External rotor motors and autonomous intelligent machines

Abstract

This application provides an external rotor motor and an autonomous intelligent machine. The external rotor motor includes a housing, an external rotor assembly, a power output section, a first position detection element, and a second position detection element. The housing has a mounting cavity and a rotation hole. The external rotor assembly includes a rotor and a rotor frame. The rotor frame includes a frame body and a rotating shaft connected to the frame body. The rotating shaft is rotatably mounted in the rotation hole. The first position detection element can detect the rotational position of the motor rotor, and the second position detection element can detect the rotational position of the power output section. Therefore, the position of the rotor and the position of the end of the power output section can be detected simultaneously, thus enabling accurate control of the external rotor motor and achieving precise movement and control of the autonomous intelligent machine.

Description

Technical Field

[0001] This application relates to the field of drive device technology, and more specifically, to an external rotor motor and an autonomous intelligent machine. Background Technology

[0002] With the continuous development of autonomous intelligent machine technology, various drive devices are widely used in the field of autonomous intelligent machines. For example, servo motors or servo motors are currently widely used in the field of autonomous intelligent machines. They output power to autonomous intelligent machines to drive them to walk or change their posture. Autonomous intelligent machines can be humanoid robots, robot cats, or robot dogs, etc.

[0003] To achieve precise movement and control of autonomous intelligent machines, position sensors are typically installed inside the motor to detect the rotor's rotational position. However, existing external rotor motors do not detect rotor position accurately enough, which is detrimental to precise machine control. Summary of the Invention

[0004] This application proposes an external rotor motor and an autonomous intelligent machine to improve the above problems.

[0005] The embodiments of this application achieve the above objectives through the following technical solutions.

[0006] In a first aspect, embodiments of this application provide an external rotor motor, including a housing, an external rotor assembly, a power output unit, a first position detection element, and a second position detection element. The housing has a mounting cavity and a rotating hole communicating with the mounting cavity. The external rotor assembly is rotatably disposed in the mounting cavity and includes a rotor and a rotor frame. The rotor frame includes a frame body and a rotating shaft connected to the frame body. The rotor is disposed on the frame body, and the rotating shaft is rotatably mounted in the rotating hole. The power output unit is mounted on the frame body and driven to rotate by the rotating shaft. The first position detection element includes a first detection part and a second detection part. The first detection part is mounted on the rotating shaft, and the second detection part is disposed opposite to the first detection part to detect the rotational position of the rotor through the first detection part. The second position detection element includes a third detection part and a fourth detection part. The third detection part is disposed on the power output unit, and the fourth detection part is disposed opposite to the third detection part to detect the rotational position of the power output unit through the third detection part.

[0007] Secondly, embodiments of this application also provide an autonomous intelligent machine, including the aforementioned external rotor motor.

[0008] The external rotor motor and autonomous intelligent machine provided in this application embodiment, by setting a first position detection and a second position detection component, the first position detection component can detect the rotational position of the motor rotor, and the second position detection component can detect the rotational position of the power output part, thereby simultaneously detecting the position of the rotor and the position of the end of the power output part, thus accurately controlling the external rotor motor, thereby realizing the precise movement and control of the autonomous intelligent machine. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 This is a schematic diagram of the external rotor motor provided in the embodiment of this application in its assembled state.

[0011] Figure 2 Is it like this? Figure 1 The diagram shown is an exploded view of an external rotor motor.

[0012] Figure 3 Is it like this? Figure 1 The diagram shows a longitudinal cross-section of an external rotor motor.

[0013] Figure 4 Is it like this? Figure 2 The diagram shows the structure of the bottom casing in an external rotor motor.

[0014] Figure 5 Is it like this? Figure 2 The diagram shows the rotor frame, limit bearing, magnet, and retaining ring of the external rotor motor in a disassembled state.

[0015] Figure 6 yes Figure 3 A magnified view of a portion of point A in the middle.

[0016] Figure 7 Is it like this? Figure 2 The diagram shows the external rotor assembly in the disassembled state of the external rotor motor.

[0017] Figure 8 Is it like this? Figure 2 The diagram shows the structure of the second planetary support in the external rotor motor.

[0018] Figure 9 Is it like this? Figure 2 The diagram shows the structure of the first planetary support in the external rotor motor.

[0019] Figure 10 This is a schematic diagram of the structure of the autonomous intelligent machine provided in the embodiments of this application. Detailed Implementation

[0020] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of the present application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative effort are within the scope of protection of the present application.

[0021] In related technologies, external rotor motors use a rotor that rotates to drive a power output unit to output power. However, since the rotor drives the power output unit through a transmission device, such as one or more planetary gears, the power output unit cannot be guaranteed to stop immediately when the rotor stops due to the influence of the gear ratio. This results in a positional deviation between the two. For applications requiring high rotational precision, this deviation is undesirable.

[0022] Based on this, the inventors of this application propose an external rotor electronics and autonomous intelligent machine to improve the above-mentioned problems.

[0023] Please refer to the following: Figure 1 and Figure 2 This embodiment provides an external rotor motor 200, including a housing 210, an external rotor assembly 220, a power output unit, a first position detection element 240, and a second position detection element 290. The external rotor motor 200 can be applied to autonomous intelligent machines, which can be semi-autonomous or fully autonomous, such as quadruped robots, humanoid robots, robotic arms, or multi-legged robots, etc., and this embodiment does not impose any limitations. Exemplarily, the external rotor motor 200 can be used to drive an autonomous intelligent machine to walk or change its posture. The external rotor motor 200 can be an external rotor brushless motor.

[0024] Please refer to the following: Figure 2 , Figure 3 and Figure 4The housing 210 has a mounting cavity 2111 and a rotating hole 2112 communicating with the mounting cavity 2111. The outer rotor assembly 220 is rotatably disposed in the mounting cavity 2111. The outer rotor assembly 220 includes a rotor frame 221, which includes a frame body 2212 and a rotating shaft 2211 connected to the frame body 2212. The rotating shaft 2211 is rotatably mounted in the rotating hole 2112. A power output unit is used to connect to external equipment to output power. The power output unit is mounted on the frame body 2212 and is driven to rotate by the rotating shaft 2211.

[0025] The first position detection element 240 includes a first detection part 241 and a second detection part 242. The first detection part 241 is mounted on the rotating shaft part 2211, and the second detection part 242 is disposed opposite to the first detection part 241 so as to detect the rotational position of the outer rotor assembly 220 through the first detection part 241.

[0026] The second position detection element 290 includes a third detection part 291 and a fourth detection part 292 that are disposed separately from each other. The third detection part 291 is disposed on the power output part, and the fourth detection part 292 is disposed opposite to the third detection part 291, so as to detect the rotational position of the power output part through the third detection part 291.

[0027] It should be noted that "relatively arranged" between the second detection unit 242 and the first detection unit 241 can mean that the orthogonal projection of the signal emitting surface of the first detection unit 241 along the axial direction of the rotating shaft 2211 at least partially falls within the range of the signal incident surface of the second detection unit 242. For example, the first detection unit 241 and the second detection unit 242 can be arranged directly opposite each other, meaning that the orthogonal projection of the signal emitting surface of the first detection unit 241 along the axial direction of the rotating shaft 2211 falls almost entirely within the range of the signal incident surface of the second detection unit 242, thereby enhancing the signal strength detected by the second detection unit 242. Similarly, "relatively arranged" between the third detection unit 291 and the fourth detection unit 292 can mean that the orthogonal projection of the signal emitting surface of the third detection unit 291 along the axial direction of the rotating shaft 2211 at least partially falls within the range of the signal incident surface of the fourth detection unit 292. For example, the third detection unit 291 and the fourth detection unit 292 can be arranged facing each other, that is, the orthogonal projection of the signal emission surface of the third detection unit 291 along the axis of the rotating shaft 2211 falls almost entirely within the range of the signal incident surface of the fourth detection unit 292, so as to enhance the signal strength detected by the fourth detection unit 292.

[0028] The external rotor motor 200 provided in this application embodiment is equipped with a first position detection element 240 and a second position detection element 290. The first position detection element 240 can detect the rotational position of the rotor, and the second position detection element 290 can detect the position of the power output part. Thus, the position of the rotor and the position of the power output part are detected simultaneously, so the position of the motor rotor and the position of the power output part can be accurately determined, thereby realizing the precise movement and control of the autonomous intelligent machine.

[0029] Specifically, please refer to [the relevant document] again. Figure 2 and Figure 3 In this embodiment, the housing 210 includes a bottom shell 211 and a top shell 212, with the top shell 212 covering the bottom shell 211. The bottom shell 211 and the top shell 212 are assembled together. The top shell 212 and the bottom shell 211 together form an mounting cavity 2111, and the rotation hole 2112 penetrates the bottom shell 211. The housing 210 also includes an inner wall 2113 that surrounds the rotation hole 2112.

[0030] It should be noted that the connection structure of a component (such as component 1) and another component (such as component 2) mentioned above and below is an assembly structure, which means that the two components are assembled into one unit through assembly. The two components are connected by assembly and are not integrally formed structures. For example, component 1 and component 2 can be assembled by snap-fit, threaded connection, nesting, bonding, welding or fasteners. For example, component 1 and component 2 can be assembled into one unit by detachable assembly and can be separated again after assembly.

[0031] Please see Figure 3 and Figure 4 In this embodiment, the outer side of the bottom shell 211 is provided with a receiving cavity 2114 communicating with the rotating hole 2112. The receiving cavity 2114 can be formed by a recess in the bottom wall of the bottom shell 211 toward the mounting cavity 2111. The receiving cavity 2114 can be used to install structures such as controllers and circuit boards. The rotating hole 2112 can be approximately located in the middle of the bottom wall of the bottom shell 211.

[0032] In this embodiment, the bottom shell 211 has an annular groove 2115 inside, which surrounds the rotating hole 2112 and communicates with the mounting cavity 2111. The annular groove 2115 can be used to mount the rotor frame 221 and provide rotation space for the rotor frame 221.

[0033] Please refer to it again. Figure 2 and Figure 3In this embodiment, the rotor frame 221 is generally hub-shaped and rotatably mounted within the accommodating cavity 2114. The rotor frame 221 can rotate about the axis of the rotating hole 2112. Specifically, the rotating shaft portion 2211 is generally hollow cylindrical and rotatably disposed within the rotating hole 2112, with the axes of the rotating shaft portion 2211 and the rotating hole 2112 approximately coinciding. One end of the rotating shaft portion 2211 can extend into the accommodating cavity 2114 through the rotating hole 2112.

[0034] In some implementations, please refer to Figure 2 , Figure 5 and Figure 6 The external rotor motor 200 also includes a limiting bearing 230, which is sleeved on the rotating shaft portion 2211 and embedded between the rotating shaft portion 2211 and the inner wall 2113 to prevent the external rotor assembly 220 from moving radially along the rotating hole 2112. By sleeved on the outer periphery of the rotor frame 221 and embedded between the rotating shaft portion 2211 and the inner wall 2113, the limiting bearing 230 can prevent the rotor frame 221 from shifting radially along the rotating hole 2112, thus preventing the rotor frame 221 from shifting relative to the axis of the rotating hole 2112 during rotation. Therefore, when the first detection unit 241 and the third detection unit 291 are installed on the output end cover, the second detection unit 242 is arranged opposite to the first detection unit 241, and the fourth detection unit 292 is arranged opposite to the third detection unit 291. The first detection unit 241 will not shift relative to the second detection unit 242, and the third detection unit 291 will not shift relative to the fourth detection unit 292, so that the first detection unit 241 and the second detection unit 242 are accurately aligned, and the third detection unit 291 and the fourth detection unit 292 are accurately aligned. The second detection unit 242 can accurately detect the rotation position of the rotor through the first detection unit 241, and the fourth detection unit 292 can accurately detect the rotation position of the power output unit through the third detection unit 291, thereby realizing the precise movement and control of the autonomous intelligent machine.

[0035] Please see Figure 2 and Figure 5In this embodiment, the frame 2212 includes a mounting portion 2213 and a connecting portion 2214. The mounting portion 2213 is generally ring-shaped, arranged around the outer periphery of the rotating shaft portion 2211, and connected to the rotating shaft portion 2211 via the connecting portion 2214. Multiple connecting portions 2214 can be arranged at intervals around the rotating shaft portion 2211, with each connecting portion 2214 connecting the rotating shaft portion 2211 and the mounting portion 2213. By arranging multiple connecting portions 2214 at intervals around the rotating shaft portion 2211, the material of the entire rotor frame 221 can be saved, and the weight of the entire rotor frame 221 can be reduced, while ensuring the structural strength of the entire rotor frame 221. The mounting portion 2213, the connecting portion 2214, and the rotating shaft portion 2211 can be an integrally formed structure or an assembled connection structure. In this embodiment, the mounting portion 2213, the connecting portion 2214, and the rotating shaft portion 2211 are an integrally formed structure. In this embodiment, at least a portion of the mounting portion 2213 can be embedded in the annular groove 2115 and kept at a distance from the inner and outer sidewalls of the annular groove 2115 to avoid interference with the bottom shell 211 during rotation.

[0036] Please see Figure 3 and Figure 5 In this embodiment, the outer rotor assembly 220 further includes a rotor 2201, which includes a plurality of magnets 224. The plurality of magnets 224 are spaced apart around the shaft portion 2211 on the frame 2212. Specifically, the plurality of magnets 224 can be evenly arranged on the mounting portion 2213 according to a certain pattern. For example, the plurality of magnets 224 can be arranged at equal intervals around the shaft portion 2211 on the outer or inner periphery of the mounting portion 2213.

[0037] In some embodiments, the mounting portion 2213 may be provided with a plurality of fixing slots 2215. The plurality of fixing slots 2215 are arranged at intervals around the outer periphery of the mounting portion 2213 around the rotating shaft portion 2211. The fixing slots 2215 are used to fix magnets 224. Each magnet 224 may be embedded in a fixing slot 2215, wherein the thickness of the magnet 224 may be less than or equal to the depth of the fixing slot 2215. This can prevent the magnet 224 from protruding from the outer periphery of the mounting portion 2213, thereby reducing the radial dimension of the outer rotor assembly 220.

[0038] In some embodiments, the rotor 2201 may also include a retaining ring 225, which is sleeved on the outer periphery of the mounting portion 2213 and fixedly connected to the mounting portion 2213 to radially limit the magnet 224 and prevent the magnet 224 from detaching from the rotor frame 221 when the rotor frame 221 rotates.

[0039] Please refer to it again. Figure 2 and Figure 3In this embodiment, the external rotor motor 200 includes a stator assembly 250, which is spaced apart from the frame 2212. The stator assembly 250 is used to magnetically engage with the magnet 224 to drive the external rotor assembly 220 to rotate. The stator assembly 250 can be disposed on the inner circumference of the frame 2212. For example, the stator assembly 250 includes a stator frame 251 and multiple sets of stator coils 252. The stator frame 251 can be fixedly connected to the housing 210. Specifically, the stator frame 251 can be fixed in the annular groove 2115, for example, it can be fixed on the inner sidewall of the annular groove 2115.

[0040] In some embodiments, the stator frame 251 includes multiple layers of silicon steel sheets, which are stacked sequentially along the thickness direction of the annular groove 2115. Stator coils 252 are wound on the stack of silicon steel sheets according to a certain pattern. For example, each layer of silicon steel sheet may include a coil body and multiple fixing parts (not shown) connected to the coil body. The multiple fixing parts are spaced apart circumferentially along the coil body, and each fixing part protrudes radially along the coil body. The multiple fixing parts of each layer of silicon steel sheet correspond one-to-one with the multiple fixing parts of adjacent silicon steel sheets. Multiple sets of stator coils 252 can be wound on corresponding fixing parts respectively. When multiple sets of stator coils 252 are energized in a certain sequence, the multiple stator coils 252 successively become multiple electromagnets, which successively attract the corresponding magnets 224 on the rotor frame 221, thereby driving the outer rotor assembly 220 to rotate.

[0041] In some implementations, such as Figure 3 As shown, the stator assembly 250 is spaced apart from the housing 210 to form a heat dissipation gap 2116. The external rotor motor 200 includes a heat sink 261 disposed within the heat dissipation gap 2116. Exemplarily, the stator assembly 250 may be spaced apart from the bottom of the annular groove 2115 to form the heat dissipation gap 2116. The heat sink 261 may include a heat-conducting structure, such as a heat pipe or thermally conductive silicone. The heat-conducting structure may be arranged around the bottom of the annular groove 2115 and form a heat conduction connection with the housing 210. The heat-conducting structure can conduct heat from the heat dissipation gap 2116 to the housing 210, and then conduct the heat to the outside through the housing 210, effectively reducing the temperature of the external rotor motor 200 during operation.

[0042] In other embodiments, the heat sink 261 may also include heat sink fins and / or heat pipes. Furthermore, the heat sink 261 may also include a cooling fan, which may be mounted on the bottom of the housing 210, and the cooling fan can quickly dissipate heat from the heat dissipation gap 2116 to the outside.

[0043] Please refer to it again. Figure 2 and Figure 3In this embodiment, the second detection unit 242 is disposed opposite to the first detection unit 241. The first detection unit 241 is mounted on the rotating shaft 2211 and located within the accommodating cavity 2114, while the second detection unit 242 is disposed within the accommodating cavity 2114. The first detection unit 241 can be a magnetic encoder, and the second detection unit 242 can be a Hall sensor. Magnetic encoders have excellent shock and vibration resistance. The magnetic encoder adopts a magneto-electric design and uses a Hall sensor to detect changes in the magnetic field of the magnetic encoder, thereby detecting the rotational position of the rotating shaft 2211. The magnetic encoder can be a magneto-electric incremental encoder or a magneto-electric absolute encoder. Furthermore, the first detection unit 241 can include a ring encoder, which can be disposed around the rotating shaft 2211.

[0044] In other embodiments, the first position detection element 240 can also be a photoelectric encoder, which is a sensor that converts the mechanical geometric displacement of a rotating structure into pulses or digital signals through photoelectric conversion. In this case, the first detection unit 241 can be a grating disk, and the second detection unit 242 can be a photoelectric detection element. The grating disk is coaxial with the rotating shaft 2211, causing the rotation of the rotating shaft 2211 to drive the grating disk to rotate coaxially. The photoelectric detection element outputs several pulse signals, and the rotational speed of the rotor frame 221 can be calculated based on the number of pulses per second of the signal. In addition, the first position detection element 240 can also detect the rotational direction of the rotor frame 221. For example, the code disk of the photoelectric encoder outputs two optical codes with a 90-degree phase difference. The rotational direction of the rotor frame 221 can be determined based on the change in the state of the dual-channel output optical codes.

[0045] In addition, in some embodiments, the first position detection element 240 may also include a photoelectric encoder and a magnetic encoder. The photoelectric encoder and the magnetic encoder are respectively set at both ends of the axial direction of the rotating shaft 2211, which is equivalent to adding sensors to both the input and output ends of the external rotor motor 200 at the same time. This eliminates the influence of the inconsistency of the gap between the gear meshing inside the external rotor motor 200, making the detection of the rotation position of the external rotor motor 200 more accurate.

[0046] In this embodiment, the external rotor motor 200 includes a control board 264 and a cover plate 265. The control board 264 is installed in the accommodating cavity 2114. The second detection unit 242 and the fourth detection unit 292 are both installed on the control board 264 and electrically connected to it. The second detection unit 242 and the fourth detection unit 292 are respectively corresponding to the first detection unit 241 and the third detection unit 291. The cover plate 265 is installed on the bottom shell 211 and covers the accommodating cavity 2114. The control board 264 can be inserted into the accommodating cavity 2114 from the outside of the housing 210. By installing the control board 264 in the accommodating cavity 2114 outside the housing 210, it is convenient to disassemble and maintain, and the cost is low. Moreover, the control board 264 and the external rotor assembly 220 are separated from each other by the housing 210, which can prevent the heat generated by both during operation from concentrating. The cover plate 265 can be fixed to the bottom of the housing 210 by multiple first fasteners 2641, and cover the receiving cavity 2114, which serves to prevent dust from entering the receiving cavity 2114 and to protect the control board 264.

[0047] In some implementations, such as Figure 2 and Figure 7 As shown, the outer rotor assembly 220 includes a planetary gear section 270, which can be an NW-type planetary reducer, where N represents internal meshing and W represents external meshing. The planetary gear section 270 is used to change the transmission ratio and output torque of the outer rotor assembly 220. Exemplarily, the planetary gear section 270 includes a first planetary carrier 271, a central gear shaft 272, a second planetary carrier 274, a plurality of planetary gears 273, and a gear ring 275. One end of the central gear shaft 272 is fixedly connected to the rotating shaft section 2211. The first planetary carrier 271 is arranged around the rotating shaft section 2211 and spaced from the outer wall of the rotating shaft section 2211. The first planetary carrier 271 can rotate relative to the rotating shaft section 2211. The gear ring 275 is arranged around the central gear shaft 272 and spaced from the outer wall of the central gear shaft 272. The gear ring 275 is fixed to the housing 210 and can be fixed to the inner circumference of the top shell 212. Multiple planetary gears 273 are spaced around the central gear shaft 272 and are rotatably connected to the first planetary support 271, meshing between the central gear shaft 272 and the gear ring 275.

[0048] In this embodiment, a rack 2721 is provided on the outer periphery of the central gear shaft 272. The rack 2721 is arranged around the outer periphery of the central gear shaft 272 and is approximately located in the middle of the central gear shaft 272. The central gear shaft 272 is fixed to the rotating shaft portion 2211 and is coaxially arranged with the rotating shaft portion 2211. Specifically, the central gear shaft 272 can be fixed to the end of the rotating shaft portion 2211 away from the first detection portion 121, and the central gear shaft 272 can be interference-fitted into the hole of the rotating shaft portion 2211.

[0049] In some embodiments, the planetary gear section 270 further includes a pin 276, which can be fixed between the outer periphery of the central gear shaft 272 and the inner periphery of the rotating shaft section 2211, so that the planetary gear section 270 and the rotating shaft section 2211 are circumferentially fixed. Exemplarily, the outer periphery of the central gear shaft 272 may be provided with a groove, and the inner wall 2113 may be provided with a recess corresponding to the groove. The pin 276 can be simultaneously fitted into the groove and the recess, thereby forming a tenon-and-mortise structure, which fixes the central gear shaft 272 and the rotor frame 221 circumferentially, preventing slippage between the rotor frame 221 and the central gear shaft 272, thus ensuring the transmission performance of the entire external rotor motor 200. In this example, the first planetary support 271 is spaced apart from the outer periphery of the central gear shaft 272 and can rotate relative to the central gear shaft 272. Multiple planetary gears 273 form an external meshing structure with the rack 2721 of the central gear shaft 272 and an internal meshing structure with the gear ring 275. When the rotor frame 221 rotates along the first circumferential direction under the drive of the stator assembly 250, it can synchronously rotate the central gear shaft 272 along the first circumferential direction. Multiple planetary gears 273 rotate along the second circumferential direction under the drive of the central gear shaft 272. Since the gear ring 275 is fixed to the housing 210, the planetary gears 273 exert a torque on the gear ring 275 along the second circumferential direction, and the gear ring 275 exerts a reverse torque on the planetary pinions along the first circumferential direction, thereby driving the first planetary support 271 to rotate together along the first circumferential direction. The first circumferential direction can be clockwise or counterclockwise.

[0050] By setting the aforementioned NW-type planetary reducer, the transmission ratio distribution of the entire external rotor motor 200 is more reasonable, the gears are stronger and have a longer service life, and the output torque of the entire external rotor motor 200 is greater.

[0051] In some implementations, such as Figure 3 and Figure 6 As shown, a limiting bearing 277 may be provided between the first planetary support 271 and the rotating shaft portion 2211. The limiting bearing 277 can prevent the first planetary support 271 from shifting radially relative to the rotating shaft portion 2211. The limiting bearing 277 can be a rolling bearing 283, and the first planetary support 271 can rotate relative to the rotating shaft portion 2211 through the limiting bearing 277. Exemplarily, a limiting structure is provided on the outer periphery of the limiting bearing 277. The limiting structure can stop on the bottom side of the first planetary support 271 to limit its movement. Under the action of the limiting structure, the first planetary support 271 can maintain a distance from the rotor carrier 221 along the axial direction of the rotating shaft portion 2211, avoiding interference between the first planetary support 271 and the rotor carrier 221 when they rotate. At the same time, the provision of the limiting bearing 277 between the first planetary support 271 and the rotor carrier 221 can improve the coaxiality of the first planetary support 271 and the central gear shaft 272.

[0052] In some implementations, such as Figure 2 and Figure 7 As shown, the external rotor motor 200 includes a flange bearing 281 and a gland 282. The flange bearing 281 is sleeved on the end of the central gear shaft 272 away from the rotor frame 221 and is axially positioned with the central gear shaft 272. The gland 282, together with the flange bearing 281 and the positioning bearing 230, positions the external rotor assembly 220 between the flange bearing 281 and the positioning bearing 230. When the gland 282 is fixedly connected to the housing 210, the gland 282 can apply pressure to the flange bearing 281 axially along the central gear shaft 272, so that the flange bearing 281 is tightly fitted onto the central gear shaft 272. Figure 2 As shown, the external rotor motor 200 also includes a second fastener 2821, which is connected to the cover 282 and the housing 210 to fix the cover 282 to the housing 210. The second fastener 2821 can be a bolt, pin, etc. For example, the outer periphery of the central gear shaft 272 may have a stepped portion (not shown). The flange bearing 281 is sleeved on the central gear shaft 272 and abuts against the stepped portion for a limiting fit. When the cover 282 is fixedly connected to the housing 210, the cover 282 can directly press the flange bearing 281 onto the stepped portion of the central gear shaft 272, or, through an intermediate structure, press the flange bearing 281 onto the stepped portion. The flange bearing 281 and the limit bearing 230 work together to limit the outer rotor assembly 220 between the flange bearing 281 and the limit bearing 230. That is, the flange bearing 281 and the limit bearing 230 can limit the upper and lower sides of the outer rotor assembly 220, effectively preventing the entire outer rotor assembly 220 from moving up and down axially along the rotation hole 2112. Compared to the solution of using a snap ring on the central gear shaft 272 to fix the outer rotor assembly 220, the outer rotor motor 200 does not require snap ring pliers for disassembly and assembly during the entire installation process, making the installation of the entire outer rotor motor 200 much simpler.

[0053] In some implementations, such as Figure 2 and Figure 7Each planetary gear 273 includes a first transmission gear 2731 and a second transmission gear 2732, which are coaxially arranged. The first transmission gear 2731 meshes with the central gear shaft 272, and the second transmission gear 2732 is fixedly connected to the first transmission gear 2731 and meshes with the gear ring 275. The tip circle diameter of the second transmission gear 2732 is smaller than that of the first transmission gear 2731 to increase the transmission ratio of the outer rotor assembly 220. The planetary gear section 270 also includes a gear shaft 278, which passes through the first transmission gear 2731 and the second transmission gear 2732 and is fixed on the first planetary support 271. The first transmission gear 2731 and the second transmission gear 2732 can rotate around the same gear shaft 287. The coaxiality of the first transmission gear 2731 and the second transmission gear 2732 can be improved by the gear shaft 278.

[0054] like Figure 2 and Figure 3 As shown, the second planetary support 274 is fixedly connected to the planetary gear 273 on the side away from the first planetary support 271. The second planetary support 274 is sleeved on the outer periphery of the flange bearing 281 and is axially limited to cooperate with the flange bearing 281. The external rotor motor 200 also includes a rolling bearing 283, which is sleeved on the outer periphery of the second planetary support 274 and is axially limited to cooperate with the second planetary support 274. A cover 282 is pressed onto the outer periphery of the rolling bearing 283. The second planetary support 274 can serve as the output flange of the entire external rotor motor 200 for connecting external equipment to output power. In this embodiment, the third detection unit 291 is assembled on the second planetary support 274, and the fourth detection unit 292 can obtain the rotational position of the second planetary support 274 through the third detection unit 291, which serves as the end position of the power output unit. This arrangement allows for the detection of the rotational position of the power output unit near the reducer, resulting in more accurate detection of the rotational position of the power output unit.

[0055] The rolling bearing 283 can be a crossed roller bearing. By tightly fitting the rolling bearing 283 to the outer periphery of the second planetary support 274, while the second planetary support 274 is also in a limiting fit with the flange bearing 281, the rolling bearing 283 and the flange bearing 281 can respectively limit the upper and lower sides of the second planetary support 274. When the pressure cap 282 is fixedly connected to the housing 210, the pressure cap 282 applies a clamping force to the rolling bearing 283, thereby confining the second planetary support 274 between the rolling bearing 283 and the flange bearing 281, preventing the entire outer rotor assembly 220 from axially moving along the rotation hole 2112. In addition, the planetary gear section 270 also includes a third fastener 279 (such as... Figure 2As shown), the third fastener 279 is connected to the second planetary support 274 and the first planetary support 271 to achieve a fixed connection between the second planetary support 274 and the first planetary support 271.

[0056] In one embodiment, in order to shorten the distance between the third detection unit 291 and the fourth detection unit 292, the power output unit may further include an output end cover 150. The output end cover 150 is mounted on the second planetary support and extends into the receiving cavity. The output end cover 150 rotates synchronously with the second planetary support. The third detection unit 291 is disposed on the output end cover 150 and is used to detect the rotational position of the second planetary support.

[0057] Specifically, the output end cover 150 includes a first end 151 and a second end 152 opposite to each other. The first end 151 extends into the receiving cavity 2114 through a mounting hole, and the second end 152 is located outside the receiving cavity 2114 for connection with external devices to transmit power. A third detection unit 291 is disposed at the first end 151 of the output end cover 150 and is disposed opposite to and coupled to the fourth detection unit 292.

[0058] In this embodiment, the external rotor motor further includes a bearing end cover 160, which is assembled on the housing and presses against the limiting bearing. The bearing end cover 160 is sleeved on the outer wall of the first end 151 of the output end cover 150. The third detection part 291 is sleeved on the first end 151 of the output end cover 150 and is located on the side of the bearing end cover 160 away from the second end 152. In this embodiment, the portion of the bearing end cover 160 adjacent to the output end cover 150 is bent to form a slot. The third detection part 291 is an output grating encoder, which includes a fixing body 2911 and a detection body 2912. The fixing body 2911 is an annular structure and is sleeved on the first end 151 and located in the slot. The detection body 2912 is connected to the fixing body 2911 and extends outward along the radial direction of the first end 151. The detection body is arranged approximately coaxially and parallel to the bearing end cover 160. A grating structure is formed on the detection body 2912 for coupling with the fourth detection part 292. Correspondingly, the fourth detection unit 292 is a reflective photoelectric sensor, which can be coupled to the detection body 2912 for detection. The first detection unit is fixed to the bearing end cover 160, and the first detection unit and the third detection unit 291 are offset from each other. In one embodiment, the first detection unit can be disposed opposite to the end face of the first end 151. In this case, the outer diameter of the first detection unit can be equal to or smaller than the outer diameter of the fixing body 2911, so that the first detection unit and the detection body 2912 are offset from each other and will not cause signal interference. In this embodiment, as one implementation method, the external rotor motor also includes a transparent end cover 170, which is installed on the bearing end cover 160. The transparent end cover 170 includes a transparent window, which is correspondingly disposed with the detection body 2912 and can transmit light. The surface of the transparent end cover 170 away from the output end cover 150 is also provided with a detection groove 171. The first detection unit is installed on the transparent end cover 170. Specifically, the first detection unit is embedded in the detection groove 171, and the outer wall of the transparent end cover 170 is connected and fixed to the bearing end cover 160. The third detection unit 291 is located between the transparent end cover 170 and the bearing end cover 160, and is coupled to the fourth detection unit 292 through the transparent end cover 170. This arrangement allows for a certain distance between the first and third detection units 291, improving their isolation and preventing mutual interference. Both the first and third detection units 291 can rotate with the outer rotor assembly. Furthermore, since the first and third detection units 291 are separate, the rotational position of the rotor detected by the first detection unit and the rotational position of the output flange detected by the second detection unit are independent of each other during the rotation of the outer rotor assembly.

[0059] In some embodiments, the transmission ratio of the external rotor motor 200 can be greater than or equal to 9 to output a larger torque. For example, the transmission ratio of the external rotor motor 200 is equal to Na / Nh, where Na is the rotational speed of the rotor carrier, Nh is the rotational speed of the second planetary support 274, and Na / Nh = 1 + (Zb + Zg) / (Za + Zf), where Zb is the addendum circle diameter of the rack of the central gear shaft, Zg is the addendum circle diameter of the first transmission gear, Zf is the addendum circle diameter of the second transmission gear, and Zb is the addendum circle diameter of the gear ring. In actual design, this can be adjusted according to specific requirements.

[0060] In some implementations, such as Figure 8 and Figure 9As shown, the second planetary carrier 274 is provided with a guide portion 2743, and the first planetary carrier 271 is provided with a mating portion 2713 that cooperates with the guide portion 2743. The guide portion 2743 and the mating portion 2713 are interference-fitted. The second planetary carrier 274 and the first planetary carrier 271 can be limited by the guide portion 2743 and the mating portion 2713. By ensuring the relative assembly position of the second planetary carrier 274 and the first planetary carrier 271 through the interference fit of the guide portion 2743 and the mating portion 2713, the circumferential position of the second planetary carrier 274 and the first planetary carrier 271 is limited, thereby preventing the relative torsion of the second planetary carrier 274 and the first planetary carrier 271 due to external forces when the gear structure is installed between the first planetary carrier 271 and the second planetary carrier 274, which would affect the meshing degree between the meshing gear structures.

[0061] In some implementations, such as Figure 8 and Figure 9 As shown, the mating part 2713 includes a first guide post 2712 and a first guide hole 2711 disposed on the first planetary support 271, and the guiding part 2743 includes a second guide post 2742 and a second guide hole 2741 disposed on the second planetary support 274. The first guide post 2712 is used for an interference fit with the second guide hole 2741, and the second guide post 2742 is used for an interference fit with the first guide hole 2711, wherein the diameter of the first guide hole 2711 is larger than the diameter of the second guide hole 2741. Exemplarily, there can be multiple first guide posts 2712 and first guide holes 2711, with the number of first guide posts 2712 and second guide holes 2741 being the same. Each first guide post 2712 can be interference-fitted into the second guide hole 2741 to achieve a tight fit. The number of second guide posts 2742 can be the same as the number of first guide holes 2711, and each second guide post 2742 can be interference-fitted into the first guide hole 2711 to achieve a tight fit. This effectively achieves the circumferential limiting function of the first planetary support 271 and the second planetary support 274. Since the diameter of the first guide hole 2711 is larger than the diameter of the second guide hole 2741, and the diameter of the second guide post 2742 that is adapted to the first guide hole 2711 is larger than the diameter of the second guide hole 2741, the second guide post 2742 can only be inserted into the first guide hole 2711 and cannot be inserted into the second guide hole 2741, thus playing a foolproof role.

[0062] Furthermore, in some implementations, such as Figure 8 and Figure 9As shown, the first planetary support 271 has a limiting protrusion 2714 facing the second planetary support 274. The limiting protrusion 2714 has an arcuate groove 2715, the center of which is located on the circumference of the arcuate groove 2715 approximately coincides with the center of the first planetary support 271. The second planetary support 274 has a mating protrusion 2744 that is adapted to the arcuate groove 2715. The mating protrusion 2744 can be an arcuate structure, and the center of which is located on the circumference of the protrusion approximately coincides with the center of the first planetary support 271. When the mating protrusion 2744 is embedded in the arcuate groove 2715, the axes of the first planetary support 271 and the second planetary support 274 are approximately on the same axis and are mutually limiting and mating in the radial direction, thereby improving the coaxiality of the second planetary support 274 and the first planetary support 271.

[0063] Please see Figure 10 This application also provides an autonomous intelligent machine 300, including the aforementioned external rotor motor 200. The external rotor motor 200 outputs driving force to the autonomous intelligent machine 300 to drive it to walk or change its posture. The autonomous intelligent machine can be a semi-autonomous or fully autonomous intelligent machine, such as a quadruped robot, a humanoid robot, a multi-legged robot, or a robotic arm. The following description uses a quadruped robot as an example of the autonomous intelligent machine: In some embodiments, the autonomous intelligent machine 300 includes an autonomous intelligent machine body 310 and four walking leg assemblies 320, with every two walking leg assemblies 320 mounted on opposite sides of the autonomous intelligent machine body 310. Each walking leg assembly 320 includes a first leg 321 and a second leg 322. One end of the first leg 321 is movably connected to the autonomous intelligent machine body 310, and the other end is movably connected to the second leg 322. Multiple external rotor motors 200 are present, with each first leg 321 driven by one external rotor motor 200, and each second leg 322 driven by one external rotor motor 200. By controlling the rotation state of each external rotor motor 200, the autonomous intelligent machine 300 is driven to walk or change its posture.

[0064] The autonomous intelligent machine 300 provided in this application embodiment, by configuring the aforementioned external rotor motor 200, can simultaneously detect the position of the rotor 2201 and the end position of the power output unit, since the external rotor motor 200 is equipped with a first position detection element 240 and a second position detection element 290. Therefore, precise control of the rotation process of the external rotor motor 200 can be achieved. Consequently, the autonomous intelligent machine 300 can accurately detect its own motion state and accurately perform its own movements.

[0065] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. An external rotor motor, characterized in that, include: The housing has a mounting cavity and a rotating hole communicating with the mounting cavity. The housing includes an inner wall surrounding the rotating hole. The housing includes a bottom shell and a top shell. The top shell covers the bottom shell and together with the bottom shell, they form the mounting cavity. The rotating hole penetrates the bottom shell. The outer side of the bottom shell has a receiving cavity communicating with the rotating hole. An outer rotor assembly is rotatably disposed in the mounting cavity. The outer rotor assembly includes a rotor and a rotor frame. The rotor frame includes a frame body and a rotating shaft connected to the frame body. The rotor is disposed on the frame body, and the rotating shaft is rotatably mounted in the rotating hole. A power output section is mounted on the frame and driven to rotate by the rotating shaft section. The power output section includes a planetary gear section, which includes a first planetary support, a central gear shaft, multiple planetary gears, a second planetary support, a gear ring, and an output end cover. One end of the central gear shaft is fixedly connected to the rotating shaft section. The first planetary support is arranged around the rotating shaft section and spaced apart from the outer wall of the rotating shaft section. The gear ring is arranged around the central gear shaft and spaced apart from the outer wall of the central gear shaft. Multiple planetary gears are arranged spaced apart around the central gear shaft and rotatably connected to the first planetary support. The planetary gears mesh between the central gear shaft and the gear ring. The second planetary support is fixedly connected to the side of the multiple planetary gears away from the first planetary support. The output end cover is mounted on the second planetary support and extends into the receiving cavity. The first position detection component includes a first detection part and a second detection part. The first detection part is installed on the rotating shaft part, and the second detection part is disposed opposite to the first detection part, so as to detect the rotational position of the rotor through the first detection part. as well as The second position detection component includes a third detection part and a fourth detection part. The third detection part is disposed on the power output part, and the fourth detection part is disposed opposite to the third detection part, so as to detect the rotational position of the power output part through the third detection part. The external rotor motor further includes a limiting bearing, a bearing end cover, and a transparent end cover. The limiting bearing is sleeved on the rotating shaft and embedded between the rotating shaft and the inner wall to prevent the external rotor assembly from moving radially along the rotating hole. The bearing end cover is assembled on the housing and presses against the limiting bearing. The bearing end cover is sleeved on the outer wall of the output end cover. The first detection part is fixed to the bearing end cover. The transparent end cover is installed on the bearing end cover. The first detection part is installed on the transparent end cover. The third detection part is located between the transparent end cover and the bearing end cover and is coupled to the fourth detection part through the transparent end cover.

2. The external rotor motor according to claim 1, characterized in that, One end of the output end cap extends into the accommodating cavity through the rotating hole, and the first detection unit, the second detection unit, the third detection unit, and the fourth detection unit are all disposed in the accommodating cavity.

3. The external rotor motor according to claim 2, characterized in that, The third detection unit is assembled on the second planetary support.

4. The external rotor motor according to claim 3, characterized in that, The third detection unit is located on the output end cover.

5. The external rotor motor according to claim 4, characterized in that, The output end cap includes a first end and a second end opposite to each other. The second end is fixedly connected to the second planetary support. The first end extends into the accommodating cavity. The third detection part is sleeved on the outer wall of the first end and surrounds the outside of the first detection part so that the third detection part and the first detection part are offset from each other.

6. The external rotor motor according to claim 3, characterized in that, The power output section also includes a flange bearing and a pressure cap. The flange bearing is sleeved on the end of the central gear shaft away from the rotor frame and is axially limited to the central gear shaft. The pressure cap is used to limit the outer rotor assembly between the flange bearing and the limiting bearing together with the flange bearing and the limiting bearing. The second planetary support is axially limited to the flange bearing.

7. The external rotor motor according to claim 6, characterized in that, The external rotor motor also includes a rolling bearing, which is sleeved on the outer periphery of the second planetary support and is limited to the second planetary support. The pressure cap is pressed against the outer periphery of the rolling bearing.

8. The external rotor motor according to claim 7, characterized in that, The second planetary support is provided with a guide portion, and the first planetary support is provided with a mating portion that cooperates with the guide portion, wherein the guide portion and the mating portion are interference fit.

9. The external rotor motor according to claim 8, characterized in that, The mating part includes a first guide post and a first guide hole, and the guiding part includes a second guide post and a second guide hole. The first guide post is used to have an interference fit with the second guide hole, and the second guide post is used to have an interference fit with the first guide hole. The diameter of the first guide hole is larger than the diameter of the second guide hole.

10. The external rotor motor according to claim 2, characterized in that, The external rotor motor also includes a control board and a cover plate. The control board is installed in the accommodating cavity. The second detection unit and the fourth detection unit are both installed on the control board and electrically connected to the control board. The cover plate is installed on the bottom shell and covers the accommodating cavity.

11. The external rotor motor according to any one of claims 1 to 8, characterized in that, The rotor includes a plurality of magnets, which are spaced apart around the shaft portion on the frame. The outer rotor motor also includes a stator assembly, which is spaced apart from the frame and is used to magnetically engage with the magnets to drive the outer rotor assembly to rotate.

12. The external rotor motor according to claim 11, characterized in that, The stator assembly is spaced apart from the housing to form a heat dissipation gap, and the external rotor motor also includes a heat dissipation component disposed within the heat dissipation gap.

13. An autonomous intelligent machine, characterized in that, Includes an external rotor motor as described in any one of claims 1 to 12.

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