Motor shaft fixing structure, motor assembly and walking mechanism

Abstract

The utility model relates to the field of robots, in particular to a motor shaft fixing structure, a motor assembly and a walking mechanism, the motor shaft fixing structure comprises a shaft sleeve, a clamping piece, a bearing piece and a locking piece, and an inner cavity of the shaft sleeve comprises a shaft cavity used for containing a motor shaft and a clamping gap communicated with the shaft cavity; the clamping piece is arranged in the clamping gap and fixedly connected with the shaft sleeve so as to clamp the motor shaft arranged in the shaft cavity. The bearing part is provided with a mounting cavity, the shaft sleeve is inserted into the mounting cavity from an opening in one end of the mounting cavity, and a locking opening communicating with the mounting cavity is formed in the bottom of the bearing part. During installation, only the shaft sleeve needs to be arranged on the motor shaft in a sleeving mode, the clamping piece is inserted into the clamping gap, the motor shaft, the shaft sleeve and the clamping piece are inserted into the installation cavity of the bearing piece together, and then the shaft sleeve is locked on the bearing piece through locking of the locking piece. The motor shaft fixing device is simple in structure and convenient to install.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a motor shaft fixing structure, a motor assembly and a walking mechanism. Background Art

[0002] The walking mechanism includes a walking wheel, a hub motor and a motor shaft assembled together. The motor shaft of the walking mechanism is fixed to the fuselage body. The fixing structure of the motor shaft in the prior art is complex and inconvenient to install. Therefore, how to provide a motor shaft fixing structure, a motor assembly and a walking mechanism with a simple structure and easy installation has become a technical problem that needs to be solved. Utility Model Content

[0003] The main purpose of the present application is to propose a motor shaft fixing structure, a motor assembly and a walking mechanism to solve the technical problems of the existing motor shaft fixing structure being complex and inconvenient to install.

[0004] To achieve the above objectives, in a first aspect, an embodiment of the present application provides a motor shaft fixing structure, comprising:

[0005] A shaft sleeve, wherein the inner cavity of the shaft sleeve comprises a shaft chamber for accommodating the motor shaft and a clamping gap communicating with the shaft chamber;

[0006] A clamping member, the clamping member is arranged in the clamping gap and fixedly connected to the shaft sleeve to clamp the motor shaft arranged in the shaft chamber;

[0007] A bearing member, wherein the bearing member has a mounting cavity, the sleeve is inserted into the mounting cavity from an opening at one end of the mounting cavity, and the bottom of the bearing member has a locking opening connected to the mounting cavity;

[0008] A locking piece is engaged with the shaft sleeve through the locking opening and fixedly connected to the bearing member to lock the shaft sleeve on the bearing member.

[0009] The motor shaft fixing structure provided in the embodiment of the present application is designed to include a sleeve, a clamping piece, a bearing piece and a locking piece. The inner cavity of the sleeve includes an axis chamber for accommodating the motor shaft and a clamping gap connected to the axis chamber; the clamping piece is arranged in the clamping gap and fixedly connected to the sleeve to clamp the motor shaft arranged in the axis chamber; the bearing piece has an installation cavity, and the sleeve is inserted into the installation cavity from one end opening of the installation cavity, and the bottom of the bearing piece has a locking opening connected to the installation cavity; the locking piece engages with the sleeve through the locking opening and fixedly connects the bearing piece to lock the sleeve on the bearing piece. During installation, it is only necessary to sleeve the sleeve on the motor shaft, insert the clamping piece into the clamping gap, and then insert the motor shaft, the sleeve and the clamping piece together into the installation cavity of the bearing piece, and then lock the sleeve on the bearing piece by locking the locking piece. This motor shaft fixing structure can fix the motor shaft on the bearing piece, and has a simple structure and is easy to install.

[0010] In an optional embodiment, the outer peripheral surface of the sleeve has at least one first limiting protrusion; the inner wall of the mounting cavity is also provided with a first limiting groove extending along the axial direction, and the first limiting protrusion is engaged in the first limiting groove.

[0011] In an optional embodiment, the number of the first limiting protrusions is two, the two first limiting protrusions are arranged at intervals along the axial direction, a limiting groove facing the locking mouth is formed between the two first limiting protrusions, and the first limiting groove is divided into two sub-limiting grooves by the locking mouth; the locking piece has a locking protrusion, and the locking protrusion is arranged in the limiting groove through the locking mouth.

[0012] In an optional embodiment, the sleeve is cylindrical, the bottom wall of the limiting groove is a plane, the bottom of the locking protrusion is a straight portion, and the bottom of the locking protrusion fits with the bottom wall of the limiting groove.

[0013] In an optional embodiment, the outer circumferential surface of the sleeve further has a second limiting protrusion, the second limiting protrusion is spaced apart from the first limiting protrusion in the circumferential direction, and the inner wall of the mounting cavity is further provided with a second limiting groove extending axially, and the second limiting protrusion is engaged in the second limiting groove.

[0014] In an optional embodiment, the second limiting protrusion and the first limiting protrusion are arranged opposite to each other in the radial direction of the sleeve, and the locking member and the supporting member are fixed along the direction from the first limiting protrusion to the second limiting protrusion.

[0015] In an optional embodiment, the second limiting protrusion includes a first limiting protrusion and a second limiting protrusion arranged opposite to each other along the circumferential direction, one end of the sleeve forms a limiting notch located between the first limiting protrusion and the second limiting protrusion, the outer circumferential surface of the clamping member is provided with a limiting protrusion, the limiting protrusion is arranged in the limiting notch, and the two ends of the limiting protrusion along the circumferential direction respectively abut against the two side walls of the limiting notch along the circumferential direction.

[0016] In an optional embodiment, the clamping member is arc-shaped, and two ends of the clamping member along the circumferential direction respectively abut against two side walls of the clamping gap along the circumferential direction.

[0017] In a second aspect, this embodiment provides a motor assembly, comprising at least one motor and the above-mentioned motor shaft fixing structure, wherein the motor comprises a motor body and a motor shaft axially connected to the motor body, and the motor shaft is clamped in the sleeve under the action of the clamping member.

[0018] The motor assembly provided in the embodiment of the present application is designed to include a motor body, a motor shaft axially connected to the motor body, and a motor shaft fixing structure. The motor shaft fixing structure includes a sleeve, a clamping member, a bearing member and a locking member. The inner cavity of the sleeve includes an axial chamber for accommodating the motor shaft and a clamping gap connected to the axial chamber; the clamping member is arranged in the clamping gap and fixedly connects the sleeve to clamp the motor shaft arranged in the axial chamber; the bearing member has an installation cavity, the sleeve is inserted into the installation cavity from one end opening of the installation cavity, and the bottom of the bearing member has a locking member connected to the installation cavity. The locking piece engages the shaft sleeve through the locking piece and fixes the connecting member to the bearing member so as to lock the shaft sleeve on the bearing member. During installation, it is only necessary to sleeve the shaft sleeve on the motor shaft of the motor and insert the clamping piece into the clamping gap. The motor shaft is clamped in the shaft sleeve under the action of the clamping piece. Then, the motor shaft, the shaft sleeve and the clamping piece are inserted into the mounting cavity of the bearing member together. Then, the shaft sleeve is locked on the bearing member through the locking piece to configure the motor on the bearing member. The motor shaft fixing structure of this motor assembly can fix the motor assembly on the bearing member, and the structure is simple and easy to assemble.

[0019] In an optional embodiment, a retaining groove is provided on the outer circumferential surface of the motor shaft, and a retaining protrusion is provided on the inner cavity wall of the sleeve, and the retaining protrusion is engaged with the retaining groove to prevent the motor shaft from moving and rotating axially relative to the sleeve.

[0020] In an optional embodiment, two installation cavities are respectively formed at both ends of the through hole axially arranged in the support member, and two locking openings axially arranged in the bottom of the support member are provided; locking protrusions corresponding to each locking opening are provided on both sides of the locking member, and the number of the bushings, the clamping members, and the motors are all two, and each bushing and each clamping member installs a motor shaft in one of the installation cavities.

[0021] In the third aspect, this embodiment provides a walking mechanism, including a fuselage main body, at least one pair of walking wheels and at least one group of the above-mentioned motor assemblies, each of the motors is axially fixed to one of the walking wheels, the supporting member is arranged on the fuselage main body, and the mounting cavity is arranged at the rear end of the supporting member.

[0022] The walking mechanism provided in the embodiment of the present application includes at least one pair of walking wheels and at least one group of the above-mentioned motor components. The motor component is designed to include a motor body, a motor shaft axially connected to the motor body, and a motor shaft fixing structure. The motor shaft fixing structure includes a sleeve, a clamping piece, a bearing piece and a locking piece. The inner cavity of the sleeve includes an axial chamber for accommodating the motor shaft and a clamping gap connected to the axial chamber; the clamping piece is arranged in the clamping gap and fixedly connects the sleeve to clamp the motor shaft arranged in the axial chamber; the fuselage body has an installation cavity, the sleeve is inserted into the installation cavity from one end opening of the installation cavity, and the bottom of the fuselage body has There is a locking port connected to the installation cavity; the locking piece engages with the shaft sleeve through the locking port and is fixedly connected to the fuselage main body to lock the shaft sleeve on the fuselage main body. During installation, it is only necessary to sleeve the shaft sleeve on the motor shaft of the motor, and insert the clamping piece into the clamping gap. The motor shaft is clamped in the shaft sleeve under the action of the clamping piece, and then the walking wheel, motor shaft, shaft sleeve and clamping piece are inserted into the installation cavity of the fuselage main body together, and then the shaft sleeve is locked on the fuselage main body by locking the locking piece to configure the walking wheel on the fuselage main body. The motor assembly of this walking mechanism can fix the walking wheel on the fuselage main body, and the structure is simple and easy to assemble. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments are briefly introduced below.

[0024] Figure 1 It is a three-dimensional diagram of the front side of a walking mechanism provided in an embodiment of the present application;

[0025] Figure 2 is a three-dimensional diagram of the bottom surface of a walking mechanism provided in an embodiment of the present application;

[0026] Figure 3 It is a partial schematic diagram of the bottom surface of a walking mechanism provided in an embodiment of the present application;

[0027] Figure 4 It is a partial exploded schematic diagram of the bottom surface of a walking mechanism provided in an embodiment of the present application;

[0028] Figure 5 It is a structural schematic diagram of a shaft sleeve provided in an embodiment of the present application;

[0029] Figure 6 This is a schematic diagram of the structure of a motor, a sleeve and a clamping member provided in an embodiment of the present application. Figure 1 ;

[0030] Figure 7 This is a schematic diagram of the structure of a motor, a sleeve and a clamping member provided in an embodiment of the present application. Figure 2 ;

[0031] Figure 8The present invention provides a structure assembly of a motor, a sleeve and a clamping member. Figure 1 ;

[0032] Fig. 9 This is a schematic diagram of the bottom structure of a chassis provided in an embodiment of the present application. Figure 1 ;

[0033] Fig.10 This is a schematic diagram of the bottom structure of a chassis provided in an embodiment of the present application. Figure 2 ;

[0034] Fig.11 This is a schematic diagram of the structure of a motor, a sleeve and a clamping member provided in an embodiment of the present application. Figure 3 ;

[0035] Fig.12 The present invention provides a structure assembly of a motor, a sleeve and a clamping member. Figure 2 ;

[0036] Fig.13 yes Fig.10 A partial enlarged schematic diagram of area A is provided;

[0037] Fig.14 It is a side view of the chassis provided in the embodiment of the present application.

[0038] Description of Figure Numbers:

[0039] Walking mechanism 100; body 11; walking wheel 12; motor assembly 13; chassis 14; top cover 15; working unit 16; driving wheel assembly 17; universal wheel assembly 18; motor 19; motor shaft fixing structure 20; motor body 21; motor shaft 22; bushing 23; clamping member 24; mounting cavity 25; bearing member 26; locking member 27; shaft chamber 28; clamping gap 29; locking opening 30; first limiting protrusion 31; first limiting groove 32; sub-limiting groove 33; limiting groove 34; locking protrusion 35; second limiting protrusion 36; second limiting groove 37; first limiting convex strip 38; second limiting convex strip 39; limiting notch 40; limiting protrusion 41; locking groove 42; locking protrusion 43. DETAILED DESCRIPTION

[0040] The technical solution of the present application will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the embodiments described in the present application are only a part of the embodiments, not all of the embodiments. Based on the embodiments provided in the present application, all other embodiments obtained by ordinary technicians in this field without creative work belong to the protection scope of the present application.

[0041] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it mutually exclusive, independent, or alternative to other embodiments. It can be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0042] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example: a component or device including one or more parts is not limited to the one or more parts listed, but optionally includes one or more parts that are not listed but inherent to the exemplified product, or one or more parts that it should have based on the described function.

[0043] See also Figure 1 An embodiment of the present application provides a walking mechanism 100 , which includes a body 11 , at least one pair of walking wheels 12 and at least one group of motor components 13 . Figure 1 The upper structure of the middle fuselage body 11

[0044] The walking mechanism 100 includes but is not limited to self-moving and self-walking equipment such as an intelligent lawn mower, an intelligent cleaning robot, an intelligent car, and an intelligent sprinkler truck.

[0045] See also Figure 1 and Figure 2 The body 11 also includes but is not limited to a chassis 14, a top cover 15, a battery assembly, etc. The chassis 14 is a main bearing member for bearing most of the structure. The top cover 15 covers the chassis 14, and the top cover 15 and the chassis 14 surround to form a receiving space for receiving the battery assembly, etc. Figure 1 and Figure 2 The upper part of the structure of the middle top cover 15 has been omitted.

[0046] See also Figure 1 and Figure 2, the walking mechanism 100 also includes a working unit 16, and the working unit 16 includes but is not limited to a cutter disc assembly, a dust collection assembly, and a cleaning assembly. The working unit 16 is arranged at the bottom of the fuselage main body 11, and is used to perform preset work tasks. The preset work tasks include but are not limited to mowing, trimming grass, vacuuming and cleaning, etc. In this embodiment, the walking mechanism 100 is used as an example of an intelligent lawn mower to specifically illustrate the inventive concept of the present application, and other structures can refer to the inventive concept described below. In this embodiment, the working unit 16 is used as an example of a cutter disc assembly to illustrate the inventive concept of the present application. The cutter disc assembly is arranged in a receiving space surrounded by the top cover 15 and the chassis 14.

[0047] See also Figures 1 to 3 , each of the motor assemblies 13 is axially fixed to one of the travel wheels 12. Optionally, the travel mechanism 100 includes a pair of travel wheels 12 and a set of motor assemblies 13. Each motor assembly 13 is axially fixed to one of the travel wheels 12. A pair of travel wheels 12 and motor assemblies 13 are symmetrically arranged on both sides of the width direction of the travel mechanism 100. A pair of travel wheels 12 and motor assemblies 13 are called a driving wheel assembly 17.

[0048] Optional, see Figures 1 to 3 , the driving wheel assembly 17 is installed at a position near the rear end of the chassis 14. The rear end mentioned in the present application is an end arranged opposite to the front end. The rear end mentioned in the present application is the end position of the walking mechanism 100 in the backward direction. The motor assembly 13 drives the walking wheel 12 to roll, and the walking wheel 12 rubs against the ground to form a driving force to drive the walking mechanism 100 to move. By controlling the rotation direction and speed of a pair of walking wheels 12, the walking mechanism 100 can move forward, backward, turn left, turn right, turn, etc.

[0049] In this embodiment, optional, please refer to Figures 1 to 3 The walking mechanism 100 also includes a universal wheel assembly 18, which is installed at a position near the front end of the chassis 14. The front end mentioned in the present application refers to the end position of the walking mechanism 100 in the travel direction D1. The universal wheel assembly 18 can be freely turned within the horizontal reference plane to flexibly move in various directions, so that the walking mechanism 100 can maintain a stable balance in different environments. The universal wheel assembly 18 and the driving wheel assembly 17 are arranged at the bottom of the fuselage body 11 in front and behind to drive the fuselage body 11 of the walking mechanism 100 to move. The travel direction of the walking mechanism 100 is the direction in which the driving wheel assembly 17 points to the universal wheel assembly 18.

[0050] In other embodiments, the walking mechanism 100 includes two pairs of walking wheels 12 and two groups of motor assemblies 13. Each motor assembly 13 is axially fixed to one of the walking wheels 12. A pair of walking wheels 12 and the motor assembly 13 are called a driving wheel assembly 17. The two groups of driving wheel assemblies 17 are arranged front and back along the traveling direction of the walking mechanism 100.

[0051] See also Figure 4 , an embodiment of the present application provides a motor assembly 13, the motor assembly 13 includes at least one motor 19 and a motor shaft fixing structure 20. Take the example that the motor assembly 13 includes a motor 19. The motor 19 includes a motor body 21 and a motor shaft 22 axially connected to the motor body 21. Optionally, the motor body 21 is fixedly connected to the center position of the walking wheel 12. The motor body 21 can be packaged together with the walking wheel 12. The motor 19 is a hub motor. When the motor 19 is working, it drives the walking wheel 12 to rotate. The motor shaft 22 is fixedly connected to the center position of the motor body 21. The motor shaft fixing structure 20 is arranged on the side of the motor shaft 22 away from the walking wheel 12. The walking wheel 12, the motor body 21, and the motor shaft 22 are axially fixedly connected in sequence.

[0052] See also Figure 4 The embodiment of the present application provides a motor shaft fixing structure 20 , which includes a shaft sleeve 23 , a clamping member 24 , a bearing member 26 and a locking member 27 .

[0053] See also Figure 5 The inner cavity of the shaft sleeve 23 includes a shaft chamber 28 for accommodating the motor shaft 22 and a clamping gap 29 connected to the shaft chamber 28 .

[0054] For details, please refer to Figures 6 to 8 , the sleeve 23 is a hollow structure. The inner cavity of the sleeve 23 is a special-shaped space. Among them, the shaft chamber 28 of the motor shaft 22 is a cylindrical through hole or a nearly cylindrical through hole. After the motor shaft 22 is arranged in the shaft chamber 28, a clamping gap 29 is formed between the outer peripheral wall of the motor shaft 22 and the inner wall of the sleeve 23. The present application does not specifically limit the shape of the clamping gap 29. For example, the clamping gap 29 has a smaller thickness in the radial direction. Optionally, the thickness of the clamping gap 29 in the radial direction is less than the thickness of the sleeve 23 in the radial direction. Furthermore, the thickness of the clamping gap 29 in the radial direction is less than 1 / 2 of the thickness of the sleeve 23 in the radial direction, so as to ensure that the thickness of the sleeve 23 in the radial direction has a certain thickness and has good strength in the area where the clamping gap 29 is provided.

[0055] See also Figures 6 to 8, the clamping gap 29 has a certain curvature along the circumferential direction. The present application does not specifically limit the curvature of the clamping gap 29 along the circumferential direction. Optionally, the curvature angle of the clamping gap 29 along the circumferential direction is less than 180 degrees, so that the clamping gap 29 opened in the sleeve 23 is small in size, and more areas of the sleeve 23 have a larger thickness, so as to ensure that the sleeve 23 has a better structural strength.

[0056] The size of the clamping gap 29 in the axial direction is less than or equal to the size of the sleeve 23 in the axial direction. In this embodiment, the size of the clamping gap 29 is equal to the size of the sleeve 23 in the axial direction, so as to simplify the processing steps of machining the clamping gap 29, and the axial clamping length of the clamping gap 29 is relatively long. In other embodiments, the size of the clamping gap 29 in the axial direction is less than the size of the sleeve 23 in the axial direction, so that the axial size of the clamping gap 29 opened on the sleeve 23 is small, and the thickness of the portion of the sleeve 23 where the clamping gap 29 is not provided is uniform in the circumferential direction.

[0057] See also Figures 6 to 8 , the clamping member 24 is arranged in the clamping gap 29 and fixedly connected to the shaft sleeve 23 to clamp the motor shaft 22 arranged in the shaft chamber 28. Specifically, after the motor shaft 22 is arranged in the shaft chamber 28, the clamping member 24 is arranged in the clamping gap 29, and the clamping member 24 and the shaft sleeve 23 are fixed in the axial direction, and the clamping member 24 and the shaft sleeve 23 are fixedly connected as a whole. The motor shaft 22 is clamped in the shaft sleeve 23 under the action of the clamping member 24. Specifically, the clamping member 24 and the shaft sleeve 23 can clamp the motor shaft 22 in the axial direction and the circumferential direction, and the clamping member 24, the shaft sleeve 23, the motor shaft 22, the motor body 21 and the walking wheel 12 are fixedly connected as a whole.

[0058] See also Figure 2 , the bearing member 26 may be arranged on the fuselage body 11. Optionally, the bearing member 26 may be a part of the chassis 14. Further optionally, the bearing member 26 is a part of the rear end of the chassis 14. The bearing member 26 has a through hole. The through hole is arranged along the width direction of the walking mechanism 100 (the axial direction of the motor shaft 22), and the two ends of the through hole are opened to form two symmetrically arranged installation cavities 25. Each installation cavity 25 is used to install a sleeve 23, a clamping member 24 and a motor shaft 22.

[0059] See also Fig. 9 and Fig.10 The bearing member 26 has a mounting cavity 25. Optionally, the mounting cavity 25 is disposed at the rear end of the bearing member 26. The shaft sleeve 23 is inserted into the mounting cavity 25 from one end opening of the mounting cavity 25. Fig. 9 and Fig.10 The upper part of the middle chassis 14 has been omitted.

[0060] See also Fig. 9and Fig.10 The bottom of the carrier 26 has a locking opening 30 connected to the installation cavity 25 .

[0061] The locking member 27 engages with the sleeve 23 through the locking opening 30 and is fixedly connected to the carrier 26, so that the sleeve 23 is locked on the carrier 26, so that one driving wheel assembly 17 is assembled on one side of the chassis 14. In the above-mentioned installation method, another driving wheel assembly 17 is assembled on the other side of the chassis 14, so that a pair of driving wheel assemblies 17 are assembled on the chassis 14.

[0062] The shaft sleeve 23 and the clamping member 24 of the motor shaft fixing structure 20 are sleeved on the periphery of the motor shaft 22 and are arranged in the axial installation cavity 25 of the fuselage body 11. The locking member 27 of the motor shaft fixing structure 20 fixes the shaft sleeve 23, the clamping member 24 and the motor shaft 22 of the motor shaft fixing structure 20 to the fuselage body 11 together.

[0063] Optionally, two installation cavities 25 are symmetrically provided on both sides of the rear end of the fuselage body 11 along the width direction, or in other words, the fuselage body 11 is provided with a through hole along the width direction, and two symmetrical installation cavities 25 are formed near the opening positions at both ends of the through hole. The two walking wheels 12 and the two motor assemblies 13 form two driving wheel assemblies 17, and the two driving wheel assemblies 17 are respectively installed in the two installation cavities 25 of the fuselage body 11, so that the driving wheel assembly 17 drives the walking mechanism 100 to walk at the rear end of the fuselage body 11.

[0064] Furthermore, two locking openings 30 are provided in the axial direction at the bottom of the carrier 26. Two sides of one locking member 27 may be provided with locking protrusions corresponding to each locking opening 30. The locking member 27 covers the carrier 26 at the rear end of the fuselage body 11, and engages and fixes the two sleeves 23 through the two locking protrusions.

[0065] The motor shaft fixing structure 20 provided in the embodiment of the present application includes a sleeve 23, a clamping member 24, a bearing member 26 and a locking member 27. The inner cavity of the sleeve 23 includes an axis chamber 28 for accommodating the motor shaft 22 and a clamping gap 29 connected to the axis chamber 28. The clamping member 24 is arranged in the clamping gap 29 and fixedly connected to the sleeve 23 to clamp the motor shaft 22 arranged in the axis chamber 28. The bearing member 26 has an installation cavity 25. The sleeve 23 is inserted into the installation cavity 25 from one end opening of the installation cavity 25. The bearing member 26 is provided with a mounting cavity 25. The bottom has a locking opening 30 connected to the installation cavity 25. The locking piece 27 engages the shaft sleeve 23 through the locking opening 30 and fixes the connecting member 26 to lock the shaft sleeve 23 on the supporting member 26. During installation, it is only necessary to sleeve the shaft sleeve 23 on the motor shaft 22, insert the clamping piece 24 into the clamping gap 29, and then insert them together into the installation cavity 25 of the supporting member 26, and then lock the shaft sleeve 23 on the supporting member 26 through the locking piece 27. This motor shaft fixing structure 20 can fix the motor shaft 22 on the supporting member 26, and has a simple structure and is easy to install.

[0066] Optional, see Fig.11 and Fig.12 The outer circumferential surface of the sleeve 23 has at least one first limiting protrusion 31. Specifically, the first limiting protrusion 31 protrudes radially outward from the outer circumferential surface of the sleeve 23. The radial dimension of the area where the first limiting protrusion 31 is located is greater than the radial dimension of other positions on the outer circumferential surface of the sleeve 23 where the first limiting protrusion 31 is not provided.

[0067] See also Fig.13 and Fig.14 The inner wall of the mounting cavity 25 of the carrier 26 (the rear end of the chassis 14) is further provided with a first limiting groove 32 extending in the axial direction. The length direction of the first limiting groove 32 is the axial direction, and the depth direction of the first limiting groove 32 is the radial direction of the mounting cavity 25. In other words, the first limiting groove 32 is in the shape of a long strip. The first limiting groove 32 is formed by the inner wall of the mounting cavity 25 being recessed toward the outer wall.

[0068] The radial dimension of the installation cavity 25 matches the radial dimension of other positions on the outer circumference of the sleeve 23 where the first limiting protrusion 31 is not provided. For example, there is a clearance fit between the installation cavity 25 and other positions on the outer circumference of the sleeve 23 where the first limiting protrusion 31 is not provided.

[0069] The size and shape of the cross section of the first limiting groove 32 are adapted to the size and shape of the cross section of the first limiting protrusion 31. Specifically, for example, the first limiting groove 32 and the first limiting protrusion 31 are clearance-matched. The length of the first limiting groove 32 along the axial direction may be greater than or equal to the first limiting protrusion 31. Since the first limiting protrusion 31 needs to be inserted into the first limiting groove 32 along the axial direction along the shaft sleeve 23, the length of the first limiting groove 32 along the axial direction may be the same as the length of the shaft sleeve 23 inserted into the installation cavity 25, and the length of the first limiting protrusion 31 inserted into the installation cavity 25 may be less than the length of the shaft sleeve 23 inserted into the installation cavity 25, so the length of the first limiting groove 32 along the axial direction may be greater than the length of the first limiting protrusion 31.

[0070] The present application does not specifically limit the position of the first limiting protrusion 31 in the axial direction of the sleeve 23. Optionally, the first limiting protrusion 31 can be arranged at one end of the sleeve 23 close to the running wheel 12, or at one end away from the running wheel 12, or at the axial middle position of the sleeve 23.

[0071] The present application does not specifically limit the position of the first limiting groove 32 in the installation cavity 25. Optionally, since the top of the chassis 14 is located inside the walking mechanism 100 and the bottom of the chassis 14 is exposed to the outside, by setting the first limiting groove 32 at the bottom of the chassis 14, the chassis 14 can be turned over during assembly and operated at the bottom of the chassis 14.

[0072] See also Figure 2 and Figure 4 In assembly, the first limiting protrusion 31 is first aligned with the first limiting groove 32. When the sleeve 23 is inserted into the mounting cavity 25 along the axial direction, the first limiting protrusion 31 is inserted into the first limiting groove 32 along the axial direction to a suitable position. At this time, since the first limiting protrusion 31 fits with the groove wall of the first limiting groove 32, the first limiting protrusion 31 can move relative to the groove wall of the first limiting groove 32 along the axial direction, and the first limiting protrusion 31 is fixed with the groove wall of the first limiting groove 32 along the circumferential direction, that is, the first limiting protrusion 31 is engaged in the first limiting groove 32, so that the sleeve 23 and the bearing member 26 (the rear end of the chassis 14) are relatively fixed along the circumferential direction. In other words, the first limiting protrusion 31 of the sleeve 23 cooperates with the first limiting groove 32 in the mounting cavity 25 of the bearing member 26, so that the motor assembly 13 and the chassis 14 are relatively fixed in the circumferential width direction and interconnected as a whole.

[0073] Optional, see Figure 12-14, the number of the first limiting protrusions 31 is two. The two first limiting protrusions 31 are spaced apart in the axial direction. Optionally, the length of the first limiting groove 32 is the length of the sleeve 23. The middle part of the first limiting groove 32 is divided into two sub-limiting grooves 33 by the locking mouth 30. So visually, the first limiting groove 32 is divided into two sub-limiting grooves 33, and the two first limiting protrusions 31 are respectively engaged in the two sub-limiting grooves 33. The above design in this embodiment enables the bearing member 26 and the sleeve 23 to have more fitting area and engaging area in the circumferential direction, thereby improving the circumferential engaging strength of the bearing member 26 and the sleeve 23, and thereby increasing the fastening strength of the motor assembly 13 and the chassis 14 interconnected in the circumferential direction as a whole. Fig.14 Part of the structure inside the middle chassis 14 has been omitted.

[0074] In other embodiments, the number of the first limiting protrusions 31 is one, three, or four, etc. By designing one or more first limiting protrusions 31 to have a longer total length in the axial direction, the bearing member 26 and the shaft sleeve 23 have more fitting and clamping areas in the circumferential direction, thereby improving the clamping strength of the bearing member 26 and the shaft sleeve 23 in the circumferential direction, thereby increasing the fastening strength of the interconnection of the motor assembly 13 and the chassis 14 in the circumferential direction as a whole.

[0075] See also Fig.11 A limiting groove 34 facing the locking opening 30 is formed between the two first limiting protrusions 31 in the axial direction.

[0076] See also Figure 4 and Fig.11 The locking member 27 has a locking protrusion 35. The locking protrusion 35 is arranged in the limiting groove 34 through the locking opening 30. Specifically, the locking opening 30 radially penetrates the inner wall and the outer wall of the mounting cavity 25 of the bearing member 26. The locking protrusion 35 can be arranged in the limiting groove 34 along the radial direction, and the locking member 27 is fixedly connected to the bearing member 26 to lock the sleeve 23 on the bearing member 26 in the axial direction.

[0077] As can be seen from the above, the sleeve 23 and the carrier 26 are relatively fixed in the circumferential direction. In this embodiment, the sleeve 23 is locked on the carrier 26 in the axial direction by designing a locking member 27, so that the sleeve 23 and the carrier 26 are relatively fixed in the axial and circumferential directions, and the motor assembly 13 and the chassis 14 of the walking mechanism 100 are fixedly connected to form a whole in the axial and circumferential directions.

[0078] For further optional information, see Figure 4 and Fig.11The sleeve 23 is cylindrical. The bottom wall of the limiting groove 34 is a plane. The limiting groove 34 can be formed by flattening the arc portion between the two first limiting protrusions 31, or by forming the surface between the two first limiting protrusions 31 into a plane during molding, thereby forming the limiting groove 34 between the two first limiting protrusions 31.

[0079] The bottom wall of the limiting groove 34 in the present application is a plane, including but not limited to the bottom wall of the limiting groove 34 being a flush solid surface or a hollow surface.

[0080] See also Figure 2 and Figure 4 The bottom of the locking protrusion 35 is a straight portion, including but not limited to the bottom of the locking protrusion 35 being a flush solid surface or a hollow surface.

[0081] See also Figure 2 and Figure 4 The bottom wall of the limiting groove 34 is a plane, and the bottom of the locking protrusion 35 is a straight portion, so that the bottom of the locking protrusion 35 and the bottom wall of the limiting groove 34 are in surface contact.

[0082] Since the shaft sleeve 23 is cylindrical, when the first limiting protrusion 31 and the first limiting groove 32 have a certain assembly clearance in the circumferential direction, the shaft sleeve 23 and the supporting member 26 have a certain rotation clearance in the circumferential direction, which may cause the motor assembly 13 and the chassis 14 to be unable to be completely fixed in the circumferential direction, and may cause problems such as unstable operation during the movement of the walking mechanism 100.

[0083] See also Figure 2 and Figure 4 Based on this, in this embodiment, the bottom wall of the limiting groove 34 and the bottom of the locking protrusion 35 are both planes. When the sleeve 23 is arranged in the installation cavity 25, the locking opening 30 exposes the bottom wall of the limiting groove 34. When the locking member 27 is installed on the bearing member 26, the bottom of the locking protrusion 35 on the locking member 27 is in surface contact with the bottom wall of the limiting groove 34. The locking member 27 is fixedly connected to the bearing member 26, and the locking member 27 can restrain the movement of the sleeve 23 in the circumferential direction, so that the locking member 27 and the sleeve 23 are relatively fixed in the circumferential direction and interconnected as a whole, avoiding the problem that the motor assembly 13 and the chassis 14 cannot be completely fixed in the circumferential direction due to the first limiting protrusion 31 and the first limiting groove 32 having a certain assembly gap in the circumferential direction, preventing the sleeve 23 and the locking member 27 from rotating relative to each other or loosening in the axial direction, thereby making the sleeve 23, the locking member 27, and the bearing member 26 relatively fixed in the circumferential direction and interconnected as a whole.

[0084] Optionally, the two first limiting protrusions 31 can be respectively arranged at the two ends of the sleeve 23 in the axial direction. In this way, the first limiting groove 32 between the two first limiting protrusions 31 is longer in the axial direction, so that the area where the bottom of the locking protrusion 35 on the locking piece 27 fits with the bottom wall of the limiting groove 34 is larger, further improving the connection strength between the locking piece 27 and the sleeve 23 in the circumferential direction.

[0085] Optional, see Figure 8 The outer circumferential surface of the sleeve 23 also has a second limiting protrusion 36. The second limiting protrusion 36 is spaced apart from the first limiting protrusion 31 in the circumferential direction. The first limiting protrusion 31 is formed by the outer circumferential surface of the sleeve 23 protruding outward in the radial direction. The axial length of the second limiting protrusion 36 can be close to the axial length of the sleeve 23 to increase the area of ​​the limiting fit.

[0086] See also Fig.10 The inner wall of the mounting cavity 25 of the carrier 26 (the rear end of the chassis 14) is further provided with a second limiting groove 37 extending in the axial direction. The second limiting protrusion 36 is engaged in the second limiting groove 37. The length direction of the second limiting groove 37 is the axial direction, and the depth direction of the second limiting groove 37 is the radial direction of the mounting cavity 25. In other words, the second limiting groove 37 is in the shape of a long strip. The second limiting groove 37 is formed by the inner wall of the mounting cavity 25 being recessed toward the outer wall.

[0087] The size and shape of the cross section of the second limiting groove 37 match the size and shape of the cross section of the second limiting protrusion 36 . For example, the second limiting groove 37 and the second limiting protrusion 36 are clearance-matched.

[0088] The present application does not specifically limit the position of the second limiting groove 37 in the installation cavity 25. Optionally, since the first limiting groove 32 is disposed at the bottom of the chassis 14, the second limiting groove 37 can be disposed at the top of the chassis 14.

[0089] See also Figure 2 and Figure 4The first limiting protrusion 31 is first aligned with the first limiting groove 32, and the second limiting protrusion 36 is first aligned with the second limiting groove 37. When the sleeve 23 is inserted into the mounting cavity 25 along the axial direction, the first limiting protrusion 31 is axially inserted into the first limiting groove 32 to a suitable position, and the second limiting protrusion 36 is axially inserted into the second limiting groove 37 to a suitable position. At this time, since the second limiting protrusion 36 is in contact with the groove wall of the second limiting groove 37, the second limiting protrusion 36 can move relative to the groove wall of the second limiting groove 37 along the axial direction, while the second limiting protrusion 36 is fixed to the groove wall of the second limiting groove 37 along the circumferential direction, that is, the second limiting protrusion 36 is engaged in the second limiting groove 37. Combined with the aforementioned first limiting protrusion 31 being engaged in the first limiting groove 32, both are used to relatively fix the sleeve 23 and the bearing member 26 (the rear end of the chassis 14) along the circumferential direction. In other words, the second limiting protrusion 36 of the sleeve 23 cooperates with the second limiting groove 37 in the mounting cavity 25 of the support member 26 to further fix the motor assembly 13 and the chassis 14 relatively in the width direction and interconnect them as a whole, thereby further strengthening the connection strength between the motor assembly 13 and the chassis 14 in the width direction.

[0090] Optionally, the second limiting protrusion 36 and the first limiting protrusion 31 are arranged opposite to each other along the radial direction of the shaft sleeve 23 (arranged along the line where the diameter is located). The locking member 27 and the bearing member 26 are fixed along the direction in which the first limiting protrusion 31 points to the second limiting protrusion 36. Specifically, since the top of the chassis 14 is located inside the walking mechanism 100, and the bottom of the chassis 14 is exposed to the outside, by arranging the first limiting groove 32 and the limiting groove 34 at the bottom of the chassis 14, the chassis 14 can be turned over during assembly, and the locking protrusion 35 of the locking member 27 is aligned with the limiting groove 34 at the bottom of the chassis 14 to facilitate the installation operation. Further, the second limiting protrusion 36 is arranged at the top of the installation cavity 25 of the chassis 14. In other words, the first limit protrusion 31 and the second limit protrusion 36 are arranged opposite to each other in the height direction of the walking mechanism 100. Then, when there is a certain assembly tolerance in the height direction and a certain looseness in the height direction, the locking piece 27 and the supporting member 26 can be fixed along the direction (height direction) from the first limit protrusion 31 to the second limit protrusion 36. For example, the locking piece 27 and the supporting member 26 are then fixed in the height direction by screws to eliminate the influence of the assembly tolerance in the height direction, thereby achieving a more secure fixation of the locking piece 27, the supporting member 26 and the motor assembly 13 in the height direction.

[0091] For example, the radial dimension of the first limiting protrusion 31 is 0.5 mm smaller than the radial depth of the first limiting groove 32, and the radial dimension of the second limiting protrusion 36 is 0.5 mm smaller than the radial depth of the second limiting groove 37. If the second limiting protrusion 36 and the first limiting protrusion 31 are arranged opposite to each other in the radial direction (for example, in the height direction) of the sleeve 23. The locking member 27 and the bearing member 26 are fixed along the direction (for example, in the height direction) in which the first limiting protrusion 31 points to the second limiting protrusion 36. After the sleeve 23 is assembled into the mounting cavity 25, since the second limiting protrusion 36 and the first limiting protrusion 31 are arranged in the radial direction of the sleeve 23, when the chassis 14 is turned over for assembly, a tolerance of 1 mm is formed between the first limiting protrusion 31 and the first limiting groove 32. At this time, the locking protrusion 35 of the locking member 27 is attached to the limiting groove 34 of the sleeve 23 and the locking member 27 is fixed to the carrier 26 by screws, so that the unstable effect caused by the 1mm tolerance between the first limiting protrusion 31 and the first limiting groove 32 can be eliminated. In other words, even if the first limiting protrusion 31 and the first limiting groove 32 form a 1mm tolerance, the locking member 27, the carrier 26 and the motor assembly 13 can be firmly fixed as a whole.

[0092] Of course, in other embodiments, the second limiting protrusion 36 and the first limiting protrusion 31 are disposed opposite to each other along the radial direction other than the height direction of the shaft sleeve 23 .

[0093] In other embodiments, the second limiting protrusion 36 and the first limiting protrusion 31 are not arranged along the diameter line.

[0094] Optionally, the clamping member 24 is roughly arc-shaped. The clamping member 24 is an arc-shaped sheet. The arc angle of the clamping member 24 is not specifically limited. For example, the arc angle of the clamping member 24 is less than or equal to 180°. Optionally, the two ends of the clamping member 24 along the circumferential direction respectively abut against the two side walls of the clamping gap 29 along the circumferential direction, so that the clamping member 24 is tightly assembled with the sleeve 23 in the circumferential direction, reducing the assembly gap, and thereby improving the clamping strength of the clamping member 24 and the sleeve 23 for the motor shaft 22.

[0095] Optional, see Figure 6 The second limiting protrusion 36 includes a first limiting convex strip 38 and a second limiting convex strip 39 which are arranged opposite to each other along the circumferential direction. A limiting notch 40 is formed at one end of the sleeve 23 between the first limiting convex strip 38 and the second limiting convex strip 39.

[0096] Specifically, the first limiting convex strip 38 and the second limiting convex strip 39 both extend in the axial direction. One end of the first limiting convex strip 38 is fixedly connected to one end of the second limiting convex strip 39 via a connecting rib. A limiting notch 40 is provided between the other end of the first limiting convex strip 38 and the other end of the second limiting convex strip 39.

[0097] See also Figure 7 The outer circumferential surface of the clamping member 24 is convexly provided with a limiting protrusion 41. The limiting protrusion 41 is arranged on the outer circumferential surface of one end of the clamping member 24. When the clamping member 24 is arranged in the clamping gap 29, the limiting protrusion 41 is arranged in the limiting notch 40. The two ends of the limiting protrusion 41 along the circumferential direction respectively abut against the two side walls of the limiting notch 40 along the circumferential direction, so that the clamping member 24 and the shaft sleeve 23 are relatively fixed in the circumferential direction, so that the clamping member 24 and the shaft sleeve 23 are tightly assembled in the circumferential direction, the assembly gap is reduced, and the clamping strength of the clamping member 24 and the shaft sleeve 23 for the motor shaft 22 is improved.

[0098] In addition, the limiting protrusion 41 is provided with a fixing hole in the axial direction, and the shaft sleeve 23 is provided with a corresponding screw hole at a position corresponding to the fixing hole. When the clamping member 24 is arranged in the clamping gap 29, the limiting protrusion 41 is arranged in the limiting notch 40, and the shaft sleeve 23 and the limiting protrusion 41 are fixedly connected in the axial direction by screws through the fixing hole and the screw hole, so that the clamping member 24 and the shaft sleeve 23 are fixed as a whole in the axial direction, and then the motor shaft 22 is clamped in the clamping member 24 and the shaft sleeve 23.

[0099] For further information, see Fig.11 , a retaining groove 42 is provided on the outer circumference of the motor shaft 22. Optionally, the outer circumference of the motor shaft 22 is a cylindrical surface. The bottom of the retaining groove 42 on the outer circumference of the motor shaft 22 is a plane. The cylindrical surface of the motor shaft 22 is flattened, or the cylindrical surface of the motor shaft 22 is formed into a plane during molding. The retaining groove 42 is located in the middle of the motor shaft 22.

[0100] See also Figure 6 , a locking protrusion 43 is convexly provided on the inner cavity wall surface of the sleeve 23. The locking protrusion 43 is spaced apart from the clamping gap 29. The locking protrusion 43 is engaged with the locking groove 42 to prevent the motor shaft 22 from moving and rotating axially relative to the sleeve 23. Specifically, the bottom wall of the locking groove 42 is a plane, and the bottom of the locking protrusion 43 is a straight portion, so that the bottom of the locking protrusion 43 is in surface contact with the bottom wall of the locking groove 42 to prevent the motor shaft 22 from moving and rotating axially relative to the sleeve 23.

[0101] Specifically, the two side walls of the locking groove 42 along the axial direction can limit the two ends of the locking protrusion 43 along the axial direction, so that the motor shaft 22 and the shaft sleeve 23 are interconnected in the axial direction as a whole.

[0102] In this embodiment, a locking groove 42 is provided on the outer circumferential surface of the motor shaft 22 and a locking protrusion 43 is protruded on the inner wall surface of the sleeve 23. The locking protrusion is engaged with the locking groove 42 to prevent the motor shaft 22 from axially moving and rotating relative to the sleeve 23, and to interconnect the motor shaft 22 and the sleeve 23 in the axial direction as a whole.

[0103] In other embodiments, a locking protrusion 43 may be provided on the motor shaft 22 , and a locking groove 42 may be provided on the inner wall surface of the shaft sleeve 23 .

[0104] During assembly, first align the positioning groove 42 of the motor shaft 22 connected to the running wheel 12 with the positioning protrusion 43 of the inner cavity wall of the sleeve 23 to limit the axial and circumferential directions of the motor shaft 22. Then insert the clamping member 24 into the clamping gap 29, and fix the limiting protrusion 41 of the clamping member 24 with the sleeve 23 in the axial direction to fix the clamping member 24 and the sleeve 23 in the axial and circumferential directions. Then align the first limiting protrusion 31 and the second limiting protrusion 36 of the assembled sleeve 23 with the first limiting groove 32 and the second limiting groove 37 in the installation cavity 25 of the chassis 14, and insert the sleeve 23 into the installation cavity 25 of the chassis 14 until the limiting groove 34 is aligned with the locking port 30. Then fit the locking protrusion 35 of the locking member 27 with the limiting groove 34 face to face, and fix the locking member 27 to the chassis 14 by screws.

[0105] The motor assembly 13 is designed to include a motor body 21, a motor shaft 22 axially connected to the motor body 21, and a motor shaft fixing structure 20. The motor shaft fixing structure 20 includes a sleeve 23, a clamping member 24, a bearing member 26, and a locking member 27. The inner cavity of the sleeve 23 includes an axial chamber 28 for accommodating the motor shaft 22 and a clamping gap 29 connected to the axial chamber 28; the clamping member 24 is arranged in the clamping gap 29 and fixedly connected to the sleeve 23 to clamp the motor shaft 22 arranged in the axial chamber 28; the bearing member 26 has an installation cavity 25, the sleeve 23 is inserted into the installation cavity 25 from one end opening of the installation cavity 25, and the bottom of the bearing member 26 has a locking opening 30 connected to the installation cavity 25; the locking member 27 The shaft sleeve 23 is engaged with the carrier 26 through the locking opening 30 and fixedly connected to the carrier 26 to lock the shaft sleeve 23 on the carrier 26. During installation, it is only necessary to sleeve the shaft sleeve 23 on the motor shaft 22 of the motor 19 and insert the clamping member 24 into the clamping gap 29. The motor shaft 22 is clamped in the shaft sleeve 23 under the action of the clamping member 24. Then, the motor shaft 22, the shaft sleeve 23 and the clamping member 24 are inserted into the installation cavity 25 of the carrier 26 together. Then, the shaft sleeve 23 is locked on the carrier 26 by the locking member 27 to configure the motor 19 on the carrier 26. The motor shaft fixing structure 20 of this motor assembly 13 can fix the motor assembly 13 on the carrier 26. The structure is simple and easy to assemble.

[0106] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present application, and these improvements and modifications are also regarded as the scope of protection of the present application.

Claims

1. A motor shaft fixing structure, characterized in that: include: A shaft sleeve, wherein the inner cavity of the shaft sleeve comprises a shaft chamber for accommodating the motor shaft and a clamping gap communicating with the shaft chamber; A clamping member, the clamping member is arranged in the clamping gap and fixedly connected to the shaft sleeve to clamp the motor shaft arranged in the shaft chamber; A bearing member, wherein the bearing member has a mounting cavity, the sleeve is inserted into the mounting cavity from an opening at one end of the mounting cavity, and the bottom of the bearing member has a locking opening connected to the mounting cavity; and A locking piece is engaged with the shaft sleeve through the locking opening and fixedly connected to the bearing member to lock the shaft sleeve on the bearing member.

2. The motor shaft fixing structure according to claim 1, characterized in that: The outer peripheral surface of the shaft sleeve is provided with at least one first limiting protrusion; the inner wall of the installation cavity is also provided with a first limiting groove extending in the axial direction, and the first limiting protrusion is engaged in the first limiting groove.

3. The motor shaft fixing structure according to claim 2, characterized in that: There are two first limiting protrusions, and the two first limiting protrusions are arranged at intervals along the axial direction. A limiting groove facing the locking mouth is formed between the two first limiting protrusions, and the first limiting groove is divided into two sub-limiting grooves by the locking mouth; the locking piece has a locking protrusion, and the locking protrusion is arranged in the limiting groove through the locking mouth.

4. The motor shaft fixing structure according to claim 3, characterized in that: The shaft sleeve is cylindrical, the bottom wall of the limiting groove is a plane, the bottom of the locking protrusion is a straight portion, and the bottom of the locking protrusion fits with the bottom wall of the limiting groove.

5. The motor shaft fixing structure according to claim 2, characterized in that: The outer circumferential surface of the sleeve also has a second limiting protrusion, which is spaced apart from the first limiting protrusion in the circumferential direction. The inner wall of the mounting cavity is also provided with a second limiting groove extending along the axial direction, and the second limiting protrusion is engaged in the second limiting groove.

6. The motor shaft fixing structure according to claim 5, characterized in that: The second limiting protrusion and the first limiting protrusion are arranged opposite to each other in the radial direction of the shaft sleeve, and the locking member and the bearing member are fixed along the direction from the first limiting protrusion to the second limiting protrusion.

7. The motor shaft fixing structure according to claim 5, characterized in that: The second limiting protrusion includes a first limiting protrusion and a second limiting protrusion arranged opposite to each other along the circumferential direction, one end of the sleeve forms a limiting notch located between the first limiting protrusion and the second limiting protrusion, the outer circumferential surface of the clamping member is provided with a limiting protrusion, the limiting protrusion is arranged in the limiting notch, and the two ends of the limiting protrusion along the circumferential direction respectively abut against the two side walls of the limiting notch along the circumferential direction.

8. The motor shaft fixing structure according to any one of claims 1 to 7, characterized in that: The clamping piece is arc-shaped, and two ends of the clamping piece along the circumferential direction respectively abut against two side walls of the clamping gap along the circumferential direction.

9. A motor assembly, characterized in that: It comprises at least one motor and a motor shaft fixing structure as claimed in any one of claims 1 to 8, wherein the motor comprises a motor body and a motor shaft axially connected to the motor body, and the motor shaft is clamped in the shaft sleeve under the action of the clamping member.

10. The motor assembly according to claim 9, characterized in that A retaining groove is provided on the outer circumferential surface of the motor shaft, and a retaining protrusion is convexly provided on the inner cavity wall surface of the sleeve. The retaining protrusion is engaged with the retaining groove to prevent the motor shaft from moving and rotating axially relative to the sleeve.

11. The motor assembly according to claim 9, characterized in that Two mounting cavities are formed at both ends of the through hole axially arranged in the bearing member, and two locking openings axially arranged are provided at the bottom of the bearing member; locking protrusions corresponding to each locking opening are provided on both sides of the locking member, and the number of the bushing, the clamping member and the motor are all two, and each bushing and each clamping member installs a motor shaft in one mounting cavity.

12. A walking mechanism, characterized in that: It includes a fuselage body, at least one pair of running wheels and at least one group of motor components as described in claim 9, each of the motors is axially fixed to one of the running wheels, the supporting member is arranged on the fuselage body, and the mounting cavity is arranged at the rear end of the supporting member.

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