Motor, robot joint module and robot

Abstract

The utility model relates to the technical field of motors, in particular to a motor, a robot joint module and a robot. The motor comprises a shell, a first end cover, a second end cover, an output shaft, a first brake and a second brake. The shell is provided with a containing cavity used for containing a motor rotor of the motor. The first end cover is connected to one end of the shell, and a first limiting groove is formed in the side, facing the containing cavity, of the first end cover. The second end cover is connected to the end, away from the first end cover, of the shell. A second limiting groove is formed in the side, facing the containing cavity, of the second end cover. The output shaft penetrates through the shell, the first end cover and the second end cover. The first brake is arranged in the containing cavity, and at least part of the first brake is embedded into the first limiting groove and fixedly connected with the first end cover. The second brake is arranged in the containing cavity, embedded into the second limiting groove and fixedly connected with the second end cover. The axial size of the motor is reduced, the overall weight is reduced, and the motor has high power density.

Description

Technical Field

[0001] The present application relates to the field of motor technology, and in particular to a motor, a robot joint module and a robot. Background Art

[0002] At this stage, the competition of robot performance has sunk to the competition of core component performance in addition to the performance of system integration. As a core component, the power density of servo motor directly affects the performance and structural design of the robot. For this reason, high power density servo motors have always been the unremitting pursuit of robot manufacturers.

[0003] In order to achieve the high power density index of the motor, we can start from improving the power output performance of the motor on the one hand, and reduce the size and weight of the motor on the other hand. In the internal structure layout of the existing mainstream servo motor, the motor flange, front bearing, stator, brake, rear bearing, and rear end cover are arranged in series, resulting in a longer overall size of the motor, affecting the compactness of the motor and thus reducing the power density. Utility Model Content

[0004] The present application provides a motor, a robot joint module and a robot.

[0005] In a first aspect, the present application provides a motor, comprising a housing, a first end cover, a second end cover, an output shaft, a first brake and a second brake. The housing is provided with a housing chamber for accommodating a motor rotor of the motor. The first end cover is connected to one end of the housing, and a first limiting groove is provided on the side of the first end cover facing the housing chamber. The second end cover is connected to an end of the housing away from the first end cover, and a second limiting groove is provided on the side of the second end cover facing the housing chamber. The output shaft passes through the housing, the first end cover and the second end cover. The first brake is provided in the housing chamber, the first brake is at least partially embedded in the first limiting groove and is fixedly connected to the first end cover. The second brake is provided in the housing chamber, the second brake is embedded in the second limiting groove and is fixedly connected to the second end cover.

[0006] In some optional examples, the first brake includes a brake stator and a brake rotor, the brake rotor is connected to the output shaft for rotation prevention, and the brake stator is embedded in the first limiting groove and is integrally formed with the first end cover.

[0007] In some optional examples, the brake stator includes an electromagnet and an armature plate, the electromagnet is embedded in the first limiting groove and is integrally connected to the first end cover, and the armature plate is connected to a side of the electromagnet facing away from the first end cover.

[0008] In some optional examples, the brake stator is provided with a center hole, and the brake stator is sleeved on the outside of the output shaft through the center hole, and the hole wall of the center hole is spaced apart from the output shaft; the motor also includes a first bearing, which is sleeved on the output shaft and at least partially accommodated in the center hole.

[0009] In some optional examples, the hole wall of the center hole is connected to the peripheral wall of the outer ring of the first bearing, the first bearing is completely accommodated in the center hole, and the first end cover is opposite to the end face of the outer ring of the first bearing.

[0010] In some optional examples, the first end cover is provided with a mounting hole, the output shaft is passed through the mounting hole, and the diameter of the mounting hole is smaller than the diameter of the center hole so that the first end cover is opposite to the end face of the outer ring of the first bearing.

[0011] In some optional examples, the brake stator of the second brake is embedded in the second limiting groove and is integrally formed with the second end cover.

[0012] In some optional examples, the motor also includes a motor rotor and a motor stator. The motor stator is arranged in the accommodating cavity and connected to the shell. The motor stator is provided with a hollow hole. The output shaft passes through the hollow hole. The motor rotor is arranged in the hollow hole and is connected to the output shaft in a anti-rotation manner.

[0013] In some optional examples, the brake rotor of the first brake is embedded in the hollow hole, and / or the brake rotor of the second brake is embedded in the hollow hole.

[0014] In some optional examples, the first end cover is an output flange, the output shaft has an output end, and the output end extends toward the outside of the accommodating cavity relative to the output flange for connecting to the actuator driven by the motor; or, the second end cover is an output flange, the output shaft has an output end, and the output end extends toward the outside of the accommodating cavity relative to the output flange for connecting to the actuator driven by the motor.

[0015] In a second aspect, the present application also provides a robot joint module, comprising the above-mentioned motor and an actuator, wherein the actuator is transmission-connected to the output shaft.

[0016] On the third aspect, the present application also provides a robot, including a body and the above-mentioned robot joint module, and the robot joint module is connected to the body.

[0017] In the motor provided by the present application, the first brake is at least partially embedded in the first limiting groove and fixedly connected to the first end cover, and the second brake is at least partially embedded in the second limiting groove and fixedly connected to the second end cover, which greatly shortens the axial dimension of the motor and improves the compactness of the overall structure of the motor. The first brake is embedded in the first end cover, which improves the structural strength of the first end cover; the second brake is embedded in the second limiting groove, which improves the structural strength of the second end cover; thereby reducing the requirements for the thickness of the first end cover and the second end cover, so that the first end cover and the second end cover can be designed to be thinner and lighter, reducing the overall structural weight of the motor. The motor provided by the present application has a reduced axial dimension, a lower overall weight, and a higher power density. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the implementation manner will be briefly introduced below. Obviously, the drawings described below are only some implementation manners of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 This is a module block diagram of a robot provided in one embodiment of the present application.

[0020] Figure 2 This is a module block diagram of a robot joint module provided in one embodiment of the present application.

[0021] Figure 3 It is a schematic diagram of the three-dimensional structure of a motor provided in one embodiment of the present application.

[0022] Figure 4 yes Figure 3 Schematic diagram of the cross-sectional structure of the motor shown.

[0023] Figure 5 yes Figure 3 A schematic three-dimensional cross-sectional structure diagram of the first end cover and the first brake of the motor is shown.

[0024] Figure numerals: 100, motor; 10, housing; 12, accommodating chamber; 20, first end cover; 21, first limiting groove; 22, first mounting hole; 23, body; 25, positioning portion; 252, positioning groove; 27, output flange; 28, rear end cover; 30, second end cover; 32, second limiting groove; 34, second mounting hole; 40, output shaft; 41, shaft body; 43, shaft shoulder; 45, output end; 50, first brake ; 52, brake stator; 521, center hole; 523, electromagnet; 525, armature; 527, iron sheet; 54, brake rotor; 541, friction plate; 60, second brake; 72, first bearing; 74, second bearing; 80, motor rotor; 90, motor stator; 92, hollow hole; 200, robot joint module; 201, actuator; 300, robot; 301, body; 303, actuator end. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application.

[0026] If certain words are used in the specification and claims to refer to specific components, those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. The specification and claims do not use differences in names as a way to distinguish components, but use differences in components' functions as the criteria for distinction. For example, "including" mentioned throughout the specification and claims is an open term, so it should be interpreted as "including but not limited to"; "substantially" means that those skilled in the art can solve technical problems within a certain error range and basically achieve technical effects.

[0027] See also Figure 1 , an embodiment of the present application provides a robot joint module 200 and a robot 300 equipped with the robot joint module 200.

[0028] This specification does not limit the specific type of the robot 300. For example, the robot 300 can be an industrial robot or a collaborative robot. The robot 300 includes a body 301, an execution end 303, and a robot joint module 200. The robot joint module 200 is connected between the execution end 303 and the body 301, and is used to drive the execution end 303 to move relative to the body 301. In some embodiments, the robot 300 may include a plurality of execution ends 303, and accordingly, the robot 300 also includes a robot joint module 200 corresponding to the plurality of execution ends 303, and each execution end 303 is connected to the body 301 through a corresponding robot joint module 200.

[0029] Please also see Figure 2 and Figure 3 , the robot joint module 200 may include a motor 100 and an actuator 201. The motor 100 includes an output shaft 40, and the actuator 201 is connected to the output shaft 40. In some embodiments, the actuator 201 may be the output end of the robot joint module 200, for example, it may include an output flange, which is used to connect the elements driven by the robot joint module 200 (such as a turntable or a gripper, etc.), so as to transmit the movement of the robot joint module 200 to the desired scene. In other embodiments, the actuator 201 may include multiple execution bodies to achieve different functions.

[0030] This specification does not limit the specific type of the motor 100. For example, the motor 100 may be a servo motor, a stepper motor, a torque motor, etc. In this embodiment, the motor 100 is a servo motor.

[0031] See also Figure 4 In this embodiment, the motor 100 may include a housing 10, a first end cover 20, a second end cover 30, the above-mentioned output shaft 40, a first brake 50 and a second brake 60. The housing 10 is provided with a housing chamber 12 for accommodating the motor rotor of the motor 100, the first end cover 20 is connected to one end of the housing 10, and a first limiting groove 21 is provided on the side of the first end cover 20 facing the housing chamber 12. The second end cover 30 is connected to the end of the housing 10 away from the first end cover 20, and a second limiting groove 32 is provided on the side of the second end cover 30 facing the housing chamber 12. The output shaft 40 is provided through the housing 10, the first end cover 20 and the second end cover 30. The first brake 50 is provided in the housing chamber 12, the first brake 50 is at least partially embedded in the first limiting groove 21 and is fixedly connected to the first end cover 20. The second brake 60 is provided in the housing chamber 12, the second brake 60 is at least partially embedded in the second limiting groove 32 and is fixedly connected to the second end cover 30.

[0032] The first brake 50 is at least partially embedded in the first limiting groove 21 and fixedly connected to the first end cover 20, and the second brake 60 is at least partially embedded in the second limiting groove 32 and fixedly connected to the second end cover 30, which greatly shortens the axial dimension of the motor 100 (the dimension of the motor 100 along the axial direction of the output shaft 40), and improves the compactness of the overall structure of the motor 100. The first brake 50 is embedded in the first end cover 20, which improves the structural strength of the first end cover 20; the second brake 60 is embedded in the second limiting groove 32, which improves the structural strength of the second end cover 30; thereby reducing the thickness requirements of the first end cover 20 and the second end cover 30, so that the first end cover 20 and the second end cover 30 can be designed to be thinner and lighter, reducing the overall structural weight of the motor 100. At the same time, the first brake 50 and the second brake 60 jointly brake the output shaft 40, which improves the fault margin of brake failure. As mentioned above, the motor 100 provided in the present application has a reduced axial dimension, a lower overall weight, and a higher power density.

[0033] In this application, unless otherwise clearly specified or limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, it can be internal communication between two elements, or it can be only surface contact. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0034] In this embodiment, the housing 10 is used to provide protection for the structure in the accommodating chamber 12, and the accommodating chamber 12 is used to accommodate other structures of the motor 100. The housing 10 is generally cylindrical, and the accommodating chamber 12 passes through both ends of the housing 10 along the axial direction of the output shaft 40. The first end cover 20 is fixedly connected to one end of the housing 10, for example, connected to the end surface of one end of the housing 10 by screws. The first end cover 20 can be provided with a first mounting hole 22 for the output shaft 40 to pass through. The second end cover 30 can be connected to the end surface of the housing 10 away from the first end cover 20 by screws. The second end cover 30 can also be provided with a second mounting hole 34 for the output shaft 40 to pass through.

[0035] The output shaft 40 is disposed in the housing 10 and extends out of one end of the housing 10 through the first mounting hole 22 of the first end cover 20 and extends out of the other end of the housing 10 through the second mounting hole 34 of the second end cover 30. The output shaft 40 is used to drive the actuator 201 to move (such as Figure 2 shown).

[0036] In this embodiment, the first brake 50 may include a brake stator 52 and a brake rotor 54, and the brake rotor 54 is connected to the output shaft 40 in a non-rotatable manner. It should be understood that the "non-rotatable connection" between the brake rotor 54 and the output shaft 40 should be understood as that the brake rotor 54 and the output shaft 40 are relatively fixed, and the brake rotor 54 can rotate with the rotation of the output shaft 40. The brake stator 52 is fixedly disposed in the accommodating chamber 12.

[0037] This specification does not limit the implementation method of the first brake 50 braking the output shaft 40. As an example, a bearing can be used to form a magnetic pole between the brake stator 52 and the brake rotor 54. The first brake 50 also includes an elastic element. The working principle of the first brake 50 is to achieve emergency braking by relying on the elastic potential energy of the elastic element when no power is supplied. After the coil of the first brake 50 is powered off, under the action of the elastic potential energy, friction is generated between the friction disk and the connecting plate and the armature, thereby braking the output shaft 40; after the coil is powered on, the armature is attracted to the magnetic roller under the action of the electromagnetic force, thereby loosening the friction disk and achieving the purpose of releasing the brake.

[0038] The brake stator 52 can be connected to the housing 10 or to the first end cover 20. In this embodiment, the brake stator 52 is embedded in the first limiting groove 21 and is integrally formed with the first end cover 20. The brake stator 52 is integrally formed with the first end cover 20, so that it can include both the braking function of the brake stator 52 and the interface function of the first end cover 20. The first end cover 20 and the brake stator 52 are integrally formed and have multiple functions, which reduces the structure of the motor 100, shortens the axial dimension, and reduces the overall weight.

[0039] Please also see Figure 4 and Figure 5 In this embodiment, the brake stator 52 may include an electromagnet 523 and an armature 525, wherein the electromagnet 523 is embedded in the first limiting groove 21 and is integrally connected with the first end cover 20. As an example, the first end cover 20 and the electromagnet 523 may be combined together by a casting process, and the two are different parts of the same casting body; as another example, when preparing the first end cover 20, the coil may be built into the first end cover 20 by insert molding; the first end cover 20 and the electromagnet 523 may also be formed separately and then welded together. The armature 525 is connected to the side of the electromagnet 523 away from the first end cover 20, and the armature 525 protrudes from the first limiting groove 21. During processing, the copper wire of the electromagnet 523 may be insulated, for example, the copper wire may be wrapped with tape or a plastic frame and then placed in the electromagnet 523.

[0040] The brake stator 52 may further include an elastic member (not shown) and an iron sheet 527, and the armature 525 is connected to the electromagnet 523 through the elastic member. The iron sheet 527 is connected to the electromagnet 523 and is arranged with a relative spacing from the armature 525. The iron sheet 527 and the armature 525 are respectively arranged on opposite sides of the brake rotor 54. The elastic member is elastically arranged between the electromagnet 523 and the armature 525. When the electromagnet 523 is not energized, the elastic member pushes the armature 525 to approach the iron sheet 527, so as to squeeze the brake rotor 54 together with the iron sheet 527, and use friction to limit the rotation of the brake rotor 54, thereby achieving the effect of braking the output shaft 40.

[0041] The present specification does not limit the specific structure of the brake rotor 54. As an example, the brake rotor 54 may include a friction plate 541, which is connected to the output shaft 40 and is located between the armature 525 and the iron plate 527. The present specification does not limit the method of the non-rotation connection between the friction plate 541 and the output shaft 40. For example, the friction plate 541 may be fixedly connected to the output shaft 40 by a fastener. In this embodiment, the friction plate 541 is provided with a non-circular center hole for the cylindrical output shaft 40 to pass through. For example, the center hole of the friction plate 541 is a pentagon, and the hole wall of the center hole contacts the peripheral wall of the output shaft 40. The friction plate 541 can achieve a non-rotation connection with the output shaft 40 through the friction force between the hole wall of the center hole and the output shaft 40.

[0042] When the electromagnet 523 is powered on, the electromagnet 523 attracts the armature 525, offsetting the force of the elastic member, so that the armature 525 no longer squeezes the friction plate 541. At this time, the friction plate 541, the armature 525 and the iron plate 527 are all spaced apart. When the electromagnet 523 is powered off, the elastic member pushes the armature 525 to move close to the iron plate 527, and the armature 525 pushes the friction plate 541 to abut against the iron plate 527. The armature 525 and the iron plate 527 squeeze the friction plate 541 together, and the friction force is used to limit the rotation of the friction plate 541, so that the movement of the output shaft 40 is slowed down or stopped, thereby achieving the effect of braking the output shaft 40. During installation, the first end cover 20 and the electromagnet 523 are first processed into an integral shape, and then the armature 525, the friction plate 541 and the iron plate 527 are assembled together one by one through a universal brake assembly process to form a first brake 50 integrated with the first end cover 20.

[0043] In order to facilitate the connection between the iron sheet 527 and the electromagnet 523, the outer diameter of the friction sheet 541 is smaller than the outer diameter of the electromagnet 523 and also smaller than the outer diameter of the iron sheet 527. The iron sheet 527 can be connected to the electromagnet 523 by a screw, and the screw is spaced from the friction sheet 541 in the radial direction of the friction sheet 541 to avoid affecting the rotation of the friction sheet 541. In this embodiment, the outer diameter of the armature 525 can be substantially the same as the outer diameter of the electromagnet 523, and the screw between the iron sheet 527 and the electromagnet 523 can be slidably penetrated in the armature 525, playing a guiding role when the armature 525 moves relative to the electromagnet 523.

[0044] In order to improve the structural compactness of the motor 100, the brake rotor 54 can be at least partially embedded in the first end cover 20. Specifically, the first end cover 20 can include a body 23 and a positioning portion 25, the body 23 is fixedly connected to the housing 10, and the first limiting groove 21 and the first mounting hole 22 are both opened in the body 23. The positioning portion 25 is arranged on a side surface of the body 23 facing the first brake 50 and protrudes relative to the surface of the body 23. The positioning portion 25 and the body 23 can be integrally connected. The positioning portion 25 is arranged around the outside of the first limiting groove 21 to define a positioning groove 252 together with the body 23, and the positioning groove 252 is connected to the first limiting groove 21. As an example, the body 23 can be roughly rectangular, and the positioning portion 25 is roughly annular protrusion. The brake rotor 54 is at least partially embedded in the positioning groove 252. The nested fit between the first brake 50 and the first end cover 20 improves the structural compactness of the two, thereby improving the overall structural compactness of the motor 100.

[0045] The brake stator 52 is provided with a center hole 521, and the brake stator 52 is sleeved outside the output shaft 40 through the center hole 521, and the hole wall of the center hole 521 is spaced apart from the output shaft 40. In this embodiment, the motor 100 may further include a first bearing 72. The first bearing 72 is sleeved on the output shaft 40 and at least partially accommodated in the center hole 521.

[0046] The center hole 521 is opened in the electromagnet 523, and the hole wall of the center hole 521 is connected to the outer ring of the first bearing 72. The first bearing 72 is located on the side of the first brake 50 close to the first end cover 20, and the first end cover 20 is opposite to the end face of the outer ring of the first bearing 72. The first bearing 72 can be partially embedded in the center hole 521, or can be completely accommodated in the center hole 521. The aperture of the first mounting hole 22 on the first end cover 20 is smaller than the aperture of the center hole 521 so that the first end cover 20 can be opposite to the end face of the outer ring of the first bearing 72.

[0047] In some embodiments, the first end cover 20 and the end face of the outer ring of the first bearing 72 are spaced apart, and the brake stator 52 limits the axial displacement of the first bearing 72. For example, a protrusion structure may be provided on the side wall of the center hole 521 to abut against the end face of the outer ring of the first bearing 72. In other embodiments, the first bearing 72 is completely accommodated in the center hole 521, and the first end cover 20 may abut against the end face of the outer ring of the first bearing 72, and the first end cover 20 limits the axial displacement of the first bearing 72. The first brake 50 and the first end cover 20 jointly limit the first bearing 72, improve the compactness of the structure, reduce the thickness requirement of the first end cover 20, thereby reducing the thickness and weight of the first end cover 20, and improving the power density of the motor 100. The brake stator 52 and the first end cover 20 jointly define a bearing chamber for limiting the first bearing 72, thereby improving the installation stability of the first bearing 72.

[0048] In other embodiments, if the first bearing 72 is partially accommodated in the center hole 521. A groove may be provided on the side of the body 23 facing the first brake 50 to position the first bearing 72. The groove surrounds the outside of the first mounting hole 22, and the groove has intersecting peripheral walls and bottom walls, and the peripheral wall of the groove is roughly flush with the inner wall of the center hole 521. One end of the first bearing 72 is accommodated in the center hole 521, and the other end is accommodated in the groove, and the bottom wall of the groove abuts against the end face of the outer ring of the first bearing 72. The brake stator 52 and the peripheral wall of the groove jointly limit the radial displacement of the first bearing 72, and the bottom wall of the groove limits the axial displacement of the first bearing 72. The first bearing 72 and the first brake 50 are arranged in series and parallel, which shortens the axial dimension of the motor 100.

[0049] In this embodiment, the output shaft 40 may include a shaft body 41 and a shaft shoulder 43, and the shaft body 41 is disposed through the housing 10 and the first end cover 20. The shaft shoulder 43 is formed on the peripheral wall of the shaft body 41 and protrudes relative to the peripheral wall of the shaft body 41. The shaft shoulder 43 is located in the center hole 521 and abuts against an end of the inner ring of the first bearing 72 away from the first end cover 20. The shaft shoulder 43 and the first end cover 20 jointly limit the axial displacement of the first bearing 72, further improving the installation stability of the first bearing 72.

[0050] In this embodiment, the structure of the second brake 60 is substantially the same as that of the first brake 50. For example, the second brake 60 may also include a brake stator and a brake rotor. The connection between the second brake 60 and the second end cover 30 may also be substantially the same as the connection between the first brake 50 and the first end cover 20. The brake stator of the second brake 60 is embedded in the second limiting groove 32 and is integrally formed with the second end cover 30. The specific structure of the second brake 60 is not described in detail in this specification. For details, please refer to the above description of the first brake 50.

[0051] The motor 100 may further include a second bearing 74, which is disposed between the second brake 60 and the output shaft 40. Specifically, the second brake 60 may also be disposed with a center hole, and the second bearing 74 is sleeved outside the output shaft 40 and at least partially accommodated in the center hole of the second brake 60. The installation connection relationship between the second brake 60 and the second bearing 74 is substantially the same as the installation connection relationship between the first brake 50 and the first bearing 72. For example, the second bearing 74 may also be partially accommodated or completely accommodated in the center hole of the second brake 60, and the second end cover 30 may also cooperate with the second brake 60 to jointly limit the second bearing 74. For details, reference may be made to the description of the first brake 50 and the first bearing 72, which will not be repeated here.

[0052] In the present application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0053] In this embodiment, the motor 100 may further include a motor rotor 80 and a motor stator 90, both of which are disposed in the accommodating chamber 12 and are located between the first brake 50 and the second brake 60. The motor stator 90 is fixedly disposed in the accommodating chamber 12 and connected to the housing 10, and the motor stator 90 is provided with a hollow hole 92. The output shaft 40 is passed through the hollow hole 92, and the motor rotor 80 is disposed in the hollow hole 92 and is non-rotatably connected to the output shaft 40. It should be understood that the "non-rotatably connected" between the motor rotor 80 and the output shaft 40 should be understood as that the motor rotor 80 and the output shaft 40 are relatively fixed, and the output shaft 40 can rotate with the rotation of the motor rotor 80.

[0054] The present specification does not limit the specific structure of the motor stator 90. As an example, the motor stator 90 may include an iron core and a coil, which is connected to a power source and generates a magnetic field when powered. The magnetic field generated by the motor stator 90 interacts with the magnetic field of the motor rotor 80 to generate torque. The motor rotor 80 achieves mechanical output through the output shaft 40. The motor rotor 80 may be designed in a permanent magnet type, an AC induction type, or the like.

[0055] In this embodiment, the brake rotor 54 of the first brake 50 is embedded in the hollow hole 92, and the first brake 50 and the motor stator 90 are at least partially arranged in parallel in the radial direction of the output shaft 40, which realizes a parallel layout to a certain extent. Compared with the motor with a series layout, this parallel layout greatly shortens the axial dimension of the motor 100 (the dimension of the motor 100 along the axial direction of the output shaft 40), and improves the compactness of the overall structure of the motor 100.

[0056] The winding of the motor stator 90 is arranged in the iron core and the winding protrudes from one end of the iron core. The motor rotor 80 is arranged in the hollow hole 92, and a part of the structure of the first brake 50 is embedded in the hollow hole 92 and corresponds to the aforementioned "part of the winding protruding from the iron core" in the radial direction of the output shaft 40 (for example, the part of the structure of the first brake 50 and the "part of the winding protruding from the iron core" are arranged along the same diameter of the output shaft 40), so that the part of the first brake 50 embedded in the motor stator 90 will not interfere with the magnetic circuit operation of the motor stator 90 and the motor rotor 80.

[0057] In this embodiment, the brake rotor 54 of the first brake 50 may not be embedded in the hollow hole 92, while the brake rotor of the second brake 60 is embedded in the hollow hole 92. The second brake 60 and the motor stator 90 are at least partially arranged in parallel in the radial direction of the output shaft 40, and a parallel layout is achieved to a certain extent. Part of the structure of the second brake 60 is embedded in the hollow hole 92 and corresponds to the aforementioned "part of the winding protruding from the iron core" in the radial direction of the output shaft 40 (for example, the partial structure of the second brake 60 and the "part of the winding protruding from the iron core" are both arranged along the same diameter of the output shaft 40), so that the part of the second brake 60 embedded in the motor stator 90 will not interfere with the magnetic circuit operation of the motor stator 90 and the motor rotor 80.

[0058] In other embodiments, the brake rotor 54 of the first brake 50 is embedded in the hollow hole 92, and the brake rotor of the second brake 60 is also embedded in the hollow hole 92. Taking the second brake 60 as an example, in this embodiment, the armature, brake rotor and iron sheet of the second brake 60 are all embedded in the hollow hole 92. The brake stator and brake rotor of the second brake 60 are both embedded in the hollow hole 92, which effectively utilizes the length space of the motor stator 90, improves the compactness of the structure, enables the second brake 60 and the motor stator 90 to achieve a parallel layout to a certain extent, shortens the axial dimension of the motor 100, and improves the power density of the motor 100. The structure of the first brake 50 and the motor stator 90 is roughly the same as the structure of the second brake 60 and the motor stator 90, which will not be repeated here.

[0059] In some embodiments, the brake rotor 54 may also be connected to the motor rotor 80 for preventing rotation. The brake rotor 54 and the output shaft 40 are spaced apart, and the motor rotor 80 is at least partially accommodated between the brake rotor 54 and the output shaft 40. The brake rotor 54 and the output shaft 40 are connected for preventing rotation. The motor rotor 80 is at least partially accommodated between the brake rotor 54 and the output shaft 40, which further improves the compactness of the structure of the motor 100.

[0060] This specification does not limit the specific position of the first end cover 20. For example, the first end cover 20 may be an output flange 27 located at one end of the motor 100 output, and the second end cover 30 may be a rear end cover 28 located at the rear of the motor 100 (the end away from the output flange 27). The output shaft 40 has an output end 45, which extends toward the outside of the accommodating cavity 12 relative to the output flange 27 for connecting to the actuator 201 driven by the motor 100.

[0061] In other embodiments, the second end cover 30 may be an output flange 27, and the first end cover 20 may be a rear end cover 28. The output shaft 40 has an output end 45, and the output end 45 extends toward the outside of the accommodating cavity 12 relative to the output flange 27 for connecting to the actuator 201 driven by the motor 100. The first end cover 20 is located at an end of the output shaft 40 away from the output end 45.

[0062] In the motor 100 provided in the embodiment of the present application, the first brake 50 is at least partially embedded in the first limiting groove 21 and fixedly connected to the first end cover 20, and the second brake 60 is at least partially embedded in the second limiting groove 32 and fixedly connected to the second end cover 30, which greatly shortens the axial dimension of the motor 100 (the dimension of the motor 100 along the axial direction of the output shaft 40), and improves the compactness of the overall structure of the motor 100. The first brake 50 is embedded in the first end cover 20, which improves the structural strength of the first end cover 20; the second brake 60 is embedded in the second limiting groove 32, which improves the structural strength of the second end cover 30; thereby reducing the requirements for the thickness of the first end cover 20 and the second end cover 30, so that the first end cover 20 and the second end cover 30 can be designed to be thinner and lighter, reducing the overall structural weight of the motor 100. At the same time, the first brake 50 and the second brake 60 jointly brake the output shaft 40, which improves the fault margin of brake failure. As mentioned above, the motor 100 provided in the present application has a reduced axial dimension, a lower overall weight, and a higher power density.

[0063] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application is described in detail with reference to the above embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the above embodiments can still be modified, or some of the technical features can be replaced by equivalents. However, these modifications or replacements do not drive the essence of the corresponding technical solutions out of the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A motor, characterized in that: include: A housing having a housing for accommodating a motor rotor of the motor; A first end cover connected to one end of the housing, wherein a first limiting groove is provided on a side of the first end cover facing the accommodating cavity; A second end cover, connected to an end of the housing away from the first end cover, and a second limiting groove is provided on a side of the second end cover facing the accommodating cavity; An output shaft is inserted through the housing, the first end cover and the second end cover; A first brake is disposed in the accommodating cavity, wherein the first brake is at least partially embedded in the first limiting groove and fixedly connected to the first end cover; And a second brake is arranged in the accommodating cavity, the second brake is embedded in the second limiting groove and fixedly connected to the second end cover.

2. The motor according to claim 1, characterized in that The first brake includes a brake stator and a brake rotor. The brake rotor is connected to the output shaft for rotation prevention. The brake stator is embedded in the first limiting groove and is integrally formed with the first end cover.

3. The motor according to claim 2, characterized in that The brake stator comprises an electromagnet and an armature piece. The electromagnet is embedded in the first limiting groove and is integrally connected with the first end cover. The armature piece is connected to a side of the electromagnet away from the first end cover.

4. The motor according to claim 2, characterized in that The brake stator is provided with a center hole, and the brake stator is sleeved on the outside of the output shaft through the center hole, and the hole wall of the center hole is spaced apart from the output shaft; the motor also includes a first bearing, which is sleeved on the output shaft and at least partially accommodated in the center hole.

5. The motor according to claim 4, characterized in that The hole wall of the center hole is connected to the peripheral wall of the outer ring of the first bearing, the first bearing is completely accommodated in the center hole, and the first end cover is opposite to the end surface of the outer ring of the first bearing.

6. The motor according to claim 5, characterized in that The first end cover is provided with a mounting hole, the output shaft is passed through the mounting hole, and the diameter of the mounting hole is smaller than the diameter of the center hole so that the first end cover is opposite to the end face of the outer ring of the first bearing.

7. The electric machine according to any one of claims 1 to 6, characterized in that The brake stator of the second brake is embedded in the second limiting groove and is integrally formed with the second end cover.

8. The electric machine according to any one of claims 1 to 6, characterized in that The motor also includes a motor rotor and a motor stator. The motor stator is arranged in the accommodating cavity and connected to the shell. The motor stator is provided with a hollow hole. The output shaft passes through the hollow hole. The motor rotor is arranged in the hollow hole and is non-rotatably connected to the output shaft.

9. The motor according to claim 8, characterized in that The brake rotor of the first brake is embedded in the hollow hole, or / and the brake rotor of the second brake is embedded in the hollow hole.

10. The electric machine according to any one of claims 1 to 6, characterized in that The first end cover is an output flange, the output shaft has an output end, and the output end extends toward the outside of the accommodating cavity relative to the output flange for connecting to an actuator driven by the motor; or, The second end cover is an output flange, and the output shaft has an output end. The output end extends toward the outside of the accommodating cavity relative to the output flange for connecting to an actuator driven by the motor.

11. A robot joint module, characterized in that: include: A motor as claimed in any one of claims 1 to 10; and an actuator, which is transmission-connected to the output shaft.

12. A robot, characterized in that: include: Body; And the robot joint module as described in claim 11, the robot joint module is connected to the body.

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