CN216761960U - Power module and power equipment - Google Patents

Abstract

The application discloses power module and power equipment, power module include casing, center pin, stator, rotor, magnet, wave generator, rigidity wheel, power take off spare and first position detection subassembly. Wave generator includes flexible bearing and cam, cam detachably installs on the rotor or structure as an organic whole with the rotor, power take off spare includes the flexbile wheel, the opening part and the cover that the casing was located to the flexbile wheel are established on wave generator, the flexbile wheel is including installation wall and flexible wall, the center pin is worn to establish the installation wall, installation wall and flexible wall enclose into the installation cavity jointly, flexible wall and rigid wheel power coupling, flexible bearing locates between flexible wall and the cam, it takes place deformation and rotates through power coupling drive flexible wheel relative center pin and the rigid wheel between flexible wall and the rigid wheel to drive the flexible wall through wave generator during rotor rotation, first position detection subassembly sets up in the installation cavity, first position detection subassembly is used for detecting the rotational position information of power take off spare.

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 a robot, a joint is generally driven by a motor and a harmonic reducer. In the related art, the harmonic motor occupies a large space in the height direction, which is not favorable for miniaturization.

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;

a central shaft integrally formed with the housing or detachably mounted on the housing;

the rotor is at least partially arranged in the accommodating cavity and is rotatably connected with the central shaft, and a magnet is arranged on the rotor;

the stator is at least partially accommodated in the accommodating cavity and is arranged opposite to the magnet at intervals, and the stator is used for driving the rotor to rotate around the axis of the central shaft;

the wave generator comprises a flexible bearing and a cam, the cam is detachably arranged on the rotor or is in an integral structure with the rotor, and the flexible bearing is sleeved on the outer side of the cam;

the rigid wheel is arranged at the opening and is fixedly connected with the shell;

the power output part can rotate relative to the central shaft, the power output part comprises a flexible wheel, the flexible wheel is arranged at the opening and covers the wave generator, the flexible wheel comprises an installation wall and a flexible wall, the central shaft penetrates through the installation wall, the flexible wall is arranged around the installation wall and extends towards one side of the wave generator, the installation wall and the flexible wall jointly enclose an installation cavity, the flexible wall is in power coupling with the rigid wheel, the flexible bearing is arranged between the flexible wall and the cam, and when the rotor rotates, the flexible wall is driven by the wave generator to deform and is driven to rotate relative to the central shaft and the rigid wheel through the power coupling between the flexible wall and the rigid wheel; and

the first position detection assembly is arranged in the installation cavity and used for detecting the rotating position information of the power output part.

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

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 covered on the wave generator, the flexible bearing of the wave generator is arranged between the flexible wall of the flexible wheel and the cam, and the cam is fixed on the rotor or is in an integral structure with the rotor. Therefore, the cam of the wave generator can be directly fixed with the rotor or integrated with the rotor, and the flexible wheel are covered on the wave generator, so that the speed reducer part of the power module and the motor part consisting of the rotor and the stator can be directly and integrally installed on the shell, the design of redundant parts is reduced, and the weight and the miniaturization of the power module are favorably reduced. And, can acquire the rotational position information of flexbile wheel through first position detection subassembly accurately to control more accurately, in addition, install first position detection subassembly and can optimize the stacked structure of power module in the installation cavity of flexbile wheel, improve the compactedness of installation, further reduce the volume of power module on the direction of height.

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 perspective view schematically showing a power plant according to an embodiment of the present application;

fig. 2 is a 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 of the power module of FIG. 4 at VI;

FIG. 7 is a schematic structural view of a housing and a central shaft of a power module according to an embodiment of the present application;

fig. 8 is a schematic structural view of a part of the structure of the power module according to the embodiment of the present application.

Description of the main element symbols:

a power plant 1000;

the power module 100, the shell 10, the opening 101, the containing cavity 102, the bottom wall 103, the surrounding wall 104, the central shaft 105, the wiring groove 1051, the power output member 11, the flexible wheel 111, the mounting wall 112, the mounting protrusion 1121, the flexible wall 113, the second gear ring structure 1131, the mounting cavity 114, the flange 115, the rigid wheel 12, the first gear ring structure 121, the stator 13, the rotor 14, the magnet 15 and the wave generator 16, the flexible bearing 161, the cam 162, the first position detecting assembly 17, the first magnetic member 171, the first sensing member 172, the second circuit board 1721, the first sensing unit 1722, the first mounting bracket 173, the first circuit board 18, the second position detecting assembly 19, the second magnetic member 191, the second sensing member 192, the third circuit board 1921, the second sensing unit 1922, the second mounting bracket 193, the support member 20, the rolling member 21, the fourth circuit board 25, the hollow tube 26, the torque sensor 27, and the driving circuit board 30;

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" and "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, the power module 100 of the present disclosure may include a housing 10, a central shaft 105, a power output member 11, a flexible wheel 111, a stator 13, a rotor 14, a magnet 15, a wave generator 16, and a first position detecting assembly 17.

The housing 10 is formed with an opening 101 and a receiving cavity 102, the opening 101 is communicated with the receiving cavity 102, a central shaft 105 is inserted into a central portion of the housing 10, and the central shaft 105 and the housing 10 may be integrally formed or the central shaft 105 may be detachably mounted on the housing 10. The rotor 14 is at least partially mounted in the housing 102 and rotatably connected to the central shaft 105, and the magnet 15 is mounted inside the rotor 14. The stator 13 is at least partially fixedly installed in the receiving cavity 102 and is arranged opposite to the magnet 15 in a spaced mode, and the stator 13 is used for driving the rotor 14 to rotate around the axis of the central shaft 105.

The wave generator 16 may include a flexible bearing 161 and a cam 162, the cam 162 being detachably mounted on the rotor 14 or being an integral structure with the rotor 14, the flexible bearing 161 being fitted over the cam 162.

The rigid wheel 12 is disposed at the opening 101 and is fixedly connected to the housing 10. The power output part 11 comprises a flexible wheel 111, the flexible wheel 111 is arranged at the opening 101 and covers the wave generator 16, the flexible wheel 111 comprises a mounting wall 112 and a flexible wall 113, the central shaft 105 penetrates through the mounting wall 112, the mounting wall 112 can rotate relative to the central shaft 105, the flexible wall 113 is arranged around the mounting wall 112 and extends towards one side of the wave generator 16, the mounting wall 112 and the flexible wall 113 jointly enclose a mounting cavity 114, the rigid wheel 12 is arranged on the outer side of the flexible wall 113, and the flexible wall 113 is in power coupling with the rigid wheel 12. A flexible bearing 161 is provided between the flexible wall 113 and the cam 162. Wherein, when the rotor 14 rotates, the wave generator 16 drives the flexible wall 113 to deform and the flexible wheel 111 is driven to rotate relative to the central shaft 105 and the rigid wheel 12 through the power coupling between the flexible wall 113 and the rigid wheel 12.

The first position detecting assembly 17 is disposed in the mounting cavity 114 of the flexible wheel 111, and the first position detecting assembly 17 is used for detecting the rotation position information of the power output member 11.

In the power module 100 and the power device 1000 according to the embodiment of the present application, the flexible wheel 111 is at least partially disposed in the receiving cavity 102 and covered on the wave generator 16, the flexible bearing 161 of the wave generator 16 is disposed between the flexible wall 113 of the flexible wheel 111 and the cam 162, and the cam 162 is fixed on the rotor 14 or is an integral structure with the rotor 14. In this way, the cam 162 of the wave generator 16 can be directly fixed with the rotor 14 or integrated with the rotor 14, and the flexible wheel 111 and the cover are covered on the wave generator 16, so that the speed reducer part of the power module 100, the motor part consisting of the rotor 14 and the stator 13 can be directly and integrally installed on the housing 10, the design of redundant parts is reduced, and the weight and miniaturization of the power module 100 are facilitated. And, can acquire the rotational position information of flexbile wheel 111 through first position detection subassembly 17 accurately to control more accurately, in addition, install first position detection subassembly 17 and can optimize the stack structure of power module 100 in the installation cavity 114 of flexbile wheel 111, improve the compactness of installation, further reduce the volume of power module 100 on the direction of height.

Specifically, in the embodiment of the present application, when the stator 13 is powered on, the stator 13 drives the rotor 14 to rotate, the rotor 14 drives the cam 162 of the wave generator 16 to rotate synchronously so as to drive the flexible wall 113 of the flexible wheel 111 to deform, because the flexible wall 113 is dynamically coupled with the rigid wheel 12, and the rigid wheel 12 is fixedly connected with the housing 10, the flexible wall 113 drives the mounting wall 112 and the entire flexible wheel 111 to rotate around the central shaft 105 under the action of the rigid wheel 12 during the deformation process, so as to implement power output, that is, in the embodiment of the present application, the power module 100 implements power output by the flexible wheel 111.

The housing 10 serves as a bearing part of the whole power module 100, which can be made of a metal material or a non-metal material with high strength to meet the bearing requirement, and the power module 100 can be mounted on the main body of the power equipment 1000 through the housing 10, for example, the power module 100 can be mounted on the trunk 200 of the robot through the housing 10.

The top of the housing 10 has an opening 101, and the rigid wheel 12 is disposed at the opening 101, which may be understood as the rigid wheel 12 disposed near the opening 101, and may be located outside the opening 101, that is, outside the receiving cavity 102, or may be located inside the opening 101, and may be completely received in the receiving cavity 102 or partially received in the receiving cavity 102, and is not limited herein, and in the illustrated embodiment, the rigid wheel 12 is located outside the opening 101 and outside the receiving cavity 102.

Referring to fig. 4, 5 and 7, the housing 10 may include a wall 104 connected to the bottom wall 103 of the wall 104, and the wall 104 and the bottom wall 103 together define a receiving cavity 102, it can be understood that in some embodiments, in order to improve the heat dissipation efficiency, the wall 104 may be a hollow structure, for example, a plurality of heat dissipation holes (not shown) may be formed on the 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 this application, the combination of the stator 13, the rotor 14 and the magnet 15 may correspond to a driving motor, 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 in a bonding manner, in some embodiments, the magnet 15 may be directly bonded to the rotor 14 through glue, in other embodiments, in order to improve the stability of the installation of the magnet 15, an installation groove may also be formed in the rotor 14, the magnet 15 is installed in the installation groove and then fixed through glue, and particularly, without limitation, when the stator 13 is powered on, the stator 13 generates a magnetic field to drive the magnet 15 and the rotor 14 to rotate around the central shaft 105 so as to drive the cam 162 to rotate, thereby realizing power output.

Further, in the illustrated embodiment, the stator 13 is disposed inside the rotor 14, which may be regarded as an outer rotor motor, but it is understood that in other embodiments, the rotor 14 may be disposed inside the stator 13, which may be regarded as an inner rotor motor, and in such a case, the magnet 15 may be mounted outside the rotor 14, and the specific arrangement of the stator 13 and the rotor 14 is not limited, and it is only necessary that the stator 13 can smoothly drive the rotor 14 to rotate about the central shaft 105.

Further, in the embodiment of the present application, the outline of the orthographic projection of the cam 162 in the axial direction of rotation of the rotor 14 is elliptical. The elliptical cam 162 and the compliant bearing 161 may constitute a wave generator 16, and as the rotor 14 rotates, the cam 162 follows and is able to rotate to periodically cause the compliant wheel 111 to deform, thereby causing the compliant wheel 111 to rotate under the action of the rigid wheel 12.

Specifically, the cam 162 may be detachably mounted on the rotor 14 through fastening elements such as screws or bolts or be directly made into an integral structure with the rotor 14, the contour of the cam 162 is oval, the rotation axis of the cam 162 coincides with the rotation axis of the rotor 14, the rotor 14 can drive the cam 162 to rotate when rotating, and the flexible wheel 111 is driven by the flexible bearing 161 to deform when the cam 162 rotates, so that the flexible wheel 111 rotates relative to the housing 10 and the central shaft 105 under the action of the rigid wheel 12 to achieve power output.

Referring to fig. 4, 5 and 8, the flexible wheel 111 may be substantially cup-shaped, the mounting wall 112 of the flexible wheel 111 extends in a radial direction, and the flexible wall 113 extends in an axial direction of rotation of the rotor 14, i.e. along a rotation axis of the rotor 14. The flexible wheel 111 is covered on the wave generator 16, the flexible wall 113 is connected to the bottom of the mounting wall 112, the central shaft 105 penetrates through the mounting wall 112, and the flexible wall 113 bends and extends along the axial direction relative to the mounting wall 112.

Further, in order to ensure the deformation of the flexible wall 113, the thickness of the flexible wall 113 may be set to be thin, and the mounting wall 112 may be set to be thick. Of course, it is understood that in some embodiments, the mounting wall 112 may be in line with the flexible wall 113, that is, the mounting wall 112 and the flexible wall 113 extend in a radial direction to form the flexible wheel 111, in which case the mounting wall 112 may be fixedly connected with the central shaft 105 through other components, for example, the mounting wall 112 may be fixedly connected with the central shaft 105 through a ring-shaped fixing portion wound on the central shaft 105, and the invention is not limited thereto.

Referring to fig. 5 and 8, as an embodiment, a first ring gear structure 121 is formed on the inner circumferential surface of the rigid wheel 12. A second ring gear structure 1131 is formed on the outer peripheral surface of the flexible wall 113 opposite to the first ring gear structure 121 of the rigid wheel 12, the first ring gear structure 121 and the second ring gear structure 1131 are partially meshed to couple the flexible wheel 111 and the rigid wheel 12, and the number of teeth of the second ring gear structure 1131 is less than that of the first ring gear structure 121.

In this way, the flexible wall 113 of the flexible wheel 111 can rotate under the action of the rigid wheel 12 when being deformed to perform power output through the partial meshing of the first ring gear structure 121 and the second ring gear structure 1131.

Referring to fig. 3-5, as an embodiment, the first position detecting assembly 17 may include a first magnetic member 171 and a first sensing member 172, the first magnetic member 171 is fixedly connected to the mounting wall 112, the first sensing member 172 is fixedly connected to the central shaft 105, the first sensing member 172 is spaced from and disposed opposite to the first magnetic member 171, and the first sensing member 172 is used for detecting a rotation position of the first magnetic member 171.

In this way, the first sensing member 172 is fixedly mounted on the central shaft 105, and the first magnetic member 171 is fixedly mounted on the mounting wall 112, so that the position of the first magnetic member 171 can be detected by the first sensing member 172, and thus the rotation position, the rotation speed, the number of rotation turns and other parameters of the flexible wheel 111 can be detected, so as to control more accurately.

In this application, the first magnetic member 171 may be a magnetic ring or a magnet 15, the first sensing member 172 may be a hall detection element, when the flexible wheel 111 rotates, the first magnetic member 171 may rotate along with the flexible wheel 111, and the hall detection element may detect the position of the first magnetic member 171 and then detect the rotational position of the flexible wheel 111, so as to calculate the rotational speed and the number of turns of the flexible wheel 111 according to the rotational position.

Specifically, referring to fig. 4 and 5, preferably, in such an embodiment, the power module 100 may further include a first mounting bracket 173, the first mounting bracket 173 is disposed on the central shaft 105 and fixedly connected to the central shaft 105, the first sensing element 172 may be mounted on the first mounting bracket 173, and the flexible wheel 111 is disposed on an outer side of the first mounting bracket 173 and can rotate relative to the first mounting bracket 173. In this way, the first sensing member 172 can be supported and mounted by the first mounting bracket 173, and the mounting stability of the first sensing member 172 is ensured. Meanwhile, when the first sensing member 172 needs to be detached, only the first mounting bracket 173 needs to be detached, and the first sensing member 172 does not need to be detached separately, so that the first sensing member 172 is prevented from being damaged in the detaching process.

In such embodiments, the mounting wall 112 of the compliant wheel 111 may be clearance fit with the outer circumferential surface of the first mounting bracket 173 to avoid the presence of the first mounting bracket 173 from affecting the rotation of the compliant wheel 111. Of course, it is understood that in some embodiments, in order to ensure that the flexible wheel 111 can stably rotate relative to the first mounting bracket 173, a bearing may be disposed between the first mounting bracket 173 and the mounting wall 111 for rotation support. Furthermore, it is also understood that, in some embodiments, the first mounting bracket 173 may not be provided, but the first sensing member 172 may be directly and fixedly mounted on the central shaft 105, or the first mounting bracket 173 may be provided at a lower portion of the mounting wall 112, and the mounting wall 112 may be in clearance fit with the central shaft 105 or a bearing may be provided between the mounting wall 112 and the central shaft 105 for rotation support, and the specific arrangement is not limited herein.

Referring to fig. 5 and 7, as an embodiment, a wire trough 1051 is disposed on the central shaft 105, and the first sensing element 172 is electrically connected to the first circuit board 18 through a connecting wire 33 passing through the wire trough 1051.

So, center pin 105 can support and install first sensing piece 172, simultaneously, sets up trough 1051 on center pin 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, 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, 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 103 of the casing 10, for example, as shown in fig. 4 and 5, the casing 10 may form an accommodating space below the bottom wall 103, and the first circuit board 18 may be mounted in the accommodating space 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 energization condition of the stator 13, so as to control the rotation speed of the rotor 14.

The first sensing member 172 can be fixedly mounted on the central shaft 105, in order to supply power to the first sensing member 172, the connecting wire 33 connected to the first sensing member 172 can pass through the central shaft 105 through the wiring groove 1051 and then be electrically connected to the first circuit board 18 mounted at the bottom of the housing 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.

It is understood that, in such an embodiment, in the case that the first sensing member is supported and fixed by the first mounting bracket 173, a wire through hole 1731 may be formed on the first mounting bracket 173, the wire through hole 1731 corresponds to a position of the wire trough 1051, and the connection wire 33 passes through the wire through hole 1731 and the wire trough 1051 in sequence.

Referring to fig. 4 and 5, as an embodiment, the first sensing element 172 includes a second circuit board 1721 and a first sensing unit 1722, the first sensing unit 1722 is disposed on the second circuit board 1721, 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 fixed on the central shaft 105, and the second circuit board 1721 is electrically connected to the first circuit board 18 through a connection wire 33 passing through the wiring slot 1051.

Thus, the second circuit board 1721 can be fixedly mounted on the central shaft 105, the first sensing unit 1722 can be disposed on the second circuit board 1721, the first sensing unit 1722 can be matched with the first magnetic component 171 to detect the rotation position of the flexible wheel 111, and the second circuit board 1721 can be electrically connected to the first circuit board 18 below the housing 10 through the wiring slot 1051 via the connecting wire 33 to supply power to the first sensing unit 1722.

Specifically, in such an embodiment, the first sensing unit 1722 may be a hall magnetic induction chip, 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 an annular magnetic sheet or the magnet 15. 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 along with the flexible wheel 111, the magnetic induction chips may read the rotational position of the ring-shaped magnetic sheet. For another example, when the first magnetic component 171 is the magnet 15, 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 intervals in a ring shape, and when the flexible wheel 111 drives the first magnetic component 171 to rotate, the plural first sensing units 1722 may detect the rotation position of the first magnetic component 171 in a matching manner, so as to detect the rotation position information of the flexible wheel 111.

Of course, in some embodiments, the first sensing element 172 may only include the first sensing unit 1722 and omit the second circuit board 1721, so that the first sensing element 172 may be directly and fixedly mounted on the central shaft 105, and then directly electrically connected to the first circuit board 18 disposed at the bottom of the housing 10 after passing through the wiring slot 1051 through the connecting wire 33, thereby realizing power supply and transmission of the detection signal of the first sensing unit 1722.

Referring to fig. 4-5, as an embodiment, the power module 100 may further include a second position detecting assembly 19, the second position detecting assembly 19 is also installed in the installation cavity 114 defined by the installation wall 112 and the flexible wall 113, and the second position detecting assembly 19 is used for detecting the rotational position information of the cam 162 and the rotor 14.

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. In addition, the second position detecting assembly 19 is disposed in the mounting cavity 114 formed by the flexible wheel 111, so that the stacking thickness of the power module 100 in the axial direction can be effectively reduced, and the volume of the power module 100 can be made smaller.

Further, in such an embodiment, 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 with the cam 162 to rotate synchronously with the cam 162 and the rotor 14, the second sensing member 192 is fixedly connected with the central shaft 105 and is disposed opposite to the second magnetic member 191 at a distance, and the second sensing member is used for detecting the rotation position of the second magnetic member 191.

In this way, the position of the second magnetic member 191 can be sensed by the first sensing member 172, and the rotational position information of the cam 162 and the rotor 14 can be detected.

Specifically, as shown in fig. 4 and 5, in a preferred embodiment, in order to achieve mounting stability of the first and second sensing members 172 and 192, both the first and second sensing members 172 and 192 may be mounted on the first mounting bracket 173. It is understood that in such an embodiment, the second sensing element 192 may also be disposed on the central shaft 105, and the second sensing element 192 may also be electrically connected to the first circuit board 18 through the connecting wire 33 passing through the wiring slot 1051.

In the present application, the second magnetic member 191 may be directly bonded to the cam 162 by bonding or the like, or may be attached to the cam 162 by the second attachment bracket 193. As shown in the figures, preferably, in the illustrated embodiment, in order to reduce the processing difficulty, the cam 162 is detachably connected to the rotor 14, the cam 162 may be directly sleeved on one end of the rotor 14, fixing holes may be formed in both the top of the cam 162 and one end of the rotor 14, the cam 162 may be fixedly mounted on the rotor 14 by a fastener such as a screw, and for convenience in assembly and disassembly, the second magnetic member 191 may be mounted on the cam 162 by the second mounting bracket 193, and the second mounting bracket 193 and the second magnetic member 191 cover the mounting holes, so that when the cam 162 needs to be disassembled, only the second mounting bracket 193 needs to be disassembled, and the second magnetic member 191 may be prevented from being damaged due to direct assembly and disassembly of the second magnetic member 191.

In addition, referring to fig. 6, in the illustrated embodiment, since the second mounting bracket 193 contacts the cam 162 and the second mounting bracket 193 partially covers the flexible bearing 161, in order to avoid interference between the cam 162 and the second mounting bracket 193 and the flexible bearing 161 during rotation and influence stability of rotation, an avoiding notch 1931 may be formed on the second mounting bracket 193, and the avoiding notch 1931 avoids the flexible bearing 161 to avoid interference with the flexible bearing 161 during rotation.

Furthermore, as can be seen from the above, the first position detecting assembly 17 and the second position detecting assembly 19 are both located on the side of the wave generator 16 away from the stator 13, so that the first position detecting assembly 17 and the second position detecting assembly 19 can be separated from the stator 13 by the cam 162 and the rotor 14, on one hand, local overheating caused by heat source concentration can be avoided, and on the other hand, the magnetic field generated by the stator 13 during operation can be prevented from affecting the detection accuracy of the first position detecting assembly 17 and the second position detecting assembly 19.

Further, in this embodiment, the second sensing member 192 includes a third circuit board 1921 and a second sensing unit 1922, the second sensing unit 1922 is disposed on the third circuit board 1921, 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 an opposite spaced relationship, and the third circuit board 1921 is fixedly connected to the central shaft 105.

Specifically, in this embodiment, like the second circuit board 1721, the third circuit board 1921 may also be mounted on the central shaft 105 through the first mounting bracket 173, that is, the third circuit board 1921 and the second circuit board 1721 may both be mounted on the first mounting bracket 173, and the third circuit board 1921 may also be electrically connected to the first circuit board 18 through the connecting wires 33 passing through the wiring slots 1051.

In addition, like the first magnetic member 171, the second magnetic member 191 may also be a ring-shaped magnetic sheet or a magnet 15, and the specific structure thereof is the same as that of the first magnetic member 171, and will not be described repeatedly. Meanwhile, like the first sensing unit 1722, the second sensing unit 1922 may also be a hall 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 element 191 rotates due to the rotation, the plurality of second sensing units 1922 may cooperate to detect the rotation position of the second magnetic element 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 integrated as a double-sided circuit board, and the first sensing unit 1722 and the second sensing unit 1922 are respectively disposed on two opposite surfaces of the double-sided circuit board, so that two circuit boards are not required to be disposed to respectively dispose the first sensing unit 1722 and the second sensing unit 1922, the stacking thickness is reduced to reduce the volume, and the cost is also saved. It is understood that in other embodiments, the second circuit board 1721 and the third circuit board 1921 may be stacked and electrically connected together and connected to the first circuit board 18 by a connection line 33, and of course, in some embodiments, the second circuit board 1721 and the third circuit board 1921 may be stacked and separated by a partition 32, the second circuit board 1721 and the third circuit board 1921 are separated and insulated by the partition 32, and the two circuit boards may be electrically connected to the first circuit board 18 by separate traces, which is not limited herein.

Referring to fig. 3-5, as an embodiment, the pto member 11 further includes a flange 115 fixedly coupled to the mounting wall 112.

Therefore, the power output part 11 can be effectively increased by adding the flange plate 115, the contact area is covered, or the connection point is increased to improve the connection strength, and the stability of power transmission is ensured.

In the embodiment shown in the drawing, the flange 115 is fixedly connected to one axial side of the rigid wheel 12 in an axial direction, and the rigid wheel 12 and the flange 115 are fixedly connected to each other by fastening members such as bolts and screws through fixing holes formed in the axial direction, respectively, and power output is performed by the fastening members axially inserted. In such a case, the external load connected to the flange 115 may be directly extended in the axial direction to be fixedly connected to the flange 115 in the axial direction.

Specifically, referring to fig. 4, 5 and 8, in such an embodiment, a mounting protrusion 1121 is protruded from the mounting wall 112, and the mounting protrusion 1121 extends into the inner side of the flange 115 and is fixedly connected to the flange 115. Thus, the stability of the connection can be improved by the mounting protrusion 1121 protruding into the flange 115 to engage with the flange 115.

Referring to fig. 4, 5 and 8, as an embodiment, the power module 100 further includes a supporting member 20, the supporting member 20 is disposed on the rigid wheel 12 and is fixedly connected to the rigid wheel 12, a flange 115 is at least partially disposed on an inner side of the supporting member 20, a rolling member 21 is disposed between the flange 115 and the supporting member 20, and the flange 115 can rotate relative to the supporting member 20.

In this way, the support member 20 can support the rotation of the flange 115 and provide a reaction force to the flange 115, so as to effectively offset the acting force of the external load to the flange 115 from all directions and further improve the stability of the rotation.

Specifically, referring to fig. 8, in such an embodiment, the supporting member 20, the flange 115, and the rolling members 21 may correspond to a bearing, the supporting member 20 may correspond to an outer ring of the bearing, the flange 115 may correspond to an inner ring of the bearing, and the rolling members 21 may correspond to balls or rollers of the bearing, and the rotation of the flange 115 may be supported only by disposing the supporting member 20 and the rolling members 21, without disposing an additional supporting bearing to support the rotation of the flange 115, so that the radial size of the power module 100 is reduced while saving components, and the volume thereof may be smaller.

In the illustrated embodiment, the support member 20 is removably connected to the housing 10, which facilitates removal of the support member 20, the rolling members 21, and the flange 115 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 the illustrated embodiment, the support member 20 is disposed outside of the flange 115 and substantially completely surrounds the flange 115. It is understood that, in other embodiments, in order to reduce the weight of the entire power module 100, the top of the flange 115 may be disposed to protrude from the edge of the support member 20, and the bottom of the flange 115 is disposed to be lower than the support member 20 and is accommodated in the support member 20, so that the weight of the entire power module 100 can be effectively reduced while ensuring that the support member 20 can support the rotation of the flange 115 by partially removing the top of the support member 20 and partially removing the bottom of the flange 115, respectively.

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 an accommodating space below the bottom wall 103 of the housing 10, which is located outside the accommodating cavity 102.

The second circuit board 1721 is a carrier circuit board of the first position detecting assembly 17, the third circuit board 1921 is a carrier circuit board of the second position detecting assembly 19, and the second circuit board 1721 and the third circuit board 1921 are both double-sided circuit boards electrically connected to the first circuit board 18 through the connecting wires 33 passing through the wiring slots 1051 on the central shaft 105.

Referring to fig. 3-5, as an embodiment, the power module 100 further includes a hollow tube 26, and the hollow tube 26 penetrates through the housing 10 and is fixedly connected to the housing 10.

Thus, the hollow tube 26 penetrates through the housing 10, so that the circuit can be connected with other electronic components by penetrating the entire power module 100 through the hollow tube 26 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, and at this time, the connecting wire 33 can be inserted through the hollow tube 26 of the power module 100 to realize the electrical connection with the other power module 100, for example, the connecting wire 33 inserted through the hollow tube 26 can be connected with the driving circuit boards 30 of the two power modules 100 without arranging wires outside.

Referring to fig. 5, in the illustrated embodiment, the hollow tube 26 may be located in the central shaft 105 of the housing 10, one end of the hollow tube 26 may be fixedly connected to the bottom wall 103 of the housing 10, a wire channel 34 may be provided between the hollow tube 26 and the central shaft 105, the wire channel 34 is connected to a wire trough 1051 on the central shaft 105, and the connection wire 33 connecting the first circuit board 18 and the second circuit board 1721 may pass through the wire trough 1051 and pass through the wire channel 34 to electrically connect with the first circuit board 18 mounted on the bottom wall 103 of the housing 10.

Referring to fig. 4, as an embodiment, the power module 100 further includes a torque sensor 27, and the torque sensor 27 may be mounted on an inner wall of the receiving cavity 102.

Thus, the torque sensor 27 is directly mounted on the inner wall of the accommodating cavity 102 of the housing 10, the torque applied to the flexible wheel 111 directly acts on the torque sensor 27 after acting on the housing 10 through the rigid wheel 12, and the detection torque of the torque sensor 27 is the torque applied to the flexible wheel 111, so that the detection is accurate and reliable. In particular, the torque sensor 27 may be mounted on the peripheral wall 104 of the housing 10, and in the illustrated embodiment, the torque applied to the flexible wheel 111 acts on the rigid wheel 12 and is then transmitted to the torque sensor 27 mounted on the peripheral wall 104 of the housing 10 to enable torque detection.

In the description of the present specification, reference to the description of "one embodiment", "certain embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" or the like means 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 (10)

1. A power module, comprising:

a housing formed with an opening and an accommodating chamber;

a central shaft integrally formed with the housing or detachably mounted on the housing;

the rotor is at least partially arranged in the accommodating cavity and is rotatably connected with the central shaft, and a magnet is arranged on the rotor;

the stator is at least partially accommodated in the accommodating cavity and is arranged opposite to the magnet at intervals, and the stator is used for driving the rotor to rotate around the axis of the central shaft;

the wave generator comprises a flexible bearing and a cam, the cam is detachably arranged on the rotor or is in an integral structure with the rotor, and the flexible bearing is sleeved on the outer side of the cam;

the rigid wheel is arranged at the opening and is fixedly connected with the shell;

the power output part can rotate relative to the central shaft, the power output part comprises a flexible wheel, the flexible wheel is arranged at the opening and covers the wave generator, the flexible wheel comprises an installation wall and a flexible wall, the central shaft penetrates through the installation wall, the flexible wall is arranged around the installation wall and extends towards one side of the wave generator, the installation wall and the flexible wall jointly enclose an installation cavity, the flexible wall is in power coupling with the rigid wheel, the flexible bearing is arranged between the flexible wall and the cam, and when the rotor rotates, the flexible wall is driven by the wave generator to deform and is driven to rotate relative to the central shaft and the rigid wheel through the power coupling between the flexible wall and the rigid wheel; and

the first position detection assembly is arranged in the installation cavity and used for detecting the rotating position information of the power output part.

2. The power module as claimed in claim 1, wherein the first position detecting assembly comprises a first magnetic member and a first sensing member, the first magnetic member is fixedly connected with the mounting wall, the first sensing member is fixedly connected with the central shaft and is spaced and opposite to the first magnetic member, and the first sensing member is used for detecting a rotational position of the first magnetic member.

3. The power module of claim 2, wherein the central shaft is provided with a wiring slot, and the first sensing element is electrically connected to the first circuit board of the power module through a connecting wire passing through the wiring slot.

4. The power module of claim 3, wherein the first sensing element comprises a second circuit board and a first sensing unit disposed on the second circuit board, the second circuit board is electrically connected to the first sensing unit, the first sensing unit and the first magnetic element are disposed opposite to each other at an interval, the second circuit board is fixed on the central shaft, and the second circuit board is electrically connected to the first circuit board through the connecting wire passing through the wiring groove.

5. The power module of claim 1, further comprising a second position sensing assembly also mounted within the mounting cavity for sensing rotational position information of the cam and the rotor.

6. The power module as claimed in claim 5, 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 cam to rotate synchronously with the cam and the rotor, the second sensing member is fixedly connected to the central shaft and is spaced from and opposite to the second magnetic member, and the second sensing member is used for detecting a rotational position of the second magnetic member.

7. The power module according to claim 6, wherein the second sensing member comprises a third circuit board and a second sensing unit disposed on the third circuit board, the third circuit board is electrically connected to the second sensing unit, the second sensing unit and the second magnetic member are disposed in a spaced and opposing manner, and the third circuit board is fixedly connected to the central shaft.

8. The power module of claim 1, wherein the power take off further comprises a flange fixedly connected to the mounting wall.

9. The power module of claim 8, further comprising a support member disposed on and fixedly coupled to the rigid wheel, wherein the flange is disposed at least partially inside the support member, and wherein a roller is disposed between the flange and the support member, wherein the flange is capable of rotating relative to the support member.

10. A power plant comprising a power module according to any one of claims 1-9.

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