Supporting structure, driving component and robot

Abstract

The utility model relates to a supporting structure, a driving component and a robot, the supporting structure is used for being installed between a motor of the driving component and a sealing cover, the supporting structure comprises a first connecting piece and a second connecting piece, and the second connecting piece is arranged on the first connecting piece in a protruding mode; the side, away from the second connecting piece, of the first connecting piece is a first connecting side, the side, away from the first connecting piece, of the second connecting piece is a second connecting side, one of the first connecting side and the second connecting side is used for being connected with the motor, and the other one of the first connecting side and the second connecting side is used for installing the driving plate. And the driving plate is connected with the sealing cover in a heat conduction manner. The driving plate is installed on the motor through the supporting structure without depending on a sealing cover, and the reliability of cable arrangement can be improved. Moreover, the supporting structure is supported between the motor and the driving plate, so that the driving plate is close to the sealing cover, and the driving plate and the sealing cover are in heat-conducting connection for heat dissipation. The driving component and the robot comprise the supporting structure, and heat dissipation performance and wiring reliability can be both considered.

Description

Technical Field

[0001] The present application relates to the field of motor technology, and in particular to a support structure, a drive component and a robot. Background Art

[0002] A mobile robot is one that can move autonomously or semi-autonomously within its environment. For example, legged robots include legs that can be raised and lowered to adapt to complex road surfaces, enabling them to perform a variety of complex movements, including walking, running, jumping, and climbing stairs.

[0003] Current mobile robots typically have a drive unit at their joints, which is used to drive the leg structure to deflect and overcome obstacles. This unit typically includes a motor, a drive board (also known as a driver), and a cover. The drive board is connected to the motor via cables to control starting, stopping, and speed. The cover fits over the motor and over the drive board, isolating it from the outside world and dissipating heat.

[0004] However, in current mobile robots, the installation of the driver board is difficult, and it is difficult to take into account both the heat dissipation of the driver board and the wiring reliability of the cable connecting the driver board and the motor. Summary of the Invention

[0005] Based on this, it is necessary to provide a support structure, a driving component and a robot to address the problem that the current installation of the driving board is difficult to take into account both the heat dissipation and the reliability of the cable layout.

[0006] A first aspect of the present application provides a support structure, which is used to be installed between the motor and the cover of a driving component. The support structure includes a first connecting member and a second connecting member, and the second connecting member protrudes from the first connecting member; wherein, the side of the first connecting member facing away from the second connecting member is the first connecting side, and the side of the second connecting member facing away from the first connecting member is the second connecting side, one of the first connecting side and the second connecting side is used to connect the motor, and the other is for the installation of the driving plate to support the driving plate to be thermally connected to the cover.

[0007] In the above-mentioned support structure, one of the first connection side and the second connection side is used to connect the motor, and the other is for the installation of the drive plate. Therefore, the drive plate can be installed on the motor through the support structure without relying on the installation base provided by the cover. Therefore, the cable can be easily straightened before the cover is closed, which improves the reliability of the cable arrangement and facilitates wiring. In addition, since the second connecting member is protruding from the first connecting member, the first connecting side and the second connecting side are spaced apart as the sides of the second connecting member and the first connecting member facing away from each other. Therefore, the motor and the drive plate are respectively connected to the first connection side and the second connection side, so that the drive plate is erected relative to the motor to a position relatively far away from the motor and close to the cover. Therefore, the drive plate can be conveniently connected to the cover through heat conduction and dissipate heat through the cover. Such installation takes into account both the heat dissipation of the drive plate and the reliability of the cable arrangement.

[0008] In one embodiment, the first connector includes a connecting plate and a plurality of connecting arms connected to the circumferential outer side of the connecting plate. The connecting plate is used to connect to the motor, and the plurality of connecting arms are spaced apart along the circumference of the connecting plate. The second connector is provided at one end of the connecting arm away from the connecting plate and is used to connect to the drive plate. The arm-shaped connecting arm is connected between the second connector and the connecting plate, so that the second connector can float relative to the connecting plate to a certain position and has a tendency to return to its original state. Therefore, when the cover is excessively abutted against the drive plate, the connecting arm allows the drive plate to float relative to the motor and pushes the drive plate to fully fit the cover, thereby improving thermal stability.

[0009] In one embodiment, the connecting plate is constructed to have a circular outer contour, and is provided with a plurality of mounting holes for connecting to the motor. Along the circumferential direction of the connecting plate, one mounting hole is arranged between two adjacent connecting arms.

[0010] In one embodiment, along the same circumferential direction of the connecting plate, the central angles between any one of the connecting arms and the corresponding mounting hole are equal.

[0011] In one embodiment, the connecting arm is arranged to extend radially along the connecting plate.

[0012] In one embodiment, the angles between adjacent first reference lines are equal, so as to improve the uniformity of the distribution of the connecting arms and the uniformity of the force applied to the first connecting member.

[0013] In one embodiment, the line connecting the position of the mounting hole and the center of the connecting plate is recorded as the second reference line, and the angles between adjacent second reference lines are equal to improve the uniformity of the distribution of the mounting holes and the uniformity of the force applied to the first connecting member.

[0014] In one embodiment, the first connecting member is hollowed out to facilitate fluid communication and improve heat conduction efficiency.

[0015] In one embodiment, the first connecting member is constructed in a plate shape, and the protruding direction of the second connecting member is perpendicular to that of the first connecting member.

[0016] In one embodiment, the first connecting member is used to connect to the motor, and the second connecting member is used to connect to the driving board and support the driving board to be suspended relative to the first connecting member.

[0017] In one embodiment, the first connecting member is used to connect to the driving plate, and the second connecting member is used to connect to the motor and support the driving plate to be suspended relative to the motor.

[0018] In one embodiment, at least one of the first and second connectors is an elastic connector to ensure thermal contact between the driver board and the cover. By configuring the support structure with elastic properties, the elastic support structure can be used to push the driver board to a position where it maintains thermal contact with the cover, thereby improving the tightness and stability of the contact between the driver board and the cover and ensuring effective heat dissipation.

[0019] A second aspect of the present application provides a driving component, which includes a motor, a cover, a drive plate and the support structure as described above, wherein the support structure is connected to the motor, the drive plate is arranged on a side of the support structure away from the motor, the drive plate is electrically connected to the motor, the cover is covered on the motor and covers the outside of the support structure and the drive plate, and the cover is thermally connected to the drive plate.

[0020] In one embodiment, the first connecting side is used to connect to the motor. At least one of the two facing side surfaces of the motor and the first connecting member has a protruding portion. The protruding portion supports the connection between the motor and the first connecting member, allowing the first connecting member to be suspended relative to the end surface of the motor. The protruding portion supports the first connecting member in suspension relative to the motor, providing the first connecting member with sufficient room for deformation.

[0021] A third aspect of the present application further provides a robot, which includes the driving component as described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic isometric view of a driving component provided in one embodiment of the present application.

[0023] Figure 2 for Figure 1 Exploded view of the drive components shown.

[0024] Figure 3 for Figure 1 The driving component is shown in a cross-sectional view along line AA.

[0025] Figure 4 for Figure 2 A side view of the support structure in the drive component is shown.

[0026] Figure 5 for Figure 4 Axonometric diagram of the support structure shown.

[0027] Figure 6 for Figure 2 Axonometric diagram of the motor in the drive assembly shown.

[0028] Figure 7 for Figure 4 A top view of the support structure is shown.

[0029] Figure 8 A schematic diagram of the equivalent stress distribution of the finite element simulation analysis of the support structure provided in one embodiment of the present application.

[0030] Figure numerals: 10, driving component; 11, motor; 12, cover; 13, driving plate; 14, supporting structure; 15, element to be dissipated heat; 16, protrusion; 100, first connecting member; 101, first connecting side; 110, connecting plate; 111, mounting hole; 120, connecting arm; 200, second connecting member; 201, second connecting side; O, center of circle; C, circumferential direction; C1, forward direction; C2, reverse direction; L1, first reference line; L2, second reference line. DETAILED DESCRIPTION

[0031] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0032] In the description of this application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0033] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0034] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connected," "fixed," etc., should be interpreted broadly. For example, these terms may refer to fixed connections, removable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0035] In this application, unless otherwise expressly specified or limited, if a first feature is described as being "above" or "below" a second feature, or similar descriptions, this may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is described as being "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is described as being "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0036] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only embodiment.

[0037] Legged robots, as used in traditional technology, consist of a leg structure with drive components installed at the joints. These components are used to drive the leg structure to deflect and overcome obstacles. The drive components typically consist of a motor, a drive board (also known as a driver), and a cover. The cover fits over the motor and over the drive board, isolating it from the outside world. Three-phase and signal cables extend from the motor and connect to the drive board, enabling the driver board to control motor start, stop, and speed. The driver board has a three-phase DC-AC power supply. The main control logic of this circuit uses MOSFETs as switching power supplies, which perform high-frequency switching. Since the MOSFETs are connected to the three-phase DC-AC power supply, they will draw excessive current, resulting in high internal heat generation and heat generation. Furthermore, the switching frequency of the MOSFETs is typically set at around 40 Hz, and higher switching frequencies also result in higher temperature rises. Therefore, heat dissipation from the driver board (particularly the MOSFETs on the driver board) is necessary.

[0038] Currently, there are two general installation methods for the driver board in drive components. The first involves first attaching the driver board to the cover, then closing the cover with the driver board mounted on the motor to complete the installation. This installation method, where the driver board is mounted on the cover, facilitates heat dissipation through the cover. However, since the driver board needs to be connected to the motor's cables, there's no room to connect the cables to the driver board when the cover is closed. Therefore, this installation method requires the motor cables to be of sufficient length to allow for easy access to the driver board mounted on the cover before the cover is closed. However, when the cover is closed, there's insufficient space between the motor and the cover for cable routing. Furthermore, the wiring space between the cover and the motor is insufficient for relatively long cables. This increases the likelihood of cable compression and breakage, potentially leading to cable damage. Cable damage can cause the motor to short-circuit, preventing the robot from standing steadily. In severe cases, it can even cause the motor's phase to deviate, potentially leading to a "flying kick" or a safety hazard. The second installation method involves first installing the driver board onto the motor before closing the cover. Since the cover is not closed, there's ample space for cable routing, minimizing the risk of cable compression. The cover is then closed onto the motor. In this installation method, since the driver board is mounted on the motor, it (particularly the MOS transistors on it) cannot effectively connect to the cover, resulting in poor heat dissipation and potentially degrading robot performance. As can be seen from the above, conventional driver board installation techniques struggle to balance heat dissipation with reliable cable routing.

[0039] In order to solve the above problems, each embodiment of the present application proposes a support structure, which can be supported between the motor and the drive plate, and the drive plate is installed on the motor through the support structure. Since it does not rely on the installation base provided by the cover, the cable can be easily straightened before the cover is closed, thereby improving the reliability of the cable arrangement. In addition, the support structure is supported between the motor and the drive plate, so that the drive plate can be in a position close enough to the cover, thereby facilitating the thermal connection between the drive plate and the cover for heat dissipation. Therefore, the support structure provided by the present application can provide an installation base and a support base for the drive plate, so that the installation of the drive plate takes into account both heat dissipation and wiring reliability. The support structure provided by the present application and the drive components and robots using the support structure are described in detail below in conjunction with the drawings and specific embodiments of the specification.

[0040] See Figures 1 to 3 ,in Figure 1 FIG2 shows an axonometric diagram of a driving component provided by an embodiment of the present application. Figure 2 for Figure 1 Exploded schematic diagram of the drive components shown, Figure 3 for Figure 1The driving component shown is a cross-sectional view along line AA. One embodiment of the present application provides a driving component 10, which includes a motor 11, a cover 12, a driving plate 13 and a support structure 14, and the support structure 14 is connected to the motor 11. The driving plate 13 is arranged on the side of the support structure 14 facing away from the motor 11, and the driving plate 13 is electrically connected to the motor 11 to control the motor 11. The cover 12 covers the motor 11 and covers the outside of the support structure 14 and the driving plate 13, and the cover 12 is thermally connected to the driving plate 13. Since the driving plate 13 is mounted on the motor 11 through the support structure 14, the cables of the motor 11 can be conveniently arranged before the cover 12 is closed, reducing the probability of the cables being compressed, squeezed and damaged when the cover 12 is closed, and improving the reliability of the cable arrangement. Furthermore, the support structure 14 is supported between the motor 11 and the driving plate 13 , so that the driving plate 13 is raised and relatively close to the cover 12 , so that the driving plate 13 can be conveniently connected to the cover 12 for heat dissipation through the cover 12 .

[0041] See also Figure 4 , combined with Figure 2 and Figure 3 , an embodiment of the present application provides a support structure 14. As mentioned above, the support structure 14 can be used to be installed between the motor 11 and the cover 12 of the driving component 10. The support structure 14 includes a first connecting member 100 and a second connecting member 200, and the second connecting member 200 is protruded from the first connecting member 100. Among them, the side of the first connecting member 100 facing away from the second connecting member 200 is the first connecting side 101, and the side of the second connecting member 200 facing away from the first connecting member 100 is the second connecting side 201. One of the first connecting side 101 and the second connecting side 201 is used to connect the motor 11, and the other is for the installation of the driving plate 13 to support the driving plate 13 to be thermally connected to the cover 12.

[0042] In the above-mentioned support structure 14, one of the first connection side 101 and the second connection side 201 is used to connect the motor 11, and the other is for the installation of the drive plate 13. Therefore, the drive plate 13 can be installed on the motor 11 through the support structure 14 without relying on the installation base provided by the cover 12. Therefore, the cable connection and wiring can be conveniently performed before the cover 12 is closed, thereby improving the reliability of the cable arrangement and facilitating wiring. In addition, since the second connecting member 200 is protruding from the first connecting member 100, the first connecting side 101 and the second connecting side 201 are spaced apart as the sides of the second connecting member 200 and the first connecting member 100 facing away from each other. Therefore, the motor 11 and the drive plate 13 are respectively connected to the first connection side 101 and the second connection side 201, so that the drive plate 13 is erected relative to the motor 11 to a position relatively far away from the motor 11 and close to the cover 12. Therefore, the drive plate 13 can be conveniently connected to the cover 12 for heat conduction and dissipated through the cover 12. Such installation takes into account both the heat dissipation of the driving board 13 and the reliability of the cable arrangement.

[0043] Further, in the first aspect, if Figure 2 and Figure 4 As shown, the first connection side 101 can be used to connect the motor 11, and the second connection side 201 is for the drive board 13 to be installed. That is, the first connector 100 is used to connect the motor 11, and the side of the first connector 100 provided with the second connector 200 is used to face the cover 12 and away from the motor 11. The end of the second connector 200 away from the first connector 100 is used to connect the drive board 13 to support the drive board 13 to be thermally connected to the cover 12. That is, the drive board 13 is mounted on a side of the support structure 14 close to the cover 12 and away from the motor 11. As a result, the drive board 13 can be installed on the motor 11 through the support structure 14 without relying on the mounting base provided by the cover 12, so it is convenient to straighten the cable before the cover 12 is closed, thereby improving the reliability of the cable arrangement. In addition, the drive board 13 is located on a side relatively close to the cover 12 under the connection support of the second connector 200, so the drive board 13 can be conveniently thermally connected to the cover 12 and dissipate heat through the cover 12. Such installation takes into account both the heat dissipation of the driving board 13 and the reliability of the cable arrangement.

[0044] Alternatively, in a second aspect, the first connection side 101 can be used to mount the drive board 13, while the second connection side 201 is used to connect to the motor 11. That is, the side of the first connector 100 facing away from the second connector 200 is used to face the cover 12 and for mounting the drive board 13. The end of the second connector 200 away from the first connector 100 is used to connect to the motor 11 to support the drive board 13 for thermal connection to the cover 12. In other words, the drive board 13 is mounted on the side of the support structure 14 that is close to the cover 12 and away from the motor 11. As a result, the drive board 13 can also be mounted to the motor 11 through the support structure 14 without relying on the mounting base provided by the cover 12, so that the cable can be easily arranged before the cover 12 is closed, improving the reliability of the cable arrangement. In addition, the second connector 200 is supported between the motor 11 and the connecting plate 110, so that the drive board 13 located on the side of the first connector 100 facing away from the second connector 200 is raised and relatively close to the cover 12. Thus, the driving board 13 can be conveniently connected to the cover 12 by heat conduction and dissipate heat through the cover 12. Such installation takes into account both the heat dissipation of the driving board 13 and the reliability of the cable arrangement.

[0045] In short, in this embodiment, since the second connecting member 200 protrudes from the first connecting member 100 , the components connected to both sides of the support structure 14 can be stably connected and spaced apart, meeting the installation requirements of the driving plate 13 .

[0046] The above-mentioned thermal connection between the driving plate 13 and the cover 12 means that the heat of the driving plate 13 can be directly or indirectly conducted to the cover 12 so as to dissipate heat through the cover 12. For example, the driving plate 13 can directly contact the cover 12 so as to dissipate heat through the cover 12. Alternatively, a heat-conducting medium can be arranged between the driving plate 13 and the cover 12, and the heat of the driving plate 13 is conducted to the cover 12 through the heat-conducting medium. The heat-conducting medium can be configured as a material that can improve the efficiency of heat conduction, such as thermal grease, thermal gasket, thermal phase change material or thermal glue. When the heat dissipation requirements are met, the heat-conducting medium can even be configured as air.

[0047] See also Figure 2 In one embodiment, the driver board 13 is provided with a heat dissipation component 15. The driver board 13 thermally connected to the cover 12 in each embodiment may specifically refer to the heat dissipation component 15 of the driver board 13 being thermally connected to the cover 12, which will not be described in detail below. The heat dissipation component 15 may, for example, be the aforementioned MOS transistor. Of course, the heat dissipation component 15 may also be other components of the driver board 13 that require heat dissipation, which will not be described in detail here.

[0048] See also Figure 3 In one embodiment, when the first connector 100 is used to connect the motor 11, and the second connector 200 is used to connect the drive plate 13, that is, when the support structure 14 adopts the upright installation mentioned below, the second connector 200 is used to support the drive plate 13 so that the drive plate 13 is suspended relative to the first connector 100. At this time, the first connector 100 is located on a side relatively close to the motor 11, so the drive plate 13 is suspended relative to the first connector 100, that is, it is suspended relative to the motor 11. Configuring the drive plate 13, the motor 11 and the first connector 100 to be suspended can reduce the probability of heat from the motor 11 being transferred to the drive plate 13. In addition, the suspended setting can also improve the fluid conductivity between the drive plate 13, the motor 11 and the first connector 100, improve the heat conduction efficiency, and facilitate the overall heat dissipation of the drive component 10.

[0049] In another embodiment, when the first connector 100 is used to connect the drive board 13 and the second connector 200 is used to connect the motor 11, that is, when the support structure 14 adopts the reverse installation mentioned below, the second connector 200 is used to support between the motor 11 and the first connector 100, so that the drive board 13 installed on the first connector 100 is suspended relative to the motor 11. In this way, the probability of heat from the motor 11 being transferred to the drive board 13 can be reduced. In addition, the suspended arrangement can also improve the fluid conductivity between the drive board 13 and the motor 11 and the first connector 100, improve the heat conduction efficiency, and facilitate the overall heat dissipation of the drive component 10.

[0050] like Figure 2, the support structure 14 is installed in a manner such that the side of the first connecting member 100 provided with the second connecting member 200 faces the cover 12 and away from the motor 11, which is recorded as normal installation. The support structure 14 is installed in a manner such that the side of the first connecting member 100 provided with the second connecting member 200 faces the motor 11 and away from the cover 12, which is recorded as reverse installation. For ease of description, the embodiments of this application will take the normal installation as an example to illustrate the support structure 14 and the driving component 10 used by the support structure 14. It should be understood that the same principle applies when the support structure 14 is reverse installed, so it will not be described in detail.

[0051] In one embodiment, at least one of the first connector 100 and the second connector 200 is an elastic connector to allow the drive plate 13 to be thermally bonded to the cover 12. The elastic connector has elastic properties, meaning that the support structure 14 can be elastically deformed when subjected to an external force and has a tendency to return to its original shape. The support structure 14 is configured to elastically deform when the cover 12 is applied to the motor 11 and abutted against the cover 12 and the drive plate 13, and to push the drive plate 13 to a position where it remains thermally bonded to the cover 12. That is, when the cover 12 is applied to the motor 11, it can abut against the drive plate 13, causing the elastic support structure 14, which is connected to the drive plate 13, to deform. Thus, after the cover 12 and the motor 11 are locked, the support structure 14, based on its own elastic recovery effect, will push the drive plate 13 in the opposite direction, causing the drive plate 13 to be tightly abutted against the cover 12 and remain in a position where it remains thermally bonded to the cover 12. Such an arrangement improves the stability of the heat-conducting connection between the driving plate 13 and the cover 12 and improves the heat dissipation effect.

[0052] From another perspective, when the cover 12 is placed on the motor 11, it can interfere with the drive plate 13, causing the support structure 14 to bend elastically toward the side where the motor 11 is located. In other words, the expected installation position of the cover 12 can be configured to have a certain amount of interference with the position of the drive plate 13 when it is not abutted by the cover 12. As a result, when the cover 12 is placed on the motor 11, it will interfere with the drive plate 13, causing the drive plate 13 to move slightly toward the direction closer to the motor 11 and causing the support structure 14 to elastically deform, thereby improving the stability of the thermal conductive fit. The above-mentioned interference refers to the degree of geometric overlap between parts during assembly. Taking the shaft-hole insertion as an example, the interference refers to the difference between the maximum physical dimension of the shaft and the minimum physical dimension of the hole. In this embodiment, the interference can be configured to be 0.05mm-0.25mm, for example, the interference can be configured to be 0.05mm, 0.1mm, 0.15mm, 0.2mm and 0.25mm, etc. Furthermore, the above-mentioned interference can be configured by adjusting the length of the second connecting member 200 protruding from the first connecting member 100.

[0053] Regarding the stress distribution of the support structure 14 when the sealed cover 12 and the driving plate 13 abut, see Figure 8 , Figure 8 The results of a finite element simulation analysis of the support structure 14 are shown, with an interference of 0.1 mm and the support structure 14 entirely made of carbon steel. The maximum equivalent stress in a local area of ​​the support structure 14 is 260.54 MPa, indicating that the support structure 14 can deform without breaking.

[0054] In one embodiment, regarding the elastic deformation of the support structure 14, the second connector 200 can be configured as an elastic connector, that is, the second connector 200 has an elastic telescopic function, so that the support structure 14 can undergo elastic deformation. For example, the second connector 200 can be constructed to have an elastic telescopic function similar to a spring thimble. Alternatively, the first connector 100 can be configured as an elastic connector, that is, the material used by the first connector 100 generally has elastic deformation capabilities, so that it bends or tilts toward the side where the motor 11 is located under the push of the cover 12 and the drive plate 13. The material of the first connector 100 may include but is not limited to metal materials such as carbon steel or nickel-titanium alloy or polymer materials with elastic properties. Alternatively, the first connector 100 and the second connector 200 can be configured as elastic connectors. In each embodiment, the first connector 100 is taken as an example to illustrate the main deformation area in the support structure 14.

[0055] Of course, in another embodiment, the support structure 14 can also be configured to not have elastic properties under normal circumstances. In this case, by controlling factors such as the size of the motor 11, the size of the support structure 14, the size of the drive plate 13, the size of the cover 12, and the assembly accuracy of the four, the drive plate 13 can be precisely thermally bonded to the cover 12 after the cover 12 is closed.

[0056] See also Figure 6 In one embodiment, when the first connecting side 101 is connected to the motor 11, at least one of the two facing side surfaces of the motor 11 and the first connector 100 is provided with a protrusion 16. The protrusion 16 is supported between the motor 11 and the first connector 100, allowing the first connector 100 to be suspended relative to the end surface of the motor 11, allowing the first connector 100 to deform elastically. In other words, the protrusion 16 is used to support the first connector 100 between the motor 11, so that most of the first connector 100 is suspended relative to the end surface of the motor 11, leaving room for deformation.

[0057] The protrusion 16 can also be used to lock the power supply 11 and the first connecting member 100. Figure 6, the protrusion 16 can be protruding from the end face of the motor 11 facing the cover 12. Alternatively, the protrusion 16 can be protruding from the side of the first connector 100 facing the motor 11. It is easy to understand that, as mentioned above, when the support structure 14 is reversed, the second connector 200 is located on the side of the first connector 100 facing the motor 11. At this time, the first connector 100 is already suspended relative to the end face of the motor 11 under the support of the second connector 200. Therefore, in order to avoid duplication of functions, when the protrusion 16 is provided on the first connector 100, the support structure 14 is usually installed in the upright position. That is to say, at this time, the opposite sides of the first connector 100 can both be arranged with a protruding columnar structure to give full play to the connection function, support function and installation function. Of course, in other embodiments, the two sides of the motor 11 and the first connector 100 facing each other can be provided with protrusions 16, which abut together to make the first connector 100 suspended.

[0058] See also Figure 7 , combined with Figure 5 In one embodiment, the first connector 100 includes a connecting plate 110 and a plurality of connecting arms 120, wherein the connecting arms 120 are connected to the circumferential outer side of the connecting plate 110. The connecting plate 110 is used to connect to the motor 11, and the connecting arms 120 are used to connect to the drive plate 13. The number of connecting arms 120 can be configured to be multiple, and the plurality of connecting arms 120 are spaced apart along the circumferential direction C of the connecting plate 110. The second connector 200 is provided at one end of the connecting arm 120 away from the connecting plate 110 and is used to connect to the drive plate 13. The arm-shaped connecting arm 120 is connected between the second connector 200 and the connecting plate 110, so that the second connector 200 can float relative to the connecting plate 110 to a certain extent and has a tendency to return to its original state. Therefore, when the cover 12 abuts the drive plate 13 with an interference fit, the connecting arm 120 allows the drive plate 13 to float relative to the motor 11 and push against the drive plate 13, so that the drive plate 13 fully fits the cover 12, thereby improving thermal stability.

[0059] Furthermore, in the support structure 14, the connecting arm 120 can be configured as an elastic connector, that is, the connecting arm 120 has elastic properties, so as to further improve the ability of the connecting arm 120 to withstand the abutment transmitted by the driving plate 13, and improve the fit stability and heat conduction effect between the driving plate 13 and the cover 12. Of course, in another embodiment, the connecting plate 110 can be configured as an elastic connector, or the connecting plate 110 and the connecting arm 120 can be configured as elastic connectors, so as to improve the fit stability and heat conduction effect between the driving plate 13 and the cover 12.

[0060] It is understandable that the connecting arm 120 can also be made of a material that is generally considered to have almost no elasticity. Since the connecting arm 120 is arm-shaped, it can allow the driving plate 13 to float to a certain extent and improve the stability and thermal conductivity of the fit between the driving plate 13 and the cover 12.

[0061] like Figure 7 In one embodiment, the connecting arms 120 are arranged along the radial extension of the connecting plate 110 so that the first connecting member 100 has a larger area distribution, which facilitates stable support of the driving plate 13.

[0062] See also Figure 7 In one embodiment, the connecting plate 110 is configured to have a circular outer profile. The connecting plate 110 is provided with a plurality of mounting holes 111 for connection to the motor 11. Specifically, in this embodiment, the protrusion 16 can be provided on the motor 11. Along the circumferential direction C of the connecting plate 110, a mounting hole 111 is provided between two adjacent connecting arms 120 to ensure sufficient connection to the motor 11.

[0063] Along the same circumferential direction C of the connecting plate 110, the central angles between any one of the connecting arms 120 and the corresponding mounting hole 111 are equal. In other words, any one of the connecting arms 120 and the corresponding mounting hole 111 have the same positional relationship, so that the force on the first connecting member 100 is more uniform. Figure 7 It can be understood that the circumferential direction C includes the clockwise positive direction C1 and the counterclockwise reverse direction C2. The above-mentioned direction along the same circumferential direction C refers to the positive direction C1 or the reverse direction C2 along the circumferential direction C. When along the positive direction C1, the central angle between the connecting arm 120 and the corresponding mounting hole 111 is as follows: Figure 7 In the reverse direction, the central angle between the connecting arm 120 and the corresponding mounting hole 111 is as shown in the middle mark θ1; Figure 7 Indicated by the middle symbol θ2.

[0064] The line connecting the connection point between the connecting arm 120 and the connecting plate 110 and the center O of the connecting plate 110 is recorded as the first reference line L1. Figure 7 Indicated by the reference numeral P1. In the circumferential direction C of the connecting plate 110, the plurality of mounting holes 111 are arranged on the same side of the plurality of first reference lines L1. In other words, the mounting holes 111 are arranged offset from the first reference lines L1, i.e., the mounting holes 111 are not provided at the junction of the connecting arm 120 and the connecting plate 110. This reduces the weakening of the connection strength between the connecting arm 120 and the connecting plate 110 caused by the installation of the mounting holes 111, thereby relatively improving the connection strength between the connecting arm 120 and the connecting plate 110.

[0065] Furthermore, the number and arrangement positions of the plurality of protrusions 16 correspond to the number and arrangement positions of the mounting holes 111 , and a first threaded connector can be passed through the mounting holes 111 and extended into the protrusions 16 to lock the support structure 14 to the motor 11 .

[0066] See also Figure 7 , combined with Figure 5 In one embodiment, the angles α between adjacent first reference lines L1 are equal. That is, along the circumferential direction C of the connecting plate 110, the connecting arms 120 are evenly spaced, thereby improving the uniformity of force applied to the first connector 100. Of course, in other embodiments, the angles between the first reference lines L1 can be adjusted accordingly based on factors such as the specific structure of the motor 11, so that the support structure 14 can be appropriately mounted on the motor 11.

[0067] like Figure 7 Furthermore, when the connecting arms 120 are arranged unevenly, the shape of the free end of one of the connecting arms 120 can be set to be different from the shapes of the free ends of the other connecting arms 120 to serve as a mark to facilitate rapid positioning of the circumferential position of the support structure 14. For example, the free end of one of the connecting arms 120 can be configured to be pointed, while the free ends of the other connecting arms 120 can be configured to be rounded.

[0068] In one embodiment, the line connecting the position of the mounting hole 111 and the center O of the connecting plate 110 is recorded as the second reference line L2, and the angle β between each adjacent second reference line L2 is equal. That is, along the circumferential direction C of the connecting plate 110, the mounting holes 111 are evenly spaced, thereby improving the uniformity of the force applied to the first connecting member 100. The position of the mounting hole 111 is as follows: Figure 7 As shown in the label P2.

[0069] Please continue reading Figure 7 , combined with Figure 5 In one embodiment, the first connector 100 is hollowed out, that is, the connecting plate 110 can be annular. This configuration facilitates the routing of cables for the motor 11 and facilitates fluid communication, thereby improving the heat conduction efficiency within the drive component 10.

[0070] Furthermore, the first connecting member 100 is plate-shaped, and the second connecting member 200 protrudes perpendicularly to the first connecting member 100, so that the driving plate 13 is fully raised and suspended relative to the motor 11. As a result, the support structure 14 has a simple overall structure, is easy to manufacture, and is low in cost.

[0071] In one embodiment, the support structure 14 can be connected to the motor 11 and the drive plate 13 using a threaded first connector, and the cover 12 can be locked to the motor 11 using the threaded first connector. For example, the threaded first connector passes through the mounting hole 111 and connects to the protrusion 16 to lock the support structure 14 to the motor 11. The threaded first connector also passes through the drive plate 13 and the second connector 200 to lock the drive plate 13 to the support structure 14.

[0072] The cables of the motor 11 in each embodiment may include signal lines and three-phase lines of the motor 11 .

[0073] One embodiment of the present application further provides a robot, which may include the drive component 10 described in each embodiment. The drive component 10 may be disposed at a joint of the robot. Since the drive component 10 includes all the features of the drive component 10 and the support structure 14 described in each embodiment, the drive component 10 also has the technical effects described above, and no further description is given here.

[0074] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0075] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A support structure, characterized in that: The support structure (14) is used to be installed between the motor (11) of the driving component (10) and the cover (12), and the support structure (14) includes: a first connecting member (100); a second connecting member (200), the second connecting member (200) being protruding from one side of the first connecting member (100); The side of the first connecting member (100) facing away from the second connecting member (200) is the first connecting side (101), and the side of the second connecting member (200) facing away from the first connecting member (100) is the second connecting side (201). One of the first connecting side (101) and the second connecting side (201) is used to connect the motor (11), and the other is used for installing the driving plate (13) to support the driving plate (13) to be thermally connected to the cover (12).

2. The support structure according to claim 1, characterized in that The first connecting member (100) includes a connecting plate (110) and a plurality of connecting arms (120) connected to the circumferential outer side of the connecting plate (110), the connecting plate (110) is used to connect the motor (11), the plurality of connecting arms (120) are arranged at intervals along the circumferential direction (C) of the connecting plate (110), and the second connecting member (200) is provided at one end of the connecting arm (120) away from the connecting plate (110) and is used to connect the drive plate (13).

3. The support structure according to claim 2, characterized in that The connecting plate (110) is constructed to have a circular outer contour. A plurality of mounting holes (111) for connecting to the motor (11) are provided on the connecting plate (110). Along a circumferential direction (C) of the connecting plate (110), one mounting hole (111) is arranged between two adjacent connecting arms (120).

4. The support structure according to claim 3, characterized in that Along the same circumferential direction (C) of the connecting plate (110), the central angles between any one of the connecting arms (120) and the corresponding mounting hole (111) are equal.

5. The support structure according to claim 1, characterized in that The first connecting member (100) is hollowed out; and / or The first connecting member (100) is constructed in a plate shape, and the protruding direction of the second connecting member (200) is perpendicular to the first connecting member (100).

6. The support structure according to claim 1, characterized in that The first connecting member (100) is used to connect the motor (11), and the second connecting member (200) is used to connect the driving plate (13) and support the driving plate (13) to be suspended relative to the first connecting member (100); or The first connecting member (100) is used to connect the driving plate (13), and the second connecting member (200) is used to connect the motor (11) and support the driving plate (13) to be suspended relative to the motor (11).

7. The support structure according to any one of claims 1 to 6, characterized in that: At least one of the first connecting member (100) and the second connecting member (200) is an elastic connecting member, so that the driving plate (13) and the cover (12) are thermally conductively attached.

8. A driving component, characterized in that: The driving component (10) includes a motor (11), a cover (12), a driving plate (13) and a support structure (14) according to any one of claims 1 to 7, wherein the support structure (14) is connected to the motor (11), the driving plate (13) is arranged on a side of the support structure (14) away from the motor (11), the driving plate (13) is electrically connected to the motor (11), the cover (12) covers the motor (11) and covers the outside of the support structure (14) and the driving plate (13), and the cover (12) is thermally connected to the driving plate (13).

9. The driving component according to claim 8, characterized in that The first connecting side (101) is used to connect the motor (11); at least one of the two side surfaces of the motor (11) and the first connecting member (100) facing each other is provided with a protruding portion (16); the protruding portion (16) is supported between the motor (11) and the first connecting member (100), so that the first connecting member (100) is suspended relative to the end face of the motor (11).

10. A robot, characterized in that: The robot comprises a drive component (10) according to any one of claims 8 or 9.

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