High-torque-density collaborative robot joint motor

Abstract

The invention discloses a high-torque-density collaborative robot joint motor, which comprises a stator and a rotor, and is characterized in that the rotor comprises a hollow shaft and magnetic steel arranged outside the hollow shaft; the stator comprises a stator iron core arranged on the outer wall of the magnetic steel, a coil support is arranged on the outer wall of the stator iron core, a stator coil is wound on the coil support, and an outgoing line is arranged on the stator coil; the coil support is a thin coil support. Through selection of special materials of parts such as the coil support, the enameled wires and the silicon steel sheets and a specific machine winding mode, on the premise of effectively controlling the cost, the efficiency of the motor is improved to the maximum extent, so that compared with motors of the same type, the motor has higher torque density, the thin coil support is adopted as the coil support, and the cost of the motor is reduced. The thin coil support is made of nylon and glass fibers through injection molding, the proportion of insulating materials in the groove area is reduced as much as possible while the insulating strength of the motor is guaranteed, and the groove fullness rate is improved to a certain extent.

Description

Technical Field

[0001] The present invention relates to the field of motor technology, and in particular to a high-torque density collaborative robot joint motor. Background Art

[0002] Existing motors are essentially composed of two parts: a stator and a rotor. The stator is made of laminated silicon steel sheets to form a stator core, which is then wound with a coil support. The rotor is composed of magnetic steel and a hollow shaft, which is bonded to the outer diameter of the hollow shaft with glue. However, the following problems exist: 1. After the stator core is installed with the coil bracket, the winding is done by machine, resulting in a low slot fill rate, usually below 45%; 2. The current machine winding process requires a larger diameter wire nozzle when the enameled wire diameter is thicker, which is not conducive to improving the slot fill rate. In addition, large-diameter enameled wire requires greater tension when winding, which can easily cause deformation of the motor stator core and affect the consistency of the enameled wire's arrangement in the slot; 3. When ordinary silicon steel sheets are used for the stator core, the iron loss is relatively high, the motor heats up more, and the efficiency is relatively low. Summary of the Invention

[0003] In order to solve the defects of the prior art, the present invention provides a high torque density collaborative robot joint motor.

[0004] In order to solve the above technical problems, the present invention provides the following technical solutions: The present invention provides a high-torque-density collaborative robot joint motor, comprising a stator and a rotor, wherein the rotor comprises a hollow shaft and a magnet disposed outside the hollow shaft; the stator comprises a stator core disposed on the outer wall of the magnet, the outer wall of the stator core is provided with a coil support, a stator coil is wound around the coil support, and a lead wire is provided on the stator coil; the coil support is a thin coil support, and the thin coil support is injection-molded by nylon and glass fiber.

[0005] As a preferred technical solution of the present invention, the stator core is made of silicon steel sheet material.

[0006] As a preferred technical solution of the present invention, the lead wire is a thin-coated enameled wire.

[0007] As a preferred technical solution of the present invention, the stator coil winding adopts a two-way parallel concentrated winding with 24 slots and 20 poles.

[0008] The beneficial effects of the present invention are: 1. This high-torque density collaborative robot joint motor uses a thin coil bracket. The thin coil bracket is injection-molded with nylon and glass fiber, which ensures the insulation strength of the motor while minimizing the proportion of insulation material in the slot area, thereby improving the slot fill rate to a certain extent.

[0009] 2. This type of high torque density collaborative robot joint motor uses silicon steel sheet material for the stator core, which effectively reduces the iron loss of the motor and improves the efficiency of the motor.

[0010] 3. This type of high-torque density collaborative robot joint motor uses thin-coated enameled wire for the lead wire, which can increase the motor's slot fill rate to more than 50%.

[0011] 4. This type of high-torque density collaborative robot joint motor adopts a two-way parallel concentrated winding with 24 slots and 20 poles for the stator coil winding. The winding end size is short and the winding utilization rate is high. Compared with one-way parallel winding, the number of turns of the two-way parallel winding is twice that of the one-way parallel winding. Therefore, relatively thin enameled wire can be used for winding, which greatly alleviates the process difficulty of machine winding of thick enameled wire. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 This is a schematic structural diagram of a high torque density collaborative robot joint motor according to the present invention; Figure 2 This is a diagram showing the expansion of a 24-slot, 20-pole, two-way parallel concentrated winding of a high-torque-density collaborative robot joint motor according to the present invention; Figure 3 This is a cross-sectional view of an anti-drop connection assembly of a high-torque-density collaborative robot joint motor according to the present invention; Figure 4 This is a cross-sectional view of an alloy ring of a high-torque-density collaborative robot joint motor according to the present invention.

[0013] In the figure: 1. Stator; 101. Stator core; 102. Coil bracket; 103. Stator coil; 104. Lead wire; 2. Rotor; 201. Hollow shaft; 202. Magnet; 3. Anti-drop connection assembly; 4. Guide key bar; 5. Guide key slot; 6. Positioning plate; 7. Spring latch; 8. Limit slot; 9. Micro strain gauge; 10. Temperature sensor; 11. Alloy ring. DETAILED DESCRIPTION

[0014] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0015] Example: Figure 1As shown, the present invention provides a high-torque density collaborative robot joint motor, including a stator 1 and a rotor 2, wherein the rotor 2 includes a hollow shaft 201 and a magnet 202 arranged outside the hollow shaft 201; the stator 1 includes a stator core 101 arranged on the outer wall of the magnet 202, and the outer wall of the stator core 101 is provided with a coil bracket 102, and a stator coil 103 is wound around the coil bracket 102, and a lead wire 104 is provided on the stator coil 103; the coil bracket 102 adopts a thin coil bracket, and the thin coil bracket is injection-molded with nylon and glass fiber. The coil bracket 102 adopts a thin coil bracket, and the thin coil bracket is injection-molded with nylon and glass fiber with a wall thickness of about 0.4 mm. While ensuring the insulation strength of the motor, the proportion of insulating material in the slot area is minimized, thereby improving the slot fill rate to a certain extent.

[0016] Among them, the material of the stator core 101 is silicon steel sheet material. By using silicon steel sheet material for the stator core 101, the iron loss of the motor is effectively reduced and the efficiency of the motor is improved. According to simulation calculations, when operating under the same working conditions, the steady-state temperature rise of the motor is reduced by about 10°C.

[0017] The lead wire 104 is made of a thin-coated enameled wire with a thickness of about 0.03 mm. By using the thin-coated enameled wire for the lead wire 104 , the slot fill rate of the motor can be increased to more than 50%.

[0018] Specifically, such as Figure 2 As shown, the winding of the stator coil 103 adopts a two-way parallel concentrated winding with 24 slots and 20 poles. The winding of the stator coil 103 adopts a two-way parallel concentrated winding with 24 slots and 20 poles. The winding end size is short and the winding utilization rate is high. Compared with one-way parallel winding, the number of turns of the two-way parallel winding is twice that of the one-way parallel winding. Therefore, relatively fine enameled wire can be used for winding, which greatly alleviates the process difficulty of machine winding of thick enameled wire.

[0019] Specifically, such as Figure 3 As shown, the hollow shaft 201 and the magnet 202 are connected via an anti-falling connection component 3, which includes a guide key bar 4 arranged on the outer wall of the hollow shaft 201, and an inner wall of the magnet 202 is provided with a guide key groove 5 that slides and matches the guide key bar 4. The guide key groove 5 is set to a dovetail shape, and one end of the magnet 202 is provided with a positioning plate 6 located at one end of the guide key groove 5, and one end of the magnet 202 is embedded with a spring pin 7. The guide key bar 4 is provided with a limiting groove 8 that matches the pin rod of the spring pin 7. The hollow shaft 201 and the magnet 202 are fixedly connected by mechanical fixing, which reduces the risk of long-term aging caused by adhesive bonding, and the connecting gap between the hollow shaft 201 and the magnet 202 is filled with adhesive.

[0020] Specifically, such as Figure 3As shown, a micro strain gauge 9 and a temperature sensor 10 are embedded in the inner wall of the hollow shaft 201, which can realize real-time torque monitoring and overheating warning.

[0021] Specifically, such as Figure 4 As shown, an alloy ring 11 is provided between the stator core 101 and the coil support 102. The alloy ring 11 is made of an alloy ring with a low thermal expansion coefficient to offset the difference in thermal deformation between the silicon steel sheet and the nylon material.

[0022] During operation, a thin coil bracket is used for the coil bracket 102, and the thin coil bracket is injection-molded with nylon and glass fiber with a wall thickness of about 0.4 mm, which ensures the insulation strength of the motor while minimizing the proportion of insulation material in the slot area, thereby improving the slot fill rate to a certain extent; the stator core 101 is made of silicon steel sheet material, which effectively reduces the iron loss of the motor and improves the efficiency of the motor; the lead wire 104 is made of thin lacquered enameled wire, which can increase the slot fill rate of the motor to more than 50%; the winding of the stator coil 103 adopts a two-way parallel concentrated winding with 24 slots and 20 poles, the winding end size is short, and the winding utilization rate is high. Compared with one-way parallel winding, the number of turns of the two-way parallel coil is twice that of the one-way parallel winding, so that relatively thin enameled wire can be used for winding, which greatly alleviates the process difficulty of machine winding of thick enameled wire.

[0023] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A high torque density collaborative robot joint motor, comprising a stator (1) and a rotor (2), characterized in that: The rotor (2) comprises a hollow shaft (201) and a magnetic steel (202) arranged outside the hollow shaft (201); The stator (1) comprises a stator core (101) provided on the outer wall of a magnetic steel (202); a coil support (102) is provided on the outer wall of the stator core (101); a stator coil (103) is wound around the coil support (102); and a lead wire (104) is provided on the stator coil (103); The coil support (102) is a thin coil support, and the thin coil support is injection-molded using nylon and glass fiber.

2. The high torque density collaborative robot joint motor according to claim 1, characterized in that: The stator core (101) is made of silicon steel sheet material.

3. The high torque density collaborative robot joint motor according to claim 1, characterized in that: The lead wire (104) is a thin-coated enameled wire.

4. The high torque density collaborative robot joint motor according to claim 1, characterized in that: The winding of the stator coil (103) adopts a two-way parallel concentrated winding with 24 slots and 20 poles.

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