Motor module and robot

Abstract

The utility model discloses a motor module and a robot, and relates to the technical field of robots. The motor module comprises a shell, a driving motor and a planetary reducer. The planetary reducer comprises a positioning ring, a planet carrier assembly, a planet wheel and a sun wheel, the positioning ring is detachably fixed in the shell, the planet carrier assembly is rotatably arranged in the positioning ring, the planet wheel and the sun wheel are rotatably installed on the planet carrier assembly, an annular rack is formed on the inner wall of the positioning ring, the planet wheel is meshed with the sun wheel and the annular rack, and the sun wheel is meshed with the annular rack. The driving motor is installed in the shell and is in transmission connection with the sun gear. The motor module provided by the utility model can realize modular disassembly and assembly of the planetary reducer, is high in disassembly and assembly maintenance efficiency, saves time cost and labor cost, is beneficial to improving the assembly precision of all parts, and is stable and reliable.

Description

Technical Field

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

[0002] Motor modules with planetary reducers typically achieve high-torque deceleration output and have broad application prospects in heavy-load scenarios. For example, robots with heavy-load requirements, especially legged robots, require higher torque from their motor modules.

[0003] Currently, motor modules with planetary reducers on the market typically integrate the planetary reducer's ring gear directly into the motor module's housing, achieving an integrated, compact design. This requires the planet carrier, sun gear, and planetary gears to be assembled separately into the housing according to the process sequence, preventing modular assembly and disassembly of the planetary reducer. This results in inefficient assembly and maintenance, wasting time and manpower. Furthermore, there may be issues such as poor coaxiality among the various components of the planetary reducer within the housing. Utility Model Content

[0004] The purpose of the present invention is to provide a motor module to solve or alleviate at least one of the above problems.

[0005] Another object of the present invention is to provide a robot to solve or alleviate at least one of the above problems.

[0006] The present invention is achieved by adopting the following technical solutions.

[0007] A motor module includes a housing, a drive motor and a planetary reducer. The planetary reducer includes a positioning ring, a planetary carrier assembly, a planetary gear and a sun gear. The positioning ring is detachably fixed in the housing, the planetary carrier assembly is rotatably arranged in the positioning ring, the planetary gear and the sun gear are rotatably mounted on the planetary carrier assembly, an annular rack is formed on the inner wall of the positioning ring, the planetary gear is meshed with the sun gear and the annular rack, and the drive motor is installed in the housing and is transmission-connected to the sun gear.

[0008] Optionally, a first groove is provided on the inner wall of the shell, and a second groove is provided on the outer wall of the positioning ring. The first groove and the second groove are aligned and together form a positioning groove. A positioning pin is provided in the positioning groove, and the axial direction of the positioning pin is the same as the axial direction of the positioning ring; or, a third groove is provided on one of the inner wall of the shell and the outer wall of the positioning ring, and a limiting protrusion is provided on the other. The limiting protrusion is inserted into the third groove, and the limiting protrusion extends along the axial direction of the positioning ring.

[0009] Optionally, the motor module further includes a limiting member, the housing is provided with a supporting platform, one end of the positioning ring along its own axis is in contact with the supporting platform, and the other end is in contact with the limiting member, and the limiting member is fixedly connected to the housing.

[0010] Optionally, the limiting member includes a clamping spring, and the inner wall of the shell is provided with a clamping groove, the clamping spring is clamped in the clamping groove, and the clamping groove is an annular groove extending along the circumference of the positioning ring.

[0011] Optionally, the planetary carrier assembly includes a planetary carrier, an output carrier and a transmission shaft, the planetary carrier and the output carrier are fixedly connected, the planetary gears are rotatably arranged between the planetary carrier and the output carrier, and the transmission shaft passes through the planetary carrier, the planetary gears and the output carrier in sequence; the planetary carrier assembly also includes a first bearing and a second bearing, the first bearing is sleeved outside the planetary carrier and is arranged between the planetary carrier and the positioning ring, the second bearing is sleeved outside the output carrier and is arranged between the output carrier and the positioning ring, and the annular rack is located between the first bearing and the second bearing.

[0012] Optionally, the planetary reducer also includes a third bearing, the sun gear includes a rotating shaft portion and a gear tooth portion fixedly arranged on the circumference of the rotating shaft portion, the rotating shaft portion is transmission-connected to the drive motor, the gear tooth portion is meshed with the planetary gear, the third bearing is sleeved outside the rotating shaft portion, and the rotating shaft portion is rotatably supported and matched with the output frame through the third bearing.

[0013] Optionally, the rotating shaft portion and the gear tooth portion are integrally formed; and / or, the motor module further includes a flange, which is connected to the output frame, and the flange is provided with a transmission hole, and the transmission shaft is extended into the transmission hole; and / or, the planetary reducer further includes a fourth bearing, the driving motor has a rotor body non-rotatably connected to the rotating shaft portion, the rotor body has a sleeve portion, the fourth bearing is sleeved on the sleeve portion, and the sleeve portion is rotatably supported and matched with the planetary frame through the fourth bearing.

[0014] Optionally, the positioning ring is provided with a first step hole, a middle through hole and a second step hole which are connected in sequence along its axial direction, and an annular rack is formed on the inner wall of the middle through hole; wherein, a first step surface is formed at the connection between the first step hole and the middle through hole, and the first bearing is inserted into the first step hole and is limitedly abutted against the first step surface; a second step surface is formed at the connection between the second step hole and the middle through hole, and the second bearing is inserted into the second step hole and is limitedly abutted against the second step surface.

[0015] Optionally, the planetary gear includes a first gear and a second gear coaxially fixedly connected, the outer diameter of the first gear is larger than the outer diameter of the second gear, the first gear is engaged with the sun gear, and the second gear is engaged with the annular rack; and / or, the outer shell has an assembly through hole, the planetary reducer is inserted into the assembly through hole, and the drive motor includes an inner stator, which is arranged around the outer periphery of the assembly through hole.

[0016] A robot includes the above-mentioned motor module, which includes a housing, a drive motor and a planetary reducer. The planetary reducer includes a positioning ring, a planetary carrier assembly, a planetary gear and a sun gear. The positioning ring is detachably fixed in the housing, the planetary carrier assembly is rotatably arranged in the positioning ring, the planetary gear and the sun gear are rotatably mounted on the planetary carrier assembly, the inner wall of the positioning ring is formed with an annular rack, the planetary gear is meshed with the sun gear and the annular rack, and the drive motor is installed in the housing and is transmission-connected to the sun gear.

[0017] The utility model has the following beneficial effects:

[0018] The motor module provided by the present invention comprises a planetary reducer including a positioning ring, a planetary carrier assembly, planetary gears, and a sun gear. The positioning ring is detachably fixed within a housing, the planetary carrier assembly is rotatably disposed within the positioning ring, the planetary gears and the sun gear are rotatably mounted on the planetary carrier assembly, an annular rack is formed on the inner wall of the positioning ring, the planetary gears mesh with the sun gear and the annular rack, and the drive motor is mounted within the housing and is transmission-connected to the sun gear. Compared to the prior art, the motor module provided by the present invention utilizes a positioning ring detachably fixed within the housing and an annular rack disposed within the positioning ring and meshing with the planetary gears, thereby enabling modular assembly and disassembly of the planetary reducer. This results in high assembly and disassembly efficiency, saves time and labor costs, and is conducive to improving the assembly accuracy of various components, resulting in stability and reliability.

[0019] The robot provided by the utility model includes a motor module, which can realize modular disassembly and assembly of the planetary reducer, has high disassembly and maintenance efficiency, saves time and labor costs, and is conducive to improving the assembly accuracy of various spare parts, and is stable and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 A schematic diagram of the structure of a robot provided in an embodiment of the present utility model;

[0022] Figure 2 A cross-sectional view of a motor module provided by an embodiment of the present utility model;

[0023] Figure 3 A cross-sectional view of a planetary reducer in a motor module provided by an embodiment of the present utility model;

[0024] Figure 4 for Figure 3 Schematic diagram of the structure of the middle positioning ring;

[0025] Figure 5 for Figure 3 Cross-sectional view of the center positioning ring;

[0026] Figure 6 A cross-sectional view of the flange in the motor module provided in an embodiment of the present utility model.

[0027] Icons: 10-Robot; 100-Motor module; 110-Casing; 111-Support platform; 120-Drive motor; 121-Rotor body; 122-Socket connection; 123-Inner stator; 130-Planetary reducer; 131-Locking ring; 1311-Annular rack; 1312-Second groove; 1313-First step hole; 1314-Middle through hole; 1315-Second step hole; 132-Planet carrier assembly; 1321-Planet carrier; 1322-output rack; 1323-transmission shaft; 133-planetary gear; 1331-first gear; 1332-second gear; 134-sun gear; 1341-rotating shaft; 1342-gear tooth; 135-first bearing; 136-second bearing; 137-third bearing; 138-fourth bearing; 140-circlip; 150-flange; 151-transmission hole; 160-center threading tube; 200-fuselage; 300-calf module. DETAILED DESCRIPTION

[0028] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0029] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are also within the scope of protection of the present invention.

[0030] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0031] In the description of this utility model, it should be noted that the terms "inner," "outer," "upper," "lower," and "horizontal" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or the orientations or positional relationships in which the utility model product is typically placed when in use. These terms are intended solely to facilitate the description of this utility model and simplify the description, and are not intended to indicate or imply that the device or component referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," and "third," etc., are used solely for distinction and description and should not be construed as indicating or implying relative importance.

[0032] It should also be noted that, in the description of this utility model, unless otherwise expressly specified or limited, the terms "disposed," "connected," "installed," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0033] The following describes some embodiments of the present invention in detail with reference to the accompanying drawings. In the absence of conflict, the features of the following embodiments can be combined with each other.

[0034] Please refer to Figures 1 to 6 Some embodiments of the present invention provide a motor module 100 and a robot 10 including the motor module 100, which can realize modular disassembly and assembly of the planetary reducer 130, with high disassembly and maintenance efficiency, saving time and labor costs, and being conducive to improving the assembly accuracy of various parts and components, and being stable and reliable.

[0035] Optionally, in some embodiments, the robot 10 includes a body 200, a motor module 100, and a calf module 300. The motor module 100 is mounted on the body 200, the body 200 is used to position the motor module 100, and the motor module 100 is connected to the calf module 300, and the motor module 100 is used to drive the calf module 300 to move.

[0036] refer to Figures 2 to 6Some embodiments of the present invention provide a motor module 100, which includes a housing 110, a drive motor 120, and a planetary reducer 130. The drive motor 120 is installed in the housing 110 and connected to the planetary reducer 130. The drive motor 120 is used to output torque, and the planetary reducer 130 is used to reduce the rotation speed and increase the torque. The planetary reducer 130 can be used to connect to the calf module 300 of the robot 10 provided in some embodiments. The torque output by the planetary reducer 130 can be transmitted to the calf module 300 to drive the calf module 300 to rotate.

[0037] refer to Figures 2 to 6 The planetary reducer 130 includes a positioning ring 131, a planetary carrier assembly 132, planetary gears 133, and a sun gear 134. The positioning ring 131 is removably fixed to the housing 110. The planetary carrier assembly 132 is rotatably disposed within the positioning ring 131. The planetary gears 133 and sun gear 134 are rotatably mounted on the planetary carrier assembly 132. An annular rack 1311 is formed on the inner wall of the positioning ring 131. The planetary gears 133 mesh with the sun gear 134 and the annular rack 1311. The drive motor 120 is mounted within the housing 110 and is in driving connection with the sun gear 134. Specifically, the planetary gears 133 and sun gear 134 are both rotatable relative to the planetary carrier assembly 132, and the planetary carrier assembly 132 can limit the position of the planetary gears 133 and sun gear 134. The input end of the planetary gear 133 meshes with the sun gear 134, and the output end of the planetary gear 133 meshes with the annular rack 1311. The drive motor 120 is used to drive the planetary gears 133 to rotate relative to the annular rack 1311 via the sun gear 134. During this process, since the positioning ring 131 is connected to the housing 110, and the housing 110 is stationary, the planetary gears 133 will drive the planetary carrier assembly 132 to rotate relative to the positioning ring 131 under the reaction force of the annular rack 1311 to output rotational power.

[0038] It should be noted that in motor module 100, housing 110 and positioning ring 131 of planetary reducer 130 are separately provided, so that positioning ring 131 can be easily removed from housing 110, thereby facilitating disassembly of planet carrier assembly 132, planetary gears 133, and sun gear 134. This in turn facilitates maintenance of the entire planetary reducer 130, improving maintenance efficiency and saving time and labor costs. Furthermore, an annular rack 1311 is formed on the inner wall of positioning ring 131. The input end of planetary gear 133 meshes with sun gear 134, and the output end of planetary gear 133 meshes with annular rack 1311. This ensures installation accuracy during positioning ring 131 installation and facilitates the separate assembly and disassembly of positioning ring 131.

[0039] In some embodiments, reference Figure 2 and Figure 4The inner wall of the housing 110 defines a first groove (not shown), and the outer wall of the positioning ring 131 defines a second groove 1312. The first and second grooves 1312 are aligned and together form a positioning groove. Specifically, a positioning pin is disposed within the positioning groove. The axial direction of the positioning pin is aligned with the axial direction of the positioning ring 131. The positioning pin is used to fix the relative position of the first and second grooves 1312, thereby fixing the relative position of the housing 110 and the positioning ring 131 and preventing the positioning ring 131 from rotating about its axial direction relative to the housing 110. However, this is not limiting. In other embodiments, one of the inner wall of the housing 110 and the outer wall of the positioning ring 131 defines a third groove, and the other defines a limiting protrusion. The limiting protrusion is inserted into the third groove and extends along the axial direction of the positioning ring 131, similarly fixing the relative position of the housing 110 and the positioning ring 131.

[0040] Specifically, the number of the first groove, the second groove 1312 and the positioning pin shaft is four, the four first grooves are arranged in a circular array on the shell 110, and the four second grooves 1312 are arranged in a circular array on the positioning ring 131. The four first grooves and the four second grooves 1312 together form four positioning grooves, and each positioning pin shaft is arranged in a positioning groove to further fix the relative position of the shell 110 and the positioning ring 131 to improve the positioning effect.

[0041] In some embodiments, reference Figures 2 to 5 The motor module 100 further includes a limiting member. The housing 110 is provided with a supporting platform 111. One end of the positioning ring 131 along its own axial direction abuts against the supporting platform 111, and the other end abuts against the limiting member. The limiting member is fixedly connected to the housing 110. Specifically, the limiting member includes a retaining spring 140. A slot is provided on the inner wall of the housing 110. The retaining spring 140 is engaged in the slot. The slot is an annular groove extending along the circumference of the positioning ring. The retaining spring 140 can apply elastic force to the positioning ring 131 to press the positioning ring 131 against the supporting platform 111. At this time, the positioning ring 131 is clamped between the retaining spring 140 and the supporting platform 111 to further fix the relative position of the housing 110 and the positioning ring 131, preventing the positioning ring 131 from moving relative to the housing 110 along its axial direction.

[0042] refer to Figures 2 to 4In some embodiments, the planetary carrier assembly 132 includes a planetary carrier 1321, an output carrier 1322, and a transmission shaft 1323. The planetary carrier 1321 and the output carrier 1322 are fixedly connected, and the planetary gear 133 is rotatably disposed between the planetary carrier 1321 and the output carrier 1322. The output carrier 1322 is connected to the calf module 300. The planetary carrier 1321 and the output carrier 1322 work together to limit the position of the planetary gear 133. Specifically, the transmission shaft 1323 is sequentially disposed through the planetary carrier 1321, the planetary gear 133, and the output carrier 1322. The planetary gear 133 is configured to synchronously drive the planetary carrier 1321 and the output carrier 1322 to rotate via the transmission shaft 1323 when rotating relative to the annular rack 1311, thereby driving the calf module 300 to rotate.

[0043] In some embodiments, reference Figure 3 The planetary reducer 130 further includes a first bearing 135 and a second bearing 136. The first bearing 135 is mounted outside the planet carrier 1321 and disposed between the planet carrier 1321 and the positioning ring 131. The first bearing 135 supports the planet carrier 1321 through the positioning ring 131, allowing the planet carrier 1321 to stably and reliably rotate relative to the positioning ring 131, thereby ensuring the stability of the rotation of the planet carrier 1321. The second bearing 136 is mounted outside the output carrier 1322 and disposed between the output carrier 1322 and the positioning ring 131. The second bearing 136 supports the output carrier 1322 through the positioning ring 131, allowing the output carrier 1322 to stably and reliably rotate relative to the positioning ring 131, thereby ensuring the stability of the rotation of the output carrier 1322. Specifically, the annular rack 1311 is located between the first bearing 135 and the second bearing 136. The first bearing 135 and the second bearing 136 work together to ensure the stability of the cooperation between the annular rack 1311 and the planet gear 133.

[0044] In some embodiments, reference Figures 2 to 3 The planetary reducer 130 also includes a third bearing 137. The sun gear 134 includes a shaft portion 1341 and a gear portion 1342 fixedly disposed on the circumference of the shaft portion 1341. The shaft portion 1341 is in driving connection with the drive motor 120, and the gear portion 1342 meshes with the planetary gears 133. The third bearing 137 is sleeved around the shaft portion 1341. The shaft portion 1341 rotatably supports the output frame 1322 via the third bearing 137, allowing the sun gear 134 and the output frame 1322 to rotate independently of each other, preventing interference between the sun gear 134 and the output frame 1322 and ensuring transmission stability. The sun gear 134 also supports the output frame 1322 via the third bearing 137, ensuring rotational stability of the output frame 1322. In some embodiments, the shaft portion 1341 and the gear portion 1342 are integrally formed to improve connection strength and reduce the number of components.

[0045] In some embodiments, reference Figures 2 to 6 The motor module 100 further includes a flange 150. One side of the flange 150 is connected to the output frame 1322, and the other side is connected to the calf module 300, enabling the output frame 1322 to drive the calf module 300 to rotate. Specifically, the flange 150 defines a transmission hole 151, into which the transmission shaft 1323 extends. During rotation, the planetary carrier 1321 and the output frame 1322 synchronously drive the transmission shaft 1323. The engagement of the transmission shaft 1323 and the transmission hole 151 drives the flange 150 to rotate, thereby driving the calf module 300 to rotate.

[0046] In some embodiments, reference Figures 2 to 3 The motor module 100 also includes a central wire tube 160. The rotating shaft portion 1341 of the sun gear 134 is hollow. The central wire tube 160 is arranged through the rotating shaft portion 1341 and is connected to the flange 150. The flange 150 is used to drive the central wire tube 160 to rotate. The central wire tube 160 is used to allow the power line and signal line of the calf module 300 of the robot 10 to pass through, so as to shield and protect the power line and signal line.

[0047] In some embodiments, a limiting structure for limiting the calf module 300 is provided on the outer shell 110. When the flange 150 drives the central wire tube 160 to rotate, since the maximum rotation angle of the calf module 300 can be limited within a certain range by the limiting structure on the outer shell 110, the rotation angle of the flange 150 and the central wire tube 160 will also be limited to prevent the power cord and signal line from excessive rotation and causing sprains.

[0048] In some embodiments, reference Figures 2 to 3 The planetary reducer 130 also includes a fourth bearing 138. The drive motor 120 has a rotor body 121 that is non-rotatably connected to the rotating shaft portion 1341. The rotor body 121 has a sleeve portion 122. The fourth bearing 138 is sleeved on the sleeve portion 122. The sleeve portion 122 is rotatably supported and matched with the planetary carrier 1321 through the fourth bearing 138, so that the sleeve portion 122 and the planetary carrier 1321 can rotate independently of each other, preventing the sleeve portion 122 and the planetary carrier 1321 from interfering with each other, thereby ensuring the stability of the transmission process.

[0049] In some embodiments, reference Figures 2 to 5The positioning ring 131 defines a first stepped hole 1313, a central through hole 1314, and a second stepped hole 1315, which are sequentially connected along the axial direction. The annular rack 1311 is disposed on the inner wall of the central through hole 1314. A first stepped surface is formed at the junction of the first stepped hole 1313 and the central through hole 1314. The first bearing 135 is inserted into the first stepped hole 1313 and abuts against the first stepped surface, which serves to limit the position of the first bearing 135. A second stepped surface is formed at the junction of the second stepped hole 1315 and the central through hole 1314. The second bearing 136 is inserted into the second stepped hole 1315 and abuts against the second stepped surface, which serves to limit the position of the second bearing 136. The planetary gear 133 includes a first gear 1331 and a second gear 1332 that are coaxially fixedly connected. The outer diameter of the first gear 1331 is larger than the outer diameter of the second gear 1332. The first gear 1331 is engaged with the sun gear 134, and the second gear 1332 is engaged with the annular rack 1311 to realize the transmission function between the sun gear 134 and the positioning ring 131, and play the role of reducing the speed and increasing the torque.

[0050] In some embodiments, reference Figures 2 to 5 The housing 110 has an assembly through hole, the planetary reducer 130 is inserted into the assembly through hole, the drive motor 120 includes an inner stator 123, the inner stator 123 is arranged around the outer periphery of the assembly through hole, the rotor body 121 surrounds the outside of the inner stator 123, and the rotor body 121 can rotate relative to the inner stator 123 to realize the function of the drive motor 120 driving the planetary reducer 130 to operate.

[0051] In some embodiments, reference Figures 2 to 5 The first bearing 135 , the second bearing 136 , the third bearing 137 , and the fourth bearing 138 may be cross roller bearings. However, the present invention is not limited thereto. In other embodiments, the first bearing 135 , the second bearing 136 , the third bearing 137 , and the fourth bearing 138 may be other types of bearings. The types of the first bearing 135 , the second bearing 136 , the third bearing 137 , and the fourth bearing 138 are not specifically limited.

[0052] The motor module 100 provided by the embodiment of the present invention, the planetary reducer 130 includes a positioning ring 131, a planetary carrier assembly 132, a planetary gear 133 and a sun gear 134. The positioning ring 131 is detachably fixed in the housing 110, the planetary carrier assembly 132 is rotatably arranged in the positioning ring 131, the planetary gear 133 and the sun gear 134 are rotatably installed in the planetary carrier assembly 132, and the inner wall of the positioning ring 131 is formed with an annular rack 1311. The planetary gear 133 is engaged with the sun gear 134 and the annular rack 1311. The drive motor 120 is installed in the housing 110 and is transmission-connected to the sun gear 134. Compared with the prior art, the motor module 100 provided by the present invention adopts a positioning ring 131 that is detachably fixed in the housing 110 and an annular rack 1311 that is arranged in the positioning ring 131 and meshes with the planetary gear 133. Therefore, the modular disassembly and assembly of the planetary reducer 130 can be realized, and the disassembly and maintenance efficiency is high, which saves time and labor costs, and is conducive to improving the assembly accuracy of various parts and components, and is stable and reliable.

[0053] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A motor module, characterized in that: It includes a housing, a drive motor and a planetary reducer, the planetary reducer includes a positioning ring, a planetary carrier assembly, a planetary gear and a sun gear, the positioning ring is detachably fixed in the housing, the planetary carrier assembly is rotatably arranged in the positioning ring, the planetary gear and the sun gear are rotatably installed in the planetary carrier assembly, the inner wall of the positioning ring is formed with an annular rack, the planetary gear is meshed with the sun gear and the annular rack, the drive motor is installed in the housing and is transmission connected to the sun gear.

2. The motor module according to claim 1, characterized in that: A first groove is formed on the inner wall of the housing, and a second groove is formed on the outer wall of the positioning ring. The first groove and the second groove are aligned and together form a positioning groove. A positioning pin is provided in the positioning groove, and the axial direction of the positioning pin is the same as the axial direction of the positioning ring. Alternatively, one of the inner wall of the shell and the outer wall of the positioning ring is provided with a third groove, and the other is provided with a limiting protrusion, the limiting protrusion is inserted into the third groove, and the limiting protrusion extends along the axial direction of the positioning ring.

3. The motor module according to claim 1, characterized in that: The motor module further includes a limiting member, the housing is provided with a supporting platform, one end of the positioning ring along its own axis is in contact with the supporting platform, and the other end is in contact with the limiting member, and the limiting member is fixedly connected to the housing.

4. The motor module according to claim 3, characterized in that: The limiting member includes a clamping spring, and a clamping groove is provided on the inner wall of the shell. The clamping spring is clamped in the clamping groove, and the clamping groove is an annular groove extending along the circumference of the positioning ring.

5. The motor module according to claim 1, characterized in that: The planet carrier assembly includes a planet carrier, an output carrier and a transmission shaft, wherein the planet carrier and the output carrier are fixedly connected, the planetary gears are rotatably arranged between the planet carrier and the output carrier, and the transmission shaft passes through the planet carrier, the planetary gears and the output carrier in sequence; The planetary carrier assembly also includes a first bearing and a second bearing. The first bearing is sleeved outside the planetary carrier and arranged between the planetary carrier and the positioning ring. The second bearing is sleeved outside the output carrier and arranged between the output carrier and the positioning ring. The annular rack is located between the first bearing and the second bearing.

6. The motor module according to claim 5, characterized in that: The planetary reducer also includes a third bearing. The sun gear includes a rotating shaft portion and a gear tooth portion fixedly arranged on the circumference of the rotating shaft portion. The rotating shaft portion is transmission-connected to the drive motor, and the gear tooth portion is engaged with the planetary gear. The third bearing is sleeved outside the rotating shaft portion, and the rotating shaft portion is rotatably supported and matched with the output frame through the third bearing.

7. The motor module according to claim 6, characterized in that: The rotating shaft portion and the gear portion are integrally formed; And / or, the motor module further comprises a flange, the flange is connected to the output frame, the flange is provided with a transmission hole, and the transmission shaft extends into the transmission hole; And / or, the planetary reducer also includes a fourth bearing, the drive motor has a rotor body that is non-rotatably connected to the rotating shaft part, the rotor body has a sleeve portion, the fourth bearing is sleeved on the sleeve portion, and the sleeve portion is rotatably supported and matched with the planetary carrier through the fourth bearing.

8. The motor module according to claim 5, characterized in that: The positioning ring is provided with a first stepped hole, a middle through hole and a second stepped hole which are sequentially connected along its axial direction, and the annular rack is formed on the inner wall of the middle through hole; Among them, a first step surface is formed at the connection between the first step hole and the central through hole, and the first bearing is inserted into the first step hole and limitedly abuts against the first step surface; a second step surface is formed at the connection between the second step hole and the central through hole, and the second bearing is inserted into the second step hole and limitedly abuts against the second step surface.

9. The motor module according to claim 1, characterized in that: The planetary gear includes a first gear and a second gear coaxially fixedly connected, the outer diameter of the first gear is larger than the outer diameter of the second gear, the first gear is meshed with the sun gear, and the second gear is meshed with the annular rack; And / or, the housing has an assembly through hole, the planetary reducer is inserted into the assembly through hole, and the drive motor includes an inner stator, which is arranged around the outer periphery of the assembly through hole.

10. A robot, characterized in that: Comprising the motor module according to any one of claims 1 to 9.

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