Motor, robot trunk structure and robot

Abstract

The utility model provides a motor, a robot trunk structure and a robot, and relates to the technical field of robots. The motor comprises a first shell, a stator, a rotor and a second shell, the first shell comprises a containing part and a first connecting part arranged on the containing part, the stator and the rotor are located in the containing part, and the first connecting part is used for being connected with a first external structural member; one of the stator and the rotor is connected with the first shell, the other one is connected with the second shell, and the second shell extends out of the first shell. The accommodating part and the first connecting part of the first shell of the motor are integrally arranged, so that when the motor is installed, only the first connecting part of the motor needs to be connected with the first external structural member. Therefore, the motor can reduce assembly procedures and assembly time, and is suitable for mass production. Meanwhile, the wall thickness of the joint of the containing part and the first connecting part can be reduced, so that materials are saved, and the weight of the whole machine is reduced.

Description

Technical Field

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

[0002] A humanoid robot is a robot designed to mimic human appearance and behavior. It is also known as a humanoid robot or humanoid robot. Humanoid robots have a human-like body structure, including a head, torso, and limbs. They typically walk on two legs and are equipped with multi-fingered hands to perform various operations.

[0003] The joints of a humanoid robot achieve movement through joint motors. When assembling the entire robot, the existing joint motors serve as an integral structural component, and their output ends need to be connected to the joint connectors, and their fixed ends need to be connected to the motor base. This requires many assembly steps, which in turn consumes a lot of assembly time. Utility Model Content

[0004] The purpose of this application is to provide a motor, a robot trunk structure and a robot to address the deficiencies in the above-mentioned prior art, which can reduce the assembly process and assembly time.

[0005] To achieve the above objectives, the technical solutions adopted in the embodiments of the present application are as follows:

[0006] According to a first aspect of an embodiment of the present application, a motor is provided, comprising a first shell, a stator, a rotor, and a second shell, wherein: the first shell comprises a receiving portion and a first connecting portion arranged on the receiving portion, the stator and the rotor are located in the receiving portion, and the first connecting portion is used to connect to a first external structural member; one of the stator and the rotor is connected to the first shell, and the other is connected to the second shell, and the second shell extends out of the first shell.

[0007] Optionally, the second shell includes a shaft portion and a second connecting portion, one end of the shaft portion is connected to the stator or rotor, and the other end extends out of the accommodating portion and connected to the second connecting portion, and the second connecting portion is used to connect to the second external structural member.

[0008] A second aspect of an embodiment of the present application provides a trunk structure, comprising: a trunk component and a motor as described above, which is arranged on the trunk component, wherein the first connection portion or the second shell of the motor is fixedly connected to the trunk component.

[0009] Optionally, the first shell of the motor is connected to the stator, the second shell is connected to the rotor, the trunk assembly includes a main board, and the first connecting portion of the motor is fitted with the surface of the main board and is detachably connected to the main board.

[0010] Optionally, a notch is provided on the edge of the mainboard, and the accommodating portion of the motor is located in the notch.

[0011] Optionally, the number of the first connection parts of the motor is four, and the four first connection parts are divided into two groups. The two groups of first connection parts are respectively located on opposite sides of the accommodating part in the radial direction, and the two first connection parts in each group of first connection parts are respectively fitted with two opposite surfaces of the mainboard.

[0012] Optionally, the torso assembly further includes a side panel arranged on the main panel, with an angle formed between the side panel and the main panel, and the first connecting portion of the motor also fits with the surface of the side panel and is detachably connected to the side panel.

[0013] Optionally, there are two side panels, and the trunk structure also includes a battery box, which is fixed between the two side panels. The battery box has a first surface, and a second surface and a third surface relative to the first surface. The first surface is attached to the main board, and the second surface and the third surface are respectively attached to the two side panels.

[0014] Optionally, the trunk assembly further includes two opposite connecting plates, which are respectively connected between the two side plates. The battery box also has an opposite fourth surface and a fifth surface, which are respectively fitted with the two connecting plates.

[0015] According to a third aspect of the embodiments of the present application, a robot is provided, comprising a torso structure as described in any one of the above items.

[0016] The beneficial effects of this application include:

[0017] The present application provides a motor, wherein the first housing of the motor includes a receiving portion and a first connecting portion, and the receiving portion and the first connecting portion are integrally arranged. When installing the motor, it is only necessary to directly connect the first connecting portion of the motor itself to the first external structural member, without the need to provide additional connecting parts. Therefore, the above-mentioned motor can reduce the assembly process and assembly time, and is suitable for mass production. At the same time, when the motor is assembled in the motor factory, the number of assembly screws and assembly time are not increased. The above-mentioned motor can also reduce the wall thickness of the connection between the receiving portion and the first connecting portion, thereby saving materials and reducing the weight of the entire machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application 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 creative work.

[0019] Figure 1 A schematic diagram of the structure of a motor provided in an embodiment of the present application;

[0020] Figure 2This is one of the structural diagrams of the robot torso structure provided in an embodiment of the present application;

[0021] Figure 3 This is the second structural diagram of the robot torso structure provided in an embodiment of the present application.

[0022] Icon: 100-motor; 110-first shell; 111-accommodation part; 112-first connecting part; 1121-second connecting hole; 120-second shell; 121-axis; 122-connecting part; 200-trunk structure; 300-trunk assembly; 310-main board; 320-side panel; 330-battery box; 331-second surface; 332-third surface; 333-fourth surface; 334-fifth surface; 340-accommodation space; 350-connecting plate. DETAILED DESCRIPTION

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0024] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application as claimed, but merely represents selected embodiments of the present application. It should be noted that, unless there is a conflict, the various features of the embodiments of the present application may be combined with each other, and the combined embodiments are still within the scope of protection of the present application.

[0025] 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.

[0026] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the product of this application is typically placed when in use. These terms are intended only to facilitate the description of this application and simplify the description, and are not intended to indicate or imply that the device or element 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 application. Furthermore, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0027] It should also be noted that, in the description of this application, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," 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 connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0028] For the first aspect of the embodiment of this application, please refer to Figure 1 , provides a motor 100, including a first shell 110, a stator, a rotor and a second shell 120, wherein: the first shell 110 includes a accommodating portion 111 and a first connecting portion 112 arranged on the accommodating portion 111, the stator and the rotor are located in the accommodating portion 111, and the first connecting portion 112 is used to connect to a first external structural component; one of the stator and the rotor is connected to the first shell 110, and the other is connected to the second shell 120, and the second shell 120 extends out of the first shell 110.

[0029] In the motor 100, the stator and rotor interact to drive the rotor to rotate about its own axis. The relevant structures of the stator and rotor are known in the art and will not be described in detail in this embodiment. The rotor can be located outside or inside the stator, meaning that the motor 100 can be either an outer rotor motor or an inner rotor motor.

[0030] When the rotor is located outside the stator, the rotor is connected to the first housing 110, and the stator is connected to the second housing 120. The first housing 110 is used to connect to the component to be driven, thereby achieving power output of the motor 100, and the portion of the second housing 120 extending from the first housing 110 is used to connect to the motor mounting platform, thereby achieving installation and fixation of the motor 100. When the rotor is located inside the stator, the stator is connected to the first housing 110, and the rotor is connected to the second housing 120. The first housing 110 is used to connect to the motor mounting platform, thereby achieving installation and fixation of the motor 100, and the portion of the second housing 120 extending from the first housing 110 is used to connect to the component to be driven, thereby achieving power output of the motor 100.

[0031] The first housing 110 includes a housing 111 and a first connecting portion 112, which is integrally formed with the housing 111. The housing 111 is hollow, and components of the motor 100, such as the stator, rotor, and second housing 120, are housed within the housing 111. The first connecting portion 112 is disposed outside the housing 111. The first housing 110 is connected to the stator or rotor via the housing 111. With this arrangement, when installing the motor 100, the first connecting portion 112, which is provided on the motor 100 itself, need only be connected directly to the first external structural member, eliminating the need for additional connecting parts. Therefore, the motor 100 can reduce the number of assembly steps and assembly time, making it suitable for mass production. Furthermore, when the motor 100 is assembled in a factory, the number of assembly screws and the assembly time are not increased. Furthermore, the motor 100 can also reduce the wall thickness at the junction between the housing 111 and the first connecting portion 112, thereby saving material and reducing the overall weight of the motor.

[0032] Optionally, the second shell 120 includes a shaft portion 121 and a second connecting portion 122, one end of the shaft portion 121 is connected to the stator or rotor, and the other end extends out of the accommodating portion 111 and connected to the second connecting portion 122, and the second connecting portion 122 is used to connect to the second external structural member.

[0033] It can be understood that the second housing 120 is connected to the stator or rotor through the shaft 121. When the shaft 121 is connected to the stator, the accommodating portion 111 of the first housing 110 is connected to the rotor; when the shaft 121 is connected to the rotor, the accommodating portion 111 of the first housing 110 is connected to the stator. The area where the shaft 121 extends out of the accommodating portion 111 is connected to the second connecting portion 122 and is integrally arranged with the second connecting portion 122. The second housing 120 is directly connected to the second external structural member through the second connecting portion 122, and no additional connecting members are required. This arrangement can reduce the assembly process and assembly time between the motor 100 and the second external structural member. At the same time, the wall thickness of the connection between the shaft 121 and the second connecting portion 122 can also be reduced, thereby saving materials and reducing the weight of the entire machine.

[0034] It is understood that one of the first and second external structural members is the driven component, and the other is the motor mounting platform. When the stator is connected to the first housing 110, the first connecting portion 112 of the first housing 110 serves as the motor base, and the second connecting portion 122 of the second housing serves as the connecting member. When the rotor is connected to the first housing 110, the first connecting portion 112 of the first housing 110 serves as the connecting member, and the second connecting portion 122 of the second housing serves as the motor base.

[0035] The second aspect of the embodiment of this application, please refer to Figure 2, providing a trunk structure 200, comprising: a trunk component 300 and a motor 100 as any one of the above items arranged on the trunk component 300, the first connection part 112 or the second shell 120 of the motor 100 being fixedly connected to the trunk component 300.

[0036] It should be noted that when the stator of the motor 100 is connected to the first housing 110 and the rotor is connected to the second housing 120, the first housing 110 is stationary and the second housing 120 rotates with the rotor. In this case, the first connecting portion 112 of the first housing 110 is fixedly connected to the trunk assembly 300. When the rotor of the motor 100 is connected to the first housing 110 and the stator is connected to the second housing 120, the motor 100 is stationary and the first housing 110 rotates with the rotor. In this case, the portion of the second housing 120 extending from the first housing 110 is fixedly connected to the trunk assembly 300.

[0037] The trunk structure 200 can reduce the number of robot assembly steps and man-hours, making it suitable for mass production. It can also save materials and reduce the overall weight of the robot.

[0038] Optionally, the first shell 110 of the motor 100 is connected to the stator, and the second shell 120 is connected to the rotor. The trunk assembly 300 includes a main board 310. The first connecting portion 112 of the motor 100 is fitted with the surface of the main board 310 and is detachably connected to the main board 310.

[0039] The first connecting portion 112 of the motor 100 is affixed to the mainboard 310 of the trunk assembly 300, and the two are detachably connected through the mutually affixed area. For example, the mainboard 310 is provided with a first connecting hole, and the first connecting portion 112 is provided with a second connecting hole 1121 corresponding to the first connecting hole. A bolt passes through the first and second connecting holes 1121 and is then threadedly engaged with a nut, thereby securing the first connecting portion 112 to the mainboard 310.

[0040] Optionally, a notch is provided on an edge of the main board 310 , and the accommodating portion 111 of the motor 100 is located in the notch.

[0041] Such an arrangement can avoid the trunk structure 200 from generating excess weight, thereby further reducing the overall weight of the robot.

[0042] Optionally, the number of the first connection parts 112 of the motor 100 is four, and the four first connection parts 112 are divided into two groups. The two groups of first connection parts 112 are respectively located on two opposite sides of the accommodating part 111 in the radial direction, and the two first connection parts 112 in each group of first connection parts 112 are respectively fitted with two opposite surfaces of the main board 310.

[0043] The accommodating portion 111 is cylindrical and disposed within the notch. Two sets of first connecting portions 112 are located on opposite sides of the accommodating portion 111 along its radial direction. One set of first connecting portions 112 mates with two opposing surfaces of the mainboard 310 outside one edge of the notch, while the other set of first connecting portions 112 mates with two opposing surfaces of the mainboard 310 outside the other opposite edge of the notch. Both sets of first connecting portions 112 are detachably connected to the mainboard 310. The two sets of first connecting portions 112 secure the accommodating portion 111 to the mainboard 310, improving the reliability of the motor 100's installation.

[0044] Alternatively, see Figure 2 and Figure 3 The trunk assembly 300 also includes a side panel 320 arranged on the main board 310, and there is an angle between the side panel 320 and the main board 310. The first connecting portion 112 of the motor 100 is also in contact with the surface of the side panel 320 and is detachably connected to the side panel 320.

[0045] The provision of side panels 320 enhances the rigidity of the trunk assembly 300 and provides more mounting space for components within the trunk assembly 300. The side panels 320 are positioned at an angle to the mainboard 310, preferably 90°. The first connecting portion 112 is detachably attached to both the mainboard 310 and the side panels 320, enhancing the reliability of the motor 100's installation.

[0046] Optionally, there are two side panels 320, and the trunk structure 200 also includes a battery box 330, which is fixed between the two side panels 320. The battery box 330 has a first surface, and a second surface 331 and a third surface 332 relative to each other. The first surface is in contact with the main board 310, and the second surface 331 and the third surface 332 are respectively in contact with the two side panels 320.

[0047] The main board 310 and two side panels 320 together enclose a space 340 for the battery box 330. The battery box 330 is located within this space 340 and secured between the two side panels 320. The three outer surfaces of the battery box 330 mate with the main board 310 and two side panels 320 of the trunk assembly 300. When the robot's waist and arms rapidly twist and swing, the forces exerted on the trunk assembly 300 are transmitted to the battery box 330. This helps to resist deformation and enhance the rigidity of the trunk assembly 300, thereby reducing the size and thickness of the trunk assembly 300 and, consequently, the overall weight. The increased rigidity provided by the battery box 330 allows the trunk assembly 300 to adopt a "single-layer main board 310 + two side panels 320" structure. This single-layer main board 310 significantly reduces the trunk assembly 300's volume and weight while increasing the space available for the robot's components, thereby enhancing the robot's overall sensing capabilities. At the same time, the trunk assembly 300 also supports and protects the battery box 330, and there is no need to set up an additional structure to support and protect the battery box 330, thereby further reducing the weight of the entire machine and simplifying the entire machine structure.

[0048] Optionally, the trunk assembly 300 further includes two opposing connecting plates 350 , which are respectively connected between the two side plates 320 . The battery box 330 further includes an opposing fourth surface 333 and a fifth surface 334 , which are respectively fitted with the two connecting plates 350 .

[0049] One end of the connecting plate 350 is connected to one side plate 320, and the other, opposite end is connected to the other side plate 320. The battery box 330 is disposed within the housing 340 formed by the main board 310, the two side plates 320, and the two connecting plates 350. The fourth surface 333 of the battery box 330 is in contact with one connecting plate 350, and the fifth surface 334, opposite the fourth surface 333, is in contact with the other connecting plate 350. This arrangement further enhances the rigidity of the trunk assembly 300.

[0050] According to a third aspect of the embodiments of the present application, a robot is provided, comprising a trunk structure 200 as described above.

[0051] The robot comprises the same structure and benefits as the trunk structure 200 in the aforementioned embodiment. The structure and benefits of the trunk structure 200 have been described in detail in the aforementioned embodiment and will not be repeated here.

[0052] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A motor, characterized in that: The invention comprises a first housing, a stator, a rotor and a second housing, wherein: The first housing includes a receiving portion and a first connecting portion provided on the receiving portion, the stator and the rotor are located in the receiving portion, and the first connecting portion is used to connect to a first external structural member; One of the stator and the rotor is connected to the first housing, and the other is connected to the second housing. The second housing extends from the first housing.

2. The motor according to claim 1, wherein The second shell includes a shaft portion and a second connecting portion. One end of the shaft portion is connected to the stator or the rotor, and the other end extends out of the accommodating portion and is connected to the second connecting portion. The second connecting portion is used to connect to a second external structural member.

3. A trunk structure, characterized in that: include: A trunk component and a motor as described in claim 1 or 2 arranged on the trunk component, wherein the first connecting portion or the second shell of the motor is fixedly connected to the trunk component.

4. The trunk structure according to claim 3, wherein: The first shell of the motor is connected to the stator, and the second shell is connected to the rotor. The trunk component includes a main board. The first connecting portion of the motor is fitted with the surface of the main board and is detachably connected to the main board.

5. The trunk structure according to claim 4, wherein: A notch is provided on the edge of the main board, and the accommodating portion of the motor is located in the notch.

6. The trunk structure according to claim 5, wherein: The number of the first connection parts of the motor is four, and the four first connection parts are divided into two groups. The two groups of first connection parts are respectively located on two opposite sides of the accommodating part in the radial direction, and the two first connection parts in each group of the first connection parts are respectively fitted with two opposite surfaces of the main board.

7. The trunk structure according to claim 4, wherein: The trunk assembly also includes a side panel arranged on the main board, and an angle is formed between the side panel and the main board. The first connecting portion of the motor is also in contact with the surface of the side panel and is detachably connected to the side panel.

8. The trunk structure according to claim 7, wherein: There are two side panels, and the trunk structure also includes a battery box, which is fixed between the two side panels. The battery box has a first surface, and a second surface and a third surface relative to each other. The first surface is in contact with the main board, and the second surface and the third surface are respectively in contact with the two side panels.

9. The trunk structure according to claim 8, wherein: The trunk assembly also includes two opposite connecting plates, which are respectively connected between the two side plates. The battery box also has a fourth surface and a fifth surface that are opposite to each other, and the fourth surface and the fifth surface are respectively fitted with the two connecting plates.

10. A robot, characterized in that: Comprising a torso structure as claimed in any one of claims 3 to 9.

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