Two-degree-of-freedom 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 two-degree-of-freedom motors and robots. [Background technology]

[0002] With the advancement of science and technology, the applications of robots are becoming more and more widespread, and robots can assist humans or replace humans in performing heavy or dangerous tasks, making the application of robots extremely important to industrial production and scientific research. Among them, foot-type robots have a foot-like structure and can automatically change shape according to different terrains, making them highly adaptable to terrain, allowing them to walk on complex surfaces and even perform many complex movements such as running, climbing stairs, and jumping. With a high degree of automation, they are widely used in fields such as home service, transportation, and patrol inspection.

[0003] In existing leg-type robots, the leg structure consists of a thigh and a lower leg, and each of the thigh and lower leg is driven by two coaxial motors, one of which controls the movement of the thigh, and the other of which controls the movement of the lower leg. However, because the two motors are connected in series, this leg drive structure has a large axial volume and requires a large installation space, making it difficult to make the robot's leg structure compact. Summary of the Invention [Problem to be solved by the invention]

[0004] Therefore, the purpose of this 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 can solve the drawbacks of conventional foot-type robots, which have a non-compact leg drive structure and large installation space. [Means for solving the problem]

[0005] This application is 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 the 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, including a disk motor fitted into the outer rotor motor and including 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 for 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 the two-degree-of-freedom motor, the outer rotor disc and the inner rotor disc are flush with each other 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 columnar 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 for 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 being provided adjacent to each other and axially abutting between the two first bearing positioning members, one of the first bearing positioning members being connected to an end of the housing cylindrical side plate remote from the bottom plate, and the other of the first bearing positioning members being fitted externally to an outer wall of the end of the outer rotor disk cylindrical 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 center column remote from the bottom plate and the end close to the bottom plate, respectively, one of the second bearing positioning members being connected to the end of the center column remote from the bottom plate and axially abutting the second bearing provided at the end of the center column remote from the bottom plate, and the other second bearing positioning member being connected to the outer wall of the end of the center column close to the bottom plate and axially abutting the second bearing provided at the end of the center column close to 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 the inner surface of the inner rotor disk facing the bottom plate, and the disk motor magnetic steel is provided facing 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 the 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 the 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. [Effects of the Invention]

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

[0016] (1) The 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, the disk motor being fitted within the outer rotor motor and including 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 and move two actuators without affecting each other, but of course, only one of the power output terminals with one degree of freedom may be used depending on the application. Furthermore, by providing a disk motor inside the outer rotor motor, the internal space of the outer rotor motor is fully utilized, making the overall structure compact and rational, reducing installation space and making it applicable to situations where axial space is limited. Furthermore, such a two-degree-of-freedom motor achieves the characteristic of outputting low rotation speeds 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 where axial space is limited.

[0017] (2) In the two-degree-of-freedom motor of the present application, the outer rotor disk and inner rotor disk are arranged coaxially, which makes it easier to arrange the structures of the outer rotor motor and disk motor, making the overall motor structure more compact and rational, and suitable for applications where two degrees of freedom need to be output coaxially and 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 the end face away from the housing, which reduces the axial size of the two-degree-of-freedom motor, making the motor structure more compact and reducing the axial space it occupies.

[0019] (4) In the two-degree-of-freedom motor of 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 a thigh, a lower leg, and a two-degree-of-freedom motor according to the present application. This two-degree-of-freedom motor swings the thigh and the lower leg simultaneously, and the movements of the thigh and the lower leg do not affect each other. The structure is compact, occupies a small space, and the axial space occupied 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 to describe the specific embodiments or the prior art. However, the drawings in the following description are only some embodiments of the present application, and it is obvious that those skilled in the art can obtain other drawings based on these drawings without any creative efforts. [Brief explanation of the drawings]

[0022] [Figure 1] 1 is a schematic diagram of a two-degree-of-freedom motor according to an embodiment of the present application. [Figure 2] FIG. 2 is a cross-sectional view taken along the line AA′ of the embodiment of the present invention shown in FIG. [Figure 3] FIG. 1 is a schematic diagram of a housing of a two-degree-of-freedom motor according to an 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 view of the inner rotor disk of the 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 an embodiment of the present application. [Figure 7] FIG. 7 is a cross-sectional view taken along line BB' of the embodiment of the present invention shown 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 INVENTION

[0023] The following clearly and completely describes the technical solutions of the present application with reference to the drawings, but it is clear that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without any creative work fall within the scope of protection 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 intended merely to facilitate and simplify the description of this application, and do not indicate or imply that a particular orientation exists or that such devices or elements must be configured or operate in a particular orientation, and therefore should not be understood as limiting this application. Furthermore, the terms "first," "second," and "third" are used for descriptive 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 refer to, 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 internal communication between two elements. Those skilled in the art will be able to understand the specific meaning of the above terms in this application depending on the context.

[0026] Furthermore, the technical features according to the embodiments 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 terminals with two degrees of freedom, which can operate independently without interfering with each other, and can simultaneously drive two actuators to move without affecting each other. The two-degree-of-freedom motor has a compact overall structure and small installation space, and is suitable for applications where the two degrees of freedom need to be output coaxially and axial space is limited.

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

[0029] 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, and in this embodiment, the bottom plate 101 has 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 has 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 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 in order to cooperate with other structures, the axial height of the central column 103 is greater than the axial height of the housing columnar side plate 102.

[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 cylindrical side plate 102, and optionally, the outer rotor motor-stator assembly 201 is fixedly connected to the outer wall of the housing cylindrical side plate 102 and arranged in the circumferential direction of the outer wall of the housing cylindrical side plate 102. Optionally, the outer rotor motor in this embodiment is a low-speed, high-torque motor, and the outer rotor disk 202 is a first degree of freedom power output end that drives an actuator to move.

[0031] 4, the outer rotor disk 202 has a circular lid-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 arranged circumferentially on the inner surface of the outer rotor disk side wall 2022. In addition, the outer rotor disk 202 has an outer rotor disk columnar side plate 2021 that protrudes 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 disc motor is fitted into the outer rotor motor, and optionally, the disc motor is disposed within the space surrounded by the outer rotor disc columnar side plate 2021, thus fully utilizing the empty space inside the outer rotor motor and making the motor structure compact. The disc motor includes a disc motor stator assembly 301 and an inner rotor disc 302, where the disc motor stator assembly 301 is fixed at the center position of the housing 1, and the inner rotor disc 302 is a second degree of freedom power output end. In this embodiment, the disc motor stator assembly 301 is fixedly connected to the bottom plate 101, and optionally, the disc motor stator assembly 301 is disposed annularly on the bottom plate 101. Optionally, the disc motor in this embodiment is a low-speed, high-torque motor, and the inner rotor disc 302 is a second degree of freedom power output end that can drive an actuator to move.

[0033] The first and second degree-of-freedom power output terminals can each drive and move one actuator; that is, the two-degree-of-freedom motor of the present application can drive two actuators simultaneously and operate them without interfering with each other. However, depending on the application, one of the power output terminals of one of the degrees of freedom (the first or second degree-of-freedom power output terminal) may also drive and move one actuator. Furthermore, since both the outer rotor motor and the disk motor of this embodiment are low rotation speed, high torque motors, the two power output terminals of the two-degree-of-freedom motor of the present application are each endowed with the characteristics of low rotation speed and high torque.

[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 mounting other structures is formed at the center of the inner rotor disk 302. The inner rotor disk 302 has an inner rotor disk columnar side plate 3021 that protrudes toward the bottom plate 101, and 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 arranged coaxially. 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 outside the inner rotor disk columnar 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, and 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 is 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, 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.

[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 are axially abutted 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 member 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 cylindrical 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 cylindrical 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 cylindrical side plate 2021 close to the bottom plate 101 is specifically a bearing ring, which snaps into the outer rotor disk cylindrical side plate 2021, and both the first bearing gland and the bearing ring limit the axial position of the two first bearings 401, preventing the first bearings 401 from moving and ensuring 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 fitted into the housing columnar side plate 102 is provided between the two first bearings 401 to avoid wear caused by long-term contact between 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 close to 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 close to the bottom plate 101 of the central column 103 and axially abutting the second bearing 501 provided at the end close to the bottom plate 101 of the central column 103. 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 closer 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 cylindrical side plate 3021, thereby limiting the axial position of the third bearing gland. Note that, to further compact the structure, the inner surface of the inner rotor disk cylindrical side plate 3021 is formed with corresponding mounting groove structures for accommodating the 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 gland, the third bearing gland, and the bearing positioning ring 503 all limit the axial position of the two second bearings 501, preventing the second bearings 501 from moving and ensuring 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 the thigh 6 to swing, 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 the lower leg 7 to swing. Of course, the robot may be equipped with other structures and members that are included in conventional robots depending on the functional settings and application scenarios, and as this application is not related to them, further description will not be given.

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

[0043] The provision of this two-degree-of-freedom motor makes it possible to swing the thigh and lower leg simultaneously without the movements of the thigh and lower leg affecting 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 designing a more 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 it is only necessary to adjust the positions of the first bearings 401 and the first bearing positioning members 402. 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 it is only necessary to adjust the positions of the second bearings 501 and the second bearing positioning members 502.

[0045] Obviously, the above examples are merely illustrative examples for the purpose of clarity, 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 embodiments here. Any obvious changes or modifications thus derived still fall 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 disc 2021 Outer rotor disc columnar side plate 2022 outer rotor disk sidewall 2023 First 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 Second assembly hole 303 Disc motor magnetic steel 401 First bearing 402 First bearing positioning member 403 Bearing gasket 501 Second 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), and the outer rotor disk (202) being a first degree of freedom power output end; a disk motor fitted into the outer rotor motor and including a 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; The housing (1) includes a bottom plate (101), a protruding housing columnar side plate (102) formed on one side of the bottom plate (101), and a central column (103) further formed at the center of the bottom plate (101); 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 center column (103); 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) being fitted into the outer rotor disk columnar side plate (2021) and being located between the outer rotor disk columnar side plate (2021) and the housing columnar side plate (102), and the first bearing positioning member (402) being connected to the outer rotor disk columnar side plate (2021) or the housing columnar side plate (102); a bearing assembly of the inner rotor disk including 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).

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

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

4. 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) being provided adjacent to each other and axially abutting between the two first bearing positioning members (402), one of the first bearing positioning members (402) being connected to an end of the housing columnar side plate (102) remote from the bottom plate (101), and the other of the first bearing positioning member (402) being externally fitted 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 thereof close to the bottom plate (101), respectively, one of the second bearing positioning members (502) being connected to the end of the central column (103) remote from the bottom plate (101); 2. The two-degree-of-freedom motor according to claim 1, wherein the other of the second bearing positioning member (502) is connected to an outer wall of the end of the central column (103) that is close to the bottom plate (101) and is in axial contact with the second bearing (501) provided at the end of the central column (103) that is close to the bottom plate (101).

5. The two-degree-of-freedom motor according to claim 4, characterized in that a bearing gasket (403) fitted into the housing columnar side plate (102) is provided between the two first bearings (401), and a bearing positioning ring (503) fitted into the central column (103) is provided between the two second bearings (501).

6. 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 the inner surface of the outer rotor disk side wall (2022), and the outer rotor motor magnetic steel (203) is provided toward the outer rotor motor-stator assembly (201); 2. The two-degree-of-freedom motor according to claim 1, wherein the disk motor stator assembly (301) is fixedly connected to the bottom plate (101), and 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 facing the disk motor stator assembly (301).

7. 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.

8. 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 7, 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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