Motor housings, servo motors and industrial robots

Abstract

This utility model discloses a motor housing, a servo motor, and an industrial robot, relating to the field of servo motor technology. The motor housing includes a housing body and an end cover, the housing body being cylindrical. The end cover is connected to one axial end of the housing body and defines a mounting cavity between it and the housing body. The end cover includes an end plate, a bearing seat, and a stop portion. The end plate is connected to the housing body, the bearing seat is connected to the end plate and has a bearing chamber, the bearing chamber communicating with the mounting cavity. The end plate has a first end face on the side opposite to the mounting cavity, and the stop portion is located on the first end face. The stop portion is located on the radially outer side of the bearing seat along the housing body and arranged circumferentially along the housing body. The end plate has a groove located on the radially outer side of the stop portion and arranged circumferentially. The motor housing of this utility model can reduce the deformation of the stop portion, facilitate subsequent assembly, and eliminate reprocessing steps, effectively reducing production costs and improving production efficiency.

Description

Technical Field

[0001] This utility model relates to the field of robot technology, and in particular to a motor housing, a servo motor, and an industrial robot. Background Technology

[0002] As one of the core components of a robot, controlling the manufacturing cost of servo motors plays a crucial role in reducing the overall robot manufacturing cost. In related technologies, to reduce servo motor manufacturing costs, the servo motor housing and mating flange are designed as a single molded structure. However, during the servo motor manufacturing process, the deformation of the housing itself during the heat-fitting process to fit the stator core and the filling of the housing with adhesive can cause deformation of the positioning structure of the mating flange, affecting subsequent servo motor assembly. Therefore, it is usually necessary to machine the positioning structure of the mating flange after assembling the stator core and filling with adhesive to ensure that its dimensions meet the assembly requirements of the servo motor. However, this increases the manufacturing cost of the servo motor and reduces production efficiency. Utility Model Content

[0003] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a motor housing that reduces deformation of the stop portion, facilitates subsequent assembly, eliminates the need for further processing, and effectively reduces production costs and improves production efficiency.

[0004] This utility model also provides a servo motor and an industrial robot having the above-mentioned motor housing.

[0005] According to a first aspect of the present invention, a motor housing includes a housing body, which is cylindrical; an end cap connected to one axial end of the housing body and defining an installation cavity between the end cap and the housing body, the end cap including an end plate, a bearing seat, and a stop portion, the end plate being connected to the housing body, the bearing seat being connected to the end plate and having a bearing chamber, the bearing chamber communicating with the installation cavity, the end plate having a first end face on the side opposite to the installation cavity, the stop portion being disposed on the first end face, the stop portion being located on the radially outer side of the bearing seat along the housing body and arranged circumferentially along the housing body; wherein, the end plate has a groove, the groove being located on the radially outer side of the stop portion and arranged circumferentially along the circumferential direction.

[0006] The motor housing according to the first aspect of this utility model has at least the following beneficial effects: By providing a groove on the end plate located radially outward of the stop portion along the housing body, and the groove being arranged circumferentially along the housing body, the groove isolates the housing body from the stop portion, reducing the stress transmitted from the housing body to the stop portion due to deformation of the housing body. This effectively reduces the impact of housing body deformation on the stop portion, thereby reducing the deformation of the stop portion and ensuring the dimensional accuracy of the stop portion, facilitating subsequent assembly. Simultaneously, it avoids the need for reprocessing the stop portion, effectively reducing overall production costs and improving production efficiency.

[0007] According to some embodiments of the present invention, the stop portion is annular and arranged around the bearing seat.

[0008] According to some embodiments of the present invention, the groove is annular and arranged around the stop portion.

[0009] According to some embodiments of the present invention, the groove is recessed along the axial direction of the housing body.

[0010] According to some embodiments of the present invention, on a projection plane perpendicular to the axial direction of the housing body, the projection of the stop portion is located inside the projection of the inner peripheral wall of the mounting cavity, and the projection of the groove is located between the projection of the stop portion and the projection of the inner peripheral wall of the mounting cavity.

[0011] According to some embodiments of the present invention, the end plate is further provided with a second end face on the side facing the mounting cavity, and at least one of the first end face and the second end face is provided with the groove.

[0012] According to some embodiments of the present invention, the groove width decreases from the groove opening to the groove bottom along the depth direction of the groove.

[0013] According to some embodiments of the present invention, the end plate is further provided with a side wall, the side wall is located inside the end plate along the radial direction and the side wall is arranged along the circumferential direction, the end cover further includes a plurality of reinforcing ribs, the reinforcing ribs are connected to the side wall and the bearing seat, and the plurality of reinforcing ribs are arranged at intervals along the circumferential direction.

[0014] According to some embodiments of the present invention, the bearing housing includes a bearing shell and a connecting portion. The connecting portion is arranged around the bearing shell. The connecting portion includes a first end and a second end. The first end is connected to the bearing shell, and the second end is connected to the end plate. Along the axial direction of the housing body, the second end is located on the side of the first end away from the mounting cavity.

[0015] The servo motor according to the second aspect of the present invention includes the motor housing of the first aspect of the present invention.

[0016] The servo motor according to the second aspect embodiment of this utility model has at least the following beneficial effects: Because the servo motor uses the aforementioned motor housing, and by providing a groove on the end plate located radially outward of the stop portion along the housing body, and the groove being arranged circumferentially along the housing body, the groove isolates the housing body from the stop portion, reducing the stress transmitted from the housing body to the stop portion due to deformation of the housing body. This effectively reduces the impact of housing body deformation on the stop portion, thereby reducing the deformation of the stop portion and ensuring the dimensional accuracy of the stop portion, facilitating subsequent assembly. Simultaneously, it avoids the need for reprocessing the stop portion, effectively reducing overall production costs and improving production efficiency.

[0017] The industrial robot according to a third aspect of the present invention includes a servo motor according to a second aspect of the present invention.

[0018] The industrial robot according to the third aspect embodiment of this utility model has at least the following beneficial effects: Because the industrial robot uses the aforementioned servo motor, and by providing a groove on the end plate located radially outward of the stop portion along the body of the housing, and with the groove arranged circumferentially along the body of the housing, the groove isolates the body of the housing from the stop portion, reducing the stress transmitted from the body of the housing to the stop portion due to deformation of the body of the housing. This effectively reduces the impact of deformation of the body of the housing on the stop portion, thereby reducing the deformation of the stop portion and ensuring the dimensional accuracy of the stop portion, facilitating subsequent assembly. Simultaneously, it avoids the need for reprocessing the stop portion, effectively reducing overall production costs and improving production efficiency.

[0019] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 This is a schematic diagram of the structure of the motor housing in some embodiments of this utility model; Figure 2 This is a structural schematic diagram of the motor housing from another perspective in some embodiments of this utility model; Figure 3 This is a cross-sectional view of the motor housing in some embodiments of this utility model; Figure 4 This is a cross-sectional view of the motor housing in some other embodiments of this utility model; Figure 5 This is a cross-sectional view of the motor housing in some embodiments of this utility model; Figure 6 This is a simulation diagram of the deformation of the motor housing in the existing technology; Figure 7 yes Figure 6 The simulation diagram of the deformation of the stop portion of the motor housing is shown. Figure 8 These are simulation diagrams of the deformation of the motor housing in some embodiments of this utility model; Figure 9 yes Figure 8 The simulation diagram of the deformation of the stop portion of the motor housing is shown.

[0021] Figure label: Casing body 100; mounting cavity 110; End cap 200; end plate 210; first end face 211; second end face 212; side wall 213; groove 214; fixing part 215; fixing hole 216; bearing seat 220; bearing housing 221; bearing chamber 2211; oil seal chamber 2212; connecting part 222; first end 2221; second end 2222; stop part 230; reinforcing rib 240. Detailed Implementation

[0022] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0023] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, 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. Therefore, they should not be construed as limitations on this utility model.

[0024] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If "first" or "second" is used in the description, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0025] In the description of this utility model, unless otherwise explicitly defined, terms such as setting, installing, connecting, assembling, and cooperating should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0026] Servo motors connect to gearboxes and other components via mating flanges, and are positioned and secured using a locating structure on the mating flange. This locating structure can be a stop structure. To reduce servo motor production costs, existing servo motors typically have the housing and mating flange as a single molded structure. However, during servo motor production, when the housing is fitted onto the stator core using a heat-fitting process and when adhesive is poured into the housing, the housing itself deforms due to the interference fit between the stator core and the housing. This deformation causes deformation of the locating structure on the mating flange, resulting in dimensional deviations that affect the positioning accuracy of the servo motor and consequently, assembly. Therefore, the locating structure of the mating flange needs to be machined to ensure its dimensions meet the assembly requirements of the servo motor. However, this increases the overall production cost of the servo motor and reduces production efficiency.

[0027] Therefore, referring to Figures 1 to 5 As shown, the first aspect of this utility model provides a motor housing, which is used in the servo motor of an industrial robot. The motor housing serves as the mounting base for components such as the stator, rotor, and bearings of the servo motor. Reference Figure 1 and Figure 2 As shown, the motor housing includes a housing body 100 and an end cap 200. The housing body 100 is cylindrical, and can be either a cylindrical shape or a cylindrical shape with a polygonal cross-section. The end cap 200 is connected to one end of the housing body 100 along the axial direction. Typically, the end cap 200 and the housing body 100 are integrally formed, such as by casting, which helps reduce production costs.

[0028] Reference Figure 1 and Figure 2 As shown, it can be understood that the end cover 200 and the housing body 100 define a mounting cavity 110. Generally speaking, the mounting cavity 110 has a circular cross-section and a central axis. The central axis is perpendicular to the cross-section and passes through the center of the circular outline. The direction of the central axis of the mounting cavity 110 is the axial direction of the housing body 100.

[0029] Reference Figure 1 and Figure 2As shown, it can be understood that the end of the mounting cavity 110 opposite to the end cover 200 is an open structure. The mounting cavity 110 is used to install components such as the stator and rotor of the servo motor. During assembly, the stator and rotor are installed in the mounting cavity 110 through the open structure. Generally, the stator and the housing body 100 are interference-fitted, that is, the stator core of the stator and the housing body 100 are interference-fitted. During assembly, the motor housing is heated as a whole, and the housing body 100 expands due to heat. Thus, the housing body 100 can be easily fitted onto the outer periphery of the stator through the open structure. After the housing body 100 cools and shrinks, the housing body 100 is tightly fitted onto the stator, thus achieving a fixed connection between the housing body 100 and the stator. At the same time, glue needs to be injected into the housing body 100 to protect the stator and improve insulation and heat dissipation performance.

[0030] It is easy to understand that, since the stator core and the housing body 100 are interference-fitted, the housing body 100 will deform and generate stress after cooling. Furthermore, the process of injecting adhesive into the housing body 100 will also cause deformation. Of course, the degree of deformation of the housing body 100 is within the allowable range, meeting the structural integrity requirements of the housing body 100 and not affecting the normal function of the servo motor.

[0031] Reference Figure 1 and Figure 3 As shown, the end cover 200 includes an end plate 210, a bearing seat 220, and a stop portion 230. Specifically, the end plate 210 is generally annular and connected to one axial end of the housing body 100. The end plate 210 includes multiple fixing portions 215, which protrude radially from the outer peripheral wall of the housing body 100. The multiple fixing portions 215 are arranged circumferentially at intervals along the housing body 100, and each fixing portion 215 is provided with a fixing hole 216. The servo motor is fixedly connected to a reducer or other equipment via the fixing portions 215, for example, by fasteners such as screws or bolts passing through the fixing holes 216 and being fixedly connected to the reducer or other equipment.

[0032] Reference Figure 1 and Figure 3 As shown, it can be understood that the bearing housing 220 is located radially inside the end plate 210 and connected to the inner peripheral wall of the end plate 210. Specifically, the bearing housing 220 includes a bearing shell 221 and a connecting portion 222, wherein the bearing shell 221 is generally a hollow cylindrical structure, and the connecting portion 222 is generally annular and arranged around the bearing shell 221. Along the radial direction of the bearing shell 221, the connecting portion 222 includes a first end 2221 and a second end 2222, wherein the first end 2221 is connected to the outer peripheral wall of the bearing shell 221, and the second end 2222 is connected to the inner peripheral wall of the end plate 210, thereby connecting the bearing housing 220 to the end plate 210.

[0033] Reference Figure 1 and Figure 3 As shown, the bearing housing 220 is provided with a bearing chamber 2211. Specifically, the bearing chamber 2211 is located within the bearing housing 221 and communicates with the mounting cavity 110. Typically, the bearing chamber 2211 has a circular cross-section, and its central axis coincides with the rotation axis of the rotor or the central axis of the mounting cavity 110. The rotor's shaft is rotatably mounted in the bearing chamber 2211 via the bearing, thus providing support for the rotor. It is also readily understood that the bearing housing 221 is provided with an oil seal chamber 2212. The oil seal chamber 2212 is located on the side of the bearing chamber 2211 facing away from the mounting cavity 110. The oil seal chamber 2212 is used to install an oil seal to seal the lubricating oil, ensuring the bearing's lubrication performance.

[0034] Reference Figure 1 and Figure 3 As shown, it can be understood that the end plate 210 has a first end face 211 on the side opposite to the mounting cavity 110, and a stop portion 230 is disposed on the first end face 211. In some embodiments, the stop portion 230 is a protrusion structure, and the stop portion 230 protrudes from the first end face 211 along the axial direction of the housing body 100 in the direction opposite to the mounting cavity 110. The stop portion 230 is annular and arranged around the bearing seat 220. Generally, the stop portion 230 is annular, and the stop portion 230 is used to mate with an annular recess provided on equipment such as a reducer to achieve positioning of the servo motor and facilitate fixation.

[0035] Reference Figure 1 and Figure 3 As shown, it can be understood that the end plate 210 is also provided with a groove 214, which is located radially outside the stop portion 230 and is arranged circumferentially along the stop portion 230. For example, the groove 214 is recessed axially along the housing body 100, or the groove 214 is recessed radially along the housing body 100. The groove 214 can be an arc-shaped groove arranged circumferentially along the stop portion 230; or the groove 214 is composed of multiple arc-shaped grooves arranged circumferentially along the stop portion 230, and each arc-shaped groove is arranged circumferentially along the stop portion 230; or the groove 214 can be an annular groove arranged circumferentially along the stop portion 230, etc.

[0036] It is easy to understand that by setting the groove 214, a certain degree of isolation is formed between the housing body 100 and the stop portion 230. During the process of installing the stator onto the housing body 100, when the housing body 100 deforms and generates stress, the groove 214 can block the stress from acting on the stop portion 230, thereby reducing the stress transmitted from the housing body 100 to the stop portion 230 due to the deformation of the housing body 100. This effectively reduces the impact of the deformation of the housing body 100 on the stop portion 230, thus reducing the deformation of the stop portion 230 and ensuring the dimensional accuracy of the stop portion 230, facilitating subsequent assembly. At the same time, since the dimensions of the stop portion 230 are less affected by the deformation of the housing body 100, no further processing of the stop portion 230 is required after the stator is installed and the adhesive is applied, reducing processing steps, effectively reducing overall production costs, and improving production efficiency.

[0037] Furthermore, the recess 214 reduces the amount of material used in the motor housing, thus lowering costs. Simultaneously, the lighter weight of the motor housing meets lightweight design requirements and helps improve the power density of the servo motor.

[0038] Reference Figure 1 and Figure 3 As shown, it can be understood that in some embodiments, the groove 214 is annular, that is, the groove 214 is an annular groove, and the groove 214 is arranged around the outer periphery of the stop portion 230. Therefore, at any position in the circumferential direction of the stop portion 230, the groove 214 can block the stress generated by the deformation of the housing body 100 from being transmitted to the stop portion 230, further reducing the impact of the deformation of the housing body 100 on the stop portion 230, thereby reducing the deformation of the stop portion 230 and effectively ensuring the dimensional accuracy of the stop portion 230.

[0039] Reference Figure 1 and Figure 3 As shown, it can be understood that, generally speaking, on the projection plane perpendicular to the axial direction of the housing body 100, the projection of the stop portion 230 is located inside the projection of the inner peripheral wall of the mounting cavity 110. That is, the stop portion 230 is located inside the virtual extension surface of the inner peripheral wall of the mounting cavity 110 extending along the axial direction of the housing body 100. This makes the stop portion 230 further away from the outer peripheral wall of the housing body 100 in the radial direction, that is, the stop portion 230 is further away from the outer peripheral wall of the end plate 210 in the radial direction of the housing body 100, which can reduce the influence of the deformation of the housing body 100 on the stop portion 230 to a certain extent, thereby reducing the deformation of the stop portion 230.

[0040] Reference Figure 1 and Figure 3As shown, it can be understood that in some embodiments, the groove 214 is recessed along the axial direction of the housing body 100. For example, the groove 214 is provided on at least one of the two end faces of the end plate 210 that are opposite to each other along the axial direction of the housing body 100. This ensures the integrity of the outer peripheral wall of the motor housing, thereby effectively improving the overall bending stiffness of the motor housing (the ability to resist deformation caused by a force perpendicular to the central axis of the housing body 100). It is easy to understand that the servo motor is connected to the gearbox and other equipment through the fixing part 215 of the end plate 210. Therefore, by providing the groove 214 recessed along the axial direction of the housing body 100, the connection strength between the motor housing and the gearbox and other equipment is effectively ensured while reducing the deformation of the stop part 230, thereby improving the installation stability of the servo motor.

[0041] Reference Figure 1 and Figure 3 As shown, it can be understood that, in the embodiment where the groove 214 is recessed along the axial direction of the housing body 100, on a projection plane perpendicular to the axial direction of the housing body 100, the projection of the groove 214 lies between the projection of the stop portion 230 and the projection of the inner peripheral wall of the mounting cavity 110. That is, the groove 214 is located outside the virtual extension surface of the outer peripheral wall of the stop portion 230 extending along the axial direction of the housing body 100, and inside the virtual extension surface of the inner peripheral wall of the mounting cavity 110 extending along the axial direction of the housing body 100. Here, "outer side" refers to the side radially away from the central axis of the housing body 100, and "inner side" refers to the side radially close to the central axis of the housing body 100. Therefore, the groove 214 is made to be closer to the stop portion 230 in the radial direction of the housing body 100, so that the groove 214 can fully play its role in blocking the stress generated by the deformation of the housing body 100 from being transmitted to the stop portion 230, thereby reducing the deformation of the stop portion 230.

[0042] Reference Figure 1 and Figure 3 As shown, it can be understood that, in embodiments where the groove 214 is recessed along the axial direction of the housing body 100, the groove 214 includes two annular groove walls arranged radially opposite to each other along the housing body 100. In some embodiments, on a projection plane perpendicular to the axial direction of the housing body 100, the projection of the annular groove wall in the groove 214 near the central axis of the housing body 100 coincides with the projection of the outer peripheral wall of the stop portion 230. This makes the radial distance between the groove 214 and the stop portion 230 of the housing body 100 smaller, further optimizing the effect of the groove 214 in blocking the stress transmission caused by the deformation of the housing body 100 to the stop portion 230, and reducing the deformation of the stop portion 230.

[0043] Reference Figure 3As shown, it can be understood that the groove 214 is located on the first end face 211, meaning that the groove 214 is recessed along the axial direction of the housing body 100, and the groove opening of the groove 214 faces away from the mounting cavity 110. Therefore, the groove 214 is positioned closer to the stop portion 230 along the axial direction of the housing body 100, allowing the groove 214 to effectively block the stress generated by the deformation of the housing body 100 from being transmitted to the stop portion 230, thereby reducing the deformation of the stop portion 230. Furthermore, generally speaking, for the groove 214 to have a uniform groove width, after the motor housing is formed by casting, the groove 214 is machined by turning to ensure the dimensional accuracy of the groove 214. By placing the groove 214 on the first end face 211, machining the groove 214 becomes easier.

[0044] Reference Figure 4 As shown, it can be understood that the end plate 210 also has a second end face 212 on the side facing the mounting cavity 110. Generally, the second end face 212 is parallel to the first end face 211. In some embodiments, the first end face 211 and the second end face 212 are respectively provided with grooves 214. Both grooves 214 are recessed along the axial direction of the housing body 100. Both grooves 214 can block the stress generated by the deformation of the housing body 100 from being transmitted to the stop portion 230. Therefore, the housing body 100 and the stop portion 230 can be further isolated, and the influence of the deformation of the housing body 100 on the stop portion 230 can be further reduced, thereby reducing the deformation of the stop portion 230. Specifically, the depth of the groove 214 provided on the first end face 211 is greater than the depth of the groove 214 provided on the second end face 212, and the projections of the two grooves 214 coincide on the projection plane perpendicular to the axis of the housing body 100. Therefore, the structural strength of the end plate 210 can be guaranteed to ensure the connection stability between the bearing seat 220 and the end. At the same time, the depth of the groove 214 closer to the stop portion 230 is increased to optimize and reduce the deformation of the stop portion 230.

[0045] It is understood that in some embodiments, the groove 214 is provided on the second end face 212, that is, the groove 214 is recessed along the axial direction of the housing body 100, and the groove opening of the groove 214 faces the mounting cavity 110. Therefore, it can both prevent the stress generated by the deformation of the housing body 100 from being transmitted to the stop portion 230 to reduce the deformation of the stop portion 230, and ensure the connection strength between the stop portion 230 and the end plate 210.

[0046] Reference Figure 5As shown, it can be understood that in any of the above embodiments, the width of the groove 214 decreases from the opening of the groove 214 to the bottom of the groove 214 along the depth direction of the groove 214. The width of the groove 214 is the distance between the two oppositely arranged sidewalls 213 of the groove 214. For embodiments where the groove 214 is recessed along the axial direction of the housing body 100, the width of the groove 214 is the radial width of the groove 214 along the housing body 100; for embodiments where the groove 214 is recessed along the radial direction of the housing body 100, the width of the groove 214 is the axial width of the groove 214 along the housing body 100. For example, in a cross-section parallel to the depth direction of the groove 214, the cross-sectional profile of the groove 214 is a right trapezoid, an isosceles trapezoid, other trapezoidal shapes, triangles, semicircles, etc. It is easy to understand that the groove 214 of this structural form has a certain draft angle. Therefore, when producing the motor housing, the groove 214 can be directly formed by casting, and demolding is convenient. There is no need to perform separate turning processing on the groove 214 afterward, which helps to reduce processing steps and thus reduce production costs.

[0047] Reference Figure 1 and Figure 3 As shown, the end plate 210 is also provided with a side wall 213, which is located on the inner side of the end plate 210 along the radial direction of the stop portion 230. That is, the side wall 213 is the inner circumferential wall of the end plate 210. The side wall 213 is arranged circumferentially along the stop portion 230. The end cover 200 also includes a plurality of reinforcing ribs 240, which are connected to the side wall 213 of the end plate 210 and the bearing housing 220. Specifically, the reinforcing ribs 240 are connected between the side wall 213 of the end plate 210, the connecting portion 222 and the outer circumferential wall of the bearing housing 221, and the reinforcing ribs 240 are located on the side of the connecting portion 222 away from the mounting cavity 110, so as to avoid the reinforcing ribs 240 occupying the space of the mounting cavity 110 and affecting the installation of the stator. The plurality of reinforcing ribs 240 are arranged at equal intervals along the circumferential direction of the stop portion 230. Therefore, on the one hand, it can improve the structural stability of the stop portion 230 and solve the problem of decreased structural stability of the stop portion 230 due to the setting of the groove 214. On the other hand, it can increase the structural stability of the bearing seat 220 and solve the problem of decreased connection stability between the bearing seat 220 and the end plate 210 due to the setting of the groove 214, thereby improving the overall structural stability of the end cover 200.

[0048] Reference Figure 3As shown, it can be understood that in the bearing housing 221, the rotating shaft is rotatably mounted in the bearing chamber 2211 via a bearing, and the structure with the bearing chamber 2211 in the bearing housing 221 is the main load-bearing structure. Therefore, the first end 2221 of the connecting part 222 is located at the middle position of the bearing chamber 2211 along the axial direction of the housing body 100, so as to ensure the load-bearing capacity of the structure with the bearing chamber 2211 in the bearing housing 221 and improve the rotational stability of the rotor.

[0049] Reference Figure 3 As shown, it can be understood that along the axial direction of the housing body 100, the second end 2222 is located on the side of the first end 2221 away from the mounting cavity 110. That is, the connecting part 222 is arranged at an angle, and the second end 2222 is closer to the stop part 230 in the axial direction of the housing body 100 than the first end 2221. Therefore, on the one hand, the bearing housing 221 can be recessed into the mounting cavity 110, avoiding the bearing housing 221 from protruding from the first end face 211 and affecting the installation of the servo motor, and it is beneficial to reduce the axial height of the servo motor; on the other hand, increasing the space on the side of the connecting part 222 away from the stop part 230 is beneficial to increasing the space of the mounting cavity 110, and allows the connecting part 222 to avoid the stator winding. Combined with the reasonable design, compact structure, and high space utilization of the mounting cavity 110, this design is reasonable and the structure is compact.

[0050] Reference Figure 6 and Figure 8 As shown, it is understandable that simulation software is used to analyze the deformation of the motor housing body 100 and the stop portion 230 after the stator is assembled into the motor housing. Specifically, the material of the motor housing is set to aluminum alloy, the material of the stator core is steel, and the interference fit between the motor housing body 100 and the stator core is 0.26mm. The interference fit can be understood as the difference between the outer diameter of the stator core and the inner diameter of the motor housing body 100.

[0051] It is understandable that after the stator is assembled into the motor housing, the deformation of the housing body 100 is manifested as radial outward expansion, while the deformation of the stop portion 230 is manifested as radial inward contraction.

[0052] Reference Figure 7 As shown, it can be understood that for the scheme in which the end plate 210 does not have the groove 214 (i.e., the prior art), the deformation of the stop portion 230 ranges from -0.0135mm to -0.0217mm, with negative values ​​indicating that the deformation direction is radial shrinkage.

[0053] Reference Figure 9As shown, it can be understood that for the scheme of setting the groove 214 on the end plate 210, the deformation range of the stop portion 230 is -0.0036mm to -0.0089mm, and the negative value also indicates that the deformation direction is radial shrinkage. Therefore, according to simulation data, the deformation of the stop portion 230 is significantly reduced after setting the groove 214, and the deformation of the stop portion 230 is reduced by more than 50%. Therefore, by setting the groove 214, the influence of the deformation of the housing body 100 on the stop portion 230 is effectively reduced, thereby reducing the deformation of the stop portion 230, ensuring the dimensional accuracy of the stop portion 230, and facilitating subsequent assembly.

[0054] It is understood that in other embodiments, the stop portion 230 may also be an annular groove arranged around the bearing housing 220, which will not be described in detail here.

[0055] It is understood that in other embodiments, the stop portion 230 may also be an arc-shaped structure (groove or protrusion) arranged circumferentially along the housing body 100; or the stop portion 230 may be composed of multiple arc-shaped structures arranged at intervals circumferentially along the housing body 100, and each arc-shaped structure is arranged circumferentially along the housing body 100, which will not be described in detail here.

[0056] The servo motor of the second aspect of this utility model includes a stator, a rotor, and a motor housing of the first aspect of this utility model, wherein the stator is fixedly installed in the mounting cavity 110, and the rotor is disposed in the inner hole of the stator and rotatably installed in the bearing chamber 2211 through a bearing.

[0057] Since the servo motor adopts all the technical solutions of the motor housing in the above embodiments, it has at least all the beneficial effects brought about by the technical solutions in the above embodiments.

[0058] The industrial robot of the third aspect of this utility model includes a servo motor of the second aspect of this utility model, so as to control the movement of the industrial robot by means of the servo motor.

[0059] Since the industrial robot adopts all the technical solutions of the servo motor in the above embodiments, it has at least all the beneficial effects brought about by the technical solutions in the above embodiments.

[0060] The embodiments of the present utility model have been described in detail above with reference to the accompanying drawings. However, the present utility model is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present utility model.

Claims

1. A motor housing, characterized in that, include: The casing itself is cylindrical; An end cap is connected to one axial end of the housing body and defines an installation cavity between the end cap and the housing body. The end cap includes an end plate, a bearing seat, and a stop portion. The end plate is connected to the housing body. The bearing seat is connected to the end plate and has a bearing chamber. The bearing chamber communicates with the installation cavity. The end plate has a first end face on the side opposite to the installation cavity. The stop portion is located on the first end face. The stop portion is located on the bearing seat along the radial outer side of the housing body and arranged along the circumference of the housing body. The end plate is provided with a groove, which is located on the outer side of the stop portion along the radial direction and arranged along the circumferential direction.

2. The motor housing according to claim 1, characterized in that: The stop portion is annular and arranged around the bearing seat.

3. The motor housing according to claim 2, characterized in that: The groove is annular and arranged around the stop portion.

4. The motor housing according to claim 1, characterized in that: The groove is recessed along the axial direction of the housing body.

5. The motor housing according to claim 4, characterized in that: On a projection plane perpendicular to the axial direction of the housing body, the projection of the stop portion is located inside the projection of the inner peripheral wall of the mounting cavity, and the projection of the groove is located between the projection of the stop portion and the projection of the inner peripheral wall of the mounting cavity.

6. The motor housing according to claim 4, characterized in that: The end plate is further provided with a second end face on the side facing the mounting cavity, and at least one of the first end face and the second end face is provided with the groove.

7. The motor housing according to claim 1, characterized in that: The width of the groove decreases from the opening to the bottom of the groove along the depth direction.

8. The motor housing according to claim 1, characterized in that: The end plate is also provided with a side wall, which is located inside the end plate along the radial direction and is arranged along the circumferential direction. The end cover also includes a plurality of reinforcing ribs, which are connected to the side wall and the bearing seat, and the plurality of reinforcing ribs are arranged at intervals along the circumferential direction.

9. The motor housing according to claim 1, characterized in that: The bearing housing includes a bearing shell and a connecting portion. The connecting portion is arranged around the bearing shell and includes a first end and a second end. The first end is connected to the bearing shell, and the second end is connected to the end plate. Along the axial direction of the housing body, the second end is located on the side of the first end away from the mounting cavity.

10. A servo motor, characterized in that, Includes the motor housing as described in any one of claims 1 to 9.

11. An industrial robot, characterized in that, Includes the servo motor as described in claim 10.

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