Motor and robot

Abstract

The utility model relates to the technical field of robots, in particular to a motor, which comprises a rotor assembly and a stator assembly, the stator assembly comprises a stator seat and a winding, the winding is arranged on the stator seat and electrically connected with a winding power supply, the winding is used for being electrically connected with an external power supply to generate a magnetic field, and the rotor assembly comprises a rotor seat, a magnetic part and a first pouring sealant. The rotor seat is rotationally connected with the stator seat, the rotor seat is provided with a mounting groove, part of the stator assembly is inserted into the mounting groove, the winding, the magnetic part and the first pouring sealant are all located in the mounting groove, the magnetic part is fixed to the rotor seat, the first pouring sealant is located between the rotor seat and the winding, and the first pouring sealant wraps the magnetic part; the magnetic part is used for the magnetic field effect generated by the winding to drive the rotor assembly to rotate relative to the stator assembly, and the first pouring sealant is used for preventing external substances from making contact with the magnetic part, so that the risk that the magnetic part is rusted is avoided, and the service life of the motor is prolonged.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a motor and an underwater robot. Background Art

[0002] An underwater robot is an important tool that can perform various operations and tasks in an underwater environment. The underwater robot includes a motor that can convert electrical energy into mechanical energy, thereby providing mechanical energy for the underwater robot. The motor includes a stator assembly and a rotor assembly, the rotor assembly is rotatably connected to the stator assembly, the stator assembly includes a stator seat and a winding, the winding is arranged on the stator seat, the winding is electrically connected to a power source, the rotor assembly includes a rotor seat and a magnetic part, the rotor seat is sleeved on a part of the stator assembly, and the winding is located in the rotor seat. When the winding is energized, the winding generates a magnetic field and the magnetic field acts on the magnetic part to cause the rotor assembly to rotate relative to the stator assembly.

[0003] However, in the process of implementing the utility model, the inventors found that there is a gap between the winding and the magnetic part. When the underwater robot works underwater for a long time, water or foreign objects enter the gap. The water or foreign objects are prone to wear or rust the magnetic part, resulting in a short life of the magnetic part. Utility Model Content

[0004] The utility model provides a motor with long service life and high reliability.

[0005] In order to solve the above technical problems, a technical solution adopted by the utility model is: to provide a motor, including a stator assembly, including a stator seat and a winding, the winding is arranged on the stator seat, the winding power supply is electrically connected, and the winding is used to be electrically connected to an external power supply to generate a magnetic field; the rotor assembly includes a rotor seat, a magnetic part and a first potting glue, the rotor seat is rotatably connected to the stator seat, the rotor seat is provided with a mounting groove, part of the stator assembly is inserted into the mounting groove, the winding, the magnetic part and the first potting glue are all located in the mounting groove, the magnetic part is fixed to the rotor seat, the first potting glue is located between the rotor seat and the winding, and the first potting glue is wrapped around the magnetic part, the magnetic part is used to be acted on by the magnetic field generated by the winding to drive the rotor assembly to rotate relative to the stator assembly, and the first potting glue is used to prevent external substances from contacting the magnetic part.

[0006] Optionally, the stator assembly further includes a second potting compound, the winding is located between the second potting compound and the stator seat, and the second potting compound wraps the winding, and the second potting compound is used to prevent external substances from contacting the winding.

[0007] Optionally, a heat dissipation channel is formed between the first potting compound and the second potting compound, and the heat dissipation channel is used for cooling medium to flow.

[0008] Optionally, the rotor seat is provided with a receiving groove, and the receiving groove is used to accommodate weight-increasing materials to adjust the center of gravity of the rotor seat.

[0009] Optionally, the rotor seat is provided with a positioning hole, and the positioning hole is used for plugging in an external tooling so as to align the rotor seat relative to the external tooling.

[0010] Optionally, the rotor seat is provided with a threaded hole, and the threaded hole is used for being threaded with a bolt of an external device so as to lock the rotor seat relative to the external device.

[0011] Optionally, the stator seat includes a back cover and a fixing part, the fixing part is connected to the back cover, the back cover covers the notch of the mounting slot, part of the fixing part is located in the mounting slot, and the fixing part is rotatably connected to the rotor seat, and the winding is fixed to the fixing part.

[0012] Optionally, the rotor seat includes a front cover and a cylindrical shell, the cylindrical shell having a through hole with a first opening and a second opening arranged opposite to each other, the front cover closes and covers the first opening so that the through hole and the front cover together enclose the mounting groove, and the rear cover is spaced apart from the front cover, and the rear cover covers the second opening.

[0013] Optionally, the front cover includes a shell and a bracket, one end of the bracket is rotatably connected to the fixing part via a bearing, the shell is connected to the other end of the bracket, and the shell is closed at the second opening of the through hole.

[0014] In order to solve the above technical problems, a technical solution adopted by the present invention is: to provide an underwater robot, comprising the above motor, wherein the motor is used to provide driving force for the robot.

[0015] The beneficial effects of the embodiments of the present application are as follows: a motor is provided, which is applied to an underwater robot, the motor comprising a rotor assembly and a stator assembly, the stator assembly comprising a stator seat and a winding, the winding being arranged on the stator seat, the winding being electrically connected to a power supply, the winding being used to be electrically connected to an external power supply to generate a magnetic field, the rotor assembly comprising a rotor seat, a magnetic part and a first potting glue, the rotor seat being rotatably connected to the stator seat, the rotor seat being provided with a mounting groove, part of the stator assembly being inserted into the mounting groove, the winding, the magnetic part and the first potting glue being all located in the mounting groove, the magnetic part being fixed to the rotor seat, the first potting glue being located between the rotor seat and the winding, and the first potting glue being wrapped around the magnetic part, the magnetic part being used to be acted upon by the magnetic field generated by the winding to drive the rotor assembly to rotate relative to the stator assembly, the first potting glue being used to prevent external substances from contacting the magnetic part, thereby reducing the risk of rusting of the magnetic part, improving the life of the magnetic part, and further improving the service life of the motor. When the motor is working underwater, the rotor assembly is relatively close to the stator assembly, and the first potting glue can protect the magnetic parts, reduce the collision between the magnetic parts and the mixture composed of other substances such as water, thereby reducing the risk of wear of the magnetic parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the drawings without paying creative work.

[0017] Figure 1 It is a schematic diagram of a motor provided by the utility model;

[0018] Figure 2 It is an exploded diagram of the motor provided by the utility model;

[0019] Figure 3 It is a cutaway diagram of the motor provided by the utility model;

[0020] Figure 4 It is a partial structural cutaway diagram of the rotor assembly of the motor provided by the utility model;

[0021] Figure 5 It is a cross-sectional view of the first bearing of the motor provided by the utility model;

[0022] Figure 6 It is a cross-sectional view of the second bearing of the motor provided by the utility model.

[0023] Reference numerals:

[0024] 100, motor; 10, rotor assembly; 11, rotor seat; 111, front cover; 112, cylinder shell; 11a, mounting groove; 11b, receiving groove; 11c, threaded hole; 11d, first axial hole; 1111, shell; 1112, bracket; 12, magnetic part; 13, first potting compound; 14, rotating shaft; 15, kit; 20, stator assembly; 21, stator seat; 211, back cover; 212, fixing part; 21a, wire hole; 212a, second axial hole; 22, winding; 23, second potting compound; 30, first bearing; 31, first straight portion; 32, first bent portion; 40, second bearing; 41, second straight portion; 42, second bent portion; 100a, heat dissipation channel. DETAILED DESCRIPTION

[0025] In order to facilitate the understanding of the utility model, the utility model is described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is described as "fixed to" another element, it can be directly on the other element, or there can be one or more centered elements therebetween. When an element is described as "connected to" another element, it can be directly connected to the other element, or there can be one or more centered elements therebetween. The terms "vertical", "horizontal", "left", "right" and similar expressions used in this specification are for illustrative purposes only.

[0026] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by technicians in the technical field of the present invention. The terms used in this specification are only for the purpose of describing specific embodiments and are not used to limit the present invention. The term "and / or" used in this specification includes any and all combinations of one or more related listed items.

[0027] See also Figure 1-Figure 2 The utility model provides a motor 100, which is applied to an underwater robot. The motor 100 includes a rotor assembly 10 and a stator assembly 20. The rotor assembly 10 is rotatably connected to the stator assembly 20, and the stator assembly 20 is used to be electrically connected to an external power source. The rotor assembly 10 is used to be connected to an external device. When the stator assembly 20 is powered, the rotor assembly 10 rotates relative to the stator assembly 20 to provide driving force for the external device.

[0028] The rotor assembly 10 is shown in FIG. Figure 3The rotor assembly 10 includes a rotor seat 11, a magnetic member 12, a first potting compound 13 and a rotating shaft 14. The rotor seat 11 is provided with a connecting mounting groove 11a and a first shaft hole 11d, a part of the stator assembly 20 is installed in the mounting groove 11a, one end of the rotating shaft 14 is plugged into the first shaft hole 11d of the rotor seat 11, the other end of the rotating shaft 14 extends toward the mounting groove 11a, and the rotating shaft 14 is rotatably connected to the stator assembly 20, one end of the magnetic member 12 is fixed to the side wall of the mounting groove 11a, and the first potting compound 13 is wrapped around the other end of the magnetic member 12, so that the magnetic member 12 is isolated from external objects, and the risk of contact between the magnetic member 12 and external objects is reduced, such as: external objects such as water, dust, etc., thereby reducing the risk of rusting of the magnetic member 12 and improving the life of the magnetic member 12. It can be understood that the side wall of the mounting groove and the first potting compound 13 together enclose a closed space, and the magnetic member 12 is arranged in the closed space.

[0029] The rotor seat 11, please refer to Figure 3 The rotor seat 11 includes a front cover 111 and a cylinder shell 112. The front cover 111 is a plate-shaped structure, and the cylinder shell 112 is a hollow structure. The cylinder shell 112 is provided with a through hole, which penetrates the cylinder shell 112, so that the through hole has a first opening and a second opening arranged oppositely. The front cover 111 closes and covers the first opening. The front cover 111 and the cylinder shell 112 are enclosed together to form a mounting groove 11a. The magnetic member 12 is installed on the inner wall of the cylinder shell 112. It can be understood that the magnetic member 12 is located between the first potting glue 13 and the cylinder shell 112.

[0030] For the front cover 111 above, see Figure 3-Figure 4 The front cover 111 includes a shell 1111 and a bracket 1112. The shell 1111 is a plate-like structure. The bracket 1112 is located in the mounting groove 11a. The first axial hole 11d is set in the bracket 1112. The rotating shaft 14 is rotatably connected to the stator assembly 20 through the first bearing 30. The shell 1111 is connected to the other end of the bracket 1112, and the cylindrical shell 112 is connected to the shell 1111.

[0031] The first potting glue 13 is a solid glue layer bonded to and wrapped around the magnetic member 12. When preparing the first potting glue 13, it is usually necessary to insert a tool into the mounting groove 11a, and fix the rotor seat 11 relative to the tool so that a gap is formed between the tool and the cylinder shell 112, and a glue material, such as epoxy resin potting glue, silicone rubber potting glue, polyurethane potting glue, UV potting glue or hot melt potting glue, is poured into the gap, and the glue material is cured by heat treatment to form the first potting glue 13.

[0032] In some embodiments, the rotor seat 11 is provided with a positioning hole, and the positioning hole is used for inserting an external tooling to align the rotor seat 11 relative to the external tooling.

[0033] In some embodiments, the rotor seat 11 is provided with a threaded hole 11 c , which is used for being threaded with bolts of an external device so as to lock the rotor seat 11 relative to the external device, and the threaded hole 11 c has a positioning function.

[0034] For the above stator assembly 20, please refer to Figure 3-Figure 4 The stator assembly 20 includes a stator seat 21 and a winding 22. The stator seat 21 is rotatably connected to the bracket 1112 through a first bearing 30, and the winding 22 is disposed on the stator seat 21. The winding 22 is used to be electrically connected to an external power source to generate a magnetic field.

[0035] For the above stator housing 21, see Figure 1 The stator seat 21 includes a rear cover 211 and a fixing portion 212. The rear cover 211 is a plate-shaped structure, and the fixing portion 212 is an axis-shaped structure. The rear cover 211 is disposed on the second opening of the through hole, one end of the fixing portion 212 is fixed to the rear cover 211, and the other end of the fixing portion 212 passes through the mounting groove 11a and is rotatably connected to the bracket 1112. The winding 22 is sleeved on the fixing portion 212.

[0036] In some embodiments, see Figure 3 Combination Figure 5 The first bearing 30 is a sliding bearing, and includes a first straight portion 31. The fixed portion 212 is provided with a second shaft hole 212a, and the second shaft hole 212a penetrates the fixed portion 212. The first straight portion 31 is inserted into the second shaft hole 212a, and the first straight portion 31 is sleeved on the rotating shaft 14. It can be understood that the first straight portion 31 is located between the rotating shaft 14 and the fixed portion 212. A first bending portion 32 extends along the radial direction of the first straight portion 31, and the first bending portion 32 is located between the bracket 1112 and the end of the fixed portion 212. One end of the first bending portion 32 abuts against the end of the fixed portion 212, and the other end of the bracket 1112 abuts against the other end of the first bending portion 32. The first bending portion 32 is used to lubricate between the fixed portion 212 and the bracket 1112, reduce the friction between the fixed portion 212 and the bracket 1112, and thus reduce the resistance of the rotor assembly 10 to rotate relative to the stator assembly 20.

[0037] The winding 22 includes a winding (not shown) and an iron core (not shown). The iron core is sleeved on the fixed portion 212, and the winding is wound around the iron core. The winding is used to be electrically connected to an external power source, so that the winding generates a magnetic field and acts on the magnetic member 12 to drive the rotor assembly 10 to rotate relative to the stator assembly 20.

[0038] For the above stator assembly 20, please refer to Figure 3The stator assembly 20 further includes a second potting compound 23. The winding 22 is located between the second potting compound 23 and the stator seat 21, and the second potting compound 23 wraps the winding 22. The second potting compound 23 is used to prevent external substances from contacting the winding 22, thereby reducing the possibility of electric shock caused by contact between the winding 22 and external substances. When the motor 100 is working underwater, the second tube potting compound plays a sealing role. The second potting compound 23 is made of the same material as the first potting compound 13.

[0039] In some embodiments, the rotor assembly 10 is provided with at least one receiving groove 11b in the circumferential direction along the rotation axis of the rotor assembly 10, and the receiving groove 11b is used to accommodate a weight-increasing material, such as a rubber material of a preset weight, to adjust the center of gravity of the rotor seat 11. After the rubber material is prepared, it is easy to cause the center of gravity of the rotor seat 11 to shift, and the weight-increasing material of a preset weight is added through the receiving groove 11b, thereby adjusting the dynamic balance of the rotor assembly 10, so that the rotor assembly 10 rotates more smoothly relative to the stator assembly 20.

[0040] In some embodiments, the first potting glue 13 and the second potting glue 23 are arranged at intervals so that a heat dissipation channel 100a is formed between the first potting glue 13 and the second potting glue 23, and the heat dissipation channel 100a is used for the circulation of cooling medium. When the motor 100 works underwater, for example, when the underwater robot is walking, the motor 100 moves relative to the water, so that the water passes through the heat dissipation channel 100a, thereby taking away the heat of the heat dissipation channel 100a.

[0041] The stator seat 21 is provided with a wire hole 21a, through which the cable 200 passes and is connected to the winding. A sealing structure is usually provided between the cable 200 and the stator seat 21 to prevent foreign matter from entering the winding 22 and reduce the risk of short circuit of the winding 22.

[0042] In some embodiments, the sealing structure includes a sealing ring and a sealing groove, the sealing groove is arranged on the side wall of the wire hole, the sealing ring is arranged in the sealing groove, and the inner ring of the sealing ring abuts against the cable, and the outer ring of the sealing ring abuts against the outer ring.

[0043] In some embodiments, the other end of the rotating shaft 14 is partially exposed after passing through the second shaft hole 212a, and a limiting structure is provided on the rotating shaft 14 to reduce the risk of the stator assembly 20 moving away from the rotor assembly 10. The limiting structure includes a sleeve 15 and a screw 16. The sleeve 15 is sleeved on the rotating shaft 14, and the sleeve 15 is provided with a hole 15a. The screw 16 passes through the hole 15a and abuts against the rotating shaft 14, so that the sleeve 15 is locked relative to the rotating shaft 14.

[0044] In some embodiments, a first lubrication structure is provided between the sleeve 15 and the stator seat 21, and the first lubrication structure is used to provide lubrication between the sleeve 15 and the stator seat 21 to reduce friction. The first lubrication structure includes a second bearing 40, and the second bearing 40 includes a second straight portion 41. The second straight portion 41 is sleeved on the rotating shaft 14, and a hole is provided in the second straight portion 41. The second straight portion 41 is inserted into the end of the second shaft hole 212a away from the bracket 1112. It can be understood that the second straight portion 41 is located between the stator seat 21 and the fixed portion 212. A second bent portion 42 extends along the radial direction of the second straight portion 41, and the second bent portion 42 is located between the ends of the sleeve 15 and the fixed portion 212 to provide lubrication between the sleeve 15 and the fixed portion 212.

[0045] In some embodiments, see Figure 3 The rotor assembly further includes a washer 17, which is sleeved on the rotating shaft 14 and disposed between the first bearing 30 and the bracket 1112. When the rotor assembly 10 rotates relative to the stator assembly 20, the washer 17 is preferentially worn, thereby reducing direct contact between the bracket 1112 and the first bearing 30 or increasing the service life of the first bearing 30.

[0046] In an embodiment of the present application, a motor 100 is provided, which is applied to an underwater robot. The motor 100 includes a rotor assembly 10 and a stator assembly 20. The stator assembly 20 includes a stator seat 21 and a winding 22. The winding 22 is arranged on the stator seat 21. The winding 22 is electrically connected to a power supply. The winding 22 is used to be electrically connected to an external power supply to generate a magnetic field. The rotor assembly 10 includes a rotor seat 11, a magnetic member 12 and a first potting glue 13. The rotor seat 11 is rotatably connected to the stator seat 21. The rotor seat 11 is provided with an installation groove 11a. Part of the stator assembly 20 is inserted into the stator seat 21. In the mounting groove 11a, the winding 22, the magnetic part 12 and the first potting glue 13 are all located in the mounting groove 11a, the magnetic part 12 is fixed to the rotor seat 11, the first potting glue 13 is located between the rotor seat 11 and the winding 22, and the first potting glue 13 is wrapped around the magnetic part 12, the magnetic part 12 is used for the magnetic field generated by the winding 22 to drive the rotor assembly 10 to rotate relative to the stator assembly 20, and the first potting glue 13 is used to prevent external substances from contacting the magnetic part 12, thereby reducing the risk of rusting of the magnetic part 12 and improving the life of the magnetic part 12. When the motor 100 is working underwater, the rotor assembly 10 is easy to rust relative to the stator assembly 20, and the first potting glue 13 can protect the magnetic part 12, reduce the collision of the magnetic part 12 with the mixture composed of other substances such as water, thereby reducing the risk of wear of the magnetic part 12.

[0047] The utility model also provides an underwater robot embodiment, the underwater robot comprises the above-mentioned motor 100, and the motor is used to provide driving force for the robot. The specific structure and function of the motor 100 can be referred to the above-mentioned embodiment, and will not be described one by one here.

[0048] It should be noted that the preferred embodiments of the utility model are given in the specification and drawings of the utility model, but the utility model can be implemented in many different forms and is not limited to the embodiments described in the specification. These embodiments are not used as additional restrictions on the content of the utility model. The purpose of providing these embodiments is to make the understanding of the disclosure of the utility model more thorough and comprehensive. In addition, the above-mentioned technical features continue to be combined with each other to form various embodiments not listed above, which are all regarded as the scope of the description of the utility model; further, for ordinary technicians in this field, they can be improved or transformed according to the above description, and all these improvements and transformations should belong to the scope of protection of the claims attached to the utility model.

Claims

1. A motor, characterized in that: include: A stator assembly, comprising a stator seat and a winding, wherein the winding is arranged on the stator seat, the winding is electrically connected to a power supply, and the winding is used to be electrically connected to an external power supply to generate a magnetic field; The rotor assembly includes a rotor seat, a magnetic component and a first potting compound. The rotor seat is rotatably connected to the stator seat. The rotor seat is provided with a mounting groove. Part of the stator assembly is inserted into the mounting groove. The winding, the magnetic component and the first potting compound are all located in the mounting groove. The magnetic component is fixed to the rotor seat. The first potting compound is located between the rotor seat and the winding, and the first potting compound is wrapped around the magnetic component. The magnetic component is used to provide a magnetic field generated by the winding to drive the rotor assembly to rotate relative to the stator assembly. The first potting compound is used to prevent external substances from contacting the magnetic component.

2. The motor according to claim 1, characterized in that The stator assembly further includes a second potting compound, the winding is located between the second potting compound and the stator seat, and the second potting compound wraps the winding, and the second potting compound is used to prevent external substances from contacting the winding.

3. The motor according to claim 2, characterized in that A heat dissipation channel is formed between the first potting compound and the second potting compound, and the heat dissipation channel is used for cooling medium to flow.

4. The motor according to claim 1, characterized in that The rotor seat is provided with a receiving groove, and the receiving groove is used to accommodate weight-increasing materials to adjust the center of gravity of the rotor seat.

5. The motor according to claim 1, characterized in that The rotor seat is provided with a positioning hole, and the positioning hole is used for inserting an external tooling so that the rotor seat is aligned with respect to the external tooling.

6. The motor according to claim 1, characterized in that The rotor seat is provided with a threaded hole, and the threaded hole is used for being threaded with a bolt of an external device so as to lock the rotor seat relative to the external device.

7. The motor according to any one of claims 2 to 6, characterized in that: The stator seat includes a back cover and a fixing part, the fixing part is connected to the back cover, the back cover covers the notch of the mounting slot, part of the fixing part is located in the mounting slot, and the fixing part is rotatably connected to the rotor seat, and the winding is fixed to the fixing part.

8. The motor according to claim 7, characterized in that The rotor seat includes a front cover and a cylindrical shell, the cylindrical shell has a through hole with a first opening and a second opening arranged opposite to each other, the front cover closes and covers the first opening so that the through hole and the front cover together enclose the mounting groove, the rear cover is spaced apart from the front cover, and the rear cover covers the second opening.

9. The motor according to claim 8, characterized in that The front cover comprises a shell and a bracket, one end of the bracket is rotatably connected to the fixing part through a bearing, the shell is connected to the other end of the bracket, and the shell is closed at the second opening of the through hole.

10. A robot, characterized in that: The robot comprises a motor as described in any one of claims 1 to 9, wherein the motor is used to provide driving force for the robot.

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