Motor Outer Rotor Structure, Rotating Power Means, and Quadruped Robot

Abstract

Disclosed are a motor outer rotor structure, a rotational power means, and a quadruped robot. The motor outer rotor structure includes a magnetic steel sleeve (5) extending in its axial direction such that its edge forms a border (51), and a rotor end cap (4) provided with a step (41) engaging with the border (51) at its edge. The rotor end cap (4) is fitted inside the magnetic steel sleeve (5). When the border (51) abuts against the step (41), one-way fixing of the rotor end cap (4) along the axial direction with respect to the magnetic steel sleeve (5) is realized. By sleeving the rotor end cap (4) inside the magnetic steel sleeve (5) and making the border (51) of the magnetic steel sleeve (5) abut against the step (41) of the rotor end cap (4), axial fixing of the rotor end cap (4) and the magnetic steel sleeve (5) is realized, and when the motor means receives an impact conducted from the deceleration means, the rotor end cap (4) and the magnetic steel sleeve (5) will not become disengaged.

Description

Technical Field

[0001] The present invention relates to the technical field of outer rotor motors, and particularly to the outer rotor structure of motors, the rotational power means, and quadruped robots.

Background Art

[0002] The rotational power means is one of the important components of a quadruped robot, and includes a motor means and a speed reduction means. Conventional motor means generally use an outer rotor motor. For example, Chinese Patent CN211693390 provides an electric drive rotational power means. The motor includes a stator and an outer rotor. The stator is fixed to the upper end cap. The outer rotor side support end face is away from the output end cap with respect to the stator, or the stator is fixed to the lower end cap, and the outer rotor side support end face is close to the output end cap with respect to the stator. The outer rotor and the stator are rotatably connected by a connecting member and a bearing.

[0003] In the above technical solution, the motor means uses an outer rotor motor. Regarding the specific structure of the outer rotor, referring to FIG. 1, it includes an end cap 1, a steel sleeve 2, and a magnetic steel unit 3. The edge of the end cap 1 extends radially to form a convex portion that abuts against the end face of the steel sleeve 2. The end cap 1 and the steel sleeve 2 are overlapped and partially fitted and fixed.

[0004] However, during the use process, it is inevitable that the quadruped robot falls, or suddenly receives an external impact at the hip joint, and since the direction of the instantaneous impact is not fixed, if the direction of the instantaneous impact is towards the end cap 1 along the magnetic steel unit 3, the end cap 1 and the steel sleeve 2 that are overlapped and connected will become loose or separated. Furthermore, the outer rotor and the entire quadruped robot will malfunction and cannot be used normally, which affects the service life of the robot and is disadvantageous for popularization and use.

Summary of the Invention

Problems to be Solved by the Invention

[0005] In order to overcome the defects of the prior art, an object 1 of the present invention is to provide a motor outer rotor structure, in which when subjected to an axial impact, the magnetic steel sleeve and the rotor end cap will not become detached.

[0006] An object 2 of the present invention is to provide a motor outer rotor structure, in which the rotor end cap is sleeved inside the magnetic steel sleeve, and the stopper portion of the magnetic steel sleeve abuts against the edge of the rotor end cap, thereby realizing the axial position limitation between the rotor end cap and the magnetic steel sleeve. The solution is simple, practical, and feasible.

[0007] An object 3 of the present invention is to provide a motor outer rotor structure. By the sleeving method between the rotor end cap and the magnetic steel sleeve and the position limitation of the stopper portion, when the direction of the instantaneous impact is along the magnetic steel unit towards the rotor end cap, it can effectively avoid the rotor end cap from loosening or becoming detached. Furthermore, it can ensure that the outer rotor and the entire quadruped robot can be normally used even in various extreme situations, effectively extending the service life of the robot and contributing to its popularization and use.

[0008] An object 4 of the present invention is to provide a rotational power means. In the included motor outer rotor structure, when subjected to an axial impact, the magnetic steel sleeve and the rotor end cap will not become detached.

[0009] An object 5 of the present invention is to provide a quadruped robot. In the included motor outer rotor structure, when subjected to an axial impact, the magnetic steel sleeve and the rotor end cap will not become detached.

Means for Solving the Problems

[0010] In order to achieve one of the above objects, as the first technical solution of the present invention, A motor outer rotor structure, a magnetic steel sleeve extending in its axial direction such that an edge forms a stopper portion, and a rotor end cap, wherein the rotor end cap is fitted inside the magnetic steel sleeve, and by the abutment of the stopper portion and the edge of the rotor end cap, one-way fixing of the rotor end cap along the axial direction with respect to the magnetic steel sleeve is realized.

[0011] As a preferred technical solution, the stopper portion is a bead, which is formed so as to be directly bent from the edge of the magnetic steel sleeve, is convenient for production and manufacturing, and has a low manufacturing cost.

[0012] As a preferred technical solution, a step engaging with the bead is provided at the edge of the rotor end cap, and by the abutment of the bead and the step, one-way fixing of the rotor end cap along the axial direction with respect to the magnetic steel sleeve is realized. By providing a step at the edge of the rotor end cap, the engagement between the rotor end cap and the magnetic steel sleeve becomes more compact and the volume becomes smaller.

[0013] As a preferred technical solution, a magnetic steel unit is fixed inside the magnetic steel sleeve, and the magnetic steel unit includes a magnetic steel fixing member and magnetic steel uniformly fixed to the magnetic steel fixing member.

[0014] To achieve one of the above objects, as a second technical solution of the present invention, a motor outer rotor structure, including a magnetic steel sleeve having an accommodation space and an arc-shaped rotor end cap, wherein the magnetic steel sleeve is provided with a stopper portion for restricting the movement range of the rotor end cap, and the rotor end cap is fitted inside the accommodation space of the magnetic steel sleeve, and by the abutment of the stopper portion and the edge of the rotor end cap, position restriction of the rotor end cap along the axial direction with respect to the magnetic steel sleeve is realized.

[0015] Through continuous exploration and experiments, in the present invention, the rotor end cap is sleeved inside the magnetic steel sleeve, and the stopper portion of the magnetic steel sleeve abuts against the edge of the rotor end cap, thereby realizing the axial position limitation between the rotor end cap and the magnetic steel sleeve. The solution is simple and practical, and feasible.

[0016] Furthermore, in the present invention, due to the sleeving method between the rotor end cap and the magnetic steel sleeve and the position limitation of the stopper portion, when the direction of the instantaneous impact is along the magnetic steel unit towards the rotor end cap, it can effectively avoid the rotor end cap from loosening or detaching. Moreover, it can ensure that the outer rotor and the entire quadruped robot can be normally used in various extreme situations, effectively extending the service life of the robot and contributing to its popularization and use.

[0017] As a preferred technical solution, The stopper portion is provided along the edge of the magnetic steel sleeve and extends into the accommodating space of the magnetic steel sleeve, thereby changing the open space of the accommodating space to suit various position limitation needs.

[0018] As a preferred technical solution, The stopper portion has an annular structure and is provided around the magnetic steel sleeve, so that when the rotor terminal receives an impact force, the stopper portion can provide a uniform abutting force.

[0019] Or, the stopper portion has a sheet-like structure arranged at intervals, and by only using the sheet-like structure to perform position limitation on the rotor end cap, it can meet the structural strength requirements, reduce the weight of the magnetic steel sleeve, and avoid being too heavy as a whole.

[0020] Or, the stopper portion has a pin shaft structure that can be inserted into the magnetic steel sleeve, which is convenient for removal.

[0021] As a preferred technical solution, On the periphery of the rotor end cap, a step for engaging with the stopper portion is provided, and by the contact between the stopper portion and the step, the forces received by the rotor end cap and the magnetic steel sleeve are made uniform.

[0022] Alternatively, on the edge of the rotor end cap, notches and gaps for engaging with the sheet-like structure are provided. By the communication between the notch and the gap, the sheet-like structure is screwed from the notch into the gap to securely fix the rotor end cap and the magnetic steel sleeve.

[0023] Alternatively, on the edge of the rotor end cap, an insertion hole for engaging with the pin shaft structure is provided to securely fix the rotor end cap and the magnetic steel sleeve.

[0024] To achieve one of the above objects, as a third technical solution of the present invention, A rotational power means including the above motor outer rotor structure.

[0025] To achieve one of the above objects, as a fourth technical solution of the present invention, A quadruped robot including the above motor outer rotor structure.

Effects of the Invention

[0026] In the motor outer rotor structure provided by the present invention, the rotor end cap is sleeved inside the magnetic steel sleeve, and the stopper portion of the magnetic steel sleeve abuts against the edge of the rotor end cap, thereby realizing the axial fixation of the rotor end cap and the magnetic steel sleeve. When the motor means receives the impact conducted from the deceleration means, the rotor end cap and the magnetic steel sleeve will not become disengaged.

[0027] Furthermore, in the present invention, by means of the socketing method between the rotor end cap and the magnetic steel sleeve and the position limitation of the stopper portion, when the direction of the instantaneous impact is along the magnetic steel unit towards the rotor end cap, it is possible to effectively avoid the rotor end cap from loosening or detaching. Moreover, it can be ensured that the outer rotor and the entire quadruped robot can be normally used even in various extreme situations, effectively extending the service life of the robot and contributing to its popularization and use.

[0028] According to the rotational power means provided by the present invention, in the motor outer rotor structure included, the rotor end cap is socketed inside the magnetic steel sleeve, and the stopper portion of the magnetic steel sleeve abuts against the edge of the rotor end cap, thereby realizing the axial fixation between the rotor end cap and the magnetic steel sleeve. When the motor means receives the impact conducted from the deceleration means, the rotor end cap and the magnetic steel sleeve will not become detached, and furthermore, the operating stability of the rotational power means is improved.

[0029] According to the quadruped robot provided by the present invention, in the motor outer rotor structure included, the rotor end cap is socketed inside the magnetic steel sleeve, and the stopper portion of the magnetic steel sleeve abuts against the edge of the rotor end cap, thereby realizing the axial fixation between the rotor end cap and the magnetic steel sleeve. When the motor means receives the impact conducted from the deceleration means, the rotor end cap and the magnetic steel sleeve will not become detached, and furthermore, the operating stability of the entire quadruped robot is improved.

Brief Description of the Drawings

[0030]

Figure 1

Figure 2

Figure 3

Figure 4

Best Mode for Carrying Out the Invention

[0031] Hereinafter, the present invention will be further described by combining the drawings and specific embodiments. Here, on the premise that there is no conflict, between the following-described embodiments or between the respective technical features, any combination may be made to form a new embodiment.

[0032] Unless otherwise defined, all technical and scientific terms used in the present invention have the same meaning as commonly understood by those skilled in the art of the present invention. The terms used in the present invention do not limit the present invention, but are merely for the purpose of describing specific embodiments.

[0033] As shown in FIGS. 2, 3, and 4, as a first specific embodiment of the motor outer rotor structure of the present invention, A motor outer rotor structure including a magnetic steel sleeve 5 extending in the axial direction thereof such that an edge forms a stopper portion, and a rotor end cap 4, wherein the rotor end cap 4 is fitted inside the magnetic steel sleeve 5, and by the abutment of the stopper portion and the edge of the rotor end cap 4, one-way fixing of the rotor end cap 4 along the axial direction with respect to the magnetic steel sleeve 5 is realized.

[0034] As a second specific embodiment of the motor outer rotor structure of the present invention, A motor outer rotor structure including a magnetic steel sleeve 5 having an accommodation space and a rotor end cap 4 having an arc-shaped structure.

[0035] The magnetic steel sleeve 5 is provided with a stopper portion for restricting the movement range of the rotor end cap 4. The outer diameter size of the rotor end cap 4 is smaller than the inner diameter size of the magnetic steel sleeve 5, and the width of the rotor end cap 4 is smaller than the width of the magnetic steel sleeve 5. Thus, the rotor end cap 4 is fitted inside the accommodation space of the magnetic steel sleeve 5, and by the contact between the stopper portion and the edge of the rotor end cap 4, position limitation of the rotor end cap 4 along the axial direction with respect to the magnetic steel sleeve 5 is realized.

[0036] As a first specific embodiment of the position limitation structure of the present invention, The stopper portion is a border 51, which is formed so as to be directly bent from the edge of the magnetic steel sleeve 5. It is convenient for production and manufacturing, and the manufacturing cost is low. A step 41 engaging with the border 51 is provided at the edge of the rotor end cap 4, and by the contact between the border 51 and the step 41, fixation of the rotor end cap 4 in one direction along the axial direction with respect to the magnetic steel sleeve 5 is realized. By providing the step 41 at the edge of the rotor end cap 4, the engagement between the rotor end cap 4 and the magnetic steel sleeve 5 becomes more compact and the volume becomes smaller.

[0037] The stopper portion is an annular structure, which is provided along the edge of the magnetic steel sleeve 5 and extends into the accommodation space of the magnetic steel sleeve 5. Thus, the open space of the accommodation space is changed to suit various position limitation needs.

[0038] As a second specific embodiment of the position limitation structure of the present invention, The stopper portion is a sheet-like structure arranged at intervals. By performing position limitation on the rotor end cap 4 only with the sheet-like structure, while satisfying the structural strength, the weight of the magnetic steel sleeve 5 is reduced to avoid being too heavy as a whole.

[0039] A step 41 engaging with the sheet-like structure is provided at the periphery of the rotor end cap 4, and by the contact between the stopper portion and the step 41, the mounting sizes of the rotor end cap 4 and the magnetic steel sleeve 5 become more compact.

[0040] As a third specific embodiment of the position limiting structure of the present invention, The stopper portion is a sheet-like structure arranged at intervals, and notches and gaps for engaging with the sheet-like structure are provided at the edge of the rotor end cap 4. By communicating the notches and the gaps, the sheet-like structure is screwed from the notches into the gaps to securely fix the rotor end cap 4 and the magnetic steel sleeve 5.

[0041] As a fourth specific embodiment of the position limiting structure of the present invention, The stopper portion is a pin shaft structure that can be inserted into the magnetic steel sleeve 5, and it is convenient to remove.

[0042] An insertion hole for engaging with the pin shaft structure is provided at the edge of the rotor end cap 4 to securely fix the rotor end cap 4 and the magnetic steel sleeve 5.

[0043] As a specific embodiment of the present invention with an additional magnetic steel unit 3 arranged, The magnetic steel unit 3 is fixed inside the magnetic steel sleeve 5, and the magnetic steel unit 3 includes a magnetic steel fixing member and magnetic steel uniformly fixed to the magnetic steel fixing member.

[0044] As a specific embodiment of the rotational power means of the present invention, The rotational power means includes the above-mentioned motor outer rotor structure.

[0045] As a specific embodiment of the quadruped robot of the present invention, The quadruped robot includes the above-mentioned motor outer rotor structure.

[0046] The above embodiments do not limit the protection scope of the present invention, but are only preferred embodiments of the present invention. Any non-substantial changes and replacements completed by those skilled in the art based on the present invention all belong to the scope claimed by the present invention.

Explanation of Reference Numerals

[0047] 1 ··· End cap; 2 ··· Steel sleeve; 3 ··· Magnetic steel unit; 4 ··· Rotor end cap; 41 ··· Step; 5 ··· Magnetic steel sleeve; 51 ··· Border.

Claims

1. A motor outer rotor structure comprising: a magnetic steel sleeve (5) extending in its axial direction such that its edge forms a stopper portion; a rotor end cap (4); The rotor end cap (4) is fitted inside the magnetic steel sleeve (5), and the contact between the stopper portion and the edge of the rotor end cap (4) realizes the fixing of the rotor end cap (4) in one direction along the axial direction with respect to the magnetic steel sleeve (5). A motor outer rotor structure characterized by this.

2. The stopper portion is a border (51), and is formed so as to be directly bent from the edge of the magnetic steel sleeve (5). The motor outer rotor structure according to Claim 1, characterized by this.

3. A step (41) engaging with the border (51) is provided at the edge of the rotor end cap (4), and the contact between the border (51) and the step (41) realizes the fixing of the rotor end cap (4) in one direction along the axial direction with respect to the magnetic steel sleeve (5). The motor outer rotor structure according to Claim 2, characterized by this.

4. A magnetic steel unit (3) is fixed inside the magnetic steel sleeve (5), and the magnetic steel unit (3) includes a magnetic steel fixing member and magnetic steel uniformly fixed to the magnetic steel fixing member. The motor outer rotor structure according to Claim 3, characterized by this.

5. A motor outer rotor structure comprising: a magnetic steel sleeve (5) having an accommodation space, and an arcuate rotor end cap (4); The magnetic steel sleeve (5) is provided with a stopper portion for restricting the movement range of the rotor end cap; The rotor end cap (4) is fitted inside the accommodation space of the magnetic steel sleeve (5), and the contact between the stopper portion and the edge of the rotor end cap (4) realizes the position restriction of the rotor end cap (4) in one direction along the axial direction with respect to the magnetic steel sleeve (5). A motor outer rotor structure characterized by this.

6. The stopper portion is provided along the edge of the magnetic steel sleeve (5) and extends into the accommodation space of the magnetic steel sleeve, thereby changing the open space of the accommodation space. The motor outer rotor structure according to Claim 5, characterized by this.

7. The stopper portion has an annular structure and is provided around the magnetic steel sleeve. Alternatively, the stopper portion is a sheet-like structure arranged at intervals. Alternatively, the stopper portion is a pin shaft structure that can be inserted into a magnetic steel sleeve, and the motor outer rotor structure according to claim 6 is characterized in that.

8. A step (41) for engaging with the stopper portion is provided at the periphery of the rotor end cap (4), and the stopper portion is brought into contact with the step (41). Alternatively, a notch and a gap for engaging with the sheet-like structure are provided at the edge of the rotor end cap (4). By communicating the notch and the gap, the sheet-like structure is screwed from the notch into the gap. Alternatively, an insertion hole for engaging with the pin shaft structure is provided at the edge of the rotor end cap (4), and the motor outer rotor structure according to claim 7 is characterized in that.

9. A rotational power means, characterized by including the motor outer rotor structure according to any one of claims 1 to 8.

10. A quadruped robot, characterized by including the motor outer rotor structure according to any one of claims 1 to 8, or the rotational power means according to claim 9.

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