WO2023246014A1 - 一种电机外转子结构及回转动力单元和四足机器人 - Google Patents

一种电机外转子结构及回转动力单元和四足机器人 Download PDF

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Publication number
WO2023246014A1
WO2023246014A1 PCT/CN2022/139081 CN2022139081W WO2023246014A1 WO 2023246014 A1 WO2023246014 A1 WO 2023246014A1 CN 2022139081 W CN2022139081 W CN 2022139081W WO 2023246014 A1 WO2023246014 A1 WO 2023246014A1
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WO
WIPO (PCT)
Prior art keywords
magnetic steel
end cover
steel sleeve
rotor end
edge
Prior art date
Application number
PCT/CN2022/139081
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English (en)
French (fr)
Inventor
李仕友
王兴兴
Original Assignee
杭州宇树科技有限公司
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Application filed by 杭州宇树科技有限公司 filed Critical 杭州宇树科技有限公司
Publication of WO2023246014A1 publication Critical patent/WO2023246014A1/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
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/22—Rotating parts of the magnetic circuit
    • H02K1/27—Rotor cores with permanent magnets
    • H02K1/2786—Outer rotors
    • H02K1/2787—Outer rotors the magnetisation axis of the magnets being perpendicular to the rotor axis
    • H02K1/2789—Outer rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets
    • H02K1/2791—Surface mounted magnets; Inset magnets
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/22—Rotating parts of the magnetic circuit
    • H02K1/28—Means for mounting or fastening rotating magnetic parts on to, or to, the rotor structures

Definitions

  • the utility model relates to the technical field of external rotor motors, and in particular to a motor external rotor structure, a rotary power unit and a quadruped robot.
  • the rotary power unit is one of the core components of the quadruped robot, including a motor unit and a deceleration unit; existing motor units mostly use external rotor motors.
  • Chinese patent CN211693390 provides an electrically driven rotary power unit.
  • the motor includes The stator and the outer rotor, the stator is fixed on an upper end cover, and the outer rotor side support end face is away from the output end cover relative to the stator; or the stator is fixed on the lower end cover, and the outer rotor side support end face is close to the output end relative to the stator. End cover; the outer rotor and the stator are rotationally connected through connectors and bearings.
  • the motor unit adopts an external rotor motor.
  • the specific structure of the outer rotor is shown in Figure 1, including an end cover 1, a steel sleeve 2, and a magnetic steel assembly 3.
  • the edge of the end cover 1 extends radially to form a boss that abuts the end face of the steel sleeve 2.
  • the end cover 1 and the steel sleeve The sets 2 are stacked together and partially fastened and fixed.
  • the first object of the present invention is to provide a motor outer rotor structure in which the magnetic steel sleeve and the rotor end cover will not separate when subjected to axial impact.
  • the second purpose of this utility model is to provide an outer rotor structure of a motor.
  • the rotor end cover is sleeved inside the magnetic steel sleeve, and the stopper of the magnetic steel sleeve is in contact with the edge of the rotor end cover, so that the rotor end cover and the magnetic steel sleeve are connected.
  • the axial limit of the steel sleeve is simple, practical and feasible.
  • the third purpose of this utility model is to provide a motor outer rotor structure.
  • the rotor end cover and the magnetic steel sleeve are connected in a sleeve manner and under the limit of the stopper.
  • the direction of the instantaneous impact is along the magnetic steel assembly toward the rotor end cover, When used, it can effectively prevent the rotor end cover from loosening or detaching, thereby ensuring that the outer rotor and the complete quadruped robot can be used normally under various extreme conditions, effectively increasing the service life of the robot, and facilitating the promotion of use.
  • the fourth object of the present invention is to provide a rotary power unit, which includes a motor outer rotor structure in which the magnetic steel sleeve and the rotor end cover will not separate when subjected to axial impact.
  • the fifth object of the present invention is to provide a quadruped robot, which includes a motor outer rotor structure in which the magnetic steel sleeve and the rotor end cover will not separate when subjected to axial impact.
  • the first technical solution of the present invention is:
  • An outer rotor structure of a motor including a magnetic steel sleeve, the edge of the magnetic steel sleeve extending in the direction of its axis to form a stop; a rotor end cover, the rotor end cover is sleeved inside the magnetic steel sleeve and passes through the magnetic steel sleeve.
  • the contact between the stopper and the edge of the rotor end cover realizes one-way fixation of the rotor end cover relative to the magnetic steel sleeve along the axial direction.
  • the blocking part is a hemming, which is formed by directly bending the edge of the magnetic steel sleeve, which facilitates production and manufacturing and has low manufacturing cost.
  • the edge of the rotor end cover is provided with a step that matches the edge.
  • the abutment between the edge and the step enables the rotor end cover to move along the axis relative to the magnetic steel sleeve.
  • One-way fixation of direction. Steps are set on the edge of the rotor end cover to make the fit between the rotor end cover and the magnetic steel sleeve more compact and smaller.
  • a magnetic steel assembly is fixed in the magnetic steel sleeve.
  • the magnetic steel assembly includes a magnetic steel fixing part and magnets evenly fixed on the magnetic steel fixing part.
  • It includes a magnetic steel sleeve with accommodating space and a rotor end cover with an arc-shaped structure;
  • the magnetic steel sleeve is provided with a stop for limiting the movement range of the rotor end cover
  • the rotor end cover is sleeved in the accommodation space of the magnetic steel sleeve, and through the contact between the stopper and the edge of the rotor end cover, the rotor end cover moves in the axial direction relative to the magnetic steel sleeve. limit.
  • this utility model connects the rotor end cover inside the magnetic steel sleeve, and contacts the edge of the rotor end cover through the stopper of the magnetic steel sleeve to realize the axial limit of the rotor end cover and the magnetic steel sleeve.
  • the solution is simple, practical and feasible.
  • connection method between the rotor end cover and the magnetic steel sleeve of the present invention and the limitation of the stopper can effectively prevent the rotor end cover from loosening or breaking when the direction of instantaneous impact is along the magnetic steel assembly toward the rotor end cover. Detachment can ensure that the outer rotor and the entire quadruped robot can be used normally under various extreme conditions, effectively extending the service life of the robot and facilitating the promotion of use.
  • the stopper is provided along the edge of the magnetic steel sleeve and extends toward the accommodation space of the magnetic steel sleeve to change the open space of the accommodation space to meet various limiting requirements.
  • the blocking part is an annular structure, which is arranged around a circumference of the magnetic steel sleeve, so that when the rotor terminal is subjected to an impact force, the blocking part can provide a uniform resistance force.
  • the blocking parts are sheet-like structures arranged at intervals, and only use the sheet-like structure to limit the position of the rotor end cover. Under the condition that the structural strength is met, the weight of the magnetic steel sleeve is reduced and the entire machine is prevented from being overweight.
  • the stop part is a pin structure that can be plugged into the magnetic steel sleeve to facilitate disassembly.
  • the periphery of the rotor end cover is provided with a step that matches the stop portion. The contact between the stop portion and the step causes the rotor end cover and the magnetic steel sleeve to receive even force.
  • the edge of the rotor end cover is provided with notches and gaps that match the sheet structure
  • the notch and the gap are connected, so that the sheet structure can be screwed into the gap from the notch, so that the rotor end cover and the magnetic steel sleeve are reliably fixed together.
  • the edge of the rotor end cover is provided with a socket that matches the pin structure, so that the rotor end cover and the magnetic steel sleeve are reliably fixed together.
  • a rotary power unit includes the above-mentioned motor outer rotor structure.
  • a quadruped robot includes the above-mentioned motor outer rotor structure.
  • the utility model provides a motor outer rotor structure.
  • the rotor end cover is sleeved inside the magnetic steel sleeve, and the stopper of the magnetic steel sleeve is in contact with the edge of the rotor end cover to realize the axis connection between the rotor end cover and the magnetic steel sleeve. Fixed in the direction, when the motor unit receives an impact transmitted from the reduction unit, the rotor end cover and the magnetic steel sleeve will not separate.
  • connection method between the rotor end cover and the magnetic steel sleeve of the present invention and the limitation of the stopper can effectively prevent the rotor end cover from loosening or breaking when the direction of instantaneous impact is along the magnetic steel assembly toward the rotor end cover. Detachment can ensure that the outer rotor and the entire quadruped robot can be used normally under various extreme conditions, effectively extending the service life of the robot and facilitating the promotion of use.
  • the rotary power unit provided by the utility model includes an outer rotor structure of a motor.
  • the rotor end cover is sleeved inside the magnetic steel sleeve, and the stopper of the magnetic steel sleeve is in contact with the edge of the rotor end cover to realize the rotor end.
  • the cover and the magnetic steel sleeve are axially fixed.
  • the quadruped robot provided by the utility model includes a motor outer rotor structure.
  • the rotor end cover is sleeved inside the magnetic steel sleeve, and the stopper of the magnetic steel sleeve is in contact with the edge of the rotor end cover to realize the rotor end.
  • the cover and the magnetic steel sleeve are axially fixed.
  • Figure 1 is a schematic structural diagram of a motor outer rotor in the prior art
  • Figure 2 is an exploded view of the outer rotor structure of the motor provided by the utility model
  • Figure 3 is a structural diagram of the motor outer rotor structure provided by the utility model
  • Figure 4 is a cross-sectional view of the structure shown in Figure 3 along the A-A direction.
  • An outer rotor structure of a motor including a magnetic steel sleeve 5, the edge of the magnetic steel sleeve 5 extending in the direction of its axis to form a stop; a rotor end cover 4, the rotor end cover 4 being sleeved on the magnetic steel sleeve 5 Inside, and through the contact between the stopper and the edge of the rotor end cover 4 , the rotor end cover 4 is fixed in one direction along the axial direction relative to the magnetic steel sleeve 5 .
  • a motor outer rotor structure includes a magnetic steel sleeve 5 with a receiving space and a rotor end cover 4 with an arc-shaped structure.
  • the magnetic steel sleeve 5 is provided with a stop for limiting the movement range of the rotor end cover 4;
  • the outer diameter of the rotor end cover 4 is smaller than the inner diameter of the magnetic steel sleeve 5, and the width of the rotor end cover 4 is smaller than the width of the magnetic steel sleeve 5, so that the rotor end cover 4 is sleeved on the magnetic steel.
  • the rotor end cover 4 is limited in the axial direction relative to the magnetic steel sleeve 5.
  • the blocking part is a hemming 51, which is formed by directly bending the edge of the magnetic steel sleeve 5, which facilitates production and manufacturing and has low manufacturing cost.
  • the edge of the rotor end cover 4 is provided with a step 41 that matches the edge 51 .
  • the edge 51 abuts the step 41 to achieve the edge of the rotor end cover 4 relative to the magnetic steel sleeve 5 .
  • Steps 41 are provided on the edge of the rotor end cover 4, so that the cooperation between the rotor end cover 4 and the magnetic steel sleeve 5 is more compact and the volume is smaller.
  • the stopper is an annular structure, which is provided along the edge of the magnetic steel sleeve 5 and extends toward the accommodation space of the magnetic steel sleeve 5 to change the open space of the accommodation space to meet various limiting requirements.
  • the stoppers are sheet-like structures arranged at intervals, and only use the sheet-like structures to limit the position of the rotor end cover 4. While satisfying the structural strength, the weight of the magnetic steel sleeve 5 is reduced and the entire machine is prevented from being overweight.
  • the periphery of the rotor end cover 4 is provided with a step 41 that matches the sheet structure.
  • the contact between the stopper and the step 41 makes the assembly size of the rotor end cover 4 and the magnetic steel sleeve 5 more compact.
  • the blocking parts are sheet-like structures arranged at intervals; the edges of the rotor end cover 4 are provided with notches and gaps that match the sheet-like structures, and the notches and gaps are connected to allow the sheet-like structure to rotate from the gaps. into the gap so that the rotor end cover 4 and the magnetic steel sleeve 5 are reliably fixed together.
  • the stop part is a pin structure that can be plugged into the magnetic steel sleeve 5 for easy disassembly.
  • the edge of the rotor end cover 4 is provided with a socket that matches the pin structure, so that the rotor end cover 4 and the magnetic steel sleeve 5 are reliably fixed together.
  • a magnetic steel assembly 3 is fixed inside the magnetic steel sleeve 5.
  • the magnetic steel assembly 3 includes a magnetic steel fixing piece and magnetic steel evenly fixed on the magnetic steel fixing piece.
  • a rotary power unit includes the above-mentioned motor outer rotor structure.
  • a quadruped robot includes the above-mentioned motor outer rotor structure.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Iron Core Of Rotating Electric Machines (AREA)

Abstract

一种电机外转子结构及回转动力单元和四足机器人，其中一种电机外转子结构包括磁钢套（5），磁钢套（5）边缘向其轴心方向延伸形成包边（51）；转子端盖（4）的边缘设有与包边（51）相配合的台阶（41）；转子端盖（4）套设于磁钢套（5）内部，通过包边（51）与台阶（41）抵接，实现转子端盖（4）相对磁钢套（5）沿轴线方向的单向固定。将转子端盖（4）套接在磁钢套（5）内部，通过磁钢套（5）的包边（51）与转子端盖（4）的台阶（41）相抵接，实现转子端盖（4）与磁钢套（5）的轴向固定，当电机单元受到从减速单元传导来的冲击时，转子端盖（4）与磁钢套（5）不会发生脱离。

Description

一种电机外转子结构及回转动力单元和四足机器人 技术领域
本实用新型涉及外转子电机技术领域，尤其涉及了一种电机外转子结构及回转动力单元和四足机器人。
 背景技术
回转动力单元是四足机器人的核心零部件之一，包括电机单元和减速单元；现有的电机单元多采用外转子电机，如中国专利CN211693390提供了一种电驱动回转动力单元，所述电机包括定子和外转子，所述定子固定在一上端盖，所述外转子侧支撑端面相对定子远离输出端盖；或所述定子固定在一下端盖上，所述外转子侧支撑端面相对定子靠近输出端盖；所述外转子与定子通过连接件以及轴承转动连接。
上述技术方案中，电机单元即采用了外转子电机。外转子的具体结构如附图1所示，包括端盖1、钢套2、磁钢组件3，端盖1边缘径向延伸形成与钢套2端面抵接的凸台，端盖1与钢套2叠置在一起，并局部扣合固定。
 技术问题
但由于四足机器人在使用过程中难以避免的会摔倒，或者髋关节处突然受到外部冲击，并且该瞬时冲击的方向不固定，当瞬时冲击的方向是沿磁钢组件3向端盖1时，即会导致叠置连接的端盖1与钢套2发生松动或脱离，进而使外转子以及四足机器人整机发生故障而不能正常使用，影响机器人的使用寿命，不利于推广使用。
 技术解决方案
为了克服现有技术的不足，本实用新型的目的一在于提供一种电机外转子结构，在受到轴向冲击时，磁钢套与转子端盖不会发生脱离。
本实用新型的目的二在于提供一种电机外转子结构，将转子端盖套接在磁钢套内部，并通过磁钢套的挡部与转子端盖的边缘相抵接，实现转子端盖与磁钢套的轴向限位，方案简单、实用，切实可行。
本实用新型的目的三在于提供一种电机外转子结构，其转子端盖与磁钢套的套接方式以及在挡部的限位下，当瞬时冲击的方向是沿磁钢组件向转子端盖时，能够有效避免转子端盖发生松动或脱离，进而能够确保外转子以及四足机器人整机在各种极端情况下能正常使用，有效提高机器人的使用寿命，利于推广使用。
本实用新型的目的四在于提供回转动力单元，其包含的电机外转子结构，在受到轴向冲击时，磁钢套与转子端盖不会发生脱离。
本实用新型的目的五在于提供四足机器人，其包含的一种电机外转子结构，在受到轴向冲击时，磁钢套与转子端盖不会发生脱离。
为实现上述目的之一，本实用新型的第一种技术方案为：
一种电机外转子结构，包括磁钢套，所述磁钢套边缘向其轴心方向延伸形成挡部；转子端盖，所述转子端盖套设于所述磁钢套内部，并通过所述挡部与所述转子端盖边缘的抵接，实现所述转子端盖相对所述磁钢套沿轴线方向的单向固定。
作为优选的技术方案，所述挡部为包边，其由磁钢套边缘直接弯折形成，便于生产制造，制造成本低。
作为优选的技术方案，所述转子端盖边缘设有与所述包边相配合的台阶，所述包边与所述台阶的抵接，实现所述转子端盖相对所述磁钢套沿轴线方向的单向固定。在转子端盖边缘设置台阶，使转子端盖与磁钢套的配合更加紧凑，体积更小。
作为优选的技术方案，所述磁钢套内固定有磁钢组件，所述磁钢组件包括磁钢固定件和均匀固定于所述磁钢固定件上的磁钢。
为实现上述目的之一，本实用新型的第二种技术方案为：
一种电机外转子结构，
包括具有容纳空间的磁钢套、弧状结构的转子端盖；
所述磁钢套设有用于限制转子端盖移动范围的挡部；
所述转子端盖套设于所述磁钢套的容纳空间内，并通过所述挡部与所述转子端盖边缘的抵接，实现所述转子端盖相对所述磁钢套沿轴线方向的限位。
本实用新型经过不断探索以及试验，将转子端盖套接在磁钢套内部，并通过磁钢套的挡部与转子端盖的边缘相抵接，实现转子端盖与磁钢套的轴向限位，方案简单、实用，切实可行。
进一步，本实用新型转子端盖与磁钢套的套接方式以及在挡部的限位下，当瞬时冲击的方向是沿磁钢组件向转子端盖时，能够有效避免转子端盖发生松动或脱离，进而能够确保外转子以及四足机器人整机在各种极端情况下能正常使用，有效提高机器人的使用寿命，利于推广使用。
作为优选的技术方案，
所述挡部沿磁钢套边缘设置，并向磁钢套的容纳空间延伸，以改变容纳空间的敞口空间，以适用各种限位需求。
作为优选的技术方案，
所述挡部为环状结构，其绕磁钢套的一周圈设置，使得转子端子在受到冲击力时，挡部能够提供均匀的抵触力。
或所述挡部为间隔布置的片状结构，只通过片状结构对转子端盖进行限位，在满足结构强度下，减轻磁钢套的重量，避免整机过重。
或所述挡部为能与磁钢套插接的销轴结构，便于拆卸。
作为优选的技术方案，
所述转子端盖周缘设有与所述挡部相配合的台阶，所述挡部与所述台阶的抵接，使得转子端盖与磁钢套受力均匀。
或所述转子端盖边缘设有与所述片状结构相配合的缺口和缝隙，
所述缺口和缝隙相通，以使得片状结构从缺口中旋进缝隙，使得转子端盖和磁钢套可靠的固定在一起。
或所述转子端盖边缘设有与所述销轴结构相配合的插孔，使得转子端盖和磁钢套可靠的固定在一起。
为实现上述目的之一，本实用新型的第三种技术方案为：
回转动力单元，其包括上述的一种电机外转子结构。
为实现上述目的之一，本实用新型的第四种技术方案为：
四足机器人，其包括上述的一种电机外转子结构。
 有益效果
本实用新型提供的一种电机外转子结构，将转子端盖套接在磁钢套内部，通过磁钢套的挡部与转子端盖的边缘相抵接，实现转子端盖与磁钢套的轴向固定，当电机单元受到从减速单元传导来的冲击时，转子端盖与磁钢套不会发生脱离。
进一步，本实用新型转子端盖与磁钢套的套接方式以及在挡部的限位下，当瞬时冲击的方向是沿磁钢组件向转子端盖时，能够有效避免转子端盖发生松动或脱离，进而能够确保外转子以及四足机器人整机在各种极端情况下能正常使用，有效提高机器人的使用寿命，利于推广使用。
本实用新型提供的回转动力单元，其包含的一种电机外转子结构，将转子端盖套接在磁钢套内部，通过磁钢套的挡部与转子端盖的边缘相抵接，实现转子端盖与磁钢套的轴向固定，当电机单元受到从减速单元传导来的冲击时，转子端盖与磁钢套不会发生脱离，进而提高了回转动力单元运行的稳定性。
本实用新型提供的四足机器人，其包含的一种电机外转子结构，将转子端盖套接在磁钢套内部，通过磁钢套的挡部与转子端盖的边缘相抵接，实现转子端盖与磁钢套的轴向固定，当电机单元受到从减速单元传导来的冲击时，转子端盖与磁钢套不会发生脱离，进而提高了四足机器人整体运行的稳定性。
 附图说明
图1是现有技术中的电机外转子的结构示意图；
图2是本实用新型提供的电机外转子结构的一种爆炸图；
图3是本实用新型提供的电机外转子结构的一种结构示图；
图4是如图3所示结构沿A-A方向的剖视图。
图中：1、端盖；2、钢套；3、磁钢组件；4、转子端盖；41、台阶；5、磁钢套；51、包边。
 本发明的实施方式
下面，结合附图以及具体实施方式，对本实用新型做进一步描述，需要说明的是，在不相冲突的前提下，以下描述的各实施例之间或各技术特征之间可以任意组合形成新的实施例。
除非另有定义，本实用新型所使用的所有的技术和科学术语与属于本实用新型的技术领域的技术人员通常理解的含义相同。本实用新型所使用的术语只是为了描述具体的实施例的目的，不是旨在限制本实用新型。
如图2、图3、图4所示，本实用新型电机外转子结构的第一种具体实施例：
一种电机外转子结构，包括磁钢套5，所述磁钢套5边缘向其轴心方向延伸形成挡部；转子端盖4，所述转子端盖4套设于所述磁钢套5内部，并通过所述挡部与所述转子端盖4边缘的抵接，实现所述转子端盖4相对所述磁钢套5沿轴线方向的单向固定。
本实用新型电机外转子结构的第二种具体实施例：
一种电机外转子结构，包括具有容纳空间的磁钢套5、弧状结构的转子端盖4。
所述磁钢套5设有用于限制转子端盖4移动范围的挡部；
所述转子端盖4的外径尺寸小于磁钢套5的内径尺寸，所述转子端盖4的宽度小于磁钢套5的宽度，以使得所述转子端盖4套设于所述磁钢套5的容纳空间内，并通过所述挡部与所述转子端盖4边缘的抵接，实现所述转子端盖4相对所述磁钢套5沿轴线方向的限位。
本实用新型限位结构的第一种具体实施例：
所述挡部为包边51，其由磁钢套5边缘直接弯折形成，便于生产制造，制造成本低。所述转子端盖4边缘设有与所述包边51相配合的台阶41，所述包边51与所述台阶41的抵接，实现所述转子端盖4相对所述磁钢套5沿轴线方向的单向固定。在转子端盖4边缘设置台阶41，使转子端盖4与磁钢套5的配合更加紧凑，体积更小。
所述挡部为环状结构，其沿磁钢套5边缘设置，并向磁钢套5的容纳空间延伸，以改变容纳空间的敞口空间，以适用各种限位需求。
本实用新型限位结构的第二种具体实施例：
所述挡部为间隔布置的片状结构，只通过片状结构对转子端盖4进行限位，在满足结构强度下，减轻磁钢套5的重量，避免整机过重。
所述转子端盖4周缘设有与所述片状结构相配合的台阶41，所述挡部与所述台阶41的抵接，使得转子端盖4与磁钢套5装配尺寸更加紧凑。
本实用新型限位结构的第三种具体实施例：
所述挡部为间隔布置的片状结构；所述转子端盖4边缘设有与所述片状结构相配合的缺口和缝隙，所述缺口和缝隙相通，以使得片状结构从缺口中旋进缝隙，使得转子端盖4和磁钢套5可靠的固定在一起。
本实用新型限位结构的第四种具体实施例：
所述挡部为能与磁钢套5插接的销轴结构，便于拆卸。
所述转子端盖4边缘设有与所述销轴结构相配合的插孔，使得转子端盖4和磁钢套5可靠的固定在一起。
本实用新型增设磁钢组件3的一种具体实施例：
所述磁钢套5内固定有磁钢组件3，所述磁钢组件3包括磁钢固定件和均匀固定于所述磁钢固定件上的磁钢。
本实用新型回转动力单元的一种具体实施例：
回转动力单元，其包括上述的一种电机外转子结构。
本实用新型四足机器人的一种具体实施例：
四足机器人，其包括上述的一种电机外转子结构。
上述实施方式仅为本实用新型的优选实施方式，不能以此来限定本实用新型保护的范围，本领域的技术人员在本实用新型的基础上所做的任何非实质性的变化及替换均属于本实用新型所要求保护的范围。

Claims (10)

  1. 一种电机外转子结构，其特征在于，包括
    磁钢套（5），所述磁钢套（5）边缘向其轴心方向延伸形成挡部；
    转子端盖（4）；
    所述转子端盖（4）套设于所述磁钢套（5）内部，并通过所述挡部与所述转子端盖（4）边缘的抵接，实现所述转子端盖（4）相对所述磁钢套（5）沿轴线方向的单向固定。
  2. 如权利要求1所述的一种电机外转子结构，其特征在于，
    所述挡部为包边（51），其由磁钢套（5）边缘直接弯折形成。
  3. 如权利要求2所述的一种电机外转子结构，其特征在于，
    所述转子端盖（4）边缘设有与所述包边（51）相配合的台阶（41），所述包边（51）与所述台阶（41）的抵接，实现所述转子端盖（4）相对所述磁钢套（5）沿轴线方向的单向固定。
  4. 如权利要求3所述的一种电机外转子结构，其特征在于，所述磁钢套（5）内固定有磁钢组件（3），所述磁钢组件（3）包括磁钢固定件和均匀固定于所述磁钢固定件上的磁钢。
  5. 一种电机外转子结构，其特征在于，
    包括具有容纳空间的磁钢套（5）、弧状结构的转子端盖（4）；
    所述磁钢套（5）设有用于限制转子端盖移动范围的挡部；
    所述转子端盖（4）套设于所述磁钢套（5）的容纳空间内，并通过所述挡部与所述转子端盖（4）边缘的抵接，实现所述转子端盖（4）相对所述磁钢套（5）沿轴线方向的限位。
  6. 如权利要求5所述的一种电机外转子结构，其特征在于，
    所述挡部沿磁钢套（5）边缘设置，并向磁钢套的容纳空间延伸，以改变容纳空间的敞口空间。
  7. 如权利要求6所述的一种电机外转子结构，其特征在于，
    所述挡部为环状结构，其绕磁钢套的一周圈设置；
    或所述挡部为间隔布置的片状结构；
    或所述挡部为能与磁钢套插接的销轴结构。
  8. 如权利要求7所述的一种电机外转子结构，其特征在于，
    所述转子端盖（4）周缘设有与所述挡部相配合的台阶（41），所述挡部与所述台阶（41）的抵接；
    或所述转子端盖（4）边缘设有与所述片状结构相配合的缺口和缝隙，
    所述缺口和缝隙相通，以使得片状结构从缺口中旋进缝隙；
    或所述转子端盖（4）边缘设有与所述销轴结构相配合的插孔。
  9. 回转动力单元，其特征在于，包括如权利要求1-8任一所述的一种电机外转子结构。
  10. 四足机器人，其特征在于，包括如权利要求1-8任一所述的一种电机外转子结构或如权利要求9所述的回转动力单元。
PCT/CN2022/139081 2022-06-23 2022-12-14 一种电机外转子结构及回转动力单元和四足机器人 WO2023246014A1 (zh)

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