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 motor stator, an output shaft, a motor rotor and a brake. The shell is provided with a containing cavity, the motor stator is arranged in the containing cavity and connected to the shell, and the motor stator is provided with a hollow hole. The output shaft penetrates through the shell and the hollow hole. The motor rotor is arranged in the hollow hole and connected to the output shaft in a rotation stopping mode. The brake is arranged in the containing cavity and at least partially embedded in the hollow hole, the brake comprises a brake stator and a brake rotor, the brake rotor is connected with the output shaft in a rotation stopping mode, and the brake stator is fixedly arranged in the containing cavity. 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 motor stator, an output shaft, a motor rotor, and a brake. The housing is provided with a housing cavity, the motor stator is arranged in the housing cavity and connected to the housing, and the motor stator is provided with a hollow hole. The output shaft is passed through the housing and the hollow hole. The motor rotor is arranged in the hollow hole and is connected to the output shaft in a non-rotatable manner. The brake is arranged in the housing cavity and at least partially embedded in the hollow hole, the brake comprises a brake stator and a brake rotor, the brake rotor is non-rotatably connected to the output shaft, and the brake stator is fixedly arranged in the housing cavity.

[0006] In some optional examples, the brake rotor is embedded in the hollow hole, and the brake stator is arranged on the side of the brake rotor away from the motor rotor; the motor also includes a first bearing, which is arranged between the brake stator and the output shaft.

[0007] In some optional examples, one end of the brake stator is embedded in the hollow hole, and the brake rotor is connected to the side of the brake stator facing away from the motor rotor; the motor also includes a first bearing, which is arranged between one end of the brake stator located in the hollow hole and the output shaft.

[0008] In some optional examples, the brake stator has a first end and a second end opposite to each other, the first end is embedded in the hollow hole, the first end is provided with a receiving hole, and the brake rotor is accommodated in the receiving hole and the hollow hole; the motor also includes a first bearing, and the first bearing is arranged between the second end and the output shaft.

[0009] In some optional examples, the motor also includes a first end cover connected to one end of the shell; the second end is provided with a first positioning groove, the first bearing is at least partially accommodated in the first positioning groove, and the first bearing is located on the side of the brake close to the first end cover.

[0010] In some optional examples, the side wall of the first positioning groove is connected to the outer ring of the first bearing, and the bottom wall of the first positioning groove is provided with a limiting protrusion, which abuts against one end of the outer ring of the first bearing.

[0011] In some optional examples, the first bearing is completely accommodated in the first positioning groove, and the first end cover is abutted against the end surface of the outer ring of the first bearing.

[0012] In some optional examples, a second positioning groove is provided on the side of the first end cover facing the brake, one end of the first bearing is accommodated in the first positioning groove and the other end is accommodated in the second positioning groove, and the bottom wall of the second positioning groove is against the end face of the outer ring of the first bearing.

[0013] In some optional examples, the output shaft is provided with a shoulder, which abuts against an end of the inner ring of the first bearing away from the first end cover, so as to limit the axial displacement of the first bearing together with the first end cover.

[0014] In some optional examples, the motor also includes a second end cover and a second bearing, the second end cover is fixedly connected to an end of the shell away from the first end cover, the output shaft passes through the second end cover, and the second bearing is arranged between the second end cover and the output shaft.

[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 brake is at least partially embedded in the hollow hole of the motor stator, and the brake and the motor stator 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 motor with a series layout, the parallel layout of the brake and the motor stator greatly shortens the axial dimension of the motor and improves the compactness of the overall structure of the motor. If the axial dimension of the motor is shortened, the axial dimension of the shell is also shortened, reducing the weight of the shell, thereby reducing the overall structural weight of the motor. As mentioned above, the motor provided by the present application utilizes the space in the motor stator, so that the overall axial dimension of the motor is reduced, the overall weight is reduced, and it has a higher power density. 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 4 Schematic diagram of the enlarged structure of area A in the middle.

[0024] Figure numerals: 100, motor; 10, housing; 12, accommodating chamber; 20, first end cover; 22, mounting hole; 23, second positioning groove; 27, output flange; 28, rear end cover; 30, second end cover; 32, mounting groove; 40, output shaft; 41, shaft body; 43, shoulder; 45, output end; 50, brake; 52, brake stator; 521, first end; 523, second end; 525, accommodating hole; 527, first positioning groove; 5272, limiting protrusion; 54, brake rotor; 60, first bearing; 70, 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 4In this embodiment, the motor 100 may include a housing 10, the output shaft 40, a motor stator 90, a motor rotor 80, and a brake 50. The housing 10 is provided with a housing chamber 12, the motor stator 90 is arranged in the housing 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 housing 10 and the hollow hole 92. The motor rotor 80 is arranged in the hollow hole 92 and is connected to the output shaft 40 in a non-rotatable manner. It should be understood that the "non-rotatable connection" 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 brake 50 is arranged in the housing chamber 12 and at least partially embedded in the hollow hole 92. 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-rotatable manner. It should be understood that the “rotation-proof 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.

[0032] In the motor 100, the brake 50 is at least partially embedded in the hollow hole 92 of the motor stator 90, and the 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 the parallel layout of the two to a certain extent. Among them, "the brake 50 and the motor stator 90 are at least partially arranged in parallel in the radial direction of the output shaft 40" can be understood as when projected toward the same plane along the radial direction of the output shaft 40, the projections of the brake 50 and the motor stator 90 coincide, and this plane is parallel to the axis of the output shaft 40. Compared with the motor with a series layout, the parallel layout of the brake 50 and the motor stator 90 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. If the axial dimension of the motor 100 is shortened, the axial dimension of the housing 10 is also shortened, which reduces the weight of the housing 10, thereby reducing the overall structural weight of the motor 100. As mentioned above, the motor 100 provided in the present application utilizes the space within the motor stator 90, so that the overall axial size of the motor 100 is reduced, the overall weight is reduced, and the motor 100 has 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] Please also see Figure 4 and Figure 5 In this embodiment, the shell 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 shell 10 is roughly in the shape of a through cylinder, and the accommodating chamber 12 passes through both ends of the shell 10 along the axial direction of the output shaft 40. In this embodiment, the motor 100 may also include a first end cover 20, and the first end cover 20 is fixedly connected to one end of the shell 10, for example, connected to the end surface of one end of the shell 10 by screws. The first end cover 20 may be provided with a mounting hole 22 for the output shaft 40 to pass through. The output shaft 40 passes through the shell 10 and extends out of the shell 10 through the mounting hole 22 of the first end cover 20. The output shaft 40 is used to drive the actuator 201 to move (such as Figure 2 shown).

[0035] The motor stator 90 is fixedly connected to the housing 10 and is rotatably sleeved on the motor rotor 80 through the hollow hole 92. 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 winding, and the winding is connected to a power supply 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 realizes mechanical output through the output shaft 40. The motor rotor 80 can adopt a permanent magnet type, an AC induction type, or other designs.

[0036] 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 part of the winding protruding from the iron core usually does not participate in the magnetic circuit operation. The motor rotor 80 is arranged in the hollow hole 92. Part of the structure of the 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, so that the part of the 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. The embedding of the brake 50 in the motor stator 90 effectively utilizes the length space of the motor stator 90, improves the compactness of the structure, and enables the brake 50 and the motor stator 90 to achieve parallel layout to a certain extent, shortens the axial dimension of the motor 100, and improves the power density of the motor 100.

[0037] This specification does not limit the specific positional relationship between the brake 50 and the motor stator 90. For example, the brake rotor 54 is embedded in the hollow hole 92, or the brake stator 52 is located in the hollow hole 92. In some embodiments, the brake rotor 54 can be embedded in the hollow hole 92, and the brake stator 52 is arranged on the side of the brake rotor 54 away from the motor rotor 80 and outside the hollow hole 92. The motor 100 also includes a first bearing 60, which is arranged between the brake stator 52 and the output shaft 40. The brake stator 52 is arranged between the motor stator 90 and the first end cover 20, and the first bearing 60 is arranged on the side of the brake stator 52 facing the first end cover 20. The brake stator 52 can limit the first bearing 60 together with the first end cover 20.

[0038] In other embodiments, the brake stator 52 may be embedded in the hollow hole 92. Specifically, one end of the brake stator 52 is embedded in the hollow hole 92, and the brake rotor 54 is connected to the side of the brake stator 52 away from the motor rotor 80 and is located outside the hollow hole 92. The motor 100 further includes a first bearing 60, which is disposed between one end of the brake stator 52 located in the hollow hole 92 and the output shaft 40.

[0039] In this embodiment, the brake stator 52 and the brake rotor 54 can be embedded in the hollow hole 92. Specifically, the brake stator 52 can have a first end 521 and a second end 523. The first end 521 is embedded in the hollow hole 92, and the first end 521 is provided with a receiving hole 525. The brake rotor 54 is accommodated in the receiving hole 525 and is also accommodated in the hollow hole 92. The motor 100 also includes a first bearing 60, which is arranged between the second end 523 and the output shaft 40. The brake stator 52 and the brake rotor 54 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 brake 50 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.

[0040] 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.

[0041] In this embodiment, the second end 523 of the brake stator 52 is provided with a first positioning groove 527, and the first bearing 60 is at least partially accommodated in the first positioning groove 527. The first bearing 60 is located on the side of the brake 50 close to the first end cover 20. The first bearing 60 and the brake 50 are at least partially arranged in parallel in the radial direction of the output shaft 40, and a parallel layout of the two is achieved 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.

[0042] The side wall of the first positioning groove 527 is connected to the outer ring of the first bearing 60, and the bottom wall of the first positioning groove 527 is provided with a limiting protrusion 5272, which abuts against one end of the outer ring of the first bearing 60. The limiting protrusion 5272 abuts against the outer ring of the first bearing 60 so that the other part of the bottom wall of the first positioning groove 527 is spaced from the inner ring of the first bearing 60, thereby avoiding the influence on the relative movement of the inner and outer rings of the first bearing 60. The brake stator 52 limits the radial displacement of the first bearing 60 through the side wall of the first positioning groove 527 and limits the axial displacement of the first bearing 60 through the limiting protrusion 5272, thereby improving the installation stability of the first bearing 60.

[0043] In some embodiments, the first bearing 60 is completely contained in the first positioning groove 527, and the first end cover 20 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 first end cover 20 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 first end cover 20 only limits the first bearing 60 in the axial direction, which reduces the requirement for the thickness 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 60, which improves the installation stability of the first bearing 60.

[0044] In other embodiments, the first bearing 60 can be partially accommodated in the first positioning groove 527. A second positioning groove 23 is provided on the side of the first end cover 20 facing the brake 50, and the second positioning groove 23 surrounds the outside of the mounting hole 22. The second positioning groove 23 has an intersecting peripheral wall and a bottom wall, and the peripheral wall of the second positioning groove 23 is substantially flush with the inner wall of the first positioning groove 527. One end of the first bearing 60 is accommodated in the first positioning groove 527, and the other end is accommodated in the second positioning groove 23, and the bottom wall of the second positioning groove 23 abuts against the end face of the outer ring of the first bearing 60. The peripheral wall of the brake stator 52 and the second positioning groove 23 jointly limit the radial displacement of the first bearing 60, and the bottom wall of the second positioning groove 23 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 first end cover 20 and the brake 50 jointly limit the first bearing 60, reducing 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 60, thereby improving the installation stability of the first bearing 60.

[0045] In this embodiment, the output shaft 40 may include a shaft body 41 and a shaft shoulder 43, and the shaft body 41 is provided 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 first positioning groove 527 and abuts against the end of the inner ring of the first bearing 60 away from the first end cover 20. The shaft shoulder 43 and the limiting protrusion 5272 are spaced apart in the radial direction of the output shaft 40. The shaft shoulder 43 and the first 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 this embodiment, the motor 100 may further include a second end cover 30 and a second bearing 70. The second end cover 30 is fixedly connected to the end of the housing 10 away from the first end cover 20, for example, fixedly connected to the end surface of the housing 10 by screws. Similar to the first end cover 20, the second end cover 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 second end cover 30. The second bearing 70 is arranged between the second end cover 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 second end cover 30. The second end cover 30 is provided with a mounting groove 32 on the side facing the first 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 supported against one end of the inner ring of the second bearing 70. For details, please refer to the description of the shoulder 43 above, which will not be repeated here.

[0047] 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.

[0048] 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 tail of the motor 100 (the end away from the output flange 27). 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 the actuator 201 driven by the motor 100. In other embodiments, the second end cover 30 may be the output flange 27, and the first end cover 20 may be the rear end cover 28.

[0049] In the motor 100 provided in the embodiment of the present application, the brake 50 is at least partially embedded in the hollow hole 92 of the motor stator 90, and the brake 50 and the motor stator 90 are at least partially arranged in parallel in the radial direction of the output shaft 40, and the parallel layout of the two is realized to a certain extent. Compared with the motor with a series layout, the parallel layout of the brake 50 and the motor stator 90 greatly shortens the axial size of the motor 100 (the size 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 axial size of the motor 100 is shortened, and the axial size of the housing 10 is also shortened, reducing the weight of the housing 10, thereby reducing the overall structural weight of the motor 100. As mentioned above, the motor 100 provided in the present application utilizes the space in the motor stator 90, so that the overall axial size of the motor 100 is reduced, the overall weight becomes low, and has a higher power density.

[0050] 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.

[0051] 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 receiving cavity; A motor stator is disposed in the accommodating cavity and connected to the housing, wherein the motor stator is provided with a hollow hole; An output shaft is inserted through the housing and the hollow hole; A motor rotor is disposed in the hollow hole and is non-rotatably connected to the output shaft; And a brake, which is arranged in the accommodating cavity and at least partially embedded in the hollow hole, the 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 fixedly arranged in the accommodating cavity.

2. The motor according to claim 1, characterized in that The brake rotor is embedded in the hollow hole, and the brake stator is arranged on a side of the brake rotor away from the motor rotor; the motor also includes a first bearing, which is arranged between the brake stator and the output shaft.

3. The motor according to claim 1, characterized in that One end of the brake stator is embedded in the hollow hole, and the brake rotor is connected to the side of the brake stator away from the motor rotor; the motor also includes a first bearing, which is arranged between one end of the brake stator located in the hollow hole and the output shaft.

4. The motor according to claim 1, characterized in that The brake stator has a first end and a second end facing each other, the first end is embedded in the hollow hole, the first end is provided with a receiving hole, and the brake rotor is accommodated in the receiving hole and the hollow hole; the motor also includes a first bearing, and the first bearing is arranged between the second end and the output shaft.

5. The motor according to claim 4, characterized in that The motor also includes a first end cover connected to one end of the housing; the second end is provided with a first positioning groove, the first bearing is at least partially accommodated in the first positioning groove, and the first bearing is located on a side of the brake close to the first end cover.

6. The motor according to claim 5, characterized in that The side wall of the first positioning groove is connected to the outer ring of the first bearing, and the bottom wall of the first positioning groove is provided with a limiting protrusion, and the limiting protrusion abuts against one end of the outer ring of the first bearing.

7. The motor according to claim 5, characterized in that The first bearing is completely accommodated in the first positioning groove, and the first end cover is supported against the end surface of the outer ring of the first bearing.

8. The motor according to claim 5, characterized in that A second positioning groove is provided on the side of the first end cover facing the brake, one end of the first bearing is accommodated in the first positioning groove, and the other end is accommodated in the second positioning groove, and the bottom wall of the second positioning groove abuts against the end surface of the outer ring of the first bearing.

9. The motor according to claim 8, characterized in that The output shaft is provided with a shaft shoulder, and the shaft shoulder abuts against an end of the inner ring of the first bearing away from the first end cover, so as to limit the axial displacement of the first bearing together with the first end cover.

10. The electric machine according to any one of claims 5 to 9, characterized in that The motor further includes a second end cover and a second bearing. The second end cover is fixedly connected to an end of the housing away from the first end cover. The output shaft passes through the second end cover. The second bearing is arranged between the second end cover and the output shaft.

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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