An electric machine

Abstract

The present application belongs to the motor technical field, especially relates to a motor, including the coil in the connecting layer, the coil has at least two turns of conductor in series, each turn of conductor has first body section and connecting section in series respectively, the first body section is parallel with the axial direction of the motor, the connecting layer has two adjacent first body sections, the connecting sections of the two adjacent first body sections connected at the same end of the motor are in different connecting layers.The present application adopts the first body section of the flexible circuit member to be connected at the connecting section of the same end of the motor in different connecting layers, thereby reducing the mutual influence between the connecting sections of the adjacent first body sections in the same layer, can increase the width of the connecting section, reduce the resistance of the connecting section, reduce the conductor heating of the connecting section of the flexible circuit member, improve the motor life.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of motor flexible circuit members, and particularly relates to a motor. BACKGROUND

[0002] In the field of high-end equipment such as surgical manipulators, robots, high-end industrial design processing and the like which require high precision and high response speed, a hollow cup motor plays an irreplaceable role due to its small volume, low motion inertia and stable low-speed performance and the like.

[0003] In the related art, a motor with a flexible circuit member as a winding is specifically formed by winding a flexible circuit member, the flexible circuit member is provided with a conductive layer, the conductive layer is provided with a winding, the winding includes a coil, and the coil includes a straight line segment and an inclined line segment. In the working process, the current density of the inclined line segment in the coil is larger than that of the straight line segment, and the resistance of the flexible circuit member needs to be further reduced. SUMMARY

[0004] Therefore, the application aims to at least solve one of the problems in the background art, and provides a motor.

[0005] To achieve the above-mentioned purpose, the technical scheme of the application is as follows:

[0006] A motor includes a stator and a rotor, the rotor includes a magnetic member and a rotor shaft, the magnetic member is connected with the rotor shaft, the stator includes a stator yoke and a flexible circuit member, the stator yoke has a receiving cavity, the magnetic member is located in the receiving cavity, the flexible circuit member is arranged in the receiving cavity in a winding mode, the flexible circuit member is located between the inner wall of the stator yoke and the outer wall of the magnetic member, the flexible circuit member includes a coil, the flexible circuit member includes a connecting layer, the coil is located in the connecting layer, the coil has at least two turns of conductors in series, each turn of the conductors has a first main body segment, a second main body segment and a connecting segment, the first main body segment and the second main body segment are consistent with the axial direction of the motor, the connecting segment includes a first connecting segment and a second connecting segment, at least one connecting layer has two adjacent first main body segments, and the two adjacent first main body segments are respectively connected with the first connecting segment and the second connecting segment at the same end in the axial direction of the motor, and the first connecting segment and the second connecting segment are located in different connecting layers.

[0007] The application places the connecting segments connected with the first main body segments of the flexible circuit member at the same end of the motor in different connecting layers, thereby reducing the mutual influence between the connecting segments connected with the adjacent first main body segments in the same layer, increasing the width of the connecting segments, reducing the resistance of the connecting segments, reducing the conductor heating of the connecting segments of the flexible circuit member, and improving the service life of the motor. BRIEF DESCRIPTION OF DRAWINGS

[0008] The accompanying drawings, which form a part of this application, are included to provide a further understanding of the application and are incorporated in and constitute a part of this application. The embodiments of the application illustrated in the drawings are intended to explain the aspects of the present application and are not intended to limit the present application. In the drawings:

[0009] Figure 1 Structure diagram of an embodiment of the motor flexible circuit member;

[0010] Figure 2 Structure diagram of an embodiment of the motor flexible circuit member; Figure 1 Arrangement diagram of conductor segments in each flexible substrate of the motor flexible circuit member;

[0011] Figure 3 Arrangement diagram of conductor segments in each connection layer of the motor flexible circuit member; Figure 1

[0012] Arrangement diagram of conductor segments in each connection layer of the motor flexible circuit member; Figure 4 Figure 1 Projection diagram of two adjacent first main segments in the motor flexible circuit member;

[0013] Figure 5 Projection diagram of two adjacent first main segments in another embodiment of the motor flexible circuit member;

[0014] Figure 6 Sectional view of the motor;

[0015] Explanation of reference numerals:

[0016] 100 - first main segment; 100A - A-type first main segment; 100B - B-type first main segment; 101 - staggered portion; 101A - A-type staggered portion; 101B - B-type staggered portion; 1011 - first staggered portion; 1012 - second staggered portion; 102 - overlapping portion; 102A - A-type overlapping portion; 102B - B-type overlapping portion; 1021 - second overlapping portion; 103 - first end; 103A - first A1 end; 103B - first B1 end; 104 - second end; 104A - second A2 end; 104B - second B2 end;

[0017] 200 - connection segment; 200A - first connection segment; 200B - second connection segment; 200C - third connection segment; 200D - fourth connection segment; 200E - fifth connection segment; 200F - sixth connection segment; 200G - seventh connection segment; 200H - eighth connection segment;

[0018] 300 - conducting segment; 300A - first conducting segment; 300B - second conducting segment; 300C - third conducting segment; 300D - fourth conducting segment;

[0019] ​400 - second body section; 400A - A-shaped second body section; 400B - B-shaped second body section; 401 - first end of second body; 402 - second end of second body;

[0020] 500 - projection; 501 - overlapping portion; 502 - misaligned portion.

[0021] 600 - connecting layer; 600A - first connecting layer; 600B - second connecting layer; 600C - third connecting layer; 600D - fourth connecting layer; 600N - Nth connecting layer;

[0022] 700 - flexible substrate;

[0023] 800 - motor; 810 - stator; 811 - stator yoke; 8111 - accommodating cavity; 812 - flexible circuit member; 820 - rotor; 821 - rotor shaft; 822 - magnetic member;

[0024] 900 - conductive post. DETAILED DESCRIPTION

[0025] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0026] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" and the like are only for the purpose of description and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" and the like can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise stated, the meaning of "a plurality of" is two or more.

[0027] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood through specific circumstances.

[0028] The present application will be described below with reference to the accompanying drawings and in conjunction with embodiments.

[0029] As Figure 1 , Figure 3 and Figure 6 shown, the motor described in the present application, comprising a stator 810 and a rotor 820, the rotor 820 comprising a magnetic member 822 and a rotor shaft 821, the magnetic member 822 being connected with the rotor shaft 821, the stator 810 comprising a stator yoke 811 and a flexible circuit member 812, the stator yoke 811 having a receiving cavity 8111, the magnetic member 822 being located in the receiving cavity 8111, the flexible circuit member 812 being wound in the receiving cavity 8111, the flexible circuit member 822 being located between the inner wall of the stator yoke 811 and the outer wall of the magnetic member 822, the flexible circuit member 812 comprising a coil, the flexible circuit member 812 comprising a connecting layer 600, the coil being located in the connecting layer 600, the coil having at least two turns of conductors in series, each turn of conductor having a first main body segment 100, a second main body segment 400 and a connecting segment 200, the first main body segment 100 and the second main body segment 400 being consistent with the axial direction of the motor 800, the connecting segment 200 comprising a first connecting segment 200A and a second connecting segment 200B, at least one of the connecting layers 600 having two adjacent first main body segments 100, and the two adjacent first main body segments 100 being respectively connected with the first connecting segment 200A and the second connecting segment 200B at the same end in the axial direction of the motor 800, the first connecting segment 200A and the second connecting segment 200B being located in different connecting layers 600.

[0030] It can be understood that, in Figure 2 , for the convenience of display, the conductors in the connecting layer 600 on one side of the flexible substrate 700 are represented by solid lines, and the conductors in the connecting layer 600 on the other side of the flexible substrate 700 are represented by dashed lines. The connecting layer 600 is a space layer surrounding the rotor 820 of the motor 800, as along the radial direction of the motor 800, the first connecting layer 600A closest to the rotor 820, followed by the second connecting layer 600B, the third connecting layer 600C, the fourth connecting layer 600D, and the Nth connecting layer 600N in turn, gradually away from the rotor 820 of the motor 800; or in combination with Figure 3 shown, after the connecting layer 600 is unfolded, along the thickness direction of the connecting layer 600, in turn, the first connecting layer 600A, the second connecting layer 600B, the third connecting layer 600C, the fourth connecting layer 600D, and the Nth connecting layer 600N, and after winding, the conductor at one end of the first connecting layer 600A can be closest to the rotor 820 of the motor 800.

[0031] In this embodiment, the connecting layers 600 are located on both sides of the flexible substrate 700. The circuits of the flexible circuit device 812 are formed in the connecting layers 600 on both sides of the flexible substrate 700 by the printing circuit process. For example, in this embodiment, the first connecting layer 600A and the second connecting layer 600B are placed on both sides of the flexible substrate 700 closest to the rotor 820 of the motor 800. The first connecting layer 600A is located on the side of the flexible substrate 700 closest to the rotor 820 of the motor 800, facing the rotor 820, and the second connecting layer 600B is located on the other side of the flexible substrate 700. The conductors in the flexible circuit device 812 are printed circuits. Specifically, the printed circuit has copper busbars formed on both sides of the flexible substrate 700 by etching or other methods. Each copper busbar is used as a conductor. After stacking multiple layers of the flexible substrate 700, the copper busbars of the same turn in different connecting layers 600 are connected in series by perforation or other methods in the flexible substrate 700, and a magnetic field is generated after energization to form the flexible circuit device 812 in the motor 800.

[0032] After unfolding the multilayer printed circuit, as follows Figure 3 As shown, within the flexible circuit element 812, a conductor segment whose length direction is parallel to the axial direction of the motor 800 is designated as the first main body segment 100, and conductors distributed at both ends of the motor 800 for forming a circuit or connecting to a circuit are designated as connecting segments 200. By distributing a portion of the first main body segment 100 within the same connecting layer 600, the connecting layer 600 occupied by the flexible circuit element 812 is reduced.

[0033] In the embodiment, the connection segments 200 are divided into a first connection segment 200A, a second connection segment 200B, a third connection segment 200C and a fourth connection segment 200D, and the first connection segment 200A and the second connection segment 200B are located at one end of the motor axial direction, and the third connection segment 200C and the fourth connection segment 200D are located at the other end of the motor axial direction; the first body segment 100 has a first end 103 and a second end 104, and the first end 103 of the first body segment 100 is close to one end of the motor, and the second end 104 of the first body segment 100 is close to the other end of the motor 800, the first connection segment 200A and the second connection segment 200B are connected with the first ends 103 of two adjacent first body segments 100 in the same connection layer 600 (for example, the fourth connection layer 600D), and the third connection segment 200C and the fourth connection segment 200D are connected with the second ends 104 of two adjacent first body segments 100 in the same connection layer 600 (for example, the fourth connection layer 600D), and the first connection segment 200A and the second connection segment 200B are located in different connection layers 600. Thus, the mutual influence between the first connection segment 200A and the second connection segment 200B connected by the adjacent first body segments 100 in the same connection layer 600 is reduced, so that the width of the first connection segment 200A and the second connection segment 200B can be increased, the resistance of the connection segment is reduced, the conductor heating of the first connection segment 200A and the second connection segment 200B of the flexible circuit member 812 is reduced, and the motor life is improved.

[0034] In the embodiment, the third connection segment 200C and the fourth connection segment 200D are in different connection layers 600. Thus, the width of the connection segment 200 connected by the adjacent first body segments 100 at both ends of the motor 800 in the same connection layer 600 can be further increased, the resistance of the connection segment 200 is reduced, the conductor heating of the connection segment 200 of the flexible circuit member 812 at both ends of the motor 800 is reduced, and the motor 800 life is improved.

[0035] In combination Figure 3As shown, for ease of description, the first body segments 100 are divided into A-type first body segments 100A and B-type first body segments 100B, and in the same connection layer 600 (for example, in the fourth connection layer 600D described above), one side or both sides of the A-type first body segment 100A in the width direction are respectively arranged with one B-type first body segment 100B, so that the A-type first body segment 100A and the B-type first body segment 100B are adjacent. The first end 103 of the A-type first body segment 100A is the first A1 end 103A, and the second end 104 is the second A2 end 104A; the first end 103 of the B-type first body segment 100B is the first B1 end 103B, and the second end 104 is the second B2 end 104B; the first connection segment 200A is connected to the first A1 end 103A of the A-type first body segment 100A, the second connection segment 200B is connected to the first B1 end 103B of the B-type first body segment 100B, and the first connection segment 200A and the second connection segment 200B are in different connection layers 600; the fourth connection segment 200D is connected to the second A2 end 104A of the A-type first body segment 100A, and the third connection segment 200C is connected to the second B2 end 104B of the B-type first body segment 100B, and the third connection segment 200C and the fourth connection segment 200D are in different connection layers 600.

[0036] Optionally, in other embodiments, each conductor can also be a wire made of conductive materials such as copper and silver, and each wire can serve as a conductor segment. Further, in each conductor, some wires parallel to the axial direction of the motor 800 serve as the first body segment 100, and some wires near one end of the motor 800 form a part or all of the connecting segment 200. The connecting segment 200 is divided into the first connection segment 200A, the second connection segment 200B, the third connection segment 200C, and the fourth connection segment 200D. The A-type first body segment 100A and the B-type first body segment 100B are respectively connected to the first connection segment 200A and the second connection segment 200B at one end of the motor 800 in the axial direction, and the A-type first body segment 100A and the B-type first body segment 100B are respectively connected to the third connection segment 200C and the fourth connection segment 200D at the other end of the motor 800 in the axial direction. The first connection segment 200A and the second connection segment 200B are respectively in different connection layers 600, and the third connection segment 200C and the fourth connection segment 200D are respectively in different connection layers 600. Thus, the connecting segments 200 connected to the two ends of the two adjacent first body segments 100 in each layer do not need to consider the spacing between them and reduce the width, so that the width or diameter of the connecting segment 200 is the same as or greater than that of the first body segment 100, thereby reducing the resistance of the flexible circuit 812 and reducing the heat generated by the flexible circuit 812. After the flexible circuit 812 is energized, a magnetic field is generated in each conductor, which cooperates with the rotor 820 of the motor 800.

[0037] Each conductor includes two connection segments 200, and the two connection segments 200 are connected with two ends of the first main body segment 100 respectively; in the embodiment, each conductor also includes two conducting segments 300, and the two conducting segments 300 are connected with two ends of the second main body segment 400 respectively, and the conducting segments 300 and the connection segments 200 are connected at the same end of the motor 800, so that the first main body segment 100 and the second main body segment 400 are connected by the connection segments 200 and the conducting segments 300 at two ends of the motor 800 respectively.

[0038] An included angle is arranged between the conducting segment 300 and the second main body segment 400, and an included angle is arranged between the connection segment 200 and the first main body segment 100, and the included angles are obtuse angles, so that a larger space can be reserved between the second main body segment 400 and the conducting segment 300 in each conductor, thereby generating a larger magnetic flux and a stronger magnetic field under the same current. Alternatively, one end of the second main body segment 400 can be connected with the first connection segment 200A or the second connection segment 200B connected with the first end 103 of the first main body segment 100, and the other end of the second main body segment 400 can be connected with the third connection segment 200C and the fourth connection segment 200D connected with the second end 104 of the first main body segment 100, and the included angles between the first main body segment 100 and the first connection segment 200A or the second connection segment 200B and the third connection segment 200C or the fourth connection segment 200D are obtuse angles, or the included angles between the second main body segment 400 and the first connection segment 200A or the second connection segment 200B and the third connection segment 200C or the fourth connection segment 200D are obtuse angles. So that the second main body segment 400, the first main body segment 100 and the two connection segments 200 form a conductor segment, and a magnetic field is generated after being electrified.

[0039] Combining Figure 2 and Figure 3 As shown in FIGS. 1, 2, 3 and 4, the conducting segment 300 is divided into the first conducting segment 300A, the second conducting segment 300B, the third conducting segment 300C and the fourth conducting segment 300D. In the embodiment, in order to reduce the number of required connection layers 600 and reduce the thickness of the flexible circuit member, at least two adjacent second main body segments 400 are arranged in the same connection layer 600 (such as the second connection layer 600B). Alternatively, a plurality of second main body segments 400 arranged along the length direction of the substrate are arranged in the same connection layer 600, and the two adjacent second main body segments 400 are connected with the first conducting segment 300A or the second conducting segment 300B at one end in the axial direction of the motor 800 respectively, and connected with the third conducting segment 300C or the fourth conducting segment 300D at the other end in the axial direction of the motor 800 respectively, and the first conducting segment 300A and the second conducting segment 300B are arranged in different connection layers 600, and the third conducting segment 300C and the fourth conducting segment 300D are arranged in different connection layers 600.

[0040] More specifically, the second body section 400 has a second body first end 401 and a second body second end 402, and the second body first end 401 of each second body section 400 is located at one end of the axial direction of the motor 800, and the second body second end 402 is located at the other end of the axial direction of the motor 800. In the two adjacent second body sections 400, the two second body first ends 401 are connected with the first conducting section 300A and the second conducting section 300B respectively, and the first conducting section 300A and the second conducting section 300B connected by the second body first end 401 are located in different connection layers 600; the two adjacent second body second ends 402 are connected with the third conducting section 300C and the fourth conducting section 300D respectively, and the third conducting section 300C and the fourth conducting section 300D connected by the second body second end 402 are located in different connection layers 600. Thus, the second body section 400 can be closely arranged in the same connection layer 600 (such as the second connection layer 600B) along the length direction of the substrate, without worrying about the conducting sections 300 connected by the two adjacent second body sections 400 interfering or having a small spacing in the same connection layer 600, resulting in a decrease in the width of the conducting section 300, causing an increase in current density, and avoiding the phenomenon of increasing the resistance of the flexible circuit 812.

[0041] In the present embodiment, all the first body sections 100 of the coil of the flexible circuit 812 are placed in the fourth connection layer 600D, thereby further reducing the number of connection layers 600 occupied by the coil and reducing the thickness of the flexible circuit 812, thereby reducing the diameter of the motor 800; similarly, all the second body sections 400 of the coil of the flexible circuit 812 are placed in the second connection layer 600B, thereby further reducing the number of connection layers 600 occupied by the coil and reducing the thickness of the flexible circuit 812, thereby reducing the diameter of the motor 800. At the same time, by spacing the first body sections 100 and the second body sections 400 by one connection layer 600, the first body sections 100 and the second body sections 400 in different connection layers 600 can have a larger gap in the thickness direction of the connection layer 600 during the arrangement of the conductors in the coil along the length direction of the flexible substrate 700, avoiding the phenomenon of creeping of the first body sections 100 and the second body sections 400 of different turns of conductors due to a small spacing during the arrangement, and at the same time providing more space for heat dissipation between the first body sections 100 and the second body sections 400, avoiding the accumulation of heat in the flexible circuit 812, resulting in stress concentration due to uneven thermal expansion and contraction of the motor 800, reducing the mechanical strength and service life of the motor 800. At the same time, the first body sections 100 and the second body sections 400 are arranged in different connection layers 600, which can also enable the first body sections 100 and the second body sections 400 of each turn of conductors to be arranged with the same spacing along the length direction of the flexible substrate 700, thereby enabling the magnetic flux in each turn of conductors to be the same, improving the stability of the motor 800.

[0042] In the embodiment, the first conducting section 300A and the fourth conducting section 300D of the coil are both arranged in the first connecting layer 600A, and the second conducting section 300B and the third conducting section 300C of the coil are both arranged in the third connecting layer 600C, so that the first connecting layer 600A in which the first conducting section 300A connected to the first end 401 of the second main body arranged at one end in the axial direction of the motor 800 is located and the third connecting layer 600C in which the second conducting section 300B is located are separated by the second connecting layer 600B, and the third connecting layer 600C in which the third conducting section 300C connected to the second end 402 of the second main body arranged at the other end in the axial direction of the motor 800 is located and the first connecting layer 600A in which the fourth conducting section 300D is located are separated by the second connecting layer 600B, which is more convenient for heat dissipation of each conducting section 300, and at the same time, prevents the first conducting section 300A and the second conducting section 300B and the third conducting section 300C and the fourth conducting section 300D in the same end in the axial direction of the motor 800 from creeping due to the close distance in the thickness direction of the connecting layer 600, preventing the flexible circuit 812 from short-circuiting or part of the conductor from losing function.

[0043] Similarly, in this embodiment, the first connecting segment 200A and the fourth connecting segment 200D of the coil are both placed within the fourth connecting layer 600D, and the second connecting segment 200B and the third connecting segment 200C of the coil are both placed within the second connecting layer 600B. This results in a third connecting layer 600C separating the fourth connecting layer 600D containing the first connecting segment 200A (located at one end of the first main body segment 100 in the axial direction of the motor 800) and the second connecting layer 600B containing the second connecting segment 200B. The second end of the first main body segment 100 at the other end of the axial direction of the motor 800 is also separated from this third connecting layer 600C. The third connecting layer 600C, where the third connecting segment 200C is located, is separated from the fourth connecting layer 600D, where the fourth connecting segment 200D is located. This facilitates heat dissipation for each connecting segment 200 and prevents creepage from occurring between the first connecting segment 200A and the second connecting segment 200B, as well as the third connecting segment 200C and the fourth connecting segment 200D, which are located in different connecting layers 600 but are close together along the thickness direction of the connecting layers 600. This prevents short circuits in the flexible circuit 812 or partial loss of function of the turns. Furthermore, by placing the connecting segments 200 and the conductive segments 300 in different connecting layers 600, the connecting segments 200 and the conductive segments 300 can be arranged along the length of the flexible substrate 700, avoiding interference between adjacent turns of the connecting segments 200 and the conductive segments 300 at the same end of the motor 800. Meanwhile, by placing the first connecting segment 200A and the third connecting segment 200C, along with the type A first main body segment 100A and type B first main body segment 100B of the motor 800, within the fourth connecting layer 600D, the number of connecting layers 600 required for the flexible circuit component is further reduced, the thickness of the flexible circuit component 812 is further reduced, and the radial dimension of the motor 800 is reduced. This allows the motor 800 to be suitable for robotic arms with smaller space requirements.

[0044] In this embodiment, combined with Figure 2 and Figure 4 As shown, for ease of display, Figure 4 Conductors within the same connection layer 600 as the first main body segment 100 are represented by solid lines, while conductors within different connection layers 600 from the first main body segment 100 are represented by dashed lines. After the flexible substrate 700 is unfolded, within the fourth connection layer 600D, the type A first main body segment 100A and the type B first main body segment 100B have the same length, and are arranged alternately along the width direction of the flexible substrate 700.

[0045] The projection 500 of the two adjacent first body segments 100 has an overlapping portion 501 and a staggered portion 502 in the direction perpendicular to the first body segment 100. The two adjacent first body segments 100 have the overlapping portion 501 corresponding to the overlapping portion 102 and the staggered portion 502 corresponding to the staggered portion 101, respectively. For example, in the adjacent A-type first body segment 100A and B-type first body segment 100B, the A-type first body segment 100A has an A-type staggered portion 101A and an A-type overlapping portion 102A, and the B-type first body segment 100B has a B-type staggered portion 101B and a B-type overlapping portion 102B.

[0046] The free end of the A-type staggered portion 101A is the first A1 end 103A connected to the first connecting segment 200A, and the free end of the A-type overlapping portion 102A is the first A2 end 104A connected to the fourth connecting segment 200D. The free end of the B-type staggered portion 101B is the first B2 end 104B connected to the third connecting segment 200C, and the free end of the B-type overlapping portion 102B is the first B1 end 103B connected to the second connecting segment 200B. The connecting segments 200 (the first connecting segment 200A and the second connecting segment 200B) connected by the free ends (the first A1 end 103A and the first B1 end 103B) of the A-type staggered portion 101A and the B-type overlapping portion 102B at the same end in the motor axial direction are arranged in different connecting layers 600. The first connecting segment 200A connected by the first A1 end 103A of the A-type staggered portion 101A and the two adjacent first body segments 100 are arranged in the same connecting layer 600 (such as the fourth connecting layer 600D), and the second connecting segment 200B connected by the first B1 end 103B of the B-type overlapping portion 102B and the two first body segments 100 are arranged in different connecting layers 600. The A-type overlapping portion 102A and the B-type staggered portion 101B are arranged at the same end in the motor axial direction, the connecting segments 200 (the fourth connecting segment 200D and the third connecting segment 200C) connected by the free ends (the first A2 end 104A and the first B2 end 104B) of the two are arranged in different connecting layers 600, and the fourth connecting segment 200D connected by the first B2 end 104B of the B-type staggered portion 101B and the two adjacent first body segments 100 are arranged in the fourth connecting layer 600D, and the third connecting segment 200C connected by the first A2 end 104A of the A-type overlapping portion 102A and the two adjacent first body segments 100 are arranged in different connecting layers 600.

[0047] By the way of staggered arrangement of two adjacent main body sections along the width direction of the flexible substrate 700, the angle between the first connecting section 200A and the A-type first main body section 100A is reduced, which reduces the distance between the first connecting section 200A and the first B1 end 103B of the B-type overlapping section 101B in the opening direction of the angle, and even causes interference. The angle between the fourth connecting section 200D and the B-type first main body section 100B is reduced, which reduces the distance between the fourth connecting section 200D and the second A2 end 104A of the A-type overlapping section 102A in the opening direction of the angle, and even causes interference, resulting in a creeping phenomenon. By the way that the connecting sections 200 (such as the second connecting section 200B and the third connecting section 200C) connected to the overlapping sections 102 are in different connecting layers 600 from the two adjacent first main body sections 100, the angle between the second connecting section 200B and the A-type first main body section 100A is avoided to cause interference between the second connecting section 200B and the B-type overlapping section 101B in the opening direction of the angle; the angle between the third connecting section 200C and the B-type first main body section 100B is avoided to cause interference between the third connecting section 200C and the A-type overlapping section 101A in the opening direction of the angle, resulting in a creeping phenomenon.

[0048] Optionally, as Figure 5As shown, for the convenience of display, the conductors in the same connection layer 600 as the first body segment 100 are represented by solid lines, and the conductors in different connection layers 600 as the first body segment 100 are represented by dashed lines. In another embodiment, the length of the A-type first body segment 100A is different from that of the B-type first body segment 100B. For example, the length of the A-type first body segment 100A is greater than that of the B-type first body segment 100B, and the center lines of the A-type first body segment 100A and the B-type first body segment 100B coincide, so that the two ends of the A-type first body segment 100A are the first staggered part 1011 and the second staggered part 1012 corresponding to the misaligned part 502 of the projection 500, and the middle part of the A-type first body segment 100A has the first overlapping part 1021 corresponding to the overlapping part 501 of the projection 500; the B-type first body segment 100B is entirely the second overlapping part 1022 corresponding to the overlapping part 501 of the projection 500. The coil has a fifth connection segment 200E and a sixth connection segment 200F, the fifth connection segment 200E and the sixth connection segment 200F are connected to the free ends of the first staggered part 1011 and the second staggered part 1012 respectively, and the fifth connection segment 200E and the sixth connection segment 200F are in the same connection layer 600 of two adjacent first body segments 100; the coil has a seventh connection segment 200G and an eighth connection segment 200H, the seventh connection segment 200G and the eighth connection segment 200H are connected to the two free ends of the second overlapping part 1021 respectively, and the seventh connection segment 200G and the eighth connection segment 200H are in different connection layers 600 with two adjacent first body segments 100 respectively. The length direction of the fifth connection segment 200E and the sixth connection segment 200F forms an obtuse angle with the A-type first body segment 100A respectively. In the length direction of the flexible substrate 700, by protruding the first staggered part 1011 and the second staggered part 1012 of the A-type first body segment 100A from the two ends of the B-type body segment, the fifth connection segment 200E and the sixth connection segment 200F are prevented from being close to or interfering with the end of the B-type body segment in the opening direction of the obtuse angle, resulting in a creeping phenomenon. The length direction of the seventh connection segment 200G and the length direction of the eighth connection segment 200H form an obtuse angle with the length direction of the B-type first body segment 100B, and by arranging the seventh connection segment 200G and the eighth connection segment 200H in different connection layers 600 with the first body segment 100, the seventh connection segment 200G and the eighth connection segment 200H are prevented from interfering with the A-type first body segment 100A in the opening direction. In this embodiment, the A-type first body segment 100A and the B-type first body segment 100B are arranged in the same connection layer 600, and the seventh connection segment 200G and the eighth connection segment 200H are arranged in different connection layers 600 with the first body segment 100, so that the length of the seventh connection segment 200G and the length of the eighth connection segment 200H are greater than the length of the first body segment 100, and the length of the seventh connection segment 200G and the length of the eighth connection segment 200H are greater than the length of the first body segment 100. Figure 3As shown, the first connecting segments 200A in the fourth connecting layer 600D are parallel to each other at the same end of the motor 800 in the axial direction, and the gap between each two adjacent first connecting segments 200A is the same, so that the gaps between the first connecting segments 200A are uniform, and the heat dissipation capacity of the environment in which each first connecting segment 200A is located is similar, so as to avoid heat accumulation near the first connecting segments 200A during operation, prevent the end of the flexible circuit member 812 from being affected by thermal expansion and cold contraction to cause stress concentration on the end of the motor 800, thereby prolonging the service life of the motor 800 and further affecting the operation of the robot and the mechanical hand and other equipment.

[0049] Similarly, the fourth connecting segments 200D in the fourth connecting layer 600D are parallel to each other; the second connecting segments 200B in the second connecting layer 600B are parallel to each other; the third connecting segments 200C in the second connecting layer 600B are parallel to each other, and the gap between each two adjacent connecting segments 200 in the same connecting layer 600 is the same. Thus, the gaps between each two adjacent connecting segments 200 in the same connecting layer 600 are uniformly arranged, and the heat dissipation capacity of the environment in which each connecting segment 200 is located is similar, so as to avoid heat accumulation near the connecting segments 200 during operation, prevent the end of the flexible circuit member 812 from being affected by thermal expansion and cold contraction to cause stress concentration on the end of the motor 800, thereby prolonging the service life of the motor 800. When the motor 800 is applied in the field of mechanical arm, medical manipulator and the like, the equipment runs more stably.

[0050] Similarly, the first conducting segments 300A in the first connecting layer 600A are parallel to each other, the fourth conducting segments 300D in the first connecting layer 600A are parallel to each other, the second conducting segments 300B in the third connecting layer 600C are parallel to each other, and the third conducting segments 300C in the third connecting layer 600C are parallel to each other. Thus, the gaps between each two adjacent conducting segments 300 are uniform, and further prevent the end of the flexible circuit member 812 from being affected by thermal expansion and cold contraction to cause stress concentration on the end of the motor 800.

[0051] In the embodiment, the lengths of the connection segments 200 are the same, and the lengths of the conducting segments 300 are the same. In the same end of the motor 800 in the axial direction, the lengths of the connection segments 200 in the same connection layer 600 (such as the second connection layer 600B or the fourth connection layer 600D) are the same; and / or, the lengths of the conducting segments 300 in the same connection layer 600 (such as the first connection layer 600A or the third connection layer 600C) are the same. In this way, the first main body segments 100 and the second main body segments 400 in each conductor have the same spacing along the length direction of the flexible substrate 700, and the magnetic field intensity generated by each conductor in the flexible circuit 812 is the same based on the same lengths of the first main body segments 100 and the second main body segments 400, so that the rotor 820 rotates more stably during movement. In the same end of the motor 800, two adjacent connection segments 200 in the same connection layer 600 can be arranged in a staggered manner along the length direction of the connection segments 200. For example, two adjacent second connection segments 200B in the second connection layer 600B are arranged in a staggered manner along the length direction of the second connection segments 200B. In this way, the end portions of the conducting segments 300 connected by the two adjacent connection segments 200 have the same spacing, so that the conducting segments 300 do not interfere with each other near the ends of the connection segments 200 connected by the conducting segments 300. For example, the two adjacent second conducting segments 300B have the same spacing near the ends of the second connection segments 200B connected by the second conducting segments 300B, so that the two adjacent second conducting segments 300B do not interfere with each other near the ends of the second connection segments 200B.

[0052] In the embodiment, the lengths of the second main body segments 400 and the first main body segments 100 in each conductor are the same. In this way, the first main body segments 100 and the second main body segments 400 in each conductor are subjected to the same force during rotation of the rotor 820; and because the currents in the second main body segments 400 and the first main body segments 100 in each conductor are opposite, the force on each conductor tends to be balanced, and the force on the entire multilayer flexible substrate 700 can be self-canceled and balanced.

[0053] In each conductor, the first body segment 100 and the second body segment 400 have a projection direction perpendicular to the first body segment 100, so that the projections of the first body segment 100 and the second body segment 400 coincide. The second body segment 400 includes an A-type second body segment 400A and a B-type second body segment 400B, the A-type second body segment 400A is in the same conductor as the A-type first body segment 100A, and the B-type second body segment 400B is in the same conductor as the B-type first body segment 100A. The length of the A-type first body segment 100A is the same as that of the A-type second body segment 400A, and the end points at both ends of the A-type first body segment 100A and the end points at both ends of the A-type second body segment 400A are distributed at the four corners of a rectangle; the length of the B-type first body segment 100B is the same as that of the B-type second body segment 400B, and the end points at both ends of the B-type first body segment 100B and the end points at both ends of the B-type second body segment 400B are distributed at the four corners of a rectangle. In the working process, the current directions in the first body segment 100 and the second body segment 400 are opposite, and as the rotor 820 rotates, the stress directions of the first body segment 100 and the second body segment 400 of each conductor are opposite, and the internal stresses of each conductor cancel each other out, making the stress of the multi-layer flexible substrate 700 more uniform, thereby making the motor 800 work more stably.

[0054] The width of each conductor segment (the first body segment 100, the second body segment 400, the connecting segment 200, and the conducting segment 300) in each conductor is the same, and there is a spacing between adjacent two conductor segments, and the spacing between each adjacent two conductor segments is the same. Thus, the flexible circuit 812 in the motor 800 has the same current density in each conductor segment during the working process, so that the resistance of each conductor of the flexible circuit 812 is the same, avoiding local heating in the flexible circuit 812 due to different resistances, causing the flexible circuit 812 to expand and contract severely, causing stress concentration in the flexible circuit 812, affecting the mechanical strength of the flexible circuit 812, and at the same time, the spacing between adjacent two conductor segments in each connecting layer 600 is the same, so that the overall heat dissipation capacity of the flexible circuit 812 is the same, and the local high temperature caused by poor heat dissipation capacity in the flexible circuit 812 is also avoided, causing stress concentration in the flexible circuit 812, affecting the mechanical strength of the flexible circuit 812 and the motor 800, and reducing the service life of the motor 800. Thus, the service life of the manipulator or the mechanical arm and the working stability of the manipulator or the mechanical arm during use are prolonged.

[0055] In the embodiment, the conductive columns 900 are used to connect the conductor segments in different connection layers 600 in series. The cross-sectional perimeter of the conductive columns 900 is greater than or equal to the width of the conductor segments. For example, in the same turn of the conductor, the A-type first main body segment 100A and the third connection segment 200C, the B-type first main body segment 100B and the second connection segment 200B, the second connection segment 200B and the second conducting segment 300B, the third connection segment 200C and the third conducting segment 300C, the fourth connection segment 200D and the fourth conducting segment 300D, the first connection segment 200A and the first conducting segment 300A, and each conducting segment 300 and each second main body segment 400 connected thereto are connected by the conductive columns 900, respectively. More specifically, a through hole is formed at a predetermined position on the flexible substrate 700, and the conductive column 900 passes through the through hole to connect the conductor segments in different connection layers 600 in series. In the embodiment, the diameter of the conductive column 900 is the same as the width of the conductor segment. Alternatively, in other embodiments, the perimeter of the conductive column 900 is the same as or greater than the width of the conductor segment, so that the current density of the conductor segment is similar to that of the conductive column 900, avoiding the influence of the conductive column 900 on the overall resistance of the flexible circuit member 812.

[0056] During use of the motor 800, the motor 800 is fixed on the rack, the rotor shaft 821 of the motor 800 is connected with the key rope of the manipulator, and the rotation of the motor rotor shaft 821 drives the fingers to move to the predetermined position.

Claims

1. An electric motor, characterized in that, The system includes a stator (810) and a rotor (820). The rotor (820) includes a magnetic element (822) and a rotor shaft (821). The magnetic element (822) is connected to the rotor shaft (821). The stator (810) includes a stator yoke (811) and a flexible circuit element (812). The stator yoke (811) has a receiving cavity (8111). The magnetic element (822) is located in the receiving cavity (8111). The flexible circuit element (822) is wound in the receiving cavity (8111) and is located between the inner wall of the stator yoke (811) and the outer wall of the magnetic element (822). The flexible circuit element (812) includes a coil and a connecting layer (600). The coil is located in the connecting layer. Layer (600), the coil has at least two turns of conductor connected in series, each turn of conductor having a first main body segment (100), a second main body segment (400) and a connecting segment (200), the first main body segment (100) and the second main body segment (400) being aligned with the axial direction of the motor (800), the connecting segment (200) including a first connecting segment (200A) and a second connecting segment (200B), at least one of the connecting layers (600) having two adjacent first main body segments (100), and the two adjacent first main body segments (100) being connected (200B) to the first connecting segment (200A) and the second connecting segment (200B) respectively at the same end in the axial direction of the motor (800), the first connecting segment (200A) and the second connecting segment (200B) being located in different connecting layers (600).

2. The motor according to claim 1, characterized in that: Each turn of conductor includes two connecting segments (200), and the two connecting segments (200) are respectively connected to both ends of the first main body segment (100); each turn of conductor includes two conducting segments (300), and the two conducting segments (300) are respectively connected to both ends of the second main body segment (400); in each turn of conductor, at the same end of the motor (800), the conducting segment (300) and the connecting segment (200) are connected.

3. The motor according to claim 2, characterized in that: The conducting section (300) and the connecting section (200) of each turn of conductor are located in different connecting layers at the same end of the motor (800).

4. The motor according to claim 3, characterized in that: The conductive segment (300) includes a first conductive segment (300A) and a second conductive segment (300B), and has at least two adjacent second main body segments (400) in the same connecting layer (600). The two adjacent second main body segments (400) are connected to the first conductive segment (300A) and the second conductive segment (300B) respectively at the same end in the axial direction of the motor (800), and the first conductive segment (300A) and the second conductive segment (300B) are located in different connecting layers.

5. A motor according to any one of claims 1-4, characterized in that: The width of the connecting segment is greater than or equal to the width of the main segment.

6. The motor according to claim 4, characterized in that: At the same end of the motor (800) in the axial direction, there is at least one connecting layer (600) between the connecting layer where the first connecting segment (300A) is located and the connecting layer where the second connecting segment (300B) is located, and / or at the same end of the motor (800) in the axial direction, there is at least one connecting layer (600) between the connecting layer (600) where the first connecting segment (200A) is located and the connecting layer (600) where the second connecting segment (200B) is located.

7. A motor according to any one of claims 1-4 and 6, characterized in that: The first main body segment (100) of the coil is placed in the same connecting layer (600), and / or the second main body segment (400) of the coil is placed in the same connecting layer (600); within the same turn conductor, the first main body segment (100) and the second main body segment (400) are located in different connecting layers; And / or there is at least one connecting layer between the connecting layer where the first main body segment (100) of each turn of conductor in the coil is located and the connecting layer where the second main body segment (400) is located; And / or within the same connecting layer (600), in the connecting segment (200) where two adjacent first main body segments (100) are connected at the same end in the axial direction of the motor (800), one of the connecting segments (200) and the two adjacent first main body segments (100) are placed within the same connecting layer (600).

8. A motor according to any one of claims 2-4 and 6, characterized in that: Within the same connecting layer (600), with the direction perpendicular to the first main body segment (100) as the projection (500) direction, the projections (500) of two adjacent first main body segments (100) have overlapping portions and misaligned portions (502). Two adjacent first main body segments (100) have overlapping portions (102) corresponding to the overlapping portions. The free end of the overlapping portion (102) is connected to the second connecting segment (200B). The second connecting segment (200B) and the overlapping portion (102) are in different connecting layers.

9. The motor according to claim 8, characterized in that: In the coil, the second connecting segment (200B) is placed on the same connecting layer (600); And / or two adjacent first main body segments (100) within the same connecting layer (600) have an interlacing portion (101) corresponding to the misaligned portion (502), the first connecting segment (200A) is connected to the free end of the interlacing portion (101); the first connecting segment (200A) in the coil is located within the same connecting layer (600).

10. A motor according to any one of claims 2-4, 6, and 9, characterized in that: At the same end in the axial direction of the motor, the first connecting segments (200A) within the same connecting layer (600) are parallel to each other, or the second connecting segments (200B) within the same connecting layer (600) are parallel to each other; at the same end in the axial direction of the motor, the connecting segments (200) within the same connecting layer (600) have the same length; and / or, the conducting segments (300) within the same connecting layer (600) have the same length; And / or, within the same connecting layer (600), the lengths of two adjacent first main body segments (100) are the same; And / or, within each turn of the conductor, the second main body segment (400) and the first main body segment (100) have the same length.

11. The motor according to claim 10, characterized in that: Each conductor segment in each turn of the conductor has the same width; In the same connecting layer (600), the spacing between two adjacent conductor segments is the same; The conductors in the coil that are in different connection layers and connected in series are connected by conductive posts (900), and the cross-sectional perimeter of the conductive posts (900) is greater than or equal to the width of the conductor segment.

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