A rotor assembly, modular motor and legged robot

Abstract

The application discloses a rotor assembly, a modular motor and a foot-type robot. The rotor assembly comprises a rotor support configured to be rotatably connected with a motor shell; and a rotor yoke sleeved outside the rotor support. A glue storage groove is arranged between the rotor support and the rotor yoke, and an adhesive in the glue storage groove can be used to glue the rotor support and the rotor yoke. The rotor assembly and the rotor yoke are glued by filling the adhesive in the glue storage groove. The connection strength between the rotor assembly and the rotor yoke is increased, the relative displacement between the two is avoided, the number of independently rotating components is reduced, the jumping of the rotor assembly is reduced, and the possibility of the occurrence of scanning is reduced.

Description

Technical Field

[0001] This application relates to the field of drive machinery technology, and more particularly to a rotor assembly, a modular motor using the motor housing, and a legged robot using the modular motor. Background Technology

[0002] In the design of motor rotor assemblies, cantilever support structures are widely used due to their small footprint and lightweight characteristics. However, due to the inherent characteristics of cantilever supports, rotor assemblies are prone to significant vibrations at high speeds, leading to unstable operation and potentially causing uneven clearance between the rotor and stator, resulting in rotor rubbing and severely impacting the reliability and service life of the motor. Utility Model Content

[0003] The purpose of this application is to provide a rotor assembly, a modular motor, and a legged robot. The rotor assembly has the advantages of high strength, high assembly precision, and operational stability.

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

[0005] On one hand, a rotor assembly is provided, comprising:

[0006] Rotor bracket, used for rotatable connection with the motor housing;

[0007] The rotor yoke is sleeved on the outside of the rotor support;

[0008] A glue storage tank is provided between the rotor support and the rotor yoke, and the adhesive in the glue storage tank can bond the rotor support and the rotor yoke together.

[0009] Optionally, the glue storage tank is disposed on the rotor support, and the glue storage tank has an opening facing the rotor yoke so that the adhesive in the glue storage tank can contact the rotor yoke to achieve adhesion;

[0010] And / or,

[0011] The adhesive storage tank is disposed on the rotor yoke, and the adhesive storage tank has an opening facing the rotor support so that the adhesive in the adhesive storage tank can contact the rotor support to achieve adhesion.

[0012] Optionally, the glue storage tank is disposed on the contact surface between the rotor support and the rotor yoke, and / or, the glue storage tank is disposed on the rotor support; and / or, the glue storage tank is disposed on the end face of the rotor yoke.

[0013] Optionally, the rotor support and the rotor yoke are assembled to form a pre-assembled structure. The pre-assembled structure has mating surfaces that cooperate with other components. The mating surfaces are at least partially located on the rotor support and at least partially located on the rotor yoke.

[0014] Optionally, it also includes a magnet support, which is sleeved on the outside of the rotor yoke. The magnet support has magnet fixing grooves evenly arranged along the circumference, and rotor magnets are arranged in the magnet fixing grooves.

[0015] Optionally, the magnet support includes a support ring and at least two baffles distributed on the support ring, with a magnet fixing groove formed between adjacent baffles, the length of the rotor yoke in the axial direction being greater than the length of the baffle in that direction, the area where the rotor yoke does not coincide with the baffle, and a first dynamic balancing groove formed between adjacent rotor magnets.

[0016] Optionally, it also includes a first dynamic balancing groove, wherein the length of the magnet support is less than the length of the rotor yoke along the axial direction, so that the end faces of adjacent rotor magnets and the magnet support are enclosed with the outer surface of the rotor yoke to form the first dynamic balancing groove.

[0017] Optionally, the rotor support includes a support ring that abuts against the rotor yoke and a support rib formed inside the support ring. The glue storage groove is provided between the support ring and the rotor yoke. The support rib has a bent structure, and the bent area of ​​the support rib forms a second dynamic balancing groove.

[0018] On the other hand, a modular motor is provided, including a gearbox, a rotor assembly, a stator assembly, and a housing, wherein the rotor assembly is the rotor assembly described above.

[0019] On the other hand, a legged robot is provided, having the module motors described above.

[0020] The beneficial effects of this application are as follows: by setting up a glue storage tank and filling the storage tank with adhesive to bond the rotor assembly and the rotor yoke, the connection strength between the rotor assembly and the rotor yoke can be increased, preventing relative displacement between them. The reduction of independently rotating parts can reduce rotor assembly runout, thereby reducing the possibility of rotor rubbing. Attached Figure Description

[0021] The present application will now be described in further detail with reference to the accompanying drawings and embodiments.

[0022] Figure 1 This is a three-dimensional structural diagram of the module motor described in the embodiments of this application;

[0023] Figure 2This is a schematic diagram showing the disassembled state of the module motor described in the embodiments of this application;

[0024] Figure 3 This is a three-dimensional structural diagram of the rotor assembly described in the embodiments of this application;

[0025] Figure 4 This is a schematic diagram showing the exploded state of the rotor assembly described in the embodiments of this application;

[0026] Figure 5 for Figure 4 Enlarged view of a section at point I;

[0027] Figure 6 This is a schematic diagram of the rotor assembly assembly state as described in the embodiments of this application.

[0028] Figure 7 for Figure 6 Sectional view along line AA;

[0029] Figure 8 for Figure 7 Enlarged view of section II in the middle.

[0030] In the picture:

[0031] 1. Modular motor; 100. Gearbox assembly; 200. Rotor assembly; 210. Rotor bracket; 211. Glue storage tank; 212. Opening; 213. Support ring; 214. Support rib; 215. Second dynamic balancing slot; 220. Rotor yoke; 230. Magnet bracket; 231. Magnet fixing slot; 232. Support ring; 233. Baffle; 234. First dynamic balancing slot; 240. Rotor magnet; 300. Stator assembly; 400. Motor housing; 500. End cover. Detailed Implementation

[0032] 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.

[0033] 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 based on the specific circumstances.

[0034] 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.

[0035] A cantilever support structure for rotor assemblies refers to a rotor where one end is supported and the other end is cantilevered. This structure allows for a more compact motor design, achieving higher power density within a limited space. For example, in some miniaturized modular motors, cantilever support structures are used to reduce the overall space occupied by the motor in order to meet the stringent size requirements of the equipment. In the design of motor rotor assemblies, cantilever support structures are widely used due to their small footprint and lightweight characteristics.

[0036] However, due to the inherent characteristics of cantilever supports, rotor assemblies are prone to significant vibrations at high speeds, leading to unstable operation and potentially uneven clearance between the rotor and stator, resulting in stator rubbing and severely impacting motor reliability and lifespan. Furthermore, traditional rotor assemblies typically require additional dynamic balancing after assembly, increasing both process complexity and manufacturing costs. Particularly concerning the connection between the rotor support and the rotor yoke, conventional mechanical connections often suffer from insufficient connection strength and difficulty in ensuring assembly precision, leading to loosening under prolonged high-speed operation. Simultaneously, existing rotor assemblies lack effective dynamic balancing designs, often necessitating additional dynamic balancing adjustments after assembly, further complicating the production process and affecting overall product performance stability. Therefore, improvements to existing technologies are urgently needed to address these issues.

[0037] Therefore, this application proposes a rotor assembly 200, referring to Figure 3-8 As shown, the rotor assembly 200 includes:

[0038] The rotor support 210 is rotatably connected to the motor housing 400 so that the entire rotor assembly 200 can rotate relative to the motor housing 400 in a rotatable engagement with the motor housing 400.

[0039] The rotor yoke 220 is sleeved outside the rotor support 210 and is used to provide a magnetic circuit channel for the motor magnetic field.

[0040] A glue storage tank 211 is provided between the rotor support 210 and the rotor yoke 220, and the adhesive in the glue storage tank 211 can bond the rotor support 210 and the rotor yoke 220 together.

[0041] In this application, the adhesive storage tank 211 refers to a groove structure for containing adhesive. When assembling the rotor assembly 200 and the rotor yoke 220, the adhesive is injected into the adhesive storage tank 211. When pressing the rotor bracket 210 and the rotor yoke 220, the adhesive is squeezed and evenly fills the gap between the contact surfaces. During the curing process, the prestress generated by the shrinkage of the adhesive makes the rotor assembly 200 and the rotor yoke 220 fit tightly together.

[0042] It is understandable that the volume design of the adhesive storage tank 211 needs to ensure that the adhesive completely fills the contact surface, so as to avoid problems such as insufficient connection strength and uneven weight distribution caused by local lack of adhesive.

[0043] In this application, by providing a glue storage tank 211 and filling the glue storage tank 211 with adhesive, the rotor assembly 200 and the rotor yoke 220 are bonded together. This increases the connection strength between the rotor assembly 200 and the rotor yoke 220, prevents relative displacement between them, reduces the number of independently rotating parts, and reduces rotor assembly 200 runout, thereby reducing the possibility of rotor rubbing.

[0044] In this application, the glue storage tank 211 can be set on the rotor support 210, on the rotor yoke 220, or on both the rotor support 210 and the rotor yoke 220.

[0045] Specifically, in an optional embodiment of this application, reference is made to... Figure 5 , 8 As shown, there are two glue storage tanks 211, and both glue storage tanks 211 are disposed on the rotor support 210. In this embodiment, the glue storage tank 211 is a groove disposed circumferentially on the outer wall of the rotor support 210. The cross-section of the groove can be reasonably designed according to the processing technology. In this embodiment, the cross-section of the glue storage tank 211 is rectangular.

[0046] Alternatively, in another embodiment of this application, the glue storage tank 211 may also be provided on the rotor yoke 220, which may also be a groove provided circumferentially on the inner wall of the rotor yoke 220.

[0047] Furthermore, in another embodiment of this application, glue storage grooves 211 are provided on both the rotor support 210 and the rotor yoke 220. The positions of the glue storage grooves 211 on the rotor support 210 and the glue storage grooves 211 on the rotor yoke 220 may or may not correspond.

[0048] The aforementioned corresponding positions of the glue storage tank 211 on the rotor support 210 and the glue storage tank 211 on the rotor yoke 220 mean that when the rotor support 210 and the rotor yoke 220 are assembled, the glue storage tanks 211 on both will together form a larger glue storage tank 211. This arrangement can ensure the overall glue storage amount in the glue storage tank 211 while keeping the design size of each individual glue storage tank 211 small, thus ensuring the bonding strength and reducing the impact of setting the glue storage tank 211 on the strength of the rotor support 210 and the rotor yoke 220.

[0049] It is understandable that, regardless of whether the glue storage tank 211 is set on the rotor support 210 or on the rotor yoke 220, its opening 212 faces the rotor and another component in the rotor yoke 220, so that the adhesive filled therein can simultaneously contact the rotor yoke 220 and the rotor, thereby achieving adhesion between the two.

[0050] The direction of opening 212 refers to the direction of the groove of the adhesive storage tank 211 facing the rotor yoke 220 or rotor support 210. This can be achieved by adjusting the processing position of the groove to ensure that the adhesive is fully wetted by the contact surface during the curing process.

[0051] Specifically, when the adhesive reservoir 211 is machined on the surface of the rotor support 210, the opening 212 faces the outer rotor yoke 220. After the adhesive is injected into the reservoir 211, it diffuses towards the contact surface, covering the assembly gap between the rotor support 210 and the rotor yoke 220. Similarly, when the adhesive reservoir 211 is machined on the inner surface of the rotor yoke 220, the opening 212 faces the inner rotor support 210, allowing the adhesive to penetrate into the contact area between the two. Through this design, the adhesive forms a continuous adhesive layer after curing, eliminating local stress concentration between the rotor support 210 and the rotor yoke 220, thereby improving the overall structural rigidity.

[0052] Traditional rotor assemblies 200 typically use interference fits or bolt connections to fix the rotor support 210 and rotor yoke 220, which can easily lead to poor contact surfaces due to machining errors. This solution, however, utilizes the directional opening 212 of the adhesive reservoir 211 to precisely fill the contact gaps with adhesive, preventing overflow or uneven distribution of the adhesive before curing.

[0053] Reference Figure 5 , 8 As shown, in an optional embodiment of this application, the glue storage tank 211 is disposed on the contact surface between the rotor support 210 and the rotor yoke 220, that is, the glue storage tank 211 is disposed on the outer peripheral surface of the rotor support 210, and the glue storage tank 211 is enclosed between the rotor support 210 and the rotor yoke 220 when they are assembled.

[0054] It should be noted that the fact that the above-mentioned glue storage tank 211 is located on the contact surface between the rotor support 210 and the rotor yoke 220 is not a limitation of this application. In other embodiments of this application, the glue storage tank 211 may also be located on the end face of the rotor support 210, and / or the glue storage tank 211 may be located on the end face of the rotor yoke 220.

[0055] When the glue storage tank 211 is provided on the end face of the rotor support 210 or the rotor yoke 220, the opening 212 of the glue storage tank 211 is located on the side of the end face facing the rotor yoke 220 or the rotor support 210.

[0056] Optionally, in one alternative embodiment of this application, the rotor support 210 and the rotor yoke 220 are assembled to form a pre-assembled structure. The pre-assembled structure is provided with mating surfaces that cooperate with other components. The mating surfaces are at least partially located on the rotor support 210 and at least partially located on the rotor yoke 220.

[0057] In this embodiment, the mating surface formed on the pre-assembled structure consisting of the rotor support 210 and the rotor yoke 220 is formed by machining when the rotor support 210 and the rotor yoke 220 are assembled and glued.

[0058] In this application, by machining mating surfaces for cooperation with external components on the mutually bonded and fixed rotor support 210 and rotor yoke 220, it is ensured that the mating surfaces on the rotor support 210 and the rotor yoke 220 form complete and uniform mating surfaces, avoiding non-coplanarity, misalignment, or different machining precision of the two mating surfaces. This ensures the concentricity of the rotor assembly 200 and reduces imbalance.

[0059] In conventional motor rotor manufacturing, the rotor support 210 and rotor yoke 220 are usually machined separately before assembly. This step-by-step machining and subsequent assembly method is prone to cumulative errors: on the one hand, the separately machined rotor support 210 and rotor yoke 220 themselves have dimensional accuracy errors; on the other hand, factors such as positioning deviations during assembly can cause the relative positions of the two to shift after assembly. As a result, the rotor assembly 200, when mated with external components (such as shafts, stators, etc.), cannot guarantee concentricity, and will generate a large imbalance during rotation, causing the rotor assembly 200 to run and thus leading to stator rubbing.

[0060] This application proposes that after the rotor support 210 and the rotor yoke 220 are bonded and fixed together, machining is then performed to form a mating surface for cooperation with external components. The key to this solution lies in using "integral machining" to eliminate accumulated errors.

[0061] After being bonded and fixed, the rotor support 210 and the rotor yoke 220 form an integral structure. At this point, machining can be performed on the mating surfaces using a unified reference for cutting, grinding, and other operations. For example, using the central axis of the rotor support 210 as a reference, the outer circular surface of the rotor yoke 220 that mates with external components can be machined in one step. This ensures that the geometric center and rotation center of the rotor assembly 200 are highly coincident, significantly improving the concentricity when mating with external components (such as the stator inner hole) and reducing magnetic circuit asymmetry problems caused by eccentricity.

[0062] Meanwhile, the main cause of imbalance is the uneven distribution of rotor mass, and traditional step-by-step machining is prone to uneven mass distribution due to assembly errors between components. This solution, through overall machining, allows for precise dimensional correction and surface treatment of mating surfaces, eliminating local mass deviations caused by assembly errors and making the mass distribution of the rotor assembly 200 more uniform in the circumferential direction. For example, during machining, high-precision CNC machine tools can be used to perform micro-cutting on areas with heavier mass, ultimately controlling the imbalance to an extremely low level and ensuring the stability of the motor during high-speed rotation.

[0063] High concentricity and low imbalance significantly reduce vibration and noise during motor operation, decrease mechanical wear and energy loss, and improve motor efficiency and lifespan. Furthermore, compared to traditional methods that require separate high-precision machining and complex assembly calibration of each component, this solution achieves integrated machining in one step, reducing assembly adjustments, lowering production difficulty and time costs, and facilitating large-scale automated production. The integrated machining process effectively controls product quality fluctuations, ensuring stable concentricity and low imbalance for each rotor assembly, thus improving overall product yield and market competitiveness.

[0064] Reference Figure 3 ,4 As shown, in an optional embodiment of this application, the rotor assembly 200 further includes a magnet support 230, which is sleeved on the outside of the rotor yoke 220. The magnet support 230 is uniformly provided with magnet fixing grooves 231 along the circumference, and rotor magnets 240 are disposed in the magnet fixing grooves 231.

[0065] The magnet bracket 230 is sleeved on the outside of the rotor yoke 220 to form the mounting carrier for the rotor magnet 240. The evenly distributed layout of the magnet fixing slots 231 in the circumferential direction enables the rotor magnet 240 to generate a uniform magnetic field distribution in the circumferential direction, reducing the radial eccentric force caused by the asymmetrical installation of the rotor magnet 240.

[0066] This solution, through the design of the magnet bracket 230 and the fixing slot, transforms the installation accuracy and structural stability of the rotor magnet 240 from process control to mechanical constraints, avoiding reliance on manual adjustment of dynamic balance. Through this technical solution, this application solves the rotor runout problem caused by rotor magnet 240 installation misalignment, improves dynamic balance performance at high speeds, simplifies the rotor magnet 240 assembly process, and further reduces the risk of rotor rubbing due to rotor magnet 240 displacement.

[0067] Specifically, refer to Figure 3 , 4 As shown, in this embodiment of the application, the magnet support 230 includes a support ring 232 and at least two baffles 233 distributed on the support ring 232. The magnet fixing groove 231 is formed between adjacent baffles 233. The length of the rotor yoke 220 in the axial direction is greater than the length of the baffle 233 in that direction. The rotor yoke 220 does not overlap with the baffle 233 in the area, and a first dynamic balance groove 234 is formed between adjacent rotor magnets 240.

[0068] At least two baffles 233 can be evenly spaced around the support ring 232. Specifically, along the axial direction, the length of the magnet bracket 230 is less than the length of the rotor yoke 220, so that the end faces of adjacent rotor magnets 240 and the baffles 233 are enclosed with the outer surface of the rotor yoke 220 to form the first dynamic balancing groove 234.

[0069] The support ring 232 refers to the basic annular structure supporting the baffle 233, used to provide a reference surface for the installation of the rotor magnet 240. The baffle 233 refers to a partition structure extending axially perpendicular to the support ring 232. The gap between adjacent baffles 233 is used to accommodate the rotor magnet 240 and restrict its circumferential displacement. The magnet fixing groove 231 refers to the space enclosed by the adjacent baffles 233 and the support ring 232, realizing the rapid positioning and fixing of the rotor magnet 240. The first dynamic balancing groove 234 refers to the groove formed between the side of the adjacent rotor magnet 240 and the end face of the magnet bracket 230 and the outer surface of the rotor yoke 220 after the rotor magnet 240 is installed. Specifically, by controlling the axial length of the magnet bracket 230 to be shorter than that of the rotor yoke 220, a natural gap is formed between the rotor magnet 240 and the rotor yoke 220. This gap can serve as a dynamic balancing adjustment area without additional processing.

[0070] Multiple baffles 233 are evenly arranged circumferentially on the surface of the support ring 232. The spacing between the baffles 233 is set according to the width of the rotor magnet 240 to ensure that the two sides of the rotor magnet 240 are tightly fitted with the baffles 233 after being embedded. After all the rotor magnets 240 are installed, the area between adjacent rotor magnets 240 that is not covered by the baffles 233 will form an axially extending groove. This groove is the first dynamic balancing groove 234. During the dynamic balancing adjustment process, the dynamic balance of the rotor assembly 200 can be corrected by adding or removing counterweight materials in this groove.

[0071] This application enables the simultaneous formation of a dynamic balancing structure during the assembly of the rotor magnet 240, avoiding the complex operation of separately machining the dynamic balancing slots later, simplifying the production process and reducing manufacturing costs. Simultaneously, the integrated design of the magnet fixing slot 231 and the dynamic balancing slot improves structural compactness, which is beneficial for controlling the overall size and weight of the rotor assembly 200.

[0072] Furthermore, refer to Figure 8 As shown, in this embodiment, the rotor support 210 includes a support ring 213 that abuts against the rotor yoke 220 and a support rib 214 formed inside the support ring 213. The support rib 214 has a bent structure, and its bent area forms a second dynamic balance groove 215.

[0073] Among them, the support ring 213 refers to the ring structure arranged around the axis of the rotor support 210, which is used to achieve radial contact support with the rotor yoke 220. The support rib 214 refers to the reinforcing structure extending along the inner side of the support ring 213. The support rib 214 has a bent structure, and the concave space formed by the bend constitutes the second dynamic balance groove 215. By removing or adding materials in the second dynamic balance groove 215, the dynamic balance adjustment of the rotor assembly 200 can be achieved.

[0074] Traditional cantilever rotor supports 210 typically require separate dynamic balancing holes or counterweight mounting positions, increasing structural complexity and processing steps. This solution directly forms the dynamic balancing groove through the bending structure of the support ribs 214, integrating the dynamic balancing adjustment structure with the support structure, reducing the number of parts and avoiding additional processing steps.

[0075] Additionally, this application embodiment also provides a module motor 1, referring to... Figure 1 , 2 As shown, the assembly includes a gearbox assembly 100, a rotor assembly 200, a stator assembly 300, a housing 400, and an end cover 500. The rotor assembly 200 is the same as described above. This application solves the problem of excessive runout of a cantilever-supported rotor during high-speed operation. The rubber storage tank 211 enhances the structural rigidity of the rotor assembly 200, reducing vibration caused by eccentricity. The dynamic balancing tank allows for direct adjustment of the rotor's dynamic balance after assembly, simplifying the process and reducing manufacturing costs.

[0076] Furthermore, this application provides a legged robot with the modular motor 1 described above. This application solves the problems of motor vibration and assembly errors caused by space limitations in the joint drive unit of the legged robot. The glue storage tank 211 structure enhances the overall rigidity of the rotor assembly 200, avoiding the risk of rotor rubbing caused by component loosening during high-speed operation; the integrated dynamic balancing tank simultaneously eliminates uneven mass distribution during assembly, reducing the impact of motor vibration on the robot's motion stability and adapting to the needs of high-dynamic motion scenarios for legged robots.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 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. A rotor assembly (200), characterized in that, include: Rotor bracket (210) for rotatable connection with motor housing (400); The rotor yoke (220) is sleeved on the outside of the rotor support (210); A glue storage tank (211) is provided between the rotor support (210) and the rotor yoke (220), and the adhesive in the glue storage tank (211) can bond the rotor support (210) and the rotor yoke (220).

2. The rotor assembly (200) according to claim 1, characterized in that, The glue storage tank (211) is disposed on the rotor support (210), and the glue storage tank (211) has an opening (212) facing the rotor yoke (220) so that the adhesive in the glue storage tank (211) can contact the rotor yoke (220) to achieve adhesion; And / or, The glue storage tank (211) is disposed on the rotor yoke (220), and the glue storage tank (211) has an opening (212) facing the rotor support (210) so that the adhesive in the glue storage tank (211) can contact the rotor support (210) to achieve adhesion.

3. The rotor assembly (200) according to claim 1, characterized in that, The glue storage tank (211) is disposed on the contact surface between the rotor support (210) and the rotor yoke (220); and / or, the glue storage tank (211) is disposed on the rotor support (210); and / or, the glue storage tank (211) is disposed on the end face of the rotor yoke (220).

4. The rotor assembly (200) according to any one of claims 1-3, characterized in that, The rotor support (210) and the rotor yoke (220) are assembled to form a pre-assembled structure. The pre-assembled structure has a mating surface that cooperates with other components. The mating surface is at least partially located on the rotor support (210) and at least partially located on the rotor yoke (220).

5. The rotor assembly (200) according to claim 1, characterized in that, It also includes a magnet bracket (230), which is sleeved on the outside of the rotor yoke (220). The magnet bracket (230) is uniformly provided with magnet fixing grooves (231) along the circumference, and the rotor magnet (240) is provided in the magnet fixing grooves (231).

6. The rotor assembly (200) according to claim 5, characterized in that, The magnet support (230) includes a support ring (232) and at least two baffles (233) distributed on the support ring (232). The magnet fixing groove (231) is formed between adjacent baffles (233). The length of the rotor yoke (220) in the axial direction is greater than the length of the baffle (233) in that direction. The rotor yoke (220) does not overlap with the baffle (233) in the area, and a first dynamic balancing groove (234) is formed between adjacent rotor magnets (240).

7. The rotor assembly (200) according to claim 6, characterized in that, Along the axial direction, the length of the magnet support (230) is less than the length of the rotor yoke (220) so that the end face of the adjacent rotor magnet (240) and the magnet support (230) and the outer surface of the rotor yoke (220) are enclosed to form the first dynamic balance groove (234).

8. The rotor assembly (200) according to claim 1, characterized in that, The rotor support (210) includes a support ring (213) that abuts against the rotor yoke (220) and a support rib (214) formed inside the support ring (213). The glue storage groove (211) is provided between the support ring (213) and the rotor yoke (220). The support rib (214) has a bent structure, and the bent area of ​​the support rib (214) forms a second dynamic balancing groove (215).

9. A modular motor (1), characterized in that, It includes a gearbox assembly (100), a rotor assembly (200), a stator assembly (300), and a housing (400), wherein the rotor assembly (200) is the rotor assembly (200) according to any one of claims 1-8.

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

Images