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, an end cover, an output shaft, a brake and a first bearing. The shell is provided with a containing cavity used for containing a motor rotor of the motor. The end cover is connected to one end of the shell, and the output shaft penetrates through the shell and the end cover. The brake is arranged in the containing cavity and comprises a brake stator and a brake rotor, the brake rotor is connected with the output shaft in a rotation stopping mode, a center hole is formed in the brake stator, the brake stator is fixedly arranged in the containing cavity and arranged outside the output shaft in a sleeving mode through the center hole, and the hole wall of the center hole and the output shaft are arranged in a spaced mode. The first bearing is arranged on the output shaft in a sleeving mode and at least partially contained in the center hole. 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, an end cover, an output shaft, a brake, and a first bearing, wherein the housing is provided with a housing cavity for accommodating a motor rotor of the motor. The end cover is connected to one end of the housing, and the output shaft is passed through the housing and the end cover. The brake is arranged in the housing cavity, and the brake comprises a brake stator and a brake rotor, the brake rotor is connected to the output shaft for rotation prevention, the brake stator is provided with a center hole, the brake stator is fixedly arranged in the housing cavity and sleeved on the outside of the output shaft through the center hole, and the hole wall of the center hole is spaced from the output shaft. The first bearing is sleeved on the output shaft and at least partially accommodated in the center hole.

[0006] 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 located on the side of the brake close to the end cover, and the end cover fits the brake stator and abuts against the end face of the outer ring of the first bearing.

[0007] In some optional examples, the first bearing is completely accommodated in the central hole, and the end cover is overlapped on the end surface of the brake stator and abuts against the end surface of the outer ring of the first bearing.

[0008] In some optional examples, a positioning groove is provided on the side of the end cover facing the brake, one end of the first bearing is accommodated in the center hole and the other end is accommodated in the positioning groove, and the bottom wall of the positioning groove abuts against the end face of the outer ring of the first bearing.

[0009] In some optional examples, the output shaft is provided with a first shoulder, which abuts against an end of the inner ring of the first bearing away from the end cover, so as to limit the axial displacement of the first bearing together with the end cover.

[0010] In some optional examples, the end cover includes an end cover body and a positioning portion, the end cover body is fixedly connected to the shell, the positioning portion is arranged on the side of the end cover body facing the brake and protrudes relative to the end cover body, and the positioning portion is arranged around the end cover body to jointly define a limiting groove with the end cover body; the brake is at least partially embedded in the limiting groove.

[0011] In some optional examples, the brake stator is embedded in the limiting groove and overlapped with the end cover body along the axial direction of the output shaft, and a recessed groove is provided on the side of the end cover body away from the brake stator; the motor also includes a connecting piece, which is arranged in the recessed groove and fixedly connects the brake stator and the end cover body.

[0012] In some optional examples, the output shaft is provided with a second shoulder, the second shoulder is abutted against the end of the brake rotor away from the brake stator, the end cover is abutted against the side of the brake stator away from the brake rotor, and the second shoulder and the end cover jointly limit the axial displacement of the brake.

[0013] In some optional examples, the motor further includes an output flange and a second bearing, the output flange is fixedly connected to an end of the shell away from the end cover, the output shaft passes through the output flange, and the second bearing is arranged between the output flange and the output shaft.

[0014] In some optional examples, the motor also includes a motor rotor and a motor stator, both of which are disposed in the accommodating cavity, the motor rotor is fixedly connected to the output shaft, and the motor stator is fixedly connected to the housing and rotatably mounted outside the motor rotor.

[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 bearing is at least partially accommodated in the center hole, and the first bearing and the brake are at least partially arranged in parallel in the radial direction of the output shaft, which realizes the parallel layout of the two to a certain extent. Compared with the existing motors with a series layout, the parallel layout of the first bearing and the brake greatly shortens the axial dimension of the motor and improves the compactness of the overall structure of the motor. The motor limits the first bearing by the brake, reducing the need for the end cover to limit the first bearing, so that the 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 Schematic diagram of the structure of the end cover of the motor shown.

[0024] Figure 6 yes Figure 4 Magnified view of area A.

[0025] Figure 7 yes Figure 4 A schematic cross-sectional view of another embodiment of the motor is shown.

[0026] Figure numerals: 100, motor; 10, shell; 12, accommodating chamber; 20, end cover; 21, end cover body; 212, positioning groove; 214, countersunk groove; 22, mounting hole; 23, positioning portion; 232, limiting groove; 30, output flange; 32, mounting groove; 40, output shaft; 41, shaft body; 43, first shoulder; 45, second shoulder; 50, brake; 52, brake stator; 521, center hole; 54, brake rotor; 60, first bearing; 70, second bearing; 80, motor rotor; 90, motor stator; 200, robot joint module; 201, actuator; 300, robot; 301, body; 303, actuator end. DETAILED DESCRIPTION

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] See also Figure 4 In this embodiment, the motor 100 may include a housing 10, an end cover 20, the output shaft 40, a brake 50 and a first bearing 60. The housing 10 is provided with a housing chamber 12 for accommodating the motor rotor of the motor 100, the end cover 20 is connected to one end of the housing 10, and the output shaft 40 is passed through the housing 10 and the end cover 20. The brake 50 is arranged in the housing chamber 12, and the 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-rotating manner. It should be understood that the "non-rotating 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 provided with a center hole 521, and the brake stator 52 is fixedly arranged in the housing chamber 12 and sleeved on the outside of the output shaft 40 through the center hole 521, and the hole wall of the center hole 521 is spaced from the output shaft 40. The first bearing 60 is sleeved on the output shaft 40 and at least partially accommodated in the central hole 521 .

[0034] The first bearing 60 is at least partially accommodated in the center hole 521, and the first bearing 60 and the brake 50 are at least partially arranged in parallel in the radial direction of the output shaft 40, which realizes the parallel layout of the two to a certain extent. Compared with the motor arranged in series, the parallel layout of the first bearing 60 and the brake 50 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 motor 100 limits the first bearing 60 by the brake 50, reducing the need for the end cover 20 to limit the first bearing 60, so that the end cover 20 can be designed to be thinner and lighter, reducing the overall structural weight of the motor 100. 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.

[0035] 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.

[0036] Please also see Figure 4 and Figure 5 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 in a through cylindrical shape, and the accommodating chamber 12 passes through both ends of the housing 10 along the axial direction of the output shaft 40. The 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 end cover 20 may be provided with a mounting hole 22 for the output shaft 40 to pass through.

[0037] The output shaft 40 is disposed in the housing 10 and extends out of the housing 10 through the mounting hole 22 of the end cover 20. The output shaft 40 is used to drive the actuator 201 to move (eg Figure 2 ). 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. The motor rotor 80 and the output shaft 40 are non-rotatably connected. 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. The motor stator 90 is fixedly connected to the housing 10 and rotatably sleeved outside the motor rotor 80.

[0038] 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.

[0039] In this embodiment, the brake 50 is arranged between the motor stator 90 and the end cover 20. This specification does not limit the implementation method of the 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 brake 50 also includes an elastic element. The working principle of the 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 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.

[0040] The brake stator 52 can be connected to the housing 10 or to the end cover 20. In this embodiment, the brake stator 52 is connected to the end cover 20. The end cover 20 may include an end cover body 21 and a positioning portion 23. The end cover body 21 is fixedly connected to the housing 10, and the mounting hole 22 is opened in the end cover body 21. The positioning portion 23 is arranged on a side surface of the end cover body 21 facing the brake 50 and protrudes relative to the surface of the end cover body 21. The positioning portion 23 and the end cover body 21 can be integrally formed and connected. The positioning portion 23 is arranged around the end cover body 21, and the positioning portion 23 is generally annular in structure to define a limiting groove 232 together with the end cover body 21. As an example, the end cover body 21 can be generally rectangular, and the positioning portion 23 is generally annular in shape. The brake 50 is embedded in the limiting groove 232, and the nested connection between the brake 50 and the end cover 20 improves the connection stability of the two and also improves the structural compactness of the motor 100.

[0041] As an example, the brake stator 52 can be arranged between the brake rotor 54 and the end cover 20, and the brake stator 52 is embedded in the limiting groove 232. The brake stator 52 and the end cover body 21 are overlapped along the axial direction of the output shaft 40, and the brake stator 52 is fixedly connected to the end cover body 21. In this embodiment, a side of the end cover body 21 away from the brake stator 52 can be provided with a sink groove 214, and the motor 100 can also include a connector 110, which is arranged in the sink groove 214 and fixedly connects the brake stator 52 to the end cover body 21. The connector 110 can be a fastener such as a pin or a screw. In this embodiment, the connector 110 is a screw, which is penetrated through the end cover body 21 and threadedly connected to the brake stator 52. The screw head of the screw (the end of the connector 110 away from the brake stator 52) is sunken into the sink 214, and the end of the connector 110 is flush or recessed relative to the outermost end surface of the end cover body 21, does not occupy the axial length of the motor 100, has a flat appearance, and reduces the overall weight of the motor 100. In other embodiments, the brake stator 52 can also be connected to the housing 10, and the brake rotor 54 can be disposed between the brake stator 52 and the end cover 20.

[0042] The hole wall of the center hole 521 of the brake stator 52 is connected to the peripheral wall of the outer ring of the first bearing 60. The first bearing 60 is located on the side of the brake 50 close to the end cover 20, and the end cover body 21 and the brake stator 52 are in contact with and abut against the end surface of the outer ring of the first bearing 60. The brake 50 and the end cover 20 jointly limit the first bearing 60, improve the compactness of the structure, reduce the thickness requirement of the end cover 20, thereby reducing the thickness and weight of the end cover 20 and improving the power density of the motor 100.

[0043] Please also see Figure 4 and Figure 6 In some embodiments, the first bearing 60 is completely contained in the center hole 521, and the end cover body 21 is superposed on the end face of the brake stator 52 and abuts against the end face of the outer ring of the first bearing 60. The brake stator 52 limits the radial displacement of the first bearing 60, and the end cover body 21 limits the axial displacement of the first bearing 60. The brake 50 and the first bearing 60 are arranged in parallel, which shortens the axial dimension of the motor 100. The end cover 20 only limits the first bearing 60 in the axial direction, reducing the requirement for the thickness of the end cover 20, thereby reducing the thickness and weight of the end cover 20 and improving the power density of the motor 100. The brake stator 52 and the end cover body 21 jointly define a bearing chamber for limiting the first bearing 60, which improves the installation stability of the first bearing 60.

[0044] See also Figure 7In other embodiments, the first bearing 60 can be partially accommodated in the center hole 521. A positioning groove 212 is provided on the side of the end cover body 21 facing the brake 50, and the positioning groove 212 surrounds the outside of the mounting hole 22. The positioning groove 212 has a peripheral wall and a bottom wall that intersect, and the peripheral wall of the positioning groove 212 is substantially flush with the inner wall of the center hole 521. One end of the first bearing 60 is accommodated in the center hole 521, and the other end is accommodated in the positioning groove 212, and the bottom wall of the positioning groove 212 abuts against the end face of the outer ring of the first bearing 60. The peripheral walls of the brake stator 52 and the positioning groove 212 jointly limit the radial displacement of the first bearing 60, and the bottom wall of the positioning groove 212 limits the axial displacement of the first bearing 60. The first bearing 60 and the brake 50 are arranged in series and parallel, which shortens the axial dimension of the motor 100. The end cover 20 and the brake 50 jointly limit the first bearing 60, reducing the requirement for the thickness of the end cover 20, thereby reducing the thickness and weight of the end cover 20 and improving the power density of the motor 100. The brake stator 52 and the end cover body 21 jointly define a bearing chamber for limiting the first bearing 60, thereby improving the installation stability of the first bearing 60.

[0045] Please also see Figure 4 and Figure 6 In this embodiment, the output shaft 40 may include a shaft body 41 and a first shaft shoulder 43, and the shaft body 41 is disposed through the housing 10 and the end cover 20. The first 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 first shaft shoulder 43 is located in the accommodating cavity 12 and abuts against an end of the inner ring of the first bearing 60 away from the end cover 20. The first shaft shoulder 43 and the end cover 20 jointly limit the axial displacement of the first bearing 60, further improving the installation stability of the first bearing 60.

[0046] In other embodiments, if the brake rotor 54 is disposed between the brake stator 52 and the end cover 20, the first bearing 60 is spaced from the end cover 20. A limiting protrusion may be provided on the hole wall of the central hole 521 of the brake stator 52, and the brake 50 may axially limit the first bearing 60 through the limiting protrusion.

[0047] The brake rotor 54 is located on the side of the brake stator 52 away from the end cover 20. The output shaft 40 may further include a second shoulder 45, which is formed on the peripheral wall of the shaft body 41 and protrudes relative to the peripheral wall of the shaft body 41. The second shoulder 45 is located in the accommodating cavity 12 and is spaced apart from the first shoulder 43 along the axial direction of the output shaft 40. The second shoulder 45 abuts against the side of the brake rotor 54 away from the brake stator 52, and the end cover 20 abuts against the side of the brake stator 52 away from the brake rotor 54. The second shoulder 45 and the end cover 20 jointly limit the axial displacement of the brake 50.

[0048] 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.

[0049] In this embodiment, the motor 100 may further include an output flange 30 and a second bearing 70. The output flange 30 is fixedly connected to the end of the housing 10 away from the end cover 20, for example, fixedly connected to the end surface of the housing 10 by screws. Similar to the end cover 20, the output flange 30 is also provided with a mounting hole for the output shaft 40 to pass through, and the output shaft 40 is passed through the mounting hole of the output flange 30. The second bearing 70 is arranged between the output flange 30 and the output shaft 40. Specifically, the second bearing 70 is sleeved outside the output shaft 40 and at least partially accommodated in the output flange 30. The output flange 30 is provided with a mounting groove 32 on the side facing the end cover 20, and the second bearing 70 is accommodated in the mounting groove 32. The peripheral wall of the mounting groove 32 is connected to the outer peripheral wall of the second bearing 70. In some embodiments, the output shaft 40 may also be provided with a shoulder for limiting the second bearing 70. For example, the shoulder may be abutted against one end of the inner ring of the second bearing 70. For details, please refer to the description of the first shoulder 43 above, which will not be repeated here.

[0050] In the motor 100 provided in the embodiment of the present application, the first bearing 60 is at least partially accommodated in the center hole 521, and the first bearing 60 and the brake 50 are at least partially arranged in parallel in the radial direction of the output shaft 40, which realizes the parallel layout of the two to a certain extent. Compared with the motor with a series layout, the parallel layout of the first bearing 60 and the brake 50 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 motor 100 limits the first bearing 60 by the brake 50, reducing the need for the end cover 20 to limit the first bearing 60, so that the end cover 20 can be designed to be thinner and lighter, reducing the overall structural weight of the motor 100. The motor 100 provided in the embodiment of the present application has a reduced axial dimension and a reduced overall weight, achieving the effect of improving the power density.

[0051] 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.

[0052] 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; an end cover connected to one end of the shell; An output shaft is passed through the housing and the end cover; A brake is arranged in the accommodating cavity, the brake comprises a brake stator and a brake rotor, the brake rotor is connected to the output shaft for rotation, the brake stator is provided with a center hole, the brake stator is fixedly arranged in the accommodating cavity and 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; and a first bearing, which is sleeved on the output shaft and at least partially accommodated in the central hole.

2. The motor according to claim 1, 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 located on the side of the brake close to the end cover, and the end cover is fitted with the brake stator and abuts against the end face of the outer ring of the first bearing.

3. The motor according to claim 2, characterized in that The first bearing is completely accommodated in the center hole, and the end cover is overlapped on the end surface of the brake stator and abuts against the end surface of the outer ring of the first bearing.

4. The motor according to claim 2, characterized in that A positioning groove is provided on the side of the end cover facing the brake, one end of the first bearing is accommodated in the center hole and the other end is accommodated in the positioning groove, and the bottom wall of the positioning groove abuts against the end surface of the outer ring of the first bearing.

5. The motor according to claim 2, characterized in that The output shaft is provided with a first shaft shoulder, which abuts against an end of the inner ring of the first bearing away from the end cover, so as to limit the axial displacement of the first bearing together with the end cover.

6. The motor according to claim 1, characterized in that The end cover includes an end cover body and a positioning portion, the end cover body is fixedly connected to the shell, the positioning portion is arranged on a side of the end cover body facing the brake and protrudes relative to the end cover body, and the positioning portion is arranged around the end cover body to jointly define a limiting groove with the end cover body; the brake is at least partially embedded in the limiting groove.

7. The motor according to claim 6, characterized in that The brake stator is embedded in the limiting groove and overlapped with the end cover body along the axial direction of the output shaft, and a recessed groove is provided on the side of the end cover body away from the brake stator; the motor also includes a connecting piece, which is arranged in the recessed groove and fixedly connects the brake stator to the end cover body.

8. The electric machine according to any one of claims 1 to 7, characterized in that The output shaft is provided with a second shoulder, the second shoulder abuts against one end of the brake rotor away from the brake stator, the end cover abuts against one side of the brake stator away from the brake rotor, and the second shoulder and the end cover jointly limit the axial displacement of the brake.

9. The electric machine according to any one of claims 1 to 7, characterized in that The motor further comprises an output flange and a second bearing. The output flange is fixedly connected to an end of the housing away from the end cover. The output shaft passes through the output flange. The second bearing is arranged between the output flange and the output shaft.

10. The electric machine according to any one of claims 1 to 7, characterized in that The motor further comprises a motor rotor and a motor stator, both of which are arranged in the accommodating cavity, the motor rotor is fixedly connected to the output shaft, and the motor stator is fixedly connected to the housing and rotatably sleeved outside the motor rotor.

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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