Electric motors and robots

Abstract

Embodiments of the present disclosure relate to an electric motor and a robot. The electric motor includes: a rotating shaft including a front end configured to output rotational motion and a rear end opposite to the front end; a rotor fixed to the rotating shaft between the front end and the rear end; a stator fixed to the housing of the motor around the rotor; a front bearing sleeved on the rotating shaft near the front end; a rear bearing sleeved on the rotating shaft near the rear end; and an elastic front retaining ring sleeved on the rotating shaft and abutting against the outer ring of the front bearing on the side of the front bearing near the front end; wherein the rotating shaft also includes a front shoulder abutting against the inner ring of the front bearing on the side of the front bearing away from the front end. According to the solution of the embodiment of the present disclosure, the size of the electric motor is reduced and the heat dissipation performance of the electric motor is improved. The embodiment of the present disclosure also provides a robot including an electric motor.

Description

Technical Field

[0001] Embodiments of the present disclosure generally relate to the field of electric motors, and more particularly, to electric motors and robots including electric motors. Background Art

[0002] With the development of industrial robots, electric motors (such as servo motors) are required to have high power density and compact size. Electric motors typically withstand alternating radial, tangential, and axial forces. However, due to the size of the motor, the bearings required to support these forces must be as small as possible. Furthermore, in some cases, poor heat dissipation from the motor can also be a problem.

[0003] Therefore, it is necessary to provide an improved motor with both a compact structure and good heat dissipation performance. Summary of the Invention

[0004] According to an embodiment of the present disclosure, there is provided a motor having a compact structure and good heat dissipation performance.

[0005] In a first aspect of the present disclosure, an electric motor is provided. The electric motor includes: a rotating shaft including a front end configured to output rotational motion and a rear end opposite the front end; a rotor fixed to the rotating shaft between the front end and the rear end; a stator fixed to a housing of the electric motor around the rotor; a front bearing sleeved on the rotating shaft near the front end; a rear bearing sleeved on the rotating shaft near the rear end; and a front elastic retaining ring sleeved on the rotating shaft and abutting against an outer ring of the front bearing on a side of the front bearing near the front end; wherein the rotating shaft further includes a front shoulder abutting against an inner ring of the front bearing on a side of the front bearing away from the front end.

[0006] According to the embodiments of the present disclosure, the elastic front retaining ring and the front shoulder design allow at least a portion of the force applied to the rotating shaft to be transferred to and carried by the rear bearing. This fully utilizes the load capacity of the motor's rear bearing, reducing the size of the front bearing, resulting in a smaller overall motor size and improved load-bearing capacity.

[0007] In some embodiments, the motor further includes a front end cover connected to the housing near the front end and including a first chamber for accommodating the front bearing; a front retaining ring is accommodated in the first chamber. By utilizing the elastic front retaining ring, embodiments of the present disclosure can both axially position the front bearing and abut the front bearing against the front shoulder during assembly, thereby improving assembly efficiency.

[0008] In some embodiments, the circumferential surface of the outer ring of the front bearing is bonded to the inner wall of the first chamber. According to embodiments of the present disclosure, bonding the outer circumferential surface of the front bearing to the inner wall of the first chamber resolves the problem of circumferential sliding of the bearing outer ring in conventional aluminum alloy bearing chambers at high temperatures, thereby improving the reliability of the motor and bearing.

[0009] In some embodiments, the front end cover further includes a radially disposed first glue injection hole; the inner wall of the first chamber further includes a first glue storage groove, which is connected to the first glue injection hole and is used to hold glue. The glue not only circumferentially secures the bearing outer ring to the first chamber, but also solves the problem of circumferential sliding of the bearing outer ring within a conventional aluminum alloy bearing chamber at high temperatures.

[0010] In some embodiments, a thermally conductive material is filled between the stator and the side surface of the front end cover facing the stator. Filling the space between the stator and the side surface of the front end cover with a thermally conductive material (e.g., glue with high thermal conductivity) can reduce the thermal resistance between the motor windings and the front end cover, thereby improving the heat dissipation performance of the motor.

[0011] In some embodiments, the front end cover further includes an oil seal chamber for accommodating two oil seals spaced apart along the axial direction of the rotating shaft; and a passage extending radially of the front end cover and communicating with the oil seal chamber. A sensor disposed within or outside the passage can utilize the passage to detect oil leakage through the passage, thereby providing an alarm indicating an oil seal anomaly or failure.

[0012] In some embodiments, a portion of the stator extends radially outward of the front bearing along the axial direction of the rotating shaft. By allowing the motor stator to occupy the space radially outward of the front bearing, the space occupied by both the stator and the front bearing can be saved, further miniaturizing the motor.

[0013] In some embodiments, the rotating shaft further comprises a rear shoulder, which abuts against the inner ring of the rear bearing on a side of the rear bearing away from the rear end. The rear shoulder can accurately achieve axial positioning of the rear bearing.

[0014] In some embodiments, the motor further comprises a rear retaining ring, which is mounted on the rotating shaft and abuts against the inner ring of the rear bearing on a side close to the rear end of the rear bearing. The rear retaining ring can accurately achieve axial positioning of the rear bearing.

[0015] In some embodiments, the motor further includes a rear end cap connected to the housing near the rear end and comprising a second chamber for accommodating a rear bearing. The circumferential surface of the outer ring of the rear bearing is bonded to the inner wall of the second chamber. This bonding eliminates the problem of circumferential sliding of the outer ring of the bearing in a conventional aluminum alloy bearing chamber at high temperatures, thereby improving the reliability of the motor and bearing.

[0016] In some embodiments, the rear end cap further includes an axially disposed second glue injection hole; the inner wall of the second chamber further includes a second glue reservoir, which is connected to the second glue injection hole and is used to hold glue. The use of glue not only achieves circumferential fixation between the bearing outer ring and the second chamber, but also solves the problem of circumferential sliding of the bearing outer ring in conventional aluminum alloy bearing chambers at high temperatures.

[0017] In some embodiments, the rear end cover further includes a retaining ring that abuts against the outer ring of the rear bearing on the side of the rear end of the rear bearing. The retaining ring of the rear end cover can achieve axial positioning of the rear bearing, and can reduce the number of parts in the motor, reduce costs, and simplify the structure.

[0018] In some embodiments, the motor further includes a brake, which is housed in the housing near the rear end of the rotating shaft and abuts against the outer race of the rear bearing on the side of the rear bearing away from the rear end. Using the brake to constrain the rear bearing can reduce the number of parts in the motor, lowering its cost and simplifying its structure.

[0019] In a second aspect of the present disclosure, a robot is provided, comprising: a plurality of robot arms movably connected to each other; and a motor according to the first aspect of the present disclosure, disposed between adjacent robot arms to move one of the adjacent robot arms relative to the other.

[0020] Thanks to the electric motor disclosed herein, a robot with strong load-bearing capacity and reasonable structural design is provided.

[0021] The embodiments of the present disclosure have been described above. The above description is illustrative and not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is selected to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons skilled in the art to understand the embodiments disclosed herein.

[0022] It should be understood that the contents described in the Summary of the Invention section are not intended to limit the key or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements, wherein:

[0024] Figure 1shows a partial cross-sectional view of a motor according to an embodiment of the present disclosure;

[0025] Figure 2 A perspective schematic diagram of a front end cover according to an embodiment of the present disclosure is shown;

[0026] Figure 3 shows a partial cross-sectional view of a front end cover according to an embodiment of the present disclosure;

[0027] Figure 4 A perspective schematic diagram showing a rear end cover according to an embodiment of the present disclosure; and

[0028] Figure 5 A partial cross-sectional view of a rear end cover according to an embodiment of the present disclosure is shown.

[0029] In the various drawings, the same or corresponding reference numerals denote the same or corresponding parts. DETAILED DESCRIPTION

[0030] The preferred embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although preferred embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided to make the present disclosure more thorough and complete, and to fully convey the scope of the present disclosure to those skilled in the art.

[0031] As used herein, the term "including" and its variations represent open inclusion, i.e., "including but not limited to." Unless otherwise stated, the term "or" means "and / or." The term "based on" means "based at least in part on." The terms "an example embodiment" and "an embodiment" mean "at least one example embodiment." The term "another embodiment" means "at least one additional embodiment." The terms "first," "second," etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0032] Traditional electric motors have problems such as large size and poor heat dissipation performance. Therefore, it is necessary to provide an improved electric motor with a smaller size or a larger load bearing capacity and good heat dissipation performance.

[0033] Figure 1 A partial cross-sectional view of a motor according to an embodiment of the present disclosure is shown. The motor according to the present disclosure may be, for example, a servo motor, such as a servo motor for an industrial robot. Figure 1As shown, the motor includes a rotating shaft 10 extending along the axial direction X. The rotating shaft 10 includes a front end 101 and a rear end 103 opposite to each other. It should be understood that the "front" referred to herein means the side of the motor outputting the rotational motion outward, and the "rear" referred to herein means the other side opposite to the side of the motor outputting the rotational motion. Figure 1 , the front end 101 is a side of the motor outputting rotational motion, and the rear end 103 is the other side of the motor opposite to the front end 101. In some embodiments, the front end 101 may be connected to the driven component via a speed reduction mechanism.

[0034] The rotor 400 of the motor is fixed to the rotating shaft 10 between the front end 101 and the rear end 103, and the stator 300 is fixed to the housing 20 of the motor around the rotor 400. The housing 20 surrounds the stator 300 and the rotor 400. Therefore, when power is supplied to the windings of the stator 300, the rotor 400 can rotate through electromagnetic coupling, which in turn causes the rotating shaft 10 to rotate.

[0035] To support and rotate the shaft 10, a front bearing 710 and a rear bearing 720 are respectively mounted on the shaft 10. The front bearing 710 is located near the front end 101, while the rear bearing 720 is located near the rear end 103 of the shaft 10. The shaft 10 is also provided with a front shoulder 105 for positioning the front bearing 710. In some embodiments, the shaft 10 may also be provided with a rear shoulder 107 for positioning the rear bearing 720.

[0036] like Figure 1 As shown, the axial positioning of the front bearing 710 is achieved by the front shoulder 105 and the elastic front retaining ring 730. The front shoulder 105 abuts against the inner ring of the front bearing 710 on the side of the front bearing 710 away from the front end 101. That is, the front shoulder 105 is closer to the rear end 103 than the front bearing 710, and the front shoulder 105 abuts against the side of the front bearing 710 facing the rear end 103. In the assembled state, as shown in FIG. Figure 1 As shown, the front shoulder 105 is between the front bearing 710 and the rear bearing 720 .

[0037] The elastic front retaining ring 730 is sleeved on the rotating shaft 10 and is closer to the front end 101 than the front bearing 710. Therefore, the front retaining ring 730 abuts against the outer ring of the front bearing 710 on the side of the front bearing 710 close to the front end 101. In some embodiments, the front retaining ring 730 can be a wave spring. Figure 1 As shown, the front retaining ring 730 does not abut the inner race of the front bearing 710 .

[0038] Regarding the front retaining ring 730 being sleeved on the rotating shaft 10 , this document means that the front retaining ring 730 can be sleeved on the rotating shaft 10 while contacting the rotating shaft 10 , or can be sleeved on the rotating shaft 10 without contacting the rotating shaft 10 .

[0039] Through the design of the front retaining ring 730 and the front shoulder 105, the forces (including radial force F r / -F r , axial force F x / -F x , tangential force F t / -F t ) can be transferred to and carried by the rear bearing 720. This fully utilizes the load capacity of the rear bearing 720, reducing the force on the front bearing 710 and, consequently, the size of the front bearing 710, resulting in a smaller motor. This also improves the motor's ability to withstand external forces.

[0040] like Figure 1 As shown, according to the embodiment of the present disclosure, the rear bearing 720 can at least bear a portion of the radial force F transmitted by the shaft 10. r / -F r and / or part of the axial force F x / -F x .

[0041] According to the embodiments of the present disclosure, the front bearing 710 is disposed on the rotating shaft 10 in a "semi-free" manner through the design of the elastic front retaining ring 730 and the front shoulder 105. Through this configuration, at least a portion of the axial force borne by the front bearing 710 is transferred to the rear bearing 720, which reduces the external force on the front bearing 710, fully utilizes the load capacity of the rear bearing 720, and further reduces the outer diameter of the front bearing 710, which facilitates the compact structural design of the motor.

[0042] In some embodiments, the outer diameter of the front bearing 710 is larger than the outer diameter of the rear bearing 720. With this arrangement, the front bearing 710 can still withstand most of the external forces applied to the motor. In other embodiments, the outer diameter of the front bearing 710 can be equal to the outer diameter of the rear bearing 720, and the scope of the present disclosure is not limited in this respect.

[0043] The elastic front retaining ring 730 is also beneficial to the assembly process. During the assembly process, the elastic front retaining ring 730 can be used to push the front bearing 710 against the front shoulder 105, which easily achieves accurate positioning of the front bearing 710.

[0044] In some embodiments, the axial fixation of the rear bearing 720 can be achieved by the rear shoulder 107. The rear shoulder 107 is closer to the front end 101 than the rear bearing 720. Therefore, the rear shoulder 107 abuts against the inner ring of the rear bearing 720 on the side of the rear bearing 720 away from the rear end 103. In the assembled condition, the rear shoulder 107 is between the front bearing 710 and the rear bearing 720.

[0045] In some embodiments, a rear retainer ring 750 is further mounted on the rotating shaft 10 to position the rear bearing 720. The rear retainer ring 750 abuts against the inner ring of the rear bearing 720 on the side of the rear bearing 720 near the rear end 103. This ensures axial positioning of the inner ring of the rear bearing 720. In some embodiments, the rear retainer ring 750 can be snap-fitted into an annular groove on the rotating shaft 10. Of course, the rear retainer ring 750 can also be mounted on the rotating shaft 10 in other ways.

[0046] In order to accommodate the front bearing 710, in some embodiments, the motor may further include a front end cover 100. Figure 2-Figure 3 The front end cover 100 will be described. Figure 2 and Figure 3 A perspective view and a partial cross-sectional view of a front end cover 100 according to an embodiment of the present disclosure are shown respectively. The front end cover 100 is connected to the housing 20 near the front end 101 and has a first cavity 130 for accommodating the front bearing 710.

[0047] In some embodiments, the front retaining ring 730 is housed in the first chamber 130. For example, one side of the front retaining ring 730 abuts against the bottom wall or a boss on the bottom wall of the first chamber 130, and the other side abuts against the outer ring of the front bearing 710. During assembly, the front retaining ring 730 helps achieve accurate positioning of the front bearing 710.

[0048] In some embodiments, the circumferential surface of the outer ring of the front bearing 710 is bonded to the inner wall of the first chamber 130. This ensures circumferential positioning of the outer ring of the front bearing 710 and prevents circumferential sliding of the outer ring within the aluminum alloy bearing chamber at high temperatures. In some embodiments, this bonding can be achieved using glue 740. Compared to conventional solutions that place a steel sleeve within the first chamber 130, embodiments of the present disclosure utilize glue 740 to directly bond the outer ring of the front bearing 710 to the inner wall of the first chamber 130, eliminating the need for a steel sleeve. This reduces the number of parts in the motor and reduces its cost.

[0049] like Figure 2-Figure 3 As shown, to achieve bonding between the front bearing 710 and the inner wall of the first chamber 130, in some embodiments, the front end cover 100 may further include radially arranged first glue injection holes 120, and the inner wall of the first chamber 130 may further be provided with a first glue storage tank 140 for accommodating glue. The first glue injection holes 120 are in communication with the first glue storage tank 140. Thus, during the bonding process, glue 740 may be injected into the first glue storage tank 140 via the first glue injection holes 120, thereby achieving bonding between the outer ring of the front bearing 710 and the inner wall of the first chamber 130.

[0050] In some embodiments, as Figure 2-Figure 3As shown, the first glue storage tank 140 can be disposed in the middle of the first chamber 130. In some examples, the depth d of the first glue storage tank 140 can be 0.1 mm, and the width W1 can be 1 / 3 to 1 / 2 of the width W of the first chamber 130. It should be understood that the aforementioned dimensions are merely exemplary and are not intended to limit the scope of the present disclosure, and other appropriate dimensions are also possible.

[0051] In some embodiments, as Figure 2-Figure 3 As shown, to facilitate the glue 740 to fully fill the first glue storage tank 140 during the glue injection process, the front end cover 100 may further be provided with an axially extending exhaust hole 150 along the axial direction of the front end cover 100. The exhaust hole 150 is connected to the first glue storage tank 140 for exhausting gas during the glue injection process. In some embodiments, the connection point between the first glue injection hole 120 and the first glue storage tank 140 and the connection point between the exhaust hole 150 and the first glue storage tank 140 may be respectively arranged in opposite directions along the radial direction of the front end cover 100.

[0052] According to the embodiments of the present disclosure, the front bearing 710 has high reliability. First, the elastic front retaining ring 730 axially preloads the front bearing 710 against the front shoulder 105, achieving axial positioning. Glue 740 is injected into the first glue reservoir 140 on the inner wall of the first chamber 130 through the first glue injection hole 120 provided in the front end cover 100, bonding the outer ring of the front bearing 710 to the inner wall of the first chamber 130. This achieves axial positioning and circumferential constraint of the front bearing 710, ensuring its reliability.

[0053] In some embodiments, the front cover 100 may further include an oil seal chamber 160 and a channel 110 for detecting damage to the oil seal. The oil seal chamber 160 is used to accommodate two oil seals 200 , which are spaced apart along the axial direction X of the rotating shaft 10 .

[0054] Reference again Figure 1 , the channel 110 extends in the radial direction R. Specifically, the channel 110 extends in the radial direction of the front end cover 100 (refer to Figure 3 It should be understood that the present disclosure does not limit the extension path of the channel 110, and the channel 110 can be any path such as a straight line or a curve extending radially.

[0055] The channel 110 is connected to the oil seal chamber 160. Figure 1In the assembled state, channel 110 connects to the oil seal chamber 160 between the two oil seals 200. Therefore, if the oil seal 200 near the front end 101 fails, grease or oil from the outside will enter the motor through the front end 101. This leaked grease or oil will then flow out through channel 110. Sensors located inside or outside channel 110 can then detect the grease or oil in channel 110. This allows the motor to automatically generate an alarm indicating an oil seal anomaly or failure.

[0056] refer to Figure 1 as well as Figure 3 To improve the heat dissipation efficiency of the motor, a heat-conducting material 310 is filled between the side surface 170 of the front end cover 100 facing the stator 300 and the stator 300. The thermal conductivity of the heat-conducting material 310 can be much greater than that of air. This reduces the heat transfer resistance between the stator 300 and the front end cover 100, allowing the heat of the stator 300 to be quickly and efficiently transferred to the outside through the front end cover 100, thereby improving the heat dissipation performance of the motor.

[0057] As described above, since the rear bearing 720 can bear at least part of the external force, the size of the front bearing 710 can be reduced. In this case, the space radially outside the front bearing 710 can be fully utilized to further reduce the overall size of the motor and achieve miniaturization of the motor. In some embodiments, see Figure 1 , a portion of the stator 300 extends to the radial outside of the front bearing 710 along the axial direction X of the rotating shaft 10. Figure 3 The front end cover 100 may be provided with a groove 180, with the bottom of the groove 180 serving as the side surface 170 facing the stator 300. Therefore, the space radially outward from the front bearing 710 is utilized to arrange a portion of the stator 300 of the motor (e.g., to arrange at least a portion of the windings of the stator 300), thereby fully utilizing the space inside the motor and making the motor structure compact.

[0058] In some embodiments, the motor further includes a rear end cover 600, which is combined with Figure 1 、 Figure 4-Figure 5 The rear end cover 600 will be described. Figure 4 and Figure 5 A perspective schematic diagram and a partial cross-sectional view of the rear end cover 600 according to an embodiment of the present disclosure are respectively shown.

[0059] like Figure 1As shown, the rear end cover 600 is connected to the housing 20 near the rear end 103 and includes a second chamber 610. The second chamber 610 is used to accommodate the rear bearing 720. To achieve circumferential positioning of the rear bearing 720 and prevent the bearing outer ring in the aluminum alloy bearing chamber from circumferential sliding at high temperatures, the circumferential surface of the outer ring of the rear bearing 720 is bonded to the inner wall of the second chamber 610.

[0060] In the embodiment of the present disclosure, the outer ring of the rear bearing 720 can be directly bonded to the inner wall of the second chamber 610 using glue 740 without using a steel sleeve, which can reduce the number of parts of the motor and reduce the cost of the motor.

[0061] like Figure 4-Figure 5 As shown, in order to achieve adhesion between the rear bearing 720 and the inner wall of the second chamber 610, in some embodiments, the rear end cover 600 may further include an axially arranged second glue injection hole 630, and the inner wall of the second chamber 610 may further be provided with a second glue storage tank 620 for accommodating glue 740. The second glue injection hole 630 is connected to the second glue storage tank 620.

[0062] Therefore, during the bonding operation, the glue 740 can be injected into the second glue storage tank 620 through the second glue injection hole 630 , thereby bonding the outer ring of the rear bearing 720 to the inner wall of the second chamber 610 .

[0063] In some embodiments, as Figure 4 As shown, to ensure that glue 740 fully fills the second glue reservoir 620 during the glue injection process, three second glue injection holes 630 can be evenly arranged on the rear end cover 600 around the central axis of the rear end cover 600. In this case, some of the second glue injection holes 630 serve as holes for injecting glue, while others can serve as exhaust holes. It should be understood that this disclosure is not intended to limit the number or extension direction of the second glue injection holes 630, as long as they can achieve glue injection into the second glue reservoir 620.

[0064] In some embodiments, see Figure 5 The second glue storage tank 620 can be disposed in the middle of the second chamber 610. In some examples, the depth d of the second glue storage tank 620 can be 0.1 mm, and the width W1 can be 1 / 3 to 1 / 2 of the width W of the second chamber 610. It should be understood that the aforementioned dimensions are merely exemplary and are not intended to limit the scope of the present disclosure, and other appropriate dimensions are also possible.

[0065] According to an embodiment of the present disclosure, in order to achieve axial positioning of the outer ring of the rear bearing 720, a retaining ring 640 may be further provided on the rear end cover 600. Figure 1 and Figure 5The retaining ring 640 abuts against the outer ring of the rear bearing 720 on the side of the rear bearing 720 close to the rear end 103. In some embodiments, the inner diameter of the retaining ring 640 is smaller than the inner diameter of the second chamber 610, thereby achieving axial positioning of the outer ring of the rear bearing 720.

[0066] Reference again Figure 1 In some embodiments, the motor may further include a brake 500 for braking the motor's rotation. The brake 500 is housed in the housing 20 and is located closer to the rear end 103 of the rotating shaft 10 than the rotor 400. To further reduce the number of parts in the motor and achieve axial positioning of the outer ring of the rear bearing 720, the brake 500 of the motor can be used to axially position the outer ring of the rear bearing 720. That is, the brake 500 can abut against the outer ring of the rear bearing 720 on the side of the rear bearing 720 away from the rear end 103. It should be understood that when the motor is not provided with a brake, components such as a retaining ring or a bearing cap can be used to achieve axial constraint of the outer ring of the rear bearing 720.

[0067] According to the embodiments of the present disclosure, the rear bearing 720 has a high degree of reliability. First, the brake 500 and retaining ring 640, as well as the rear shoulder 107 and rear retaining ring 750, axially constrain the inner and outer rings of the rear bearing 720, ensuring axial positioning of the rear bearing 720. Furthermore, the outer ring of the rear bearing 720 is bonded to the inner wall of the second chamber 610 with glue 740, preventing the outer ring of the rear bearing 720 from sliding circumferentially within the bearing chamber when the motor is heated. This ensures axial and circumferential constraint on the rear bearing 720, ensuring its reliability.

[0068] According to an embodiment of the present disclosure, a robot is further provided. The robot includes a plurality of robotic arms movably connected to one another, which may be hinged arms. The robot also includes the aforementioned motor, which is disposed between adjacent robotic arms and is used to adjust the position of one of the adjacent robotic arms relative to another.

[0069] Thanks to the compact motor with stronger load-bearing capacity and good performance provided by the embodiments of the present disclosure, the overall layout design of the robot will be more flexible, reducing the footprint of the robot.

[0070] While various embodiments of the present disclosure have been described above, the foregoing description is intended to be illustrative, non-exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is selected to best explain the principles of the embodiments, their practical applications, or technical improvements to existing technologies, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. An electric motor, characterized in that: include: A rotating shaft (10) comprising a front end (101) configured to output a rotational motion and a rear end (103) opposite to the front end (101); a rotor (400) fixed on the rotating shaft (10) between the front end (101) and the rear end (103); a stator (300) surrounding the rotor (400) and fixed on the housing (20) of the motor; A front bearing (710) is sleeved on the rotating shaft (10) near the front end (101); a rear bearing (720) sleeved on the rotating shaft (10) near the rear end (103); and an elastic front retaining ring (730) sleeved on the rotating shaft (10) and abutting against the outer ring of the front bearing (710) on a side of the front bearing (710) close to the front end (101), and the elastic front retaining ring (730) does not abut against the inner ring of the front bearing (710); The rotating shaft (10) further comprises a front shoulder (105) which abuts against the inner ring of the front bearing (710) on a side of the front bearing (710) away from the front end (101), wherein the axial positioning of the front bearing (710) is achieved by the front shoulder (105) and the elastic front retaining ring (730), so that the front bearing (710) is arranged on the rotating shaft (10) in a semi-free manner, and The motor further includes a brake (500), which is accommodated in the housing (20) near the rear end (103) of the rotating shaft (10), and the brake (500) abuts against the outer ring of the rear bearing (720) on the side of the rear bearing (720) away from the rear end (103).

2. The electric motor according to claim 1, wherein Also included is a front end cover (100) connected to the housing (20) near the front end (101) and including a first chamber (130) for accommodating the front bearing (710); The front retaining ring (730) is accommodated in the first chamber (130).

3. The electric motor according to claim 2, characterized in that The circumferential surface of the outer ring of the front bearing (710) is bonded to the inner wall of the first chamber (130).

4. The electric motor according to claim 3, characterized in that The front end cover (100) further includes a first glue injection hole (120) arranged radially; The inner wall of the first chamber (130) further comprises a first glue storage tank (140), the first glue storage tank (140) being in communication with the first glue injection hole (120) and being used for containing glue (740).

5. The electric motor according to claim 2, characterized in that A heat-conducting material (310) is filled between a side surface (170) of the front end cover (100) facing the stator (300) and the stator (300).

6. The electric motor according to claim 2, characterized in that The front end cover (100) further includes: an oil seal chamber (160) for accommodating two oil seals (200) spaced apart along the axial direction (X) of the rotating shaft (10); and The channel (110) extends in the radial direction of the front end cover (100) and is communicated with the oil seal chamber (160).

7. The electric motor according to claim 1, wherein A portion of the stator (300) extends in the axial direction (X) of the rotating shaft (10) to the radial outside of the front bearing (710).

8. The electric motor according to claim 1, wherein The rotating shaft (10) further comprises a rear shoulder (107), wherein the rear shoulder (107) abuts against the inner ring of the rear bearing (720) on a side of the rear bearing (720) away from the rear end (103).

9. The electric motor according to claim 8, characterized in that It also includes a rear retaining ring (750), which is mounted on the rotating shaft (10) and abuts against the inner ring of the rear bearing (720) on a side of the rear bearing (720) close to the rear end (103).

10. The electric motor according to claim 1, wherein Also included is a rear end cover (600) connected to the housing (20) near the rear end (103) and including a second chamber (610) for accommodating the rear bearing (720); The circumferential surface of the outer ring of the rear bearing (720) is bonded to the inner wall of the second chamber (610).

11. The electric motor according to claim 10, characterized in that The rear end cover (600) further includes a second glue injection hole (630) arranged axially; The inner wall of the second chamber (610) further comprises a second glue storage tank (620), the second glue storage tank (620) is communicated with the second glue injection hole (630) and is used to contain glue (740).

12. The electric motor according to claim 10, characterized in that The rear end cover (600) further includes a retaining ring (640), which abuts against the outer ring of the rear bearing (720) on a side of the rear bearing (720) close to the rear end (103).

13. A robot, characterized in that: include: Multiple robotic arms movably connected to each other; as well as The motor according to any one of claims 1 to 12 is arranged between adjacent robot arms to move one of the adjacent robot arms relative to the other.

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