Direct-drive high-torque small and special direct-current brushless coreless cup motor for dexterous hand of robot

Abstract

The invention discloses a finger joint driving device which is used for being directly connected with finger joints of a robot dexterous hand and driving the finger joints to act. The working voltage of the finger joint driving device is smaller than or equal to 12V, and the rotating speed is smaller than 30000 rpm. The motor comprises a housing, a stator and a rotor. The stator is fixedly arranged in the machine shell, and the stator and the machine shell are coaxially arranged. The rotor penetrates through the stator, and the rotor and the stator are coaxially arranged; the stator comprises a winding and an iron core, the winding is cylindrical, the iron core is completely cylindrical, the winding is fixed on the inner wall of the iron core, the iron core is fixed with the casing, two axial end surfaces of the winding are respectively flush with two axial end surfaces of the iron core, and the ratio of the wall thickness of the winding to the wall thickness of the iron core is 3.3: 1; the rotor comprises magnetic steel and a rotating shaft, the rotating shaft penetrates through the magnetic steel and is fixed with the magnetic steel, and the ratio of the number of the magnetic steel to the number of virtual slots of the stator is 2: 3. Compared with the prior art, under the limitation that the working voltage is smaller than or equal to 12 V and the target rotating speed is smaller than 30000 rpm, the torque of 5.2 mN * m is output, and fingers of the dexterous hand can be directly driven.

Description

Technical Field

[0001] The invention belongs to the technical field of coreless motors, and in particular to a direct-drive high-torque micro DC brushless coreless motor for a robot dexterous hand. Background Art

[0002] Coreless motors are used in fields with extremely strict requirements on motor size, weight and reliability because of their small size but high output power. For example, in the field of humanoid robots, coreless motors, as one of the core components of the dexterous hands of humanoid robots, play an important role in the motion control system of humanoid robots. The finger joints of humanoid robots require a high degree of freedom and need to be equipped with motors that are small in size but can output high power, and coreless motors meet this requirement.

[0003] In the existing technology, small-diameter hollow cup motors manufactured by mainstream manufacturers at home and abroad all require reducers to achieve high torque in robot applications. For example, maxonmotor (abbreviated as "maxon", a global supplier of high-precision motors and drive systems) produces hollow cup motors with a diameter of 13mm and a length of 37mm. The rated voltage is 18V, the rated speed is 38400rpm, and the rated torque is 4.21mNm.

[0004] The disadvantage of the existing technology is that when this hollow cup motor is used in the robot's dexterous hand, it cannot directly drive the finger joints due to its small rated torque, but needs to be used with a reducer to increase the torque before it can drive the finger joints. The addition of a reducer makes the structure of the dexterous hand complex and the weight increased.

[0005] Therefore, it is necessary to provide a new direct-drive high-torque micro-DC brushless hollow cup motor for robot dexterous hands to solve the above technical problems. Summary of the invention

[0006] 1. Technical issues to be resolved Based on this, the present invention provides a direct-drive high-torque micro DC brushless hollow cup motor for a robot dexterous hand to solve the technical problem that the existing hollow cup motor cannot output torque that can directly drive the dexterous hand due to limitations such as smaller size specifications, and needs to be used in conjunction with a reducer, resulting in complex structure and increased weight of the dexterous hand.

[0007] (II) Technical solution In order to solve the above technical problems, the present invention proposes a direct-drive high-torque micro DC brushless hollow cup motor for a robot dexterous hand, wherein the direct-drive high-torque micro DC brushless hollow cup motor for a robot dexterous hand is used to be directly connected to the finger joints of the robot dexterous hand and drive the finger joints to move, the working voltage of the direct-drive high-torque micro DC brushless hollow cup motor for the robot dexterous hand is ≤12V, and the speed of the direct-drive high-torque micro DC brushless hollow cup motor for the robot dexterous hand is <30000rpm; the direct-drive high-torque micro DC brushless hollow cup motor for the robot dexterous hand comprises: a housing, a stator and a rotor; the stator is fixedly arranged on the housing The stator is coaxially arranged with the casing; the rotor passes through the stator, and the rotor is coaxially arranged with the stator; wherein: the stator comprises a winding and an iron core, the winding is cylindrical, the iron core is a complete cylindrical shape, the winding is fixed to the inner wall of the iron core, the iron core is fixed to the casing, the two axial end faces of the winding are flush with the two axial end faces of the iron core, respectively, and the ratio of the wall thickness of the winding to the wall thickness of the iron core is 3.3:1; the rotor comprises a magnetic steel and a rotating shaft, the rotating shaft passes through the magnetic steel and is fixed to the magnetic steel, and the ratio of the number of magnetic steels of the direct-drive high-torque micro-special DC brushless hollow cup motor for a dexterous robot hand to the number of virtual slots of the stator is 2:3.

[0008] Preferably, the direct-drive high-torque micro DC brushless hollow cup motor for a robot dexterous hand further includes: a first end cover, a second end cover, a first bearing, a second bearing and an elastic member, and the rotor further includes a first positioning ring and a second positioning ring; the housing as a whole is a cylindrical shape with openings at both ends, and the first end cover and the second end cover are respectively fixed to the two ends of the housing and respectively block the openings at the two ends of the housing; the first bearing is installed in the first end cover, the first positioning ring is arranged between the first bearing and the magnetic steel, and the two ends of the first positioning ring are respectively abutted against the first bearing and the magnetic steel; the second bearing is installed in the second end cover, the first positioning ring and the elastic member are arranged between the second bearing and the magnetic steel, and the side of the first positioning ring away from the second end cover is abutted against the magnetic steel, and the two ends of the elastic member are respectively abutted against the second positioning ring and the second bearing, and the rotating shaft also passes through the first bearing, the first positioning ring, the second positioning ring, the elastic member and the second bearing; the first positioning ring and the second positioning ring are respectively bonded and fixed to the magnetic steel.

[0009] Preferably, the direct-drive high-torque micro DC brushless hollow cup motor for the robot's dexterous hand also includes a sensor circuit board and a sensor installed on the sensor circuit board, the sensor circuit board is located in the housing, and the sensor circuit board is installed on the second end cover.

[0010] Preferably, the second end cover is provided with a wire outlet hole passing through it, the wire outlet hole connects the inner cavity of the casing and the external space of the casing, the direct-drive high-torque micro DC brushless hollow cup motor for the robot dexterous hand also includes a motor lead outlet passing through the wire outlet hole, and a silicone encapsulation layer is formed by filling silicone between the motor lead outlet and the wire outlet hole; the protruding end of the lead wire is provided with a wiring port.

[0011] Preferably, the pole-slot combination of the direct-drive high-torque micro DC brushless hollow cup motor for the robot's dexterous hand is 2 poles and 3 slots; the winding adopts a three-phase, double-layer and concentrated winding winding type; the direct-drive high-torque micro DC brushless hollow cup motor for the robot's dexterous hand is a high-speed motor, and the direct-drive high-torque micro DC brushless hollow cup motor for the robot's dexterous hand is a DC brushless motor.

[0012] Preferably, the winding is a concentric diamond coil; the number of virtual slots of the direct-drive high-torque micro-DC brushless hollow cup motor for the robot's dexterous hand is L, L is a natural number ≥1, and the winding is formed by stacking L concentric diamond coils.

[0013] Preferably, the winding is made of three concentric diamond coils through bonding and rounding processes.

[0014] Preferably, the iron core is formed by stacking silicon steel sheets or the iron core is made of iron crystal material; the sensor is an encoder or a Hall sensor; and the elastic member is a cylindrical helical spring.

[0015] Preferably, the first end cover and the casing are an integral structure; the second end cover is fixed to the casing by laser welding; and the inner wall of the casing and the stator are fixedly connected by an adhesive.

[0016] Preferably, the direct-drive high-torque micro DC brushless hollow cup motor for the robot's dexterous hand is cylindrical as a whole, and the maximum outer diameter of the direct-drive high-torque micro DC brushless hollow cup motor for the robot's dexterous hand is D, D<13mm, and the distance from the side of the left end cover away from the right end cover to the side of the right end cover away from the left end cover is set to the motor length H, H≤35mm.

[0017] (III) Beneficial effects Compared with the prior art, the direct-drive high-torque micro DC brushless hollow cup motor for robot dexterous hands of the present invention can output a torque of 5.2mN·m under the conditions of working voltage ≤12V, target speed <30000rpm and smaller size specifications (diameter <13mm, length ≤35mm). The torque can directly drive the movement of the fingers of the dexterous hand without the need to use a reducer to reduce speed and increase torque. The output torque of the present invention is much higher than that of the traditional hollow cup motor with the same frame number, and the output torque characteristic is excellent. It can solve the problem in the prior art that the motor torque is small and a reducer needs to be configured, and meets the requirement of directly driving the fingers of the dexterous hand. Since a reducer is not required, the structure of the dexterous hand is simplified and the size of the dexterous hand is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0019] Figure 1 It is a schematic cross-sectional view of the overall structure of the present invention; Figure 2 The present invention is: a schematic diagram of the structure of the rotor; Figure 3 The present invention is: a schematic structural diagram of the iron core; Figure 4 The present invention is: a schematic diagram of the structure of the winding; Figure 5 The present invention is: a schematic diagram of the unfolded structure of the winding; Figure 6 This is a schematic diagram of the structure of the rotor and the elastic member in the present invention; Figure 7 The present invention is: a schematic diagram of the structure of the sensor circuit board; Figure 8 It is a photo of the real object of the present invention; Fig. 9 for Figure 8 Photo 1 of the actual object being tested for parameters (showing the speed testing status); Fig.10 for Figure 8 Photo 2 of the actual object being tested for parameters (showing the connection status of the motor and the testing equipment) Fig.11 for Figure 8 Photo 3 shows the actual object being tested for parameters (working voltage and working current are shown).

[0020] Reference numerals: 1. Casing; 2. Stator; 3. Rotor; 4. First end cover; 5. Second end cover; 6. Sensor circuit board; 7. Elastic member; 8. First bearing; 9. Second bearing; 10. Motor lead wire; 11. Silicone encapsulation layer; 21. Iron core; 22. Winding; 31. Magnetic steel; 32. Rotating shaft; 33. First positioning ring; 34. Second positioning ring.

[0021] 221, first diamond-shaped coil; 222, second diamond-shaped coil; 223, third diamond-shaped coil; 224, thread end. DETAILED DESCRIPTION

[0022] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific implementation disclosed below.

[0023] The following is combined with Figure 1-11 The direct-drive high-torque micro-specific DC brushless hollow cup motor for a robot dexterous hand of the present invention is further described.

[0024] Please focus on Figure 1-7 The present invention discloses a direct-drive high-torque micro DC brushless hollow cup motor for a robot dexterous hand, which is used to be directly connected to the finger joints of the robot dexterous hand and drive the finger joints to move. The working voltage of the direct-drive high-torque micro DC brushless hollow cup motor for the robot dexterous hand is ≤12V, and the speed of the direct-drive high-torque micro DC brushless hollow cup motor for the robot dexterous hand is <30000rpm; the direct-drive high-torque micro DC brushless hollow cup motor for the robot dexterous hand comprises: a housing 1, a stator 2 and a rotor 3; the stator 2 is fixedly arranged in the housing 1, and the stator 2 is coaxially arranged with the housing 1; the rotor 3 penetrates the stator The stator 2 is provided with a rotor 3 and a stator 2, wherein the stator 2 comprises a winding 22 and an iron core 21, the winding 22 is cylindrical, the iron core 21 is a complete cylindrical shape, the winding 22 is fixed to the inner wall of the iron core 21, the iron core 21 is fixed to the housing 1, the two axial end faces of the winding 22 are flush with the two axial end faces of the iron core 21, and the ratio of the wall thickness of the winding 22 to the wall thickness of the iron core 21 is 3.3:1; the rotor 3 comprises a magnetic steel 31 and a rotating shaft 32, the rotating shaft 32 passes through the magnetic steel 31 and is fixed to the magnetic steel 31, and the ratio of the number of magnetic steels of the direct-drive high-torque micro-special DC brushless hollow cup motor for the dexterous hand of the robot to the number of virtual slots of the stator 2 is 2:3.

[0025] According to a specific embodiment of the present invention, the direct-drive high-torque micro DC brushless hollow cup motor for a robot dexterous hand further includes: a first end cover 4, a second end cover 5, a first bearing 8, a second bearing 9 and an elastic member 7, and the rotor 3 further includes a first positioning ring 33 and a second positioning ring 34; the housing 1 as a whole is a cylindrical shape with openings at both ends, and the first end cover 4 and the second end cover 5 are respectively fixed to the two ends of the housing 1 and respectively block the openings at the two ends of the housing 1; the first bearing 8 is installed in the first end cover 4, the first positioning ring 33 is arranged between the first bearing 8 and the magnetic steel 31, and the first positioning ring 33 is arranged between the first bearing 8 and the magnetic steel 31, and the first positioning ring 34 ...3 is arranged between the first bearing 8 and the magnetic steel 31, and the first positioning ring 34 is arranged between the first bearing 8 and the magnetic steel 31, and the first positioning ring 33 is arranged The two ends of the positioning ring 33 are respectively in contact with the first bearing 8 and the magnetic steel 31; the second bearing 9 is installed in the second end cover 5, the first positioning ring 33 and the elastic member 7 are arranged between the second bearing 9 and the magnetic steel 31, and the side of the first positioning ring 33 away from the second end cover 5 is in contact with the magnetic steel 31, and the two ends of the elastic member 7 are respectively in contact with the second positioning ring 34 and the second bearing 9, and the rotating shaft 32 also passes through the first bearing 8, the first positioning ring 33, the second positioning ring 34, the elastic member 7 and the second bearing 9; the first positioning ring 33 and the second positioning ring 34 are respectively bonded and fixed to the magnetic steel 31.

[0026] In this embodiment, the iron core 21 is in a complete cylindrical shape, which means that the iron core 21 is a slotless structure, and because of its small thickness, the iron core 21 is a slotless thin-walled structure.

[0027] According to a specific embodiment of the present invention, the direct-drive high-torque micro DC brushless hollow cup motor for a robot dexterous hand also includes a sensor circuit board 6 and a sensor installed on the sensor circuit board 6. The sensor circuit board 6 is located in the housing 1, and the sensor circuit board 6 is installed on the second end cover 5.

[0028] According to a specific embodiment of the present invention, a wire outlet hole is provided on the second end cover 5, and the wire outlet hole connects the inner cavity of the casing 1 and the external space of the casing 1. The direct-drive high-torque micro-DC brushless hollow cup motor for the robot dexterous hand also includes a motor lead outlet 10 passing through the wire outlet hole, and a silicone encapsulation layer 11 is formed by filling silicone between the motor lead outlet 10 and the wire outlet hole; a wiring port is provided at the protruding end of the lead wire.

[0029] According to a specific embodiment of the present invention, the pole-slot combination of the direct-drive high-torque micro DC brushless hollow cup motor for the robot's dexterous hand is 2 poles and 3 slots; the winding 22 adopts a three-phase, double-layer and concentrated winding 22 winding type; the direct-drive high-torque micro DC brushless hollow cup motor for the robot's dexterous hand is a high-speed motor, and the direct-drive high-torque micro DC brushless hollow cup motor for the robot's dexterous hand is a DC brushless motor.

[0030] According to a specific embodiment of the present invention, the winding 22 is a concentric diamond coil; the number of virtual slots of the direct-drive high-torque micro-DC brushless hollow cup motor for the robot's dexterous hand is L, L is a natural number ≥1, and the winding 22 is composed of L concentric diamond coils stacked together.

[0031] According to a specific embodiment of the present invention, the winding 22 further includes a wire end 224 , and the winding 22 is made of three concentric rhombus coils (a first rhombus coil 221 , a second rhombus coil 222 , and a third rhombus coil 223 ) through bonding and rounding processes. Figure 5 Medium: A, A ， are two end points of the first rhombus coil 221; B, B ， are two end points of the second rhombus coil 222; C, C ， They are respectively two end points of the third rhombus coil 223 .

[0032] According to a specific embodiment of the present invention, the iron core 21 is formed by stacking silicon steel sheets or the iron core 21 is made of iron crystal material; the sensor is an encoder or a Hall sensor; and the elastic member 7 is a cylindrical helical spring.

[0033] In this embodiment, the advantage of the Hall sensor is that the device is small in size and can detect the position of the rotor 3 by means of the rotor magnetic field. The encoder requires professional chips and special magnets, and has high structural space requirements, but high precision. In specific implementation, it can be selected according to actual needs.

[0034] According to a specific embodiment of the present invention, the first end cover 4 and the casing 1 are an integral structure; the second end cover 5 is fixed to the casing 1 by laser welding; and the inner wall of the casing 1 and the stator 2 are fixedly connected by an adhesive.

[0035] According to a specific embodiment of the present invention, the direct-drive high-torque micro DC brushless hollow cup motor for the robot's dexterous hand is cylindrical as a whole, and the maximum outer diameter of the direct-drive high-torque micro DC brushless hollow cup motor for the robot's dexterous hand is D, D < 13mm, and the distance from the side of the left end cover 4 away from the right end cover 5 to the side of the right end cover 5 away from the left end cover 4 is set to the motor length H, H ≤ 35mm.

[0036] It should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0037] It should also be noted that the direct-drive high-torque micro-specific DC brushless hollow cup motor for robot dexterous hands of the present invention is used in dexterous hands that have requirements on the working voltage, size and target speed of the motor. There are the following requirements for using the motor to directly drive the fingers of the dexterous hands.

[0038] Basic requirement: The motor should be small in size. This requirement is achieved by using a coreless motor. The coreless motor is small in size and is more suitable for driving the fingers of a dexterous hand than other types of motors.

[0039] The requirement that is more difficult to achieve: Under the conditions of voltage, size, target speed, etc., a torque that can directly drive the dexterous hand to rotate must be achieved. That is, it can be achieved that under the conditions that the working voltage of the motor is ≤12V, the target speed of the motor is <30000rpm and the size is small, the motor does not need to use a reducer to reduce speed and increase torque; the output torque of the motor itself reaches the torque required to directly drive the dexterous hand finger movements. In the prior art, similar products of Maxon cannot achieve this torque. The structure of this embodiment can achieve an output torque of 5.2mN·m under the conditions of working voltage ≤12V and target speed <30000rpm. This torque can directly drive the dexterous hand finger movements without the need for a reducer to reduce speed and increase torque; the output torque of the present invention is much higher than that of the traditional hollow cup motor of the same machine size, and the output torque characteristics are excellent, which can solve the problem in the prior art that the motor torque is small and a reducer needs to be configured, and meet the requirements of directly driving the dexterous hand fingers.

[0040] The following is a further description of the design concept of the present invention and a specific structure of a direct-drive high-torque micro-DC brushless hollow cup motor for a robot dexterous hand obtained based on the concept.

[0041] Part 1: Determine the design parameters. The motor parameters in Table 1 below are used as the design parameters of the present invention.

[0042] Part 2: Using the motor parameters in Table 1 as the design parameters of the present invention, the design is as follows Figure 8 The direct-drive high-torque micro-special DC brushless hollow cup motor for robot dexterous hands is described as follows. Its specific structure and effect are described as follows.

[0043] The direct-drive high-torque micro-specific DC brushless hollow cup motor for a robot dexterous hand of this embodiment is a brushless DC motor, which is used for a dexterous hand finger direct drive device with a voltage less than or equal to 12V and a rotation speed less than 30000rpm, and comprises: a housing 1, a stator 2 and a rotor 3; the stator 2 comprises an iron core 21 and a winding 22, the iron core 21 is a slotless thin-walled structure, the winding 22 is fixed to the inner wall of the iron core 21 and the ends of the winding 22 are equal, the winding 22 is cylindrical, and the ratio of the wall thickness of the winding 22 to the wall thickness of the iron core 21 is 3.3:1; Figure 3-4 , the wall thickness of the winding 22 is K1; the wall thickness of the core 21 is K2; K1:K2=3.3:1; the rotor 3 includes a magnet 31 and a rotating shaft 32, the magnet 31 is fixedly connected to the rotating shaft 32, wherein the ratio of the number of magnets to the number of virtual slots of the stator 2 is 2:3; the stator 2 is coaxially fixedly connected to the housing 1, and the rotor 3 coaxially passes through the stator 2.

[0044] Since the motor of this embodiment is a micro slotless motor, preferably a DC brushless motor, the outer diameter of the motor housing 1 is relatively small, and adhesives commonly used in the market, such as DG-3S glue, can be used to bond the stator 2 to the inner wall of the housing 1 through a special tooling to ensure that the stator 2 is assembled with the housing 1 without deformation. The rotor 3 is coaxial with the stator 2, and the distance between the rotor 3 and the stator 2 is an air gap. When the stator 2 is energized, an air gap flux is generated between the stator 2 and the rotor 3. The stator 2 and the rotor 3 are cylindrical structures, and the rotor 3 is generally a surface-mounted structure, and a built-in structure can also be used. The winding 22 is in the form of a three-phase, double-layer, centralized winding, and the pitch of the winding 22 is an integer. Due to structural limitations, the motor of this embodiment is preferably 2 poles and 3 slots (number of virtual slots).

[0045] This embodiment uses concentric diamond coils, which have good processability and can solve the problem of end winding 22. The winding 22 is made of three concentric diamond coils that are bonded and rounded into a cylindrical shape. The wall thickness of the winding 22 is 3.3 times the wall thickness of the core 21. It does not need to follow the direction of the stator 2 slots for winding. The shape of the winding 22 can be varied, there is no cogging torque, and the eddy current loss is small.

[0046] The core 21 is made of conventional silicon steel sheets, which are formed by lamination. If special working conditions are considered, iron crystal materials with lower losses can be selected. When a current in a certain direction is passed through the winding 22 of the stator 2, the rotor 3 will rotate under the action of the Ampere force; when the direction of the current changes, the rotation direction of the rotor 3 will also change accordingly.

[0047] Based on the above structure, the motor of this embodiment can provide higher power density and output high torque, and the output torque is greater than or equal to 5.2mNm. Compared with the brushless hollow cup motor, the present invention is superior in terms of operating stability. It is used in the finger direct drive device of the dexterous hand with a voltage less than or equal to 12V and a speed lower than 30000rpm. The output torque of the hollow cup motor of this embodiment is much higher than that of the traditional hollow cup motor of the same machine size, and the output torque characteristics are excellent, meeting the requirements of high-precision motors.

[0048] In this embodiment, Figure 1 As shown, the diameter of the motor is less than 13 mm and the length of the motor is less than or equal to 35 mm.

[0049] The motor also includes: a first end cover 4, a second end cover 5, a first bearing 8, a second bearing 9 and an elastic member 7. A first positioning ring 33 and a second positioning ring 34 are provided at both ends of the rotor 3; the first positioning ring 33 is fixedly connected to the inner ring of the first bearing 8, the elastic member 7 is provided between the second positioning ring 34 and the second bearing 9, and the two ends of the elastic member 7 are respectively abutted against the second positioning ring 34 and the second bearing 9; the outer ring of the first bearing 8 and the outer ring of the second bearing 9 are respectively fixedly connected to the first end cover 4 and the second end cover 5; the first positioning ring 33 and the second positioning ring 34 are coaxially mounted on the rotor 3, and the first end cover 4 and the second end cover 5 are respectively fixedly connected to the two ends of the casing 1.

[0050] More specifically, to facilitate the assembly of the motor, a first positioning ring 33 and a second positioning ring 34 are respectively provided at both ends of the rotor 3. The first positioning ring 33 and the second positioning ring 34 are bonded to the magnetic steel 31. The first positioning ring 33 serves as an axial limit of the first bearing 8. The second positioning ring 34 is fixedly connected to one end of the elastic member 7. The elastic member 7 is preferably a spring, which is used to adjust the axial movement of the rotor 3. The inner rings of the first bearing 8 and the second bearing 9 are respectively coaxially connected to the rotating shaft 32. The first bearing 8 and the second bearing 9 are both rolling bearings. The first bearing 8 and the second bearing 9 are respectively pressed with the first end cover 4 and the second end cover 5. The first end cover 4 and the second end cover 5 are pressed and welded to the two ends of the housing 1, respectively, or the first end cover 4 and the housing 1 are an integral structure. More specifically, the pole slots (virtual slots) of the motor in this embodiment are matched with 2 poles and 3 slots, and the winding type is a three-phase, double-layer, concentrated winding 22. The motor of this embodiment has a relatively small number of slots and a high utilization rate. At the same time, the coefficient of the winding 22 is higher than that of the distributed winding 22. Therefore, it has a higher power density and can effectively reduce the usage rate of copper, thereby reducing the copper loss of the winding 22.

[0051] More specifically, in order to make the winding 22 better in forming process, as Figure 4 and Figure 5 As shown, the winding 22 in this embodiment adopts concentric diamond coils, which are stacked. The number of virtual slots is 3, and three concentric diamond coils are stacked to form the winding 22. The advantages are good processability, reducing the thickness of the coil, effectively reducing the air gap of the magnetic circuit on the high power density motor, increasing the length of the cutting magnetic field, and better utilizing the magnetism of the stator 2.

[0052] More specifically, if Figure 1 and Figure 7 As shown, the motor further includes a sensor mounted on a sensor circuit board 6. The speed and position of the motor can be collected by the sensor, and the speed and position information of the rotor 3 can be fed back to the control system in real time to ensure stable operation of the motor. Figure 7 The definitions of the lead wires of the sensor circuit board 6 are shown in Table 2.

[0053] More specifically, the sensor is a Hall sensor.

[0054] The advantage of the Hall sensor is that the device is small in size and can detect the position of the rotor 3 by means of the rotor magnetic field.

[0055] More specifically, the elastic member 7 is a cylindrical helical spring with a linear characteristic line, stable stiffness, simple structure, and convenient manufacturing. It can buffer the axial direction of the motor rotor 3, reduce vibration, store energy, and control movement.

[0056] More specifically, the motor of this embodiment is a high-speed motor. The magnetic flux path between the rotor 3 and the stator 2 of the high-speed motor is short, which reduces the loss of magnetic flux and generates less noise during operation, making it more efficient than a traditional motor.

[0057] More specifically, the second end cover 5 is provided with a wire outlet hole, which is used for the motor lead outlet 10 to facilitate the connection of the motor with the power supply. The lead outlet can be provided with a wiring port, which improves the reliability of the power connection.

[0058] Part III: Figure 9-11 The performance of the direct-drive high-torque micro-special DC brushless hollow cup motor for the robot dexterous hand of the above embodiment is tested by using a micro-motor tester, and the electromagnetic parameters shown in Table 3 are obtained after calculation.

[0059] Through this table 3 and Figure 9-11 It can be seen that the working voltage of the motor is 12.01V, the no-load speed is 28224rpm, and the shaft torque of the motor is: 0.0052702Nm (5.2702mNm). Based on the experimental data and common sense, it can be obviously deduced that when the voltage is slightly lower than 12.01, that is, 12V, and the no-load speed is lower than 30000rpm, the torque of the motor can reach the design requirement of 5.2mNm.

[0060] It should be noted that, during the manufacture of traditional hollow cup motors, the structure generally adopted is that the wall thickness of the winding is smaller than the wall thickness of the iron core. The present invention breaks the convention and abandons the traditional structure. The present invention creatively adjusts the wall thickness of the winding to be larger than the wall thickness of the iron core. After repeated experiments and demonstrations, when the ratio of the wall thickness of the winding to the wall thickness of the iron core is 3.3:1, the torque for driving the fingers of the dexterous hand can be obtained.

[0061]

[0062]

[0063]

[0064] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements, or it can be a "transmission connection", that is, a power connection through various appropriate methods such as belt drive, gear drive or sprocket drive. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Claims

1. A direct-drive high-torque micro DC brushless hollow cup motor for a robot dexterous hand, characterized in that: The direct-drive high-torque micro DC brushless hollow cup motor for the robot's dexterous hand is used to directly connect to the finger joints of the robot's dexterous hand and drive the finger joints to move. The working voltage of the direct-drive high-torque micro DC brushless hollow cup motor for the robot's dexterous hand is ≤12V, and the speed of the direct-drive high-torque micro DC brushless hollow cup motor for the robot's dexterous hand is <30000rpm; the direct-drive high-torque micro DC brushless hollow cup motor for the robot's dexterous hand includes: a housing, a stator and a rotor; the stator is fixedly arranged in the housing, and the stator and the housing are coaxially arranged; the rotor passes through the housing. The stator, and the rotor is coaxially arranged with the stator; wherein: the stator comprises a winding and an iron core, the winding is cylindrical, the iron core is a complete cylindrical shape, the winding is fixed to the inner wall of the iron core, the iron core is fixed to the housing, the two axial end faces of the winding are flush with the two axial end faces of the iron core, and the ratio of the wall thickness of the winding to the wall thickness of the iron core is 3.3:1; the rotor comprises a magnetic steel and a rotating shaft, the rotating shaft passes through the magnetic steel and is fixed to the magnetic steel, and the ratio of the number of magnetic steels of the direct-drive high-torque micro-special DC brushless hollow cup motor for a dexterous robot hand to the number of virtual slots of the stator is 2:

3.

2. The direct-drive high-torque micro DC brushless hollow cup motor for a robot dexterous hand according to claim 1 is characterized in that: The direct-drive high-torque micro DC brushless hollow cup motor for a robot dexterous hand also includes: a first end cover, a second end cover, a first bearing, a second bearing and an elastic member, and the rotor also includes a first positioning ring and a second positioning ring; the housing as a whole is a cylindrical shape with openings at both ends, and the first end cover and the second end cover are respectively fixed to the two ends of the housing and respectively block the openings at the two ends of the housing; the first bearing is installed in the first end cover, the first positioning ring is arranged between the first bearing and the magnetic steel, and the two ends of the first positioning ring are respectively abutted against the first bearing and the magnetic steel; the second bearing is installed in the second end cover, the first positioning ring and the elastic member are arranged between the second bearing and the magnetic steel, and the side of the first positioning ring away from the second end cover is abutted against the magnetic steel, and the two ends of the elastic member are respectively abutted against the second positioning ring and the second bearing, and the rotating shaft also passes through the first bearing, the first positioning ring, the second positioning ring, the elastic member and the second bearing; the first positioning ring and the second positioning ring are respectively bonded and fixed to the magnetic steel.

3. The direct-drive high-torque micro DC brushless hollow cup motor for a robot dexterous hand according to claim 2 is characterized in that: The direct-drive high-torque micro DC brushless hollow cup motor for a robot dexterous hand also includes a sensor circuit board and a sensor mounted on the sensor circuit board. The sensor circuit board is located in the housing, and the sensor circuit board is mounted on the second end cover.

4. The direct-drive high-torque micro DC brushless hollow cup motor for a robot dexterous hand according to claim 3 is characterized in that: The second end cover is provided with a wire outlet hole passing through it, and the wire outlet hole connects the inner cavity of the casing and the external space of the casing. The direct-drive high-torque micro-DC brushless hollow cup motor for the robot dexterous hand also includes a motor lead outlet passing through the wire outlet hole, and a silicone encapsulation layer is formed by filling silicone between the motor lead outlet and the wire outlet hole; the protruding end of the lead wire is provided with a wiring port.

5. The direct-drive high-torque micro DC brushless hollow cup motor for a robot dexterous hand according to claim 4 is characterized in that: The pole-slot combination of the direct-drive high-torque micro DC brushless hollow cup motor for the robot's dexterous hand is 2 poles and 3 slots; the winding adopts a three-phase, double-layer and concentrated winding winding type; the direct-drive high-torque micro DC brushless hollow cup motor for the robot's dexterous hand is a high-speed motor, and the direct-drive high-torque micro DC brushless hollow cup motor for the robot's dexterous hand is a DC brushless motor.

6. The direct-drive high-torque micro DC brushless hollow cup motor for a robot dexterous hand according to claim 5, characterized in that: The winding is a concentric diamond coil; the number of virtual slots of the direct-drive high-torque micro-DC brushless hollow cup motor for the robot's dexterous hand is L, L is a natural number ≥1, and the winding is formed by stacking L concentric diamond coils.

7. The direct-drive high-torque micro DC brushless hollow cup motor for a robot dexterous hand according to claim 6, characterized in that: The winding is made of three concentric rhombus coils through bonding and rounding processes.

8. The direct-drive high-torque micro DC brushless hollow cup motor for a robot dexterous hand according to claim 7, characterized in that: The iron core is formed by stacking silicon steel sheets or the iron core is made of iron crystal material; the sensor is an encoder or a Hall sensor; and the elastic member is a cylindrical helical spring.

9. The direct-drive high-torque micro DC brushless hollow cup motor for a robot dexterous hand according to claim 8, characterized in that: The first end cover and the housing are an integrated structure; the second end cover is fixed to the housing by laser welding; the inner wall of the housing and the stator are fixedly connected by an adhesive.

10. The direct-drive high-torque micro DC brushless hollow cup motor for a robot dexterous hand according to any one of claims 1 to 9, characterized in that: The direct-drive high-torque micro DC brushless hollow cup motor for the robot's dexterous hand is cylindrical as a whole, and the maximum outer diameter of the direct-drive high-torque micro DC brushless hollow cup motor for the robot's dexterous hand is D, D<13mm, and the distance from the side of the left end cover away from the right end cover to the side of the right end cover away from the left end cover is set to the motor length H, H≤35mm.

Images