Electric motor shaft fixing structure, electric motor assembly and travelling mechanism

Abstract

The present application relates to the field of robots, and specifically relates to an electric motor shaft fixing structure, an electric motor assembly and a travelling mechanism. The electric motor shaft fixing structure comprises a shaft sleeve, a clamping member, a bearing member and a locking member, wherein an inner cavity of the shaft sleeve comprises a shaft chamber for accommodating an electric motor shaft and a clamping gap communicating with the shaft chamber; the clamping member is arranged in the clamping gap and is fixedly connected to the shaft sleeve to clamp the electric motor shaft disposed in the shaft chamber; the bearing member has a mounting cavity, the shaft sleeve is inserted into the mounting cavity from an opening at one end of the mounting cavity, and a locking opening communicating with the mounting cavity is provided at the bottom of the bearing member; and the locking member engages with the shaft sleeve through the locking opening and is fixedly connected to the bearing member, thereby locking the shaft sleeve onto the bearing member. During installation, it is only necessary to sleeve the shaft sleeve over the electric motor shaft, insert the clamping member into the clamping gap, insert the electric motor shaft, the shaft sleeve and the clamping member together into the mounting cavity of the bearing member, and then lock the shaft sleeve onto the bearing member by means of the locking member, so that the electric motor shaft can be fixed to the bearing member. The structure is simple, and installation is convenient.

Description

Motor shaft fixing structure, motor assembly and walking mechanism TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a motor shaft fixing structure, a motor assembly and a walking mechanism. BACKGROUND

[0002] The walking mechanism includes a walking wheel, a wheel hub motor and a motor shaft assembled together, and the motor shaft of the walking mechanism is fixed to a main body of a machine body. In the prior art, the fixing structure of the motor shaft is complex and inconvenient to install. Therefore, how to provide a motor shaft fixing structure, a motor assembly and a walking mechanism with simple structure and convenient installation has become a technical problem to be solved. SUMMARY

[0003] The main purpose of the present application is to provide a motor shaft fixing structure, a motor assembly and a walking mechanism to solve the technical problem of complex fixing structure and inconvenient installation of the existing motor shaft.

[0004] To achieve the above-mentioned purpose, in a first aspect, the present application provides a motor shaft fixing structure, comprising:

[0005] A shaft sleeve, an inner cavity of the shaft sleeve includes a shaft cavity for accommodating a motor shaft and a clamping gap communicating with the shaft cavity;

[0006] A clamping piece, the clamping piece is arranged in the clamping gap and fixedly connected with the shaft sleeve, so as to clamp the motor shaft arranged in the shaft cavity;

[0007] A bearing piece, the bearing piece has a mounting cavity, the shaft sleeve is inserted into the mounting cavity from one end of the mounting cavity, and the bottom of the bearing piece has a locking opening communicating with the mounting cavity;

[0008] A locking piece, the locking piece is engaged with the shaft sleeve through the locking opening and fixedly connected with the bearing piece, so as to lock the shaft sleeve on the bearing piece.

[0009] The motor shaft fixing structure provided by the embodiment of the present application comprises a shaft sleeve, a clamping piece, a bearing piece and a locking piece. The inner cavity of the shaft sleeve comprises a shaft cavity for accommodating the motor shaft and a clamping gap communicating with the shaft cavity. The clamping piece is arranged in the clamping gap and fixedly connected with the shaft sleeve to clamp the motor shaft arranged in the shaft cavity. The bearing piece has a mounting cavity. The shaft sleeve is inserted into the mounting cavity from one end of the mounting cavity. The bottom of the bearing piece has a locking opening communicating with the mounting cavity. The locking piece is engaged with the shaft sleeve through the locking opening and fixedly connected with the bearing piece to lock the shaft sleeve on the bearing piece. During installation, the shaft sleeve is only needed to be sleeved on the motor shaft, the clamping piece is inserted into the clamping gap, the motor shaft, the shaft sleeve and the clamping piece are inserted into the mounting cavity of the bearing piece, and the shaft sleeve is locked on the bearing piece through the locking piece. The motor shaft fixing structure can fix the motor shaft on the bearing piece, and the structure is simple and convenient to install.

[0010] In an alternative embodiment, the outer circumferential surface of the shaft sleeve has at least one first limiting protrusion; the inner wall of the mounting cavity is further provided with a first limiting groove extending in the axial direction, and the first limiting protrusion is engaged in the first limiting groove.

[0011] In an alternative embodiment, the number of the first limiting protrusions is two, the two first limiting protrusions are arranged in the axial direction at intervals, a limiting groove opposite to the locking opening is formed between the two first limiting protrusions, the first limiting groove is divided into two sub-limiting grooves by the locking opening; the locking piece has a locking protrusion, and the locking protrusion is arranged in the limiting groove through the locking opening.

[0012] In an alternative embodiment, the shaft sleeve is in a cylindrical shape, the bottom wall of the limiting groove is a plane, the bottom of the locking protrusion is a flat portion, and the bottom of the locking protrusion is fitted with the bottom wall of the limiting groove.

[0013] In an alternative embodiment, the outer circumferential surface of the shaft sleeve further has a second limiting protrusion, the second limiting protrusion is arranged at intervals with the first limiting protrusion in the circumferential direction, the inner wall of the mounting cavity is further provided with a second limiting groove extending in the axial direction, and the second limiting protrusion is engaged in the second limiting groove.

[0014] In an alternative embodiment, the second limiting protrusion is arranged opposite to the first limiting protrusion in the radial direction of the shaft sleeve, and the locking piece and the bearing piece are fixed in the direction in which the first limiting protrusion points to the second limiting protrusion.

[0015] In an alternative embodiment, the second limiting protrusion comprises a first limiting protruding strip and a second limiting protruding strip arranged oppositely in the circumferential direction, one end of the sleeve is formed with a limiting gap between the first limiting protruding strip and the second limiting protruding strip, the outer circumferential surface of the clamping member is provided with a limiting protruding block, the limiting protruding block is arranged in the limiting gap, and the two ends of the limiting protruding block in the circumferential direction respectively abut against the two side walls of the limiting gap in the circumferential direction.

[0016] In an alternative embodiment, the clamping member is arc-shaped, and the two ends of the clamping member in the circumferential direction respectively abut against the two side walls of the clamping gap in the circumferential direction.

[0017] In a second aspect, the embodiment provides a motor assembly, comprising at least one motor and the motor shaft fixing structure as described above, the motor comprises a motor body and a motor shaft connected to the motor body in the axial direction, and the motor shaft is clamped in the sleeve under the action of the clamping member.

[0018] The motor assembly provided by the embodiment of the present application comprises a motor body and a motor shaft connected to the motor body in the axial direction, a motor shaft fixing structure, the motor shaft fixing structure comprises a sleeve, a clamping member, a bearing member and a locking member, the inner cavity of the sleeve comprises a shaft chamber for accommodating the motor shaft and a clamping gap communicating with the shaft chamber; the clamping member is arranged in the clamping gap and fixedly connected to the sleeve to clamp the motor shaft arranged in the shaft chamber; the bearing member has a mounting cavity, the sleeve is inserted into the mounting cavity from one end opening of the mounting cavity, and the bottom of the bearing member has a locking opening communicating with the mounting cavity; the locking member engages with the sleeve through the locking opening and is fixedly connected to the bearing member to lock the sleeve on the bearing member. When installing, only the sleeve needs to be sleeved on the motor shaft of the motor, and the clamping member needs to be inserted into the clamping gap. The motor shaft is clamped in the sleeve under the action of the clamping member. Then, the motor shaft, the sleeve and the clamping member are inserted into the mounting cavity of the bearing member, and the sleeve is locked on the bearing member through the locking member to configure the motor on the bearing member. The motor shaft fixing structure of the motor assembly can fix the motor assembly on the bearing member, which is simple in structure and convenient to assemble.

[0019] In an alternative embodiment, the outer circumferential surface of the motor shaft is provided with a clamping groove, the inner cavity wall surface of the sleeve is provided with a clamping protrusion, and the clamping protrusion engages with the clamping groove to prevent the motor shaft from moving and rotating relative to the sleeve in the axial direction.

[0020] In an alternative embodiment, the two ends of the through hole arranged in the axial direction of the bearing member are respectively formed with two mounting cavities, and the bottom of the bearing member is provided with two locking openings arranged in the axial direction; the two sides of the locking member are provided with a locking protrusion corresponding to each locking opening, and the number of the sleeve, the clamping member and the motor is two. Each sleeve and each clamping member installs one motor shaft in one mounting cavity.

[0021] In a third aspect, the embodiment provides a walking mechanism, comprising a body main body, at least one pair of walking wheels and at least one set of the motor assembly, each of the motor is fixed to one of the walking wheels along the axial direction, the bearing is arranged on the body main body, and the mounting cavity is arranged on the rear end of the bearing.

[0022] The walking mechanism provided by the embodiment of the application comprises at least one pair of walking wheels and at least one set of the motor assembly. The motor assembly comprises a motor main body and a motor shaft connected to the motor main body along the axial direction, and a motor shaft fixing structure. The motor shaft fixing structure comprises a shaft sleeve, a clamping piece, a bearing and a locking piece. The inner cavity of the shaft sleeve comprises a shaft cavity chamber for accommodating the motor shaft and a clamping gap communicating with the shaft cavity chamber. The clamping piece is arranged in the clamping gap and fixedly connected to the shaft sleeve to clamp the motor shaft arranged in the shaft cavity chamber. The body main body has a mounting cavity. The shaft sleeve is inserted into the mounting cavity from one end opening of the mounting cavity. The bottom of the body main body has a locking opening communicating with the mounting cavity. The locking piece is engaged with the shaft sleeve through the locking opening and fixedly connected to the body main body to lock the shaft sleeve on the body main body. During installation, the shaft sleeve is only needed to be sleeved on the motor shaft of the motor, and the clamping piece is inserted into the clamping gap. The motor shaft is clamped in the shaft sleeve under the action of the clamping piece. Then, the walking wheel, the motor shaft, the shaft sleeve and the clamping piece are inserted into the mounting cavity of the body main body. Finally, the shaft sleeve is locked on the body main body through the locking of the locking piece to arrange the walking wheel on the body main body. The motor assembly of the walking mechanism can fix the walking wheel on the body main body, and the structure is simple and convenient to assemble. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments.

[0024] FIG. 1 is a front perspective view of a walking mechanism provided by an embodiment of the application;

[0025] FIG. 2 is a bottom perspective view of a walking mechanism provided by an embodiment of the application;

[0026] FIG. 3 is a partial view of the bottom of a walking mechanism provided by an embodiment of the application;

[0027] FIG. 4 is a partial exploded view of the bottom of a walking mechanism provided by an embodiment of the application;

[0028] FIG. 5 is a structural schematic view of a shaft sleeve provided by an embodiment of the application;

[0029] FIG. 6 is a structural exploded view of a motor, a shaft sleeve and a clamping piece provided by an embodiment of the application;

[0030] FIG. 7 is a structural exploded view of a motor, a shaft sleeve and a clamping piece provided by an embodiment of the application;

[0031] Fig. 8 is a structural assembly view of a motor, a shaft sleeve and a clamping member according to an embodiment of the present application;

[0032] Fig. 9 is a bottom surface structural schematic view of a chassis according to an embodiment of the present application;

[0033] Fig. 10 is a bottom surface structural schematic view of a chassis according to an embodiment of the present application;

[0034] Fig. 11 is a structural exploded schematic view of a motor, a shaft sleeve and a clamping member according to an embodiment of the present application;

[0035] Fig. 12 is a structural assembly view of a motor, a shaft sleeve and a clamping member according to an embodiment of the present application;

[0036] Fig. 13 is a partial enlarged schematic view of the A area according to Fig. 10;

[0037] Fig. 14 is a side view of a chassis according to an embodiment of the present application. DETAILED DESCRIPTION

[0038] The technical solutions of the present application will be described clearly and completely below with reference to the drawings. Obviously, the embodiments described in the present application are only some of the embodiments, but not all the embodiments. Based on the embodiments provided in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0039] In the present application, the phrase "embodiment" means that the specific features, structures or characteristics described in connection with the embodiment can be included in at least one embodiment of the present application. The appearance of this phrase at various places in the specification does not necessarily mean the same embodiment, nor is it an independent or alternative embodiment to other embodiments. Those skilled in the art can explicitly and implicitly understand that the embodiments described in the present application can be combined with other embodiments.

[0040] The terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish different objects, and are not used to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example: an assembly or device including one or more components is not limited to the listed one or more components, but can optionally include one or more components not listed but inherent to the product exemplified, or one or more components that should be included based on the described function.

[0041] Referring to FIG. 1, an embodiment of the present application provides a walking mechanism 100, which comprises a body main body 11, at least one pair of walking wheels 12, and at least one set of motor assemblies 13. In FIG. 1, the upper part of the body main body 11 is omitted

[0042] The walking mechanism 100 includes, but is not limited to, self-moving and self-walking devices such as intelligent lawn mowers, intelligent cleaning robots, intelligent trolleys, intelligent watering carts, etc.

[0043] Referring to FIGS. 1 and 2, the body main body 11 further comprises, but is not limited to, a chassis 14, a top cover 15, a battery assembly, etc. The chassis 14 is a main bearing member for bearing most of the structures. The top cover 15 is covered on the chassis 14, and the top cover 15 and the chassis 14 form a containing space to contain the battery assembly, etc. In FIGS. 1 and 2, the upper part of the top cover 15 is omitted.

[0044] Referring to FIGS. 1 and 2, the walking mechanism 100 further comprises a working unit 16, which comprises, but is not limited to, a cutter disc assembly, a dust suction assembly, a cleaning assembly. The working unit 16 is arranged at the bottom of the body main body 11 and is used to perform a preset working task. The preset working task includes, but is not limited to, mowing, grass cutting, dust suction cleaning, etc. In this embodiment, the walking mechanism 100 is taken as an intelligent lawn mower to specifically illustrate the inventive concept of the present application, and other structures can refer to the inventive concept described below. In this embodiment, the working unit 16 is taken as a cutter disc assembly to illustrate the inventive concept of the present application. The cutter disc assembly is arranged in the containing space formed by the top cover 15 and the chassis 14.

[0045] Referring to FIGS. 1 to 3, each motor assembly 13 is fixed to one walking wheel 12 in the axial direction. Optionally, the walking mechanism 100 comprises a pair of walking wheels 12 and a set of motor assemblies 13. Each motor assembly 13 is fixed to one walking wheel 12 in the axial direction. A pair of walking wheels 12 and motor assemblies 13 are symmetrically arranged on both sides of the walking mechanism 100 in the width direction. A pair of walking wheels 12 and motor assemblies 13 are referred to as a drive wheel assembly 17.

[0046] Optionally, referring to FIGS. 1 to 3, the drive wheel assembly 17 is installed at a position close to the rear end of the chassis 14. The rear end in the present application is an end arranged opposite to the front end. The rear end in the present application is the end position in the backward direction of the walking mechanism 100. The motor assembly 13 drives the walking wheel 12 to roll, and the walking wheel 12 rubs against the ground to form a driving force for moving the walking mechanism 100. By controlling the rotating direction and rotating speed of the pair of walking wheels 12, the walking mechanism 100 can move forward, backward, turn left, turn right, and steer, etc.

[0047] In this embodiment, as shown in FIGS. 1-3, the walking mechanism 100 further comprises a universal wheel assembly 18, which is installed on the chassis 14 near the front end. The front end herein refers to the end position of the walking mechanism 100 in the direction D1 of movement. The universal wheel assembly 18 can freely steer in the horizontal reference plane to move flexibly in various directions, so that the walking mechanism 100 can maintain stable balance in different environments. The universal wheel assembly 18 and the driving wheel assembly 17 are arranged on the bottom of the body 11 in front and back of each other, to drive the body part of the walking mechanism 100 to move. The direction of movement of the walking mechanism 100 is the direction in which the driving wheel assembly 17 points to the universal wheel assembly 18.

[0048] In other embodiments, the walking mechanism 100 comprises two pairs of walking wheels 12 and two groups of motor assemblies 13. Each motor assembly 13 is fixed to one of the walking wheels 12 in the axial direction. One pair of walking wheels 12 and motor assemblies 13 is referred to as a driving wheel assembly 17. The two groups of driving wheel assemblies 17 are arranged in front and back of each other in the direction of movement of the walking mechanism 100.

[0049] As shown in FIG. 4, the motor assembly 13 comprises at least one motor 19 and a motor shaft fixing structure 20. For example, the motor assembly 13 comprises one motor 19. The motor 19 comprises a motor body 21 and a motor shaft 22 connected to the motor body 21 in the axial direction. Optionally, the motor body 21 is fixedly connected to the center of the walking wheel 12. The motor body 21 can be packaged together with the walking wheel 12. The motor 19 is a hub motor. When the motor 19 works, it drives the walking wheel 12 to rotate. The motor shaft 22 is fixedly connected to the center of the motor body 21. The motor shaft fixing structure 20 is arranged on the side of the motor shaft 22 away from the walking wheel 12. The walking wheel 12, the motor body 21, and the motor shaft 22 are fixedly connected in sequence in the axial direction.

[0050] As shown in FIG. 4, the motor shaft fixing structure 20 comprises a shaft sleeve 23, a clamping member 24, a bearing member 26, and a locking member 27.

[0051] As shown in FIG. 5, the inner cavity of the shaft sleeve 23 comprises a shaft cavity 28 for accommodating the motor shaft 22 and a clamping gap 29 communicating with the shaft cavity 28.

[0052] Specifically, please refer to FIGS. 6-8, the shaft sleeve 23 is a hollow structure. The inner cavity of the shaft sleeve 23 is a special-shaped space. The shaft cavity 28 of the motor shaft 22 is a cylindrical through hole or a through hole close to a cylinder. After the motor shaft 22 is arranged in the shaft cavity 28, the clamping gap 29 is formed between the outer peripheral wall of the motor shaft 22 and the inner wall of the shaft sleeve 23. The shape of the clamping gap 29 is not limited in the present application. For example, the clamping gap 29 has a small thickness in the radial direction. Alternatively, the thickness of the clamping gap 29 in the radial direction is smaller than the thickness of the shaft sleeve 23 in the radial direction. Further, the thickness of the clamping gap 29 in the radial direction is smaller than 1 / 2 of the thickness of the shaft sleeve 23 in the radial direction, so as to ensure that the thickness of the shaft sleeve 23 in the radial direction has a certain thickness and good strength in the region where the clamping gap 29 is arranged.

[0053] Please refer to FIGS. 6-8, the clamping gap 29 has a certain arc in the circumferential direction. The arc of the clamping gap 29 in the circumferential direction is not limited in the present application. Alternatively, the arc of the clamping gap 29 in the circumferential direction is smaller than 180 degrees, so that the size of the clamping gap 29 arranged in the shaft sleeve 23 is small, and more regions of the shaft sleeve 23 have a large thickness, so as to ensure that the shaft sleeve 23 has good structural strength.

[0054] The size of the clamping gap 29 in the axial direction is smaller than or equal to the size of the shaft sleeve 23 in the axial direction. In the present embodiment, the size of the clamping gap 29 in the axial direction is equal to the size of the shaft sleeve 23 in the axial direction, so as to simplify the machining process of the clamping gap 29, and the axial clamping length of the clamping gap 29 is relatively long. In other embodiments, the size of the clamping gap 29 in the axial direction is smaller than the size of the shaft sleeve 23 in the axial direction, so that the axial size of the clamping gap 29 arranged in the shaft sleeve 23 is small, and the thickness of the part of the shaft sleeve 23 where the clamping gap 29 is not arranged is uniform in the circumferential direction.

[0055] Please refer to FIGS. 6-8, the clamping member 24 is arranged in the clamping gap 29 and fixedly connected with the shaft sleeve 23, so as to clamp the motor shaft 22 arranged in the shaft cavity 28. Specifically, after the motor shaft 22 is arranged in the shaft cavity 28, the clamping member 24 is arranged in the clamping gap 29, and the clamping member 24 and the shaft sleeve 23 are fixed in the axial direction, so that the clamping member 24 and the shaft sleeve 23 are fixedly connected as a whole. The motor shaft 22 is clamped in the shaft sleeve 23 under the action of the clamping member 24. Specifically, the clamping member 24 and the shaft sleeve 23 can clamp the motor shaft 22 in the axial and circumferential directions, and the clamping member 24, the shaft sleeve 23, the motor shaft 22, the motor body 21 and the traveling wheel 12 are fixedly connected as a whole.

[0056] Referring to Fig. 2, the carrier 26 is arranged on the main body 11. Alternatively, the carrier 26 is a part of the chassis 14. Further alternatively, the carrier 26 is a part of the rear end of the chassis 14. The carrier 26 has a through hole. The through hole is arranged along the width direction of the walking mechanism 100 (the axial direction of the motor shaft 22), and the two ends of the through hole are open to form two symmetrically arranged mounting cavities 25. Each mounting cavity 25 is used to mount an axle sleeve 23, a clamping member 24 and a motor shaft 22.

[0057] Referring to Figs. 9 and 10, the carrier 26 has a mounting cavity 25. Alternatively, the mounting cavity 25 is arranged at the rear end of the carrier 26. The axle sleeve 23 is inserted into the mounting cavity 25 from one end of the mounting cavity 25. The upper part of the chassis 14 in Figs. 9 and 10 has been omitted.

[0058] Referring to Figs. 9 and 10, the bottom of the carrier 26 has a locking opening 30 communicating with the mounting cavity 25.

[0059] The locking member 27 engages the axle sleeve 23 through the locking opening 30 and fixedly connects the carrier 26, so as to lock the axle sleeve 23 on the carrier 26, thereby assembling one driving wheel assembly 17 on one side of the chassis 14. In the above manner, another driving wheel assembly 17 is assembled on the other side of the chassis 14, so as to assemble a pair of driving wheel assemblies 17 on the chassis 14.

[0060] The axle sleeve 23 and the clamping member 24 of the motor shaft fixing structure 20 are sleeved on the periphery of the motor shaft 22 and arranged in the axial mounting cavity 25 of the main body 11. The locking member 27 of the motor shaft fixing structure 20 fixes the axle sleeve 23 and the clamping member 24 of the motor shaft fixing structure 20 together with the motor shaft 22 on the main body 11.

[0061] Alternatively, the rear end of the main body 11 is symmetrically provided with two mounting cavities 25 along the width direction, or the main body 11 is provided with a through hole, and two mounting cavities 25 are symmetrically formed near the two ends of the through hole. The two walking wheels 12 and the two motor assemblies 13 form two driving wheel assemblies 17, and the two driving wheel assemblies 17 are respectively arranged in the two mounting cavities 25 of the main body 11, so that the driving wheel assemblies 17 drive the walking mechanism 100 to walk at the rear end of the main body 11.

[0062] Further, the bottom of the carrier 26 is provided with two locking openings 30 arranged along the axial direction. The two sides of the locking member 27 are respectively provided with locking protrusions corresponding to each of the locking openings 30. The locking member 27 covers the carrier 26 at the rear end of the main body 11 and clamps and fixes the two axle sleeves 23 through the two locking protrusions.

[0063] The motor shaft fixing structure 20 provided by the embodiment of the present application comprises a shaft sleeve 23, a clamping member 24, a bearing member 26 and a locking member 27. The inner cavity of the shaft sleeve 23 comprises a shaft cavity 28 for accommodating the motor shaft 22 and a clamping gap 29 communicating with the shaft cavity 28. The clamping member 24 is arranged in the clamping gap 29 and fixedly connected with the shaft sleeve 23 to clamp the motor shaft 22 arranged in the shaft cavity 28. The bearing member 26 has a mounting cavity 25. The shaft sleeve 23 is inserted into the mounting cavity 25 from one end of the mounting cavity 25. The bottom of the bearing member 26 has a locking opening 30 communicating with the mounting cavity 25. The locking member 27 engages with the shaft sleeve 23 through the locking opening 30 and fixedly connects with the bearing member 26 to lock the shaft sleeve 23 on the bearing member 26. During installation, only the shaft sleeve 23 needs to be sleeved on the motor shaft 22, the clamping member 24 is inserted into the clamping gap 29, and then the shaft sleeve 23 and the clamping member 24 are inserted into the mounting cavity 25 of the bearing member 26. Then, the shaft sleeve 23 is locked on the bearing member 26 by the locking member 27. The motor shaft fixing structure 20 can fix the motor shaft 22 on the bearing member 26, which is simple in structure and convenient to install.

[0064] Optionally, referring to FIGS. 11 and 12, the outer circumferential surface of the shaft sleeve 23 has at least one first limiting protrusion 31. Specifically, the first limiting protrusion 31 protrudes outward in the radial direction from the outer circumferential surface of the shaft sleeve 23. The radial dimension of the region where the first limiting protrusion 31 is located is greater than the radial dimension of other positions of the outer circumferential surface of the shaft sleeve 23 where the first limiting protrusion 31 is not arranged.

[0065] Referring to FIGS. 13 and 14, the inner wall of the mounting cavity 25 of the bearing member 26 (the rear end of the chassis 14) is further provided with a first limiting groove 32 extending in the axial direction. The length direction of the first limiting groove 32 is the axial direction, and the depth direction of the first limiting groove 32 is the radial direction of the mounting cavity 25. In other words, the first limiting groove 32 is in the shape of a long strip. The first limiting groove 32 is recessed in the outward wall direction of the inner wall of the mounting cavity 25.

[0066] The radial dimension of the mounting cavity 25 is matched with the radial dimension of other positions of the outer circumferential surface of the shaft sleeve 23 where the first limiting protrusion 31 is not arranged. Specifically, for example, the mounting cavity 25 is matched with the outer circumferential surface of the shaft sleeve 23 in the gap where the first limiting protrusion 31 is not arranged.

[0067] The first limiting groove 32 is adapted in size and shape to the first limiting protrusion 31 in cross section, for example, the first limiting groove 32 is in clearance fit with the first limiting protrusion 31. The length of the first limiting groove 32 along the axial direction can be greater than or equal to the length of the first limiting protrusion 31. Since the first limiting protrusion 31 needs to be inserted into the first limiting groove 32 along the axial direction of the shaft sleeve 23, the length of the first limiting groove 32 along the axial direction can be the same as the length of the shaft sleeve 23 inserted into the installation cavity 25, while the length of the first limiting protrusion 31 inserted into the installation cavity 25 can be less than the length of the shaft sleeve 23 inserted into the installation cavity 25, so the length of the first limiting groove 32 along the axial direction can be greater than the length of the first limiting protrusion 31.

[0068] The present application does not make specific limitations on the position of the first limiting protrusion 31 along the axial direction of the shaft sleeve 23. Optionally, the first limiting protrusion 31 can be arranged at one end of the shaft sleeve 23 close to the road wheel 12, or at one end away from the road wheel 12, or at an intermediate position along the axial direction of the shaft sleeve 23.

[0069] The present application does not make specific limitations on the position of the first limiting protrusion 31 along the axial direction of the shaft sleeve 23. Optionally, the first limiting protrusion 31 can be arranged at one end of the shaft sleeve 23 close to the road wheel 12, or at one end away from the road wheel 12, or at an intermediate position along the axial direction of the shaft sleeve 23.

[0070] Please refer to FIG. 2 and FIG. 4, in the assembly, first, the position of the first limiting protrusion 31 and the first limiting groove 32 is aligned, in the process of inserting the shaft sleeve 23 into the installation cavity 25 along the axial direction, the first limiting protrusion 31 is inserted into the first limiting groove 32 to the appropriate position along the axial direction, at this time, since the first limiting protrusion 31 is in close contact with the groove wall of the first limiting groove 32, the first limiting protrusion 31 can move relative to the groove wall of the first limiting groove 32 along the axial direction, while the first limiting protrusion 31 is fixed with the groove wall of the first limiting groove 32 along the circumferential direction, that is, the first limiting protrusion 31 is clamped in the first limiting groove 32, so that the shaft sleeve 23 and the carrier 26 (the rear end of the chassis 14) are relatively fixed along the circumferential direction. In other words, the first limiting protrusion 31 of the shaft sleeve 23 cooperates with the first limiting groove 32 in the installation cavity 25 of the carrier 26, so that the motor assembly 13 and the chassis 14 are relatively fixed in the width direction and interconnected as a whole.

[0071] Optionally, referring to FIGS. 12-14, the number of the first limiting protrusions 31 is two. The two first limiting protrusions 31 are arranged axially spaced. Optionally, the length of the first limiting groove 32 is the length of the shaft sleeve 23. The middle part of the first limiting groove 32 is separated into two sub-limiting grooves 33 by the locking opening 30. Therefore, the first limiting groove 32 is visually divided into two sub-limiting grooves 33, and the two first limiting protrusions 31 are respectively engaged in the two sub-limiting grooves 33. In the present embodiment, the above design makes the bearing member 26 and the shaft sleeve 23 have more fitting and engaging areas in the circumferential direction, improves the circumferential engaging strength of the bearing member 26 and the shaft sleeve 23, and further increases the fastening strength of the motor assembly 13 and the chassis 14 interconnected as a whole in the circumferential direction. The internal structure of the chassis 14 in FIG. 14 has been omitted.

[0072] In other embodiments, the number of the first limiting protrusions 31 is one, or three, or four, etc. By designing one or more first limiting protrusions 31 with a total length longer in the axial direction, the bearing member 26 and the shaft sleeve 23 have more fitting and engaging areas in the circumferential direction, the circumferential engaging strength of the bearing member 26 and the shaft sleeve 23 is improved, and the fastening strength of the motor assembly 13 and the chassis 14 interconnected as a whole in the circumferential direction is further increased.

[0073] Referring to FIG. 11, the limiting groove 34 opposite to the locking opening 30 is formed between the two first limiting protrusions 31 in the axial direction.

[0074] Referring to FIGS. 4 and 11, the locking member 27 has a locking protrusion 35. The locking protrusion 35 is arranged in the limiting groove 34 through the locking opening 30. Specifically, the locking opening 30 penetrates the inner wall and the outer wall of the mounting cavity 25 of the bearing member 26 in the radial direction. The locking protrusion 35 can be arranged in the limiting groove 34 in the radial direction. The locking member 27 is fixedly connected to the bearing member 26 to lock the shaft sleeve 23 axially on the bearing member 26.

[0075] As can be seen from the above, the shaft sleeve 23 and the bearing member 26 are relatively fixed in the circumferential direction. In the present embodiment, the locking member 27 is designed to lock the shaft sleeve 23 axially on the bearing member 26, so as to relatively fix the shaft sleeve 23 and the bearing member 26 in the axial and circumferential directions, and fixedly connect the motor assembly 13 and the chassis 14 of the traveling mechanism 100 as a whole in the axial and circumferential directions.

[0076] Further optionally, referring to FIGS. 4 and 11, the shaft sleeve 23 is in a cylindrical shape. The bottom wall of the limiting groove 34 is a plane. The limiting groove 34 can be formed by flattening the arc-shaped part between the two first limiting protrusions 31, or the face between the two first limiting protrusions 31 is formed as a plane during molding, and then the limiting groove 34 is formed between the two first limiting protrusions 31.

[0077] The bottom wall of the limiting groove 34 is a flat surface, including but not limited to a solid flat surface or a hollow flat surface.

[0078] The bottom of the locking protrusion 35 is a flat surface, including but not limited to a solid flat surface or a hollow flat surface.

[0079] The bottom wall of the limiting groove 34 is a flat surface, and the bottom of the locking protrusion 35 is a flat surface, so that the bottom of the locking protrusion 35 and the bottom wall of the limiting groove 34 are in surface-to-surface contact.

[0080] Since the shaft sleeve 23 is cylindrical, when the first limiting protrusion 31 and the first limiting groove 32 have a certain assembly gap in the circumferential direction, the shaft sleeve 23 and the bearing 26 have a certain rotating gap in the circumferential direction, which may cause the motor assembly 13 and the chassis 14 to be not completely fixed in the circumferential direction, and may cause problems such as unstable operation during movement of the walking mechanism 100.

[0081] Based on this, in the embodiment, the bottom wall of the limiting groove 34 and the bottom of the locking protrusion 35 are both flat surfaces. When the shaft sleeve 23 is arranged in the mounting cavity 25, the locking hole 30 exposes the bottom wall of the limiting groove 34. When the locking member 27 is installed on the bearing 26, the bottom of the locking protrusion 35 on the locking member 27 is in surface-to-surface contact with the bottom wall of the limiting groove 34. The locking member 27 is fixedly connected to the bearing 26, and the locking member 27 can constrain the movement of the shaft sleeve 23 in the circumferential direction, so that the locking member 27 and the shaft sleeve 23 are relatively fixed and interconnected as a whole in the circumferential direction, avoiding the problem that the motor assembly 13 and the chassis 14 cannot be completely fixed in the circumferential direction due to the certain assembly gap of the first limiting protrusion 31 and the first limiting groove 32 in the circumferential direction, preventing the shaft sleeve 23 and the locking member 27 from relatively rotating or loosening in the axial direction, and further relatively fixing and interconnecting the shaft sleeve 23, the locking member 27, and the bearing 26 as a whole in the circumferential direction.

[0082] Optionally, two first limiting protrusions 31 can be arranged at two ends of the shaft sleeve 23 in the axial direction. In this way, the first limiting groove 32 between the two first limiting protrusions 31 has a longer length in the axial direction, so that the area of the bottom of the locking protrusion 35 on the locking member 27 in contact with the bottom wall of the limiting groove 34 is larger, further improving the connection strength of the locking member 27 and the shaft sleeve 23 in the circumferential direction.

[0083] Optionally, referring to FIG. 8, the outer circumferential surface of the shaft sleeve 23 further has a second limiting protrusion 36. The second limiting protrusion 36 is disposed in a circumferential direction apart from the first limiting protrusion 31. The first limiting protrusion 31 is formed by protruding radially outward from the outer circumferential surface of the shaft sleeve 23. The axial length of the second limiting protrusion 36 can be close to the axial length of the shaft sleeve 23 to increase the area of the limiting fit.

[0084] Referring to FIG. 10, the inner wall of the mounting cavity 25 of the carrier 26 (the rear end of the chassis 14) further has a second limiting groove 37 extending in an axial direction. The second limiting protrusion 36 is engaged in the second limiting groove 37. The length direction of the second limiting groove 37 is the axial direction, and the depth direction of the second limiting groove 37 is the radial direction of the mounting cavity 25. In other words, the second limiting groove 37 is long and narrow. The second limiting groove 37 is formed by recessing the inner wall of the mounting cavity 25 in the direction of the outer wall.

[0085] The size and shape of the second limiting groove 37 in the cross section are adapted to the size and shape of the second limiting protrusion 36 in the cross section, for example, the second limiting groove 37 and the second limiting protrusion 36 are in clearance fit.

[0086] The present application does not specifically limit the orientation of the second limiting groove 37 in the mounting cavity 25. Optionally, since the first limiting groove 32 is disposed at the bottom of the chassis 14, the second limiting groove 37 can be disposed at the top of the chassis 14.

[0087] Referring to FIGS. 2 and 4, in assembly, first, the positions of the first limiting protrusion 31 and the first limiting groove 32 are aligned, and the positions of the second limiting protrusion 36 and the second limiting groove 37 are aligned. During the process of inserting the shaft sleeve 23 into the mounting cavity 25 in the axial direction, the first limiting protrusion 31 is inserted into the first limiting groove 32 in the axial direction to a suitable position, and the second limiting protrusion 36 is inserted into the second limiting groove 37 in the axial direction to a suitable position. At this time, since the second limiting protrusion 36 is in contact with the groove wall of the second limiting groove 37, the second limiting protrusion 36 can move relative to the groove wall of the second limiting groove 37 in the axial direction, and the second limiting protrusion 36 is fixed relative to the groove wall of the second limiting groove 37 in the circumferential direction, that is, the second limiting protrusion 36 is engaged in the second limiting groove 37. In combination with the engagement of the first limiting protrusion 31 in the first limiting groove 32, both are used to relatively fix the shaft sleeve 23 and the carrier 26 (the rear end of the chassis 14) in the circumferential direction. In other words, the second limiting protrusion 36 of the shaft sleeve 23 cooperates with the second limiting groove 37 in the mounting cavity 25 of the carrier 26 to further fix the motor assembly 13 and the chassis 14 relative to each other in the width direction, interconnect them as a whole, and further strengthen the connection strength of the motor assembly 13 and the chassis 14 in the width direction.

[0088] Optionally, the second limiting protrusion 36 is arranged opposite to the first limiting protrusion 31 along the radial direction of the shaft sleeve 23 (arranged along the diameter). The locking member 27 and the bearing member 26 are fixed along the direction in which the first limiting protrusion 31 points to the second limiting protrusion 36. Specifically, since the top of the chassis 14 is located inside the running mechanism 100 and the bottom of the chassis 14 is exposed outside, the first limiting groove 32 and the limiting recess 34 are arranged on the bottom of the chassis 14, so that the chassis 14 can be flipped over during assembly, and the locking protrusion 35 of the locking member 27 is aligned with the limiting recess 34 on the bottom of the chassis 14, facilitating the installation operation. Further, the second limiting protrusion 36 is arranged on the top of the mounting cavity 25 of the chassis 14. In other words, when the first limiting protrusion 31 and the second limiting protrusion 36 are arranged opposite along the height direction of the running mechanism 100, and there is a certain assembly tolerance in the height direction and a certain looseness in the height direction, the locking member 27 and the bearing member 26 are fixed along the direction in which the first limiting protrusion 31 points to the second limiting protrusion 36 (the height direction), for example, and then the locking member 27 and the bearing member 26 are fixed in the height direction by screws, so as to eliminate the influence of the assembly tolerance in the height direction, and realize more firm fixation of the locking member 27, the bearing member 26 and the motor assembly 13 in the height direction.

[0089] For example, the size of the first limiting protrusion 31 along the radial direction is smaller than the depth of the first limiting groove 32 along the radial direction by 0.5 mm, and the size of the second limiting protrusion 36 along the radial direction is smaller than the depth of the second limiting groove 37 along the radial direction by 0.5 mm. If the second limiting protrusion 36 is arranged opposite to the first limiting protrusion 31 along the radial direction (for example, the height direction) of the shaft sleeve 23. The locking member 27 and the bearing member 26 are fixed along the direction in which the first limiting protrusion 31 points to the second limiting protrusion 36 (for example, the height direction). After the shaft sleeve 23 is assembled into the mounting cavity 25, since the second limiting protrusion 36 is arranged opposite to the first limiting protrusion 31 along the radial direction of the shaft sleeve 23, when the chassis 14 is flipped over for assembly, a 1 mm tolerance is formed between the first limiting protrusion 31 and the first limiting groove 32. At this time, the locking protrusion 35 of the locking member 27 is in surface-to-surface contact with the limiting recess 34 of the shaft sleeve 23, and the locking member 27 is fixed to the bearing member 26 by screws, so as to eliminate the unstable influence caused by the 1 mm tolerance between the first limiting protrusion 31 and the first limiting groove 32. In other words, even if a 1 mm tolerance is formed between the first limiting protrusion 31 and the first limiting groove 32, the locking member 27, the bearing member 26 and the motor assembly 13 can be firmly fixed as a whole.

[0090] Of course, in other embodiments, the second limiting protrusion 36 is arranged opposite to the first limiting protrusion 31 along the radial direction other than the height direction of the shaft sleeve 23.

[0091] In other embodiments, the second limiting protrusion 36 is not arranged along a diameter with the first limiting protrusion 31.

[0092] Optionally, the clamping member 24 is substantially arc-shaped. The clamping member 24 is an arc-shaped piece. The arc angle of the clamping member 24 is not specifically limited. For example, the arc angle of the clamping member 24 is less than or equal to 180°. Optionally, the two ends of the clamping member 24 in the circumferential direction abut the two side walls of the clamping gap 29 in the circumferential direction, so as to facilitate the close assembly of the clamping member 24 and the shaft sleeve 23 in the circumferential direction, reduce the assembly gap, and further improve the clamping strength of the clamping member 24 and the shaft sleeve 23 on the motor shaft 22.

[0093] Optionally, referring to FIG. 6, the second limiting protrusion 36 includes a first limiting protruding strip 38 and a second limiting protruding strip 39 arranged opposite in the circumferential direction. One end of the shaft sleeve 23 forms a limiting gap 40 between the first limiting protruding strip 38 and the second limiting protruding strip 39.

[0094] Specifically, the first limiting protruding strip 38 and the second limiting protruding strip 39 both extend in the axial direction. One end of the first limiting protruding strip 38 and one end of the second limiting protruding strip 39 are fixedly connected by a connecting rib. The other end of the first limiting protruding strip 38 and the other end of the second limiting protruding strip 39 have the limiting gap 40 therebetween.

[0095] Referring to FIG. 7, the outer circumferential surface of the clamping member 24 is provided with a limiting protruding block 41. The limiting protruding block 41 is provided on the outer circumferential surface of one end of the clamping member 24. When the clamping member 24 is arranged in the clamping gap 29, the limiting protruding block 41 is arranged in the limiting gap 40. The two ends of the limiting protruding block 41 in the circumferential direction abut the two side walls of the limiting gap 40 in the circumferential direction, so as to fix the clamping member 24 and the shaft sleeve 23 relative to each other in the circumferential direction, facilitate the close assembly of the clamping member 24 and the shaft sleeve 23 in the circumferential direction, reduce the assembly gap, and further improve the clamping strength of the clamping member 24 and the shaft sleeve 23 on the motor shaft 22.

[0096] In addition, the limiting protruding block 41 is provided with a fixing hole in the axial direction, and the shaft sleeve 23 is provided with a corresponding screw hole corresponding to the position of the fixing hole. When the clamping member 24 is arranged in the clamping gap 29, the limiting protruding block 41 is arranged in the limiting gap 40, and the shaft sleeve 23 and the limiting protruding block 41 are fixedly connected in the axial direction by a screw through the fixing hole and the screw hole, so as to fix the clamping member 24 and the shaft sleeve 23 as a whole in the axial direction, and further clamp the motor shaft 22 in the clamping member 24 and the shaft sleeve 23.

[0097] Further, referring to Fig. 11, the outer circumferential surface of the motor shaft 22 is provided with a clamping groove 42. Alternatively, the outer circumferential surface of the motor shaft 22 is a cylindrical surface. The bottom of the clamping groove 42 on the outer circumferential surface of the motor shaft 22 is a flat surface. The cylindrical surface of the motor shaft 22 is flattened or formed as a flat surface during molding. The clamping groove 42 is located in the middle of the motor shaft 22.

[0098] Referring to Fig. 6, the inner cavity wall of the shaft sleeve 23 is provided with a clamping protrusion 43. The clamping protrusion 43 is spaced apart from the clamping gap 29. The clamping protrusion 43 is engaged with the clamping groove 42 to prevent the motor shaft 22 from moving axially and rotating relative to the shaft sleeve 23. Specifically, the bottom wall of the clamping groove 42 is a flat surface, and the bottom of the clamping protrusion 43 is a flat surface, so that the bottom of the clamping protrusion 43 is in surface-to-surface contact with the bottom wall of the clamping groove 42 to prevent the motor shaft 22 from moving axially and rotating relative to the shaft sleeve 23.

[0099] Specifically, the two side walls of the clamping groove 42 in the axial direction can limit the two ends of the clamping protrusion 43 in the axial direction, so that the motor shaft 22 and the shaft sleeve 23 are interconnected in the axial direction as a whole.

[0100] The present embodiment prevents the motor shaft 22 from moving axially and rotating relative to the shaft sleeve 23 by providing the clamping groove 42 on the outer circumferential surface of the motor shaft 22 and the clamping protrusion 43 on the inner cavity wall of the shaft sleeve 23, and the clamping protrusion 43 is engaged with the clamping groove 42, and the motor shaft 22 and the shaft sleeve 23 are interconnected in the axial direction as a whole.

[0101] In other embodiments, the motor shaft 22 can be provided with a clamping protrusion 43, and the inner cavity wall of the shaft sleeve 23 can be provided with a clamping groove 42.

[0102] During assembly, first, the clamping groove 42 of the motor shaft 22 connected with the traveling wheel 12 is aligned with the clamping protrusion 43 on the inner cavity wall of the shaft sleeve 23, and the axial and circumferential directions of the motor shaft 22 are limited. Then, the clamping member 24 is inserted into the clamping gap 29, and the limiting protrusion 41 of the clamping member 24 is fixed axially with the shaft sleeve 23 to fix the axial and circumferential directions of the clamping member 24 and the shaft sleeve 23. Then, the first limiting protrusion 31 and the second limiting protrusion 36 of the assembled shaft sleeve 23 are respectively aligned with the first limiting groove 32 and the second limiting groove 37 in the mounting cavity 25 of the chassis 14, and the shaft sleeve 23 is inserted into the mounting cavity 25 of the chassis 14 until the limiting recess 34 is aligned with the locking opening 30. Then, the locking protrusion 35 of the locking member 27 is in surface-to-surface contact with the limiting recess 34, and the locking member 27 is fixed with the chassis 14 by screws.

[0103] The motor assembly 13 comprises a motor body 21 and a motor shaft 22 and a motor shaft fixing structure 20 connected to the motor body 21 in the axial direction. The motor shaft fixing structure 20 comprises a shaft sleeve 23, a clamping member 24, a bearing member 26 and a locking member 27. The inner cavity of the shaft sleeve 23 comprises a shaft cavity 28 for accommodating the motor shaft 22 and a clamping gap 29 connected to the shaft cavity 28. The clamping member 24 is arranged in the clamping gap 29 and fixedly connected to the shaft sleeve 23 to clamp the motor shaft 22 arranged in the shaft cavity 28. The bearing member 26 has a mounting cavity 25. The shaft sleeve 23 is inserted into the mounting cavity 25 from one end of the mounting cavity 25. The bottom of the bearing member 26 has a locking opening 30 connected to the mounting cavity 25. The locking member 27 is engaged with the shaft sleeve 23 through the locking opening 30 and fixedly connected to the bearing member 26 to lock the shaft sleeve 23 on the bearing member 26. During installation, only the shaft sleeve 23 needs to be sleeved on the motor shaft 22 of the motor 19, and the clamping member 24 is inserted into the clamping gap 29. The motor shaft 22 is clamped in the shaft sleeve 23 under the action of the clamping member 24. Then the motor shaft 22, the shaft sleeve 23 and the clamping member 24 are inserted into the mounting cavity 25 of the bearing member 26. Then the shaft sleeve 23 is locked on the bearing member 26 through the locking member 27 to arrange the motor 19 on the bearing member 26. The motor shaft fixing structure 20 of the motor assembly 13 can fix the motor assembly 13 on the bearing member 26. The structure is simple and convenient to assemble.

[0104] Although the embodiments of the present application have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application. These improvements and refinements are also considered within the protection scope of the present application.

Claims

1. A motor shaft fixing structure, characterized in that, The application relates to a motor shaft fixing structure. The shaft sleeve has at least one first limiting protrusion on the outer circumferential surface; the inner wall of the mounting cavity is further provided with a first limiting groove extending in the axial direction, and the first limiting protrusion is clamped in the first limiting groove. The first limiting protrusion is provided in two, and the two first limiting protrusions are arranged in the axial direction and spaced apart; a limiting groove is formed between the two first limiting protrusions and faces the locking opening; the first limiting groove is divided into two sub-limiting grooves by the locking opening; the locking member has a locking protrusion arranged in the limiting groove through the locking opening. The shaft sleeve is in a cylindrical shape, the bottom wall of the limiting groove is a plane, and the bottom of the locking protrusion is a flat part which is matched with the bottom wall of the limiting groove. The outer circumferential surface of the shaft sleeve is further provided with a second limiting protrusion which is arranged in the circumferential direction and spaced apart from the first limiting protrusion; the inner wall of the mounting cavity is further provided with a second limiting groove extending in the axial direction, and the second limiting protrusion is clamped in the second limiting groove. The second limiting protrusion is arranged in the radial direction of the shaft sleeve and opposite to the first limiting protrusion; the locking member and the bearing member are fixed in the direction in which the first limiting protrusion points to the second limiting protrusion.

2. The motor shaft fixation structure according to claim 1, characterized by The second limiting protrusion comprises a first limiting protruding strip and a second limiting protruding strip arranged opposite in the circumferential direction; one end of the shaft sleeve forms a limiting gap between the first limiting protruding strip and the second limiting protruding strip; the outer circumferential surface of the clamping member is provided with a limiting protruding block arranged in the limiting gap; and the two ends of the limiting protruding block in the circumferential direction respectively abut against the two side walls of the limiting gap in the circumferential direction.

3. The motor shaft fixation structure according to claim 2, characterized by The clamping member is in an arc shape, and the two ends of the clamping member in the circumferential direction respectively abut against the two side walls of the clamping gap in the circumferential direction.

4. The motor shaft fixation structure according to claim 3, characterized by The application further relates to a motor comprising at least one motor and the motor shaft fixing structure as claimed in any one of claims 1 to 8; the motor comprises a motor body and a motor shaft connected to the motor body in the axial direction; and the motor shaft is clamped in the shaft sleeve under the action of the clamping member.

5. The motor shaft fixation structure according to claim 2, characterized by The outer circumferential surface of the motor shaft is provided with a clamping groove, and the inner wall surface of the shaft sleeve is provided with a clamping protrusion; the clamping protrusion is clamped in the clamping groove to prevent the motor shaft from moving and rotating in the axial direction relative to the shaft sleeve.

6. The motor shaft fixation structure according to claim 5, characterized by ​ 7. The motor shaft fixation structure according to claim 5, characterized by ​ 8. The motor shaft fixation structure according to any one of claims 1 to 7, characterized by ​ 9. An electric machine assembly characterized by ​ 10. The electric machine assembly of claim 9, wherein, ​ 11. The electric machine assembly of claim 9, wherein, The bearing part is provided with two mounting cavities at both ends of the axial through hole, and the bottom of the bearing part is provided with two locking openings arranged along the axial direction; the locking part is provided with a locking protrusion corresponding to each locking opening on both sides; the number of the shaft sleeve, the clamping part and the motor is two, and each shaft sleeve and each clamping part is arranged in one mounting cavity.

12. A walking mechanism characterized by, The machine body comprises a main body, at least one pair of walking wheels and at least one set of the motor assembly as claimed in claim 9, each motor is fixed to one walking wheel along the axial direction, the bearing part is arranged on the main body of the machine, and the mounting cavities are arranged at the rear end of the bearing part.

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