Motor outer rotor structure, rotary power unit, and quadruped robot

Abstract

A motor outer rotor structure, a rotary power unit, and a quadruped robot. The motor outer rotor structure comprises a magnetic steel sleeve (5), an edge of the magnetic steel sleeve (5) extending in directions towards the axis of the magnetic steel sleeve (5) to form a covering edge (51), and an edge of a rotor end cover (4) being provided with a step (41) fitting with the covering edge (51). The rotor end cover (4) is sleeved inside the magnetic steel sleeve (5) and abuts against the step (41) by means of the covering edge (51), achieving one-way fixation of the rotor end cover (4) relative to the magnetic steel sleeve (5) in the axial direction. The rotor end cover (4) is sleeved inside the magnetic steel sleeve (5) and abuts against the step (41) of the rotor end cover (4) by means of the covering (51) edge of the magnetic steel sleeve (5), axially fixing the rotor end cover (4) and the magnetic steel sleeve (5). Thus, when a motor unit suffers an impact transferred from a speed reduction unit, separation of the rotor end cover (4) from the magnetic steel sleeve (5) will not occur.

Description

Motor outer rotor structure, rotary power unit and quadruped robot Technical Field

[0001] The utility model relates to the technical field of outer rotor motors, in particular to a motor outer rotor structure, a rotary power unit and a quadruped robot. Background Art

[0002] The rotary power unit is one of the core components of a quadruped robot, including a motor unit and a reduction unit. Existing motor units mostly use outer rotor motors. For example, Chinese patent CN211693390 provides an electric-driven rotary power unit, in which the motor includes a stator and an outer rotor. The stator is fixed to an upper end cover, and the outer rotor side support end face is away from the output end cover relative to the stator; or the stator is fixed to a lower end cover, and the outer rotor side support end face is close to the output end cover relative to the stator; the outer rotor and the stator are rotatably connected through a connector and a bearing.

[0003] In the above technical solution, the motor unit utilizes an outer rotor motor. The outer rotor's specific structure, as shown in Figure 1, comprises an end cap 1, a steel sleeve 2, and a magnetic steel assembly 3. The edge of the end cap 1 extends radially to form a boss that abuts the end surface of the steel sleeve 2. The end cap 1 and steel sleeve 2 are stacked together and partially fastened together. Technical issues

[0004] However, since the quadruped robot will inevitably fall during use, or the hip joint will be suddenly subjected to external impact, and the direction of the instantaneous impact is not fixed, when the direction of the instantaneous impact is along the magnetic steel assembly 3 to the end cover 1, it will cause the stacked end cover 1 and the steel sleeve 2 to loosen or detach, and then cause the outer rotor and the quadruped robot to malfunction and cannot be used normally, affecting the service life of the robot and being not conducive to its promotion and use. Technical Solutions

[0005] In order to overcome the deficiencies of the prior art, an object of the present invention is to provide a motor outer rotor structure in which the magnetic steel sleeve and the rotor end cover will not separate when subjected to axial impact.

[0006] The second purpose of the present utility model is to provide an outer rotor structure of a motor, in which the rotor end cover is sleeved inside the magnetic steel sleeve, and the stop portion of the magnetic steel sleeve abuts against the edge of the rotor end cover to achieve axial limitation of the rotor end cover and the magnetic steel sleeve. The solution is simple, practical and feasible.

[0007] The third purpose of the present utility model is to provide a motor outer rotor structure, in which the rotor end cover and the magnetic steel sleeve are connected in a manner and, under the limitation of the stop part, when the direction of the instantaneous impact is along the magnetic steel assembly toward the rotor end cover, the rotor end cover can be effectively prevented from loosening or detaching, thereby ensuring that the outer rotor and the quadruped robot can be used normally under various extreme conditions, effectively improving the service life of the robot and facilitating its popularization and use.

[0008] The fourth object of the present utility model is to provide a rotary power unit, which includes a motor outer rotor structure in which the magnetic steel sleeve and the rotor end cover will not separate when subjected to axial impact.

[0009] The fifth object of the present utility model is to provide a quadruped robot comprising a motor outer rotor structure, wherein when subjected to an axial impact, the magnetic steel sleeve and the rotor end cover will not separate.

[0010] In order to achieve one of the above purposes, the first technical solution of the present utility model is:

[0011] A motor outer rotor structure includes a magnetic steel sleeve, the edge of which extends toward its axial center to form a stop portion; and a rotor end cover, which is sleeved inside the magnetic steel sleeve and abuts against the stop portion and the edge of the rotor end cover to achieve unidirectional fixation of the rotor end cover relative to the magnetic steel sleeve along the axial direction.

[0012] As a preferred technical solution, the blocking portion is an edge wrapping, which is formed by directly bending the edge of the magnetic steel sleeve, which is easy to produce and has low manufacturing cost.

[0013] As a preferred technical solution, the rotor end cap edge is provided with a step that mates with the edging. The abutment between the edging and the step enables the rotor end cap to be fixed unidirectionally relative to the magnetic sleeve along the axial direction. Providing the step on the rotor end cap edge makes the fit between the rotor end cap and the magnetic sleeve more compact, resulting in a smaller volume.

[0014] As a preferred technical solution, a magnetic steel assembly is fixed in the magnetic steel sleeve, and the magnetic steel assembly includes a magnetic steel fixing part and magnets uniformly fixed on the magnetic steel fixing part.

[0015] In order to achieve one of the above purposes, the second technical solution of the utility model is:

[0016] A motor outer rotor structure,

[0017] It includes a magnetic steel sleeve with a receiving space and a rotor end cover with an arc-shaped structure;

[0018] The magnetic steel sleeve is provided with a stop portion for limiting the movement range of the rotor end cover;

[0019] The rotor end cover is sleeved in the accommodating space of the magnetic steel sleeve, and the stop portion abuts against the edge of the rotor end cover to achieve position limitation of the rotor end cover relative to the magnetic steel sleeve along the axial direction.

[0020] After continuous exploration and testing, the utility model sleeves the rotor end cover inside the magnetic steel sleeve, and abuts the edge of the rotor end cover through the stop portion of the magnetic steel sleeve to achieve axial limitation of the rotor end cover and the magnetic steel sleeve. The solution is simple, practical and feasible.

[0021] Furthermore, the sleeve connection method between the rotor end cover and the magnetic steel sleeve of the utility model and the limitation of the blocking part can effectively prevent the rotor end cover from loosening or detaching when the direction of the instantaneous impact is along the magnetic steel assembly toward the rotor end cover, thereby ensuring that the outer rotor and the quadruped robot can be used normally under various extreme conditions, effectively improving the service life of the robot and facilitating its popularization and use.

[0022] As a preferred technical solution,

[0023] The blocking portion is arranged along the edge of the magnetic steel sleeve and extends toward the accommodating space of the magnetic steel sleeve to change the open space of the accommodating space to meet various limiting requirements.

[0024] As a preferred technical solution,

[0025] The retaining portion is an annular structure, which is arranged around one circle of the magnetic steel sleeve, so that when the rotor terminal is subjected to an impact force, the retaining portion can provide a uniform resistance force.

[0026] Alternatively, the retaining portion is a sheet-like structure arranged at intervals, and the rotor end cover is limited only by the sheet-like structure, thereby reducing the weight of the magnetic steel sleeve while meeting the structural strength and avoiding excessive weight of the entire machine.

[0027] Or the blocking portion is a pin structure that can be plugged into the magnetic steel sleeve, which is easy to disassemble.

[0028] As a preferred technical solution,

[0029] The periphery of the rotor end cover is provided with a step that matches the stopper. The abutment between the stopper and the step ensures that the rotor end cover and the magnetic steel sleeve are evenly stressed.

[0030] Or the edge of the rotor end cover is provided with notches and gaps that match the sheet structure,

[0031] The notch and the gap are connected, so that the sheet structure can be screwed from the notch into the gap, so that the rotor end cover and the magnetic steel sleeve are reliably fixed together.

[0032] Or the edge of the rotor end cover is provided with a socket that matches the pin structure, so that the rotor end cover and the magnetic steel sleeve are reliably fixed together.

[0033] In order to achieve one of the above purposes, the third technical solution of the utility model is:

[0034] A rotary power unit comprises the above-mentioned motor outer rotor structure.

[0035] In order to achieve one of the above purposes, the fourth technical solution of the present utility model is:

[0036] A quadruped robot comprises the above-mentioned motor outer rotor structure. Beneficial effects

[0037] The utility model provides a motor outer rotor structure, in which a rotor end cover is sleeved inside a magnetic steel sleeve, and the axial fixation of the rotor end cover and the magnetic steel sleeve is achieved by abutting the stop portion of the magnetic steel sleeve against the edge of the rotor end cover. When the motor unit is subjected to an impact transmitted from the reduction unit, the rotor end cover and the magnetic steel sleeve will not separate.

[0038] Furthermore, the sleeve connection method between the rotor end cover and the magnetic steel sleeve of the utility model and the limitation of the blocking part can effectively prevent the rotor end cover from loosening or detaching when the direction of the instantaneous impact is along the magnetic steel assembly toward the rotor end cover, thereby ensuring that the outer rotor and the quadruped robot can be used normally under various extreme conditions, effectively improving the service life of the robot and facilitating its popularization and use.

[0039] The rotary power unit provided by the utility model includes a motor outer rotor structure, in which the rotor end cover is sleeved inside the magnetic steel sleeve, and the stop portion of the magnetic steel sleeve abuts against the edge of the rotor end cover to achieve axial fixation of the rotor end cover and the magnetic steel sleeve. When the motor unit is subjected to an impact transmitted from the reduction unit, the rotor end cover and the magnetic steel sleeve will not separate, thereby improving the stability of the operation of the rotary power unit.

[0040] The quadruped robot provided by the utility model includes a motor outer rotor structure, in which the rotor end cover is sleeved inside the magnetic steel sleeve, and the stop portion of the magnetic steel sleeve abuts against the edge of the rotor end cover to achieve axial fixation of the rotor end cover and the magnetic steel sleeve. When the motor unit is subjected to an impact transmitted from the reduction unit, the rotor end cover and the magnetic steel sleeve will not separate, thereby improving the overall operation stability of the quadruped robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] FIG1 is a schematic structural diagram of an outer rotor of a motor in the prior art;

[0042] FIG2 is an exploded view of the outer rotor structure of the motor provided by the present invention;

[0043] FIG3 is a structural diagram of the outer rotor structure of the motor provided by the present invention;

[0044] FIG4 is a cross-sectional view of the structure shown in FIG3 along the AA direction.

[0045] In the figure: 1, end cover; 2, steel sleeve; 3, magnetic steel assembly; 4, rotor end cover; 41, step; 5, magnetic steel sleeve; 51, edging. Modes for Carrying Out the Invention

[0046] Below, the present invention is further described in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0047] Unless otherwise defined, all technical and scientific terms used in this invention have the same meaning as those commonly understood by those skilled in the art in the art of this invention. The terms used in this invention are only for the purpose of describing specific embodiments and are not intended to limit this invention.

[0048] As shown in Figures 2, 3 and 4, the first specific embodiment of the outer rotor structure of the motor of the present invention:

[0049] A motor outer rotor structure includes a magnetic steel sleeve 5, the edge of which extends toward its axial direction to form a stop portion; a rotor end cover 4, which is sleeved inside the magnetic steel sleeve 5 and abuts against the stop portion and the edge of the rotor end cover 4 to achieve unidirectional fixation of the rotor end cover 4 relative to the magnetic steel sleeve 5 along the axial direction.

[0050] The second specific embodiment of the outer rotor structure of the motor of the utility model:

[0051] A motor outer rotor structure includes a magnetic steel sleeve 5 with an accommodating space and a rotor end cover 4 with an arc-shaped structure.

[0052] The magnetic steel sleeve 5 is provided with a stop portion for limiting the movement range of the rotor end cover 4;

[0053] The outer diameter of the rotor end cover 4 is smaller than the inner diameter of the magnetic steel sleeve 5, and the width of the rotor end cover 4 is smaller than the width of the magnetic steel sleeve 5, so that the rotor end cover 4 is sleeved in the accommodating space of the magnetic steel sleeve 5, and the rotor end cover 4 is limited relative to the magnetic steel sleeve 5 along the axial direction by the abutment between the stop portion and the edge of the rotor end cover 4.

[0054] The first specific embodiment of the limiting structure of the utility model:

[0055] The retaining portion is a rim 51, formed by directly bending the edge of the magnetic sleeve 5, which facilitates manufacturing and reduces manufacturing costs. The edge of the rotor end cover 4 is provided with a step 41 that mates with the rim 51. The contact between the rim 51 and the step 41 ensures unidirectional fixation of the rotor end cover 4 relative to the magnetic sleeve 5 along the axis. The provision of the step 41 on the edge of the rotor end cover 4 makes the fit between the rotor end cover 4 and the magnetic sleeve 5 more compact, resulting in a smaller footprint.

[0056] The blocking portion is an annular structure, which is arranged along the edge of the magnetic steel sleeve 5 and extends toward the accommodating space of the magnetic steel sleeve 5 to change the open space of the accommodating space to meet various limiting requirements.

[0057] The second specific embodiment of the limiting structure of the utility model:

[0058] The stoppers are sheet-like structures arranged at intervals, and the rotor end cover 4 is limited only by the sheet-like structures. While meeting the structural strength, the weight of the magnetic steel sleeve 5 is reduced to avoid the entire machine being too heavy.

[0059] The rotor end cover 4 is provided with a step 41 on its periphery that matches the sheet structure. The abutment between the stopper and the step 41 makes the assembly size of the rotor end cover 4 and the magnetic steel sleeve 5 more compact.

[0060] The third specific embodiment of the limiting structure of the utility model:

[0061] The retaining portion is a sheet-like structure arranged at intervals; the edge of the rotor end cover 4 is provided with a notch and a gap that match the sheet-like structure, and the notch and the gap are connected so that the sheet-like structure can be screwed into the gap from the notch, so that the rotor end cover 4 and the magnetic steel sleeve 5 are reliably fixed together.

[0062] The fourth specific embodiment of the limiting structure of the utility model:

[0063] The blocking portion is a pin structure that can be plugged into the magnetic steel sleeve 5, which is easy to disassemble.

[0064] The edge of the rotor end cover 4 is provided with a socket that matches the pin structure, so that the rotor end cover 4 and the magnetic steel sleeve 5 are reliably fixed together.

[0065] A specific embodiment of the utility model in which a magnetic steel component 3 is added:

[0066] The magnetic steel assembly 3 is fixed in the magnetic steel sleeve 5. The magnetic steel assembly 3 includes a magnetic steel fixing part and magnets uniformly fixed on the magnetic steel fixing part.

[0067] A specific embodiment of the rotary power unit of the utility model:

[0068] A rotary power unit comprises the above-mentioned motor outer rotor structure.

[0069] A specific embodiment of the quadruped robot of the utility model:

[0070] A quadruped robot comprises the above-mentioned motor outer rotor structure.

[0071] The above-mentioned embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and replacements made by technicians in this field on the basis of the present invention fall within the scope of protection required by the present invention.

Claims

1. A motor outer rotor structure, characterized in that: include A magnetic steel sleeve (5), wherein the edge of the magnetic steel sleeve (5) extends toward its axial center to form a stop portion; Rotor end cover (4); The rotor end cover (4) is sleeved inside the magnetic steel sleeve (5), and the rotor end cover (4) is fixed in one direction relative to the magnetic steel sleeve (5) along the axial direction by the abutment between the stop portion and the edge of the rotor end cover (4).

2. The motor outer rotor structure according to claim 1, characterized in that: The blocking portion is an edge (51), which is formed by directly bending the edge of the magnetic steel sleeve (5).

3. The outer rotor structure of a motor according to claim 2, characterized in that: The edge of the rotor end cover (4) is provided with a step (41) that matches the edging (51), and the edging (51) abuts against the step (41) to achieve unidirectional fixation of the rotor end cover (4) relative to the magnetic steel sleeve (5) along the axial direction.

4. The motor outer rotor structure according to claim 3, characterized in that: A magnetic steel assembly (3) is fixed in the magnetic steel sleeve (5), and the magnetic steel assembly (3) comprises a magnetic steel fixing part and magnetic steels uniformly fixed on the magnetic steel fixing part.

5. A motor outer rotor structure, characterized in that: It comprises a magnetic steel sleeve (5) with an accommodation space and a rotor end cover (4) with an arc-shaped structure; The magnetic steel sleeve (5) is provided with a stop portion for limiting the movement range of the rotor end cover; The rotor end cover (4) is sleeved in the accommodating space of the magnetic steel sleeve (5), and the rotor end cover (4) is limited relative to the magnetic steel sleeve (5) along the axial direction by the abutment between the stop portion and the edge of the rotor end cover (4).

6. The motor outer rotor structure according to claim 5, characterized in that: The blocking portion is arranged along the edge of the magnetic steel sleeve (5) and extends toward the accommodating space of the magnetic steel sleeve to change the open space of the accommodating space.

7. The motor outer rotor structure according to claim 6, characterized in that: The retaining portion is an annular structure, which is arranged around the magnetic steel sleeve. Or the blocking parts are sheet-like structures arranged at intervals; Or the blocking portion is a pin structure that can be plugged into the magnetic steel sleeve.

8. The motor outer rotor structure according to claim 7, characterized in that: The rotor end cover (4) is provided with a step (41) on the periphery thereof, which cooperates with the stopper, and the stopper abuts against the step (41); Or the edge of the rotor end cover (4) is provided with notches and gaps that match the sheet structure, The notch and the slit are in communication, so that the sheet-like structure can be screwed from the notch into the slit; Or the edge of the rotor end cover (4) is provided with a socket that matches the pin structure.

9. Rotary power unit, characterized in that: It comprises an outer rotor structure of a motor as described in any one of claims 1-8.

10. A quadruped robot, characterized in that It comprises an outer rotor structure of a motor as described in any one of claims 1 to 8 or a rotary power unit as described in claim 9.