CN221177459U - Driving device - Google Patents

Abstract

The application is applicable to the technical field of driving devices, and provides a driving device, which comprises: the device comprises a shell, a driving part and a deceleration output part, wherein a containing cavity and a first mounting hole communicated with the containing cavity are arranged in the shell; the driving part is arranged in the accommodating cavity; the input end of the speed reduction output part is arranged in the accommodating cavity, the output end of the speed reduction output part is arranged in the first mounting hole, the position of the speed reduction output part radially corresponds to the position of the driving part, and the output end of the driving part is in driving connection with the input end of the speed reduction output part and is used for driving the speed reduction output part. The driving device provided by the application can reduce the axial size of the driving device by radially corresponding the position of the speed reduction output part to the position of the driving part, and the speed reduction output part is arranged in the shell and radially corresponds to the driving part, so that the space in the shell is fully utilized, and the torque density of the driving device provided by the application is improved.

Description

Driving device

Technical Field

The application belongs to the technical field of speed reduction driving devices, and particularly relates to a driving device.

Background

A gear motor refers to an integrated body of a speed reducer and an electric motor (motor), which integrated body may also be generally referred to as a gear motor or a gear motor. Usually, after being integrated and assembled by a professional speed reducer manufacturer, the motor is integrated with the speed reducer manufacturer to complete the supply of goods.

The speed reducing motor has the characteristics of high efficiency, high reliability, long service life, simplified design, space saving, simple maintenance, wide application and the like. The installation mode mainly comprises expansion type, coaxial type and split type. The gear motor can be divided into a coaxial helical gear motor, a parallel shaft helical gear motor, a helical bevel gear motor, a helical gear worm motor and the like according to a gear box transmission mode; the speed reduction transmission mechanism can be widely applied to various general mechanical equipment such as metallurgy, mines, lifting, transportation, cement, chemical industry, spinning, pharmacy and the like.

Most of the existing gear motors are obtained by combining an independent motor with an independent speed reducer, but the gear motors produced by adopting the method have smaller moment density, cannot be applied to some equipment (such as robots, manipulators and the like) with higher moment density requirements, and have poorer universality.

Disclosure of utility model

The embodiment of the application aims to provide a driving device and aims to solve the technical problem of small torque density of a speed reduction motor in the prior art.

To achieve the above object, according to one aspect of the present application, there is provided a driving apparatus comprising: the device comprises a shell, a driving part and a deceleration output part, wherein a containing cavity and a first mounting hole communicated with the containing cavity are arranged in the shell; the driving part is arranged in the accommodating cavity; the input end of the speed reduction output part is arranged in the accommodating cavity, the output end of the speed reduction output part is arranged in the first mounting hole, the position of the speed reduction output part corresponds to the position of the driving part in the radial direction of the driving device, and the output end of the driving part is in driving connection with the input end of the speed reduction output part and is used for driving the speed reduction output part.

Optionally, the speed reduction output part comprises an internal tooth assembly and a planetary gear assembly, the internal tooth assembly is arranged on the inner wall of the first mounting hole, the planetary gear assembly is rotatably arranged in the first mounting hole in a penetrating manner and is in driving connection with the internal tooth assembly, the output end of the driving part is in driving connection with the planetary gear assembly, and the planetary gear assembly can rotate along the circumferential direction of the internal tooth assembly under the driving of the driving part; the planetary gear assembly is an output end of the speed reduction output part.

Optionally, the speed reduction output part further comprises a sun gear component, the output end of the sun gear component is rotatably arranged in the first mounting hole in a penetrating manner and is in driving connection with the planet gear component, and the input end of the sun gear component is rotatably arranged in the accommodating cavity and is in driving connection with the output end of the driving part; the sun gear assembly is an input end of the speed reduction output part.

Optionally, the driving device further includes a first supporting portion, and the first supporting portion is disposed between an inner wall of the first mounting hole and an outer wall of the planetary gear assembly, and is used for supporting the planetary gear assembly.

Optionally, the first supporting part includes a first bearing, and the first bearing sets up between the first end of first mounting hole and planet wheel subassembly, and the inner wall butt of the outer lane and the first mounting hole of first bearing, the outer wall butt of the inner circle and the first end of planet wheel subassembly of first bearing, and first bearing is used for supporting the first end of planet wheel subassembly.

Optionally, the first supporting portion further includes a second bearing, the second bearing is disposed between the first mounting hole and the second end of the planetary gear assembly, an outer ring of the second bearing abuts against an inner wall of the first mounting hole, an inner ring of the second bearing abuts against an outer wall of the first end of the planetary gear assembly, and the second bearing is used for supporting the second end of the planetary gear assembly.

Optionally, the driving device further comprises a control part, wherein the control part is arranged in the accommodating cavity and is electrically connected with the driving part for controlling the driving part.

Optionally, the driving device further comprises a heat conducting part, the heat conducting part is arranged in the accommodating cavity, and two ends of the heat conducting part are respectively abutted with the control part and the inner wall of the accommodating cavity and used for transferring heat on the control part to the shell.

Optionally, the driving device further comprises a conductive wire, and the driving part and the control part can be electrically connected through the conductive wire; the driving device further comprises a wire arranging part, the wire arranging part is arranged in the accommodating cavity, a wire arranging channel is formed between the wire arranging part and the inner wall of the accommodating cavity, and the conducting wire part is arranged in the wire arranging channel in a penetrating mode so as to avoid the output end of the driving part.

Optionally, the driving part comprises a stator assembly and a rotor assembly, the stator assembly is fixedly connected with the inner wall of the accommodating cavity, and the rotor assembly is rotatably sleeved on the stator assembly and is in driving connection with the output end of the speed reduction output part; the rotor component is an output end of the driving part.

The driving device provided by the application has the beneficial effects that: compared with a speed reducing motor in which a speed reducer and a motor are axially arranged in the prior art, the driving device provided by the application can reduce the axial size of the driving device by arranging the position of the speed reducing output part and the position of the driving part in the radial direction of the driving device, and the speed reducing output part is arranged in the shell and corresponds to the driving part in the radial direction of the driving device, so that the space in the shell is fully utilized, and the torque density of the driving device provided by the application is improved.

Drawings

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

FIG. 1 is an exploded view of a driving device according to an embodiment of the present application;

FIG. 2 is an exploded view of a driving device according to another embodiment of the present application;

fig. 3 is a schematic structural diagram of a driving device according to an embodiment of the present application;

FIG. 4 is a schematic cross-sectional view of a driving device according to an embodiment of the present application;

Reference numerals related to the above figures are as follows:

10. A housing; 11. A receiving chamber; 12. A first mounting hole;

20. a driving section; 21. A stator assembly; 22. A rotor assembly;

30. A deceleration output unit; 31. an internal tooth assembly; 32. a planetary wheel assembly; 321. a planet carrier structure; 3211. an output planet carrier; 3212. a planet carrier side plate; 3213. a planetary shaft; 322. a planetary gear; 33. a sun gear assembly; 331. a sun gear shaft; 332. a sun gear bracket;

40. A first support portion; 41. a first bearing; 42. a second bearing;

50. A control unit;

60. A heat conduction part;

70. A conductive wire;

80. a wire arranging part; 81. a wire clamping plate; 82. a wire pressing plate;

90. And (5) a wire arranging channel.

Detailed Description

In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. Embodiments of the application and features of the embodiments may be combined with each other without conflict. The application will be described in detail below with reference to the drawings in connection with embodiments.

It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

As noted in the background, a gear motor is currently an integrated body of a speed reducer and an electric motor (motor), which may also be generally referred to as a gear motor or a gear motor. Usually, after being integrated and assembled by a professional speed reducer manufacturer, the motor is integrated with the speed reducer manufacturer to complete the supply of goods. The speed reducing motor has the characteristics of high efficiency, high reliability, long service life, simplified design, space saving, simple maintenance, wide application and the like. The installation mode mainly comprises expansion type, coaxial type and split type. The gear motor can be divided into a coaxial helical gear motor, a parallel shaft helical gear motor, a helical bevel gear motor, a helical gear worm motor and the like according to a gear box transmission mode; the speed reduction transmission mechanism can be widely applied to various general mechanical equipment such as metallurgy, mines, lifting, transportation, cement, chemical industry, spinning, pharmacy and the like. Most of the existing gear motors are obtained by combining an independent motor with an independent speed reducer, but the gear motors produced by adopting the method have smaller moment density, cannot be applied to some equipment (such as robots, manipulators and the like) with higher moment density requirements, and have poorer universality.

Referring to fig. 1 to 4, in order to solve the above-described problems, according to an aspect of the present application, an embodiment of the present application provides a driving apparatus including: a housing 10, a driving part 20 and a deceleration output part 30, wherein a containing cavity 11 and a first mounting hole 12 communicated with the containing cavity 11 are arranged in the housing 10; the driving part 20 is arranged in the accommodating cavity 11; the input end of the deceleration output part 30 is arranged in the accommodating cavity 11, the output end of the deceleration output part 30 is arranged in the first mounting hole 12, the position of the deceleration output part 30 corresponds to the position of the driving part 20 in the radial direction of the driving device, and the output end of the driving part 20 is in driving connection with the input end of the deceleration output part 30 and is used for driving the deceleration output part 30. The driving device provided in this embodiment sets the driving portion 20 in the accommodating cavity 11, sets the output end of the deceleration output portion 30 in the first mounting hole 12, and makes the position of the deceleration output portion 30 correspond to the position of the driving portion 20 in the radial direction of the driving device, compared with the deceleration motor in which the speed reducer and the motor are axially arranged in the prior art, the driving device provided in this embodiment can reduce the axial dimension of the driving device by making the position of the deceleration output portion 30 correspond to the position of the driving portion 20 in the radial direction of the driving device, and since the deceleration output portion 30 is disposed inside the housing 10 and corresponds to the driving portion 20 in the radial direction of the driving device, the space in the housing 10 is fully utilized, and the torque density of the driving device provided in this embodiment is improved.

In a specific embodiment, the position of the deceleration output portion 30 in the above embodiment corresponds to the position of the driving portion 20 in the radial direction of the driving device, which means that the projection of the deceleration output portion 30 in the radial direction of the driving device and the projection of the driving portion 20 in the radial direction of the driving device at least partially overlap.

Referring to fig. 4, in a specific embodiment, the deceleration output portion 30 in this embodiment includes an internal tooth assembly 31 and a planetary wheel assembly 32, the internal tooth assembly 31 is disposed on an inner wall of the first mounting hole 12, the planetary wheel assembly 32 rotatably passes through the first mounting hole 12 and is in driving connection with the internal tooth assembly 31, an output end of the driving portion 20 is in driving connection with the planetary wheel assembly 32, and the planetary wheel assembly 32 can rotate along a circumferential direction of the internal tooth assembly 31 under the driving of the driving portion 20; the planetary gear assembly 32 is an output end of the deceleration output portion 30. The planetary gear assembly 32 provided in this embodiment is rotatably inserted into the first mounting hole 12, and the planetary gear assembly 32 is respectively in driving connection with the output end of the driving portion 20 and the internal tooth assembly 31, so that the planetary gear assembly 32 provided in this embodiment can rotate along the circumferential direction of the internal tooth assembly 31 under the driving of the driving portion 20, so as to realize power output.

In a specific embodiment, the planetary gear assembly 32 provided in this embodiment includes a planetary carrier 321 and a planetary gear 322, where the planetary carrier 321 provided in this embodiment is rotatably installed in the first mounting hole 12, and the planetary gear 322 is rotatably installed on the planetary carrier 321 and is respectively in driving connection with the output end of the driving portion 20 and the internal tooth assembly 31.

Referring to fig. 1 and 2, in a specific embodiment, a planet carrier structure 321 provided in this embodiment includes an output planet carrier 3211, a planet axle 3213, and a planet carrier side plate 3212, where the output planet carrier 3211 is fixedly connected with the planet carrier side plate 3212, a second mounting hole is provided at one end of the output planet carrier 3211 near the planet carrier side plate 3212, a third mounting hole is provided at one end of the planet carrier side plate 3212 near the output planet carrier 3211, the position of the second mounting hole corresponds to the position of the third mounting hole, two ends of the planet axle 3213 are respectively penetrated in the second mounting hole and the third mounting hole, and a planet gear 322 is rotatably sleeved on the planet axle 3213.

In a specific embodiment, the present embodiment provides that the axis of the carrier structure 321 is collinear with the axis of the internal tooth assembly 31, and that the axes of the planet shafts 3213 and the planet gears 322 are parallel to the axis of the carrier structure 321.

In an alternative embodiment, the second mounting holes, the third mounting holes, the planetary shafts 3213 and the planetary gears 322 provided in this embodiment are all multiple, the multiple second mounting holes are arranged at intervals along the circumferential direction of the output planet carrier 3211, the multiple third mounting holes are in one-to-one correspondence with the multiple second mounting holes, the multiple planetary shafts 3213 are in one-to-one correspondence with the multiple third mounting holes, and the multiple planetary gears 322 are in one-to-one correspondence with the multiple planetary shafts 3213.

In a specific embodiment, the number of the second mounting holes, the third mounting holes, the planetary shafts 3213 and the planetary gears 322 provided in this embodiment is three, the three second mounting holes are arranged at equal intervals along the circumferential direction of the output planet carrier 3211, the three third mounting holes are in one-to-one correspondence with the three second mounting holes, the three planetary shafts 3213 are in one-to-one correspondence with the three third mounting holes, and the three planetary gears 322 are in one-to-one correspondence with the three planetary shafts 3213.

In a specific embodiment, the speed reduction output part 30 in this embodiment further includes a sun gear assembly 33, where an output end of the sun gear assembly 33 is rotatably inserted into the first mounting hole 12 and is in driving connection with the planetary gear assembly 32, and an input end of the sun gear assembly 33 is rotatably disposed in the accommodating cavity 11 and is in driving connection with an output end of the driving part 20; the sun gear assembly 33 is an input end of the deceleration output portion 30. The output end of the sun gear assembly 33 provided in this embodiment is rotatably inserted into the first mounting hole 12, and the output end of the sun gear assembly 33 is in driving connection with the planetary gear assembly 32, and the input end of the sun gear assembly 33 is in driving connection with the output end of the driving portion 20, so that the driving portion 20 provided in this embodiment can drive the planetary gear assembly 32 through the sun gear assembly 33, so that the planetary gear assembly 32 can rotate on the inner gear assembly 31, and output power to the external environment.

In a specific embodiment, the sun gear assembly 33 provided in this embodiment includes a sun gear bracket 332 and a sun gear shaft 331, the sun gear shaft 331 provided in this embodiment is disposed on the sun gear bracket 332, the sun gear bracket 332 provided in this embodiment is rotatably disposed in the accommodating cavity 11 and is in driving connection with the output end of the driving portion 20, and the sun gear shaft 331 provided in this embodiment is rotatably disposed in the first mounting hole 12 in a penetrating manner and is in driving connection with the planetary gear 322.

In a specific embodiment, the sun gear bracket 332 provided in this embodiment is provided with a first protruding column, the first protruding column extends into the first mounting hole 12, the axis of the first protruding column is collinear with the axis of the sun gear bracket 332, the first protruding column is provided with a fourth mounting hole, the fourth mounting hole and the first protruding column are coaxially arranged, and the first end of the sun gear shaft 331 is inserted into the fourth mounting hole.

In a specific embodiment, a fifth mounting hole is provided on the output planet carrier provided in this embodiment, a sixth mounting hole is provided on the planet carrier side plate 3212, the fifth mounting hole and the sixth mounting hole are coaxially provided, the first boss is rotatably inserted in the sixth mounting hole, and the second end of the sun gear shaft 331 is rotatably inserted in the fifth mounting hole.

In a specific embodiment, the fifth mounting hole is provided with an axis collinear with the axis of rotation of the output planet carrier, and the sixth mounting hole is provided with an axis collinear with the axis of rotation of the planet carrier side plate 3212.

In a specific embodiment, the sun gear bracket 332 provided in this embodiment is an input end of the sun gear assembly 33, and the sun gear shaft 331 is an output end of the sun gear assembly 33.

In one embodiment, the planetary gears 322 of the present embodiment are meshed with the internal tooth assemblies 31 and the sun gear shafts 331, respectively, to achieve a driving connection.

Referring to fig. 1, 2 and 4, in order to enable the planetary gear assembly 32 provided in the present embodiment to be effectively supported, the driving device in the present embodiment further includes a first supporting portion 40, where the first supporting portion 40 is disposed between an inner wall of the first mounting hole 12 and an outer wall of the planetary gear assembly 32, for supporting the planetary gear assembly 32. By arranging the first supporting portion 40 between the inner wall of the first mounting hole 12 and the outer wall of the planetary gear assembly 32, the planetary gear assembly 32 provided in this embodiment can be effectively supported by the first supporting portion 40, so that the axial force resistance and bending moment resistance of the planetary gear assembly 32 provided in this embodiment are improved, and the external impact resistance of the driving device provided in this embodiment is improved.

In a specific embodiment, the first supporting portion 40 in this embodiment includes a first bearing 41, where the first bearing 41 is disposed between the first mounting hole 12 and the first end of the planetary gear assembly 32, an outer ring of the first bearing 41 abuts against an inner wall of the first mounting hole 12, an inner ring of the first bearing 41 abuts against an outer wall of the first end of the planetary gear assembly 32, and the first bearing 41 is used for supporting the first end of the planetary gear assembly 32. Through setting up first bearing 41 between the first mounting hole 12 that this embodiment provided and the first end of planet wheel subassembly 32 to make the outer lane of first bearing 41 and the inner wall butt of first mounting hole 12, the inner circle of first bearing 41 and the outer wall butt of the first end of planet wheel subassembly 32, make the first end of planet wheel subassembly 32 that this embodiment provided can carry out effectual support through first bearing 41, and still effectual friction between planet wheel subassembly 32 and the first mounting hole 12 that has reduced has improved drive arrangement's transmission efficiency.

In a specific embodiment, the first supporting portion 40 in this embodiment further includes a second bearing 42, the second bearing 42 is disposed between the first mounting hole 12 and the second end of the planetary gear assembly 32, an outer ring of the second bearing 42 abuts against an inner wall of the first mounting hole 12, an inner ring of the second bearing 42 abuts against an outer wall of the first end of the planetary gear assembly 32, and the second bearing 42 is used for supporting the second end of the planetary gear assembly 32. By arranging the second bearing 42 between the first mounting hole 12 and the second end of the planetary gear assembly 32 provided in this embodiment, and making the outer ring of the second bearing 42 abut against the inner wall of the first mounting hole 12, the inner ring of the second bearing 42 abuts against the outer wall of the second end of the planetary gear assembly 32, the second end of the planetary gear assembly 32 provided in this embodiment can be effectively supported by the second bearing 42, and friction between the planetary gear assembly 32 and the first mounting hole 12 is effectively reduced, so that transmission efficiency of the driving device is improved.

In order to enable the sun gear assembly 33 provided in the present embodiment to be effectively supported, the driving device in the present embodiment further includes a second supporting portion disposed between the inner wall of the sixth mounting hole and the outer wall of the first boss for supporting the sun gear assembly 33. By arranging the second supporting part between the inner wall of the sixth mounting hole and the outer wall of the first convex column, the sun gear assembly 33 provided by the embodiment can be effectively supported through the second supporting part, so that the axial force resistance and bending moment resistance of the sun gear assembly 33 provided by the embodiment are improved, and the external impact resistance of the driving device provided by the embodiment is improved.

In a specific embodiment, the second supporting portion in this embodiment includes a third bearing, the third bearing is disposed between the sixth mounting hole and the first boss, an outer ring of the third bearing abuts against an inner wall of the sixth mounting hole, an inner ring of the third bearing abuts against an outer wall of the first boss, and the third bearing is used for supporting the first boss. Through set up the third bearing between the sixth mounting hole and the first projection that this embodiment provided to make the outer lane of third bearing and the inner wall butt of sixth mounting hole, the inner circle butt of third bearing and the outer wall butt of first projection, make the first projection that this embodiment provided can carry out effectual support through the third bearing, and still effectually reduced the friction between first projection and the sixth mounting hole, improved drive arrangement's transmission efficiency.

In order to enable the sun gear assembly 33 provided in the present embodiment to be effectively supported, the driving device in the present embodiment further includes a third supporting portion disposed between the inner wall of the fifth mounting hole and the outer wall of the second end of the sun gear shaft 331 for supporting the sun gear assembly 33. By arranging the third supporting portion between the inner wall of the fifth mounting hole and the outer wall of the second end of the sun gear shaft 331, the sun gear assembly 33 provided in this embodiment can be effectively supported by the third supporting portion, so that the axial force resistance and bending moment resistance of the sun gear assembly 33 provided in this embodiment are improved, and the external impact resistance of the driving device provided in this embodiment is improved.

In a specific embodiment, the third supporting portion in this embodiment includes a fourth bearing, the fourth bearing is disposed between the fifth mounting hole and the second end of the sun gear shaft 331, an outer ring of the fourth bearing abuts against an inner wall of the fifth mounting hole, an inner ring of the fourth bearing abuts against an outer wall of the second end of the sun gear shaft 331, and the fourth bearing is used for supporting the second end of the sun gear shaft 331. Through setting up the fourth bearing between the second end of fifth mounting hole and sun gear shaft 331 that this embodiment provided to make the outer lane of fourth bearing and the inner wall butt of fifth mounting hole, the inner circle butt of fourth bearing and the outer wall butt of the second end of sun gear shaft 331, make the second end of sun gear shaft 331 that this embodiment provided can carry out effectual support through the fourth bearing, and still effectually reduced the friction between the second end of sun gear shaft 331 and the fifth mounting hole, improved drive arrangement's transmission efficiency.

Referring to fig. 1 to 3, in a specific embodiment, a housing 10 provided in the present embodiment includes a casing and a rear cover, the rear cover provided in the present embodiment is detachably mounted on the casing by a threaded fastener, a first mounting hole 12 provided in the present embodiment is provided on the casing, and a receiving cavity 11 is formed between the casing and the rear cover.

In a specific embodiment, in order to control the movement of the driving portion 20, the driving device provided in this embodiment further includes a control portion 50, where the control portion 50 is disposed in the accommodating cavity 11 and electrically connected to the driving portion 20, for controlling the driving portion 20. By providing the control portion 50 in the housing chamber 11 and electrically connecting the control portion 50 with the driving portion 20, the driving device provided in this embodiment can control the movement of the driving portion 20 by the control portion 50.

In a specific embodiment, the control portion 50 provided in this embodiment includes a PCBA board.

Referring to fig. 1, 2 and 4, in order to improve the reliability of the control portion 50 provided by the present embodiment, the driving device in the present embodiment further includes a heat conducting portion 60, the heat conducting portion 60 is disposed in the accommodating cavity 11, and two ends of the heat conducting portion 60 respectively abut against the control portion 50 and an inner wall of the accommodating cavity 11, so as to transfer heat on the control portion 50 to the housing 10. By disposing the heat conducting portion 60 in the accommodating cavity 11 provided in the present embodiment and making both ends of the heat conducting portion 60 abut against the control portion 50 and the inner wall of the accommodating cavity 11, the heat on the control portion 50 provided in the present embodiment can be transferred to the housing 10 through the heat conducting portion 60, so that the control portion 50 provided in the present embodiment can effectively dissipate heat, and the reliability of the control portion 50 is improved.

In a specific embodiment, the heat conducting portion 60 provided in this embodiment includes a heat conducting gel block, and since the heat conducting gel block has a certain elasticity, the heat conducting gel block provided in this embodiment can be fully abutted and attached to the inner walls of the control portion 50 and the accommodating cavity 11 in a manner that the heat conducting gel block can be compressed, so that the heat on the control portion 50 can be quickly transferred to the housing 10.

In a specific embodiment, the heat-conducting gel block provided in this embodiment is respectively abutted with the control portion 50 and the rear cover, so that heat of the control portion 50 can be transferred to the rear cover.

In a specific embodiment, the driving device in this embodiment further includes a conductive wire 70, and the driving portion 20 and the control portion 50 can be electrically connected through the conductive wire 70; the driving device further comprises a wire arranging part 80, the wire arranging part 80 is arranged in the accommodating cavity 11, a wire arranging channel 90 is formed between the wire arranging part 80 and the inner wall of the accommodating cavity 11, and a part of the conductive wire 70 is penetrated in the wire arranging channel 90 so as to avoid the output end of the driving part 20. By arranging the wire arranging part 80 in the accommodating cavity 11 provided in the embodiment, the conductive wire 70 provided in the embodiment can avoid the output end of the driving part 20 by penetrating the wire arranging channel 90, so that the conductive wire 70 is prevented from contacting the output end of the driving part 20 and the input end of the sun gear assembly, and the service life of the driving device provided in the embodiment is effectively prolonged.

In a specific embodiment, the wire arranging portion 80 provided in this embodiment includes a wire clamping plate 81 and a wire pressing plate 82, a clamping structure is disposed in the accommodating cavity 11 provided in this embodiment, the wire clamping plate 81 provided in this embodiment can be detachably mounted in the accommodating cavity 11 through the clamping structure, a first wire arranging space is formed between the wire clamping plate 81 and an inner wall of the accommodating cavity 11, the wire pressing plate 82 is detachably mounted in the accommodating cavity 11 through a threaded fastener, a second wire arranging space is formed between the wire pressing plate 82 and the inner wall of the accommodating cavity 11, and the first wire arranging space and the second wire arranging space jointly form the wire arranging channel 90.

In a specific embodiment, the clamping structure provided in this embodiment is disposed on the housing, the clamping plate is detachably mounted on the housing through the clamping structure, and the wire pressing plate 82 is detachably mounted on the rear cover through the threaded fastener.

In a specific embodiment, the driving part 20 in this embodiment includes a stator assembly 21 and a rotor assembly 22, the stator assembly 21 is fixedly connected with the inner wall of the accommodating cavity 11, and the rotor assembly 22 is rotatably sleeved on the stator assembly 21 and is in driving connection with the output end of the deceleration output part 30; the rotor assembly 22 is an output end of the driving part 20. The stator assembly 21 provided in this embodiment is fixedly connected with the inner wall of the accommodating cavity 11, and the rotor assembly 22 is rotatably sleeved on the stator assembly 21, so that the rotor assembly 22 provided in this embodiment can rotate under the action of the stator assembly 21, so as to drive the sun gear assembly 33.

In a specific embodiment, the driving device provided in this embodiment further includes an angle detecting component, where the angle detecting component includes a first detecting element and a second detecting element, the first detecting element provided in this embodiment is disposed on an end of the sun gear shaft 331 near the control portion 50, the second detecting element is disposed on an end of the control portion 50 near the sun gear shaft 331, the first detecting element and the second detecting element are disposed opposite to each other, the first detecting element can rotate relative to the second detecting element under the driving of the sun gear shaft 331, and the second detecting element is electrically connected with the control portion 50 and is used for detecting the rotation of the first detecting element, so as to detect the rotation angle of the sun gear shaft 331.

In a specific embodiment, a seventh mounting hole is provided at an end of the sun gear shaft 331 near the control portion 50, where the position of the seventh mounting hole corresponds to the position of the second detecting member and is coaxially disposed with the sun gear shaft 331, and the first detecting member provided in this embodiment is disposed in the seventh mounting hole.

In an alternative embodiment, the first detecting member provided in this embodiment is a magnet, and the second detecting member is a magnetic encoder, however, in other embodiments, the first detecting member and the second detecting member provided in this embodiment may be other kinds of devices capable of performing angle detection.

In an alternative embodiment, the magnet provided in this embodiment is fixedly mounted in the seventh mounting hole by glue.

In a specific embodiment, the internal tooth assembly provided in this embodiment is an internal gear, and the internal gear and the housing are integrally formed.

In a specific embodiment, the reduction output part 30 of the driving device provided in this embodiment is one-stage planetary reduction, compared with a reduction motor using multi-stage reduction, the reduction of the driving device provided in this embodiment is smaller, the overall moment of inertia is small, and the transmission efficiency is high, and this embodiment makes full use of the space in the accommodating cavity 11 by arranging the reduction output part 30 in the accommodating cavity 11, so that a larger moment of force output can be realized, and a good choice is provided for realizing moment control for the robot joint.

In a specific embodiment, when the driving device provided by the embodiment is used for driving a small inertia load, the driving device provided by the embodiment has higher moment density and smaller speed reduction, so that the tail end of the driving device can be structurally ensured to have smaller effective inertia, and the driving device provided by the embodiment can realize moment control in a current loop mode without a force sensor.

In a specific embodiment, under the condition of using a current loop to control the moment of the driving device, a higher force control bandwidth can be realized, so that the driving device is ensured to have higher dynamic performance and better back-driving performance, and the driving device can cope with dynamic collision.

In a specific embodiment, when the driving device provided in this embodiment is used to output power to the outside, the driving portion 20 is controlled by the control portion 50, at this time, the rotor assembly 22 in the driving portion 20 rotates relative to the stator assembly 21, the rotating rotor assembly 22 drives the sun gear assembly 33 connected to the driving portion in a driving manner, because the sun gear shaft 331 in the sun gear assembly 33 is meshed with the planet gears 322 in the planet gear assembly 32, the rotating sun gear shaft 331 can drive the planet gears 322 to rotate along the planet shaft 3213, and because the planet gears 322 mesh with the sun gear shaft 331 and mesh with the inner gear assembly 31 at the same time, the planet gears 322 revolve on the inner gear assembly 31 at the same time as the planet gears 322 revolve on the inner gear assembly 31, and the planet gears 322 revolve on the same time and drive the planet carrier structure 321 to rotate relative to the inner gear assembly 31, at this time, the driving device can output power to the outside through the output planet carrier 3211 in the planet carrier structure 321.

In summary, implementing the driving device provided in this embodiment has at least the following beneficial technical effects: the driving device provided in this embodiment sets the driving portion 20 in the accommodating cavity 11, sets the output end of the deceleration output portion 30 in the first mounting hole 12, and makes the position of the deceleration output portion 30 correspond to the position of the driving portion 20 in the radial direction of the driving device, compared with the deceleration motor in which the speed reducer and the motor are axially arranged in the prior art, the driving device provided in this embodiment can reduce the axial dimension of the driving device by making the position of the deceleration output portion 30 correspond to the position of the driving portion 20 in the radial direction of the driving device, and since the deceleration output portion 30 is disposed inside the housing 10 and corresponds to the driving portion 20 in the radial direction of the driving device, the space in the housing 10 is fully utilized, and the torque density of the driving device provided in this embodiment is improved.

The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the application.

Claims (10)

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

A housing (10), wherein a containing cavity (11) and a first mounting hole (12) communicated with the containing cavity (11) are arranged in the housing (10);

A driving part (20), wherein the driving part (20) is arranged in the accommodating cavity (11);

The speed reduction output part (30), speed reduction output part (30) input sets up in holding chamber (11), the output of speed reduction output part (30) sets up in first mounting hole (12), the position of speed reduction output part (30) with the position of drive part (20) is in the radial correspondence of drive arrangement, the output of drive part (20) with the input drive connection of speed reduction output part (30) is used for driving speed reduction output part (30).

2. The driving device according to claim 1, wherein the deceleration output portion (30) comprises an inner tooth assembly (31) and a planetary wheel assembly (32), the inner tooth assembly (31) is disposed on an inner wall of the first mounting hole (12), the planetary wheel assembly (32) is rotatably penetrating in the first mounting hole (12) and is in driving connection with the inner tooth assembly (31), an output end of the driving portion (20) is in driving connection with the planetary wheel assembly (32), and the planetary wheel assembly (32) can rotate along a circumferential direction of the inner tooth assembly (31) under the driving of the driving portion (20);

Wherein the planetary wheel assembly (32) is an output end of the deceleration output part (30).

3. The drive device according to claim 2, wherein the reduction output portion (30) further comprises a sun gear assembly (33), an output end of the sun gear assembly (33) rotatably penetrates through the first mounting hole (12) and is in driving connection with the planetary gear assembly (32), and an input end of the sun gear assembly (33) is rotatably arranged in the accommodating cavity (11) and is in driving connection with an output end of the driving portion (20);

Wherein the sun gear assembly (33) is an input end of the deceleration output part (30).

4. The drive device according to claim 2, further comprising a first support (40), the first support (40) being arranged between an inner wall of the first mounting hole (12) and an outer wall of the planet assembly (32) for supporting the planet assembly (32).

5. The drive device according to claim 4, wherein the first support portion (40) comprises a first bearing (41), the first bearing (41) being arranged between the first mounting hole (12) and the first end of the planetary wheel assembly (32), an outer ring of the first bearing (41) being in abutment with an inner wall of the first mounting hole (12), an inner ring of the first bearing (41) being in abutment with an outer wall of the first end of the planetary wheel assembly (32), the first bearing (41) being for supporting the first end of the planetary wheel assembly (32).

6. The drive arrangement according to claim 5, wherein the first support (40) further comprises a second bearing (42), the second bearing (42) being arranged between the first mounting hole (12) and the second end of the planetary wheel assembly (32), an outer ring of the second bearing (42) being in abutment with an inner wall of the first mounting hole (12), an inner ring of the second bearing (42) being in abutment with an outer wall of the first end of the planetary wheel assembly (32), the second bearing (42) being for supporting the second end of the planetary wheel assembly (32).

7. The drive device according to any one of claims 1 to 6, further comprising a control portion (50), the control portion (50) being arranged in the receiving chamber (11) and being electrically connected to the drive portion (20) for controlling the drive portion (20).

8. The driving device according to claim 7, further comprising a heat conducting portion (60), wherein the heat conducting portion (60) is disposed in the accommodating cavity (11), and two ends of the heat conducting portion (60) are respectively abutted against the control portion (50) and an inner wall of the accommodating cavity (11) for transferring heat on the control portion (50) to the housing (10).

9. The drive device according to claim 7, further comprising an electrically conductive wire (70), the drive portion (20) and the control portion (50) being electrically connectable by the electrically conductive wire (70);

The driving device further comprises a wire arranging part (80), the wire arranging part (80) is arranged in the accommodating cavity (11), a wire arranging channel (90) is formed between the wire arranging part (80) and the inner wall of the accommodating cavity (11), and the conducting wire (70) is partially penetrated in the wire arranging channel (90) so as to avoid the output end of the driving part (20).

10. The drive device according to any one of claims 1 to 6, wherein the drive section (20) comprises a stator assembly (21) and a rotor assembly (22), the stator assembly (21) being fixedly connected to the inner wall of the receiving chamber (11), the rotor assembly (22) being rotatably sleeved on the stator assembly (21) and being in driving connection with the output end of the deceleration output section (30);

wherein the rotor assembly (22) is the output end of the driving part (20).