WO2020103257A1 - 电机、动力装置及机器人 - Google Patents

电机、动力装置及机器人

Info

Publication number
WO2020103257A1
WO2020103257A1 PCT/CN2018/122161 CN2018122161W WO2020103257A1 WO 2020103257 A1 WO2020103257 A1 WO 2020103257A1 CN 2018122161 W CN2018122161 W CN 2018122161W WO 2020103257 A1 WO2020103257 A1 WO 2020103257A1
Authority
WO
WIPO (PCT)
Prior art keywords
rotating shaft
end cover
motor
rotor
base
Prior art date
Application number
PCT/CN2018/122161
Other languages
English (en)
French (fr)
Inventor
董群
黄悦
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Publication of WO2020103257A1 publication Critical patent/WO2020103257A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/30—Structural association with control circuits or drive circuits
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K5/00—Casings; Enclosures; Supports
    • H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof

Definitions

  • the embodiments of the present invention relate to the technical field of electric motors, and in particular, to an electric motor, a power device, and a robot.
  • robots have more and more functions, so that the robots can be used in more fields; for example, robots with launch functions can be used in competitions, entertainment, and security protection.
  • a robot with a launching function is provided with a launching mechanism, a pan-tilt mechanism, and a motor.
  • the launching mechanism is used to launch projectiles, etc.
  • the motor is used to drive the pan-tilt mechanism to drive the launching mechanism so that the launching mechanism can aim and strike the target.
  • the motor is electrically connected to the ESC control board through a cable.
  • the ESC control board can change the size of the motor oil supply by controlling the size of the throttle, so as to achieve the purpose of controlling the motor speed.
  • the ESC control board and the motor are usually set independently of each other.
  • the ESC control board and the motor also need to be installed separately. For example, first install the ESC control board on the body of the robot, and then install the motor to On the body of the robot, in addition, it is necessary to electrically connect the motor and the ESC control board through a cable, which not only makes the connection between the motor and the ESC control board more complicated, but also causes the installation of the ESC control board and the motor to be more complicated .
  • Embodiments of the present invention provide a motor, a power device, and a robot, which can overcome some problems in the prior art.
  • a first aspect of an embodiment of the present invention provides a motor including a stator and a rotor rotatable relative to the stator.
  • the motor further includes: a first end cover, a base, and an ESC control board;
  • the stator is provided on the base, the first end cover is provided on the bottom of the base and surrounds the base to form an installation space, and the ESC control board is provided in the installation space.
  • the ESC control board is provided with at least one of the following: a motor driver, a magnetic deflector, a temperature sensor, a voltage detection circuit, and a current detection circuit.
  • the motor further includes a functional interface, the functional interface is electrically connected to the ESC circuit board, and an opening corresponding to the functional interface is provided on the base and / or the first end cover.
  • the rotor includes a rotating shaft, the rotating shaft is rotatably provided in the base, and the rotating shaft passes through the electric modulation circuit board.
  • the rotating shaft is provided with a first through hole penetrating along its axial direction
  • the first end cover is provided with a second through hole adapted to the first through hole
  • a cable is penetrated in the through hole, or a channel through which the projectile passes is formed in the through hole.
  • the motor further includes a second end cover, and the second end cover is sleeved on the rotating shaft and fixedly connected to the rotating shaft.
  • the base includes a seat body and a fixing portion extending from the seat body in a direction away from the first end cover; a first bearing is provided between the rotating shaft and the fixing portion, the A locking sleeve is provided on an end of the first bearing facing the seat body, and the locking sleeve is screwed to the rotating shaft; a second bearing is further provided between the rotating shaft and the fixing portion, the second An end of the bearing facing away from the seat body abuts against the second end cap; an inner wall of the fixing portion is provided with a limit portion extending inward, and an end of the first bearing facing away from the seat body and the limit portion One end of the second bearing faces the seat body and the other end of the limiting portion.
  • the inner wall of the locking sleeve is provided with an internal thread
  • the rotating shaft has a threaded section
  • the threaded section is provided with an external thread
  • the internal thread of the locking sleeve is bonded to the external thread on the rotating shaft .
  • the rotor further includes a rotor magnetic ring, and an end of the locking sleeve facing the seat body is connected with a mounting ring, and the rotor magnetic ring is embedded in the mounting ring.
  • the stator includes a stator core, the rotor further includes a rotor yoke, and a rotor magnet; the stator core is provided outside the fixed portion, and the rotor core is provided outside the stator core.
  • the rotor magnet is provided on an inner wall of the rotor yoke, and an end of the rotor yoke facing the second end cover is fixedly connected to the second end cover.
  • the surface of the second end cover or the first end cover facing away from the base is provided with at least one mounting hole, and the mounting hole is used to connect with an execution component.
  • a second aspect of an embodiment of the present invention provides a power device, including: an execution component and a motor according to any one of the foregoing, the execution component is connected to the motor, and the motor can drive the execution component to move .
  • the execution component is a robotic arm.
  • the power device is a gimbal.
  • a third aspect of an embodiment of the present invention provides a robot, including: a fuselage and the power device according to any one of the foregoing, the power device being disposed on the fuselage.
  • the motor, power device, and robot provided in this embodiment are provided with a base and a first end cover, and an installation space is provided between the first end cover and the base, and the ESC control board is installed in the installation space, that is, The ESC control board is installed in the motor, that is, the ESC control board is integrated into the motor to simplify the installation of the motor and the ESC control board, simplify the electrical connection between the ESC control board and the motor, and improve the motor and ESC control Reliability of electrical connections between boards.
  • FIG. 1 is a schematic structural diagram 1 of a motor provided according to an exemplary embodiment
  • FIG. 2 is a schematic cross-sectional view of a motor (hidden ESC control board) provided according to an exemplary embodiment
  • FIG. 3 is a schematic cross-sectional view of a motor (provided with an ESC control board) according to an exemplary embodiment
  • FIG. 4 is an explosion schematic diagram of a motor provided according to an exemplary embodiment
  • FIG. 5 is a schematic diagram of an application of a motor provided according to an exemplary embodiment.
  • 180-rotating shaft 180a-first through hole; 181-first bearing; 182-second bearing; 183-locking sleeve; 184-rotor magnetic ring; 185-stator light guide column;
  • FIG. 1 is a schematic structural diagram 1 of a motor provided according to an exemplary embodiment
  • FIG. 2 is a schematic cross-sectional diagram of a motor (hidden ESC control board) provided according to an exemplary embodiment
  • FIG. 3 is a schematic embodiment according to an exemplary embodiment A cross-sectional schematic diagram of the provided motor (with an ESC control board)
  • FIG. 4 is an exploded schematic diagram of the motor provided according to an exemplary embodiment
  • FIG. 5 is a schematic diagram of the application of the motor provided according to an exemplary embodiment.
  • this embodiment provides a motor 100 including a base 130, a stator fixedly connected to the base 130, and a rotor rotatably connected to the base 130.
  • the rotor includes a rotating shaft 180.
  • the base 130 includes a base 131 and a fixing portion 132 provided on the base 131.
  • the seat body 131 may have a disk shape, such as a disk shape, an oval disk shape, or a square disk shape.
  • the structure of the motor 100 may be exemplified by taking the seat body 131 in the shape of a disk as an example; wherein, when the seat body 131 is other shapes, the structure, function, and implementation process of the motor 100 are as follows This is similar.
  • the fixing portion 132 may be a cylindrical structure extending along the axial direction of the motor 100, that is, the fixing portion 132 may be a hollow cylinder, and the central axis of the fixing portion 132 may be arranged to coincide with the central axis of the base 131.
  • one end of the base 131 where the fixing portion 132 is provided is upper (or top), so as to facilitate the description of the structure of the multi-motor 100. That is, the fixing portion 132 may be provided on the upper end of the base 131 and extended upward.
  • the stator includes a stator core 140 and coils.
  • the fixing portion 132 can be used to fix the stator core 140, and a coil can be wound around the stator core 140.
  • the structure of the stator is not specifically limited here, and the structure of the stator may be conventionally set.
  • the fixing portion 132 is further provided with a receiving hole penetrating along the axial direction thereof, and the receiving hole may also be provided through the seat body 131.
  • the receiving hole is used to receive at least part of the rotating shaft 180.
  • the bottom of the seat body 131 is provided with a mounting groove for receiving the ESC control board 120.
  • the shape of the mounting groove can be adapted to the shape of the ESC control board 120. Exemplarily, when the ESC control board 120 is rectangular, the mounting groove may also be rectangular; when the ESC control board 120 is circular, the mounting groove is also circular.
  • the mounting groove can be provided in communication with the receiving hole to make the structure of the motor 100 more compact.
  • the ESC control board 120 may be fixed in the installation slot by bonding, screwing, snapping, or the like. Taking the ESC control board 120 fixed in the installation slot by screwing as an example, the ESC control board 120 is provided with a plurality of fastening holes distributed at intervals.
  • the installation slot is also provided with fastening holes, screws, Fasteners such as pins are inserted into the fastening holes of the ESC control board 120 and the mounting groove, so that the ESC control board 120 can be reliably fixed in the mounting groove, so as not to be between the ESC control board 120 and the base 130
  • the relative displacement occurs, that is, the ESC control board 120 is prevented from shaking in the installation groove, so that the reliability of the electrical connection of the ESC control board 120 can be ensured.
  • the motor 100 may further include a first end cover 110, which may cover the end of the seat body 131 where the mounting groove is provided, that is, the first end cover 110 covers the bottom end of the seat body 131, In this way, the first end cover 110 and the groove wall of the mountable groove together form a relatively closed installation space 130a, so as to avoid the adverse effect of external liquids such as water on the ESC 120.
  • the first end cover 110 may be detachably connected to the base 131 to facilitate maintenance of the ESC control board 120 in the installation space 130a.
  • the first end cover 110 may be interference-fitted, fastened, or snap-fitted with the seat body 131.
  • a sealing member may be provided between the first end cover 110 and the seat body 131 to improve the sealing effect on the installation space 130a.
  • the electrode 100 further includes a functional interface, and the functional interface is electrically connected to the ESC control board 120.
  • the base 131 of the base 130 may be provided with an opening 134 for connecting the power supply control board 120 and the functional interface with external devices, so that the electric control board 120 can be electrically connected with external devices such as the robot's main control device.
  • the functional interface may include a communication interface and a power interface.
  • the number and shape of the openings 134 can be set according to actual needs, and specifically can be set according to the number and shape of functional interfaces, which is not specifically limited here in this embodiment.
  • the bottom end of the first end cover 110 may be provided with a substantially rectangular opening 134, and the functional interfaces are all provided in the portion of the ESC control board 120 facing the opening 134 to facilitate connection with external devices.
  • the opening 134 may also be provided on the first end cover 110.
  • both the first end cover 110 and the base 131 are provided with openings 134, or the first end cover 110 and the base 131 cooperate to form the opening 134, which can be set according to actual needs.
  • the ESC control board 120 may also be provided with a wireless communication module, so that the ESC control board 120 can be communicatively connected to external components through the wireless communication module.
  • the ESC control board 120 is provided with at least one of the following: a motor 100 driver, a magnetic encoder, a temperature sensor, a voltage detection circuit, and a current detection circuit, so as to ensure the working reliability of the ESC control board 120.
  • the ESC control board 120 is provided with an escape hole through which the rotating shaft 180 can pass, and the rotating shaft 180 can pass through the ESC 120 downward.
  • the first end cover 110 may also be provided with a second through hole penetrating along its axial direction.
  • the second through hole includes a first segment and a second segment.
  • the first segment is located at the upper end of the second segment toward the installation space 130a
  • the inner diameter of the first section is larger than the second section, the rotating shaft 180 can be penetrated in the first section, so that the structure of the motor 100 is more compact; the second section can be provided in communication with the first through hole 180a of the rotating shaft 180.
  • the stepped surface formed between the first segment and the second segment can be used to restrict the downward movement of the rotating shaft 180 relative to the base 130 to improve the output accuracy of the motor 100.
  • the motor 100 provided in this embodiment is provided with a base 130 and a first end cover 110, and an installation space 130a is provided between the first end cover 110 and the base 130, and the ESC control board 120 is provided in the installation space 130a , That is, the ESC control board 120 is installed in the motor 100, and the ESC control board 120 is integrated in the motor 100, to simplify the installation of the motor 100 and the ESC control board 120, simplify the ESC control board 120 and the motor 100 Electrical connection, and can improve the reliability of the electrical connection between the motor 100 and the ESC control board 120.
  • the rotating shaft 180 is provided with a first through hole 180a penetrating along its axial direction. That is, the rotating shaft 180 is provided with a first through hole 180a penetrating from top to bottom, wherein the inner diameter of the first through hole 180a can be set according to actual needs, which is not specifically limited here in this embodiment; for example, the first through hole The diameter of 180a may be equal from top to bottom. For example, the inner diameter of the upper end of the first through hole 180a may be smaller than the inner diameter of the lower end.
  • the first through hole 180a is provided with a cable.
  • the cable can be used to transmit current or signal.
  • the cable may include a wire with a slip ring.
  • a passage through which the projectile 300 passes is formed in the first through hole 180 a.
  • the minimum inner diameter of the first through hole 180a may be larger than the inner diameter of the projectile 300.
  • the minimum inner diameter of the first through hole 180a may be 18 mm, so that the projectile 300 can smoothly pass through the first through hole of the rotating shaft 180 180a.
  • the first through hole 180a penetrating along the axial direction is provided on the rotating shaft 180 to facilitate the arrangement of the wiring harness in the motor 100, so as to simplify the electrical connection in the motor 100 and simplify the structure of the motor 100.
  • the motor 100 further includes a second end cover 170, which is sleeved on the rotating shaft 180 and fixedly connected to the rotating shaft 180.
  • the second end cap 170 may be connected to the rotating shaft 180 using at least one of the following connection methods: interference fit, bonding, welding, and tight connection.
  • the second end cover 170 may be provided with a fixing hole extending along its axial direction, and the rotating shaft 180 is fixedly arranged in the fixing hole, so that the structure of the motor 100 is more compact; wherein, the rotating shaft 180 may protrude upward from the second end cover 170
  • the length is set.
  • the preset length is not specifically limited, and can be set according to actual needs.
  • the upper end of the second end cover 170 facing away from the first end cover 110 may be provided with a shallow groove, and the shallow groove may be provided concentrically with the fixing hole.
  • a flange is provided on the upper end of the rotating shaft 180, and the flange is provided in the shallow groove The flange may be adhered or fastened to the second end cover 170 to improve the connection reliability of the rotating shaft 180 and the second end cover 170.
  • the second end cover 170 may be provided with at least one mounting hole 171, and the central axis of the mounting hole 171 may be parallel to the central axis of the second end cover 170.
  • the mounting hole 171 can be used to cooperate with connecting parts such as bolts, pins, etc., so that the upper surface of the second end cover 170 can form a flange mounting surface, which is convenient for connecting with an execution component and the like.
  • the mounting holes 171 may be threaded holes. At least part of the mounting hole 171 may be a round hole.
  • the specific shape of the mounting hole 171 is not specifically limited, and may be set according to actual needs, as long as the second end cover 170 can be connected to the execution component.
  • each mounting hole 171 may be equal; or, the inner diameter of at least one of the mounting holes 171 is larger than the other mounting holes 171.
  • the inner diameter of the mounting hole 171 is not specifically limited here, and can be set according to actual needs.
  • each mounting hole 171 along the axial direction of the second end cover 170 may be equal and the same, wherein the depth of at least one mounting hole 171 may be greater than the other mounting holes 171.
  • the depth of the mounting hole 171 is not specifically limited here, and can be set according to actual needs.
  • the rotor includes a rotor yoke 150 disposed outside the stator core 140, and an end of the rotor yoke 150 facing the second end cover 170 is fixedly connected to the second end cover 170.
  • the second end cap 170 may be connected to the rotor yoke 150 using at least one of the following connection methods: interference fit, bonding, welding, and tight connection.
  • the rotor magnet 160 is provided on the inner wall of the rotor yoke 150.
  • the second end cover 170 is fixedly connected to the rotating shaft 180, and the second end cover 170 is fixedly connected to the rotor yoke 150.
  • the rotating shaft 180, the second end cover 170, and the yoke can jointly rotate
  • the supporting body improves the bearing capacity of the rotating shaft 180 and the second end cover 170, and improves the connection reliability of the motor 100 and the execution component.
  • the mounting hole 171 can also be provided on the first end cover 110, so that the lower surface of the first end cover 110 forms a flange mounting surface, which is convenient for connection with an execution component and the like.
  • the structure and function of the mounting hole 171 may be similar to those provided on the second end cover 170, and will not be repeated here.
  • the inner wall of the fixing portion 132 is provided with a limiting portion 133 extending inward.
  • the inner diameter of the limiting portion 133 is smaller than the inner diameter of the fixing portion 132, and the inner diameter of the limiting portion 133 is larger than the outer diameter of the rotating shaft 180.
  • a first bearing 181 is provided between the rotating shaft 180 and the fixed portion 132, and an end of the first bearing 181 facing the seat body 131 is provided with a locking sleeve 183.
  • the locking sleeve 183 is screwed to the rotating shaft 180; the first bearing 181 faces away from the seat One end of 131 is in contact with the limiting portion 133.
  • the stator light guide column 185 may be provided on the first bearing 181.
  • a second bearing 182 is also provided between the rotating shaft 180 and the fixed portion 132.
  • the end of the second bearing 182 facing away from the seat 131 abuts the second end cover 170, and the end of the second bearing 182 facing the seat 131 abuts the limiting portion 133 .
  • the upper end of the first bearing 181 abuts the limiting portion 133 of the fixing portion 132
  • the upper end of the locking sleeve 183 abuts the lower end of the first bearing 181, so that the rotation shaft 180 and the second end cap 170 can be restricted relative to the base 130 Move upward
  • the lower end of the second bearing 182 abuts the limiting portion 133
  • the upper end of the second bearing 182 abuts the second end cover 170, so that the rotation shaft 180 and the second end cover 170 can be restricted relative to the base 130 Move Downward.
  • the axial movement of the rotating shaft 180 relative to the base 130 can be restricted, so that the axial gap between the rotor and the stator of the motor 100 can be eliminated, that is, the axial movement of the rotating shaft 180 of the motor 100 can be eliminated. That is, the axial movement of the rotating shaft 180 of the motor 100 is eliminated, thereby ensuring the accuracy of the rotation speed and torque output by the motor 100.
  • the inner wall of the locking sleeve 183 is provided with an internal thread
  • the rotating shaft 180 has a threaded section
  • the threaded section is provided with an external thread.
  • the internal thread of the locking sleeve 183 is bonded to the external thread on the rotating shaft 180 to ensure locking
  • the fixing reliability of the sleeve 183 and the rotating shaft 180 improves the effect of restricting the axial movement of the rotating shaft 180.
  • a mounting ring is connected to an end of the locking sleeve 183 facing the seat body 131, and a rotor magnetic ring 184 is embedded in the mounting ring.
  • the rotor magnetic ring 184 is used to detect rotation information such as angle or displacement of the rotor of the motor 100 relative to the stator.
  • the ESC control board 120 may be provided with a detection element that cooperates with the rotor magnetic ring 184, such as a magnetic encoder.
  • a detection element that cooperates with the rotor magnetic ring 184, such as a magnetic encoder.
  • the rotor magnetic ring 184 rotates together with the locking sleeve 183 and the rotating shaft 180, the rotor magnetic ring 184 The change of angle or displacement will cause a certain change of resistance or voltage, so as to detect the motion information of the rotor relative to the stator.
  • This embodiment also provides a power device, which includes an actuator and any one of the foregoing motors 100.
  • the actuator is connected to the motor 100, and the motor 100 can drive the actuator to move.
  • the structure, function, and implementation process of the motor 100 may be the same as those in the foregoing embodiments, and details are not described here.
  • the execution component may be connected to the rotating shaft 180 of the motor 100 through a coupling, a mounting plate, or the like.
  • the actuator may be connected to the first end cover 110.
  • the actuator may be connected to the second end cover 170.
  • the execution component is a component driven by the motor 100 such as a robot arm.
  • the power device is the gimbal 200, and in this case, the execution component may be a component used in the gimbal 200 to be driven by the motor 100, such as a gimbal shaft arm.
  • execution components and the power device in this embodiment are not limited to this, and this embodiment is merely an example here.
  • This embodiment also provides a robot, including: a fuselage and the power device in the foregoing embodiment, the power device is disposed on the fuselage.
  • the structure, function, and implementation process of the power device may be the same as those in the foregoing embodiments, and details are not described here.
  • the first feature on the second feature "on” or “below” may be the first and second features directly contact, or the first and second Features are indirectly contacted through intermediaries.
  • the first feature is “above”, “above” and “above” the second feature may be that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature.
  • the first feature is “below”, “below”, and “below” the second feature may be that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is less horizontal than the second feature.
  • the terms “installation”, “connected”, “connected”, “fixed” and other terms should be understood in a broad sense, for example, it can be fixed connection or Disassembly connection or integration; it can be directly connected or indirectly connected through an intermediate medium, which can be the connection between the two components or the interaction between the two components.

Abstract

公开了一种电机(100)及具有该电机(100)的动力装置及机器人。电机(100)包括：定子、相对定子可转动的转子、第一端盖(110)、基座(130)以及电调控制板(120)；定子设于基座(130)上，第一端盖(110)盖设在基座(130)的底部并与基座(130)围合成安装空间(130a)，电调控制板(120)设置在安装空间(130a)中。通过将电调控制板(120)设置在电机(100)内的安装空间(130a)中，可以简化电机(100)及电调控制板(120)的安装，简化电调控制板(120)与电机(100)的电连接，且能够提高电机(100)与电调控制板(120)之间的电连接的可靠性。

Description

电机、动力装置及机器人 技术领域
本发明实施例涉及电机技术领域，尤其涉及一种电机、动力装置及机器人。
背景技术
随着科技的不断进步，机器人的功能也越来越多，以使机器人能够应用于更多的领域；例如，具有发射功能的机器人可用于比赛、娱乐、安全防护等。其中，具有发射功能的机器人设置有发射机构、云台机构以及电机，发射机构用于发射弹丸等，电机用于驱动云台机构带动发射机构运动以使发射机构能够瞄准并打击目标。
现有技术中，电机通过线缆与电调控制板电连接，电调控制板可通过控制油门大小来改变电机供油量的大小，从而达到控制电机转速的目的。其中，电调控制板通常与电机相互独立设置，在装配机器人时，电调控制板及电机也需分别安装，例如，先将电调控制板安装到机器人的机身上，再将电机安装到机器人的机身上，此外，还需通过电缆将电机与电调控制板电连接，不仅导致电机与电调控制板之间的连线比较复杂，还导致电调控制板及电机的安装较复杂。
发明内容
本发明实施例提供一种电机、动力装置及机器人，能够克服现有技术中的一些问题。
本发明实施例的第一个方面提供一种电机，所述电机包括定子以及相对所述定子可转动的转子，所述电机还包括：第一端盖、基座以及电调控制板；所述定子设于所述基座上，所述第一端盖盖设在所述基座的底部并与所述基座围合成安装空间，所述电调控制板设置在所述安装空间中。
可选地，所述电调控制板上设置有如下至少一个：电机驱动器、磁偏码器、温度传感器、电压检测电路、电流检测电路。
可选地，所述电机还包括功能接口，所述功能接口与所述电调电路板电连接，所述基座和/或所述第一端盖上设有对应所述功能接口的开口。
可选地，所述转子包括转轴，所述基座中可转动地设置有所述转轴，且所述转轴穿过所述电调电路板。
可选地，所述转轴设置有沿其轴向贯穿的第一通孔，所述第一端盖上设有适配所述第 一通孔的第二通孔。
可选地，所述通孔内穿设有线缆，或所述通孔内形成有供弹丸穿过的通道。
可选地，所述电机还包括第二端盖，所述第二端盖套设在所述转轴上且与所述转轴固定连接。
可选地，所述基座包括座体以及从所述座体往背离所述第一端盖的方向延伸的固定部；所述转轴与所述固定部之间设置有第一轴承，所述第一轴承朝向所述座体的一端抵设有锁紧套，所述锁紧套与所述转轴螺接；所述转轴与所述固定部之间还设置有第二轴承，所述第二轴承背离所述座体的一端与所述第二端盖相抵；所述固定部内壁设置有向内延伸的限位部，所述第一轴承背离所述座体的一端与所述限位部的一端相抵，所述第二轴承朝向所述座体的一端与所述限位部的另一端相抵。
可选地，所述锁紧套的内壁设置有内螺纹，所述转轴具有螺纹段，所述螺纹段设置有外螺纹，所述锁紧套的内螺纹与所述转轴上的外螺纹粘接。
可选地，所述转子还包括转子磁环，所述锁紧套朝向座体的一端连接有安装环，所述安装环内嵌设有所述转子磁环。
可选地，所述定子包括定子铁芯，所述转子还包括转子磁轭、转子磁体；所述固定部外设置有所述定子铁芯，所述定子铁芯外设置有转子磁轭，所述转子磁体设于所述转子磁轭的内壁上，所述转子磁轭朝向所述第二端盖的一端与所述第二端盖固定连接。
可选地，所述第二端盖或所述第一端盖背离所述基座的表面设置有至少一个安装孔，所述安装孔用于与执行部件连接。
本发明实施例的第二个方面提供一种动力装置，包括：执行部件以及如前述任一项所述的电机，所述执行部件与所述电机连接，所述电机能够驱动所述执行部件运动。
可选地，所述执行部件为机械臂。
可选地，所述动力装置为云台。
本发明实施例的第三个方面提供一种机器人，包括：机身以及如前述任一项所述的动力装置，所述动力装置设置在所述机身上。
本实施例提供的电机、动力装置及机器人，通过设置基座及第一端盖，且在第一端盖及基座之间设置安装空间，将电调控制板设置在安装空间中，也即将电调控制板设置在电机内，也即将电调控制板集成在电机内，以简化电机及电调控制板的安装，简化电调控制板与电机的电连接，且能够提高电机与电调控制板之间的电连接的可靠性。
除了上面所描述的本发明实施例解决的技术问题、构成技术方案的技术特征以及由这 些技术方案的技术特征所带来的有益效果外，本发明实施例所能解决的其他技术问题、技术方案中包含的其他技术特征以及这些技术特征带来的有益效果，将在具体实施方式中作出进一步详细的说明。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本发明的实施例，并与说明书一起用于解释本发明的原理。
图1为根据一示例性实施例提供的电机的结构示意图一；
图2为根据一示例性实施例提供的电机(隐去电调控制板)的剖面示意图；
图3为根据一示例性实施例提供的电机(设有电调控制板)的剖面示意图；
图4为根据一示例性实施例提供的电机的爆炸示意图；
图5为根据一示例性实施例提供的电机的应用示意图。
附图标记说明：
100-电机；
110-第一端盖；
120-电调控制板；
130-基座；130a-安装空间；131-座体；132-固定部；133-限位部；134-开口；
140-定子铁芯；
150-转子磁轭；
160-转子磁体；
170-第二端盖；171-安装孔
180-转轴；180a-第一通孔；181-第一轴承；182-第二轴承；183-锁紧套；184-转子磁环；185-定子导光柱；
200-云台；
300-弹丸。
通过上述附图，已示出本发明明确的实施例，后文中将有更详细的描述。这些附图和文字描述并不是为了通过任何方式限制本发明构思的范围，而是通过参考特定实施例为本领域技术人员说明本发明的概念。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的 附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。
基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
其中，“上”、“下”、“顶”、“底”等的用语，是用于描述各个结构在附图中的相对位置关系，仅为便于叙述的明了，而非用以限定本发明可实施的范围，其相对关系的改变或调整，在无实质变更技术内容下，当亦视为本发明可实施的范畴。
图1为根据一示例性实施例提供的电机的结构示意图一；图2为根据一示例性实施例提供的电机(隐去电调控制板)的剖面示意图；图3为根据一示例性实施例提供的电机(设有电调控制板)的剖面示意图；图4为根据一示例性实施例提供的电机的爆炸示意图；图5为根据一示例性实施例提供的电机的应用示意图。
请参照图1-图5，本实施例提供一种电机100，包括：基座130、固定连接于基座130的定子、可转动地连接于基座130的转子。转子包括转轴180。
如图2及图3所示，基座130包括座体131以及设置于座体131上的固定部132。座体131可呈盘状，例如圆盘状、椭圆盘状或者方形盘状等。本实施例及下述实施例不妨以座体131呈圆盘状为例，对电机100的结构进行举例说明；其中，当座体131为其它形状时，电机100的的结构、功能及实现过程与此相似。
固定部132可以为沿电机100的轴向延伸设置的圆筒状结构，也即固定部132可以为中空的圆柱体，固定部132的中心轴可与座体131的中心轴重合设置。本实施例中以座体131设置固定部132的一端为上(或者顶)，以便于多电机100的结构的描述。也即，固定部132可以设置在座体131的上端，且向上延伸设置。
定子包括定子铁芯140及线圈。固定部132可用于固定定子铁芯140，定子铁芯140上可绕设有线圈。本实施例此处对于定子的结构并不做具体限定，定子的结构可与采用常规设置。
固定部132上还设置有沿其轴向贯穿的收容孔，且收容孔还可贯穿座体131设置，收容孔用于收容至少部分转轴180。
座体131的底部设置有安装槽，安装槽用于收容电调控制板120。安装槽的形状可与电调控制板120的形状相适配。示例性地，当电调控制板120呈矩形时，安装槽也可呈矩形；当电调控制板120呈圆形时，安装槽也呈圆形。
安装槽可与收容孔连通设置，以使得电机100的结构更加紧凑。在一些示例中，电调控制板120可通过粘接、螺接、卡接等方式固定在安装槽中。以电调控制板120通过螺接的方式固定在安装槽中为例电调控制板120上设置有多个间隔分布的紧固孔，相应地，安装槽中也设置有紧固孔，螺钉、销钉等紧固件穿设在电调控制板120及安装槽的紧固孔中，以将电调控制板120可可靠地固定在安装槽中，以免电调控制板120与基座130之间发生相对位移，也即避免电调控制板120在安装槽中晃动，从而能够保证电调控制板120电连接的可靠性。
本实施例中，电机100还可包括第一端盖110，第一端盖110可盖设在座体131设置有安装槽的一端，也即第一端盖110盖设在座体131的底端，如此，第一端盖110与可安装槽的槽壁共同围合成相对密闭的安装空间130a，以免外部的水等液体对电调控制板120的不利影响。
在一些示例中，第一端盖110可与座体131可拆卸连接，以便于对安装空间130a中的电调控制板120进行检修。示例性地，第一端盖110可与座体131过盈配合、紧固连接或卡接。此外，第一端盖110与座体131之间还可设置有密封件，以提高对安装空间130a的密封效果。
可选地，电极100还包括功能接口，功能接口与电调控制板120电连接。基座130的座体131上可设置有可供电调控制板120及功能接口与外部器件连接的开口134，以使电调控制板120可与外部器件如机器人的主控装置电连接。功能接口可包括通信接口和电源接口。
开口134的数量及形状可根据实际需要进行设置，具体可根据功能接口的数量及形状进行设置，本实施例此处不做具体限定。示例性地，第一端盖110的底端可设置有基本呈矩形的开口134，功能接口均设置在电调控制板120朝向开口134的部分，以便于与外部器件连接。
当然，开口134也可以设置在第一端盖110上。或者，第一端盖110及座体131上均设置有开口134，或者，第一端盖110与座体131配合形成开134，具体可根据实际需要进行设置。或者，电调控制板120上还可设置有无线通信模块，以使电调控制板120可通过无线通信模块与外部部件通信连接。
在一些示例中，电调控制板120上设置有如下至少一个：电机100驱动器、磁编码器、温度传感器、电压检测电路、电流检测电路，以保证电调控制板120的工作可靠性。
电调控制板120上设置有可供转轴180穿过的避让孔，且转轴180可向下穿出电调控 制板120。相应地，第一端盖110上也可设置有沿其轴向贯穿的第二通孔，第二通孔包括第一段及第二段，第一段位于第二段朝向安装空间130a的上端，且第一段的内径大于第二段，转轴180可穿设在第一段中，以使得电机100的结构更加紧凑；第二段可与转轴180的第一通孔180a连通设置。此外，第一段与第二段之间形成的阶梯面可用于限制转轴180相对于基座130向下移动，以提高电机100输出的精确性。
本实施例提供的电机100，通过设置基座130及第一端盖110，且在第一端盖110及基座130之间设置安装空间130a，将电调控制板120设置在安装空间130a中，也即将电调控制板120设置在电机100内，也即将电调控制板120集成在电机100内，以简化电机100及电调控制板120的安装，简化电调控制板120与电机100的电连接，且能够提高电机100与电调控制板120之间的电连接的可靠性。
可选地，转轴180设置有沿其轴向贯穿的第一通孔180a。也即，转轴180设置有从上至向贯穿的第一通孔180a，其中，第一通孔180a的内径可根据实际需要进行设置，本实施例此处不做具体限定；例如第一通孔180a的孔径从上至下可处处相等，又例如第一通孔180a上端的内径也可小于下端的内径。
在一些示例中，第一通孔180a内穿设有线缆。其中，线缆可用于传输电流或者信号。线缆可以包括具有滑环的导线。
如图2至图5所示，在一些示例中，第一通孔180a内形成有供弹丸300穿过的通道。此时，第一通孔180a的最小内径可大于弹丸300的内径。示例性地，当通过第一通孔180a的弹丸300的球径或者直径为17毫米时，第一通孔180a的最小内径可为18毫米，以使弹丸300能够顺利通过转轴180第一通孔180a。
本实施例中，通过在转轴180上设置沿其轴向贯穿的第一通孔180a，便于电机100中线束的设置，以简化电机100中的电连接且简化电机100结构。或者，还能够简化弹丸300的通道，简化设有发射机构的机器车的结构。
可选地，电机100还包括第二端盖170，第二端盖170套设在转轴180上且与转轴180固定连接。在一些示例中，第二端盖170可采用如下至少一种连接方式与转轴180连接：过盈配合、粘接、焊接、紧固连接。
第二端盖170上可设置有沿其轴向延伸的固定孔，转轴180固定设置在固定孔中，以使得电机100的结构更加紧凑；其中，转轴180可向上伸出第二端盖170预设长度，本实施例对于该预设长度不做具体限定，可根据实际需要进行设置。
其中，第二端盖170背离第一端盖110的上端可设有浅槽，浅槽可与固定孔同心设置， 相应对，转轴180的上端设置有凸缘，凸缘设置在浅槽中；凸缘可与第二端盖170粘接或者紧固连接，以提高转轴180与第二端盖170的连接可靠性。
在一些示例中，第二端盖170上可设置有至少一个安装孔171，安装孔171的中心轴可与第二端盖170的中心轴平行设置。安装孔171可用于与螺栓、销钉等连接件配合，以使得第二端盖170的上表面可形成法兰安装面，便于与执行部件等连接。
其中，至少部分安装孔171可均为螺纹孔。至少部分安装孔171可以为圆孔。本实施例对于安装孔171的具体形状并不做具体限定，具体可根据实际需要进行设置，只要能够使得第二端盖170与执行部件连接即可。
各安装孔171的内径可均相等；或者，其中至少一个安装孔171的内径大于其它安装孔171。本实施例此处对于安装孔171的内径不做具体限定，具体可根据实际需要进行设置。
各安装孔171沿第二端盖170的轴向的深度可均相等相同，其中至少一个安装孔171的深度可大于其他安装孔171。本实施例此处对于安装孔171的深度不做具体限定，具体可根据实际需要进行设置。
此外，转子包括设置在定子铁芯140外的转子磁轭150，转子磁轭150朝向第二端盖170的一端与第二端盖170固定连接。在一些示例中，第二端盖170可采用如下至少一种连接方式与转子磁轭150连接：过盈配合、粘接、焊接、紧固连接。其中，转子磁轭150的内壁设置有转子磁体160。
本实施例中，通过将第二端盖170与转轴180固定连接，将第二端盖170与转子磁轭150固定连接，此时，转轴180、第二端盖170及磁轭可共同作为回转支撑体，以提该转轴180及第二端盖170的承载能力，提高电机100与执行部件的连接可靠性。
当然，安装孔171也可设置在第一端盖110上，以使得第一端盖110的下表面形成法兰安装面，便于与执行部件等连接。此时，安装孔171的结构及功能可与设置在第二端盖170类似，此处不再赘述。
在一些示例中，固定部132内壁设置有向内延伸的限位部133。其中，限位部133处的内径小于固定部132的内径，且限位部133的内径大于转轴180的外径。
转轴180与固定部132之间设置有第一轴承181，第一轴承181朝向座体131的一端抵设有锁紧套183，锁紧套183与转轴180螺接；第一轴承181背离座体131的一端与限位部133相抵。其中，第一轴承181上可设置有定子导光柱185。
转轴180与固定部132之间还设置有第二轴承182，第二轴承182背离座体131的一 端与第二端盖170相抵，第二轴承182朝向座体131的一端与限位部133相抵。
由于第一轴承181的上端与固定部132的限位部133相抵，锁紧套183的上端与第一轴承181的下端相抵，如此，能够限制转轴180及第二端盖170相对于基座130向上移动；此外，由于第二轴承182的下端与限位部133相抵，第二轴承182的上端与第二端盖170相抵，如此，能够限制转轴180及第二端盖170相对于基座130向下移动。
因此，本实施例中，能够限制转轴180相对于基座130的轴向移动，从而能够消除电机100转子与定子之间的轴向间隙，也即消除电机100转轴180的轴向窜动，也即消除电机100转轴180的轴向窜动，进而保证电机100输出的转速及扭矩的精确性。
在一些示例中，锁紧套183的内壁设置有内螺纹，转轴180具有螺纹段，螺纹段设置有外螺纹，锁紧套183的内螺纹与转轴180上的外螺纹粘接，以保证锁紧套183与转轴180的固定可靠性，提高对转轴180轴向窜动的限制效果。
在一些示例中，锁紧套183朝向座体131的一端连接有安装环，安装环内嵌设有转子磁环184。转子磁环184用于检测电机100转子相对于定子的转动信息如角度或者位移。
相应地，电调控制板120上可设置有与转子磁环184相配合的检测元件，如磁编码器，在转子磁环184随锁紧套183及转轴180一起转动时，转子磁环184的角度或者位移变化会导致一定的电阻或者电压变化，从而达到检测转子相对于定子的运动信息。
此外，可以理解的是：本实施例未对电机100说明的部分，可采用本领域的常规设置，本实施例此处不再赘述。
本实施例还提供一种动力装置，包括执行部件及前述任一项中的电机100，执行部件与电机100连接，电机100能够驱动执行部件运动。
其中，电机100的结构、功能及实现过程可与前述实施例相同，此处不再赘述。
在一些示例中，执行部件可通过联轴器、安装板等与电机100的转轴180连接。
在一些示例中，电机100的第一端盖110设置有法兰安装面时，执行部件可与第一端盖110连接。
在一些示例中，电机100的第二端盖170设置有法兰安装面时，执行部件可与第二端盖170连接。
其中，执行部件为机械臂等被电机100驱动的部件。或者，动力装置为云台200，此时，执行部件可为云台200中用于被电机100驱动的部件，如云台轴臂。
当然，本实施例中的执行部件及动力装置均不限于此，本实施例此处只是举例说明。
本实施例还提供一种机器人，包括：机身以及前述实施例中的动力装置，动力装置设 置在机身上。
其中，动力装置的结构、功能及实现过程可与前述实施例相同，此处不再赘述。
需要说明的是：在本发明中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
此外，在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示意性实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本公开的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (40)

  1. 一种电机，所述电机包括定子以及相对所述定子可转动的转子，其特征在于，所述电机还包括：第一端盖、基座以及电调控制板；所述定子设于所述基座上，所述第一端盖盖设在所述基座的底部并与所述基座围合成安装空间，所述电调控制板设置在所述安装空间中。
  2. 根据权利要求1所述的电机，其特征在于，所述电调控制板上设置有如下至少一个：电机驱动器、磁偏码器、温度传感器、电压检测电路、电流检测电路。
  3. 根据权利要求1所述的电机，其特征在于，所述电机还包括功能接口，所述功能接口与所述电调电路板电连接，所述基座和/或所述第一端盖上设有对应所述功能接口的开口。
  4. 根据权利要求1所述的电机，其特征在于，所述转子包括转轴，所述基座中可转动地设置有所述转轴，且所述转轴穿过所述电调电路板。
  5. 根据权利要求4所述的电机，其特征在于，所述转轴设置有沿其轴向贯穿的第一通孔，所述第一端盖上设有适配所述第一通孔的第二通孔。
  6. 根据权利要求5所述的电机，其特征在于，所述通孔内穿设有线缆，或所述通孔内形成有供弹丸穿过的通道。
  7. 根据权利要求4所述的电机，其特征在于，还包括第二端盖，所述第二端盖套设在所述转轴上且与所述转轴固定连接。
  8. 根据权利要求7所述的电机，其特征在于，所述基座包括座体以及从所述座体往背离所述第一端盖的方向延伸的固定部；
    所述转轴与所述固定部之间设置有第一轴承，所述第一轴承朝向所述座体的一端抵设有锁紧套，所述锁紧套与所述转轴螺接；
    所述转轴与所述固定部之间还设置有第二轴承，所述第二轴承背离所述座体的一端与所述第二端盖相抵；
    所述固定部内壁设置有向内延伸的限位部，所述第一轴承背离所述座体的一端与所述限位部的一端相抵，所述第二轴承朝向所述座体的一端与所述限位部的另一端相抵。
  9. 根据权利要求8所述的电机，其特征在于，所述锁紧套的内壁设置有内螺纹，所述转轴具有螺纹段，所述螺纹段设置有外螺纹，所述锁紧套的内螺纹与所述转轴上的外螺纹粘接。
  10. 根据权利要求8所述的电机，其特征在于，所述转子还包括转子磁环，所述锁紧 套朝向座体的一端连接有安装环，所述安装环内嵌设有所述转子磁环。
  11. 根据权利要求8所述的电机，其特征在于，所述定子包括定子铁芯，所述转子还包括转子磁轭、转子磁体；
    所述固定部外设置有所述定子铁芯，所述定子铁芯外设置有转子磁轭，所述转子磁体设于所述转子磁轭的内壁上，所述转子磁轭朝向所述第二端盖的一端与所述第二端盖固定连接。
  12. 根据权利要求7所述的电机，其特征在于，所述第二端盖或所述第一端盖背离所述基座的表面设置有至少一个安装孔，所述安装孔用于与执行部件连接。
  13. 一种动力装置，其特征在于，包括：执行部件以及电机，所述执行部件与所述电机连接，所述电机能够驱动所述执行部件运动；
    所述电机包括定子以及相对所述定子可转动的转子，所述电机还包括：第一端盖、基座以及电调控制板；所述定子设于所述基座上，所述第一端盖盖设在所述基座的底部并与所述基座围合成安装空间，所述电调控制板设置在所述安装空间中。
  14. 根据权利要求13所述的动力装置，其特征在于，所述电调控制板上设置有如下至少一个：电机驱动器、磁偏码器、温度传感器、电压检测电路、电流检测电路。
  15. 根据权利要求13所述的动力装置，其特征在于，所述电机还包括功能接口，所述功能接口与所述电调电路板电连接，所述基座和/或所述第一端盖上设有对应所述功能接口的开口。
  16. 根据权利要求13所述的动力装置，其特征在于，所述转子包括转轴，所述基座中可转动地设置有所述转轴，且所述转轴穿过所述电调电路板。
  17. 根据权利要求16所述的动力装置，其特征在于，所述转轴设置有沿其轴向贯穿的第一通孔，所述第一端盖上设有适配所述第一通孔的第二通孔。
  18. 根据权利要求17所述的动力装置，其特征在于，所述通孔内穿设有线缆，或所述通孔内形成有供弹丸穿过的通道。
  19. 根据权利要求16所述的动力装置，其特征在于，还包括第二端盖，所述第二端盖套设在所述转轴上且与所述转轴固定连接。
  20. 根据权利要求19所述的动力装置，其特征在于，所述基座包括座体以及从所述座体往背离所述第一端盖的方向延伸的固定部；
    所述转轴与所述固定部之间设置有第一轴承，所述第一轴承朝向所述座体的一端抵设有锁紧套，所述锁紧套与所述转轴螺接；
    所述转轴与所述固定部之间还设置有第二轴承，所述第二轴承背离所述座体的一端与所述第二端盖相抵；
    所述固定部内壁设置有向内延伸的限位部，所述第一轴承背离所述座体的一端与所述限位部的一端相抵，所述第二轴承朝向所述座体的一端与所述限位部的另一端相抵。
  21. 根据权利要求20所述的动力装置，其特征在于，所述锁紧套的内壁设置有内螺纹，所述转轴具有螺纹段，所述螺纹段设置有外螺纹，所述锁紧套的内螺纹与所述转轴上的外螺纹粘接。
  22. 根据权利要求20所述的动力装置，其特征在于，所述转子还包括转子磁环，所述锁紧套朝向座体的一端连接有安装环，所述安装环内嵌设有所述转子磁环。
  23. 根据权利要求20所述的动力装置，其特征在于，所述定子包括定子铁芯，所述转子还包括转子磁轭、转子磁体；
    所述固定部外设置有所述定子铁芯，所述定子铁芯外设置有转子磁轭，所述转子磁体设于所述转子磁轭的内壁上，所述转子磁轭朝向所述第二端盖的一端与所述第二端盖固定连接。
  24. 根据权利要求19所述的动力装置，其特征在于，所述第二端盖或所述第一端盖背离所述基座的表面设置有至少一个安装孔，所述安装孔用于与执行部件连接。
  25. 根据权利要求13所述的动力装置，其特征在于，所述执行部件为机械臂。
  26. 根据权利要求13所述的动力装置，其特征在于，所述动力装置为云台。
  27. 一种机器人，其特征在于，包括：机身以及动力装置，所述动力装置设置在所述机身上，所述动力装置包括：执行部件以及电机，所述执行部件与所述电机连接，所述电机能够驱动所述执行部件运动；
    所述电机包括定子以及相对所述定子可转动的转子，所述电机还包括：第一端盖、基座以及电调控制板；所述定子设于所述基座上，所述第一端盖盖设在所述基座的底部并与所述基座围合成安装空间，所述电调控制板设置在所述安装空间中。
  28. 根据权利要求27所述的机器人，其特征在于，所述电调控制板上设置有如下至少一个：电机驱动器、磁偏码器、温度传感器、电压检测电路、电流检测电路。
  29. 根据权利要求27所述的机器人，其特征在于，所述电机还包括功能接口，所述功能接口与所述电调电路板电连接，所述基座和/或所述第一端盖上设有对应所述功能接口的开口。
  30. 根据权利要求27所述的机器人，其特征在于，所述转子包括转轴，所述基座中 可转动地设置有所述转轴，且所述转轴穿过所述电调电路板。
  31. 根据权利要求30所述的机器人，其特征在于，所述转轴设置有沿其轴向贯穿的第一通孔，所述第一端盖上设有适配所述第一通孔的第二通孔。
  32. 根据权利要求31所述的机器人，其特征在于，所述通孔内穿设有线缆，或所述通孔内形成有供弹丸穿过的通道。
  33. 根据权利要求30所述的机器人，其特征在于，还包括第二端盖，所述第二端盖套设在所述转轴上且与所述转轴固定连接。
  34. 根据权利要求33所述的机器人，其特征在于，所述基座包括座体以及从所述座体往背离所述第一端盖的方向延伸的固定部；
    所述转轴与所述固定部之间设置有第一轴承，所述第一轴承朝向所述座体的一端抵设有锁紧套，所述锁紧套与所述转轴螺接；
    所述转轴与所述固定部之间还设置有第二轴承，所述第二轴承背离所述座体的一端与所述第二端盖相抵；
    所述固定部内壁设置有向内延伸的限位部，所述第一轴承背离所述座体的一端与所述限位部的一端相抵，所述第二轴承朝向所述座体的一端与所述限位部的另一端相抵。
  35. 根据权利要求34所述的机器人，其特征在于，所述锁紧套的内壁设置有内螺纹，所述转轴具有螺纹段，所述螺纹段设置有外螺纹，所述锁紧套的内螺纹与所述转轴上的外螺纹粘接。
  36. 根据权利要求34所述的机器人，其特征在于，所述转子还包括转子磁环，所述锁紧套朝向座体的一端连接有安装环，所述安装环内嵌设有所述转子磁环。
  37. 根据权利要求34所述的机器人，其特征在于，所述定子包括定子铁芯，所述转子还包括转子磁轭、转子磁体；
    所述固定部外设置有所述定子铁芯，所述定子铁芯外设置有转子磁轭，所述转子磁体设于所述转子磁轭的内壁上，所述转子磁轭朝向所述第二端盖的一端与所述第二端盖固定连接。
  38. 根据权利要求33所述的机器人，其特征在于，所述第二端盖或所述第一端盖背离所述基座的表面设置有至少一个安装孔，所述安装孔用于与执行部件连接。
  39. 根据权利要求27所述的机器人，其特征在于，所述执行部件为机械臂。
  40. 根据权利要求27所述的机器人，其特征在于，所述动力装置为云台。
PCT/CN2018/122161 2018-11-20 2018-12-19 电机、动力装置及机器人 WO2020103257A1 (zh)

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