An external rotor motor

Abstract

This application discloses an external rotor motor. The motor shaft and motor housing of the external rotor motor are connected in a rotatable manner via a first bearing and a second bearing. A stator coil is fixedly mounted on the motor shaft between the first bearing and the second bearing, and a motor magnet is fixedly mounted on the motor housing. A brake rotor is fixedly mounted on the motor housing on the axial outer side of the first bearing, and the stator assembly includes a brake stator fixedly mounted relative to the motor shaft. An encoder rotor is fixedly mounted on the motor housing on the axial outer side of the second bearing, and the stator assembly includes an encoder stator fixedly mounted relative to the motor shaft. The motor shaft has a hollow structure with at least one open end, and a first cable through-hole is provided on the motor shaft at least near the stator coil. In this way, at least the cable of the stator coil can extend axially from the open end of the motor shaft through the first cable through-hole near it, solving the technical problem of radial space occupation of the external rotor motor caused by radial wiring.

Description

Technical Field

[0001] This invention relates to the field of external rotor motor technology, and more particularly to an external rotor motor with an encoder and brake driven by a housing. Background Technology

[0002] Motors can be divided into internal rotor motors and external rotor motors. For external rotor motors, the motor shaft is fixed, while the motor housing rotates relative to the motor shaft.

[0003] In the relevant schemes, the stator coils, encoders and brakes of the external rotor motor are usually radially routed, occupying the radial installation space of the motor. Summary of the Invention

[0004] To address at least one aspect of the aforementioned technical problems, embodiments of this application provide an external rotor motor. The motor shaft of the external rotor motor has a hollow structure with at least one open end. Furthermore, the motor shaft of the external rotor motor has a first cable through hole at least near the stator coil. This allows the cable of the stator coil to extend axially from the open end of the motor shaft through the first cable through hole near it, i.e., axial routing, reducing the space occupied by the external rotor motor in the radial installation space.

[0005] This application embodiment provides an external rotor motor, the external rotor motor comprising:

[0006] A rotor assembly and a stator assembly are coaxially arranged along a first direction; the stator assembly includes a motor shaft extending along the first direction, and the rotor assembly includes a motor housing extending along the first direction and having a hollow structure, the motor housing being fitted over the motor shaft.

[0007] A first bearing and a second bearing are respectively fixedly installed on the motor shaft; the motor shaft and the motor housing are connected in a relative rotational manner through the first bearing and the second bearing;

[0008] In the annular space between the first bearing and the second bearing, the stator assembly includes a stator coil fixedly mounted on the outer circumferential surface of the motor shaft, and the rotor assembly includes a motor magnet fixedly mounted on the inner circumferential surface of the motor housing. The motor magnet and the stator coil are axially aligned.

[0009] On the axially outer side of the first bearing, the stator assembly includes a brake stator fixedly mounted relative to the motor shaft, and the rotor assembly includes a brake rotor fixedly mounted to the motor housing, such that the brake rotor and the brake stator are rotated relative to each other.

[0010] On the axially outer side of the second bearing, the stator assembly includes an encoder stator fixedly mounted relative to the motor shaft, and the rotor assembly includes an encoder rotor fixedly mounted to the motor housing, such that the encoder rotor and the encoder stator are mounted in a manner that allows relative rotation between them.

[0011] Furthermore, along the first direction, the motor shaft has a hollow structure with at least one open end, and the motor shaft is provided with a first cable through hole at least near the stator coil, so that the cable of the stator coil extends out from the open end of the motor shaft through the first cable through hole near it.

[0012] In one embodiment, preferably, the stator assembly includes a first end cap disposed perpendicular to the first direction, the first end cap being fixedly mounted on the end of the motor shaft, and the first end cap being located axially outside the first bearing;

[0013] The brake stator is fixedly mounted on the inner surface of the first end cover facing the first bearing by a first screw.

[0014] In one embodiment, preferably, the outer surface of the first end cover facing away from the first bearing is provided with a mounting step, the mounting step being used to fix the outer rotor motor.

[0015] In one embodiment, preferably, the inner surface of the first end cover facing the first bearing is provided with a circumferentially arranged insertion groove relative to the first direction, the insertion groove being used for insertion and installation of the end of the motor housing in a relatively rotatable manner.

[0016] In one embodiment, preferably, the first end cover is provided with a second cable through hole penetrating its inner and outer surfaces. The second cable through hole is located on the first end cover in an annular projection area between the motor shaft and the motor housing. The second cable through hole is used for the cable of the brake stator to pass through.

[0017] Furthermore, the motor shaft is provided with the first cable through hole near the encoder stator, so that the cable of the encoder stator extends out from the open end of the motor shaft through the first cable through hole near it.

[0018] In one embodiment, preferably, the stator assembly includes a second end cap disposed perpendicular to the first direction, the second end cap being fixedly mounted on the end of the motor shaft, and the second end cap being located axially outside the second bearing;

[0019] The encoder stator is fixedly mounted on the inner surface of the second end cover facing the second bearing;

[0020] The second end cover is provided with a third cable through hole that penetrates its inner and outer surfaces. The third cable through hole is located on the second end cover in the annular projection area between the motor shaft and the motor housing. The third cable through hole is used for the cable of the encoder stator to pass through.

[0021] In one embodiment, preferably, the motor housing includes a load housing extending along the first direction, the circumferential inner surface of the load housing being used to fix the motor magnet; wherein, along the first direction:

[0022] The first end of the load housing extends radially inward and has a first mounting sidewall. The outer end face of the first mounting sidewall is used to fix the brake rotor by a second screw, and the radially inner end of the first mounting sidewall is used to fix the first bearing.

[0023] The second end of the load housing extends radially inward to form a second mounting sidewall. The outer end face of the second mounting sidewall is used to fix the encoder rotor by a third screw, and the radially inner end of the second mounting sidewall is used to fix the second bearing.

[0024] In one embodiment, preferably, the motor housing includes a hollow cylindrical dust cover along the first direction, the dust cover being fixedly installed at one end of the load housing having the first mounting sidewall, so that a first receiving cavity is formed on the axially outer side of the first bearing to accommodate the brake rotor and the brake stator.

[0025] In one embodiment, preferably, at the end where the first mounting sidewall is provided, the circumferential end of the load housing is provided with a positioning step, and the dust cover is fixedly inserted into the positioning step.

[0026] In one embodiment, preferably, the motor housing includes an encoder cover extending along the first direction, the encoder cover being fixedly mounted to one end of the load housing having the second mounting sidewall, so that a second accommodating cavity is formed on the axially outer side of the second bearing to accommodate the encoder rotor and the encoder stator.

[0027] In one embodiment, preferably, the encoder cover includes a circumferential wall portion that surrounds the encoder in a circumferential direction relative to the first direction;

[0028] Wherein, one end of the circumferential wall portion along the first direction is inserted into the end of the load housing;

[0029] The circumferential wall portion extends radially inward at the other end along the first direction to form a cover portion, which is fastened to the second mounting sidewall by a fourth screw to axially close the second accommodating cavity.

[0030] In one embodiment, preferably, an oil seal ring is provided between the radial inner end of the cover portion and the motor shaft.

[0031] In one embodiment, preferably, the load housing includes a first housing and a second housing detachably connected along the first direction;

[0032] The first housing has a first mounting sidewall at its first end, the second housing has a second mounting sidewall at its first end, the second end of the first housing and the second end of the second housing are inserted and installed along the first direction, and the second end of the first housing and the second end of the second housing are fastened by a fifth screw.

[0033] In one embodiment, preferably, the motor shaft has a hollow structure with openings at both ends along the first direction.

[0034] In one embodiment, preferably, the circumferential outer surface of the motor housing is provided with a load gear.

[0035] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0036] This application provides an external rotor motor, which includes a rotor assembly and a stator assembly coaxially arranged along a first direction. The rotor assembly includes a motor housing, and the stator assembly includes a motor shaft. The motor shaft and the motor housing are connected in a rotatable manner via a first bearing and a second bearing. A stator coil is fixedly mounted on the motor shaft in the annular space between the first bearing and the second bearing, and a motor magnet is fixedly mounted on the motor housing. A brake rotor is fixedly mounted on the motor housing on the axial outer side of the first bearing, and the stator assembly includes a brake stator fixedly mounted relative to the motor shaft. An encoder rotor is fixedly mounted on the motor housing on the axial outer side of the second bearing, and the stator assembly includes an encoder stator fixedly mounted relative to the motor shaft. Furthermore, the motor shaft has a hollow structure with at least one open end, and a first cable through-hole is provided on the motor shaft at least near the stator coil. Thus, at least the cable of the stator coil can extend axially from the open end of the motor shaft through the first cable through-hole near it.

[0037] In other words, regarding the routing of cables for the external rotor motor, this embodiment of the application sets the motor shaft as a hollow structure with at least one open end. In this way, a first cable through hole can be set at least near the stator coil, so that the cable of the stator coil can extend axially from the hollow interior of the motor shaft through the first cable through hole near it, which is axial routing. This solves the technical problem of radial space occupation of the external rotor motor caused by radial routing.

[0038] In addition, it is understandable that the first cable through hole can also be provided on the motor shaft near the encoder stator, so that the encoder stator can also achieve axial cable routing. Furthermore, the first cable through hole can also be provided on the motor shaft near the brake stator, so that the brake stator can also achieve axial cable routing. Attached Figure Description

[0039] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This is an exploded view of the stator assembly described in the embodiments of this application.

[0041] Figure 2 This is an exploded structural diagram of the rotor assembly described in the embodiments of this application.

[0042] Figure 3 This is a schematic diagram of the external rotor motor described in the embodiments of this application.

[0043] Figure 4 for Figure 3 A structural diagram from another angle.

[0044] Figure 5 This is a side sectional view of the external rotor motor described in the embodiments of this application.

[0045] Figure 6 This is a schematic diagram of the encoder stator and encoder rotor as described in the embodiments of this application.

[0046] In the attached figures, the following labels are used:

[0047] 11-Motor shaft, 12-Stator coil, 13-Brake stator, 14-Encoder stator, 15-First end cover, 16-Waveform washer, 17-Positioning sleeve.

[0048] 111 - First cable through hole,

[0049] 151 - Installation step, 152 - Connector slot, 153 - Second cable through hole.

[0050] 21-Motor housing, 22-Motor magnet, 23-Brake rotor, 24-Encoder rotor, 25-Oil seal ring, 26-Load gear,

[0051] 211-First mounting sidewall, 212-Second mounting sidewall, 213-Load housing, 214-Dust cover, 215-Encoder cover,

[0052] 2131 - First housing, 2132 - Second housing, 2133 - Positioning step

[0053] 2151 - Circumferential wall portion, 2152 - Cap portion,

[0054] 30 - First bearing,

[0055] 40 - Second bearing,

[0056] 81 - First screw, 82 - Second screw, 83 - Third screw, 84 - Fourth screw, 85 - Fifth screw, 86 - Set screw

[0057] 91-First accommodating cavity, 92-Second accommodating cavity,

[0058] X - First direction. Detailed Implementation

[0059] To better understand the above technical solutions, exemplary embodiments of this application will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments of this application. It should be understood that this application is not limited to the exemplary embodiments described herein.

[0060] Figure 1 This is a schematic diagram of the exploded structure of the stator assembly. Figure 2 This is an exploded structural diagram of the rotor assembly. Figure 3 and Figure 4 This is a schematic diagram of the stator and rotor assemblies after installation. Please refer to... Figures 1-4 An external rotor motor includes a rotor assembly and a stator assembly coaxially arranged along a first direction X. The stator assembly includes a motor shaft 11 extending along the first direction X. The rotor assembly includes a motor housing 21 extending along the first direction X and having a hollow structure. The motor housing 21 is fitted over the motor shaft 11. The external rotor motor also includes a first bearing 30 and a second bearing 40 respectively fixedly mounted on the motor shaft 11. The motor shaft 11 and the motor housing 21 are connected in a relative rotational manner through the first bearing 30 and the second bearing 40.

[0061] In the annular space between the first bearing 30 and the second bearing 40, the stator assembly includes a stator coil 12 fixedly mounted on the outer circumferential surface of the motor shaft 11, and the rotor assembly includes a motor magnet 22 fixedly mounted on the inner circumferential surface of the motor housing 21, with the motor magnet 22 and the stator coil 12 axially aligned. On the outer axial side of the first bearing 30, the stator assembly includes a brake stator 13 fixedly mounted relative to the motor shaft 11, and the rotor assembly includes a brake rotor 23 fixedly mounted on the motor housing 21, allowing relative rotation between the brake rotor 23 and the brake stator 13. On the outer axial side of the second bearing 40, the stator assembly includes an encoder stator 14 fixedly mounted relative to the motor shaft 11, and the rotor assembly includes an encoder rotor 24 fixedly mounted on the motor housing 21, allowing relative rotation between the encoder rotor 24 and the encoder stator 14.

[0062] Furthermore, along the first direction X, the motor shaft 11 has a hollow structure with at least one open end, and the motor shaft 11 is provided with a first cable through hole 111 at least near the stator coil 12, so that the cable of the stator coil 12 extends out from the open end of the motor shaft 11 through the first cable through hole 111 near it.

[0063] Overall, the external rotor motor of this embodiment includes a rotor assembly and a stator assembly coaxially arranged along a first direction. When the external rotor motor is working, the stator assembly is fixed and the rotor assembly can rotate relative to the stator assembly. The motor shaft of the stator assembly and the motor housing of the rotor assembly extend along the first direction, and the motor housing is fitted over the outside of the motor shaft.

[0064] Specifically, along the axial direction (i.e., the first direction), a first bearing and a second bearing are fixedly installed between the motor shaft and the motor housing, respectively. Understandably, in this way, the motor housing can be connected to the motor shaft in a relative rotational manner through the two bearings.

[0065] The stator coil and motor magnet can be arranged in the annular space between the two bearings. Specifically, the motor magnet is fixedly installed on the circumferential inner surface of the motor housing. For example, the motor magnet can be fixed to the circumferential inner surface of the motor housing by adhesive bonding. Of course, the motor magnet can also be fixed to the circumferential inner surface of the motor housing by other means. Then, the stator coil is fixedly installed on the circumferential outer surface of the motor shaft. For example, the stator coil can be inserted into the circumferential outer surface of the motor shaft by interference fit. Of course, the stator coil can also be fixed to the circumferential outer surface of the motor shaft by other means.

[0066] It is understandable that, generally speaking, the motor magnets and stator coils should be axially aligned.

[0067] A brake and an encoder may be respectively installed on the outer side of the first bearing and the outer side of the second bearing.

[0068] That is, on the axial outside of the first bearing, the brake rotor of the brake is fixedly installed on the motor housing and rotates with the motor housing, and the brake stator of the brake is fixedly installed relative to the motor shaft, that is, the brake stator does not rotate relative to the motor shaft; thus, on the axial outside of the first bearing, the brake rotor and the brake stator constitute the brake, and the brake stator brakes the rotation of the motor housing by acting on (e.g., clamping) the brake rotor.

[0069] Similarly, on the axial outside of the second bearing, the encoder rotor of the encoder is fixedly mounted on the motor housing and rotates with the motor housing, while the encoder stator of the encoder is fixedly mounted relative to the motor shaft, meaning that the encoder stator does not rotate relative to the motor shaft. Thus, on the axial outside of the second bearing, the encoder rotor and encoder stator constitute the encoder, and the encoder stator can know parameters such as the rotational speed of the motor housing by measuring the encoder rotor.

[0070] Furthermore, along the first direction, the motor shaft has a hollow structure with at least one open end. Then, the motor shaft has a first cable through hole at least near the stator coil. Thus, it can be understood that the cable of the stator coil can extend along the interior of the motor shaft and extend from the open end of the motor shaft through the first cable through hole near it. That is, the cable of the stator coil runs axially inside the motor shaft, so that it does not need to occupy the radial space of the outer rotor motor.

[0071] Of course, it is understandable that the first cable through hole can also be set at the position of the motor shaft near the encoder stator, so that the encoder cable can be axially routed inside the motor shaft; of course, the first cable through hole can also be set at the position of the motor shaft near the brake stator, so that the brake cable can be axially routed inside the motor shaft.

[0072] Along the first direction X, the motor shaft 11 can be a hollow structure with openings at both ends. In this way, the motor shaft with openings at both ends can not only provide a cable routing channel for its own cables, saving radial space, but its hollow structure with openings at both ends can also be used for wiring of other equipment upstream and downstream of the external rotor motor, making the overall structure compact and the space utilization rate higher.

[0073] The motor housing 21 has a load gear 26 on its circumferential outer surface. This allows the motor housing to directly drive the load to rotate when it rotates relative to the motor shaft, eliminating the need for additional transmission structures and reducing space requirements.

[0074] Furthermore, regarding the aforementioned fixed installation of the encoder stator relative to the motor shaft and the fixed installation of the brake stator relative to the motor shaft, it is feasible to implement, for example, the encoder stator and brake stator can be directly fixed to the motor shaft, or the encoder stator and brake stator can be fixed to the motor shaft via, for example, an end cover fixed to the motor shaft (see the description of the first end cover and the second end cover below) (that is, the end cover is fixed to the motor shaft, and the encoder stator or brake stator is fixed to the end cover). This embodiment does not limit this.

[0075] In addition, the inner diameter of the motor shaft can be, for example, 15 to 22 mm. Of course, depending on actual needs, the inner diameter of the motor shaft can also be other sizes.

[0076] It should be noted that a bushing 17 can also be positioned next to the axial inner side of the second bearing 40.

[0077] This application provides an external rotor motor, which includes a rotor assembly and a stator assembly coaxially arranged along a first direction. The rotor assembly includes a motor housing, and the stator assembly includes a motor shaft. The motor shaft and the motor housing are connected in a rotatable manner via a first bearing and a second bearing. A stator coil is fixedly mounted on the motor shaft in the annular space between the first bearing and the second bearing, and a motor magnet is fixedly mounted on the motor housing. A brake rotor is fixedly mounted on the motor housing on the axial outer side of the first bearing, and the stator assembly includes a brake stator fixedly mounted relative to the motor shaft. An encoder rotor is fixedly mounted on the motor housing on the axial outer side of the second bearing, and the stator assembly includes an encoder stator fixedly mounted relative to the motor shaft. Furthermore, the motor shaft has a hollow structure with at least one open end, and a first cable through-hole is provided on the motor shaft at least near the stator coil. Thus, at least the cable of the stator coil can extend axially from the open end of the motor shaft through the first cable through-hole near it.

[0078] In other words, regarding the routing of cables for the external rotor motor, this embodiment of the application sets the motor shaft as a hollow structure with at least one open end. In this way, a first cable through hole can be set at least near the stator coil, so that the cable of the stator coil can extend axially from the hollow interior of the motor shaft through the first cable through hole near it, which is axial routing. This solves the technical problem of radial space occupation of the external rotor motor caused by radial routing.

[0079] In addition, it is understandable that the first cable through hole can also be provided on the motor shaft near the encoder stator, so that the encoder stator can also achieve axial cable routing. Furthermore, the first cable through hole can also be provided on the motor shaft near the brake stator, so that the brake stator can also achieve axial cable routing.

[0080] In one possible implementation, the stator assembly includes a first end cover 15 disposed perpendicular to a first direction X. The first end cover 15 is fixedly mounted on the end of the motor shaft 11 and is located on the axial outer side of the first bearing 30. The brake stator 13 is fixedly mounted on the inner surface of the first end cover 15 facing the first bearing 30 by a first screw 81.

[0081] That is, see Figure 1 and Figure 5 Specifically, a first end cap can be provided on the outer side of the first bearing along its axial direction.

[0082] The first end cover is arranged perpendicular to the first direction. For example, the middle of the first end cover is provided with a through hole. The circumferential end of the motor shaft is inserted into the through hole of the first end cover, and then the first end cover and the motor shaft are fixedly installed by radial set screws.

[0083] The brake stator can be fastened to the inner surface of the first end cover facing the first bearing by a first screw extending axially. In this way, since the first end cover is fixedly installed with the motor shaft, and the brake stator is fixed to the first end cover, it can be understood that the brake stator is fixedly installed relative to the motor shaft.

[0084] In one specific embodiment, the outer surface of the first end cover 15 facing away from the first bearing 30 is provided with a mounting step 151, which is used to fix and install the external rotor motor.

[0085] That is, based on the first end cover set on the axial outer side of the first bearing, the external rotor motor can be specifically fixed and installed through the first end cover. For example, an installation step can be set on the outer surface of the first end cover facing away from the first bearing. Then, the external rotor motor can be fixed to the target position or target structure that needs to be installed through the installation step.

[0086] In another specific embodiment, the inner surface of the first end cover 15 facing the first bearing 30 is provided with a circumferentially arranged insertion groove 152 relative to the first direction X. The insertion groove 152 is used for insertion and installation of the end of the motor housing 21 in a relatively rotatable manner.

[0087] See Figure 4 and Figure 5 That is, based on the first end cover provided on the axial outer side of the first bearing, the circumferential end of the motor housing is rotatably inserted into the insertion groove of the first end cover; thus, it can be understood that by providing the insertion groove on the inner surface of the first end cover and forming a labyrinth structure with the end of the motor housing, it can play a dustproof role for the brake between the first end cover and the first bearing.

[0088] In another specific embodiment, the first end cover 15 is provided with a second cable through hole 153 penetrating its inner and outer surfaces. The second cable through hole 153 is located on the first end cover 15 in the annular projection area between the motor shaft 11 and the motor housing 21. The second cable through hole 153 is used for the cable of the brake stator 13 to pass through. In addition, the motor shaft 11 is also provided with a first cable through hole 111 near the encoder stator 14, so that the cable of the encoder stator 14 extends out from the open end of the motor shaft 11 through the first cable through hole 111 near it.

[0089] That is, see Figure 5 With the first end cover set on the axial outer side of the first bearing, the brake cable can be passed through the second cable through hole through the first end cover. At this time, considering that the first end cover is fixed and does not rotate relative to the motor shaft, the brake cable passing through the second cable through hole on the first end cover will not have an adverse effect on the relative rotation of the motor housing.

[0090] Of course, at this point, in conjunction with the above description, the encoder cable can specifically extend from the end of the motor shaft through the first cable through hole on the motor shaft.

[0091] In one possible implementation, the stator assembly includes a second end cap disposed perpendicular to the first direction X. The second end cap is fixedly mounted on the end of the motor shaft 11 and is located axially outside the second bearing 40. The encoder stator 14 is fixedly mounted on the inner surface of the second end cap facing the second bearing 40. The second end cap is provided with a third cable through hole penetrating its inner and outer surfaces. The third cable through hole is located on the second end cap in an annular projection area between the motor shaft 11 and the motor housing 21, and is used for the cable of the encoder stator 14 to pass through.

[0092] That is, similar to the first end cover, a second end cover can be specifically provided on the axial outer side of the second bearing.

[0093] The second end cover is arranged perpendicular to the first direction. For example, the middle of the second end cover may be provided with an insertion through hole. The circumferential end of the motor shaft is inserted into the insertion through hole of the second end cover, and then the second end cover and the motor shaft are fixedly installed by radial set screws.

[0094] The encoder stator can be fastened to the inner surface of the second end cover facing the second bearing by an axially extending screw, for example. In this way, since the second end cover is fixedly installed with the motor shaft, the encoder stator is also fixed to the second end cover. At this time, it can be understood that the encoder stator is fixedly installed relative to the motor shaft.

[0095] In addition, with the second end cover installed on the axial outside of the second bearing, the encoder cable can be passed through the third cable through hole of the second end cover. At this time, considering that the second end cover is fixed and does not rotate relative to the motor shaft, the encoder cable passing through the third cable through hole on the second end cover will not have an adverse effect on the relative rotation of the motor housing.

[0096] In other words, with end caps installed on the outer sides of the first and second bearings respectively, the cables of the brake and encoder can pass through the end caps near their respective ends.

[0097] Similar to the first end cover, the second end cover may also have a mounting step on its outer surface facing away from the second bearing. The mounting step is used to fix and install the external rotor motor. The inner surface of the second end cover facing the second bearing has a circumferentially arranged insertion groove relative to the first direction. The insertion groove is used for insertion and installation of the end of the motor housing in a relatively rotatable manner.

[0098] In one possible implementation, the motor housing 21 includes a load housing 213 extending along a first direction X, the inner circumferential surface of which is used to fix the motor magnet 22; wherein, along the first direction X: a first mounting sidewall 211 extends radially inward from the first end of the load housing 213, the outer end face of which is used to fix the brake rotor 23 by a second screw 82, and the radially inner end of which is used to fix the first bearing 30; a second mounting sidewall 212 extends radially inward from the second end of the load housing 213, the outer end face of which is used to fix the encoder rotor 24 by a third screw 83, and the radially inner end of which is used to fix the second bearing 40.

[0099] This embodiment shows the specific structure of the motor housing being rotatably connected to the motor shaft via two bearings.

[0100] The load housing may be, for example, a hollow cylindrical shape, and a motor magnet may be specifically installed on the circumferential inner surface of the load housing; then, along the first direction, a first mounting sidewall and a second mounting sidewall extend radially inward from both ends of the load housing, respectively.

[0101] Specifically, the brake rotor described above can be fixedly mounted on the outer surface of the first mounting sidewall. The brake rotor can be fastened to the outer surface of the first mounting sidewall, for example, by a second screw arranged along the first direction. Then, the radial inner end of the first mounting sidewall is also used for fixed mounting with the first bearing.

[0102] Similarly, the encoder rotor described above can be fixedly mounted on the outer surface of the second mounting sidewall, wherein the encoder rotor can be fastened to the outer surface of the second mounting sidewall, for example, by a third screw provided along the first direction, and then the radial inner end of the second mounting sidewall is also used for fixed mounting with the second bearing.

[0103] Understandably, the first mounting sidewall combined with the first bearing and the second mounting sidewall combined with the second bearing can achieve axial sealing of the motor magnets and stator coils.

[0104] In one specific embodiment, the motor housing 21 includes a dust cover 214 that is hollow and cylindrical along the first direction X. The dust cover 214 is fixedly installed on one end of the load housing 213 that has a first mounting sidewall 211, so that a first accommodating cavity 91 for accommodating the brake rotor 23 and the brake stator 13 is formed on the axial outer side of the first bearing 30.

[0105] Specifically, a dust cover can be fixedly installed at the end of the load housing where the first mounting sidewall is provided. The dust cover can be fixed to the end of the load housing by means of interference fit or adhesive, and the dust cover extends along the first direction. In this way, it can be understood that a first receiving cavity for accommodating the brake (including the brake stator and the brake rotor) can be formed on the axial outer side of the first bearing.

[0106] Furthermore, in conjunction with the aforementioned first end cap, the first end cap axially seals the first accommodating cavity, and the circumferential end of the dust cover can be rotatably inserted into the insertion groove of the first end cap.

[0107] In addition, regarding the fixed installation of the dust cover and the load housing, at the end with the first mounting side wall 211, the circumferential end of the load housing 213 can be provided, for example, with a positioning step 2133. The dust cover 214 is fixedly inserted into the positioning step 2133 and then fixed with adhesive. Of course, the dust cover and the load housing can also be fastened with screws or the like.

[0108] In another specific embodiment, the motor housing 21 includes an encoder cover 215 extending along a first direction X. The encoder cover 215 is fixedly mounted on one end of the load housing 213 that has a second mounting sidewall 212, so that a second accommodating cavity 92 for accommodating the encoder rotor 24 and the encoder stator 14 is formed on the axially outer side of the second bearing 40.

[0109] That is, similar to a dust cover, an encoder cover can be fixedly installed at the end of the load housing where a second mounting sidewall is provided. The encoder cover is fixed to the end of the load housing and extends along a first direction. In this way, it can be understood that a second accommodating cavity for accommodating the encoder (including the encoder stator and the encoder rotor) can be formed on the axially outer side of the second bearing.

[0110] For ease of understanding, since the encoder cover is fixed to the motor housing and rotates with the motor housing, the encoder stator can be directly fixed to the motor shaft using set screws 86, etc.

[0111] The encoder cover 215 includes a circumferential wall portion 2151 that surrounds the first direction X in a circumferential manner; one end of the circumferential wall portion 2151 along the first direction X is inserted into the end of the load housing 213; the other end of the circumferential wall portion 2151 along the first direction X extends radially inward to a cover portion 2152, and the cover portion 2152 is fastened to the second mounting side wall 212 by a fourth screw 84 so that the cover portion 2152 axially closes the second accommodating cavity 92.

[0112] That is, the encoder cover can be extended radially inward at the end of the encoder cover away from the second bearing, and the cover can axially close the second accommodating cavity; in addition, the encoder cover can be directly fastened to the second mounting side wall by the fourth screw that passes through the cover, which is simple in structure and easy to install and disassemble.

[0113] In addition, an oil seal ring 25 is provided between the radial inner end of the cover portion 2152 and the motor shaft 11 to seal the second accommodating cavity 92.

[0114] In another specific embodiment, the load housing 213 includes a first housing 2131 and a second housing 2132 that are detachably connected along a first direction X; wherein, the first end of the first housing 2131 is provided with a first mounting sidewall 211, the first end of the second housing 2132 is provided with a second mounting sidewall 212, the second end of the first housing 2131 and the second end of the second housing 2132 are inserted and installed along the first direction X, and the second end of the first housing 2131 and the second end of the second housing 2132 are fastened by a fifth screw 85.

[0115] That is, the load housing can be configured as a first housing and a second housing that can be detachably connected. Each of the two housings has a mounting sidewall at one end, and the other ends of the two housings can be fastened by a fifth screw. In this way, the installation and removal of the load housing can be easily realized.

[0116] Of course, before installing the first housing, the wave washer 16 can be installed in its bearing housing first, and then it can be assembled with the motor shaft.

[0117] Based on the external rotor motor disclosed in the above embodiments, this application also provides a handling robot, which includes the aforementioned external rotor motor; wherein, for example, in the handling robot, the external rotor motor is connected to the walking wheels via a transmission, so that the walking wheels of the handling robot can be driven by the external rotor motor; of course, depending on the actual situation, the external rotor motor can also be connected to other components via a transmission, and the external rotor motor can be used as the drive motor for other components of the handling robot.

[0118] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0119] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0120] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0121] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0122] The above description has been given for illustrative and descriptive purposes. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize that certain variations, modifications, alterations, additions, and sub-combinations thereof should be included within the scope of protection of this invention.

Claims

1. An external rotor motor, characterized in that, The external rotor motor includes: A rotor assembly and a stator assembly are coaxially arranged along a first direction; the stator assembly includes a motor shaft extending along the first direction, and the rotor assembly includes a motor housing extending along the first direction and having a hollow structure, the motor housing being fitted over the motor shaft. A first bearing and a second bearing are respectively fixedly installed on the motor shaft; the motor shaft and the motor housing are connected in a relative rotational manner through the first bearing and the second bearing; In the annular space between the first bearing and the second bearing, the stator assembly includes a stator coil fixedly mounted on the outer circumferential surface of the motor shaft, and the rotor assembly includes a motor magnet fixedly mounted on the inner circumferential surface of the motor housing. The motor magnet and the stator coil are axially aligned. On the axially outer side of the first bearing, the stator assembly includes a brake stator fixedly mounted relative to the motor shaft, and the rotor assembly includes a brake rotor fixedly mounted to the motor housing, such that the brake rotor and the brake stator are rotated relative to each other. On the axially outer side of the second bearing, the stator assembly includes an encoder stator fixedly mounted relative to the motor shaft, and the rotor assembly includes an encoder rotor fixedly mounted to the motor housing, such that the encoder rotor and the encoder stator are mounted in a manner that allows relative rotation between them. Furthermore, along the first direction, the motor shaft has a hollow structure with at least one open end, and the motor shaft is provided with a first cable through hole at least near the stator coil, so that the cable of the stator coil extends out from the open end of the motor shaft through the first cable through hole near it.

2. The external rotor motor according to claim 1, characterized in that, The stator assembly includes a first end cap disposed perpendicular to the first direction, the first end cap being fixedly mounted on the end of the motor shaft, and the first end cap being located axially outside the first bearing; The brake stator is fixedly mounted on the inner surface of the first end cover facing the first bearing by a first screw.

3. The external rotor motor according to claim 2, characterized in that, The first end cover has an installation step on its outer surface facing away from the first bearing, and the installation step is used to fix the outer rotor motor.

4. The external rotor motor according to claim 2, characterized in that, The first end cover has a circumferentially arranged insertion groove on its inner surface facing the first bearing. The insertion groove is used for insertion and installation of the end of the motor housing in a relatively rotatable manner.

5. The external rotor motor according to claim 2, characterized in that, The first end cover is provided with a second cable through hole that penetrates its inner and outer surfaces. The second cable through hole is located on the first end cover in the annular projection area between the motor shaft and the motor housing. The second cable through hole is used for the cable of the brake stator to pass through. Furthermore, the motor shaft is provided with the first cable through hole near the encoder stator, so that the cable of the encoder stator extends out from the open end of the motor shaft through the first cable through hole near it.

6. The external rotor motor according to any one of claims 1 and 2, characterized in that, The stator assembly includes a second end cap disposed perpendicular to the first direction. The second end cap is fixedly mounted on the end of the motor shaft and is located axially outside the second bearing. The encoder stator is fixedly mounted on the inner surface of the second end cover facing the second bearing; The second end cover is provided with a third cable through hole that penetrates its inner and outer surfaces. The third cable through hole is located on the second end cover in the annular projection area between the motor shaft and the motor housing. The third cable through hole is used for the cable of the encoder stator to pass through.

7. The external rotor motor according to claim 1, characterized in that, The motor housing includes a load outer shell extending along the first direction, and the circumferential inner surface of the load outer shell is used to fix the motor magnets; wherein, along the first direction: The first end of the load housing extends radially inward and has a first mounting sidewall. The outer end face of the first mounting sidewall is used to fix the brake rotor by a second screw, and the radially inner end of the first mounting sidewall is used to fix the first bearing. The second end of the load housing extends radially inward to form a second mounting sidewall. The outer end face of the second mounting sidewall is used to fix the encoder rotor by a third screw, and the radially inner end of the second mounting sidewall is used to fix the second bearing.

8. The external rotor motor according to claim 7, characterized in that, The motor housing includes a hollow cylindrical dust cover along the first direction. The dust cover is fixedly installed on one end of the load housing where the first mounting sidewall is provided, so that a first receiving cavity is formed on the axial outer side of the first bearing to accommodate the brake rotor and the brake stator.

9. The external rotor motor according to claim 8, characterized in that, At the end where the first mounting sidewall is located, a positioning step is provided at the circumferential end of the load housing, and the dust cover is fixedly inserted into the positioning step.

10. The external rotor motor according to claim 7, characterized in that, The motor housing includes an encoder cover extending along the first direction. The encoder cover is fixedly installed on one end of the load housing where the second mounting sidewall is provided, so that a second accommodating cavity is formed on the axially outer side of the second bearing to accommodate the encoder rotor and the encoder stator.

11. The external rotor motor according to claim 10, characterized in that, The encoder cover includes a circumferential wall portion that surrounds the encoder in the first direction. Wherein, one end of the circumferential wall portion along the first direction is inserted into the end of the load housing; The circumferential wall portion extends radially inward at the other end along the first direction to form a cover portion, which is fastened to the second mounting sidewall by a fourth screw to axially close the second accommodating cavity.

12. The external rotor motor according to claim 11, characterized in that, An oil seal ring is provided between the radial inner end of the cover portion and the motor shaft.

13. The external rotor motor according to claim 7, characterized in that, The load housing includes a first housing and a second housing that are detachably connected along the first direction; The first housing has a first mounting sidewall at its first end, the second housing has a second mounting sidewall at its first end, the second end of the first housing and the second end of the second housing are inserted and installed along the first direction, and the second end of the first housing and the second end of the second housing are fastened by a fifth screw.

14. The external rotor motor according to claim 1, characterized in that, Along the first direction, the motor shaft has a hollow structure with openings at both ends.

15. The external rotor motor according to claim 1, characterized in that, The circumferential outer surface of the motor housing is provided with a load gear.

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