Motor and actuator

Abstract

The motor is provided with a flexible circuit part, the flexible circuit part is provided with n equivalent layers, n is larger than or equal to 2, each equivalent layer is provided with a plurality of conductive areas, the first equivalent layer is defined as the innermost ring, the nth equivalent layer is defined as the outermost ring, the first conductive area of the first equivalent layer is defined as the first (1)-section conductive area, and the last conductive area of the first equivalent layer is defined as the first (e)-section conductive area. The first conductive region of the lower layer is behind the last conductive region of each equivalent layer, the last conductive region of the nth equivalent layer is the nth conductive region, the circumferential direction from the first (1)-th conductive region to the nth conductive region is the first circumferential direction, and on the cross section of the flexible circuit piece, the first conductive region of the lower layer is the first conductive region of the lower layer; the angle corresponding to the arc length of the starting point of the n (e)-th conductive region and the arc length of the starting point of the first (1)-th conductive region in the n-th equivalent layer is beta, beta is smaller than or equal to n * 50 / p, and p is the number of pole pairs. The motor provided by the invention has good motor performance.

Description

Technical Field

[0001] This invention relates to the field of motor technology, and in particular to motors and actuators that can be applied to fields such as precision instruments, medical devices, industrial automation, and robotics. Background Technology

[0002] Currently, with the widespread application of compact electronic products (such as smartphones, wearable devices, medical instruments, precision instruments, industrial automation, and robots), the demand for high-density performance in motors is increasing. Based on this, some industry research has employed flexible circuit components to form windings, allowing these components to be rolled up in three-dimensional space, reducing size and increasing density. However, in actual manufacturing, it has been found that the performance of the wound flexible windings is relatively low, making the development of motors with high-performance wound windings a significant industry challenge. Summary of the Invention

[0003] Based on this, and in response to the above problems, this application aims to provide a motor and actuator with better performance.

[0004] An electric motor has a flexible circuit component, which is cylindrical in shape and has n equivalent layers, where n ≥ 2. On the cross-section of the flexible circuit component, each equivalent layer has multiple conductive regions. The first equivalent layer is defined as the innermost ring, and the nth equivalent layer as the outermost ring. The conductive regions of each equivalent layer are spaced apart along the circumferential direction. The first conductive region of the first equivalent layer is defined as the 1st (1)th segment conductive region, and the last conductive region is defined as the 1st (e)th segment conductive region. The last conductive region of each equivalent layer... The conductive area is followed by the first conductive area of ​​the next equivalent layer, and the last conductive area of ​​the nth equivalent layer is the n(e)th conductive area. The circumferential direction from the first conductive area of ​​each equivalent layer to the last conductive area of ​​each equivalent layer is the first circumferential direction. On the first circumferential direction and on the cross-section of the flexible circuit, the angle between the starting point of the n(e)th conductive area and the arc length of the extension line of the starting point of the 1st (1)th conductive area in the nth equivalent layer is β, β≤n*50 / p°, where p is the number of pole pairs.

[0005] The motor of the above technical solution has a flexible circuit component. In the first circumferential direction and on the cross-section of the flexible circuit component, the angle between the starting point of the nth (e)th conductive segment and the arc length of the extension line of the starting point of the 1st (1)th conductive segment in the nth equivalent layer is β, β≤n*50 / p°, which can improve the motor performance of the entire motor.

[0006] An actuator has a drive module, a reduction module, and a transmission module. The drive module has a motor according to the above technical solution. The motor has a rotor assembly. The rotor assembly is driveably connected to the reduction module. The reduction module is driveably connected to the transmission module.

[0007] The motor described above can improve motor performance, and in turn, improve the operating performance of the actuator. Attached Figure Description

[0008] Figure 1 This is a structural diagram of one embodiment of an electric motor.

[0009] Figure 2 for Figure 1 The diagram shows a radial cross-section of the motor.

[0010] Figure 3 This is a wiring diagram showing the unfolded state of another implementation of the flexible circuit device.

[0011] Figure 4 This is a simplified schematic diagram of another embodiment of the flexible circuit device, in which the number of conductive areas is omitted.

[0012] Figure 5 for Figure 2 An enlarged schematic diagram of the middle section is provided to more clearly illustrate the location of the connecting lines.

[0013] Figure 6 This is a simplified schematic diagram of the conductive zones after opening, representing another implementation of the flexible circuit device.

[0014] Figure 7 This is a simplified schematic diagram of the conductive zones after opening, representing another implementation of a flexible circuit device.

[0015] Figure 8 This is a schematic diagram of the wiring method after opening one implementation of a flexible circuit device.

[0016] Figure 9 This is a schematic diagram of the wiring shape for one embodiment.

[0017] Figure 10 This is a schematic diagram of the wiring shape for another implementation.

[0018] Figure 11 This is a schematic diagram of the wiring shape for another implementation.

[0019] Figure 12 This is a schematic diagram of the wiring method after opening, representing another implementation of the flexible circuit device.

[0020] Figure 13This is a simplified schematic diagram of a flexible circuit element for another embodiment of an electric motor, showing the layers of the flexible circuit element.

[0021] Figure 14 for Figure 13 A simplified schematic diagram of the flexible circuit device shown.

[0022] Figure 15 A wiring diagram showing the unfolded state of another implementation of the flexible circuit device.

[0023] Figure 16 for Figure 15 A cross-sectional schematic diagram of the corresponding implementation method.

[0024] Figure 17 This is a partial cross-sectional schematic diagram of another embodiment of the flexible circuit device.

[0025] Figure 18 This is a schematic diagram of the wiring of a flexible circuit device before it is wound, according to one embodiment.

[0026] Figure 19 This is a schematic diagram of the wiring of a flexible circuit element before it is wound, representing another embodiment.

[0027] Figure 20 This is a wiring diagram of a flexible circuit device before it is wound, representing another embodiment.

[0028] Figure 21 This is a partial CT scan schematic diagram of the flexible circuit device in specific embodiment 1.

[0029] Figure 22 This is a partial CT scan diagram of a comparative flexible circuit device. Detailed Implementation

[0030] The specific embodiments of this application will be further described below with reference to the accompanying drawings.

[0031] Reference Figures 1-5 The motor 10 has a stator assembly 110 and a rotor assembly 12. The stator assembly 110 has a cavity 13 inside, and the rotor assembly 12 is located in the cavity 13. The rotor assembly can be a magnet. The stator assembly 110 has a flexible circuit element 11, which is in a semi-cylindrical shape and has n equivalent layers. The flexible circuit element 11 has a coil c and a flexible substrate 14. The coil can be formed on the flexible substrate by means of adhesion, etching, etc., where n≥2. During processing, the semi-cylindrical shape is formed by winding the flat flexible circuit element, for example, by winding a long strip of flexible circuit element clockwise or counterclockwise. After winding, a cavity 13 is formed inside, and each layer has a substrate portion 140 after winding.

[0032] It should be noted that in this article, "cylindrical-like" refers to the flexible circuit component formed during winding, which is not a standard cylindrical shape. Figure 1 As shown, during winding, there are multiple layers, so the resulting shape is not a theoretically cylindrical one. However, given the very small difference in external dimensions, this paper uses a near-cylindrical shape for a more accurate description. It should be understood that flexible circuit components, after winding, become spiral-shaped. In this paper, the equivalent layer is defined based on the number of conductive areas. Within the same equivalent layer, some conductive areas may be located in different physical layers. The nth equivalent layer may also have a physical layer outside it. The statistical method for conductive areas will differ depending on the wiring method, as described below.

[0033] Reference Figure 2 , Figure 2 for Figure 1 The diagram shows a cross-sectional view of the motor. This cross-section is a plane cut perpendicular to the axial direction x of the flexible circuit element, i.e., the cross-section of the flexible circuit element. The flexible circuit element has n equivalent layers. On this cross-section, each equivalent layer has m conductive regions 15, where m ≥ 6. Since the flexible circuit element is formed by winding, it has a multi-layer structure. The flexible circuit element has a base plate portion in each turn. To more clearly describe the structure of each layer, the first equivalent layer is defined as the innermost ring, and the nth equivalent layer is defined as the outermost ring. The conductive regions of each equivalent layer are arranged at intervals along the circumferential direction. The conductive regions of each equivalent layer are numbered sequentially. The conductive regions of the first equivalent layer are numbered 1(1), 1(2), 1(3), 1(4)......1(e), the conductive regions of the second equivalent layer are numbered 2(1), 2(2), 2(3), 2(4)......2(e), and the nth equivalent layer... The conductive regions of the equivalent layers are numbered n(1), n(2), n(3), n(4)......n(e). As defined above, the first conductive region of the first equivalent layer is the first (1) segment conductive region, and the last conductive region is the first (e) segment conductive region. The first conductive region of the nth equivalent layer is the n(1) segment conductive region, and the last conductive region is the n(e) segment conductive region. The last conductive region of each equivalent layer is followed by the first conductive region of the next equivalent layer. The conductive regions of the first (1) segment and the n(1) segment overlap in the radial direction of the circumference. Taking the circumferential direction from the first conductive region to the last conductive region of each equivalent layer as the first circumferential direction, the misalignment arc length of the last conductive regions of any two adjacent layers is the arc length of the starting point of the two last conductive regions along the first circumferential direction on the outer equivalent layer arc of the two layers. The misalignment arc length is not greater than the width of two of the first (1) segment conductive regions. By controlling the misalignment arc length to less than the width of two conductive regions, the misalignment distance between adjacent layers can be reduced. Especially for cases where each equivalent layer has more than 12 conductive regions, controlling the misalignment arc length within the above range facilitates the winding of flexible circuit components and also results in excellent overall motor performance of the motor formed after winding.

[0034] Combined with reference Figure 2 , Figure 3 and Figure 4 , Figure 3 This is a wiring diagram. Figure 4 This is a simplified schematic diagram of the winding, mainly to illustrate the structure of the wiring at both ends. The flexible circuit component has three layers: the first equivalent layer C1, the second equivalent layer C2, and the third equivalent layer C3. The first equivalent layer C1 is the innermost layer, and the third equivalent layer C3 is the outermost layer. Figure 2 Is Figure 3 The image shows a cross-sectional view within the dashed box. The wiring structure is in a hexagonal shape. The wiring is in an overlapping manner, which results in several single-sided resistors at the start and end positions. When counting the number of conductive areas, the start and end positions are counted only once. Figure 4 As shown, the flexible substrate 14 has an inner peripheral side 21 and an outer peripheral side 22. At the starting position, the resistor is located on the inner peripheral side 21; at the ending position, the resistor is located on the outer peripheral side 22; and at the middle position, both the inner and outer peripheral sides have resistors. In this paper, for this wiring method, the number of conductive areas is only counted for the single-sided resistance at the starting position and the double-sided resistance in the middle region. Figure 3 As shown, the conductive region is defined from the first (1) conductive region to the third (e) conductive region. The first (e) conductive region of the last conductive region of the first equivalent layer is adjacent to the second (1) conductive region of the first conductive region of the second equivalent layer. The second (e) conductive region of the last conductive region of the second equivalent layer is adjacent to the third (1) conductive region of the first conductive region of the third equivalent layer.

[0035] Taking the circumferential direction of the first (1) segment to the n (e) segment as the first circumferential direction, and on the cross section perpendicular to the axial direction x of the flexible circuit element (i.e. Figure 2 (as shown in the cross section), the angle between the starting point of the nth (e)th conductive region and the extension line of the starting point of the 1st (1)th conductive region in the nth equivalent layer is β, β≤n*50 / p°, where p is the number of pole pairs.

[0036] In this article, the circumferential direction includes not only the standard circumferential direction but also the circumferential direction formed by most of the cylindrical shapes described herein. For non-standard circumferences like cylindrical shapes, the circumferential direction referred to in this article means the direction along the outer circumference of most cylindrical shapes.

[0037] In this paper, the angle β does not exceed 180° and is related to the positions of the two lines that form the angle, such as the extension line of the starting point of the n(e)th conductive region and the extension line of the starting point of the 1(1)th conductive region.

[0038] The starting point of the conductive region in this article is referenced to the first circumferential direction from the first conductive region to the last conductive region of the first equivalent layer. The two ends of each conductive region along the first circumferential direction are the starting point and the ending point, respectively.

[0039] exist Figure 2 In the middle, the winding direction is counterclockwise, with Figure 2 Taking the center O of the circle as the center, draw a straight line L1 from the center O to the starting point of the conductive region in the 1st (1)th segment, and draw a straight line L2 from the center O to the starting point of the conductive region in the nth (e)th segment. Figure 2 In the given information, n is 3, p is 4, the angle β between lines L1 and L2 is 30°, and n*50 / p = 37.5°. Figure 2 In the illustrated embodiment, β < a.

[0040] The maximum angle between the starting point of segment 1(1) and the starting point of segment n(e) corresponding to the arc length of the nth equivalent layer is controlled within the above range, so that the radial overlap area of ​​the conductive area of ​​each equivalent layer can be larger, which is beneficial to improve the back EMF, reduce the inter-turn circulating current, and further improve the electromagnetic performance of the motor. At the same time, controlling the misalignment angle between the extension lines of the starting point of segment 1(1) and the starting point of segment n(e) corresponding to the arc length of the nth equivalent layer can also further control the size changes of the inner cavity and outer periphery of the stator assembly, and reduce the impact of size changes after winding on motor performance.

[0041] In this paper, since the flexible circuit device is cylindrical, the center O is defined as the center of the circle fitted by most of the cylindrical circumferences. For example, take the first equivalent layer and start from the starting position to roll an arc of no more than 270°. Take 3 points on the arc and draw perpendicular bisectors for the line segments of each pair of the 3 points. The intersection of these two perpendicular bisectors is the center O.

[0042] Furthermore, the width of the conductive regions in the same equivalent layer is the same, and the angle β corresponding to the arc length of the extension line of the starting point of the conductive region of the nth (e)th segment and the starting point of the conductive region of the 1st (1st) segment in the nth equivalent layer is ≤30n / p, for example, Figure 2 The 30° shown is just less than 30n / p. This further reduces the angle of misalignment between the beginning and end, and further alleviates the situation where the back EMF vector generated by the same-direction winding has an angle, resulting in a decrease in the combined back EMF. This helps to improve the electromagnetic torque and efficiency under the same current.

[0043] Reference Figure 5 , Figure 5 for Figure 2A schematic diagram of the middle part of the structure. In this embodiment, the staggered arc lengths of adjacent layers are equal. Define z as a natural number greater than 1 and less than or equal to n. The first conductive region of the z-th equivalent layer is the z(1)-th conductive region, and the last conductive region is the z(e)-th conductive region. The first conductive regions of the layers adjacent to the z-th equivalent layer are the z+1-th and z-1(1)-th conductive regions, respectively, and the last conductive regions are the z+1(e)-th and z-1(e)-th conductive regions, respectively. The z-th equivalent layer is located on the outer ring of the z-1-th equivalent layer. The misalignment arc length between the z(e)th conductive region and the z+1(e)th conductive region is the arc length of the extension line of the starting point of the z(e)th conductive region and the arc length of the starting point of the z+1(e)th conductive region on the arc corresponding to the z+1th layer. The misalignment arc length between the z-1(e)th conductive region and the z(e)th conductive region is the arc length of the extension line of the starting point of the z-1(e)th conductive region and the arc length of the starting point of the z(e)th conductive region on the arc corresponding to the z equivalent layer. The misalignment arc length between the z(e)th conductive region and the z+1(e)th conductive region is equal to the misalignment arc length between the z(e)th conductive region and the z-1(e)th conductive region. The misalignment arc length between the z(e)th conductive region and the z+1(e)th conductive region is the arc length of the extension line of the starting point of the z(e)th conductive region and the arc length of the starting point of the z+1th conductive region on the arc corresponding to the z+1th layer. The misalignment arc length between the z(e)th conductive region and the z-1(e)th conductive region is the arc length of the starting point of the z(e)th conductive region and the arc length of the z-1th conductive region on the arc corresponding to the z equivalent layer. The misalignment arc length between the z(e)th conductive region and the z+1(e)th conductive region is equal to the misalignment arc length between the z(e)th conductive region and the z-1th(e)th conductive region.

[0044] Specifically, in Figure 5 In this example, we will use the misalignment arc lengths between the first and second equivalent layers, and between the second and third equivalent layers, as examples. The misalignment arc length l (1) between the first and second equivalent layers refers to... Figure 3 Centered on the circle O, a straight line L3 is drawn from the center O to the starting point of the first (e) conductive section, and a straight line L4 is drawn from the center O to the starting point of the second (e) conductive section. The arc lengths of lines L3 and L4 on the corresponding arc of the second equivalent layer are the same. The misalignment arc length l(2) between the second and third equivalent layers refers to the arc lengths of lines L4 and L2 on the corresponding arc of the third equivalent layer, drawn from the center O to the starting point of the third (e) conductive section. In this embodiment, l(1) and l(2) are equal. The misalignment arc lengths of the remaining layers are calculated in the same way as above and are also equal. The equal misalignment arc lengths of adjacent layers help control the conductive areas of each layer, so that the conductive areas of each layer can overlap more radially when the flexible circuit is wound.

[0045] In other embodiments, the misalignment arc length between the z-1(e)th conductive region and the z(e)th conductive region is the arc length of the starting point of the z-1(e)th conductive region and the starting point of the z(e)th conductive region on the arc corresponding to the z-th equivalent layer. The misalignment arc length is defined as Δl, where Δl ≤ 5πr / 18p, and r is the average of the inner radius of the z-th equivalent layer and the outer radius of the z-1th equivalent layer. Here, the inner radius of the z-th equivalent layer is the inner radius of the physical layer where most of the conductive regions of the z-th equivalent layer are located, and the outer radius of the z-1th equivalent layer is the outer radius of the physical layer where most of the conductive regions of the z-1th equivalent layer are located.

[0046] by Figure 5 For example, the misalignment arc length between the first and second equivalent layers is the arc length on the arc corresponding to the starting point of the first (e) conductive region and the starting point of the second (e) conductive region in the second layer, i.e., l (1) shown in the figure. The r in the calculation formula refers to the average of the outer circumference radius r1 of the first equivalent layer and the inner circumference radius r2 of the second equivalent layer. The misalignment arc length between the second and third equivalent layers is the arc length on the arc corresponding to the starting point of the second (e) conductive region and the starting point of the third (e) conductive region in the third layer. The r in the calculation formula refers to the average of the inner circumference radius r4 of the third equivalent layer and the outer circumference radius r3 of the second equivalent layer. Here, the outer circumference radius of the first equivalent layer is the outer circumference radius of the physical layer where most of the conductive regions of the first equivalent layer are located, and the inner circumference radius of the second equivalent layer is the inner circumference radius of the physical layer where most of the conductive regions of the second equivalent layer are located. The others are similar.

[0047] By controlling the misalignment arc length of adjacent layers within the aforementioned range, the overlapping area of ​​the conductive regions of each layer in the radial direction can be increased, thus mitigating the significant reduction in the maximum value of the back EMF caused by the misalignment of the back EMF change relative to the time of each turn of the winding.

[0048] Furthermore, on the cross-section of the flexible circuit component, the width of the conductive regions within the same equivalent layer is the same, and the misalignment arc length Δl between the z-1(e)th (z-1)th (e)th)th (z-e)th)th (z-e)th)th (z-e)th)th)th)th)th)th)th)th) is greater than or equal to 4πr / 18p), with the angle corresponding to the misalignment arc length being greater than or equal to 2°. In this case, not only is the winding process of the flexible circuit component easier to implement, but the motor efficiency is also higher.

[0049] Return to reference Figure 3The coil has two or more wirings, each wiring having a first inclined segment 23, a straight edge segment 24, and a second inclined segment 25. The straight edge segment 24 connects the first inclined segment 23 and the second inclined segment 25. A cross-section A is taken on the straight edge segment, and the cross-section A is perpendicular to the axial direction of the flexible circuit. In this cross-section A, the arc length of the z-1(e)th conductive segment and the z(e)th conductive segment is the arc length of the starting point of the z-1(e)th conductive segment and the starting point of the z(e)th conductive segment on the corresponding arc of the z-th layer. The misaligned arc length is defined as Δl, where Δl ≤ 5πr / 18p, p is the pole pair number, and r is half the sum of the inner circumference radius of the z-th equivalent layer and the outer circumference radius of the z-1th equivalent layer. Here, the inner circumference radius of the z-th equivalent layer is the inner circumference radius of the physical layer where most of the conductive areas of the z-th equivalent layer are located, and the outer circumference radius of the z-1th equivalent layer is the outer circumference radius of the physical layer where most of the conductive areas of the z-1th equivalent layer are located.

[0050] Continue to refer to Figure 2 Each layer has multiple conductive regions. In this embodiment, each equivalent layer has 12 conductive regions. The spacing between adjacent conductive regions in each equivalent layer is equal, and the spacing between adjacent conductive regions in different equivalent layers is also equal. The conductive regions of each equivalent layer overlap in the radial direction, and the width of the conductive region of the nth equivalent layer is greater than the width of the conductive region of the (n-1)th equivalent layer.

[0051] Here, the width of the conductive area refers to the arc length of the conductive area along the circumference, or the length along the long side after stretching the flexible circuit component of the cylindrical motor. From the 1st equivalent layer to the nth equivalent layer, the width of the conductive area gradually increases. This layer-by-layer increase in width reduces the impact of the outer radius being larger than the inner radius, while also resulting in a larger radial overlap between corresponding conductive areas of adjacent inner and outer layers. By differentiating the width of the conductive areas in each layer, the effective arc lengths of the conductive areas in each layer overlap as much as possible after winding, reducing cumulative misalignment between layers.

[0052] Continue to refer to Figure 2 Where n is 3, the first equivalent layer has 12 conductive regions. The second equivalent layer has 12 conductive regions, and the number of conductive regions in each equivalent layer is the same. The conductive regions in each layer have a large overlap in the radial direction.

[0053] Define z as a natural number greater than 1 and less than or equal to n. The z-th equivalent layer is the outer ring of the (z-1)-th equivalent layer. Each equivalent layer has the same number of conductive regions. Each conductive region is numbered sequentially along the circumference from the first to the last conductive region. The ratio of the radial overlap area of ​​the corresponding numbered conductive regions of the z-th and (z-1)-th equivalent layers to the sum of the areas of all conductive regions in the (z-1)-th equivalent layer is Q. The spacing between adjacent conductive regions in the (z-1)-th equivalent layer is D1, and the spacing between adjacent conductive regions in the z-th equivalent layer is D2. Q = f((2πr - ΔLmax) / m - D2) / (2πr / m - D1), where Δlmax = 5πr / 18p, r represents the average of the sum of the outer and inner radii of the (z-1)-th equivalent layer, and 0.8 ≤ f ≤ 1.2. (The last sentence is incomplete and likely refers to a different context.) Figure 3 Taking the example shown, assuming z is 1, in the formula for calculating Q, the ratio of the radially overlapping area of ​​the conductive region between the first equivalent layer and the second equivalent layer to the area of ​​the conductive region of the second equivalent layer, r represents the average of the sum of the outer circumference radius r2 of the first equivalent layer and the inner circumference radius r1 of the second equivalent layer. Here, the outer circumference radius of the first equivalent layer is the outer circumference radius of the physical layer in which most of the first equivalent layer is located, and the inner circumference radius of the second equivalent layer is the inner circumference radius of the physical layer in which most of the second equivalent layer is located, and so on.

[0054] This results in a greater radial overlap of the conductive regions of the same phase, which further reduces the cancellation of electromotive force caused by interlayer misalignment.

[0055] It should be noted that the radially overlapping area here refers to the overlapping area of ​​the conductive regions corresponding to each layer in the radial direction according to the serial number. For example, the serial numbers of the first equivalent layer are segment 1(1), segment 1(2), ... and the serial numbers of the second equivalent layer are segment 2(1), segment 2(2), ... The overlapping area refers to the overlapping area of ​​segment 1(1) and segment 2(1), the overlapping area of ​​segment 1(2) and segment 2(2), and the sum of the overlapping areas of other similar segments.

[0056] This embodiment uses n=3 as an example; it should be understood that n can be any other integer. Furthermore, in this embodiment, there are 12 conductive regions per unit layer. In other embodiments, the number of conductive regions can be other numbers, such as 4, 6, 8, 12, 24, 36, etc.

[0057] exist Figure 2 In the illustrated embodiment, the width of the conductive region gradually increases from the first equivalent layer to the nth equivalent layer. The increase in the width of the conductive region between adjacent layers is E, where E = 2k*π*h / m, h is the thickness of the flexible circuit element, and k is 0.9-1.1. Within this range of increase, not only is the radial overlap of the conductive regions increased, but the current carrying capacity is also improved, and the resistance loss is reduced.

[0058] Reference Figure 6 , Figure 6 This is a schematic diagram of the flexible circuit components of the motor before winding in another embodiment. For clarity, Figure 6 This is a simplified schematic diagram. The flexible circuit element 11' has a coil 112' and a flexible substrate 111'. The coil 112' is formed on the flexible substrate 111'. Along the long side direction A of the flexible circuit element, the flexible circuit element 11' has at least a first layer region N1 and a second layer region N2. On the same cross-section along the long side direction of the flexible circuit element, the first layer region has m conductive regions, and the second layer region has m conductive regions, where m ≥ 6. The flexible circuit element can be wound into a near-cylindrical shape. The winding direction is from the first layer region along the long side direction of the flexible circuit element. On the same cross-section along the long side direction of the flexible circuit element, the widths of the conductive regions in the same layer region are equal, and the width of the conductive regions in the first layer region is smaller than the width of the conductive regions in the second layer region.

[0059] The flexible circuit device has n layers, where z is a number greater than 1 and less than or equal to n. Along the long side, the (z+1)th layer is on one side of the z-th layer and closer to the n-th layer than the z-th layer. The width of the conductive area in each segment of the (z+1)th layer is greater than the width of the conductive area at the corresponding position in each segment of the z-th layer. From the 1st layer to the nth layer, the width of the conductive area at the corresponding position in each segment gradually increases. The increase in the width of the conductive area at the corresponding position in each segment of adjacent layers is defined as E, where E = 2k*π*h / m, where k is 0.9-1.1 and h is the thickness of the flexible circuit device.

[0060] exist Figure 6 In the illustrated embodiment, the conductive region within the area enclosed by the dashed box is a single layer. Figure 6 The flexible circuit device shown is divided into a first layer region N1, a second layer region N2, and a third layer region N3. The width of the conductive area in the first layer region N1 is W1, the width of the conductive area in the second layer region N2 is W2, and the width of the conductive area in the third layer region N3 is W3, where W3 > W2 > W1. The increase in the width of the conductive area in the second layer region N2 relative to the first layer region N1 is E, where E = 2k*π*h / m, h is the thickness of the flexible circuit device, and k is 0.9-1.1.

[0061] In this embodiment, the spacing D between adjacent conductive regions in each layer is equal, and the spacing between adjacent conductive regions in different layers is also equal.

[0062] In this embodiment, the spacing between each conductive region is equal, and the width of the conductive region in each layer gradually increases, which can relatively ensure the area occupied by each conductive region, increase the conductor ratio of each layer, and further improve the high-density performance and electromagnetic performance of the motor.

[0063] As another implementation method, refer to Figure 7 As shown, Figure 7 This is a schematic diagram of the flexible circuit component before winding. For a clearer description, Figure 7 This is a simplified schematic diagram. The flexible circuit element 11'' has a coil 112'' and a flexible substrate 111'', with the coil 112'' formed on the flexible substrate 111''. Along the long side direction A of the flexible circuit element, the flexible circuit element 11'' has at least a first layer region N1' and a second layer region N2'. The first layer region has m conductive regions, and the second layer region has m conductive regions 15, where m ≥ 6. The flexible circuit element can be wound into a near-cylindrical shape, with the winding direction being from the first layer region along the long side direction of the flexible circuit element. The widths of the conductive regions located in the same layer region are equal, while the spacing between adjacent conductive regions in different layers regions is unequal.

[0064] That is, after winding, the conductive areas of each equivalent layer overlap in the radial direction, and the spacing between adjacent conductive areas of different equivalent layers is not equal.

[0065] In this embodiment, the conductive area enclosed by the dashed box is a single layer. Figure 7 The flexible circuit shown is divided into a first layer region N1', a second layer region N2', and a third layer region N3'. The width W1' of the conductive areas in each layer region is equal. During winding, the four conductive areas in the first layer region and the conductive areas in the second layer region overlap radially. The spacing D between the conductive areas in each layer region is different. The spacing between the conductive areas in the first layer region is defined as D1, the spacing between the conductive areas in the second layer region is defined as D2, and the spacing between the conductive areas in the third layer region is defined as D3, where D3 > D2 > D1.

[0066] After winding, the increase in spacing between the conductive areas of adjacent layers is G, where G = 2T * π * h / m, and h is the thickness of the flexible circuit component, with T ranging from 0.9 to 1.1. Controlling the increase in spacing within this range increases the radial overlap of the conductive areas of adjacent layers after winding. It also facilitates spacing control during manufacturing, helping to ensure the quality of the motor. In some cases, it can also aid in heat management of the flexible circuit component, promoting heat dissipation.

[0067] It should be understood that the counting method for conductive areas also includes when the wiring is... Figure 3 The statistics of the conductive regions corresponding to the lapped or similar wave-like winding forms are shown above, and the statistical method is as described above.

[0068] As another implementation method, refer to Figure 8 , Figure 8 This is a simplified schematic diagram of wiring in a conductive area. The ellipses in the diagram represent many similar wires, but for a clearer description, [the remaining text is incomplete and requires further context]. Figure 8 It has been simplified. Figure 8 In this configuration, the wiring of the conductive area is hexagonal. Let z be a natural number greater than 1 and less than or equal to n. The widths of the conductive areas within the same equivalent layer are equal, and the width of the conductive area in the (z+1)th equivalent layer is greater than the width of the conductive area in the zth equivalent layer.

[0069] exist Figure 8 In the definition, after winding, conductive regions S1, S2, and S3 are in the first equivalent layer, and conductive regions S4, S5, and S6 are in the nth equivalent layer. The widths A1, B1, and C1 of conductive regions S1, S2, and S3 in the first equivalent layer are smaller than the widths X1, Y1, and Z1 of conductive regions S4, S5, and S6 in the nth equivalent layer.

[0070] This embodiment sets the width of each conductive region so that the width of the conductive region in the nth equivalent layer is greater than the width of the conductive region in the first equivalent layer. Furthermore, the width of the conductive regions in each layer can be different; that is, from the first equivalent layer to the nth equivalent layer, the width of the conductive regions in each layer gradually increases, with the width of the conductive region in the (z+1)th equivalent layer being greater than the width of the conductive region in the zth equivalent layer. Thus, by changing the width of the conductive regions, not only can the radial overlap area of ​​each conductive layer be increased, but the overall wiring method of the motor is not significantly altered, and it also has good processing performance in terms of manufacturing.

[0071] As another implementation method, refer to Figures 9-11 The wiring on flexible circuit components can also take other shapes, such as rhombuses, hexagons, ellipses, etc. There are various wiring methods. Furthermore, the width of each conductive area is obtained on the radial cross-section of the motor; that is, the width comparison is based on the same position area of ​​the shape, for example... Figure 6 In all cases, the width within the dashed box is used as the comparison object. It should be understood that in some situations, different requirements may apply to wiring; this application includes cases where the width of the conductive area varies in different locations. For example, in... Figure 10 In this design, the wiring is in the form of a hexagon, with a straight side segment located in the middle region. At this straight side segment, a cross-section perpendicular to the axial direction (x) of the flexible circuit is created. Figure 9 In the diagram, the wiring is in the form of quadrilaterals. Figure 11 In this paper, the wiring is in the form of an ellipse. The cross section located in the middle region of the wiring on the short side direction H of the flexible circuit can be selected. In this paper, the middle region refers to the area range of 1 / 3 to 2 / 3 on the short side direction H of the flexible circuit.

[0072] It should be noted that in this paper, the term "the width of the conductive region in the same equivalent layer is the same or different" refers to a comparison of the same area of ​​the conductive region on a radial cross-section, for example... Figure 6The area within the dashed box.

[0073] As another implementation method, refer to Figure 12 , Figure 12 This is a simplified schematic diagram of a conductive area wiring method. Figure 12 In the diagram, ellipses represent many similar wires, but for a clearer description, they are omitted. Figure 12 It has been simplified. Figure 12 In the winding process, the wiring of the conductive area is hexagonal. After winding, the width of the conductive area in the same equivalent layer is different, and the spacing between adjacent conductive areas in the same equivalent layer is not equal.

[0074] In this embodiment, conductive regions S1, S2, and S3 are defined in the first equivalent layer, and conductive regions S4, S5, and S6 are defined in the nth equivalent layer. The widths A1, B1, and C1 of conductive regions S1, S2, and S3 in the first equivalent layer are all different. The widths X1, Y1, and Z1 of conductive regions S4, S5, and S6 in the nth equivalent layer are also different.

[0075] The spacings d1, d2, and d3 between adjacent conductive regions in the first equivalent layer are all different, and the spacings d4, d5, and d6 between adjacent conductive regions in the nth equivalent layer are also all different.

[0076] In another embodiment, the flexible circuit element has an inner peripheral side and an outer peripheral side, with the conductive area located on one of the inner peripheral side or the outer peripheral side; before winding, the flexible circuit element has a front side 1101 and a back side 1102, with the conductive area located on one of the front side or the back side, for example, referring to... Figure 13 .

[0077] It should be understood that the physical layer structure of the flexible circuit device in this application can have a single conductive layer or multiple conductive layers.

[0078] In one embodiment, the flexible circuit element 11 has an inner peripheral side and an outer peripheral side, and the flexible substrate has an inner peripheral side and an outer peripheral side; the coil has two or more wirings, each wiring located on one of the inner peripheral side and / or the outer peripheral side, and each wiring has two or more conductive regions on the cross-section of the flexible circuit element; or the coil has two or more wirings, with the wirings arranged on both the inner and outer peripheral sides, and each wiring has two or more conductive regions on the cross-section of the flexible circuit element, each conductive region including a first sub-conductive region 15a and a second sub-conductive region 15b, the first sub-conductive region 15a being located on the inner peripheral side, and the second sub-conductive region 15b being located on the outer peripheral side, the first sub-conductive region 15a and the second sub-conductive region 15b being correspondingly arranged in the radial direction of the flexible circuit element, and the width of the first sub-conductive region and the width of the second sub-conductive region being equal. For example, refer to... Figure 14 .

[0079] As another implementation method, for example, refer to Figure 4 The flexible circuit element 11 has an inner peripheral side 21 and an outer peripheral side 22. The inner peripheral side has m first partial sub-conductive regions 15a, and the outer peripheral side has m second partial sub-conductive regions 15b. The first partial sub-conductive regions and the second partial sub-conductive regions are arranged correspondingly in the radial direction of the flexible circuit element, and the width of the first partial sub-conductive regions and the width of the second partial sub-conductive regions are equal. In the beginning and end regions, the flexible circuit element has conductive regions only on the inner peripheral side or the outer peripheral side.

[0080] As another implementation method, refer to Figure 15 and Figure 16 , Figure 15 This is a different wiring diagram. Figure 16 This is a cross-sectional schematic diagram of the wound flexible circuit component. Figure 16 Is Figure 15 Take a section within the dashed box in the image.

[0081] In this embodiment, the flexible circuit has three layers: a first equivalent layer C1, a second equivalent layer C2, and a third equivalent layer C3. The first equivalent layer C1 is the inner ring, and the third equivalent layer C3 is the outer ring. The wiring is arranged concentrically. Figure 16 As shown, the conductive region is defined from the first (1) conductive region to the third (e) conductive region. The first (e) conductive region of the last conductive region of the first equivalent layer is adjacent to the second (1) conductive region of the first conductive region of the second equivalent layer. The second (e) conductive region of the last conductive region of the second equivalent layer is adjacent to the third (1) conductive region of the first conductive region of the third equivalent layer.

[0082] In this embodiment, Figure 15The conductive region shown and Figure 16 The conductive regions shown correspond one-to-one. Taking the circumferential direction of the first (1) segment to the first (e) segment as the first circumferential direction, and on the cross section perpendicular to the axial direction x of the flexible circuit, the angle between the starting point of the n (e) segment conductive region and the starting point of the first (1) segment conductive region is β, β≤n*50 / p, where p is the number of pole pairs.

[0083] As another implementation method, refer to Figure 17 , Figure 17 Only a partial cross-sectional view is shown. The flexible circuit has four layers: a first equivalent layer, a second equivalent layer, a third equivalent layer, and a fourth equivalent layer. The conductive areas of the first (e) segment of the first equivalent layer, the second (e) segment of the second equivalent layer, the third (e) segment of the third equivalent layer, and the fourth (e) segment of the fourth equivalent layer overlap radially. The overlap angle γ between these four conductive areas is no greater than γmax, where γmax = 360 * (2πR / mD), R is the inner circumference radius of the first equivalent layer, and D is the spacing between adjacent conductive areas, which are equal. The angle γ refers to the angle corresponding to the largest span at both ends of the four layers along the circumferential direction. Figure 19 In the middle, it is between the starting point of the 4th (e) conductive region from the center o to the ending point of the 3rd (e) conductive region.

[0084] Of course, in other embodiments, the range of angle γ can also be between the start and end points of segment 4(e), or other methods. In cases where the flexible circuitry has multiple layers, other than four layers, there are even more possibilities for determining the range of angle γ.

[0085] There are several ways to wire a cable. For example, refer to... Figure 18 and Figure 19The flexible substrate has an inner circumferential side and an outer circumferential side; the same coil of the same phase winding of the flexible circuit has two or more wirings 6, which are connected sequentially, with half of each wiring 6 located on the inner circumferential side and the other half located on the outer circumferential side. The portions of each wiring located on both sides of the flexible substrate are connected by interlayer connecting portions 8 penetrating the flexible substrate; the two or more wirings are arranged in a circumferential direction, and the interlayer connecting portions 8 are respectively located on both sides of the axial direction of the motor. The centers of the interlayer connecting portions 8 located on the same side are located in the same cross section perpendicular to the axial direction of the flexible circuit; or the interlayer connecting portions are arranged in the axial direction of the flexible circuit; each wiring 6 has two sub-conductive regions in the cross section of the flexible circuit, one sub-conductive region located on the inner circumferential side and the other sub-conductive region located on the outer circumferential side, and the two sub-conductive regions are staggered in the circumferential direction. The conductive region between the first layer and the last layer includes two sub-conductive regions that overlap in the radial direction of the motor. Or, except for the first and last layers, the conductive region includes two sub-conductive regions that overlap in the radial direction of the motor. By adopting this wiring method, the angle between the starting point of the nth (e)th conductive section and the extension line of the starting point of the 1st (1)th conductive section in the nth equivalent layer is β≤n*50 / p°, which makes the density of the motor larger, enabling the smaller size motor to have higher performance, and further improving the motor performance, improving the electromagnetic torque and efficiency under the same current.

[0086] refer to Figure 20The flexible substrate has an inner circumferential side and an outer circumferential side (before winding, the flexible substrate has a front side and a back side); each phase winding of the flexible circuit has at least one waveform wiring 7, each waveform wiring 7 is bounded by the two endpoints of each waveform wiring at the beginning and end in the circumferential direction, a part of each waveform wiring 7 is located on the inner circumferential side, and another part is located on the outer circumferential side. The parts located on both sides of the flexible substrate that need to be connected are connected by interlayer connection parts 8. When the number of waveform wiring 7 is greater than or equal to 2, the waveform wiring 7 are connected sequentially, and the current propagation direction of the connected waveform wiring 7 is opposite. For example, the current propagation direction of one waveform wiring is from left to right in the flexible circuit, and the current propagation direction of the other connected waveform wiring is from right to left in the flexible circuit. Each wiring has multiple sub-conductive regions located on the inner circumferential side and multiple sub-conductive regions located on the outer circumferential side in the cross section of the flexible circuit, and each sub-conductive region is staggered in the circumferential direction. The conductive region between the first layer and the last layer includes two sub-conductive regions that overlap in the radial direction of the motor. Alternatively, excluding the beginning and end, the conductive area includes two sub-conductive areas that overlap in the radial direction of the motor. This wiring method, while ensuring that the angle between the starting point of the nth (e)th conductive area and the arc length of the extension line of the starting point of the 1st (1st)th conductive area in the nth equivalent layer is β≤n*50 / p°, results in a higher motor density, enabling a smaller motor to have higher performance and further improving motor performance, increasing electromagnetic torque and efficiency under the same current. Specific Implementation Example 1 Reference Figure 21 , Figure 21 This is a specific embodiment of a motor having 5 equivalent layers, each with 54 conductive areas. Since the motor is formed by winding, it has a multi-layered structure. To more clearly describe the structure of each layer, the first equivalent layer is defined as the innermost ring, the fifth equivalent layer as the outermost ring, and the conductive areas of each layer are spaced apart along the circumferential direction. The first conductive area of ​​the first equivalent layer is defined as the 1st (1st) segment conductive area, the last conductive area as the 1st (eth) segment conductive area, and the first conductive area of ​​the next layer is the last conductive area of ​​each layer. The last conductive area of ​​the nth equivalent layer is defined as the nth (eth) segment conductive area. In this embodiment, the width of each conductive area varies, and the angle β between the starting point of the nth (eth) segment conductive area and the starting point of the 1st (1st) segment conductive area in the first circumferential direction corresponding to the arc length of the nth layer is 20°. Figure 21As can be seen, the angle β between the starting point of the conductive region of the nth (e)th conductive region and the starting point of the conductive region of the 1st (1st)th conductive region is 23°, while 30n / p, n=5, p=4, 30n / p=37.5°, and β is less than 37.5°. In this embodiment, the width of each conductive region is varied, and CT scanning of the flexible circuit device is performed to obtain... Figure 21 The diagram is shown below. In this embodiment, the wiring method is the wave-wound method described above.

[0088] Comparative Example according to Figure 22 The embodiments shown have the same conditions regarding layers, number of electrode pairs, radius, etc., and each conductive region is subjected to [further details needed]. Figure 21 The same width variation is achieved, but by controlling the angle β between the starting point of the nth (e)th conductive segment and the starting point of the 1st (1st) conductive segment to be 70°, it is made greater than 50n / p. A CT scan of the flexible circuit device in this comparative example is performed to obtain... Figure 22 The diagram shown is shown below.

[0089] The flexible circuit components of Specific Embodiment 1 and the Comparative Example were assembled into a motor prototype, with all other components being identical. The motor prototypes of Specific Embodiment 1 and the Comparative Example were tested using a dynamometer. It was found that under the same test conditions, the motor prototype of Specific Embodiment 1 had significantly higher efficiency and greater stall torque.

[0090] It should be noted that the specific embodiments described above illustrate the principles and implementation methods of this application, and the descriptions of the embodiments are only for the purpose of helping to understand this application. It should be pointed out that for those skilled in the art, several improvements and modifications can be made to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of this application.

Claims

1. An electric motor, characterized in that, The motor has a flexible circuit component, which is cylindrical in shape and has n equivalent layers, where n ≥ 2. On the cross-section of the flexible circuit component, each equivalent layer has multiple conductive regions. The first equivalent layer is defined as the innermost ring, and the nth equivalent layer as the outermost ring. The conductive regions of each equivalent layer are spaced apart along the circumferential direction. The first conductive region of the first equivalent layer is defined as the 1st (1)th conductive region, and the last conductive region is defined as the 1st (e)th conductive region. The last conductive region of each equivalent layer... Then, the first conductive region of the lower equivalent layer is the nth (e)th conductive region. The circumferential direction from the first conductive region of the lower equivalent layer to the last conductive region of the lower equivalent layer is the first circumferential direction. On the first circumferential direction and on the cross-section of the flexible circuit, the angle between the starting point of the nth (e)th conductive region and the arc length of the extension line of the starting point of the 1st (1)th conductive region on the nth equivalent layer is β, β≤n*50 / p°, where p is the pole pair number.

2. The motor according to claim 1, characterized in that, The flexible circuit device has a coil and a flexible substrate. The coil is formed on the flexible substrate, which includes n-turn substrate portions. The width of the conductive regions in the same equivalent layer is the same, with 5°≤β≤30n / p°.

3. The motor according to claim 1 or 2, characterized in that, Let z be a natural number greater than 1 and less than or equal to n. The first conductive region of the z-th equivalent layer is the z(1)th conductive region. The conductive regions of the layers adjacent to the z(1)th conductive region are the z+1(1)th ( ... The starting point of the conductive region is the arc length on the arc corresponding to the z+1 layer. The misalignment arc length between the z-1(1) segment and the z(1) segment is the extension line of the starting point of the z-1(1) segment and the arc length on the arc corresponding to the starting point of the z(1) segment on the z equivalent layer. The misalignment arc length between the z(1) segment and the z+1(1) segment is equal to the misalignment arc length between the z(1) segment and the z-1(1) segment.

4. The motor according to claim 1 or 2, characterized in that, Define z as a natural number greater than 1 and less than or equal to n. The z-th equivalent layer is located on the outer ring of the z-1-th equivalent layer. The last conductive area of ​​the z-th equivalent layer is the z(e)-th conductive area, and the last conductive area of ​​the z-1-th equivalent layer is the z-1(e)-th conductive area. On the cross-section of the flexible circuit, the misalignment arc length between the z-1(e)-th and z(e)-th conductive areas is the arc length of the starting point of the z-1(e)-th conductive area and the starting point of the z(e)-th conductive area on the arc corresponding to the z-th equivalent layer. Define the misalignment arc length as Δl, where Δl ≤ 5πr / 18p, and r is the average of the inner radius of the z-th equivalent layer and the outer radius of the z-1-th equivalent layer.

5. The motor according to claim 1 or 2, characterized in that, The number of conductive regions in each equivalent layer is equal, the spacing between adjacent conductive regions in different equivalent layers is equal, and the width of the conductive region in the nth equivalent layer is greater than the width of the conductive region in the (n-1)th equivalent layer.

6. The motor according to claim 5, characterized in that, Each equivalent layer has the same number of conductive regions. Each conductive region is numbered sequentially from the first to the last along the circumferential direction. The corresponding conductive regions of adjacent equivalent layers overlap in the radial direction. The spacing between adjacent conductive regions of different equivalent layers is equal. The width of the conductive regions of the same equivalent layer is equal. The width of the conductive region of the z-th equivalent layer is greater than the width of the conductive region of the (z-1)-th equivalent layer. From the 1st equivalent layer to the nth equivalent layer, the width of the conductive region gradually increases. The increase in the width of the conductive region of adjacent equivalent layers is defined as E, where E = 2k*π*h / m, k is 0.9-1.1, h is the thickness of the flexible circuit component, and m is the number of conductive regions in each equivalent layer.

7. The motor according to claim 1 or 2, characterized in that, Each equivalent layer has the same number of conductive regions. Each conductive region is numbered sequentially from the first conductive region to the last conductive region along the circumferential direction. The ratio of the radial overlap area of ​​the corresponding numbered conductive regions of the z-th equivalent layer and the z-1-th equivalent layer to the sum of the areas of all conductive regions of the z-1-th equivalent layer is Q. The spacing between adjacent conductive regions of the z-1-th equivalent layer is D1, and the spacing between adjacent conductive regions of the z-th equivalent layer is D2. Q = f((2πr - ΔLmax) / m - D2) / (2πr / m - D1), where Δlmax = 5πr / 18p, r represents the average value of the sum of the outer circumference radius of the z-1-th equivalent layer and the inner circumference radius of the z-th equivalent layer, 0.8 ≤ f ≤ 1.2, and m is the number of conductive regions in each equivalent layer.

8. The motor according to claim 1, characterized in that, Define z as a natural number greater than 1 and less than or equal to n. The number of conductive regions in each equivalent layer is equal. Each conductive region is numbered sequentially from the first to the last conductive region along the circumference. The conductive regions corresponding to adjacent equivalent layer numbers overlap in the radial direction. The spacing between adjacent conductive regions in different equivalent layers is not equal, and the spacing between the conductive regions in the (z+1)th equivalent layer is greater than the spacing between the conductive regions in the zth equivalent layer. The (z+1)th equivalent layer is located on the outer ring of the zth equivalent layer. The increase in the spacing between the conductive regions of adjacent equivalent layers is G, where G = 2T * π * h / m, h is the thickness of the flexible circuit component, T is 0.9-1.1, and m is the number of conductive regions in each equivalent layer.

9. The motor according to claim 1, 2, 6, or 8, characterized in that, The flexible substrate has an inner peripheral side and an outer peripheral side; the coil has two or more wirings, each wiring located on one of the inner peripheral side and / or the outer peripheral side, and each wiring has two or more conductive regions on the cross-section of the flexible circuit element; Alternatively, the coil may have two or more wirings, with the wirings arranged on both the inner and outer circumferential sides. On the cross-section of the flexible circuit element, each wiring has two or more conductive regions. Each conductive region includes a first sub-conductive region and a second sub-conductive region. The first sub-conductive region is located on the inner circumferential side, and the second sub-conductive region is located on the outer circumferential side. The first sub-conductive region and the second sub-conductive region are correspondingly arranged in the radial direction of the flexible circuit element, and the width of the first sub-conductive region and the width of the second sub-conductive region are equal.

10. The motor according to claim 1, 2, 6, or 8, characterized in that, The flexible substrate has an inner peripheral side and an outer peripheral side; the same coil of the same phase winding of the flexible circuit has two or more wirings, which are connected sequentially, with half of each wiring located on the inner peripheral side and the other half located on the outer peripheral side, and the portions of each wiring located on both sides of the flexible substrate are connected by interlayer connections penetrating the flexible substrate; the two or more wirings are arranged in a circumferential direction, and the interlayer connections are respectively on both sides of the axial direction of the motor, with the center of the interlayer connections on the same side located at the same cross section perpendicular to the axial direction of the flexible circuit; or the interlayer connections are arranged in the axial direction of the flexible circuit; each wiring has two sub-conductive regions in a cross section perpendicular to the axial direction of the flexible circuit, one sub-conductive region located on the inner peripheral side and the other sub-conductive region located on the outer peripheral side, and the two sub-conductive regions are staggered in the circumferential direction, and the conductive region between the first equivalent layer and the last equivalent layer includes two sub-conductive regions that overlap in the radial direction of the motor.

11. The motor according to claim 1, 2, 6, or 8, characterized in that, The flexible substrate has an inner circumferential side and an outer circumferential side; each phase winding of the flexible circuit has at least one waveform wiring, each waveform wiring is bounded by the two ends of each waveform wiring at the beginning and end in the circumferential direction, a part of each waveform wiring is located on the inner circumferential side and another part is located on the outer circumferential side, the parts located on both sides of the flexible substrate that need to be connected are connected through interlayer connection parts, when the number of waveform wirings is greater than or equal to 2, the waveform wirings are connected sequentially, the current travel direction of the connected waveform wirings is opposite, each waveform wiring has a plurality of sub-conductive regions located on the inner circumferential side and a plurality of sub-conductive regions located on the outer circumferential side in a cross section perpendicular to the axial direction of the flexible circuit, and each sub-conductive region is staggered in the circumferential direction, the conductive region between the first equivalent layer and the last equivalent layer includes two sub-conductive regions that overlap in the radial direction of the motor.

12. An actuator, characterized in that, The actuator has a drive module, a reduction module and a transmission module. The drive module has a motor according to any one of claims 1-11. The motor has a rotor assembly. At least a portion of the rotor assembly is located in the cavity of the flexible circuit element. The rotor assembly is drive-connected to the reduction module, and the reduction module is drive-connected to the transmission module.

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