 14, and is not limited herein.

Referring to fig. 3, 4, 5 and 13, as an embodiment, the power module 100 further includes a supporting member 20, the supporting member 20 is disposed at the opening 101, the rigid wheel 111 is at least partially disposed at an inner side of the supporting member 20, a rolling member 21 is disposed between the rigid wheel 111 and the supporting member 20, the rigid wheel 111 can rotate relative to the supporting member 20, and the supporting member 20 is detachably connected to the housing 10.

In this way, the supporting member 20 can support the rotation of the rigid wheel 111 and provide a reaction force to the rigid wheel 111, so that the acting force of the external load on the rigid wheel 111 from various directions can be effectively counteracted to improve the stability of the rotation.

Specifically, referring to fig. 14, in such an embodiment, the supporting member 20, the rigid wheel 111 and the rolling member 21 may correspond to a bearing, the supporting member 20 may correspond to an outer ring of the bearing, the rigid wheel 111 may correspond to an inner ring of the bearing, and the rolling member 21 may correspond to a ball or a roller of the bearing, and the second ring gear structure 1211 only needs to be formed inside the rigid wheel 111 to achieve the power coupling with the compliant wheel 12. Meanwhile, the rigid wheel 111 can be supported for rotation only by arranging the supporting piece 20 and the rolling piece 21, and an additional supporting bearing is not needed for supporting the rotation of the rigid wheel 111, so that the radial size of the power module 100 is reduced while parts are saved, and the size of the power module is smaller.

In the illustrated embodiment, the support member 20 is removably connected to the housing 10, which facilitates the removal of the support member 20, the rolling members 21, and the rigid wheel 111 as a unit. Of course, it is understood that in other embodiments, the supporting member 20 may be a unitary structure with the housing 10, and is not limited thereto.

In addition, the supporting member 20 is disposed at the opening 101 of the housing 10, which means that the supporting member 20 is disposed inside the opening 101 of the housing 10 and inside the receiving cavity 102 of the housing 10, or outside the opening 101 and outside the housing 10. In the illustrated embodiment, the supporting member 20 is disposed on the top of the opening 101 of the housing 10 and outside the receiving cavity 102, and it is understood that in other embodiments, the supporting member 20 may be received and wrapped by the housing 10, and is not limited herein.

In the illustrated embodiment, the support member 20 is disposed outside the rigid wheel 111 and completely covers the rigid wheel 111. It is understood that, in other embodiments, in order to reduce the weight of the whole power module 100, the top of the rigid wheel 111 may be disposed to protrude from the edge of the support 20, and the bottom of the rigid wheel 111 is disposed to be lower than the support 20 and is accommodated in the support 20, so that the weight of the whole power module 100 can be effectively reduced while ensuring that the support 20 can support the rotation of the rigid wheel 111 by partially removing the top of the support 20 and partially removing the bottom of the rigid wheel 111, respectively.

In addition, in some embodiments, the supporting member 20 may not be disposed outside the rigid wheel 111, or may be disposed between the rigid wheel 111 and the housing 10, one end of the supporting member 20 may be fixed on the housing 10, and the other end may be relatively rotatably fixed on the rigid wheel, for example, in some embodiments, the supporting member 20 may be in a ring shape, which is fixedly mounted on the housing 10, the supporting member 20 may be formed with an annular sliding groove, and an annular protrusion engaged with the annular sliding groove is formed at the bottom of the rigid wheel 111, and the two are engaged to support the rigid wheel 111 for rotation, as another example, in some embodiments, the support 20 may be a bearing, the support 20 may be disposed directly at the opening 101 of the housing 10, then, the outer ring and the housing 10 are fixed to the housing 10 by welding or the like, and the inner ring is fixed to the rigid wheel 111 by welding or the like.

In one embodiment, the outer circumferential surface of the support member 20 is flush with the outer circumferential surface of the housing 10.

Thus, the appearance of the power module 100 can be more regular and tidy, and the radial dimension can be prevented from being too large due to the too large protrusion of the outer peripheral surface of the support member 20.

Referring to fig. 3 to 5, as an embodiment, the power output member 11 further includes a flange 112 fixedly connected to the rigid wheel 111, the flange 112 is installed at the opening 101, and the rigid wheel 111 and the flexible wheel 12 are covered on the flange 112.

So, on the one hand, can increase power take off spare 11 effectively through the mode that increases flange 112 with cover at area of contact or increase the tie point in order to improve joint strength, guarantee power transmission's stability, on the other hand, flange 112 lid is established and can be effectively to rigid wheel 111 and flexible wheel 12 nature protection and then avoid external impurity or dust to enter into to power module inside and influence driven reliability on rigid wheel 111 and flexible wheel 12.

In the embodiment shown in fig. 4, the flange plate 112 is fixedly connected to one axial side of the rigid wheel 111 in an axial direction, and the rigid wheel 111 and the flange plate 112 are connected to each other in an axial direction by forming fixing holes in the axial direction and fixing the two together by fasteners such as bolts and screws, and power output is performed by the fasteners axially inserted. In such a case, the external load connected to the flange 112 may directly extend in the axial direction to be fixedly connected to the flange 112 in the axial direction.

Of course, referring to fig. 15, in other embodiments, the flange 112 may be fixedly connected to one radial side of the rigid wheel 111. In such an embodiment, a fixing hole 1112 may be formed in the radial direction of the rigid wheel 111, and then the rigid wheel 111 and the flange 112 may be fixedly connected together by a fastener penetrating the fixing hole 1112. Thus, the rigid wheel 111 outputs power to the flange plate 112 along the radial direction to drive the flange plate 112 to rotate, and the power output direction of the rigid wheel is perpendicular to the rotation axis of the rigid wheel 111, so that the stability and reliability of power output can be effectively ensured. In such an embodiment, the external load connected to the flange 112 may be fixedly connected to the flange 112 or the rigid wheel 111 in a radial direction of the flange 112 and the rigid wheel 111.

Further, referring to fig. 3 to 5, as an embodiment, the power module 100 further includes a first support bearing 22 and a second support bearing 23, a protrusion 1121 is formed on one side of the flange 112 facing the receiving cavity 102, the first support bearing 22 is disposed between the fixing portion 162 and the protrusion 1121, and the first support bearing 22 is used for supporting the flange 112 and the wave generator 16 in a relative rotation state. Alternatively, the first support bearing 22 is provided between the rotor 14 and the projection 1121, and the first support bearing 22 is used to support the flange 112 and the rotor 14 in a relatively rotatable state.

The second support bearing 23 is provided at a distance from the first support bearing 22, the second support bearing 23 is provided between the rotor 14 and the housing 10, and the second support bearing 23 is used to support the rotor 14 and the housing 10 in a relatively rotatable state.

Thus, on the one hand, the first support bearing 22 and the second support bearing 23 can support the rotation of the rotor 14 and the fixing portion 162 to ensure the stability of the rotation, and on the other hand, the first support bearing 22 can support the rotation of the flange 112 while rotatably supporting the fixing portion 162, and there is no need to additionally provide another support bearing to support the flange 112, so that the use of parts is reduced, and the cost is reduced.

Specifically, in such an embodiment, the protrusion 1121 may be formed at a central position of the flange 112, or may be configured to be annular, and the protrusion 1121 may be fixedly mounted to the fixing seat 173 of the first position detecting assembly 17 by a screw, a pin, or a bolt, and when the flange 112 rotates, the flange 112 may drive the fixing seat 173 to rotate, so as to rotate the first magnetic member 171.

In one embodiment, the outer ring of the first support bearing 22 may be connected to the fixing portion 162 by welding, interference fit, or the like, and the inner ring of the first support bearing 22 may be simultaneously fixedly connected to the protrusion 1121 of the flange 112 and the fixing seat 173, so that the first support bearing 22 may support the rotation of the flange 112 and the fixing seat 173, thereby improving the stability of the connection.

As an embodiment, the second support bearing 23 may be sleeved on the central shaft portion 105 of the housing 10, an inner ring of the second support bearing 23 may be fixedly connected with the central shaft portion 105 by welding, interference fit, or the like, and an outer ring of the second support bearing 23 may be fixedly connected with the lower end of the rotor 14.

As an embodiment, the fixing portion 162 is located at an end of the rotor 14, the second supporting bearing 23 may be located at the other end of the rotor 14, and in order to improve the supporting performance, the larger the spacing distance between the first supporting bearing 22 and the second supporting bearing 23 is, the better the spacing distance between the first supporting bearing 22 and the second supporting bearing 23 is, and the first magnetic member 171 and the first sensing member 172 of the first position detecting assembly 17 and the entire second position detecting assembly 19 may be disposed in the spacing space between the first supporting bearing 22 and the second supporting bearing 23, so that the spacing space between the two bearings can be fully utilized, the stacking thickness of the entire power module 100 in the circumferential direction can be effectively reduced, and the size of the power module 100 can be reduced.

Referring to fig. 3 to 5 and 13, as an embodiment, the power module 100 further includes a mounting bracket 24, the mounting bracket 24 includes a mounting base 241 and a fixing member 242 connected to each other, and the stator 13 is disposed on the mounting base 241 and connected to the fixing member 242, and is fixedly connected to the housing 10 or the flexible wheel 12 through the mounting base 241.

In this manner, the mounting bracket 24 can effectively support and stably mount the stator 13.

Specifically, in such an embodiment, the mounting seat 241 may be disposed above the mounting wall 122 of the compliant wheel 12, and the mounting seat 241, the mounting wall 122 and the housing 10 may be directly and fixedly connected together by a fastener such as a screw, a bolt and a pin, so that the mounting seat 241 may press the mounting wall 122 of the compliant wheel 12, thereby improving the deformation resistance of the compliant wheel 12 and effectively avoiding the compliant wheel 12 from cracking.

Further, as an embodiment, the stator 13 includes a stator core 131 stacked by a plurality of steel sheets 1311, the fixing member 242 has a ring shape, the stator core 131 is at least partially surrounded by the fixing member 242, and the plurality of steel sheets 1311 are all fixedly connected to the fixing member 242. In one embodiment, the stator core 131 is entirely surrounded by the fixing member 242.

In this manner, the fixing piece 242 may surround and support the steel sheet 1311 of the stator core 131 to facilitate the installation of the stator core 131.

Specifically, in such an embodiment, the plurality of steel sheets 1311 may be stacked in the space surrounded by the mounting seat 241 and the fixing member 242 and fixedly connected to the fixing member 242, for example, the plurality of steel sheets 1311 may be adhered to the inner wall of the fixing member 242 by glue.

Of course, in other embodiments, the fixing member 242 may have an elongated shape, and the fixing member 242 may be inserted through the plurality of steel sheets 1311 stacked in the stator core 131. In this way, the fixing member 242 can also position and fix a plurality of steel sheets 1311 stacked together, thereby ensuring the stability of the installation of the stator 13.

Referring to fig. 4, 5 and 13, as an embodiment, a fourth circuit board 25 and an insulating sheet 26 are further disposed between the stator 13 and the mounting base 241, the fourth circuit board 25 is disposed between the stator 13 and the insulating sheet 26, and the insulating sheet 26 is in direct contact with the mounting base 241.

Thus, the fourth circuit board 25 can supply power to the stator, and the insulating sheet 26 can isolate the mounting seat 241 and the fourth circuit board 25 to prevent the electrical connection between the fourth circuit board 25 and the mounting seat 241 from causing a short circuit of the stator 13.

Specifically, the stator 13 further includes a stator winding (not shown) wound around the stator core 131, the stator winding and the fourth circuit board 25 are electrically connected, and the fourth circuit board 25 is electrically connected to the first circuit board 18, and when the stator winding is powered on, the stator winding generates a driving force for driving the rotor 14 to rotate, so as to drive the rotor 14 to rotate relative to the housing 10.

In such an embodiment, the bottom wall 103 of the housing 10 may be provided with a wire passing hole 107, similarly, the mounting protrusion 1221 of the flexible wheel 12 may also be provided with the wire passing hole 107, and the fourth circuit board 25 may be electrically connected to the first circuit board 18 by a connecting wire passing through the wire passing hole 107, so that the fourth circuit board 25 may be externally connected to a circuit without arranging an additional complex wire, thereby saving a wire routing space and further reducing the volume of the power module 100.

In the embodiment of the present application, the first circuit board 18 may be a power supply circuit board of the entire power module 100, the first circuit board 18 may be plugged with the driving circuit board 30, the first circuit board 18 may be used to supply power to various components in the power module 100 and transmit control and detection signals, and the first circuit board 18 may be disposed in the accommodating space 109 below the bottom wall 103 of the housing 10, which is located outside the accommodating cavity 103.

The second circuit board 1721 is a carrying circuit board of the first position detecting assembly 17, the third circuit board 1921 is a carrying circuit board of the second position detecting assembly 19, and both the second circuit board 1721 and the third circuit board 1921 can be electrically connected to the first circuit board 18 by the connecting wires passing through the wiring groove 1051 on the central shaft portion 105, as described above, the second circuit board 1721 and the third circuit board 1921 can be integrated into a single circuit board to be directly electrically connected to the first circuit board 18, or the first sensing unit 1722 and the second sensing unit 1922 can be directly electrically connected to the first circuit board 18 by omitting the second circuit board 1721 and the third circuit board 1921.

The fourth circuit board 25 is a stator circuit board, and is mainly used for supplying power to the stator winding of the stator 13 to drive the rotor 14 to rotate, the fourth circuit board 25 is also electrically connected with the first circuit board 18 through routing, and when the driving circuit board 30 receives a control instruction sent by a processor of the robot, the state of the stator can be controlled through the first circuit board 18 and the fourth circuit board 25, so that the rotating speed of the rotor 14 is controlled. Of course, it is understood that in some embodiments, the fourth circuit board 25 may be omitted, and the windings of the stator 13 are directly electrically connected to the first circuit board 18 through the wires.

Referring to fig. 3 to 5, as an embodiment, the power module 100 further includes a hollow tube 27, and the hollow tube 27 penetrates through the housing 10 and is fixedly connected to the housing 10.

Thus, the hollow tube 27 penetrates through the housing 10, so that the circuit can be connected with other electronic components by penetrating the whole power module 100 through the hollow tube 27 without arranging wires at other places, and the wiring space is saved.

Specifically, in a robot, a plurality of power modules 100 are usually provided to realize the motion of the foot 300, for example, the motion of the whole foot 300 relative to the trunk 200 can be realized by one power module 100, and the motion of the joint on the foot 300 can be realized by the other power module 100, in such a case, both power modules 100 need to be powered, at this time, a connecting wire can be inserted through the hollow tube 27 of the power module 100 to realize the connection with the electric core of the other power module 100, for example, the connecting wire inserted through the hollow tube 27 can be connected with the driving circuit boards 30 of the two power modules 100 without arranging a circuit outside.

In the illustrated embodiment, the hollow tube 27 may be located in the central shaft portion 105 of the housing 10, one end of the hollow tube 27 may be fixedly connected to the bottom wall 103 of the housing 10, a routing channel 34 may be provided between the hollow tube 27 and the central shaft portion 105, the routing channel 34 communicates with the routing slot 1051 on the central shaft portion 105, a routing hole 271 may be formed on an end of the hollow tube 27, and the connection line 33 connecting the first circuit board 18 and the second circuit board 1721 may pass through the routing slot 1051 and pass through the routing channel 34 and then pass out from the routing hole 217 on the hollow tube 27 to electrically connect with the first circuit board 18 mounted on the bottom wall 103 of the housing 10.

Referring to fig. 16, as an embodiment, the power module 100 further includes a heat dissipation tube 28, a hollow tube 27 is sleeved outside the heat dissipation tube 28, and a gap between the heat dissipation tube 28 and the hollow tube 27 is a cooling liquid channel 281.

Thus, the cooling liquid can be introduced into the cooling liquid passage 281 to cool the entire power module 100, thereby improving the heat dissipation performance of the power module 100.

Specifically, in such an embodiment, the radiating pipe 28 may be fixedly connected with the housing 10, the radiating pipe 28 is located inside the central shaft portion 105, and the hollow pipe 27 is located outside the radiating pipe 28.

Further, in such an embodiment, the power device 1000 may have a cooling fluid circulation pipe, the heat dissipation pipe 28 may have an inlet and an outlet, the inlet and the outlet of the heat dissipation pipe 28 are both connected with the cooling fluid pipe, and during the cooling process, the external cooling pump can drive the cooling fluid to circulate in the heat dissipation pipe 28 to take away the heat, so as to avoid the heat generating elements of the power module 100 from being too concentrated to cause untimely heat dissipation.

Furthermore, in some embodiments, the entire power module 100 may be a closed module, wherein sealing rings are provided at the connection of the housing 10 and the support member 20, the connection of the flange 112 and the hollow tube 27, the connection of the flange 112 and the rigid wheel 111, and the connection of the mounting bracket 24 and the flexible wheel 12, for sealing the assembly gap. Referring to fig. 4, an oil hole 108 may be formed in the housing 10, and oil may be injected into the power module 100 through the oil hole 108 to lubricate each rotatable part of the power module 100 and cool the heat generating components. It should be noted that the oil injected into the power module 100 is non-conductive lubricating oil, which can perform a lubricating function without affecting the normal operation of each internal electronic component.

Referring to fig. 4 and 5, as an embodiment, in the illustrated embodiment, a cover 31 may be further disposed at the bottom of the housing 10, the cover 31 covers the accommodating space 109 of the bottom wall 103 of the housing 10, and the driving circuit board 30 and the first circuit board 18 are both accommodated in the accommodating space 109. In this way, the cover 31 can protect the driving circuit board 30 and the first circuit board 18, and can also play a role of dust prevention.

Of course, referring to fig. 17, in some embodiments, the accommodating space 109 may not be formed at the bottom of the housing 10, but the first circuit board 18 is directly attached to the bottom wall 103 of the housing 10 to reduce the overall height of the housing 10, so as to reduce the volume of the entire power module 100. In this case, the driving circuit board 30 may be external, for example, may be disposed on the trunk 200 of the robot, and electrically connected to the first circuit board 18 through the connection traces.

Referring to fig. 3, 4 and 10, as an embodiment, the power module 100 further includes a torque sensor 29, the housing 10 includes a bottom wall 103, the bottom wall 103 is provided with a recess 1031, the torque sensor 29 is installed in the recess 1031, and the torque sensor 29 is used for detecting an output torque of the rigid wheel 111.

So, torque sensor 29 direct mount is on casing 10, and the moment that rigid wheel 111 receives directly acts on torque sensor 29 behind action and the casing 10 of flexible wheel 12, and torque sensor 29's detection moment is the moment that rigid wheel 111 receives, and it is comparatively accurate, reliable to detect, and simultaneously, torque sensor 29 sets up the assembly that can be convenient for torque sensor 29 in the recess 1031 of the diapire 103 of casing 10, and overall structure is compact, also can protect torque sensor 29 simultaneously.

Specifically, in the illustrated embodiment, the torque experienced by the rigid wheel 111 acts on the flexible wall 121 of the flexible wheel 12, then acts on the bottom wall 103 of the housing 10 through the mounting wall 122, and is transmitted to the torque sensor 29 mounted on the bottom wall 103 for torque detection.

In the illustrated embodiment, a recess 1031 is formed on the bottom of the bottom wall 103 of the housing 10, the torque sensor 29 is mounted in the recess 1031, the first circuit board 18 is mounted on the bottom wall 103 and covers the torque sensor 29, and the torque sensor 29 is electrically connected to the first circuit board 18. The torque sensor 29 is preferably a strain gauge torque sensor 29, and the strain gauge torque sensor 29 has a small volume and can be mounted in the recess 1031 of the bottom wall 103, thereby reducing the overall volume of the power module 100.

In addition, in some embodiments, the material of the portion of the bottom wall 103 corresponding to the recess 1031 may be different from the material of other portions of the housing 10, and the portion corresponding to the recess 1031 is more easily deformed than the other portions, so as to detect the moment with the moment sensor 29, thereby improving the accuracy and precision of the detection.

In one embodiment, the rotor 14 is provided with cooling fins (not shown) that are located within the rotor 14. Thus, when the rotor 14 rotates, the heat dissipation fins can rotate along with the rotor 14 to form airflow to dissipate heat of the heating device of the power module 100, thereby avoiding overhigh temperature of the power module 100 and ensuring the power module to work in a stable temperature range.

In the description herein, references to the description of the terms "one embodiment," "certain embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: numerous changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.

Claims

1. A power module, comprising:

a housing formed with an opening and an accommodating chamber;

a stator at least partially fixedly mounted within the receiving cavity;

2. The power module as claimed in claim 1, further comprising a first position detecting assembly disposed in the accommodating cavity, wherein the first position detecting assembly comprises a first magnetic member and a first sensing member, the first magnetic member is fixedly connected to the power output member through a fixing base, the fixing base and the power output member are integrated or detachably connected, and the first sensing member is fixedly connected to the housing and disposed opposite to the first magnetic member at an interval.

3. The power module of claim 2, wherein the rotor is annular and the first position sensing assembly is at least partially housed within the rotor.

4. The power module as claimed in claim 2, wherein the housing is formed with a central shaft portion, the first sensing member is disposed on the central shaft portion, the central shaft portion is provided with a wiring slot, and the first sensing member is electrically connected to the first circuit board through a connecting wire passing through the wiring slot.

5. The power module according to claim 4, wherein the first sensing element comprises a second circuit board and a first sensing unit, the second circuit board is electrically connected with the first sensing unit, the first sensing unit and the first magnetic element are oppositely arranged at intervals, the second circuit board is sleeved on the central shaft portion, and the second circuit board is electrically connected with the first circuit board through a connecting wire penetrating through the wiring groove.

6. The power module as claimed in claim 1, further comprising a second position detecting assembly installed in the accommodating cavity, wherein the second position detecting assembly includes a second magnetic member and a second sensing member, the second magnetic member is fixedly connected to the rotor to rotate synchronously with the rotor, the second sensing member is fixedly connected to the housing and disposed opposite to the second magnetic member at a distance, and the second sensing member is used for detecting a rotation position of the second magnetic member.

7. The power module of claim 6, wherein the rotor is annular and the second position sensing assembly is at least partially housed within the rotor.

8. The power module according to claim 6, wherein the second sensing member comprises a third circuit board and a second sensing unit, the third circuit board is electrically connected with the second sensing unit, the second sensing unit and the second magnetic member are oppositely arranged at intervals, and the third circuit board is fixedly connected with the housing.

9. The power module of claim 1, further comprising a support member disposed at the opening, the rigid wheel being at least partially disposed inside the support member, a roller member being disposed between the rigid wheel and the support member, the rigid wheel being rotatable relative to the support member;

the support is detachably connected with the shell; or

The supporting piece and the shell are of an integral structure.

10. The power module of claim 1, wherein the rigid wheel has a first ring gear structure formed on an inner peripheral surface thereof;

the flexible wheel is including installation wall and flexible wall, the installation wall with casing fixed connection, be formed with second ring gear structure on the outer peripheral face of flexible wall, first ring gear structure with second ring gear structure local meshing is so that the flexible wheel with rigid wheel power coupling, the number of teeth of second ring gear structure is less than the number of teeth of first ring gear structure.

11. The power module as claimed in claim 1, wherein the fixing portion comprises a cam detachably mounted on the rotor or integrally formed with the rotor, and an outline of an orthographic projection of the cam in an axial direction of rotation of the rotor is elliptical.

12. The power module of claim 1, wherein the compliant wheel is formed with a mounting cavity, the rotor and the stator being at least partially received within the mounting cavity.

13. A power module according to claim 12, wherein the compliant wheel includes a compliant wall and a mounting wall that are interconnected, the compliant wall extending in an axial direction of rotation of the rotor; the mounting wall is fixedly connected with the shell;

the mounting cavity is formed by the mounting wall and the flexible wall in a surrounding mode, and the rotor and the stator are all accommodated in the mounting cavity; or

The flexible wall encloses the mounting cavity, and the rotor and the stator are at least partially housed within the mounting cavity.

14. The power module of claim 13, wherein the housing includes a surrounding wall, a central shaft portion, and a bottom wall connecting the surrounding wall and the central shaft portion, the surrounding wall and the bottom wall together defining the receiving cavity, the mounting wall of the compliant wheel being fixedly attached to at least one of the surrounding wall, the bottom wall, and the central shaft portion.

15. The power module of claim 1, wherein the power take-off further comprises a flange fixedly attached to the rigid wheel, the flange being mounted at the opening, the flange covering the rigid wheel and the compliant wheel.

16. The power module according to claim 15, further comprising a first support bearing and a second support bearing, wherein the flange has a protrusion formed on a side thereof facing the receiving cavity, the first support bearing is disposed between the fixing portion and the protrusion, and the first support bearing is configured to support the flange and the wave generator in a relatively rotatable state; or the first support bearing is arranged between the rotor and the convex part and used for supporting the flange plate and the rotor in a relative rotation state;

the second support bearing and the first support bearing are arranged at intervals, the second support bearing is arranged between the rotor and the shell, and the second support bearing is used for supporting the rotor and the shell in a relative rotation state.

17. The power module of claim 15, wherein the flange is fixedly attached to one of a radial side and an axial side of the rigid wheel.

18. The power module of claim 1, further comprising a mounting bracket, wherein the mounting bracket comprises a mounting seat and a fixing member connected to each other, and the stator is disposed on the mounting seat, connected to the fixing member, and fixedly connected to the housing or the compliant wheel through the mounting seat.

19. The power module of claim 18, further comprising a fourth circuit board and an insulating sheet disposed between the stator and the mounting block, wherein the insulating sheet is in direct contact with the mounting block.

20. The power module as set forth in claim 18, wherein the stator includes a stator core formed by stacking a plurality of steel sheets, the stationary member is ring-shaped, the stator core is at least partially surrounded by the stationary member, and the plurality of steel sheets are all fixedly connected to the stationary member; or

The fixing piece is long-strip-shaped, and the fixing piece penetrates through a plurality of steel sheets stacked on the stator core.

21. The power module of claim 1, further comprising a hollow tube extending through and fixedly coupled to the housing.

22. The power module as claimed in claim 21, further comprising a heat dissipation pipe, wherein the hollow pipe is sleeved outside the heat dissipation pipe, and a gap between the heat dissipation pipe and the hollow pipe is a coolant channel.

23. The power module of claim 1, further comprising a torque sensor, wherein the housing comprises a bottom wall, the bottom wall defines a recess, the torque sensor is mounted in the recess, and the torque sensor is configured to detect an output torque of the rigid wheel.

24. The power module of claim 1, wherein the rotor has fins disposed thereon, the fins being located within the rotor.

25. A power plant comprising a power module according to any one of claims 1 to 24.

26. The power plant of claim 25, comprising a robot including a torso and a foot, the power module for driving the foot in motion relative to the torso.