Motor casing, motor assembly, servo system and industrial robot

Abstract

The utility model provides a motor casing, a motor assembly, a servo system and an industrial robot. The motor casing comprises an end cover and a cylinder. The end cover is provided with installation holes located in the periphery. The barrel comprises a first peripheral wall shell, a second peripheral wall shell and a reinforcing part, one end of the first peripheral wall shell is connected with the end cover, the other end of the first peripheral wall shell is connected with the second peripheral wall shell, the barrel defines a containing cavity suitable for containing the motor assembly, and the reinforcing part is connected with the peripheral wall of the second peripheral wall shell and spaced from the end cover. The inner diameter of the first peripheral wall shell is smaller than that of the second peripheral wall shell. According to the motor casing, the internal accommodating space is enlarged through the change of the inner diameter size, the utilization rate of the size of the motor casing is improved, the structural strength of the second peripheral wall casing with a larger inner diameter can be ensured, and the influence of the reinforcing part on the installation operation of the end cover is avoided. Therefore, the internal accommodating space can be expanded while the structural strength of the motor casing is ensured, and the design power density of a motor corresponding to the motor casing can be further improved.

Description

Technical Field

[0001] The utility model relates to the technical field of motors, and in particular to a motor casing, a motor assembly, a servo system and an industrial robot. Background Art

[0002] As the external structure of the motor, the main function of the housing is to accommodate the internal components of the motor and provide support and protection. In the related art, the housing often needs to be provided with a mounting component for mounting the motor, such as a flange. The inner diameter of the housing is limited by the position of the flange mounting hole or the selection of the diameter, which also affects the outer diameter of the internal components of the motor that can be accommodated by the housing, thereby limiting the design power density of the motor. Utility Model Content

[0003] The main purpose of the utility model is to provide a motor casing, a motor assembly, a servo system and an industrial robot, which can improve the design power density of the motor corresponding to the motor casing.

[0004] To achieve the above purpose, the embodiment of the utility model adopts the following technical solutions:

[0005] The motor housing includes an end cover and a cylinder;

[0006] The end cap has mounting holes located at the periphery;

[0007] The cylinder body comprises a first peripheral wall shell, a second peripheral wall shell and a reinforcement part, one end of the first peripheral wall shell is connected to the end cover, and the other end is connected to the second peripheral wall shell, the cylinder body defines an accommodating cavity, the accommodating cavity is suitable for accommodating the motor assembly, and the reinforcement part is connected to the outer peripheral wall of the second peripheral wall shell and is spaced from the end cover;

[0008] Wherein, the inner diameter of the first peripheral wall shell is smaller than the inner diameter of the second peripheral wall shell.

[0009] In some embodiments, the second peripheral wall shell includes a connection area, the connection area is suitable for abutting against the outer peripheral wall of the motor assembly, and the second peripheral wall shell also includes an end portion, the end portion is connected to an end of the first peripheral wall shell close to the second peripheral wall shell;

[0010] Along the direction from the second circumferential wall shell to the first circumferential wall shell, the maximum distance between the reinforcement part and the end cover is greater than or equal to the maximum distance between the connection area and the end cover, and the minimum distance between the reinforcement part and the end cover is less than or equal to the minimum distance between the end part and the end cover.

[0011] or,

[0012] Along the direction from the second circumferential wall shell to the first circumferential wall shell, the maximum distance between the reinforcement part and the end cover is greater than or equal to the maximum distance between the connection area and the end cover, and the minimum distance between the reinforcement part and the end cover is less than or equal to the minimum distance between the connection area and the end cover and greater than the minimum distance between the end and the end cover.

[0013] In some embodiments, there are multiple reinforcement parts, each reinforcement part extends in a direction from the second peripheral wall shell to the first peripheral wall shell, and each reinforcement part is distributed at intervals along the circumference of the cylinder;

[0014] or,

[0015] Each reinforcement part extends along the circumferential direction of the cylinder, and each reinforcement part is distributed at intervals along the axial direction of the cylinder.

[0016] In some embodiments, the reinforcement portion extends along the circumference of the cylinder, along the second circumferential wall shell pointing in the direction of the first circumferential wall shell, the maximum distance between the reinforcement portion and the end cover is greater than or equal to the maximum distance between the connecting area and the end cover, and the minimum distance between the reinforcement portion and the end cover is less than or equal to the minimum distance between the connecting area and the end cover.

[0017] In some embodiments, the cylinder also includes a plurality of protrusions arranged at intervals along the circumference of the cylinder, each protrusion is connected to the outer circumferential wall of the first circumferential wall shell and the outer circumferential wall of the second circumferential wall shell, and each adjacent two protrusions, the first circumferential wall shell and the second circumferential wall shell jointly define a groove body, and the reinforcement portion is located in the groove body.

[0018] In some embodiments, when viewed along the axial direction of the mounting hole, the mounting hole is located within the area enclosed by the slot body.

[0019] In some embodiments, the minimum distance T1 between the reinforcement portion and the inner peripheral wall of the second peripheral wall shell satisfies: 2 mm ≤ T1 ≤ 5 mm;

[0020] and / or,

[0021] The minimum dimension T2 of the protrusion from the inner circumferential wall of the second circumferential wall shell satisfies: 2mm≤T2≤5mm.

[0022] In some embodiments, a minimum dimension T1 of the reinforcement portion from the inner circumferential wall of the second circumferential wall shell is equal to a minimum dimension T2 of the protrusion from the inner circumferential wall of the second circumferential wall shell.

[0023] In some embodiments, the distance between the outer circumferential wall of the reinforcement portion and the inner circumferential wall of the second circumferential wall shell is greater than 1 mm.

[0024] In some embodiments, when viewed along the axial direction of the mounting hole, the reinforcement portion is at least partially located within the area enclosed by the mounting hole.

[0025] The embodiment of the second aspect of the utility model further provides a motor assembly, comprising a motor housing and a motor component of any of the above embodiments, wherein the motor component is located in the accommodating cavity.

[0026] In some embodiments, the motor assembly includes a first part and a second part. The first part and the second part are opposite and connected to each other along the direction pointing from the first circumferential wall shell to the second circumferential wall shell. The outer diameter of the second part is larger than the outer diameter of the first part. The second part is located in a cavity enclosed by the second circumferential wall shell.

[0027] In some embodiments, the motor assembly also includes a rotating shaft and a bearing, and the cylinder also includes a baffle arranged around the axis of the cylinder, the baffle is used to define a placement cavity and a through-port connected to the placement cavity, the bearing is located in the placement cavity, the rotating shaft passes through the bearing and the placement cavity and passes through the through-port, and along the radial direction perpendicular to the axis of the cylinder, the distance D between the baffle and the rotating shaft satisfies: 0.2mm≤D≤0.6mm.

[0028] The embodiment of the third aspect of the utility model further provides a servo system, comprising a motor assembly of any of the above embodiments.

[0029] The embodiment of the fourth aspect of the utility model further provides an industrial robot, comprising the servo system of any of the above embodiments.

[0030] Compared with the prior art, the beneficial effects of the utility model are:

[0031] The end cover of the motor housing of the utility model can be used for the connection and installation of the motor, and the cylinder connected to the end cover includes a first peripheral wall shell, a second peripheral wall shell and a reinforcement part, wherein one end of the first peripheral wall shell is connected to the end cover and the other end is connected to the second peripheral wall shell, and the reinforcement part is connected to the outer peripheral wall of the second peripheral wall shell and is spaced from the end cover. In addition, since the inner diameter of the first peripheral wall shell is smaller than the inner diameter of the second peripheral wall shell, the accommodation space of the second peripheral wall shell is larger than the accommodation space of the first peripheral wall shell, and since the reinforcement part is connected to the outer peripheral wall of the second peripheral wall shell, the second peripheral wall shell can be increased in inner diameter (relatively reduced in wall thickness in the inner diameter direction) while the structural strength can be ensured by the reinforcement part. Compared with the housing with the same inner diameter size of each part in the related art, the motor housing of the utility model expands the internal accommodation space by changing the inner diameter size, improves the utilization rate of the size of the motor housing, and can also ensure the structural strength of the second peripheral wall shell with a larger inner diameter under the action of the reinforcement part, and the spacing between the reinforcement part and the end cover can avoid the influence of the reinforcement part on the installation operation at the end cover. Therefore, the motor housing of the utility model can expand the internal accommodation space while ensuring the structural strength, thereby improving the design power density of the motor corresponding to the motor housing. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0033] Figure 1 A side cutaway schematic diagram of a motor housing provided in a first embodiment of the utility model;

[0034] Figure 2 for Figure 1 A partial enlarged schematic diagram of the inner diameter change position at A in the middle;

[0035] Figure 3 A three-dimensional schematic diagram of a motor housing provided in a first embodiment of the utility model;

[0036] Figure 4 A three-dimensional schematic diagram of a motor housing provided in a first embodiment of the utility model;

[0037] Figure 5 It is a partial enlarged schematic diagram of the inner diameter change position provided in the second embodiment of the utility model;

[0038] Figure 6 A three-dimensional schematic diagram of a motor housing provided in a third embodiment of the utility model;

[0039] Figure 7 A three-dimensional schematic diagram of a motor housing provided in a fourth embodiment of the utility model;

[0040] Figure 8 A three-dimensional schematic diagram of a motor housing provided in a fifth embodiment of the utility model;

[0041] Fig. 9 A schematic side view of a motor housing provided in a first embodiment of the utility model;

[0042] Fig.10 A side cutaway schematic diagram of a motor provided in an embodiment of the second aspect of the utility model;

[0043] Fig.11 for Fig.10 A local enlarged schematic diagram of point B in the middle.

[0044] Description of Figure Numbers:

[0045] 100-motor housing;

[0046] 110-end cover; 111-mounting hole;

[0047] 120-cylinder; 121-first peripheral wall shell; 122-second peripheral wall shell; 1221-connecting area; 1222-end; 123-reinforcement portion; 124-accommodating cavity; 125-protrusion; 126-groove body;

[0048] 200-motor assembly; 210-first part; 220-second part; 230-rotating shaft; 240-bearing; 250-baffle; 260-receiving cavity; 270-through-port;

[0049] 300-motor assembly;

[0050] L-axial;

[0051] W-circumferential direction;

[0052] R - Radial.

[0053] The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0054] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0055] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0056] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the utility model, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or", "and / or" or "and / or" appears in the full text, its meaning includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the utility model.

[0057] In the related art, the casing often needs to be provided with a mounting component for mounting the motor, such as a flange. Due to the position of the flange mounting hole or the selection of the diameter, the inner diameter of the casing is limited, and the outer diameter of the internal components of the motor that can be accommodated by the casing is also affected, thereby limiting the design power density of the motor. In a specific case, the internal components of the motor may include a rotor, a stator sleeved on the rotor, and a rotating shaft, wherein the outer diameter of the stator determines the required installation dimensions of the internal components of the motor, and the mounting component of the casing may be integrated into the casing or connected to the casing from the outside. Taking the mounting component as a flange as an example, when the diameter of the flange is determined, the position of the mounting hole of the flange is also determined. At the same time, a certain amount of space needs to be left for the screws to be inserted into the mounting hole to complete the installation, which will limit the outer diameter of the casing. In order to ensure the minimum wall thickness of the casing, the inner diameter of the casing is also limited, thereby limiting the design power density of the motor.

[0058] The applicant initially considered that in order to expand the inner diameter of the casing while ensuring the installation space of the casing mounting components, the inner diameter of the casing can be expanded on the side of the casing away from the mounting components, but this will bring about the problem of thinning the casing wall thickness and deteriorating the structural strength.

[0059] In view of this, see Figure 1-Figure 11 In an embodiment of the utility model, a motor housing 100 is provided. The motor housing 100 can be used as an external housing structure of the motor itself, and the motor housing 100 can be used to set the components of the finished motor other than the housing. On the other hand, it can also be used as an independent housing structure for protecting or installing the motor, that is, the motor housing 100 can be used to set the finished motor. For ease of description, the following is an embodiment in which the motor housing 100 is the external housing structure of the motor itself, and different embodiments can be combined with each other between different technical solutions.

[0060] Specifically, the motor housing 100 includes an end cover 110 and a cylinder 120. Figure 1-Figure 4 , the end cover 110 has a mounting hole 111 located on the periphery; wherein the end cover 110 can be used to position, install and seal the motor assembly 300. Specifically, in some embodiments, the end cover 110 can be disc-shaped and can have a plurality of mounting holes 111, each mounting hole 111 is distributed around the axis of the end cover 110, so that the end cover 110 can be used as a flange connector and is suitable for connection with an external structure. For ease of description, the following is an embodiment in which the end cover 110 is a rectangular flange structure and the mounting holes 111 are used to penetrate screws. Different embodiments can be combined with each other between different technical solutions.

[0061] See also Figure 1-Figure 4 , the cylinder 120 includes a first circumferential wall shell 121, a second circumferential wall shell 122 and a reinforcement portion 123. The cylinder 120 is a cylindrical structure extending in a ring shape around the axis of the cylinder 120. One end of the first circumferential wall shell 121 is connected to the end cover 110, and the other end is connected to the second circumferential wall shell 122. It can be understood that the first circumferential wall shell 121 and the second circumferential wall shell 122 are two-part structures of the cylinder 120, both of which extend around the axis of the cylinder 120 and are arranged relatively along the axial direction L of the cylinder 120. In addition, the cylinder 120 defines a housing chamber 124, which is suitable for accommodating the motor assembly 200. The housing chamber 124 is an inner cavity defined by the cylinder 120 itself, and the motor assembly 200 can be any structure of the motor assembly 300 except the motor housing 100 (can be a combination of multiple components), such as a combination structure of a rotor, a stator, a rotating shaft 230, and a bearing 240.

[0062] In addition, the reinforcing portion 123 is connected to the outer peripheral wall of the second peripheral wall shell 122 and is spaced from the end cover 110. The reinforcing portion 123 can be in any suitable shape as required. In some embodiments, the reinforcing portion 123 can be connected to the first peripheral wall shell 121 while being connected to the second peripheral wall shell 122. In addition, since the reinforcing portion 123 is spaced from the end cover 110, the influence of the reinforcing portion 123 on the above-mentioned installation operation can be reduced when the connecting structure (such as a screw) is passed through the mounting hole 111. Specifically, the spacing between the reinforcing portion 123 and the end cover 110 in the axial direction L of the cylinder 120 can leave space for the screw to pass through, so as to facilitate the installation of the screw.

[0063] It should be noted that, in some embodiments, any number of the first circumferential wall shell 121, the second circumferential wall shell 122 and the reinforcing portion 123 may be connected in an integral manner, which may include integral molding connection, welding, fusion, etc.; in other embodiments, any number of the first circumferential wall shell 121, the second circumferential wall shell 122 and the reinforcing portion 123 may be connected in a detachable manner. When the reinforcing portion 123 is connected in an integral manner with the second circumferential wall shell 122, the reinforcing portion 123 may be integrated with the shell wall of the second circumferential wall shell 122, that is, the reinforcing portion 123 may be provided on the outer peripheral wall of the second circumferential wall shell 122 during manufacture to increase the total wall thickness after the two are combined. For ease of description, the following is an embodiment in which the first circumferential wall shell 121, the second circumferential wall shell 122 and the reinforcing portion 123 are all connected in an integral manner as an illustration, and different embodiments may be combined with different technical solutions.

[0064] In particular, see Figure 1-Figure 2 , the inner diameter of the first circumferential wall shell 121 is smaller than the inner diameter of the second circumferential wall shell 122. Therefore, it can be seen that the accommodation space of the second circumferential wall shell 122 farther from the end cover 110 in the cylinder 120 is larger than the accommodation space of the first circumferential wall shell 121 closer to the end cover 110. Therefore, in some embodiments, the space in the second circumferential wall shell 122 can be used to accommodate the part of the motor assembly 200 with a larger radial R dimension, and the space in the first circumferential wall shell 121 can be used to accommodate the part of the motor assembly 200 with a smaller radial R dimension. It should be noted that when the inner diameter size of the first circumferential wall shell 121 at each position is uneven, the following definition is made: along the axial direction L of the cylinder 120, five equally spaced dividing points are taken on the first circumferential wall shell 121, and the average value of the five inner diameter sizes corresponding to the five dividing points of the first circumferential wall shell 121 is the inner diameter size of the first circumferential wall shell 121, and the inner diameter of the second circumferential wall shell 122 is defined in the same way.

[0065] According to the combination of the above embodiments, it can be seen that the end cover 110 of the motor housing 100 of the utility model can be used for the connection and installation of the motor assembly 300, and the cylinder 120 connected to the end cover 110 includes a first peripheral wall shell 121, a second peripheral wall shell 122 and a reinforcing portion 123, wherein one end of the first peripheral wall shell 121 is connected to the end cover 110, and the other end is connected to the second peripheral wall shell 122, and the reinforcing portion 123 is connected to the outer peripheral wall of the second peripheral wall shell 122 and is spaced from the end cover 110. In addition, since the inner diameter of the first peripheral wall shell 121 is smaller than the inner diameter of the second peripheral wall shell 122, the accommodation space of the second peripheral wall shell 122 is larger than the accommodation space of the first peripheral wall shell 121, and since the reinforcing portion 123 is connected to the outer peripheral wall of the second peripheral wall shell 122, the second peripheral wall shell 122 can increase the inner diameter (relatively reduce the wall thickness in the inner diameter direction) while ensuring the structural strength through the reinforcing portion 123. Compared with the casings with the same inner diameter size of each part in the related art, the motor casing 100 of the present invention expands the internal accommodation space by changing the inner diameter size, improves the size utilization of the motor casing 100, and can also ensure the structural strength of the second peripheral wall shell 122 with a larger inner diameter under the action of the reinforcement part 123, and the reinforcement part 123 is arranged at a distance from the end cover 110 to avoid the influence of the reinforcement part 123 on the installation operation at the end cover 110. Therefore, the motor casing 100 of the present invention can expand the internal accommodation space while ensuring the structural strength, thereby improving the design power density of the motor assembly 300 corresponding to the motor casing 100.

[0066] See also Figure 1-Figure 2In some embodiments, the second circumferential wall shell 122 may include a connection area 1221, which is suitable for abutting against the outer circumferential wall of the motor assembly 200. It can be understood that the connection area 1221 is located on the inner circumferential wall of the second circumferential wall shell 122, and after the motor assembly 200 is installed in the motor housing 100, the connection area 1221 is suitable for abutting against the outer circumferential wall portion of the motor assembly 200 around its axis (when the motor assembly 300 is an outer rotor motor assembly 300, the outer circumferential wall of the motor assembly 200 can specifically be the outer circumferential wall of the stator). It should be noted that when the motor housing 100 is configured to be interference fit with the motor assembly 200, the portion of the second circumferential wall shell 122 that contacts the outer peripheral wall of the motor assembly 200 is the connection area 1221; when the motor housing 100 is configured to be clearance fit with the motor assembly 200, after the motor assembly 200 is subjected to external force or vibration, the portion of the second circumferential wall shell 122 that can contact the motor assembly 200 (specifically, the portion of the second circumferential wall shell 122 that can contact the stator protruding from the outer periphery of the motor assembly 200) is the connection area 1221. Moreover, according to the above definition, it can be seen that the connection area 1221 is suitable for contacting the motor assembly 200, so that the vibration of the motor assembly 200 is easily directly transmitted to the area, so that after the motor assembly 200 is installed, the connection area 1221 is easily directly subjected to force. In addition, in some embodiments, the second circumferential wall shell 122 also includes an end 1222, and the end 1222 is connected to an end of the first circumferential wall shell 121 close to the second circumferential wall shell 122.

[0067] Based on the above configuration, the reinforcing portion 123 may be configured at different positions. Figure 2 In some embodiments, along the direction from the second circumferential wall shell 122 to the first circumferential wall shell 121, the maximum distance between the reinforcing portion 123 and the end cover 110 may be greater than or equal to the maximum distance between the connecting area 1221 and the end cover 110, and the minimum distance between the reinforcing portion 123 and the end cover 110 may be less than or equal to the minimum distance between the end 1222 and the end cover 110. It can be understood that the above definition means that along the axial direction L of the cylinder 120, the extension position of the end of the reinforcing portion 123 away from the end cover 110 exceeds the end of the end cover 110 away from the connecting area 1221, and the extension position of the end of the reinforcing portion 123 close to the end cover 110 exceeds the end 1222 of the second circumferential wall shell 122, so that the above arrangement enables the extension distance of the reinforcing portion 123 to cover the connecting area 1221 and exceed the connecting position between the second circumferential wall shell 122 and the first circumferential wall shell 121, so as to have a better structural reinforcement effect.

[0068] Similarly, see Figure 5In other embodiments, along the direction from the second circumferential wall shell 122 to the first circumferential wall shell 121, the maximum distance between the reinforcing portion 123 and the end cover 110 may be greater than or equal to the maximum distance between the connecting area 1221 and the end cover 110, and the minimum distance between the reinforcing portion 123 and the end cover 110 may be less than or equal to the minimum distance between the connecting area 1221 and the end cover 110 and greater than the minimum distance between the end 1222 and the end cover 110. It can be understood that the above definition is similar to the definition of the previous embodiment, the difference is that in this embodiment, the extension position of the end of the reinforcing portion 123 close to the end cover 110 only exceeds the end of the connecting area 1221 close to the end cover 110, but does not exceed the end 1222 of the second circumferential wall shell 122, thereby saving materials and weight, and providing a larger axial L installation space for the screw connected to the mounting hole 111.

[0069] See also Figure 3-Figure 4 or Figure 6 In one type of arrangement of the reinforcement part 123, the number of the reinforcement part 123 can be multiple. Based on this, each reinforcement part 123 can extend in the direction from the second circumferential wall shell 122 to the first circumferential wall shell 121, and each reinforcement part 123 is spaced apart along the circumferential direction W of the cylinder 120. In the above arrangement, each reinforcement part 123 extends along the axial direction L of the cylinder 120, which can ensure the structural strength of each position of the second circumferential wall shell 122 along the axial direction L, and each reinforcement part 123 is spaced apart along the circumferential direction W of the cylinder 120, which can ensure the structural strength of multiple positions of the second circumferential wall shell 122 along the circumferential direction W.

[0070] See also Figure 7-Figure 8 In another arrangement of the reinforcing portion 123, the reinforcing portion 123 may extend along the circumferential direction W of the cylinder 120, that is, the reinforcing portion 123 may extend around the axis of the cylinder 120, thereby covering the second circumferential wall shell 122, and ensuring the structural strength of the second circumferential wall shell 122 at each position along the circumferential direction W. In addition, based on the above arrangement, in some embodiments, along the direction from the second circumferential wall shell 122 to the first circumferential wall shell 121, the maximum distance between the reinforcing portion 123 and the end cover 110 may be greater than or equal to the maximum distance between the connection area 1221 and the end cover 110, and the minimum distance between the reinforcing portion 123 and the end cover 110 may be less than or equal to the minimum distance between the connection area 1221 and the end cover 110, that is, while the reinforcing portion 123 covers the second circumferential wall shell 122, it is also ensured that the reinforcing portion 123 can cover the connection area 1221, thereby having a better reinforcing effect on the connection area 1221.

[0071] Further structural arrangements can be made for the cylinder 120, see Figure 3-Figure 4In some embodiments, the cylinder 120 further includes a plurality of protrusions 125 arranged at intervals along the circumferential direction W of the cylinder 120. Each protrusion 125 may be connected to the outer peripheral wall of the first peripheral wall shell 121 and the outer peripheral wall of the second peripheral wall shell 122. Every two adjacent protrusions 125, the first peripheral wall shell 121, and the second peripheral wall shell 122 may jointly define a groove 126, and the reinforcement portion 123 is located in the groove 126. It can be understood that two adjacent protrusions 125 can define two opposite groove surfaces of the groove body 126, and the first circumferential wall shell 121 and the second circumferential wall shell 122 can respectively define two opposite bottom surfaces of the groove body 126 along the radial direction R of the cylinder body 120. Since the groove body 126 is located between each two adjacent protrusions 125, the protrusions 125 can be used to increase the structural strength of the cylinder body 120 on the one hand, and can also define the groove body 126 on the other hand. A reinforcement portion 123 can be correspondingly provided at the groove body 126 to provide structural strength for the groove body 126.

[0072] More specifically, the slot 126 can be used to provide an installation space for the screw to pass through the installation hole 111, thereby, referring to Figure 1-Figure 4 In some embodiments, when viewed along the axial direction L of the mounting hole 111, the mounting hole 111 can be located within the area surrounded by the slot 126. That is, the screw can be inserted into the slot 126 while passing through the mounting hole 111, and since the reinforcing portion 123 is spaced apart from the end cover 110, the reinforcing portion 123 can be prevented from interfering with the installation of the screw. Figure 1-Figure 4 , observed along the axial direction L of the mounting hole 111, the reinforcement part 123 can be at least partially located in the area surrounded by the mounting hole 111. That is to say, since the reinforcement part 123 is spaced apart from the end cover 110, interference of the reinforcement part 123 can be avoided, so that along the radial direction R of the axis of the cylinder 120, the height of the reinforcement part 123 can be higher than the opening, so as to make full use of the arrangement to increase the thickness of the reinforcement part 123, and to maximize the internal space of the second peripheral wall shell 122. It can be understood that along the radial direction R of the cylinder 120, the first peripheral wall shell 121 of the cylinder 120 can be used for threading screws, and the screw installation operation space of the end cover 110 is formed through the groove 126. After passing the threading position of the threading screw, the cylinder 120 transitions to the second peripheral wall shell 122, and can make full use of the space of the motor housing 100 to improve the design power density of the motor assembly 300.

[0073] In addition, based on the above-mentioned protrusion 125, see Figure 3-Figure 4In some embodiments, along the axial direction L of the cylinder 120, at least one end of the protrusion 125 away from the end cover 110 may have an opening, so that the opening may be suitable for connecting an external mounting member. In other words, the opening of the protrusion 125 may also be used to set an external mounting member (which may be any structure suitable for connecting to the motor assembly 300, not limited here), and the structural strength of the motor housing 100 or the volume of the accommodating cavity 124 will not be additionally reduced.

[0074] It should be noted that, in some embodiments, the protrusion 125 can be integrally formed with the first circumferential wall shell 121, the second circumferential wall shell 122 and the reinforcement portion 123 of the cylinder 120 to increase the structural integrity of the cylinder 120. In addition, the end 1222 of the protrusion 125 away from the axis of the cylinder 120 can be flush with the end cover 110. The above-mentioned arrangement can facilitate the manufacture of the motor housing 100 and can make the overall strength of the motor housing 100 higher.

[0075] In addition, based on the above-mentioned tank body 126, see Fig. 9 In some embodiments, the minimum distance T1 between the reinforcement portion 123 and the second peripheral wall shell 122 may satisfy: 2 mm ≤ T1 ≤ 5 mm; in addition, see Fig. 9 In some embodiments, the minimum dimension T2 of the protrusion 125 from the inner circumferential wall of the second circumferential wall shell 122 satisfies: 2mm≤T2≤5mm. For example, in some embodiments, T1 or T2 can be any one of 2mm, 3mm, 4mm, and 5mm.

[0076] It can be understood that the wall thickness between the reinforcing portion 123 and the second peripheral wall shell 122, and the wall thickness between the protrusion 125 and the second peripheral wall shell 122 are two positions where the cylinder 120 easily reaches the minimum wall thickness size. In order to ensure the structural strength of the cylinder 120, a minimum value limit can be set for the size, and in order to expand the radial R size of the accommodating cavity 124 as much as possible, a maximum value limit can be set for the size. Further, in order to ensure the structural strength of the cylinder 120, in some embodiments, the minimum size T1 of the second peripheral wall shell 122 of the groove body 126 is defined to be equal to the minimum size T2 of the protrusion 125 from the inner circumferential wall of the second peripheral wall shell 122. It should be noted that the following definition: T1 and T2 are considered to be equal within the range of 0.2mm of the absolute value of the difference between T1 and T2. The above-mentioned equal size limitation is to make the size of the minimum wall thickness position of the cylinder 120 equal (as equal as possible), so that the force condition of the weaker position of the cylinder 120 is more uniform, and the structural strength of the cylinder 120 is improved.

[0077] In addition, the thickness dimension of the reinforcement portion 123 after reinforcement can also be limited. In some embodiments, the distance between the outer peripheral wall of the reinforcement portion 123 and the inner peripheral wall of the second peripheral wall shell 122 can be greater than 1 mm. It can be understood that the above-mentioned dimension limitation can ensure that the minimum thickness dimension of the second peripheral wall shell 122 is greater than 1 mm after being reinforced by the reinforcement portion 123, thereby facilitating the improvement of the structural strength of the cylinder 120.

[0078] In addition, see Figure 1-Figure 4 In some embodiments, along the direction from the first circumferential wall shell 121 to the second circumferential wall shell 122, the distance from the end of the reinforcing portion 123 close to the first circumferential wall shell 121 to the axis of the cylinder 120 gradually increases. It can be understood that the end of the reinforcing portion 123 close to the first circumferential wall shell 121 is inclined, so that the thickness of the reinforcing portion 123 along the radial direction R of the axis of the cylinder 120 gradually increases. Because the end of the reinforcing portion 123 close to the first circumferential wall shell 121 corresponds to the position where the radial R dimension of the cylinder 120 begins to increase, therefore, on the one hand, the gradual increase in the thickness of the end 1222 can avoid the occurrence of a sudden change in size, so that the mechanical properties of this part are better; on the other hand, when the screw is inserted into the mounting hole 111, the inclined surface of the reinforcing portion 123 can also provide a larger installation distance for the screw, that is, when the screw contacts the inclined surface, it can still be offset by a certain angle through the inclined surface and installed.

[0079] See also Figure 1-Figure 11 The embodiment of the second aspect of the utility model further provides a motor assembly 300. When the motor housing 100 is used as the external housing structure of the motor itself, the motor assembly 300 can be represented as a finished motor; when the motor housing 100 is used as an independent housing structure for protecting or installing the motor, the motor assembly 200 is a finished motor. In addition, the type of the motor can be a servo motor 300, a synchronous motor, an asynchronous motor, etc. For details, see Figure 10-11 The motor assembly 300 includes the motor housing 100 of any of the above embodiments, and the motor assembly 200. The motor assembly 200 is located in the accommodating cavity 124, and in different embodiments, the motor assembly 200 may be completely located in the accommodating cavity 124, or may be partially located in the accommodating cavity 124. The structural composition and installation form of the motor assembly 200 may refer to the description of the above embodiments, and will not be repeated here.

[0080] In addition, see Fig.10In some embodiments, the motor assembly 200 may include a first portion 210 and a second portion 220. The first portion 210 and the second portion 220 are opposite and connected to each other along the direction from the first circumferential wall shell 121 to the second circumferential wall shell 122. The outer diameter of the second portion 220 is greater than the outer diameter of the first portion 210, and the second portion 220 is located in the cavity surrounded by the second circumferential wall shell 122. It can be understood that the first portion 210 and the second portion 220 are two-part structures of the motor assembly 200 that are opposite to each other along the axial direction L of the cylinder 120, and the two parts can be connected in an integral manner or in a detachable manner, and the first portion 210 and the second portion 220 are not distinguished by components, that is, the two parts can include one part and another part of a certain component respectively. Since the outer diameter of the second portion 220 is greater than the outer diameter of the first portion 210, the internal space of the second circumferential wall shell 122 is suitable for accommodating the second portion 220, while the internal space of the first circumferential wall shell 121 can be used to accommodate the first portion 210. In addition, the second portion 220 can abut against one end of the second circumferential wall shell 122 close to the first circumferential wall shell 121, and this position can correspond to the part where the inner diameter of the cylinder 120 begins to decrease, that is, the position where the inner diameter changes can be used to perform axial L installation positioning of the motor assembly 200.

[0081] See also Figure 10-11 In some embodiments, the motor assembly 200 further includes a rotating shaft 230 and a bearing 240, and the cylinder 120 further includes a baffle 250 arranged around the axis of the cylinder 120. The baffle 250 can be used to define the placement cavity 260 and an opening communicating with the placement cavity 260.

[0082] How to design the sealing and dustproof structure is very important for the motor assembly 300. Therefore, in some embodiments, the bearing 240 can be located in the placement cavity 260, and the rotating shaft 230 can be inserted into the bearing 240 and the placement cavity 260 and pass through the through-hole 270. It can be understood that the baffle 250 can be used to define the installation cavity for placing the bearing 240 on the one hand, and can also define the through-hole 270 for the rotating shaft 230 to pass through on the other hand, so as to play a role in dust prevention and noise reduction, reduce the external operating noise of the motor assembly 300 and increase the service life of the bearing 240. In order to ensure that the dust prevention and noise reduction effect of the baffle 250 is better, refer to Figure 10-11 In some embodiments, along the radial direction R of the axis of the vertical cylinder 120, the distance D between the baffle 250 and the rotating shaft 230 satisfies: 0.2mm≤D≤0.6mm. For example, in some embodiments, D can take any value of 0.2mm, 0.3mm, 0.4mm, 0.5mm, and 0.6mm.

[0083] The embodiment of the third aspect of the utility model also provides a servo system, which includes the motor assembly 300 of any of the above embodiments. The motor assembly 300 can be used to provide power for the servo system. Exemplarily, in some embodiments, the servo system can be used as a feedback control system that can accurately follow or reproduce a process, and the main function of the motor assembly 300 in the servo system is to achieve precise control of position, speed and acceleration. According to requirements, the motor assembly 300 can be controlled to accurately reach or maintain a specific angular position, or accurately adjust the rotation speed for stepless speed regulation. Therefore, the motor assembly 300 in the servo system can affect the control accuracy and dynamic characteristics of the servo system.

[0084] The embodiment of the fourth aspect of the utility model further provides an industrial robot, which includes the servo system of any of the above embodiments. The servo system can be used to control the motion process of the industrial robot. Exemplarily, in some embodiments, the servo system in the industrial robot can improve the speed and quality of production through precise motion control, and can make the movement of the industrial robot more accurate and flexible. The servo system can also provide a variety of control methods to meet the needs of different application scenarios.

[0085] The configuration of the motor housing 100 in the above-mentioned embodiments can improve the design power density of the motor assembly 300, thereby improving the performance of the servo system and the industrial robot. In addition, thanks to the improvements of the motor housing 100 in the above-mentioned embodiments, the motor assembly 300 in the second embodiment, the servo system in the third embodiment, and the industrial robot in the fourth embodiment of the utility model all have the same technical effects as the motor housing 100 in the above-mentioned embodiments. No further details will be given here.

[0086] The above are only preferred embodiments of the present invention, and do not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the application concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. Motor housing, characterized in that: include: an end cap having mounting holes located at the periphery; The cylinder comprises a first peripheral wall shell, a second peripheral wall shell and a reinforcement portion, wherein one end of the first peripheral wall shell is connected to the end cover and the other end is connected to the second peripheral wall shell, the cylinder defines an accommodating cavity, the accommodating cavity is suitable for accommodating the motor assembly, and the reinforcement portion is connected to the outer peripheral wall of the second peripheral wall shell and is spaced from the end cover; Wherein, the inner diameter of the first peripheral wall shell is smaller than the inner diameter of the second peripheral wall shell.

2. The motor housing according to claim 1, characterized in that: The second peripheral wall shell includes a connection area, the connection area is suitable for abutting against the outer peripheral wall of the motor assembly, and the second peripheral wall shell also includes an end portion, the end portion is connected to an end of the first peripheral wall shell close to the second peripheral wall shell; Along the direction from the second circumferential wall shell to the first circumferential wall shell, the maximum distance between the reinforcement portion and the end cover is greater than or equal to the maximum distance between the connection area and the end cover, and the minimum distance between the reinforcement portion and the end cover is less than or equal to the minimum distance between the end portion and the end cover. or, Along the direction from the second circumferential wall shell to the first circumferential wall shell, the maximum distance between the reinforcement portion and the end cover is greater than or equal to the maximum distance between the connection area and the end cover, and the minimum distance between the reinforcement portion and the end cover is less than or equal to the minimum distance between the connection area and the end cover and greater than the minimum distance between the end portion and the end cover.

3. The motor housing according to claim 1, characterized in that: The number of the reinforcement parts is multiple; Each of the reinforcement portions extends in a direction from the second circumferential wall shell to the first circumferential wall shell, and each of the reinforcement portions is spaced apart along the circumference of the cylinder, or each of the reinforcement portions extends along the circumference of the cylinder, and each of the reinforcement portions is spaced apart along the axial direction of the cylinder.

4. The motor housing according to claim 2, characterized in that: The reinforcement portion extends along the circumference of the cylinder, and points along the second circumferential wall shell toward the first circumferential wall shell. The maximum distance between the reinforcement portion and the end cover is greater than or equal to the maximum distance between the connection area and the end cover, and the minimum distance between the reinforcement portion and the end cover is less than or equal to the minimum distance between the connection area and the end cover.

5. The motor housing according to claim 1, characterized in that: The cylinder body also includes a plurality of protrusions arranged at intervals along the circumference of the cylinder body, each of the protrusions is connected to the outer circumferential wall of the first circumferential wall shell and the outer circumferential wall of the second circumferential wall shell, and each adjacent two protrusions, the first circumferential wall shell and the second circumferential wall shell jointly define a groove body, and the reinforcement part is located in the groove body.

6. The motor housing according to claim 5, characterized in that: Observed along the axial direction of the mounting hole, the mounting hole is located in the area surrounded by the slot body.

7. The motor housing according to claim 5, characterized in that: The minimum distance T1 between the reinforcement portion and the inner peripheral wall of the second peripheral wall shell satisfies: 2mm≤T1≤5mm; and / or, A minimum dimension T2 of the protrusion from the inner circumferential wall of the second circumferential wall shell satisfies: 2mm≤T2≤5mm.

8. The motor housing according to claim 5, characterized in that: A minimum dimension T1 of the reinforcement portion from the inner circumferential wall of the second circumferential wall shell is equal to a minimum dimension T2 of the protrusion from the inner circumferential wall of the second circumferential wall shell.

9. The motor housing according to claim 1, characterized in that: The distance between the outer peripheral wall of the reinforcement portion and the inner peripheral wall of the second peripheral wall shell is greater than 1 mm.

10. The motor housing according to claim 1, characterized in that: When viewed along the axial direction of the mounting hole, the reinforcement portion is at least partially located within the area enclosed by the mounting hole.

11. The motor assembly is characterized in that: include: The motor housing according to any one of claims 1 to 10; and The motor assembly is located in the accommodating cavity.

12. The motor assembly according to claim 11, characterized in that: The motor assembly includes a first part and a second part. The first part is opposite to and connected to the second part along the direction of the first circumferential wall shell pointing to the second circumferential wall shell. The outer diameter of the second part is larger than the outer diameter of the first part. The second part is located in a cavity surrounded by the second circumferential wall shell.

13. The motor assembly according to claim 11, characterized in that: The motor assembly also includes a rotating shaft and a bearing, and the cylinder also includes a baffle arranged around the axis of the cylinder, the baffle is used to define a placement cavity and a through-port connected to the placement cavity, the bearing is located in the placement cavity, the rotating shaft passes through the bearing and the placement cavity and passes through the through-port, and along the radial direction perpendicular to the axis of the cylinder, the distance D between the baffle and the rotating shaft satisfies: 0.2mm≤D≤0.6mm.

14. A servo system, characterized in that include: The motor assembly according to any one of claims 11 to 13.

15. An industrial robot, characterized in that include: The servo system of claim 14.

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