2-DOF motor and robot

Abstract

The present application relates to a technical field related to motors, and provides a two-degree-of-freedom motor and a robot, the two-degree-of-freedom motor including a housing, an outer rotor motor, and a disk motor, the outer rotor motor including an outer rotor motor-stator assembly and an outer rotor disk, the outer rotor motor-stator assembly is fixed to the housing and arranged in the circumferential direction of the housing, the outer rotor disk being a first degree-of-freedom power output end, the disk motor fitted in the outer rotor motor, including a disk motor-stator assembly and an inner rotor disk, the disk motor-stator assembly is fixed to the center position of the housing, and the inner rotor disk being a second degree-of-freedom power output end.

Description

[Technical field]

[0001] The present application relates to the technical field of motors, and more particularly to a two-degree-of-freedom motor and a robot. [Background technology]

[0002] With the progress of science and technology, the application of robots is becoming more and more widespread, and robots can assist humans or replace humans in performing heavy or dangerous tasks, and the application of robots is of great significance to industrial production and scientific research. Among them, foot-type robots have a foot-like structure and can automatically change their shape according to various terrains, so they have a very high ability to adapt to terrains, can walk on complex roads, and can even perform many complex actions such as running, climbing stairs, and jumping. They have a high degree of automation and are widely used in household services, transportation, patrol inspections, and other fields.

[0003] In existing leg-type robots, the leg structure is composed of the thigh and the lower leg, and the thigh and the lower leg are each driven by two coaxial motors, one of which controls the swing of the thigh and the other of which controls the swing of the lower leg. However, this leg drive structure has two motors connected in series, so the axial volume is large and a large installation space is required, and as a result, the leg structure of the robot cannot be made compact. Summary of the Invention [Problem to be solved by the invention]

[0004] Therefore, the object of the present application is to propose a two-degree-of-freedom motor and robot that has the characteristics of a compact axial structure and small installation space, and that can solve the disadvantages of the leg drive structure of conventional foot-type robots, which is not compact and requires a large installation space. [Means for solving the problem]

[0005] The present application, Housing and an outer rotor motor including an outer rotor motor-stator assembly and an outer rotor disk, the outer rotor motor-stator assembly being fixed to the housing and arranged in a circumferential direction of the housing, the outer rotor disk being a first degree of freedom power output end; A two-degree-of-freedom motor is provided, which includes a disk motor that is fitted into the outer rotor motor and includes a disk motor-stator assembly and an inner rotor disk, the disk motor-stator assembly being fixed at a central position of the housing, and the inner rotor disk being a second degree-of-freedom power output end.

[0006] As a preferred technical solution of the two-degree-of-freedom motor, the outer rotor disc and the inner rotor disc are arranged coaxially.

[0007] As a preferred technical solution for a two-degree-of-freedom motor, the outer rotor disc and the inner rotor disc are flush at their end faces remote from the housing.

[0008] As a preferred technical solution of the two-degree-of-freedom motor, the housing includes a bottom plate, and a protruding housing column-shaped side plate is formed on one side of the bottom plate, and a central column is further formed at the center of the bottom plate; An outer rotor disk bearing assembly is provided between the outer rotor disk and the housing columnar side plate, and an inner rotor disk bearing assembly is provided between the inner rotor disk and the center column.

[0009] As a preferred technical solution of the two-degree-of-freedom motor, the outer rotor disk includes an outer rotor disk columnar side plate protruding toward the bottom plate, and the inner rotor disk includes an inner rotor disk columnar side plate protruding toward the bottom plate; The bearing assembly of the outer rotor disk includes at least one first bearing and at least one first bearing positioning member for axially positioning the first bearing, the first bearing being fitted into the outer rotor disk columnar side plate and positioned between the outer rotor disk columnar side plate and the housing columnar side plate, and the first bearing positioning member being connected to the outer rotor disk columnar side plate or the housing columnar side plate; The bearing assembly of the inner rotor disk includes at least one second bearing and at least one second bearing positioning member for axially positioning the second bearing, the second bearing being fitted into the central column and positioned between the inner rotor disk columnar side plate and the central column, and the second bearing positioning member being connected to the central column.

[0010] As a preferred technical solution of the two-degree-of-freedom motor, the bearing assembly of the outer rotor disk includes two of the first bearings and two of the first bearing positioning members, the two first bearings are provided adjacent to each other and are axially abutted between the two first bearing positioning members, one of the first bearing positioning members is connected to an end of the housing columnar side plate away from the bottom plate, and the other of the first bearing positioning members is fitted to an outer wall of the end of the outer rotor disk columnar side plate close to the bottom plate; The bearing assembly of the inner rotor disk includes two of the second bearings and two second bearing positioning members, the two second bearings being provided at the end of the central column away from the bottom plate and the end of the central column approaching the bottom plate, respectively, one of the second bearing positioning members being connected to the end of the central column away from the bottom plate and axially abutting the second bearing provided at the end of the central column away from the bottom plate, and the other of the second bearing positioning members being connected to the outer wall of the end of the central column approaching the bottom plate and axially abutting the second bearing provided at the end of the central column approaching the bottom plate.

[0011] As a preferred technical solution for the two-degree-of-freedom motor, a bearing gasket fitted to the housing columnar side plate is provided between the two first bearings, and a bearing positioning ring fitted to the central column is provided between the two second bearings.

[0012] As a preferred technical solution of the two-degree-of-freedom motor, the outer rotor motor-stator assembly is fixedly connected to the housing columnar side plate, the outer rotor disk has an outer rotor disk side wall extending toward the bottom plate, and an outer rotor motor magnetic steel is provided on the inner surface of the outer rotor disk side wall, and the outer rotor motor magnetic steel is provided toward the outer rotor motor-stator assembly; The disk motor-stator assembly is fixedly connected to the bottom plate, and a disk motor magnetic steel is provided on an inner surface of the inner rotor disk facing the bottom plate, and the disk motor magnetic steel is provided toward the disk motor-stator assembly.

[0013] As a preferred technical solution of the two-degree-of-freedom motor, the outer rotor motor and the disk motor are both low-speed high-torque motors.

[0014] A robot, The device includes a thigh, a lower leg, and the above-mentioned two-degree-of-freedom motor, wherein an outer rotor disk of the two-degree-of-freedom motor is connected to the upper end of the thigh and drives the thigh to swing, and an inner rotor disk of the two-degree-of-freedom motor is connected to the lower leg via a synchronous belt and drives the lower leg to swing. Effect of the Invention

[0015] The technical solution of this application has the following advantages:

[0016] (1) A two-degree-of-freedom motor according to the present application includes a housing, an outer rotor motor, and a disk motor, the outer rotor motor including an outer rotor motor-stator assembly and an outer rotor disk, the outer rotor disk being a first degree-of-freedom power output end, and the disk motor is fitted within the outer rotor motor and includes a disk motor-stator assembly and an inner rotor disk, the inner rotor disk being a second degree-of-freedom power output end. The two-degree-of-freedom motor of the present application has power output terminals with two degrees of freedom, i.e., a first degree-of-freedom power output terminal and a second degree-of-freedom power output terminal, which can operate independently without interfering with each other. This two-degree-of-freedom motor can simultaneously drive two actuators to move without affecting each other, but of course, only one of the power output terminals with the degree of freedom may be used depending on the application. Furthermore, by providing the disk motor inside the outer rotor motor, the internal space of the outer rotor motor is fully utilized, the overall structure is compact and rational, the installation space is small, and the motor is applicable to situations where the axial space is limited. Furthermore, this two-degree-of-freedom motor realizes the characteristic of outputting low rotation speed and high torque in two degrees of freedom, and is applicable to application situations where the two degrees of freedom must be output coaxially and the axial space is limited.

[0017] (2) In the two-degree-of-freedom motor of the present application, the outer rotor disk and the inner rotor disk are arranged coaxially, which makes it easier to arrange the structures of the outer rotor motor and the disk motor, making the structure of the entire motor more compact and rational, and suitable for applications where it is necessary to output two degrees of freedom coaxially and where axial space is limited.

[0018] (3) In the two-degree-of-freedom motor of the present application, the outer rotor disk and the inner rotor disk are flush with each other with their end faces away from the housing, thereby making the axial size of the two-degree-of-freedom motor smaller, making the motor structure more compact, and reducing the axial space it occupies.

[0019] (4) In the two-degree-of-freedom motor according to the present application, a bearing assembly for the outer rotor disk is provided between the outer rotor disk and the housing columnar side plate, and a bearing assembly for the inner rotor disk is provided between the inner rotor disk and the center column. By providing the bearing assembly for the outer rotor disk and the bearing assembly for the inner rotor disk, the outer rotor disk and the inner rotor disk can rotate more smoothly.

[0020] (5) The robot according to the present application includes an upper leg, a lower leg, and a two-degree-of-freedom motor according to the present application, which swings the upper leg and the lower leg simultaneously without causing the movements of the upper leg and the lower leg to affect each other. The structure is compact and takes up little space, and the axial space taken up by the leg drive structure of the robot is significantly reduced, which is advantageous for designing a compact robot.

[0021] In order to more clearly describe the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly describe the drawings that need to be used in the description of the specific embodiments or the prior art. It is obvious that the drawings in the following description are some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without exerting creative efforts. [Brief description of the drawings]

[0022] [Figure 1] FIG. 1 is a schematic diagram of a two-degree-of-freedom motor according to an embodiment of the present application. [Diagram 2] 2 is a cross-sectional view taken along the line AA' of the embodiment of the present invention shown in FIG. 1. [Diagram 3] FIG. 2 is a schematic diagram of a housing of a two-degree-of-freedom motor according to one embodiment of the present application. [Figure 4] FIG. 2 is a schematic diagram of an outer rotor disk of a two-degree-of-freedom motor according to an embodiment of the present application. [Figure 5A] FIG. 2 is a schematic diagram of an inner rotor disk of a two-degree-of-freedom motor according to an embodiment of the present application. [Figure 5B]FIG. 2 is a schematic diagram of an inner rotor disk of a two-degree-of-freedom motor according to an embodiment of the present application, viewed from another angle. [Figure 6] FIG. 1 is a schematic diagram of a robot thigh structure according to one embodiment of the present application. [Figure 7] FIG. 7 is a cross-sectional view taken along line BB' of one embodiment of the present invention in FIG. 6. [Figure 8] FIG. 8 is an enlarged view of part C in FIG. 7 according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] The technical solutions of the present application will be described below clearly and completely with reference to the drawings, but it is clear that the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the present application.

[0024] In the description of this application, the orientations or positional relationships indicated by terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" are based on the orientations or positional relationships shown in the drawings, and are merely for the purpose of facilitating and simplifying the description of this application, and do not indicate or imply that such devices or elements have a specific orientation or that such devices or elements must be configured and operated in a specific orientation, and therefore are not to be understood as limiting this application. Furthermore, the terms "first," "second," and "third" are used for explanatory purposes only, and should not be understood as indicating or implying relative importance.

[0025] In the description of this application, unless otherwise expressly specified or limited, the terms "attach", "couple" and "connect" should be understood in a broad sense, and may be, for example, a fixed connection, a detachable connection, or an integral connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection via an intermediate medium, or an internal communication between two elements. A person skilled in the art can understand the specific meaning of the above terms in this application depending on the situation.

[0026] Furthermore, the technical features according to each embodiment of the present application described below can be combined with each other unless they are mutually inconsistent.

[0027] A preferred embodiment of the two-degree-of-freedom motor of the present application is shown in Figures 1 and 2. This two-degree-of-freedom motor has power output ends of two degrees of freedom, and the power output ends of the two degrees of freedom can operate separately without interfering with each other, and this two-degree-of-freedom motor can drive two actuators to move simultaneously without affecting each other, has a compact overall structure, requires a small installation space, and is suitable for application scenarios where two degrees of freedom need to be output coaxially and the axial space is limited.

[0028] The two-degree-of-freedom motor includes a housing 1, an outer rotor motor, and a disk motor.

[0029] As shown in Fig. 3, the housing 1 is a support for the entire structure of the two-degree-of-freedom motor, and optionally, the housing 1 includes a bottom plate 101, in this embodiment, the bottom plate 101 is a disk-shaped structure, and a protruding housing columnar side plate 102 is formed on one side of the bottom plate 101, and in order to facilitate the arrangement of the structure, the housing columnar side plate 102 is a cylindrical structure, and the diameter of the housing columnar side plate 102 is smaller than the diameter of the bottom plate 101, and a central column 103 is further formed at the center position of the bottom plate 101, and the central column 103 is disposed within the housing columnar side plate 102. In this embodiment, the bottom plate 101, the housing columnar side plate 102, and the central column 103 are coaxially arranged, and the axial height of the central column 103 is greater than the axial height of the housing columnar side plate 102 in order to cooperate with other structures.

[0030] The outer rotor motor includes an outer rotor motor-stator assembly 201 and an outer rotor disk 202, the outer rotor motor-stator assembly 201 is fixed to the housing 1 and arranged in the circumferential direction of the housing 1, and the outer rotor disk 202 is a first degree of freedom power output end. In this embodiment, the outer rotor motor-stator assembly 201 is fixedly connected to the housing columnar side plate 102, and optionally, the outer rotor motor-stator assembly 201 is fixedly connected to the outer wall of the housing columnar side plate 102, and the outer rotor motor-stator assembly 201 is arranged in the circumferential direction of the outer wall of the housing columnar side plate 102. Optionally, the outer rotor motor in this embodiment uses a low-speed high-torque motor, and the outer rotor disk 202 is a first degree of freedom power output end, which drives the actuator to move.

[0031] 4, the outer rotor disk 202 has a circular cover-like structure as a whole, and a first assembly hole 2023 for mounting a structure such as a disk motor is formed at the center of the outer rotor disk 202. The outer rotor disk 202 has an outer rotor disk side wall 2022 extending toward the bottom plate 101, and an outer rotor motor magnetic steel 203 is mounted on the inner surface of the outer rotor disk side wall 2022, which faces the outer rotor motor-stator assembly 201. Optionally, the outer rotor motor magnetic steel 203 is disposed around the inner surface of the outer rotor disk side wall 2022 in the circumferential direction. In addition, the outer rotor disk 202 has an outer rotor disk columnar side plate 2021 protruding toward the bottom plate 101, and the outer rotor disk columnar side plate 2021 is arranged to surround the first assembly hole 2023. The outer rotor disk columnar side plate 2021 has a cylindrical structure, and the diameter of the outer rotor disk columnar side plate 2021 is smaller than the diameter of the outer rotor disk 202. In this embodiment, the outer rotor disk 202, the outer rotor disk columnar side plate 2021, the outer rotor disk side wall 2022, and the first assembly hole 2023 are arranged coaxially.

[0032] The disk motor is fitted into the outer rotor motor, and optionally, the disk motor is provided in the space surrounded by the outer rotor disk columnar side plate 2021, thus making full use of the empty space inside the outer rotor motor and making the motor structure compact. The disk motor includes a disk motor stator assembly 301 and an inner rotor disk 302, the disk motor stator assembly 301 is fixed at the center position of the housing 1, and the inner rotor disk 302 is a second degree of freedom power output end. In this embodiment, the disk motor stator assembly 301 is fixedly connected to the bottom plate 101, and optionally, the disk motor stator assembly 301 is provided in an annular shape on the bottom plate 101. Optionally, the disk motor in this embodiment is a low-speed high-torque motor, and the inner rotor disk 302 is a second degree of freedom power output end, which can drive an actuator to move.

[0033] The first degree of freedom power output end and the second degree of freedom power output end can each drive and move one actuator, that is, the two-degree-of-freedom motor of the present application can simultaneously drive two actuators and operate them respectively without interfering with each other, but of course, depending on the application, one of the power output ends of the degrees of freedom (the first degree of freedom power output end or the second degree of freedom power output end) may drive and move one actuator. And, since both the outer rotor motor and the disk motor of this embodiment use low rotation speed / high torque motors, the characteristics of low rotation speed / high torque are imparted to both of the two power output ends of the two-degree-of-freedom motor of the present application.

[0034] 5A and 5B, the inner rotor disk 302 has a circular lid-like structure as a whole, and a second assembly hole 3022 for providing other structures is formed at the center position of the inner rotor disk 302. The inner rotor disk 302 has an inner rotor disk columnar side plate 3021 protruding toward the bottom plate 101, the inner rotor disk columnar side plate 3021 has a cylindrical structure, and the diameter of the inner rotor disk columnar side plate 3021 is smaller than the diameter of the inner rotor disk 302, and in this embodiment, the inner rotor disk 302, the inner rotor disk columnar side plate 3021, and the second assembly hole 3022 are coaxially arranged. In addition, a disk motor magnetic steel 303 is provided on the inner surface of the inner rotor disk 302 facing the bottom plate 101, and the disk motor magnetic steel 303 is provided toward the disk motor-stator assembly 301, and optionally, the disk motor magnetic steel 303 is arranged circumferentially on the outside of the inner rotor disk cylindrical side plate 3021.

[0035] Optionally, the outer rotor disk 202 and the inner rotor disk 302 are arranged coaxially, and the outer rotor disk 202 and the inner rotor disk 302 have flush end faces away from the housing 1, which facilitates structural arrangement, reduces the shaft size of the motor, and saves installation space.

[0036] Optionally, an outer rotor disk bearing assembly is provided between the outer rotor disk 202 and the housing columnar side plate 102, and an inner rotor disk bearing assembly is provided between the inner rotor disk 302 and the central column 103, such that the outer rotor disk 202 and the inner rotor disk 302 are rotatable relative to the housing 1.

[0037] Optionally, the bearing assembly of the outer rotor disk includes at least one first bearing 401 and at least one first bearing positioning member 402 for axially positioning the first bearing 401, wherein the first bearing 401 is fitted into the outer rotor disk cylindrical side plate 2021 and positioned between the outer rotor disk cylindrical side plate 2021 and the housing cylindrical side plate 102, and the first bearing positioning member 402 is connected to the outer rotor disk cylindrical side plate 2021 or the housing cylindrical side plate 102. The bearing assembly of the inner rotor disk includes at least one second bearing 501 and at least one second bearing positioning member 502 for axially positioning the second bearing 501, wherein the second bearing 501 is fitted into the central column 103 and positioned between the inner rotor disk columnar side plate 3021 and the central column 103, and the second bearing positioning member 502 is connected to the central column 103.

[0038] In this embodiment, the bearing assembly of the outer rotor disk includes two first bearings 401 and two first bearing positioning members 402, the two first bearings 401 are arranged adjacent to each other and abut axially between the two first bearing positioning members 402, one of the first bearing positioning members 402 is connected to the end of the housing cylindrical side plate 102 away from the bottom plate 101, and the other of the first bearing positioning members 402 is externally fitted to the outer wall of the end of the outer rotor disk cylindrical side plate 2021 close to the bottom plate 101. Optionally, the first bearing 401 is preferably a deep groove ball bearing, and the first bearing positioning member 402 connected to the end of the housing columnar side plate 102 remote from the bottom plate 101 is specifically a first bearing gland, which is fixedly connected to the end face of the housing columnar side plate 102 remote from the bottom plate 101, and the first bearing positioning member 402 fitted onto the outer wall of the end of the outer rotor disk columnar side plate 2021 approaching the bottom plate 101 is specifically a receiving ring, which snaps into the outer rotor disk columnar side plate 2021, and both the first bearing gland and the receiving ring limit the axial positions of the two first bearings 401, thereby preventing the first bearings 401 from moving and ensuring the normal operation of the outer rotor motor. In order to further compact the structure, the inner surface of the housing columnar side plate 102 is formed with corresponding mounting groove structures for accommodating the two first bearings 401 .

[0039] Optionally, a bearing gasket 403 is provided between the two first bearings 401, which is fitted into the housing columnar side plate 102 to avoid wear caused by long-term contact of the two first bearings 401.

[0040] In this embodiment, the bearing assembly of the inner rotor disk includes two second bearings 501 and two second bearing positioning members 502, the two second bearings 501 being provided at the end of the central column 103 away from the bottom plate 101 and the end thereof approaching the bottom plate 101, respectively, one of the second bearing positioning members 502 being connected to the end of the central column 103 away from the bottom plate 101 and axially abutting the second bearing 501 provided at the end of the central column 103 away from the bottom plate 101, and the other of the second bearing positioning members 502 being connected to the outer wall of the end of the central column 103 approaching the bottom plate 101 and axially abutting the second bearing 501 provided at the end thereof approaching the bottom plate 101. Optionally, the second bearing 501 is also preferably a deep groove ball bearing, and the second bearing positioning member 502 connected to the end of the central column 103 remote from the bottom plate 101 is a second bearing gland, which is fixedly connected to the end face of the central column 103 remote from the bottom plate 101, and the second bearing gland is disposed in the second assembly hole 3022. The second bearing positioning member 502 connected to the outer wall of the end of the central column 103 close to the bottom plate 101 is a third bearing gland, which is fitted into the central column 103 and abuts against the end face of the inner rotor disk columnar side plate 3021, thereby limiting the axial position of the third bearing gland. Note that, in order to make the structure more compact, a corresponding mounting groove structure is formed on the inner surface of the inner rotor disk columnar side plate 3021 to provide two first bearings 401. Optionally, a bearing positioning ring 503 fitted into the central column 103 is provided between the two second bearings 501, and the second bearing ground, the third bearing ground and the bearing positioning ring 503 all limit the axial positions of the two second bearings 501, to prevent the second bearings 501 from moving and ensure the normal operation of the disk motor.

[0041] As shown in Figures 6 to 8, this embodiment further provides a robot, which is a leg-type robot including a thigh 6, a lower leg 7, and a two-degree-of-freedom motor according to this embodiment, in which an outer rotor disk 202 of the two-degree-of-freedom motor is connected to the upper end of the thigh 6 to drive and swing the thigh 6, and an inner rotor disk 302 of the two-degree-of-freedom motor is connected to the lower leg 7 via a synchronous belt 8 to drive and swing the lower leg 7. Of course, the robot may be equipped with other structures and members equipped in conventional robots depending on the functional settings and application scenes, and will not be described further since the present application is not related to them.

[0042] Optionally, the housing 1 is fixed to an external table of the robot, and the outer rotor disk 202 has an end face remote from the housing 1 connected to the upper end of the thigh 6, which may be connected by a fastener such as a screw, and the thigh 6 can be driven to swing by the reciprocating rotation of the outer rotor disk 202. The inner rotor disk 302 has an end face remote from the housing 1 connected to the synchronous belt roller 9, which may be connected by a fastener such as a screw, and preferably has an end face remote from the housing 1 connected coaxially to the synchronous belt roller 9, the synchronous belt 8 is wound around the synchronous belt roller 9, and the end of the synchronous belt 8 remote from the synchronous belt roller 9 is connected to the lower leg 7. The reciprocating rotation of the inner rotor disk 302 causes the synchronous belt roller 9 to rotate reciprocatingly, and further, the end of the synchronous belt 8 remote from the synchronous belt roller 9 expands and contracts, thereby causing the lower leg 7 to swing.

[0043] The provision of this two-degree-of-freedom motor makes it possible to swing the upper leg and lower leg simultaneously without their movements influencing each other, resulting in a compact structure that occupies less space and saves axial space required for the robot's leg drive structure, which is advantageous for the design of a compact robot.

[0044] In other embodiments, depending on design needs, the bearing assembly of the outer rotor disk may include one or three first bearings 401 and one or three first bearing positioning members 402, and only the positions of the first bearings 401 and the first bearing positioning members 402 need to be adjusted. Similarly, depending on design needs, the bearing assembly of the inner rotor disk may include one or three second bearings 501 and one or more second bearing positioning members 502, and only the positions of the second bearings 501 and the second bearing positioning members 502 need to be adjusted.

[0045] Obviously, the above examples are merely illustrative and are not limiting. Those skilled in the art can make various other changes or modifications based on the above description. It is not necessary and cannot be possible to cover all the embodiments here. Any obvious changes or modifications thus derived are still within the scope of protection of the present application. [Explanation of symbols]

[0046] 1. Housing 101 Bottom plate 102 Housing column side plate 103 Center Column 201 Outer rotor motor-stator assembly 202 Outer rotor disk 2021 Outer rotor disc columnar side plate 2022 Outer rotor disk sidewall 2023 1st assembly hole 203 Outer rotor motor magnetic steel 301 Disc motor stator assembly 302 Inner rotor disc 3021 Inner rotor disc columnar side plate 3022 2nd assembly hole 303 Disc motor magnetic steel 401 First bearing 402 First bearing positioning member 403 Bearing gasket 501 2nd bearing 502 Second bearing positioning member 503 Bearing Locating Ring 6 Thigh 7 Lower Legs 8 Synchronous Belt 9 Synchronous belt rollers

Claims

1. A two-degree-of-freedom motor, A housing (1); an outer rotor motor including an outer rotor motor-stator assembly (201) and an outer rotor disk (202), the outer rotor motor-stator assembly (201) being fixed to the housing (1) and arranged in the circumferential direction of the housing (1), the outer rotor disk (202) being a first degree of freedom power output end; A two-degree-of-freedom motor comprising: a disk motor fitted into the outer rotor motor, the disk motor stator assembly (301) and an inner rotor disk (302), the disk motor stator assembly (301) being fixed at a central position of the housing (1), and the inner rotor disk (302) being a second degree-of-freedom power output end.

2. 2. The two degree of freedom motor of claim 1, wherein the outer rotor disk (202) and the inner rotor disk (302) are coaxially arranged.

3. 3. The two-degree-of-freedom motor according to claim 1, wherein the outer rotor disk (202) and the inner rotor disk (302) have end faces that are flush with each other and that are remote from the housing (1).

4. The housing (1) includes a bottom plate (101), a protruding housing columnar side plate (102) is formed on one side of the bottom plate (101), and a central column (103) is further formed at the center of the bottom plate (101); The two-degree-of-freedom motor according to any one of claims 1 to 3, characterized in that an outer rotor disk bearing assembly is provided between the outer rotor disk (202) and the housing columnar side plate (102), and an inner rotor disk bearing assembly is provided between the inner rotor disk (302) and the central column (103).

5. The outer rotor disk (202) includes an outer rotor disk columnar side plate (2021) protruding toward the bottom plate (101), and the inner rotor disk (302) includes an inner rotor disk columnar side plate (3021) protruding toward the bottom plate (101), The bearing assembly of the outer rotor disk includes at least one first bearing (401) and at least one first bearing positioning member (402) for axially positioning the first bearing (401), the first bearing (401) is fitted into the outer rotor disk columnar side plate (2021) and is located between the outer rotor disk columnar side plate (2021) and the housing columnar side plate (102), and the first bearing positioning member (402) is connected to the outer rotor disk columnar side plate (2021) or the housing columnar side plate (102); The two-degree-of-freedom motor according to any one of claims 1 to 4, characterized in that the bearing assembly of the inner rotor disk includes at least one second bearing (501) and at least one second bearing positioning member (502) for axially positioning the second bearing (501), the second bearing (501) being fitted into the central column (103) and positioned between the inner rotor disk columnar side plate (3021) and the central column (103), and the second bearing positioning member (502) being connected to the central column (103).

6. the bearing assembly of the outer rotor disk includes two of the first bearings (401) and two of the first bearing positioning members (402), the two first bearings (401) are provided adjacent to each other and are axially abutted between the two first bearing positioning members (402), one of the first bearing positioning members (402) is connected to an end of the housing columnar side plate (102) away from the bottom plate (101), and the other of the first bearing positioning members (402) is fitted externally to an outer wall of an end of the outer rotor disk columnar side plate (2021) close to the bottom plate (101); the bearing assembly of the inner rotor disk includes two of the second bearings (501) and two second bearing positioning members (502), the two second bearings (501) being provided at an end of the central column (103) remote from the bottom plate (101) and an end of the central column (103) close to the bottom plate (101), one of the second bearing positioning members (502) being connected to the end of the central column (103) remote from the bottom plate (101); 6. The two-degree-of-freedom motor according to claim 5, characterized in that the other of the second bearing positioning member (502) is connected to an outer wall of an end of the central column (103) approaching the bottom plate (101) and axially abuts the second bearing (501) provided at the end of the central column (103) approaching the bottom plate (101).

7. The two-degree-of-freedom motor according to claim 6, characterized in that a bearing gasket (403) fitted to the housing columnar side plate (102) is provided between the two first bearings (401), and a bearing positioning ring (503) fitted to the central column (103) is provided between the two second bearings (501).

8. the outer rotor motor-stator assembly (201) is fixedly connected to the housing columnar side plate (102), the outer rotor disk (202) has an outer rotor disk side wall (2022) extending toward the bottom plate (101), and an outer rotor motor magnetic steel (203) is provided on an inner surface of the outer rotor disk side wall (2022), the outer rotor motor magnetic steel (203) is provided toward the outer rotor motor-stator assembly (201); The two-degree-of-freedom motor according to any one of claims 4 to 7, characterized in that the disk motor stator assembly (301) is fixedly connected to the bottom plate (101), a disk motor magnetic steel (303) is provided on an inner surface of the inner rotor disk (302) facing the bottom plate (101), and the disk motor magnetic steel (303) is provided toward the disk motor stator assembly (301).

9. 2. The two-degree-of-freedom motor according to claim 1, wherein the outer rotor motor and the disk motor are both low-speed, high-torque motors.

10. A robot, A robot comprising a thigh (6), a lower leg (7), and a two-degree-of-freedom motor according to any one of claims 1 to 9, wherein an outer rotor disk (202) of the two-degree-of-freedom motor is connected to an upper end of the thigh (6) and causes the thigh (6) to oscillate, and an inner rotor disk (302) of the two-degree-of-freedom motor is connected to the lower leg (7) via a synchronous belt (8) and causes the lower leg (7) to oscillate.

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