Motor module compatible with multiple installation modes

Abstract

The utility model discloses a motor module compatible with multiple installation modes, which relates to the technical field of motors, and comprises a speed reduction motor integrated assembly provided with a vertically arranged fixing flange, and the fixing flange is provided with a transversely extending fixing screw hole; the mounting base is detachably connected with the fixing flange, a first mounting hole extending transversely is formed in the mounting base, the first mounting hole is connected with the fixing screw hole through a mounting screw, and a second mounting hole extending vertically is further formed in the mounting base. When the mounting base is connected with the fixed flange, a screw can vertically penetrate through the second mounting hole to be mounted on a chassis of the walking robot; the mounting base can be detached from the fixed flange, the chassis of the walking robot can be directly connected and fixed with the fixed flange, and a user can design the base according to the fixed flange, so that the motor module can adapt to and be compatible with the mounting modes of the chassis of various walking robots; and different use scenes and use requirements of users are met.

Description

Technical Field

[0001] The utility model relates to the technical field of motors, and in particular to a motor module that is compatible with multiple installation methods. Background Art

[0002] The motor module is an important driving component of a walking robot or a walking car. The motor module integrates a motor and a reducer assembly to reduce the size and space occupied. The motor module is usually installed on the chassis of the walking robot, but the existing motor module has a single installation method. In an ideal situation, the chassis structure of different walking robots will be adjusted according to the overall structural design needs. The structure of the motor module installed on different chassis will be different. The single installation method of the motor module will limit the structural design of the walking robot, or limit the motor module from being able to adapt to the installation of different walking robots, resulting in fewer usage scenarios for a motor module and failing to meet the usage needs of different users. Utility Model Content

[0003] The main purpose of the utility model is to propose a motor module that is compatible with multiple installation methods, aiming to solve the technical problems in the prior art that the motor module has a single installation method, which will limit the structural design of the walking robot, or limit the motor module from adapting to the installation of different walking robots.

[0004] To achieve the above purpose, the utility model proposes a motor module that is compatible with multiple installation methods, including:

[0005] A reduction motor integrated assembly, the reduction motor integrated assembly comprising a motor assembly and a reducer assembly, the rotation axis of the reduction motor integrated assembly being arranged in a transverse direction, the motor assembly or the reducer assembly being provided with a vertically arranged fixing flange, and the fixing flange being provided with a fixing screw hole extending transversely;

[0006] A mounting base is detachably connected to the fixing flange, a first mounting hole extending laterally is provided on the mounting base, the first mounting hole is directly opposite to the fixing screw hole, the first mounting hole and the fixing screw hole are connected by mounting screws to realize the detachable connection between the mounting base and the fixing flange, and a second mounting hole extending vertically is also provided on the mounting base.

[0007] The motor module has multiple installation methods: first, when the mounting base is connected to the fixing flange, the mounting base and the fixing flange are fixed through the first mounting hole, the fixing screw hole and the mounting screw. Since the mounting base is provided with a second mounting hole extending vertically, the mounting base can be placed horizontally on the chassis of the walking robot and installed on the chassis of the walking robot by vertically passing the screw through the second mounting hole; then, the mounting base can be removed from the fixing flange, and the chassis of the walking robot can be directly abutted against the fixing flange vertically, and be connected and fixed to the fixing screw holes on the fixing flange horizontally by screws; in addition, the mounting base can be removed from the fixing flange, and the user can design other types of bases according to the structural positions of the fixing flange and the fixing screw holes, and install the motor module to the chassis of the walking robot through the base, so that the motor module can be adapted to the installation method of the chassis compatible with a variety of different walking robots, and the installation and use are more flexible to meet different usage scenarios and user needs.

[0008] Preferably, the mounting base includes an arched mounting frame and two mounting plates, the two mounting plates are arranged on the lower side of the arched mounting frame, the arched mounting frame is arranged on the upper side of the motor assembly, the arched mounting frame is abutted against the fixing flange, at least part of the first mounting hole is arranged on the arched mounting frame, the mounting plate is arranged horizontally, the two mounting plates are respectively arranged on the left and right sides of the motor assembly, and the second mounting hole is arranged on the mounting plate.

[0009] The arched mounting frame spans over the left and right sides of the motor assembly. The arched mounting frame can keep the motor assembly away and increase the connection area with the fixing flange. The two mounting plates can improve the stability of the installation.

[0010] Preferably, the fixing flange is provided with a transversely extending positioning pin, the mounting base is provided with a positioning hole, and the positioning pin is inserted into the positioning hole. Inserting the positioning pin into the positioning hole can make the mounting base and the fixing flange more accurately positioned when they are installed.

[0011] Preferably, the reducer assembly is arranged on the front side of the motor assembly, and the motor assembly includes a motor shaft, and the reducer assembly includes a fixed planetary holder, a first sun gear, a first planetary gear, a first inner ring gear, a load-bearing bearing and a travel wheel; the fixed planetary holder is fixedly arranged on the front side of the motor assembly, the first sun gear is fixedly connected to the motor shaft, the first planetary gear is rotatably connected to the fixed planetary holder, the first planetary gear is meshed with the first sun gear, the first inner ring gear is rotatably connected to the fixed planetary holder, the inner ring of the load-bearing bearing is fixed to the outer side of the fixed planetary holder, the inner side of the first inner ring gear is fixed to the outer ring of the load-bearing bearing, the first planetary gear is meshed with the first inner ring gear, the travel wheel is fixedly connected to the outer periphery of the first inner ring gear, and the fixing flange is arranged on the fixed planetary holder.

[0012] The reducer assembly can adopt a first-stage planetary transmission reduction, the motor shaft drives the first sun gear to rotate, the first sun gear drives the first planetary gear to rotate, and the first planetary gear drives the first inner gear ring and the travel wheel to rotate.

[0013] Preferably, the reducer assembly is arranged at the front side of the motor assembly, the motor assembly includes a motor shaft, and the reducer assembly includes a fixed planetary holder, a first sun gear, a first planetary gear, a primary internal gear ring, a primary planetary holder, a secondary sun gear, a secondary planetary gear, a secondary internal gear ring, a load-bearing bearing and a travel wheel;

[0014] The fixed planetary holder is fixedly arranged on the front side of the motor assembly, the first sun gear is fixedly connected to the front side of the motor shaft, the first planetary gear is arranged on the outer side of the first sun gear, the first planetary gear is meshed with the first sun gear, the first-stage inner gear ring is arranged on the outer side of the first planetary gear, the first-stage inner gear ring is fixedly connected to the fixed planetary holder, the first planetary gear is meshed with the first-stage inner gear ring, the first-stage planetary holder is arranged on the rear side of the first planetary gear, the first planetary gear is rotatably connected to the first-stage planetary holder, and the first-stage planetary holder is coaxially sleeved on the outer side of the motor shaft and can rotate relative to the motor shaft;

[0015] The secondary sun gear is fixedly connected to the rear side of the primary planetary holder, the secondary sun gear is coaxially sleeved on the outer side of the motor shaft and can rotate relative to the motor shaft, the secondary planetary gears are arranged on the outer side of the secondary sun gear, the secondary planetary gears are meshed and connected with the secondary sun gear, the secondary planetary gears are rotatably connected with the fixed planetary holder, the secondary inner ring gear is arranged on the outer side of the secondary planetary gears, the secondary inner ring gear is meshed and connected with the secondary planetary gears, the secondary inner ring gear is rotatably connected with the fixed planetary holder, the inner ring of the load-bearing bearing is fixed to the outer side of the fixed planetary holder, the inner side of the secondary inner ring gear is fixed to the outer ring of the load-bearing bearing, the walking wheel is fixedly connected to the outer periphery of the secondary inner ring gear, and the fixing flange is arranged on the fixed planetary holder.

[0016] The reducer assembly can adopt a two-stage planetary transmission deceleration. The motor shaft drives the first sun gear to rotate, the first sun gear drives the first planetary gear to rotate and rotate around the motor shaft, the first planetary gear drives the first planetary retainer and the second sun gear to rotate, the second sun gear drives the second planetary gear to rotate, and the second planetary gear drives the second inner gear ring and the walking wheel to rotate.

[0017] Preferably, the motor assembly includes a casing, a front end cover is fixedly connected to the front side of the casing, a rear end cover is fixedly connected to the rear side of the casing, the fixed planetary retainer is fixedly connected to the front side of the front end cover, a front bearing, a rear bearing, a motor stator, the motor shaft and an electromagnetic brake are provided on the inner side of the casing, the outer ring of the front bearing is fixed to the front end cover, the outer ring of the rear bearing is fixed to the rear end cover, the front side of the motor shaft passes through the inner ring of the front bearing and is fixed to each other, the rear side of the motor shaft passes through the inner ring of the rear bearing and is fixed to each other, the motor stator is fixedly connected to the inner side of the casing, a rotor magnetic shoe is fixedly connected to the motor shaft, the rotor magnetic shoe is arranged between the front bearing and the rear bearing, the motor stator is arranged on the outside of the rotor magnetic shoe, the electromagnetic brake is arranged between the front bearing and the rear bearing, the main body of the electromagnetic brake is fixed to the casing, and the brake pad of the electromagnetic brake is fixedly connected to the motor shaft.

[0018] Preferably, the front bearing is at least partially arranged inside the inner hole of the main body of the electromagnetic brake, which can shorten the axial length of the motor assembly, reduce the occupied space, and help reduce the width of the walking robot.

[0019] Preferably, the motor assembly includes a casing, the fixed planetary holder is fixedly connected to the front side of the casing, the rear side of the casing is fixedly connected to the rear end cover, the inner side of the casing is provided with a front bearing, a rear bearing, a motor stator, the motor shaft and an electromagnetic brake, the outer ring of the front bearing is fixed to the fixed planetary holder, the front side of the motor shaft passes through the inner ring of the front bearing and are fixed to each other, the outer ring of the rear bearing is fixed to the rear end cover, the rear side of the motor shaft passes through the inner ring of the rear bearing and are fixed to each other, the motor stator is fixedly connected to the inner side of the casing, the motor shaft is fixedly connected with a rotor magnetic shoe, the rotor magnetic shoe is arranged between the front bearing and the rear bearing, the motor stator is arranged on the outside of the rotor magnetic shoe, the electromagnetic brake is arranged between the front bearing and the rear bearing, the main body of the electromagnetic brake is fixed to the casing, and the brake pad of the electromagnetic brake is fixedly connected to the motor shaft.

[0020] The fixed planetary cage is directly fixed to the casing, and the front bearing is connected to the fixed planetary cage, which can shorten the axial length of the motor module, reduce the occupied space, and help reduce the width of the walking robot.

[0021] Preferably, the first sun gear is integrally arranged with the motor shaft, which can shorten the axial length of the motor module and reduce the occupied space.

[0022] Preferably, the reduction motor integrated assembly also includes a drive assembly integrated on the motor assembly, the drive assembly is arranged on the rear side of the motor assembly, the motor assembly includes a motor shaft, the drive assembly includes a drive circuit board and a heat dissipation back cover, the heat dissipation back cover is fixedly connected to the rear side of the motor assembly, the drive circuit board is fixedly connected to the inner side of the heat dissipation back cover, an encoding sensor is provided on the drive circuit board, an encoder magnet is fixed to the rear end of the motor shaft, the encoder magnet is directly opposite to the encoding sensor, and the drive circuit board is in thermal contact with the heat dissipation back cover. The abutment of the drive circuit board with the heat dissipation back cover can accelerate the heat transfer of the drive circuit board to the heat dissipation back cover and improve the heat dissipation effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the overall structure of the motor module of the utility model;

[0024] Figure 2 This is a schematic diagram of the exploded structure of the motor module of the utility model;

[0025] Figure 3 It is a structural schematic diagram of the mounting base of the utility model;

[0026] Figure 4 for Figure 1A schematic cross-sectional structural diagram of a motor module;

[0027] Figure 5 It is a schematic diagram of the overall structure of another embodiment of the motor module of the utility model;

[0028] Figure 6 for Figure 5 Schematic diagram of the cross-sectional structure of the motor module.

[0029] In the attached figure: 1-motor assembly, 11-motor shaft, 111-encoder magnet, 12-housing, 13-front cover, 14-rear cover, 15-front bearing, 16-rear bearing, 17-motor stator, 18-electromagnetic brake, 181-brake pad, 19-rotor magnetic tile, 2-reducer assembly, 21-fixing flange, 211-fixing screw hole, 212-locating pin, 22-fixed planetary holder, 23-first sun gear, 24-first planetary gear, 25-first inner ring gear , 26-bearing bearing, 27-travel wheel, 281-first-stage inner ring gear, 282-first-stage planetary retainer, 283-secondary sun gear, 284-secondary planetary gear, 285-secondary inner ring gear, 29-deceleration cover, 3-drive assembly, 31-drive circuit board, 311-encoding sensor, 32-heat dissipation back cover, 4-mounting base, 41-first mounting hole, 42-second mounting hole, 43-arch mounting frame, 44-mounting plate, 45-positioning hole, 46-mounting screw. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the utility model.

[0031] It should be noted that if the embodiments of the present invention involve directional indications, such as up, down, left, right, front, back, etc., then the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0032] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the utility model, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of technical personnel in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the utility model.

[0033] like Figures 1 to 6 As shown, a motor module that is compatible with multiple installation methods includes a reduction motor integrated component and a mounting base 4.

[0034] The reduction motor integrated assembly includes a motor assembly 1 and a reduction gear assembly 2. The rotation axis of the reduction motor integrated assembly is arranged horizontally. The motor assembly 1 or the reduction gear assembly 2 is provided with a vertically arranged fixing flange 21, that is, the mounting surface of the fixing flange 21 is arranged vertically, and the fixing flange 21 is provided with a horizontally extending fixing screw hole 211.

[0035] The mounting base 4 is detachably connected to the fixing flange 21, and a first mounting hole 41 extending laterally is provided on the mounting base 4. The first mounting hole 41 is directly opposite to the fixing screw hole 211, and the first mounting hole 41 is connected to the fixing screw hole 211 by a mounting screw 46 to realize the detachable connection between the mounting base 4 and the fixing flange 21, and a second mounting hole 42 extending vertically is also provided on the mounting base 4.

[0036] The motor module has multiple installation methods: In the first installation method, when the mounting base 4 is connected to the fixing flange 21, the mounting base 4 and the fixing flange 21 are fixed together through the first mounting hole 41, the fixing screw hole 211 and the mounting screw 46. Since the mounting base 4 is provided with a second mounting hole 42 extending vertically, the mounting base 4 can be horizontally placed on the chassis of the walking robot and installed on the chassis of the walking robot by passing the screw vertically through the second mounting hole 42. In the second installation method, the mounting base 4 can be removed from the fixing flange 21 by loosening the fixing screw hole 211. 4. The chassis of the walking robot can be directly abutted against the fixing flange 21 vertically, and can be horizontally connected and fixed with the fixing screw holes 211 on the fixing flange 21 by screws; the third installation method is that the mounting base 4 can be removed from the fixing flange 21, and the user can design other types of bases according to the structural positions of the fixing flange 21 and the fixing screw holes 211, and install the motor module on the chassis of the walking robot through the base, thereby realizing an installation method that is compatible with the chassis of a variety of different walking robots, and the installation and use are more flexible, meeting different usage scenarios and user needs.

[0037] In some specific embodiments, referring to Figure 2 and Figure 3 The mounting base 4 includes an arched mounting frame 43 and two mounting plates 44. The two mounting plates 44 are arranged on the lower side of the arched mounting frame 43. The arched mounting frame 43 is arranged on the upper side of the motor assembly 1. The arched mounting frame 43 abuts against the fixing flange 21. At least part of the first mounting hole 41 is arranged on the arched mounting frame 43. The mounting plate 44 is arranged horizontally. The two mounting plates 44 are respectively arranged on the left and right sides of the motor assembly 1. The second mounting hole 42 is arranged on the mounting plate 44.

[0038] The arched mounting frame 43 spans over the left and right sides of the motor assembly 1 at the upper side, making it easy to disassemble and assemble the mounting base 4. The arched mounting frame 43 can move away from the motor assembly 1 and increase the connection area with the fixing flange 21. The two mounting plates 44 can improve the stability of the installation.

[0039] In some specific embodiments, the fixing flange 21 is provided with a locating pin 212 extending laterally, the mounting base 4 is provided with a locating hole 45, and the locating pin 212 is inserted into the locating hole 45. The locating pin 212 inserted into the locating hole 45 can make the mounting base 4 and the fixing flange 21 more accurately positioned when being installed. After the mounting base 4 is removed, the locating pin 212 can also be used for positioning in other installation methods.

[0040] In some specific embodiments, the reducer assembly 2 is arranged on the front side of the motor assembly 1, and the motor assembly 1 includes a motor shaft 11. The rotation axis of the motor shaft 11 is the rotation axis of the reduction motor integrated assembly, or the rotation axis of the motor shaft 11 is arranged parallel to the rotation axis of the reduction motor integrated assembly. The reducer assembly 2 can adopt a first-stage planetary transmission reduction structure or a second-stage planetary transmission reduction structure, or other reducer structures, refer to the following embodiments one and two.

[0041] Embodiment 1:

[0042] Reference Figure 1 and Figure 4 In this embodiment, the reducer assembly 2 adopts a first-stage planetary transmission reduction, and the reducer assembly 2 includes a fixed planetary holder 22, a first sun gear 23, a first planetary gear 24, a first inner ring gear 25, a load-bearing bearing 26 and a running wheel 27; the fixed planetary holder 22 is fixedly arranged on the front side of the motor assembly 1, the first sun gear 23 is fixedly connected to the motor shaft 11, the first planetary gear 24 is rotatably connected to the fixed planetary holder 22, the number of the first planetary gears 24 is three and is evenly distributed circumferentially, the first planetary gear 24 is meshed with the first sun gear 23, the first inner ring gear 25 is rotatably connected to the fixed planetary holder 22, the inner ring of the load-bearing bearing 26 is fixed to the outer side of the fixed planetary holder 22, the inner side of the first inner ring gear 25 is fixed to the outer ring of the load-bearing bearing 26, the first planetary gear 24 is meshed with the first inner ring gear 25, the running wheel 27 is fixedly connected to the outer periphery of the first inner ring gear 25, and the fixing flange 21 is arranged on the fixed planetary holder 22.

[0043] The motor shaft 11 drives the first sun gear 23 to rotate, the first sun gear 23 drives the first planetary gear 24 to rotate, and the first planetary gear 24 drives the first inner gear ring 25 and the running wheel 27 to rotate.

[0044] The reducer assembly 2 further includes a reduction cover 29 , which is disposed at the frontmost side of the reducer assembly 2 and is fixedly connected to the fixed planetary retainer 22 .

[0045] Embodiment 2:

[0046] Reference Figure 5 and Figure 6 In this embodiment, the reducer assembly 2 adopts a two-stage planetary transmission reduction, and the reducer assembly 2 includes a fixed planetary holder 22, a first sun gear 23, a first planetary gear 24, a primary internal gear ring 281, a primary planetary holder 282, a secondary sun gear 283, a secondary planetary gear 284, a secondary internal gear ring 285, a load-bearing bearing 26 and a travel wheel 27;

[0047] The fixed planetary holder 22 is fixedly arranged on the front side of the motor assembly 1, the first sun gear 23 is fixedly connected to the front side of the motor shaft 11, the first planetary gear 24 is arranged on the outer side of the first sun gear 23, the number of the first planetary gears 24 is three and they are evenly distributed in the circumferential direction, the first planetary gear 24 is meshed with the first sun gear 23, the first-stage inner gear ring 281 is arranged on the outer side of the first planetary gear 24, the first-stage inner gear ring 281 is fixedly connected to the fixed planetary holder 22, the first planetary gear 24 is meshed with the first-stage inner gear ring 281, the first-stage planetary holder 282 is arranged on the rear side of the first planetary gear 24, the first planetary gear 24 is rotatably connected to the first-stage planetary holder 282, and the first-stage planetary holder 282 is coaxially sleeved on the outer side of the motor shaft 11 and can rotate relative to the motor shaft 11;

[0048] The secondary sun gear 283 is fixedly connected to the rear side of the primary planetary holder 282. The secondary sun gear 283 is coaxially sleeved on the outer side of the motor shaft 11 and can rotate relative to the motor shaft 11. The secondary planetary gears 284 are arranged on the outer side of the secondary sun gear 283. The number of the secondary planetary gears 284 is three and they are evenly distributed circumferentially. The secondary planetary gears 284 are meshed and connected with the secondary sun gear 283. The secondary planetary gears 284 are rotatably connected with the fixed planetary holder 22. The secondary inner ring gear 285 is arranged on the outer side of the secondary planetary gear 284. The secondary inner ring gear 285 is meshed and connected with the secondary planetary gears 284. The secondary inner ring gear 285 is rotatably connected with the fixed planetary holder 22. The inner ring of the load-bearing bearing 26 is fixed to the outer side of the fixed planetary holder 22. The inner side of the secondary inner ring gear 285 is fixed to the outer ring of the load-bearing bearing 26. The walking wheel 27 is fixedly connected to the outer periphery of the secondary inner ring gear 285. The fixing flange 21 is arranged on the fixed planetary holder 22.

[0049] The motor shaft 11 drives the first sun gear 23 to rotate, the first sun gear 23 drives the first planetary gear 24 to rotate and rotate around the motor shaft 11, the first planetary gear 24 drives the first-level planetary retainer 282 and the second-level sun gear 283 to rotate, the second-level sun gear 283 drives the second-level planetary gear 284 to rotate, and the second-level planetary gear 284 drives the second-level inner ring gear 285 and the walking wheel 27 to rotate.

[0050] The reducer assembly 2 further includes a reduction cover 29, which is disposed at the frontmost side of the reducer assembly 2 and is fixedly connected to the primary inner gear ring 281. The travel wheel 27 may be a rubber-coated wheel.

[0051] In some specific embodiments, the structure of the motor assembly 1 may refer to the following third and fourth embodiments, or other motor structures may be used.

[0052] Embodiment three:

[0053] Reference Figure 1and Figure 4 The motor assembly 1 includes a housing 12, a front cover 13 is fixedly connected to the front side of the housing 12, a rear cover 14 is fixedly connected to the rear side of the housing 12, a fixed planetary holder 22 is fixedly connected to the front side of the front cover 13, a front bearing 15, a rear bearing 16, a motor stator 17, a motor shaft 11 and an electromagnetic brake 18 are arranged on the inner side of the housing 12, the outer ring of the front bearing 15 is fixed to the front cover 13, the outer ring of the rear bearing 16 is fixed to the rear cover 14, and the front side of the motor shaft 11 passes through the inner ring of the front bearing 15 and is fixed to each other The rear side of the motor shaft 11 passes through the inner ring of the rear bearing 16 and is fixed to each other. The motor stator 17 is fixedly connected to the inner side of the casing 12. The motor shaft 11 is fixedly connected with a rotor magnetic tile 19. The rotor magnetic tile 19 is arranged between the front bearing 15 and the rear bearing 16. The motor stator 17 is arranged on the outside of the rotor magnetic tile 19. The electromagnetic brake 18 is arranged between the front bearing 15 and the rear bearing 16. The main body of the electromagnetic brake 18 is relatively fixed to the casing 12, and the brake pad 181 of the electromagnetic brake 18 is fixedly connected to the motor shaft 11.

[0054] The motor stator 17 is energized to rotate the rotor magnetic shoe 19 and the motor shaft 11; the electromagnetic brake 18 plays a braking role, and can be specifically an electromagnetic friction plate type power-off brake. When power is on, the brake plate 181 can rotate with the motor shaft 11, and when power is off, the main body of the electromagnetic brake 18 attracts the brake plate 181, and the brake plate 181 contacts and rubs with the main body of the electromagnetic brake 18 to achieve braking of the motor shaft 11.

[0055] Furthermore, the front bearing 15 is at least partially disposed inside the inner hole of the main body of the electromagnetic brake 18. This can shorten the axial length of the motor assembly 1, reduce the occupied space, and help reduce the width of the walking robot.

[0056] Embodiment 4:

[0057] Reference Figure 5 and Figure 6The motor assembly 1 includes a housing 12, a fixed planetary holder 22 fixedly connected to the front side of the housing 12, a rear end cover 14 fixedly connected to the rear side of the housing 12, a front bearing 15, a rear bearing 16, a motor stator 17, a motor shaft 11 and an electromagnetic brake 18 are arranged on the inner side of the housing 12, the outer ring of the front bearing 15 is fixed to the fixed planetary holder 22, the front side of the motor shaft 11 passes through the inner ring of the front bearing 15 and is fixed to each other, the outer ring of the rear bearing 16 is fixed to the rear end cover 14, and the motor shaft 11 The rear sides pass through the inner ring of the rear bearing 16 and are fixed to each other. The motor stator 17 is fixedly connected to the inner side of the casing 12. The motor shaft 11 is fixedly connected with a rotor magnetic tile 19. The rotor magnetic tile 19 is arranged between the front bearing 15 and the rear bearing 16. The motor stator 17 is arranged on the outside of the rotor magnetic tile 19. The electromagnetic brake 18 is arranged between the front bearing 15 and the rear bearing 16. The main body of the electromagnetic brake 18 is relatively fixed to the casing 12, and the brake pad 181 of the electromagnetic brake 18 is fixedly connected to the motor shaft 11.

[0058] In this embodiment, the fixed planetary holder 22 is directly fixed to the housing 12, and the front end cover 13 is not provided. The front bearing 15 is connected to the fixed planetary holder 22, which can shorten the axial length of the motor module, reduce the occupied space, and help reduce the width of the walking robot.

[0059] In some specific embodiments, the first sun gear 23 is integrally provided with the motor shaft 11 , which can reduce the connection structure between the first sun gear 23 and the motor shaft 11 , shorten the axial length of the motor module, and reduce the occupied space.

[0060] In some specific embodiments, the reduction motor integrated component also includes a drive component 3 integrated on the motor component 1, the drive component 3 is arranged on the rear side of the motor component 1, the motor component 1 includes a motor shaft 11, the drive component 3 includes a drive circuit board 31 and a heat dissipation back cover 32, the heat dissipation back cover 32 is fixedly connected to the rear side of the motor component 1, the drive circuit board 31 is fixedly connected to the inner side of the heat dissipation back cover 32, an encoding sensor 311 is provided on the drive circuit board 31, an encoder magnet 111 is fixed to the rear end of the motor shaft 11, the encoder magnet 111 is opposite to the encoding sensor 311, and the drive circuit board 31 is in thermal contact with the heat dissipation back cover 32.

[0061] The driving circuit board 31 is electrically connected to the motor stator 17 to drive the motor shaft 11 to rotate. The encoder magnet 111 rotates with the motor shaft 11, and the encoder sensor 311 senses the rotation angle of the encoder magnet 111 to detect the rotation angle of the motor shaft 11. The heat generated by the driving circuit board 31 can be diffused outward from the heat dissipation rear cover 32. The driving circuit board 31 abuts against the heat dissipation rear cover 32 and is insulated from each other, which can accelerate the heat transfer of the driving circuit board 31 to the heat dissipation rear cover 32 and improve the heat dissipation effect.

[0062] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A motor module compatible with multiple installation methods, characterized in that: include: A reduction motor integrated assembly, the reduction motor integrated assembly comprising a motor assembly (1) and a reduction gear assembly (2), the rotation axis of the reduction motor integrated assembly being arranged in a transverse direction, the motor assembly (1) or the reduction gear assembly (2) being provided with a vertically arranged fixing flange (21), the fixing flange (21) being provided with a fixing screw hole (211) extending transversely; A mounting base (4) is detachably connected to the fixing flange (21); a first mounting hole (41) extending transversely is provided on the mounting base (4); the first mounting hole (41) is directly opposite to the fixing screw hole (211); the first mounting hole (41) and the fixing screw hole (211) are connected by mounting screws (46) to achieve detachable connection between the mounting base (4) and the fixing flange (21); and a second mounting hole (42) extending vertically is also provided on the mounting base (4).

2. The motor module according to claim 1, characterized in that: The mounting base (4) comprises an arched mounting frame (43) and two mounting plates (44), the two mounting plates (44) being arranged at the lower side of the arched mounting frame (43), the arched mounting frame (43) being arranged at the upper side of the motor assembly (1), the arched mounting frame (43) being in contact with the fixing flange (21), at least part of the first mounting hole (41) being arranged on the arched mounting frame (43), the mounting plate (44) being arranged transversely, the two mounting plates (44) being arranged at the left and right sides of the motor assembly (1) respectively, and the second mounting hole (42) being arranged on the mounting plate (44).

3. The motor module according to claim 1, characterized in that: The fixing flange (21) is provided with a transversely extending positioning pin (212), the mounting base (4) is provided with a positioning hole (45), and the positioning pin (212) is inserted into the positioning hole (45).

4. The motor module according to claim 1, characterized in that: The reducer assembly (2) is arranged on the front side of the motor assembly (1), the motor assembly (1) comprises a motor shaft (11), and the reducer assembly (2) comprises a fixed planetary retainer (22), a first sun gear (23), a first planetary gear (24), a first inner gear ring (25), a load-bearing bearing (26), and a travel wheel (27); The fixed planetary holder (22) is fixedly arranged on the front side of the motor assembly (1); the first sun gear (23) is fixedly connected to the motor shaft (11); the first planetary gear (24) is rotatably connected to the fixed planetary holder (22); the first planetary gear (24) is meshingly connected to the first sun gear (23); the first inner gear ring (25) is rotatably connected to the fixed planetary holder (22); the inner ring of the load-bearing bearing (26) is fixed to the outer side of the fixed planetary holder (22); the inner side of the first inner gear ring (25) is fixed to the outer ring of the load-bearing bearing (26); the first planetary gear (24) is meshingly connected to the first inner gear ring (25); the walking wheel (27) is fixedly connected to the outer periphery of the first inner gear ring (25); and the fixing flange (21) is provided on the fixed planetary holder (22).

5. The motor module according to claim 1, characterized in that: The reducer assembly (2) is arranged on the front side of the motor assembly (1), the motor assembly (1) comprises a motor shaft (11), and the reducer assembly (2) comprises a fixed planetary holder (22), a first sun gear (23), a first planetary gear (24), a primary internal gear ring (281), a primary planetary holder (282), a secondary sun gear (283), a secondary planetary gear (284), a secondary internal gear ring (285), a load-bearing bearing (26), and a travel wheel (27); The fixed planetary holder (22) is fixedly arranged on the front side of the motor assembly (1); the first sun gear (23) is fixedly connected to the front side of the motor shaft (11); the first planetary gear (24) is arranged on the outer side of the first sun gear (23); the first planetary gear (24) is meshingly connected to the first sun gear (23); the first-stage inner gear ring (281) is arranged on the outer side of the first planetary gear (24); the first-stage inner gear ring (281) is fixedly connected to the fixed planetary holder (22); the first planetary gear (24) is meshingly connected to the first-stage inner gear ring (281); the first-stage planetary holder (282) is arranged on the rear side of the first planetary gear (24); the first planetary gear (24) is rotatably connected to the first-stage planetary holder (282); the first-stage planetary holder (282) is coaxially sleeved on the outer side of the motor shaft (11) and can rotate relative to the motor shaft (11); The secondary sun gear (283) is fixedly connected to the rear side of the primary planetary holder (282); the secondary sun gear (283) is coaxially sleeved on the outer side of the motor shaft (11) and can rotate relative to the motor shaft (11); the secondary planetary gear (284) is arranged on the outer side of the secondary sun gear (283); the secondary planetary gear (284) is meshedly connected with the secondary sun gear (283); the secondary planetary gear (284) is rotationally connected with the fixed planetary holder (22); the secondary inner gear ring (285) is arranged on the secondary sun gear (283); The outer side of the secondary planetary gear (284), the secondary inner gear ring (285) is meshedly connected with the secondary planetary gear (284), the secondary inner gear ring (285) is rotatably connected with the fixed planetary holder (22), the inner ring of the load-bearing bearing (26) is fixed to the outer side of the fixed planetary holder (22), the inner side of the secondary inner gear ring (285) is fixed to the outer ring of the load-bearing bearing (26), the running wheel (27) is fixedly connected to the outer periphery of the secondary inner gear ring (285), and the fixing flange (21) is arranged on the fixed planetary holder (22).

6. The motor module according to claim 4 or 5, characterized in that: The motor assembly (1) comprises a housing (12), the front side of the housing (12) being fixedly connected to a front end cover (13), the rear side of the housing (12) being fixedly connected to a rear end cover (14), the fixed planetary holder (22) being fixedly connected to the front side of the front end cover (13), the inner side of the housing (12) being provided with a front bearing (15), a rear bearing (16), a motor stator (17), the motor shaft (11) and an electromagnetic brake (18), the outer ring of the front bearing (15) being fixed to the front end cover (13), the outer ring of the rear bearing (16) being fixed to the rear end cover (14), the front side of the motor shaft (11) passing through the inner ring of the front bearing (15) and being fixed to each other, The rear side of the motor shaft (11) passes through the inner ring of the rear bearing (16) and is fixed to each other; the motor stator (17) is fixedly connected to the inner side of the housing (12); a rotor magnetic tile (19) is fixedly connected to the motor shaft (11); the rotor magnetic tile (19) is arranged between the front bearing (15) and the rear bearing (16); the motor stator (17) is arranged on the outer side of the rotor magnetic tile (19); the electromagnetic brake (18) is arranged between the front bearing (15) and the rear bearing (16); the main body of the electromagnetic brake (18) is relatively fixed to the housing (12); and the brake pad (181) of the electromagnetic brake (18) is fixedly connected to the motor shaft (11).

7. The motor module according to claim 6, characterized in that: The front bearing (15) is at least partially arranged on the inner side of the inner hole of the main body of the electromagnetic brake (18).

8. The motor module according to claim 4 or 5, characterized in that: The motor assembly (1) comprises a housing (12), the fixed planetary holder (22) is fixedly connected to the front side of the housing (12), the rear side of the housing (12) is fixedly connected to a rear end cover (14), the inner side of the housing (12) is provided with a front bearing (15), a rear bearing (16), a motor stator (17), the motor shaft (11) and an electromagnetic brake (18), the outer ring of the front bearing (15) is fixed to the fixed planetary holder (22), the front side of the motor shaft (11) passes through the inner ring of the front bearing (15) and is fixed to each other, the outer ring of the rear bearing (16) is fixed to the rear end cover (14), and the rear side of the motor shaft (11) is fixed to the rear end cover (14). The motor stator (17) passes through the inner ring of the rear bearing (16) and is fixed to each other. The motor stator (17) is fixedly connected to the inner side of the housing (12). The motor shaft (11) is fixedly connected to a rotor magnetic tile (19). The rotor magnetic tile (19) is arranged between the front bearing (15) and the rear bearing (16). The motor stator (17) is arranged on the outer side of the rotor magnetic tile (19). The electromagnetic brake (18) is arranged between the front bearing (15) and the rear bearing (16). The main body of the electromagnetic brake (18) is relatively fixed to the housing (12). The brake pad (181) of the electromagnetic brake (18) is fixedly connected to the motor shaft (11).

9. The motor module according to claim 4 or 5, characterized in that: The first sun gear (23) is integrally arranged with the motor shaft (11).

10. The motor module according to claim 1, characterized in that: The reduction motor integrated assembly further comprises a drive assembly (3) integrated on the motor assembly (1), the drive assembly (3) being arranged on the rear side of the motor assembly (1), the motor assembly (1) comprising a motor shaft (11), the drive assembly (3) comprising a drive circuit board (31) and a heat dissipation rear cover (32), the heat dissipation rear cover (32) being fixedly connected to the rear side of the motor assembly (1), the drive circuit board (31) being fixedly connected to the inner side of the heat dissipation rear cover (32), an encoding sensor (311) being arranged on the drive circuit board (31), an encoder magnet (111) being fixed at the rear end of the motor shaft (11), the encoder magnet (111) being directly opposite to the encoding sensor (311), and the drive circuit board (31) being in thermal contact with the heat dissipation rear cover (32).

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