Winding structure and motor structure having the same

Abstract

The application provides a winding structure and a motor structure with the winding structure, wherein the winding structure comprises: a first winding structure comprising first coils arranged along a first direction, the first coils comprising U coils, first V coils and W coils, the U coils, the first V coils and the W coils being arranged in a first coil layer and a second coil layer in a stacked manner, adjacent U coils, first V coils and W coils forming a winding unit, the U coils and the W coils in the winding unit being arranged adjacent to each other and located in the first coil layer, and the first V coil in the winding unit being located in the second coil layer and arranged in a stacked and staggered manner with the U coils and the W coils; and a second winding structure comprising second coils arranged along a second direction, the second direction being arranged in a cross manner with the first direction; wherein in the winding unit, a center line of the first V coil corresponds to a butt joint surface of the U coils and the W coils. The technical scheme of the application can effectively solve the problem that a mover generates large vibration when moving at a low speed.

Description

Technical Field

[0001] This invention relates to the field of motor technology, and more specifically, to a winding structure and a motor structure having the same. Background Technology

[0002] Magnetic levitation planar motors can directly realize multi-degree-of-freedom composite motion in space. They are characterized by lightweight structure and the ability to achieve high-speed and high-precision spatial trajectory control. Magnetic levitation planar motors generally have a stator and a driveable mover, which is driven by the principle of magnetic levitation.

[0003] However, in related technologies, the mover vibrates significantly when moving at low speeds. This vibration is caused by the low density of the coil, which results in poor continuity of the magnetic field generated when the coil is energized. Consequently, the mover experiences uneven force and vibrates when moving at low speeds.

[0004] Therefore, there is currently a problem in this field where the mover generates significant vibrations when moving at low speeds. Summary of the Invention

[0005] The main objective of this invention is to provide a winding structure and a motor structure having the same, so as to solve the problem that the mover will generate large vibrations when moving at low speed in related technologies.

[0006] To achieve the above objectives, according to one aspect of the present invention, a winding structure is provided, comprising a first winding structure and a second winding structure stacked thereon, wherein the first winding structure includes a plurality of first coils extending along a first direction, each first coil including a plurality of U coils, a plurality of first V coils, and a plurality of W coils, the plurality of U coils, the plurality of first V coils, and the plurality of W coils forming a stacked first coil layer and a second coil layer, a U coil, a first V coil, and a W coil arranged adjacent to each other forming a winding unit, the U coils and W coils in a winding unit being arranged adjacently and located in one layer of the first coil layer and the second coil layer, the first V coils in the winding unit being located in the other layer of the first coil layer and the second coil layer and being stacked and staggered with the U coils and W coils; the second winding structure includes a plurality of second coils extending along a second direction, the second direction intersecting the first direction; wherein, in a winding unit, the centerline of the first V coil corresponds to the mating surface of the U coils and W coils.

[0007] Furthermore, the U coil and W coil in all winding units are located on the same layer, and the first V coil in all winding units is located on the same layer.

[0008] Furthermore, a second V coil is provided between the two first V coils of two adjacent winding units.

[0009] Furthermore, the two first V coils in two adjacent winding units are staggered.

[0010] Furthermore, the first coil includes complete coils and partial coils, wherein at least one of the first coil layer and the second coil layer includes a plurality of complete coils and partial coils disposed on the sides of the plurality of complete coils.

[0011] Furthermore, both the first coil layer and the second coil layer include an integer number of first coils, wherein both sides of the first coil layer protrude outward from the sides of the second coil layer.

[0012] Furthermore, the first coil layer is printed on the first PCB to form a first winding board, and the second coil layer is printed on the second PCB to form a second winding board, with the first winding board and the second winding board stacked on top of each other; or, the first coil layer and the second coil layer are printed on both sides of the third PCB to form a third winding board, and the first winding structure includes a plurality of stacked third winding boards.

[0013] Furthermore, the winding structure includes a base, a fluid flow groove is provided inside the base, a U coil tooth for winding a U coil and a W coil tooth for winding a W coil are provided on a first surface of the base, and a V coil tooth for winding a first V coil is provided on a second surface of the base opposite to the first surface.

[0014] Furthermore, the first winding structure includes M first coil layers and N second coil layers, where M and N are both positive integers, M = N, or M = N ± 1, or M = (2*x ± 1)*N, where x is a positive integer.

[0015] Furthermore, the pole pitch of each first coil is p, and the length l of each first coil satisfies the following relationship with p: l = 6 * n * p, where n is a positive integer; and / or, the length l of each first coil satisfies the following relationship: l = 120 + 60 * y, where y is a positive integer.

[0016] Furthermore, the first winding structure also includes a magnetic sensor disposed at the center of the first coil.

[0017] Furthermore, the second winding structure is identical to the first winding structure.

[0018] According to another aspect of the present invention, an electric motor structure is provided, including a stator and a mover, one of the stator and the mover including a magnet array; the other of the stator and the mover including a winding structure, the winding structure being the winding structure described above.

[0019] Furthermore, the mover includes a magnet array, the stator includes a winding structure, the stator also includes a base and a cover plate on the base, the base has a receiving cavity, the first winding structure and the second winding structure are disposed in the receiving cavity, the base and / or the cover plate are made of metal material, and a caster wheel is provided on the side of the mover facing the stator, the caster wheel is used to cooperate with the cover plate.

[0020] Furthermore, the magnet array includes a first magnet group and a second magnet group. The first magnet group includes a plurality of first magnets arranged in a row, and the second magnet group includes a plurality of second magnets arranged in a row, wherein the arrangement direction of the first magnet group intersects the arrangement direction of the second magnet group.

[0021] Furthermore, the first magnet group has multiple first main magnets in the middle, and first secondary magnets are respectively arranged at both ends of the first magnet group. The width of the first main magnet is greater than the width of the first secondary magnet. The second magnet group has multiple second main magnets in the middle, and second secondary magnets are respectively arranged at both ends of the second magnet group. The width of the second main magnet is greater than the width of the second secondary magnet.

[0022] Furthermore, the first magnet group has multiple first main magnets in the middle, and first secondary magnets at both ends. The magnetic pitch t1 of the first main magnet satisfies t1 = 2 / 3p with the pole pitch p of the first coil of the winding structure, and the magnetic pitch t2 of the first secondary magnet satisfies t2 = 1 / 6p with the pole pitch p of the first coil. Alternatively, the first magnet group has multiple first main magnets in the middle, and second and third secondary magnets are set at both ends. The second secondary magnets are located between the first main magnets and the third secondary magnets. The magnetic pitch t1 of the first main magnet satisfies t1 = 2 / 3p with the pole pitch p of the first coil of the winding structure, the magnetic pitch t3 of the second secondary magnet satisfies t3 = 1 / 3p with the pole pitch p of the first coil, and the magnetic pitch t4 of the third secondary magnet satisfies t4 = 1 / 6p with the pole pitch p of the first coil.

[0023] Applying the technical solution of the present invention, the first winding structure has a plurality of first coils arranged along a first direction that can be coupled to the permanent magnet on the mover, so that the mover can move along a direction perpendicular to the first direction; the second winding structure has a plurality of second coils arranged along a second direction that can be coupled to the permanent magnet on the mover, so that the mover can move along a direction perpendicular to the second direction; when the first winding structure and the second winding structure are driven simultaneously, the rotation, commutation and other operations of the mover can be realized. The first winding structure has a first coil layer and a second coil layer. The U coil and W coil are in the same layer of either the first or second coil layer. The first V coil, corresponding to the U coil and W coil, is located in another layer of either the first or second coil layer, and is staggered from the U coil and W coil. The first V coil, together with the U coil and W coil, forms a winding unit, i.e., a three-phase winding. The width of this three-phase winding is the total width of the U coil and W coil. The three-phase winding of this invention has a smaller width, resulting in a higher magnetic density. This leads to better continuity of the magnetic field generated when the winding structure is energized, increasing the motion accuracy of the mover and allowing for a more stable driving force during low-speed motion. This reduces vibration during low-speed motion and makes the movement of the mover smoother. Therefore, the technical solution of this application effectively solves the problem of significant vibration of the mover during low-speed motion in related technologies. Attached Figure Description

[0024] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0025] Figure 1 A three-dimensional structural schematic diagram of a first embodiment of the winding structure according to the present invention is shown;

[0026] Figure 2 It shows Figure 1 An enlarged schematic diagram of part A of the winding structure;

[0027] Figure 3 It shows Figure 1 A front view of the winding structure;

[0028] Figure 4 A three-dimensional structural schematic diagram of a second embodiment of the winding structure according to the present invention is shown;

[0029] Figure 5 It shows Figure 4 An enlarged schematic diagram of part B of the winding structure;

[0030] Figure 6 It shows Figure 4A front view of the winding structure;

[0031] Figure 7 A three-dimensional structural schematic diagram of the first winding structure according to a third embodiment of the winding structure of the present invention is shown;

[0032] Figure 8 It shows Figure 7 A front view of the first winding structure;

[0033] Figure 9 A front view of a fourth embodiment of the winding structure according to the present invention is shown;

[0034] Figure 10 A three-dimensional structural schematic diagram of a base for a winding structure according to the present invention and a first coil cooperating with the base is shown.

[0035] Figure 11 A third-dimensional structural schematic diagram of a base for a winding structure according to the present invention and a first coil cooperating with the base is shown.

[0036] Figure 12 A front view of a first embodiment of the stator magnet array of the motor structure according to the present invention is shown;

[0037] Figure 13 A front view of a second embodiment of the stator magnet array of the motor structure according to the present invention is shown;

[0038] Figure 14 A front view of a third embodiment of the stator magnet array of the motor structure according to the present invention is shown.

[0039] The above figures include the following reference numerals:

[0040] a, First direction; b, Second direction; l, Length of the first coil; p, Pole pitch of the first coil;

[0041] 10. First winding structure; 11. First coil layer; 12. Second coil layer; 13. First coil; 131. Complete coil; 132. Partial coil; 14. Winding unit; 141. U coil; 142. First V coil; 143. W coil; 152. Second V coil;

[0042] 20. Second winding structure; 21. Second coil;

[0043] 30. Base; 31. First surface; 32. Second surface; 33. U-shaped coil tooth; 34. W-shaped coil tooth; 35. V-shaped coil tooth; 36. Flow channel;

[0044] 50. First magnet group; 501. First magnet; 502. First main stage magnet; 503. First primary stage magnet; 51. Second magnet group; 511. Second magnet; 512. Second main stage magnet; 513. Second secondary stage magnet. Detailed Implementation

[0045] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0046] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0047] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0048] Figures 1 to 3 A schematic diagram of a first embodiment of the winding structure according to this application is shown. The winding structure of this application can be used on the stator of a magnetic drive motor.

[0049] like Figures 1 to 3As shown, this application provides a winding structure, including a first winding structure 10 and a second winding structure 20 stacked together. The first winding structure 10 includes a plurality of first coils 13 extending along a first direction a. Each first coil 13 includes a plurality of U coils 141, a plurality of first V coils 142, and a plurality of W coils 143. The plurality of U coils 141, the plurality of first V coils 142, and the plurality of W coils 143 form a stacked first coil layer 11 and a second coil layer 12. An adjacent U coil 141, a first V coil 142, and a W coil 143 form a winding unit 14. In winding unit 14, U coil 141 and W coil 143 are arranged adjacently and located in one of the first coil layer 11 and the second coil layer 12. In winding unit 14, the first V coil 142 is located in another of the first coil layer 11 and the second coil layer 12 and is stacked and staggered with U coil 141 and W coil 143. The second winding structure 20 includes a plurality of second coils 21 extending along a second direction b, which intersects with the first direction a. In one winding unit 14, the center line of the first V coil 142 corresponds to the mating surface of the U coil 141 and the W coil 143.

[0050] Applying the technical solution of this embodiment, the first winding structure 10 has a plurality of first coils 13 extending along the first direction a and capable of coupling with permanent magnets on the mover (described in detail below), so that the mover can move along a direction perpendicular to the first direction a; the second winding structure 20 has a plurality of second coils 21 arranged along the second direction b and capable of coupling with permanent magnets on the mover, so that the mover can move along a direction perpendicular to the second direction b; when the first winding structure and the second winding structure are driven simultaneously, operations such as rotation and commutation of the mover can be realized. The first winding structure 10 has a first coil layer 11 and a second coil layer 12. The U coil 141 and the W coil 143 are in the same layer of the first coil layer 11 or the second coil layer 12. The first V coil 142, which corresponds to the U coil 141 and the W coil 143, is located in another layer of the first coil layer 11 or the second coil layer 12. The first V coil 142 is staggered from the U coil 141 and the W coil 143. The first V coil 142, the U coil 141 and the W coil 143 together form a winding unit 14, that is, a three-phase winding. The width of this three-phase winding is the total width of the U coil and the W coil. The width of the three-phase winding in this embodiment is smaller. The winding structure in this embodiment has a higher magnetic density, which makes the continuity of the magnetic field generated by the winding structure when energized better, increases the motion accuracy of the mover when moving, and makes the mover receive a more stable driving force when moving at low speed, thereby reducing the vibration of the mover when moving at low speed. Therefore, the technical solution of this embodiment can effectively solve the problem of large vibrations generated by the mover when moving at low speed in related technologies.

[0051] Specifically, in this embodiment, the first direction a and the second direction b are perpendicular to each other.

[0052] It should be noted that the above-mentioned "misalignment setting" refers to the projection of the two sides of the first V coil 142 onto the coil layer plane where the U coil 141 and W coil 143 are located falling into the projection of the U coil 141 and W coil 143 onto this coil layer plane.

[0053] Specifically, in describing the application, the term "side" or "side" refers to both ends of the width of the coil structure (e.g., the first coil 13); the term "end" or "end" refers to both ends of the length of the coil structure (e.g., the first coil 13). Correspondingly, the two sides of the first winding structure 10 refer to the two sides corresponding to the width direction of the first coil 13; the two sides of the second winding structure 20 refer to the two sides corresponding to the width direction of the second coil 21.

[0054] Preferably, both the first coil 13 and the second coil 21 are coreless coils, which can reduce the cogging force generated after the coil is energized, and also make the mover more stable during low-speed movement, reducing its vibration. For the first coil 13 and the second coil 21, the input and output terminals are located on the periphery and are electrically connected to the drive module via pins or an FPC (Flexible Printed Circuit). Pins and FPCs can electrically connect different layers of the first coil 13 and the second coil 21, making it easier to control different layers of the first coil 13 and the second coil 21.

[0055] It should be noted that gaps are unavoidable between adjacent coils. The "corresponding mating surfaces" mentioned above refers to the fact that the center line of the first V coil 142 overlaps with the center line of the gap between the U coil 141 and the W coil 143.

[0056] Specifically, in this embodiment, the pole pitch of each first coil 13 is p, and the spacing s between two adjacent first coils 13 is between 1 / 6p and 5 / 6p, preferably s = 1 / 2p. The pole pitch can be understood as the width of the first coil 13. This allows the winding structure to have a high magnetic density and good continuity of the magnetic field generated when energized, while also reducing the size of the winding structure, thus miniaturizing the winding structure.

[0057] like Figures 1 to 3As shown, the U coil 141 and W coil 143 in all winding units 14 are located on the same layer, and the first V coil 142 in all winding units 14 are located on the same layer. This arrangement simplifies the winding structure, makes it easier to assemble, and facilitates reducing the width of the three-phase windings, thereby reducing the overall size of the winding structure.

[0058] like Figures 1 to 3 As shown, in this embodiment, the first coil layer 11 is disposed above the second coil layer 12, and in the first coil 13, the U coil 141 and the W coil 143 are alternately disposed; the first V coil 142 is disposed in the second coil layer 12.

[0059] Specifically, there are two energizing methods: 1. The coils in the first coil layer 11 are continuously energized, periodically energizing the first V coil 142 at different positions in the second coil layer 12; 2. The coils in the second coil layer 12 are continuously energized, periodically energizing the U coil 141 and W coil 143 at different positions in the first coil layer 11. Both energizing methods enable step control of the mover, ensuring that each movement of the mover has the same stroke, thus allowing for more precise control of the mover's motion.

[0060] like Figure 1 As shown, the pole pitch of each first coil 13 is p, and the length l of each first coil 13 satisfies the following relationship with p: l = 6 * n * p, where n is a positive integer; the length l of each first coil 13 satisfies the following relationship: l = 120 + 60 * y, where y is a positive integer. Specifically, the length l can be 180 mm, 240 mm, 300 mm, 360 mm, 420 mm, etc. It can be understood that this embodiment, by constraining the structure of the first coil 13, makes it easier for the magnetic field generated by the first coil 13 to drive the mover to move in a direction perpendicular to the first direction.

[0061] In this embodiment, the winding structure also includes a magnetic sensor disposed at the center of the first coil 13. The magnetic sensor can measure the speed and trajectory of the mover. By combining the measurement results with the corresponding algorithm, the coil structure at a specific location is periodically energized, thereby achieving mover motion control. The magnetic sensor can be an AMR (Anisotropic Magneto Resistance) sensor or a TMR (Tunnel Magneto Resistance) sensor.

[0062] like Figures 1 to 3As shown, a second V-coil 152 is provided between the two first V-coils 142 of two adjacent winding units 14. The second V-coil 152 can be connected to a single-phase amplifier to provide levitation force for the mover; or the second V-coil 152 can be matched with the U-coil 141 and W-coil 143 in other adjacent winding layers to form another three-phase winding. Of course, the second V-coil may not be provided between the two first V-coils of two adjacent winding units.

[0063] like Figures 1 to 3 As shown, the first coil 13 includes a complete coil 131 and a partial coil 132. At least one of the first coil layer 11 and the second coil layer 12 includes multiple complete coils 131 and partial coils 132 disposed on the sides of the multiple complete coils 131. In this embodiment, the partial coil 132 is half of a complete coil 131. When multiple winding structures are spliced, the partial coil 132 in one winding structure can be spliced ​​with the partial coil 132 in an adjacent winding structure to form a complete coil 131. This ensures that there are no coil gaps between adjacent winding structures, reducing vibration of the mover when passing through the intersection of the winding structures.

[0064] Specifically, the local coils 132 spliced ​​together in two adjacent winding structures can be kept in the same cycle by means of electrical connection or by means of information transmission (program control), that is, the function formed by the current signals of the two local coils 132 is kept continuous.

[0065] In this embodiment, the first coil layer 11 is printed on the first PCB board to form the first winding board, and the second coil layer 12 is printed on the second PCB board to form the second winding board. The first winding board and the second winding board are stacked. Forming the coil structure on the PCB board by printing has the advantage of high precision. In addition, the first coil layer 11 and the second coil layer 12 are printed on different PCB boards. In actual use, the first coil layer 11 and the second coil layer 12 can be combined according to requirements to form a variety of layout schemes, thereby improving the structural diversity of the first winding structure 10.

[0066] Of course, in other feasible embodiments, the first coil layer and the second coil layer can also be printed on both sides of the third PCB board to form a third winding board, and the first winding structure includes multiple third winding boards stacked together. By setting the first coil layer and the second coil layer on both sides of the third PCB board, and stacking multiple third PCB boards, the mover can have a greater driving force. Printing the first coil layer and the second coil layer on the same PCB board can effectively reduce production costs.

[0067] Heat dissipation structures can be provided on the first surface 31 and the second surface 32 of the base 30. The heat dissipation structures are heat dissipation plates, heat dissipation pipes through which coolant flows, etc., used to dissipate heat from the coil.

[0068] An insulation structure can be provided between adjacent PCB boards containing coil layers. Based on this insulation structure, a heat dissipation structure can also be provided between the PCB boards to accelerate heat dissipation from the coil structure and ensure its operational stability. This embodiment does not limit the specific implementation of the heat dissipation structure; heat sinks, liquid cooling, and air cooling are all acceptable.

[0069] Preferably, in this embodiment, both the first winding structure 10 and the second winding structure 20 are cuboid structures with a square cross-section. That is, the length of the first winding structure 10 in the first direction a is equal to its length in the second direction b, and correspondingly, the length of the second winding structure 20 in the first direction a is equal to its length in the second direction b.

[0070] Figures 4 to 6 A schematic diagram of a second embodiment of the winding structure according to this application is shown.

[0071] like Figures 4 to 6 As shown, the two first V coils 142 in two adjacent winding units 14 are staggered. For example, in the first coil layer 11, the U coil 141, first V coil 142, and W coil 143 are arranged in a cyclical pattern, and in the second coil layer 12, the U coil 141, first V coil 142, and W coil 143 are also arranged in a cyclical pattern, but the U coil 141 in the second coil layer 12 is 1.5 pole pitches different from the U coil 141 in the first coil layer 11 (e.g., ...). Figure 6 As shown, U-coil 141 and U-coil 141c differ by 1.5 pole pitches, and the first V-coil 142 in the second coil layer 12 differs from the first V-coil 142 in the first coil layer 11 by 1.5 pole pitches (e.g., ...). Figure 6 As shown, the first V coil 142 and the first V coil 142c differ by 1.5 pole pitches, and the W coil 143 in the second coil layer 12 differs from the W coil 143 in the first coil layer 11 by 1.5 pole pitches (e.g., ...). Figure 6 As shown, W coil 143 and W coil 143c differ by 1.5 pole pitches, that is, a three-phase winding presents a T-shaped structure, and the two three-phase windings adjacent to this three-phase winding both present an inverted T-shaped structure.

[0072] In this embodiment, the gap between two adjacent first coils 13 corresponds to the center position of the first coil 13 in the adjacent coil layer. When the mover passes through the gap, the first coil 13 in the adjacent coil layer can provide a stable magnetic field force for the mover, reducing the vibration of the mover when it passes through the intersection position of the first coils 13.

[0073] Figures 7 to 8 A schematic diagram of a third embodiment of the winding structure according to this application is shown.

[0074] like Figures 7 to 8 As shown, both the first coil layer 11 and the second coil layer 12 include an integer number of first coils 13, wherein both sides of the first coil layer 11 protrude outwards from both sides of the second coil layer 12. This increases the driving range of the first coil layer 11, thereby improving the driving range of the winding structure.

[0075] like Figures 10 to 11 As shown, besides printing the first and second coil layers on a PCB board, the first and second coil layers can also be formed by mounting a coil structure made of metal or a mixture of metals onto a plate-shaped base. Specifically, the winding structure includes a base 30. A first surface 31 of the base 30 has U-coil teeth 33 for winding the U-coil 141 and W-coil teeth 34 for winding the W-coil 143. A second surface 32 of the base 30, opposite to the first surface 31, has V-coil teeth 35 for winding the first V-coil 142. The winding structure can be formed by assembling multiple bases 30 together.

[0076] like Figures 10 to 11 As shown, a flow channel 36 is provided inside the base 30. Specifically, as... Figure 10 As shown, the flow channel 36 can be a complete channel-shaped structure set within the base 30; of course, as... Figure 9 As shown, the base 30 corresponding to a winding unit 14 can also be a split structure (including two sub-bases), and the coolant channel 36 can be a channel-shaped structure formed by splicing half-channel structures set on the opposite surfaces of the two sub-bases. During use, coolant can be introduced into the coolant channel 36 to accelerate the heat dissipation of the coil structure, thereby ensuring the stability of the coil structure during operation.

[0077] In this application, the first winding structure 10 includes M first coil layers 11 and N second coil layers 12, where M and N are both positive integers, M = N, or M = N ± 1, or M = (2*x ± 1)*N (x is a positive integer). Specifically, in the first and second embodiments of this application, N = 1 and M = 1, that is, the first coil layer 11 has 1 layer and the second coil layer 12 has 1 layer. In the fourth embodiment of this application, N = 4 and M = 3, that is, the first coil layer 11 has 3 layers and the second coil layer 12 has 4 layers. In other embodiments of this application, the second coil layers 12 may include multiple first coil layers 11. For example, x can be 2. When N = 2, M = 6 can exist, that is, at least one first coil layer 11 is included between two second coil layers 12.

[0078] Of course, in other feasible implementations, M first coil layers can be stacked together first, N second coil layers can be stacked together, and then these two sets of coil layers can be stacked together.

[0079] Based on the above embodiments or in embodiments not yet appearing, the second winding structure 20 has the same structure as the first winding structure 10. The second winding structure 20 has the same technical features as the first winding structure 10. Since the extension direction of the second winding structure 20 is different from the extension direction of the first winding structure 10, the direction of motion of the second winding structure 20 driving the rotor is different from the direction of motion of the first winding structure 10 driving the rotor.

[0080] This application also provides a motor structure, which includes a stator and a mover, one of which includes a magnet array; the other of which includes a winding structure, which is the winding structure described above. The winding structure described above can effectively solve the problem of large vibrations generated by the mover at low speeds in related technologies, and the motor structure with the winding structure described above also has the aforementioned advantages.

[0081] In an embodiment not shown in the figure, the mover includes a magnet array, the stator includes a winding structure, and the stator also includes a base and a cover plate covering the base. The base has a receiving cavity, and the first winding structure 10 and the second winding structure 20 are disposed within the receiving cavity. The base and the cover plate are made of a metal material, such as aluminum or stainless steel. On the one hand, the metal material has high hardness, which can prevent damage or dents to the base or cover plate, ensuring the flatness of the stator surface; on the other hand, the metal material has a strong attraction with the magnets of the mover, resulting in a greater coupling force between the mover and the stator, thereby allowing the mover to be more stably positioned on the stator. In other feasible embodiments, the base and the cover plate can also be made of materials such as carbon fiber.

[0082] In this embodiment, both the base and the cover are made of metal. Of course, it is also possible to make only one of the base or the cover of metal.

[0083] In this embodiment, a caster wheel is provided on the side of the mover facing the stator. The caster wheel is used to cooperate with the cover plate. With this arrangement, the caster wheel slides with the stator, providing support and making the movement of the mover more stable.

[0084] like Figures 12 to 14As shown, the magnet array includes a first magnet group 50 and a second magnet group 51. The first magnet group 50 includes a plurality of first magnets 501 arranged in a row, and the second magnet group 51 includes a plurality of second magnets 511 arranged in a row. The arrangement direction of the first magnet group 50 intersects the arrangement direction of the second magnet group 51. This arrangement allows the magnet array to move in either the direction in which the first magnets 501 are arranged or the direction in which the second magnets 511 are arranged. Specifically, in Figure 12 In the illustrated embodiment, the magnet array includes two first magnet groups 50 and two second magnet groups 51. Both the first magnet groups 50 and the second magnet groups 51 are rectangular structures. The two first magnet groups 50 are located at the upper left and lower right of the magnet array, and the two second magnet groups 51 are located at the lower left and upper right of the magnet array. Furthermore, in... Figure 13 In the illustrated embodiment, both the first magnet group 50 and the second magnet group 51 are square structures. The two first magnet groups 50 are located at the upper left and lower right of the magnet array, and the two second magnet groups 51 are located at the lower left and upper right of the magnet array. Furthermore, in... Figure 14 In the illustrated embodiment, both the first magnet group 50 and the second magnet group 51 are rectangular structures. The two first magnet groups 50 are arranged side by side and located in the middle of the magnet array, while the two second magnet groups 51 are located at the upper and lower ends of the magnet array, respectively.

[0085] like Figures 12 to 14 As shown, multiple first magnets 501 are arranged in an NS period, an NHS period, or an NHSH period; multiple second magnets 511 are also arranged in an NS period, an NHS period, or an NHSH period. Specifically, the NS period means that on the side of the first magnet group 50 facing the stator, the first magnets 501 are arranged in sequence as N-pole permanent magnets followed by S-pole permanent magnets; and on the side of the second magnet group 51 facing the stator, the second magnets 511 are arranged in sequence as N-pole permanent magnets followed by S-pole permanent magnets. The NHS period means that on the side of the first magnet group 50 facing the stator, the first magnets 501 are arranged in sequence as N-pole permanent magnets, a Halbach array, and S-pole permanent magnets; and on the side of the second magnet group 51 facing the stator, the second magnets 511 are arranged in sequence as N-pole permanent magnets, a Halbach array, and S-pole permanent magnets. The NHSH periodic arrangement refers to the following: on the side of the first magnet group 50 facing the stator, the first magnet 501 is arranged in the order of N-pole permanent magnet, Halbach array, S-pole permanent magnet, Halbach array; on the side of the second magnet group 51 facing the stator, the second magnet 511 is arranged in the order of N-pole permanent magnet, Halbach array, S-pole permanent magnet, Halbach array. This arrangement increases the magnetic field strength on the side of the mover facing the stator.

[0086] like Figures 12 to 14As shown, the first magnet group 50 has multiple first main magnets 502 arranged in the middle, and first secondary magnets 503 arranged at both ends of the first magnet group 50. The width of the first main magnets 502 is greater than the width of the first secondary magnets 503. The second magnet group 51 has multiple second main magnets 512 arranged in the middle, and second secondary magnets 513 arranged at both ends of the second magnet group 51. The width of the second main magnets 512 is greater than the width of the second secondary magnets 513. The arrangement of the secondary magnets is used to enhance the magnetic field on the side of the main magnets facing the stator.

[0087] like Figures 12 to 14 As shown, a plurality of first master magnets 502 are arranged in the middle of the first magnet group 50, and first primary magnets 503 are respectively arranged at both ends of the first magnet group 50. The magnetic moment t1 of the first master magnet 502 satisfies the following relationship with the pole pitch p of the first coil 13 of the winding structure: t1 = 2 / 3p (that is, each winding unit 14 corresponds to three first master magnets 502), and the magnetic moment t2 of the first primary magnet 503 satisfies the following relationship with the pole pitch p of the first coil 13: t2 = 1 / 6p; in an embodiment not shown in the figure, the first... A magnet group has multiple primary magnets in its middle section. Secondary and tertiary magnets are located at both ends of the primary magnet group. The secondary magnets are situated between the primary and tertiary magnets. The magnetic moment t1 of the primary magnet satisfies t1 = 2 / 3p with the pole pitch p of the first coil in the winding structure; the magnetic moment t3 of the secondary magnet satisfies t3 = 1 / 3p with the pole pitch p of the first coil; and the magnetic moment t4 of the tertiary magnet satisfies t4 = 1 / 6p with the pole pitch p of the first coil. The secondary magnets are used to enhance the magnetic field on the stator-facing side of the primary magnets.

[0088] Specifically, the first magnet group 50 and the second magnet group 51 can have the same structure.

[0089] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0090] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0091] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0092] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A winding structure, characterized in that, Includes a first winding structure (10) and a second winding structure (20) stacked together, wherein, The first winding structure (10) includes a plurality of first coils (13) extending along a first direction (a). Each first coil (13) includes a plurality of U coils (141), a plurality of first V coils (142), and a plurality of W coils (143). The plurality of U coils (141), the plurality of first V coils (142), and the plurality of W coils (143) form a first coil layer (11) and a second coil layer (12) stacked together. A U coil (141) and a first V coil (142) are arranged adjacent to each other. 2) A winding unit (14) is formed with the W coil (143). The U coil (141) and the W coil (143) in the winding unit (14) are arranged adjacent to each other and located in one of the first coil layer (11) and the second coil layer (12). The first V coil (142) in the winding unit (14) is located in the other layer of the first coil layer (11) and the second coil layer (12) and is stacked and staggered with the U coil (141) and the W coil (143). The second winding structure (20) includes a plurality of second coils (21) extending along a second direction (b), which intersects with the first direction (a); In one of the winding units (14), the centerline of the first V coil (142) corresponds to the mating surface of the U coil (141) and the W coil (143).

2. The winding structure according to claim 1, characterized in that, The U coil (141) and the W coil (143) in all the winding units (14) are located on the same layer, and the first V coil (142) in all the winding units (14) are located on the same layer.

3. The winding structure according to claim 2, characterized in that, A second V coil (152) is provided between the two first V coils (142) of two adjacent winding units (14).

4. The winding structure according to claim 1, characterized in that, The two first V coils (142) in the two adjacent winding units (14) are staggered.

5. The winding structure according to claim 1, characterized in that, The first coil (13) includes a complete coil (131) and a partial coil (132), wherein at least one of the first coil layer (11) and the second coil layer (12) includes a plurality of the complete coils (131) and the partial coils (132) disposed on the side of the plurality of complete coils (131).

6. The winding structure according to claim 1, characterized in that, The first coil layer (11) and the second coil layer (12) each include an integer number of the first coils (13), wherein both sides of the first coil layer (11) protrude outward from both sides of the second coil layer (12).

7. The winding structure according to claim 1, characterized in that, The first coil layer (11) is printed on the first PCB board to form a first winding board, and the second coil layer (12) is printed on the second PCB board to form a second winding board. The first winding board and the second winding board are stacked. Alternatively, the first coil layer (11) and the second coil layer (12) are printed on both sides of the third PCB board to form a third winding board. The first winding structure (10) includes a plurality of stacked third winding boards.

8. The winding structure according to claim 1, characterized in that, The winding structure includes a base (30), a fluid channel (36) is provided in the base (30), a U coil tooth (33) for winding the U coil (141) and a W coil tooth (34) for winding the W coil (143) are provided on the first surface (31) of the base (30), and a V coil tooth (35) for winding the first V coil (142) is provided on the second surface (32) of the base (30) opposite to the first surface (31).

9. The winding structure according to claim 1, characterized in that, The first winding structure (10) includes M first coil layers (11) and N second coil layers (12), where M and N are both positive integers, M = N, or M = N ± 1, or M = (2*x ± 1) * N, where x is a positive integer.

10. The winding structure according to claim 1, characterized in that, The pole pitch of each of the first coils (13) is p, and the length l of each of the first coils (13) satisfies the following relationship with p: l = 6 * n * p, where n is a positive integer; and / or, The length l of each of the first coils (13) satisfies: l = 120 + 60 * y, where y is a positive integer.

11. The winding structure according to claim 1, characterized in that, The first winding structure (10) also includes a magnetic sensor disposed at the center of the first coil (13).

12. The winding structure according to any one of claims 1 to 11, characterized in that, The second winding structure (20) has the same structure as the first winding structure (10).

13. A motor structure, the motor structure comprising a stator and a mover, characterized in that, One of the stator and the mover includes a magnet array; The other of the stator and the mover includes a winding structure, which is the winding structure according to any one of claims 1 to 12.

14. The motor structure according to claim 13, characterized in that, The mover includes a magnet array, the stator includes a winding structure, the stator also includes a base and a cover plate covering the base, the base has a receiving cavity, the first winding structure (10) and the second winding structure (20) are disposed in the receiving cavity, the base and / or the cover plate are made of metal material, and the mover is provided with a caster wheel on the side facing the stator, the caster wheel is used to cooperate with the cover plate.

15. The motor structure according to claim 13, characterized in that, The magnet array includes a first magnet group (50) and a second magnet group (51). The first magnet group (50) includes a plurality of first magnets (501) arranged in a row, and the second magnet group (51) includes a plurality of second magnets (511) arranged in a row. The arrangement direction of the first magnet group (50) intersects with the arrangement direction of the second magnet group (51).

16. The motor structure according to claim 15, characterized in that, The first magnet group (50) has a plurality of first main magnets (502) in the middle, and first primary magnets (503) are respectively provided at both ends of the first magnet group (50). The width of the first main magnet (502) is greater than the width of the first primary magnet (503). The second magnet group (51) has a plurality of second main magnets (512) in the middle, and second secondary magnets (513) are respectively provided at both ends of the second magnet group (51). The width of the second main magnet (512) is greater than the width of the second secondary magnet (513).

17. The motor structure according to claim 15, characterized in that, The first magnet group (50) has a plurality of first main magnets (502) in the middle, and first secondary magnets (503) are respectively provided at both ends of the first magnet group (50). The magnetic moment t1 of the first main magnet (502) and the pole pitch p of the first coil (13) of the winding structure satisfy: t1 = 2 / 3p, and the magnetic moment t2 of the first secondary magnet (503) and the pole pitch p of the first coil (13) satisfy: t2 = 1 / 6p; or, The first magnet group (50) has a plurality of first main magnets (502) in the middle. The first magnet group (50) has a second magnet and a third magnet at both ends. The second magnet is located between the first main magnet (502) and the third magnet. The magnetic pitch t1 of the first main magnet (502) satisfies the following relationship with the pole pitch p of the first coil (13) of the winding structure: t1 = 2 / 3p. The magnetic pitch t3 of the second magnet satisfies the following relationship with the pole pitch p of the first coil (13): t3 = 1 / 3p. The magnetic pitch t4 of the third magnet satisfies the following relationship with the pole pitch p of the first coil (13): t4 = 1 / 6p.

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