CN214314883U - Motor silencer, motor device and foot type robot - Google Patents

Abstract

The utility model discloses a motor muffler, motor device and sufficient robot, motor muffler includes the body, the body is the annular, the inner peripheral surface of body is equipped with the air recess, this internal amortization chamber that is equipped with, the amortization chamber with air recess and external environment intercommunication. According to the utility model discloses motor muffler can effectively reduce the noise that the motor produced at the during operation, prevents that the motor from producing noise pollution.

Description

Motor silencer, motor device and foot type robot

Technical Field

The utility model relates to the technical field of robot, especially, relate to a motor muffler, motor device and sufficient formula robot.

Background

An electric machine is an electromagnetic device that performs energy conversion according to the law of electromagnetic induction, and generally includes an electric motor and a rotor that is rotatable relative to a stator.

In the correlation technique, because there is frictional force, the rotor is at the rotation in-process, inevitably can produce the noise, when the noise is great, can produce noise pollution, seriously influences the use and experiences.

SUMMERY OF THE UTILITY MODEL

The present invention aims at solving at least one of the technical problems in the related art to a certain extent.

Therefore, the embodiment of the first aspect of the present invention provides a motor silencer, which can effectively reduce the noise generated by the motor.

An embodiment of the second aspect of the present invention provides an electric machine apparatus having the above-mentioned motor muffler.

The third invention provides a foot robot with the motor device.

According to the utility model discloses motor muffler includes the body, the body is the annular, the inner peripheral surface of body is equipped with the air recess, this internal amortization chamber that is equipped with, the amortization chamber with air recess and external environment intercommunication.

According to the utility model discloses the motor muffler of first aspect embodiment adopts resonance sound absorption principle to carry out the amortization to the motor and fall and make an uproar, and noise cancelling effect is good, can effectively reduce the noise that the motor produced at the during operation, prevents that the motor from producing noise pollution, has improved user's use and has experienced.

In some embodiments, the body includes a first side plate disposed on a first side of the sound attenuating portion, a second side plate disposed on a second side of the sound attenuating portion, and a sound attenuating portion, an inner peripheral edge of the first side plate and an inner peripheral edge of the second side plate extending inwardly and beyond the inner peripheral edge of the sound attenuating portion such that the air groove is formed as a generally U-shaped slot open inwardly.

In some embodiments, the sound-deadening chamber, a first passage communicating the sound-deadening chamber with the air groove, and a second passage communicating the sound-deadening chamber with an external environment are provided in the sound-deadening portion.

In some embodiments, the sound-attenuating chamber is cylindrical, and an axis of the sound-attenuating chamber extends in a radial direction of the body.

In some embodiments, the axial length of the sound-deadening chamber is proportional to the wavelength of the noise generated by the motor.

In some embodiments, the ratio of the length of the first channel to the axial length of the sound-attenuating chamber is 1/8-1/2.

In some embodiments, the ratio of the length of the second channel to the axial length of the sound-attenuating chamber is 1/8-1/2.

In some embodiments, the ratio of the diameter of the first passage to the diameter of the sound-attenuating cavity is 1/10-1/2.

In some embodiments, a plurality of third channels are further provided in the sound-deadening portion, the third channels communicate the sound-deadening chamber and the air groove, the plurality of third channels are arranged at intervals in the circumferential direction of the first channel, and the cross-sectional area of a single third channel is smaller than that of a single first channel.

In some embodiments, the extending direction of the first channel, the extending direction of the second channel and the extending direction of the third channel are all parallel to the axial direction of the sound-deadening chamber.

In some embodiments, the sound-deadening chamber is a plurality of sound-deadening chambers arranged at intervals in the circumferential direction of the motor.

In some embodiments, each sound-deadening chamber communicates with the air recess through the first passage and with the external environment through the second passage.

In some embodiments, a plurality of the muffling chambers communicate through a fourth channel provided in the muffling portion.

In some embodiments, the ratio of the diameter of the fourth channel to the axial length of the sound-attenuating chamber is 1/4-3/4.

In some embodiments, the inner peripheral edge of the first side plate and the inner peripheral edge of the second side plate are both provided with a sealing ring.

In some embodiments, the body comprises a multi-segment sub-body arranged circumferentially of the body and openable and closable.

In some embodiments, the body includes a first sub-body and a second sub-body, one end of the first sub-body is pivotably connected to one end of the second sub-body, and the second end of the first sub-body and the second end of the second sub-body are detachably connected by a connector when the first sub-body and the second sub-body are closed.

In some embodiments, the first and second sub-bodies are symmetrical to each other.

According to the utility model discloses electric machine means of second aspect embodiment includes motor and muffler, the muffler be above-mentioned arbitrary embodiment motor muffler, the body cover is established the periphery of motor so that the outer peripheral face of motor seals opening on the air groove and formation air chamber.

According to the utility model discloses sufficient robot of third aspect embodiment includes body subassembly, leg subassembly and motor device, motor device is according to the utility model discloses the motor device of second aspect embodiment, the body subassembly with leg subassembly all is equipped with motor device.

Drawings

Fig. 1 is a schematic view of a motor muffler according to an embodiment of the present invention;

fig. 2 is a top view of a motor muffler according to an embodiment of the present invention;

fig. 3 is a side view of a motor muffler according to an embodiment of the present invention;

FIG. 4 is a sectional view A-A of the motor muffler of FIG. 3;

fig. 5 is a schematic view of an electric machine arrangement according to an embodiment of the invention;

fig. 6 is another schematic view of an electric machine arrangement according to an embodiment of the invention;

fig. 7 is a schematic view of a legged robot according to an embodiment of the present invention.

Reference numerals:

the body 1, the first side plate 11, the sealing ring 111, the second side plate 12, the groove 121, the silencing part 13, the first channel 131, the second channel 132, the third channel 133, the fourth channel 134, the silencing cavity 135, the first sub-body 14, the second sub-body 15, the connecting piece 16, the air groove 17,

the motor (2) is provided with a motor,

the body component 3 is provided with a body component,

a leg assembly 4.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

As shown in fig. 1, according to the utility model discloses motor muffler includes body 1, and body 1 is the annular, and the inner peripheral surface of body 1 is equipped with air groove 17, and air groove 17 is suitable for the cover to be established on the outer peripheral face of motor, and the motor seals the opening of air groove 17 in order to form the air chamber, is equipped with amortization chamber 135 in the body 1, and the one end and the air groove 17 intercommunication in amortization chamber 135, the other end and the external environment intercommunication in amortization chamber 135.

The sound-deadening chamber 135 is designed to deaden sound using the principle of resonance sound absorption, i.e., a closed volume is connected to the airflow path via a conduit or a plurality of small holes to form a resonant system. The air column in the aperture is similar to a piston and has certain sound quality, the cavity is similar to a spring and has certain sound compliance, when the air column vibrates, friction damping of the wall surface generates certain sound resistance, and the whole system is similar to be connected with a side branch filter. When sound waves enter the resonant cavity opening, a part of sound energy is reflected back to the sound source due to the sudden change of the acoustic impedance, meanwhile, under the action of the sound waves, the air column in the aperture vibrates, and the friction damping during vibration converts a part of sound energy into heat energy to be dissipated, so that only a small amount of sound energy is radiated out, and the aim of eliminating the noise is fulfilled.

The body 1 cover is established in week side of motor, and the noise that the motor produced is collected the back by air groove 17 and is transmitted to amortization chamber 135 in through air groove 17 and carry out the amortization to ensure that the noise after the amortization can not cause noise pollution, transmit to external environment by amortization chamber 135 again, the noise cancelling effect is good.

According to the utility model discloses motor muffler adopts resonance sound absorption principle to carry out the amortization to the motor and fall the noise, and noise cancelling effect is good, can effectively reduce the noise that the motor produced at the during operation, prevents that the motor from producing noise pollution, has improved user's use and has experienced.

In some embodiments, the body 1 includes a first side plate 11, a second side plate 12, and a sound deadening portion 13, the first side plate 11 being provided on a first side face of the sound deadening portion 13, the second side plate 12 being provided on a second side face of the sound deadening portion 13, the first side plate 11 and the second side plate 12 being arranged at a spacing in a radial direction of the body 1, an inner peripheral edge of the first side plate 11 and an inner peripheral edge of the second side plate 12 extending inward beyond the inner peripheral edge of the sound deadening portion so that the air groove 17 is formed as a substantially U-shaped groove that opens inward, and a spacing distance between an inner diameter R2 of the sound deadening portion and an outer peripheral face of the motor being about 5 mm.

So configured, it can be ensured that the inner peripheries of the first side plate 11 and the second side plate 12 can contact the outer periphery of the motor to form an air chamber.

It should be noted that the motor housing is generally cylindrical, but there may be some other configurations on the outer surface of the motor housing, so that the inner peripheral edges of the first side plate 11 and the second side plate 12 need to be modified, and as shown in fig. 2 and 6, the outer surface of the motor housing is provided with screws, so that the corresponding grooves 121 are provided on the inner peripheral edges of the second side plate 12.

In some embodiments, the inner peripheral edge of the first side plate 11 and the inner peripheral edge of the second side plate 12 are both provided with a sealing ring 111 for enhancing the sealing effect of the air cavity formed by the air groove and the outer peripheral surface of the motor, and preventing the gap between the noise motor and the body 1 from leaking.

Specifically, as shown in fig. 4, a sound-deadening chamber 135, a first passage 131, and a second passage 132 are provided in the sound-deadening portion 13, the sound-deadening chamber 135 is cylindrical, an axis of the sound-deadening chamber 135 extends in a radial direction of the body 1, one end of the first passage 131 communicates with the sound-deadening chamber 135, the other end of the first passage 131 communicates with the air groove 17, one end of the second passage 132 communicates with the sound-deadening chamber 135, and the other end of the second passage 132 communicates with the external environment.

The noise collected by the air groove 17 is transmitted into the silencing chamber 135 through the first passage 131 for silencing, and the noise after silencing is transmitted to the external environment through the second passage 132.

In some embodiments, the axial length S of sound-deadening chamber 135 is proportional to the wavelength of the noise generated by the motor. The acoustic properties of the middle cannula in noise science can be used to shield noise at a wavelength when the axial length S of the sound-deadening chamber 135 is proportional to the wavelength of the noise. The wavelength of the noise can be calculated by the formula wavelength/frequency, and the frequency is calculated from the motor speed, and the axial length S of the sound-deadening chamber 135 is obtained through calculation.

In some embodiments, the ratio of the length S1 of first passage 131 to the axial length S of sound-attenuating chamber 135 is 1/8-1/2, e.g., 1/8, 2/8, 3/8, 1/6, 1/2, and so forth.

In some embodiments, the ratio of the length S2 of second passage 132 to the axial length S of sound-attenuating chamber 135 is 1/8-1/2, e.g., 1/8, 2/8, 3/8, 1/6, 1/2, and so forth.

The first channel 131 and the second channel 132 mainly serve to transmit noise, so the lengths are not easily too long, and therefore the ratio of S1 to S, and the ratio of S2 to S are all 1/8-1/2.

In some embodiments, the ratio of the diameter D1 of first passage 131 to the diameter D of sound-deadening chamber 135 is 1/10-1/2.

The characteristics of the abrupt cross-section pipe in noise science can be used, and the larger the ratio of the diameter D of the sound attenuation cavity 135 to the diameter D1 of the first channel 131 is, the better the sound attenuation effect of the sound attenuation cavity 135 is, so the diameter D of the sound attenuation cavity should be the maximum value of the corresponding structure, that is, the diameter D of the sound attenuation cavity should be the maximum value in the allowable range of the condition.

Accordingly, the diameter D1 of the first passage 131 should be as small as possible, but at the same time, it is ensured that the noise in the air groove 17 can be normally transmitted into the sound-deadening chamber 135, and therefore, the ratio of the diameter D1 of the first passage 131 to the diameter D of the sound-deadening chamber 135 is set to 1/10 to 1/2, for example, 1/10, 1/5, 1/6, 1/2, etc.

In some embodiments, a plurality of third channels 133 are further provided in the sound deadening portion 13, the third channels 133 communicate the sound deadening chamber 135 with the air groove 17, the plurality of third channels 133 are arranged at intervals in the circumferential direction of the first channel 131, and the cross-sectional area of a single third channel 133 is smaller than the cross-sectional area of a single first channel 131.

As shown in fig. 1, third channel 133 is preferably circumferentially disposed around first channel 131, and third channel 133 functions to assist first channel 131 to ensure that noise in air groove 17 is more rapidly and uniformly transferred into sound-deadening chamber 135. In addition, since the cross-sectional area of the single third channel 133 is smaller than that of the first channel 131, the ratio of the diameter D of the sound-deadening chamber 135 to the diameter D3 of the third channel 133 is larger than the ratio of the diameter D of the sound-deadening chamber 135 to the diameter D3 of the third channel 133, and the sound-deadening and noise-reducing effects of the sound-deadening chamber 135 are better for the noise transmitted through the third channel 133.

In some embodiments, the extending direction of the first channel 131, the extending direction of the second channel 132, and the extending direction of the third channel 133 are all parallel to the axial direction of the sound-deadening chamber 135, and thus, the lengths of the first channel 131, the second channel 132, and the third channel 133 are the shortest, which can ensure that noise can be transmitted to the sound-deadening chamber 135 and the external environment quickly, and the efficiency of sound and noise reduction is high.

In some embodiments, the sound-deadening chamber 135 is plural, and the plural sound-deadening chambers 135 are arranged at intervals in the circumferential direction of the motor. Each muffling chamber 135 communicates with the air groove 17 through a first channel 131 and with the external environment through a second channel 132. A plurality of amortization chambeies 135 simultaneous workings, different amortization chambeies 135 carry out the amortization to the noise of different positions department and fall the noise, from this, can improve motor muffler's noise cancelling effect greatly, have improved motor muffler's practicality.

In some embodiments, a fourth channel 134 is further disposed in the silencing portion 13, and the plurality of silencing cavities 135 are communicated through the fourth channel 134. Fourth passageway 134 extends along body 1's circumference, with a plurality of amortization chambeies 135 intercommunication, and fourth passageway 134 has played the effect of other branch pipes, and other branch pipes are resonance sound-deadening structure equally, can play the effect of supplementary amortization, further improves motor muffler's noise cancelling effect.

In some embodiments, the ratio of the diameter D4 of fourth passage 134 to the axial length S of sound-deadening chamber 135 is 1/4-3/4.

According to the sound transmission characteristic of the noise center branch pipe, the sound attenuation quality of the fourth channel 134 is increased along with the increase of the diameter D4 of the fourth channel 134, and the fourth channel 134 and the sound attenuation cavity 135 form an intermediate intubation structure, so that the diameter D4 of the fourth channel 134 is not too large, otherwise, the sound attenuation effect of the sound attenuation cavity 135 is affected, and the ratio of the diameter D4 of the fourth channel 134 to the axial length S of the sound attenuation cavity 135 is set to be 1/4-3/4, such as 1/4, 1/2, 3/4 and the like.

In some embodiments, body 1 includes the multistage daughter, and the multistage daughter is arranged and can be opened and can be closed along body 1's circumference, and this is for the convenience of body 1's installation and dismantlement, when the installation, only need open the multistage daughter, establish body 1 cover establish the week side of motor and closed can, when dismantling, only need open the multistage daughter can demolish its week side from the motor, convenient to use.

Specifically, as shown in fig. 1 and 2, the body 1 includes a first sub-body 14 and a second sub-body 15, one end of the first sub-body 14 is pivotably connected to one end of the second sub-body 15, and a second end of the first sub-body 14 and a second end of the second sub-body 15 are detachably connected by a connector 16 when the first sub-body 14 and the second sub-body 15 are closed.

The first sub-body 14 and the second sub-body 15 constitute an annular structure of the body 1, and the first sub-body 14 and the second sub-body 15 are symmetrical to each other, i.e. the first sub-body 14 and the second sub-body 15 are both semicircular structures. One end of the first sub-body 14 and one end of the second sub-body 15 are rotatably connected, the other end of the first sub-body 14 and the other end of the second sub-body 15 are connected by a connecting member 16, the connecting member 16 includes but is not limited to a bolt and a snap structure, and the connecting manner includes but is not limited to a threaded connection, a snap connection and an adhesive, as long as the first sub-body 14 and the second sub-body 15 can be detachably connected.

As shown in fig. 2, the connecting element 16 in this embodiment is a fastening element and a protrusion matched with the fastening element, the fastening element is disposed on the outer peripheral surface of the first sub-body 14, the fastening element is close to the second end of the first sub-body 14, the protrusion is disposed on the outer peripheral surface of the second sub-body 15, and the protrusion is close to the second end of the second sub-body 15.

As shown in fig. 5 and 6, according to the present invention, the motor device includes a motor 2 and a silencer, the silencer is the motor silencer of any of the above embodiments, the body 1 of the motor silencer is sleeved on the periphery of the motor 2 so that the outer peripheral surface of the motor 2 seals the opening on the air groove 17 to form an air chamber, the noise generated by the motor 2 enters the silencing chamber 135 in the body 1 through the air chamber to be silenced, and the noise generated by the motor 2 can be effectively reduced.

As shown in fig. 7, the legged robot according to the third aspect of the present invention includes a body component 3, a leg component 4, and a motor device, wherein the motor device is the motor device according to the second aspect of the present invention, and the body component 3 and the leg component 4 are both provided with the motor device.

A motor muffler according to some specific examples of the present invention is described below with reference to the accompanying drawings.

As shown in fig. 1-6, the motor muffler according to the embodiment of the present invention includes a body 1, the body 1 is ring-shaped, the body 1 includes a first side plate 11, a second side plate 12 and a silencing portion 13, the first side plate 11 is disposed on a first side surface of the silencing portion 13, the second side plate 12 is disposed on a second side surface of the silencing portion 13, the first side plate 11 and the second side plate 12 are disposed at intervals in a radial direction of the body 1, and an inner peripheral edge of the first side plate 11 and an inner peripheral edge of the second side plate 12 extend inward beyond an inner peripheral edge of the silencing portion so that the air groove 17 is formed as a substantially U-shaped groove that opens toward the inside.

The sound attenuation part 13 is internally provided with a sound attenuation cavity 135, a first channel 131, a second channel 132, a third channel 133 and a fourth channel 134, the sound attenuation cavity 135 is cylindrical, the axis of the sound attenuation cavity 135 extends along the radial direction of the body 1, one end of the first channel 131 is communicated with the sound attenuation cavity 135, the other end of the first channel 131 is communicated with the air groove 17, one end of the second channel 132 is communicated with the sound attenuation cavity 135, the other end of the second channel 132 is communicated with the external environment, one end of the third channel 133 is communicated with the sound attenuation cavity 135, the other end of the third channel 133 is communicated with the air groove 17, the third channels 133 are multiple, the third channels 133 are arranged at intervals along the circumferential direction of the first channel 131, and the cross-sectional area of the third channel 133 is smaller than that of the first channel 131.

The plurality of sound-deadening chambers 135 are provided, the plurality of sound-deadening chambers 135 are arranged at intervals along the circumferential direction of the motor, each sound-deadening chamber 135 corresponds to one first channel 131, one second channel 132 and a plurality of third channels 133, and the plurality of sound-deadening chambers 135 are communicated through a fourth channel 134.

The axial length S of the sound-deadening chamber 135 is in proportion to the wavelength of noise generated by the motor, the ratio of the length S1 of the first passage 131 to the axial length S of the sound-deadening chamber 135 is 1/8-1/2, the ratio of the length S2 of the second passage 132 to the axial length S of the sound-deadening chamber 135 is 1/8-1/2, the ratio of the diameter D1 of the first passage 131 to the diameter D of the sound-deadening chamber 135 is 1/10-1/2, and the ratio of the diameter D4 of the fourth passage 134 to the axial length S of the sound-deadening chamber 135 is 1/4-3/4.

The body 1 is composed of a first sub-body 14 and a second sub-body 15, the first sub-body 14 and the second sub-body 15 are symmetrical to each other and can be combined into a ring shape, one end of the first sub-body 14 is pivotally connected to one end of the second sub-body 15, and the second end of the first sub-body 14 and the second end of the second sub-body 15 are connected by a connecting member 16 when the first sub-body 14 and the second sub-body 15 are closed.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship indicated based on the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the present disclosure, the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the scope of the present invention.

Claims (20)

1. The utility model provides a motor muffler, its characterized in that includes the body, the body is the annular, the inner peripheral surface of body is equipped with the air recess, this internal amortization chamber that is equipped with, the amortization chamber with air recess and external environment intercommunication, the air recess is suitable for the cover to be established on the outer peripheral face of motor, the motor seals the opening of air recess is in order to form the air chamber.

2. The motor muffler of claim 1, wherein the body includes a first side plate provided on a first side of the sound deadening portion, a second side plate provided on a second side of the sound deadening portion, and a sound deadening portion, an inner peripheral edge of the first side plate and an inner peripheral edge of the second side plate extending inward beyond the inner peripheral edge of the sound deadening portion so that the air groove is formed as a substantially U-shaped groove that opens inward.

3. The motor muffler of claim 2, wherein the muffling portion has the muffling chamber, a first passage and a second passage disposed therein, the first passage communicating the muffling chamber with the air recess, the second passage communicating the muffling chamber with an external environment.

4. The motor muffler of claim 3, wherein the muffling chamber is cylindrical, and an axis of the muffling chamber extends in a radial direction of the body.

5. The motor muffler of claim 4, wherein the axial length of the muffling chamber is proportional to the wavelength of noise generated by the motor.

6. The motor muffler of claim 4, wherein a ratio of a length of the first passage to an axial length of the muffling chamber is 1/8-1/2.

7. The motor muffler of claim 4, wherein a ratio of a length of the second passage to an axial length of the muffling chamber is 1/8-1/2.

8. The motor muffler of claim 4, wherein a ratio of a diameter of the first passage to a diameter of the sound-deadening chamber is 1/10-1/2.

9. The motor muffler according to claim 3, wherein a plurality of third passages are further provided in the sound deadening portion, the third passages communicate the sound deadening chamber and the air groove, the plurality of third passages are arranged at intervals in a circumferential direction of the first passage, and a cross-sectional area of a single third passage is smaller than a cross-sectional area of a single first passage.

10. The motor muffler of claim 9, wherein an extending direction of the first passage, an extending direction of the second passage, and an extending direction of the third passage are all parallel to an axial direction of the sound-deadening chamber.

11. The motor muffler according to claim 3, wherein the sound-deadening chamber is plural, and the plural sound-deadening chambers are arranged at intervals in a circumferential direction of the motor.

12. The motor muffler of claim 11, wherein each sound-deadening chamber communicates with the air groove through the first passage and communicates with an external environment through the second passage.

13. The motor muffler of claim 11, wherein the plurality of muffling chambers communicate through a fourth passage provided in the muffling portion.

14. The motor muffler of claim 13, wherein a ratio of a diameter of the fourth channel to an axial length of the muffling chamber is 1/4-3/4.

15. The motor muffler of claim 2, wherein the inner peripheral edge of the first side plate and the inner peripheral edge of the second side plate are each provided with a sealing ring.

16. The motor muffler according to any one of claims 1 to 15, wherein the body includes a multi-segment sub-body arranged along a circumferential direction of the body and openable and closable.

17. The motor muffler of claim 16, wherein the body comprises a first sub-body and a second sub-body, one end of the first sub-body is pivotally connected to one end of the second sub-body, and the second end of the first sub-body and the second end of the second sub-body are detachably connected by a connector when the first sub-body and the second sub-body are closed.

18. The motor muffler of claim 17, wherein the first sub-body and the second sub-body are symmetrical to each other.

19. An electric machine device, characterized in that, comprising an electric machine and a silencer, the silencer is the electric machine silencer according to any one of claims 1-18, the body is sleeved on the periphery of the electric machine so that the periphery of the electric machine seals the opening on the air groove to form an air cavity.

20. A legged robot comprising a body assembly, leg assemblies and a motor arrangement according to claim 19, the body assembly and the leg assemblies each being provided with the motor arrangement.

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