Motor housing, modular motor and legged robot

Abstract

This application discloses a motor housing, a modular motor, and a legged robot, comprising: a main body, wherein a first heat dissipation area and a second heat dissipation area are sequentially arranged on the outer peripheral surface of the main body along its axial direction; heat dissipation ribs are formed in the first heat dissipation area; and a heat dissipation channel is formed in the second heat dissipation area; the gap between two adjacent heat dissipation ribs communicates with the heat dissipation channel, so that airflow in the heat dissipation channel can diffuse along the axial direction of the main body through the gap between the heat dissipation ribs. This solution effectively improves heat dissipation efficiency by dividing the heat dissipation areas and establishing a connecting structure, so that natural convection and forced convection cooperate. In the prior art, the heat dissipation channel and heat dissipation structure are often independent of each other and cannot form an airflow guiding effect. However, this solution achieves directional diffusion of airflow through the gap connection design, eliminates local high temperature areas, reduces the temperature rise of the motor during operation, and ensures thermal stability under long-term high-load conditions.

Description

Technical Field

[0001] This application relates to the field of drive machinery technology, and in particular to a motor housing, a modular motor using the motor housing, and a legged robot having the modular motor. Background Technology

[0002] With the rapid development of fields such as bionic robots and special equipment, quadrupedal modular motors, as core power components, need to simultaneously meet stringent requirements such as high torque output, lightweight design, and high power density. However, existing technologies for this type of motor generally suffer from poor heat dissipation in their housing structures. The heat generated internally is difficult to dissipate quickly, and the continuous accumulation of heat not only accelerates the aging and wear of internal components, shortening their lifespan, but also directly affects the stable operation of the motor, making it difficult for modular motors to meet the practical application requirements of long-duration operation. Furthermore, high temperatures can cause motor parameter drift, leading to a decrease in control accuracy and failing to meet the stringent requirements of high-precision control in precision operations. Utility Model Content

[0003] The purpose of this application is to provide a motor housing, a modular motor using the motor housing, and a legged robot having the modular motor, which can solve the above-mentioned problems existing in the prior art.

[0004] To achieve the above objectives, this application adopts the following technical solution:

[0005] On one hand, a motor housing is provided, comprising:

[0006] The shell body has a first heat dissipation area and a second heat dissipation area arranged sequentially on its outer peripheral surface along its axial direction;

[0007] Heat dissipation fins are formed in the first heat dissipation area;

[0008] A heat dissipation channel is formed in the second heat dissipation area;

[0009] The gap between two adjacent heat dissipation fins is connected to the heat dissipation channel so that the airflow in the heat dissipation channel can diffuse along the axial direction of the shell body through the gap between the heat dissipation fins.

[0010] Optionally, a plurality of fixing ears are provided on the outer peripheral surface of the shell body, and a heat dissipation rib installation space is formed between adjacent fixing ears along the circumferential direction of the shell body, and the plurality of heat dissipation ribs are evenly distributed in the heat dissipation rib installation space.

[0011] Optionally, all the heat dissipation fins in the same heat dissipation fin installation space are parallel to each other.

[0012] Optionally, it also includes a baffle plate, the two ends of which are respectively connected to the two heat dissipation fins closest to the fixing ear in the adjacent heat dissipation fin installation space; and / or, a baffle plate is provided in the heat dissipation channel, the baffle plate being configured to guide the airflow in the heat dissipation channel toward the heat dissipation fins.

[0013] Optionally, it further includes a bearing chamber disposed within the housing body and coaxially disposed with the housing body. The bearing chamber is fixedly connected to the housing body via a support rib. One end of the support rib is connected to the bearing chamber, and the other end of the support rib is connected to the housing body. The support rib has a bearing surface facing the interior of the housing body. An accommodating space is formed inside the housing body. The bearing surface is used to support the rotor assembly disposed in the accommodating space. The bearing surface matches the contact surface of the rotor assembly.

[0014] Optionally, the support rib includes a first support portion and a second support portion connected to each other. The first support portion extends along the axial direction of the shell body, and the second support portion is arranged along the radial direction of the shell body. The first support portion is connected to the shell body, and the second support portion is connected to the bearing chamber. A wire outlet hole is formed between adjacent first support portions.

[0015] Optionally, a glue storage tank is also provided on the inner wall of the shell body, and the glue storage tank is located inside the area of ​​the shell body where the heat dissipation fins are formed.

[0016] Optionally, along the axial direction of the shell body (110), the width of the heat dissipation channel (113) is L1, the width of the heat dissipation fin (112) is L2, and 1 / 3≤L1 / L2≤1 / 2.

[0017] On the other hand, a modular motor is provided, having a motor housing as described above.

[0018] On the other hand, a legged robot is provided, having the module motors described above.

[0019] The beneficial effects of this application are as follows: This solution, by dividing the heat dissipation area and establishing a connected structure, enables natural convection and forced convection to work together, effectively improving heat dissipation efficiency. In the prior art, heat dissipation channels and heat dissipation structures are often independent of each other and cannot form an airflow guiding effect. However, this solution achieves directional diffusion of airflow through a gap connection design. At the same time, when the airflow from the first heat dissipation area enters the second heat dissipation area, the physical effect caused by the change in the cross-section of the airflow channel enhances heat dissipation, eliminates local high-temperature areas, reduces the temperature rise of the motor during operation, and ensures thermal stability under long-term high-load conditions. Attached Figure Description

[0020] The present application will now be described in further detail with reference to the accompanying drawings and embodiments.

[0021] Figure 1 This is a three-dimensional structural diagram of the motor housing described in the embodiments of this application;

[0022] Figure 2 This is a side view of the motor housing described in an embodiment of this application;

[0023] Figure 3 This is a schematic diagram of a partial structure of the outer surface of the motor housing in its unfolded state, as described in an embodiment of this application.

[0024] Figure 4 This is a top view of the motor housing as described in an embodiment of this application;

[0025] Figure 5 for Figure 4 Sectional view along line AA;

[0026] Figure 6 for Figure 5 Enlarged view of a section at point I;

[0027] Figure 7 This is a three-dimensional structural diagram of the module motor described in the embodiments of this application;

[0028] Figure 8 This is a schematic diagram of the disassembled state of the module motor described in the embodiments of this application;

[0029] Figure 9 This is a top view of the module motor assembly state as described in the embodiments of this application;

[0030] Figure 10 for Figure 9 Sectional view along the BB direction;

[0031] Figure 11 for Figure 9 Enlarged view of section II in the middle.

[0032] In the picture:

[0033] 100. Motor housing; 110. Housing body; 1101. First heat dissipation area; 1102. Second heat dissipation area; 111. Accommodation space; 112. Heat dissipation fins; 1121. Baffle plate; 113. Heat dissipation channel; 1131. Baffle plate; 114. Fixing lug; 115. Glue storage tank; 116. Stator support surface; 120. Bearing chamber; 130. Support rib; 131. Bearing surface; 132. First support part; 133. Second support part; 134. Cable outlet hole; 140. Rotor assembly; 150. Stator assembly. Detailed Implementation

[0034] To make the technical problems solved by this application, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of this application are further described in detail below. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0035] In the description of this application, unless otherwise expressly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0036] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0037] In the description herein, it should be understood that the terms "upper," "lower," "left," "right," and other orientations or positional relationships are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used merely for descriptive distinction and have no special meaning.

[0038] In the description of this specification, references to terms such as "an embodiment," "example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0039] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style of the specification is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0040] With the rapid development of fields such as bionic robots and special equipment, modular motors, as core power components, need to simultaneously meet stringent requirements such as high torque output, lightweight design, and high power density. However, existing technologies for this type of motor generally suffer from poor heat dissipation, low space utilization, and complex installation and positioning. Traditional motor housings typically employ simple heat dissipation structures, failing to achieve efficient heat conduction and airflow guidance. This leads to overheating during prolonged high-load operation, affecting the motor's performance and lifespan. Furthermore, existing housing structures lack optimization in the layout of components such as mounting lugs and heat dissipation fins, increasing assembly difficulty and reducing the overall structural stability and reliability. Simultaneously, existing technologies also have shortcomings in the design of key components such as bearing housings and support ribs, failing to meet the requirements of high-precision control and cost reduction. These problems severely restrict the application of modular motors in high-end fields such as bionic robots.

[0041] In response to the above problems, refer to Figure 1-11 As shown, this application proposes a motor housing 100 including a housing body 110, a first heat dissipation area, a second heat dissipation area, heat dissipation ribs 112, and a heat dissipation channel 113. The housing body 110 has a rotating structure and forms an internal accommodating space 111; the first heat dissipation area and the second heat dissipation area are arranged sequentially along the axial direction of the outer peripheral surface of the housing body 110; the heat dissipation ribs 112 are formed in the first heat dissipation area; the heat dissipation channel 113 is formed in the second heat dissipation area; the gap between two adjacent heat dissipation ribs 112 communicates with the heat dissipation channel 113, so that the airflow in the heat dissipation channel 113 can diffuse along the axial direction of the housing body 110 through the gap between the heat dissipation ribs 112.

[0042] The rotating body structure refers to a shell shape with axisymmetric characteristics, specifically a cylindrical structure, which facilitates assembly with internal motor components. The first heat dissipation area refers to a specific axial section on the outer surface of the shell body 110, which can be achieved by surface processing to form an array-type heat dissipation structure, used to enhance natural convection cooling. The second heat dissipation area refers to another axial section on the outer surface of the shell body 110, which can be achieved by setting ventilation channels, used to form a forced convection cooling path. The heat dissipation ribs 112 are rib structures protruding from the surface of the shell body 110, used to increase the heat dissipation surface area. The heat dissipation channels 113 are used to guide the directional flow of cooling air. The gap-connecting structure refers to the through relationship between the gaps formed by the spacing of the heat dissipation ribs 112 and the heat dissipation channels 113.

[0043] Specifically, the housing 110 houses the motor stator and rotor assembly 140, and the heat generated during operation is conducted to the housing 110 and its outer surface. The cooling fins 112 in the first heat dissipation area 1101 enhance natural convection by increasing the heat dissipation area, while their gaps form airflow cooling channels. The cooling channels 113 in the second heat dissipation area 1102 introduce external forced airflow, which diffuses evenly around the housing 110 through the gaps between the cooling fins 112, forming a three-dimensional heat dissipation path. When the cooling airflow enters the gaps between adjacent cooling fins 112 from the cooling channels 113, it carries away more heat during its axial flow, achieving synergistic effects between the two heat dissipation modes.

[0044] This solution effectively improves heat dissipation efficiency by dividing the heat dissipation area and establishing a connected structure, allowing natural convection and forced convection to work together. In existing technologies, the heat dissipation channel 113 and the heat dissipation structure are often independent of each other and cannot form an airflow guiding effect. However, this solution achieves directional diffusion of airflow through a gap connection design, eliminating local high-temperature areas, reducing the temperature rise of the motor during operation, and ensuring thermal stability under long-term high-load conditions.

[0045] Through the guiding effect of the heat dissipation channel 113, airflow can be introduced tangentially to the side of the motor housing 100. The airflow flows in the heat dissipation channel 113 and communicates with each other through the gap between the heat dissipation channel 113 and the heat dissipation fins 112, so that the introduced airflow can enter between the heat dissipation fins 112, thereby improving the heat dissipation efficiency of all heat dissipation fins 112. Compared with the prior art, if active airflow cooling is required for all heat dissipation fins 112, a large-sized cooling fan is required. The diameter of the fan should not be less than the diameter of the housing body 110. In this solution, only a cooling fan that matches the size of the heat dissipation channel 113 is needed to blow external airflow into the heat dissipation channel 113, which can then diffuse to the arrangement area of ​​all heat dissipation fins 112, thereby accelerating their heat dissipation efficiency. The reduction in the size of the cooling fan not only saves costs, but also significantly reduces the space occupied and reduces the size of the equipment using this motor housing 100.

[0046] Meanwhile, in this application, the heat dissipation channel 113 is wider and the gap between the heat dissipation fins 112 is narrower. When the airflow enters the gap between the heat dissipation fins 112 from the heat dissipation channel 113, a throttling process of the gas can be generated, thereby achieving a better heat dissipation effect.

[0047] Specifically, the first heat dissipation area 1101 has a smooth surface and a wide channel, resulting in a low initial airflow velocity. Upon entering the second heat dissipation area 1102, the spacing between the heat dissipation fins is narrower (equivalent to a constricted channel), significantly increasing the airflow velocity v. For compressible gases (such as air), the temperature decreases after throttling, creating a localized cooling effect.

[0048] Meanwhile, when the spacing between the heat dissipation fins 112 is narrow, the Reynolds number (Re) of the airflow increases, making it easier to change from laminar flow to turbulent flow, which disrupts the laminar boundary layer near the wall, reduces thermal resistance, and significantly improves the convective heat transfer coefficient (h).

[0049] The narrow slit structure forces the airflow to flow close to the surface of the heat dissipation fins 112, forcibly stripping away the stagnant thermal boundary layer, allowing the high-temperature airflow to be replaced by fresh cold air more quickly, thus enhancing heat dissipation efficiency.

[0050] In this application, multiple sets of heat dissipation fins 112 are arranged. By arranging and processing the heat dissipation fins 112 in groups, processing efficiency is improved and production costs are reduced.

[0051] Specifically, refer to Figure 2-4 As shown, in this embodiment, a plurality of fixing ears 114 are provided on the outer peripheral surface of the shell body 110. Along the circumferential direction of the shell body 110, a heat dissipation rib 112 mounting space is formed between adjacent fixing ears 114, and the plurality of heat dissipation ribs 112 are evenly distributed in the heat dissipation rib 112 mounting space.

[0052] The fixing lug 114 serves both as a structural connection point and as the boundary of the installation area for the heat dissipation fin 112, ensuring that the layout of the heat dissipation fin 112 matches the overall structure of the housing. The installation space for the heat dissipation fin 112 is defined by the position of the fixing lug 114, ensuring that the installation position of the heat dissipation fin 112 avoids other functional areas.

[0053] Furthermore, in this embodiment, all the heat dissipation fins 112 in the same installation space are parallel to each other. By setting the same group of heat dissipation fins 112 to be parallel to each other, compared with heat dissipation fins 112 arranged radially, the processing of the same group of heat dissipation fins 112 in this embodiment is more convenient. They can be directly processed in a plane by milling machinery. There is no need to re-clamp and position during the processing of the same group of heat dissipation fins 112, and there is no need to rotate the shell body 110. The processing difficulty is low and the efficiency is high.

[0054] In addition to setting the heat dissipation fins 112 in the same heat dissipation fin 112 installation space to be parallel to each other, in the preferred embodiment of this application, the ends of all the heat dissipation fins 112 in the same heat dissipation fin 112 installation space that are connected to the shell body 110 are located on the same plane, and / or the ends of all the heat dissipation fins 112 in the same heat dissipation fin 112 installation space that are away from the shell body 110 are located on the same plane.

[0055] With the above settings, not only does the shell body 110 not need to be repositioned and rotated during the processing of the heat dissipation fins 112, but the depth of cut and the cutting depth of the cutting tool are also the same, which can further simplify the processing.

[0056] Reference Figure 3 As shown, in order to ensure that sufficient airflow is diverted from the heat dissipation channel 113 to the heat dissipation fin 112, a baffle plate 1131 is provided in the heat dissipation channel 113 in this embodiment of the application. The baffle plate 1131 is configured to guide the airflow in the heat dissipation channel 113 toward the heat dissipation fin 112.

[0057] The airflow entering the heat dissipation channel 113 flows circumferentially along the heat dissipation channel 113. Without the guidance of the baffle 1131, the airflow mainly flows in the heat dissipation channel 113, and only a small amount of airflow can enter the first heat dissipation area where the heat dissipation fins 112 are located. However, by blocking the airflow through the baffle 1131, the direction of airflow is changed, thereby increasing the airflow blowing towards the heat dissipation fins 112, so that more airflow can carry away more heat from the heat dissipation fins 112.

[0058] Specifically, the baffle 1131 is arranged in the heat dissipation channel 113 along the airflow direction, tilted from the side away from the heat dissipation fin 112 to the side closer to the heat dissipation fin 112.

[0059] For the preferred option, continue to refer to... Figure 3 As shown, a baffle plate 1131 is provided for each of the heat dissipation fin 112 installation spaces. The extension length of the baffle plate 1131 in the heat dissipation channel 113 along the airflow direction should be less than the overall width of the heat dissipation fin 112 arrangement in the heat dissipation fin 112 installation space.

[0060] The above-described design effectively enhances the airflow guidance between the heat dissipation channel 113 and the heat dissipation fins 112, enabling the cooling airflow to effectively act on the area of ​​the heat dissipation fins 112 and avoiding localized overheating caused by uneven airflow distribution. This structure improves heat dissipation efficiency within a limited space and can meet the continuous heat dissipation requirements of high-power-density motors.

[0061] Preferred, refer to Figure 3As shown, along the axial direction of the shell body 110, the extension width of the baffle plate 1131 is smaller than the width of the heat dissipation channel 113.

[0062] Furthermore, the dimensions of all the baffles 1131 may be the same or different. In a preferred embodiment of this application, the extension width of each baffle 1131 gradually increases along the axial direction of the shell body 110.

[0063] The dimension of the baffle 1131 extending along the axial direction is controlled to be smaller than the channel width, creating an asymmetrical space between the two sides of the baffle 1131 and the inner wall of the channel. When the cooling airflow passes through the heat dissipation channel 113, the baffle 1131 directs part of the airflow to the heat dissipation fin 112 area, while the gaps on both sides of the baffle 1131 allow the remaining airflow to be evenly distributed along the channel width direction. This structure avoids a sudden increase in airflow pressure caused by the baffle 1131 completely blocking the channel, and at the same time, the dimensional difference creates a graded flow, ensuring a continuous and stable airflow supply to the heat dissipation fin 112 area.

[0064] Meanwhile, since no heat dissipation fins 112 are provided in the area corresponding to the fixed ear 114, the airflow passing through this area has little impact on the overall heat dissipation effect. Therefore, in order to reduce or avoid the waste or loss caused by the introduced airflow passing through this area, a baffle plate 1121 is also provided in this embodiment. The two ends of the baffle plate 1121 are respectively connected to the two heat dissipation fins 112 closest to the fixed ear 114 in the adjacent heat dissipation fin installation space.

[0065] The baffle 1121 forms a continuous airflow constraint surface in the circumferential direction by connecting the ends of the heat dissipation fins 112 closest to the fixing ear 114 in the installation area of ​​adjacent heat dissipation fins 112. When external cooling airflow flows along the heat dissipation channel 113, the baffle 1121 prevents the airflow from leaking disorderly from the gap between the fixing ear 114 and the heat dissipation fins 112, forcing the airflow to flow directionally along the gaps in the heat dissipation fins 112, thereby ensuring the airflow in the area of ​​the heat dissipation fins 112 and thus ensuring the heat dissipation effect. Furthermore, by setting the baffle 1121, the loss of external cooling airflow near the airflow generation point can be reduced, so that the heat dissipation fins 112 far from the airflow generation point can also receive sufficient external cooling airflow for cooling, avoiding the problem of poor local heat dissipation effect.

[0066] Through the above technical solution, this application effectively solves the problem of reduced heat dissipation efficiency caused by the dispersion of heat dissipation airflow in the fixed ear 114 area, improves the uniformity of heat exchange on the shell surface, and further improves the space utilization of the heat dissipation structure by optimizing the airflow path to reduce the ineffective flow area.

[0067] Furthermore, refer to Figure 5As shown in the embodiment of this application, the motor housing 100 further includes a bearing chamber 120 coaxially disposed with the housing body 110. The bearing chamber 120 is fixedly connected to the housing body 110 via a support rib 130. One end of the support rib 130 is connected to the bearing chamber 120, and the other end of the support rib 130 is connected to the housing body 110. The support rib 130 has a bearing surface 131 facing the interior of the housing body 110. The bearing surface 131 is used to support the rotor assembly 140 disposed in the receiving space 111, and the bearing surface 131 matches the abutment surface of the rotor assembly 140.

[0068] Among them, bearing chamber 120 refers to the cavity structure for installing bearings, which can be implemented by an annular cavity structure. Its inner diameter matches the outer ring of the bearing. Support rib 130 refers to the rib-like structure connecting bearing chamber 120 and shell body 110. Bearing chamber 120 and shell body 110 are coaxially arranged so that the rotation center of the bearing coincides with the rotation axis of shell body 110. Support rib 130 extends from the outer wall of bearing chamber 120 to the inner wall of shell body 110, forming multiple circumferentially distributed connection nodes.

[0069] The support rib 130 is designed to simultaneously serve the dual functions of fixing the bearing housing 120 and supporting the rotor assembly 140. The bearing surface 131 is perfectly fitted to the contact surface of the rotor assembly 140 through shape adaptation, so that the load of the rotor assembly 140 is evenly distributed on the support rib 130. By optimizing the cross-sectional shape and distribution of the support rib 130, the contact area between the bearing surface 131 and the rotor assembly 140 can be maximized while ensuring structural strength, thereby improving force transmission efficiency and reducing the risk of local wear. The matching and perfect fit between the bearing surface 131 and the contact surface of the rotor assembly 140 can maximize the utilization of space in the axial direction of the shell body 110 and reduce the overall height.

[0070] Furthermore, refer to Figure 5 As shown, the support rib 130 includes a first support portion 132 and a second support portion 133 connected to each other. The first support portion 132 is along the axial direction of the shell body 110. Figure 5 The second support portion 133 extends vertically along the radial direction of the shell body 110. Figure 5 The first support 132 is connected to the shell body 110, and the second support 133 is connected to the bearing chamber 120. A wire outlet hole 134 is formed between adjacent first support 132s.

[0071] The first support part 132 refers to a strip structure extending along the axis of the housing, which is used to transfer the load of the bearing chamber 120 axially to the housing body 110. The second support part 133 refers to a plate-like structure extending radially along the housing, which is used to convert the load of the bearing chamber 120 into radial support force.

[0072] The gap between adjacent first support parts 132 forms a radially penetrating outlet hole 134, allowing motor winding leads, sensor cables, and other components to pass through this hole. Thus, the axial and radial segmented design of the support structure can both disperse the vibration load transmitted by the bearing housing 120 and utilize the gaps between the support members to achieve an orderly arrangement of the wiring.

[0073] To ensure the connection stability between the stator and the housing body 110, in this embodiment, a glue storage groove 115 is also provided on the inner wall of the housing body 110, such as... Figure 6 As shown, the glue storage tank 115 is located inside the area of ​​the shell body 110 where the heat dissipation ribs 112 are formed. The glue storage tank 115 itself is a groove structure formed by material reduction processing on the shell body 110. Its interior is filled with glue to bond and fix the shell body 110 to the stator. Material reduction usually reduces the structural strength of the shell body 110 at the corresponding position. In this embodiment, the problem of strength reduction caused by the glue storage tank 115 is solved by setting the glue storage tank 115 at the position corresponding to the heat dissipation ribs 112.

[0074] Specifically, the shell body 110 has greater strength at the location where the heat dissipation fins 112 are provided. The glue storage groove 115 is provided on the corresponding inner side to offset the weakening of the shell body 110 strength, thereby maintaining the overall structural strength of the shell body 110.

[0075] The glue storage tank 115 described in this application can be configured in various ways. For example, in one optional embodiment, the glue storage tank 115 is an annular groove arranged around the entire circumference of the inner wall of the shell body 110. The annular groove can be filled with glue in one injection, thus its glue injection efficiency is higher.

[0076] In other embodiments, the glue storage tank 115 may also be a strip-shaped groove spaced apart on the inner wall of the shell body 110. For example, it may be two arc-shaped grooves provided on the inner wall of the shell body 110, which are not connected to each other to avoid forming a complete annular thinning area, thereby further improving the structural strength of the shell body 110.

[0077] To improve the connection strength between the stator and the shell body 110, at least two glue storage tanks 115 are provided, and all glue storage tanks 115 are arranged at intervals along the axial direction of the shell body 110.

[0078] Reference Figure 6 As shown, in one embodiment of this application, two glue storage tanks 115 are provided. The two glue storage tanks 115 have the same width and depth to facilitate processing and control of the glue injection amount.

[0079] During the operation of the motor, the magnetic field generated by the stator windings and the magnetic field of the rotor permanent magnets must be perfectly aligned in both the axial and radial directions to form a uniform air gap magnetic field. To ensure the alignment of the above-mentioned scheme, refer to... Figure 6 As shown, in this embodiment, the inner wall of the shell body 110 is also provided with a stator support surface 116 for supporting the stator assembly 150. The stator support surface 116 and the support surface of the rotor yoke are located on the same plane.

[0080] It is understandable that the support surface of the rotor yoke can be different depending on the specific rotor yoke mounting structure. For example, it can be the support surface of the bearing on the rotor yoke.

[0081] Preferably, the shell body 110 described in this embodiment is made of 7075 aluminum alloy. The main alloying elements of 7075 aluminum alloy are zinc, magnesium, and copper, and it also contains small amounts of chromium, manganese, etc. Among them, the zinc content is relatively high, generally between 5.1% and 6.1%, the magnesium content is around 2.1% to 2.9%, and the copper content is approximately 1.2% to 2.0%. This reasonable ratio of alloying elements gives 7075 aluminum alloy high strength, high hardness, good toughness, good wear resistance, and the ability to withstand significant external forces. Using 7075 aluminum alloy can effectively reduce structural weight.

[0082] In one embodiment, along the axial direction of the shell body 110, the width of the heat dissipation channel 113 is L1, and the width of the heat dissipation fin 112 is L2, with 1 / 3 ≤ L1 / L2 ≤ 1 / 2. This ensures that the shell body 110 has a sufficiently large heat dissipation area to guarantee heat dissipation, and also allows sufficient airflow to enter the gaps between the heat dissipation fins 112 for heat exchange to complete heat dissipation and ensure adequate heat dissipation.

[0083] Meanwhile, this application also provides a modular motor having the motor housing 100 as described above. The modular motor using the aforementioned motor housing 100 ensures structural strength while being lightweight and compact, possessing excellent heat dissipation performance, and maintaining the motor's long-term performance. Furthermore, products using this modular motor can be more portable and compact, facilitating cost savings and performance improvements.

[0084] Furthermore, this application also provides a legged robot with the modular motor described above. Using the aforementioned modular motor in the joint module of the legged robot can provide strong support for the legged robot to achieve more flexible, efficient, and stable movement, promoting the application and development of legged robots in more fields, such as emergency rescue, industrial inspection, and special operations.

[0085] The technical principles of this application have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of this application and should not be construed as limiting the scope of protection of this application in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of this application without inventive effort, and these embodiments will all fall within the scope of protection of this application.

Claims

1. An electric machine housing (100), characterized in that, include: The shell body (110) has a first heat dissipation area (1101) and a second heat dissipation area (1102) arranged sequentially on its outer peripheral surface along its axial direction; Heat dissipation fins (112) are formed in the first heat dissipation area (1101); A heat dissipation channel (113) is formed in the second heat dissipation area (1102); The gap between two adjacent heat dissipation fins (112) is connected to the heat dissipation channel (113) so that the airflow in the heat dissipation channel (113) can diffuse along the axial direction of the shell body (110) through the gap between the heat dissipation fins (112).

2. The electric machine housing (100) of claim 1, characterized in that The outer circumferential surface of the shell body (110) is provided with a plurality of fixing ears (114). Along the circumferential direction of the shell body (110), a heat dissipation rib installation space is formed between adjacent fixing ears (114), and a plurality of heat dissipation ribs (112) are distributed in the heat dissipation rib installation space.

3. The electric machine housing (100) of claim 2, characterized in that All the heat dissipation fins (112) in the same installation space are parallel to each other.

4. The electric machine housing (100) of claim 2, characterized in that It also includes a baffle plate (1121), the two ends of which are respectively connected to the two heat dissipation fins (112) closest to the fixing ear (114) in the adjacent heat dissipation fin installation space; and / or, a baffle plate (1131) is provided in the heat dissipation channel (113), the baffle plate (1131) being configured to guide the airflow in the heat dissipation channel (113) toward the heat dissipation fins (112).

5. The electric machine housing (100) according to any one of claims 1 to 4, characterized in that It also includes a bearing chamber (120) disposed within the shell body (110) and coaxially disposed with the shell body (110). The bearing chamber (120) is fixedly connected to the shell body (110) via a support rib (130). One end of the support rib (130) is connected to the bearing chamber (120), and the other end of the support rib (130) is connected to the shell body (110). The support rib (130) has a bearing surface (131) facing the interior of the shell body (110). An accommodating space (111) is formed inside the shell body (110). The bearing surface (131) is used to support the rotor assembly (140) disposed in the accommodating space (111). The bearing surface (131) matches the contact surface of the rotor assembly (140).

6. The electric machine housing (100) of claim 5, characterized by The support rib (130) includes a first support portion (132) and a second support portion (133) connected to each other. The first support portion (132) extends along the axial direction of the shell body (110), and the second support portion (133) is arranged along the radial direction of the shell body (110). The first support portion (132) is connected to the shell body (110), and the second support portion (133) is connected to the bearing chamber (120). A wire outlet hole (134) is formed between adjacent first support portions (132).

7. The electric machine housing (100) according to any one of claims 1 to 4, characterized in that The inner wall of the shell body (110) is also provided with a glue storage tank (115), which is located inside the area of ​​the shell body (110) where the heat dissipation ribs (112) are formed.

8. The electric machine housing (100) according to any one of claims 1 to 4, characterized in that Along the axial direction of the shell body (110), the width of the heat dissipation channel (113) is L1, the width of the heat dissipation fin (112) is L2, and 1 / 3≤L1 / L2≤1 / 2.

9. A modular motor, characterized in that, The motor housing (100) has any one of claims 1-8.

10. A legged robot, characterized in that, The module motor as described in claim 9.

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