Stator assembly, motor, integrated joint and robot

Abstract

The invention discloses a stator assembly, a motor, an integrated joint and a robot, and relates to the technical field of motors. The invention provides a stator assembly, which comprises a stator core, the stator core comprises an annular part and a plurality of stator teeth, the stator teeth extend along the radial direction of the annular part, two adjacent edges of two adjacent stator teeth are parallel, and a stator slot is formed between two adjacent stator teeth; the stator assembly further comprises a stator winding, the stator winding is formed by winding flat wires in a lap mode, the stator winding is arranged outside any stator tooth in a sleeving mode, and the flat wires are partially contained in the stator grooves. According to the stator assembly, the slot fullness rate of the stator slots of the stator assembly can be improved, so that the resistance and loss of the motor are reduced, and the heating value of the motor is reduced.

Description

Technical Field

[0001] This invention relates to the field of motor technology, and more specifically, to a stator assembly, a motor, an integrated joint, and a robot. Background Technology

[0002] With the widespread use of electric motors, users have increasingly higher requirements for motor performance. In the structural design of electric motors, slot fill factor refers to the proportion of space occupied by the conductors of the stator windings in the stator slots in the cross-section along the axial direction of the stator assembly after the stator windings of the stator assembly are wound around the stator teeth and housed in the stator slots.

[0003] Currently, the stator windings inside the motor are usually wound with circular cross-section wires. There are always gaps between the circular cross-section wires, and the slot area corresponding to these gaps cannot be effectively utilized, thereby reducing the space utilization rate in the stator slots. In addition, in order to adapt to automated production, a certain amount of space needs to be reserved in the middle of the stator slots, which further reduces the space utilization rate in the stator slots, with a slot fill factor of only 20% to 30%.

[0004] When the stator slot fill factor is low, the conductor cross-section in the motor is smaller, which increases the motor's resistance and losses, leading to increased heat generation. Since motors are typically installed inside the robot's housing in confined spaces with poor airflow and high integration, heat dissipation is extremely difficult. This often prevents the robot from operating for extended periods, supporting continuous motion or heavy loads, frequently resulting in overheating shutdowns and even motor burnout. Summary of the Invention

[0005] The purpose of this invention is to provide a stator assembly, a motor, an integrated joint, and a robot that can improve the slot fill factor of the stator slots, thereby reducing the resistance and loss of the motor, and improving the heat dissipation performance and reliability of the motor.

[0006] The embodiments of the present invention are implemented as follows:

[0007] In one aspect, the present invention provides a stator assembly for an external rotor motor, comprising a stator core, the stator core including an annular portion and a plurality of stator teeth, the stator teeth extending radially outward along the annular portion and gradually increasing in width, the two adjacent sides of two adjacent stator teeth being parallel, and a stator slot being formed between two adjacent stator teeth; the stator assembly further includes a stator winding, the stator winding being formed by overlapping flat wires, the stator winding being sleeved outside any stator tooth, and the flat wire portion being accommodated within the stator slot.

[0008] Optionally, any stator winding includes multiple turns of flat wire wound sequentially along the extension direction of the stator teeth, with the circumference of the multiple turns of flat wire gradually increasing along the extension direction of the stator teeth, so that the cross-section of the stator winding along the extension direction of the stator teeth is an isosceles trapezoid.

[0009] Optionally, the flat wire includes a body and a first connecting part and a second connecting part respectively disposed at opposite ends of the body. The first connecting part and the second connecting part are used to connect with the PCB board of the motor. An insulating layer is sleeved on the body, and the body is wrapped multiple times to fit on the outer wall of the stator teeth.

[0010] Alternatively, the stator core is made of multiple layers of silicon steel sheets.

[0011] Optionally, the stator core includes a first lamination and a second lamination. The first lamination is annular, and multiple grooves are spaced along the circumferential direction of the first lamination on its outer periphery. The grooves are used to engage the second lamination to form stator teeth. One end of the second lamination engages with the first lamination, and the other end extends outward along the radial direction of the first lamination. The width of the second lamination gradually increases outward along the radial direction of the first lamination.

[0012] Optionally, a limiting portion is provided at the end of the second lamination away from the first lamination. The limiting portion extends circumferentially, and the limiting portions of two adjacent second laminations are not connected.

[0013] In another aspect, the present invention provides a stator assembly for an internal rotor motor, comprising a stator core, the stator core including an annular portion and a plurality of stator teeth, the stator teeth extending radially inward along the annular portion and gradually decreasing in width, the two adjacent sides of two adjacent stator teeth being parallel, and a stator slot being formed between two adjacent stator teeth; the stator assembly further includes a stator winding, the stator winding being formed by lapped flat wires, the stator winding being sleeved outside any stator tooth and partially accommodated within the stator slot.

[0014] Optionally, any stator winding includes multiple turns of flat wire wound sequentially along the extension direction of the stator teeth. The circumference of the multiple turns of flat wire gradually decreases along the extension direction of the stator teeth, so that the cross-section of the stator winding along the extension direction of the stator teeth is an isosceles trapezoid.

[0015] Optionally, the flat wire includes a body and a first connecting part and a second connecting part respectively disposed at opposite ends of the body. The first connecting part and the second connecting part are used to connect with the PCB board of the motor. An insulating layer is sleeved on the body, and the body is wrapped multiple times to fit on the outer wall of the stator teeth.

[0016] Alternatively, the stator core is made of multiple layers of silicon steel sheets.

[0017] Optionally, the stator core includes a first lamination and a second lamination. The first lamination is annular, and a plurality of grooves are provided at intervals along the circumferential direction of the inner circumference of the first lamination. The grooves are used to engage the second lamination to form stator teeth. One end of the second lamination is engaged with the first lamination, and the other end extends inward along the radial direction of the first lamination. The width of the second lamination gradually decreases inward along the radial direction of the first lamination.

[0018] Optionally, a limiting portion is provided at the end of the second lamination away from the first lamination. The limiting portion extends circumferentially, and the limiting portions of two adjacent second laminations are not connected.

[0019] In another aspect, the present invention provides an external rotor motor, including a rotor, a PCB board, and a stator assembly for use in the external rotor motor. The rotor is disposed on the outer periphery of the stator assembly. The PCB board and the stator assembly are stacked. The PCB board has a plurality of wire holes, and the inner edge of the wire holes is provided with conductive material. The stator winding of the stator assembly can be electrically connected to the wires in the PCB board through the wire holes.

[0020] Optionally, multiple through holes on the PCB are arranged at intervals to form a first ring and a second ring concentrically. The diameter of the first ring is smaller than the diameter of the second ring, and the through holes of the first ring correspond one-to-one with those of the second ring. The stator winding is formed by stacking flat wires. The flat wire includes a body and a first connecting part and a second connecting part respectively disposed at opposite ends of the body. The first connecting part is the connecting part closer to the center of the stator assembly, and the second connecting part is the connecting part farther from the center of the stator assembly. The first connecting part can be electrically connected to the conductors in the PCB through the through holes of the first ring, and the second connecting part can be electrically connected to the conductors in the PCB through the through holes of the second ring.

[0021] In another aspect, the present invention provides an internal rotor motor, including a rotor, a PCB board, and a stator assembly for use in the internal rotor motor, wherein the rotor is disposed inside the stator assembly; the PCB board and the stator assembly are stacked, and the PCB board has a plurality of wire holes, the inner edge of which is provided with conductive material, and the stator winding of the stator assembly can be electrically connected to the wires in the PCB board through the wire holes.

[0022] Optionally, multiple through holes on the PCB are arranged at intervals to form a first ring and a second ring concentrically. The diameter of the first ring is smaller than the diameter of the second ring, and the through holes of the first ring correspond one-to-one with those of the second ring. The stator winding is formed by stacking flat wires. The flat wire includes a body and a first connecting part and a second connecting part respectively disposed at opposite ends of the body. The first connecting part is the connecting part closer to the center of the stator assembly, and the second connecting part is the connecting part farther from the center of the stator assembly. The first connecting part can be electrically connected to the conductors in the PCB through the through holes of the first ring, and the second connecting part can be electrically connected to the conductors in the PCB through the through holes of the second ring.

[0023] In another aspect, the present invention provides an integrated joint including the aforementioned external rotor motor.

[0024] In another aspect, the present invention provides an integrated joint including the aforementioned internal rotor motor.

[0025] In another aspect, the present invention provides a robot comprising the aforementioned integrated joint.

[0026] The beneficial effects of the present invention include at least one of the following:

[0027] The stator assembly provided in this application effectively improves the space utilization rate in the stator slots, increases the conductor cross-section in the motor, and can improve the slot fill factor of the stator assembly, thereby reducing the motor resistance and loss, and thus reducing the heat generation of the motor.

[0028] The motor provided in this application, including the stator assembly described above, can reduce resistance and losses compared to existing motors while maintaining the same stator core stacking thickness and output torque. This reduces the heat generated by the motor and improves its service life and reliability.

[0029] The integrated joint provided in this application, including the aforementioned motor, is capable of continuous operation, achieving high-load operation, and improving working time and reliability.

[0030] The robot provided in this application, including the aforementioned integrated joint, is capable of continuous movement through the integrated joint, enabling it to perform high-load movements, thereby improving working time and reliability. Attached Figure Description

[0031] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a schematic diagram of the connection between the stator assembly and the PCB board of the motor provided in an embodiment of the present invention;

[0033] Figure 2 This is a schematic diagram of the stator winding structure of the stator assembly provided in an embodiment of the present invention;

[0034] Figure 3 This is a schematic diagram of the stator teeth of the stator assembly provided in an embodiment of the present invention;

[0035] Figure 4 This is a schematic diagram of the structure of the second lamination of the stator assembly provided in an embodiment of the present invention;

[0036] Figure 5 This is a schematic diagram of the assembly of the stator winding and stator teeth of the stator assembly provided in an embodiment of the present invention;

[0037] Figure 6 This is a schematic diagram of the structure of the first lamination of the stator assembly provided in an embodiment of the present invention;

[0038] Figure 7 This is a schematic diagram of a structure in which multiple first laminations are stacked, as provided in an embodiment of the present invention.

[0039] Figure 8 This is a top view of the stator core of a stator assembly for an external rotor motor provided in an embodiment of the present invention;

[0040] Figure 9 This is a schematic diagram of a stator winding disposed in a stator slot in a stator core according to an embodiment of the present invention.

[0041] Figure 10 This is a top view of the stator core of a stator assembly for an internal rotor motor, provided in an embodiment of the present invention.

[0042] Icons: 100-Stator assembly; 110-Stator core; 111-Stator tooth; 112-Stator slot; 120-Stator winding; 121-Flat wire; 1211-Body; 1212-First connecting part; 1213-Second connecting part; 131-First lamination; 1311-Groove; 132-Second lamination; 1321-Limiting part; 210-PCB board; 211-Wire through hole. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0044] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0045] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0046] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0047] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0048] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0049] Please refer to Figure 1 In one aspect of this embodiment, a stator assembly 100 for an external rotor motor is provided, including a stator core 110. The stator core 110 includes an annular portion and a plurality of stator teeth 111. The stator teeth 111 extend radially outward along the annular portion and gradually increase in width. The two adjacent sides of two adjacent stator teeth 111 are parallel, and a stator slot 112 is formed between two adjacent stator teeth 111. The stator assembly 100 also includes a stator winding 120, which is formed by folding flat wires 121. The stator winding 120 is sleeved outside any stator tooth 111 and partially accommodated in the stator slot 112.

[0050] Specifically, such as Figure 1As shown, the stator assembly 100 provided in this application is applied to an external rotor motor. The stator assembly 100 includes a stator core 110 and a stator winding 120. The stator core 110 includes a plurality of stator teeth 111, and a stator slot 112 is formed between any two adjacent stator teeth 111. The stator winding 120 is formed by winding flat wire 121 on the stator teeth 111 and is accommodated in the stator slot 112.

[0051] In one alternative embodiment of this application, the stator core 110 is composed of multiple layers of silicon steel sheets, all of which have identical shape, size, and structural dimensions. Of course, in addition to silicon steel sheets, other materials with superior magnetic field properties can also be used, such as cold-rolled steel sheets or other similar materials.

[0052] A stator winding 120 is wound around the outer periphery of the stator teeth 111. Since a stator slot 112 is formed between two adjacent stator teeth 111, when the stator winding 120 is wound around the outer periphery of the stator teeth 111, part of it is accommodated in the stator slot 112. Two stator windings 120 wound on two adjacent stator teeth 111 are respectively accommodated on both sides of the stator slot 112.

[0053] To maximize the slot fill factor of stator slot 112, stator assembly 100 is formed by cascading flat wires 121. The cross-section of flat wires 121 is rectangular. Therefore, when flat wires 121 are cascaded multiple times, compared with existing round wires, the gaps between each turn of flat wires 121 in the stator winding 120 of this application are smaller. Each turn of flat wires 121 is closely adjacent to each other, leaving only a small assembly gap, which maximizes the space utilization of stator slot 112. Compared with existing stator assembly 100, the slot fill factor of stator slot 112 is increased, thereby reducing the resistance and loss of the motor, and thus reducing the heat generation of the motor.

[0054] It should be noted that, in one possible implementation of this application, such as Figure 2 and Figure 5 As shown, the flat wire 121 includes a body 1211 and a first connecting part 1212 and a second connecting part 1213 respectively disposed at opposite ends of the body 1211. The first connecting part 1212 and the second connecting part 1213 are used to connect with the PCB board 210 of the motor. An insulating layer is sleeved on the body 1211, and the body 1211 is wound multiple times to fit on the outer wall of the stator tooth 111.

[0055] Specifically, to facilitate soldering of the stator winding 120 and the PCB board 210, such as Figure 2 and Figure 5As shown, the flat wire 121 has three parts arranged sequentially: a first connecting portion 1212, a body 1211, and a second connecting portion 1213. The body 1211 is wound around the outer periphery of the stator teeth 111, while the first connecting portion 1212 and the second connecting portion 1213 are respectively located at opposite ends of the body 1211. Both the first connecting portion 1212 and the second connecting portion 1213 have a preset length to facilitate soldering to the PCB board 210. An insulating layer is provided around the outer periphery of the body 1211 to effectively improve the insulation strength and voltage withstand capability of the stator winding 120. To ensure the reliability of the connection between the stator assembly 100 and the PCB board 210, no insulating layer is provided at the ends of the first connecting portion 1212 and the second connecting portion 1213.

[0056] During the process of winding the flat wire 121 to form the stator winding 120, a mold adapted to the structure of the stator teeth 111 is required to facilitate the winding and forming of the flat wire 121 so as to quickly and efficiently assemble it with the stator teeth 111. The flat wire 121 is wound to form a preset number of turns according to the specific production requirements of the stator assembly 100. This application does not impose any limitation on the number of turns of the flat wire 121.

[0057] The stator assembly 100 is formed by lapping flat wires 121 to form a stator winding 120, which can improve the slot fill factor of the stator slots 112 of the stator assembly 100, thereby reducing the resistance and loss of the motor, and thus reducing the heat generation of the motor.

[0058] To increase the magnetic flux of the stator assembly 100 and effectively reduce the magnetic reluctance, for example, such as Figure 8 As shown, the stator slot 112 is a rectangular slot extending radially. The stator slot 112 is formed between two adjacent stator teeth 111. Therefore, the structure of the rectangular slot can be changed by adjusting the structure of the stator teeth 111.

[0059] Existing stator teeth are typically straight plates. Because the stator teeth are arranged at circumferential intervals, the stator slots between adjacent teeth exhibit a gradually decreasing slot width due to the circumferential arrangement; for example... Figure 3 and Figure 6 As shown, the tooth width of the stator tooth 111 in this application gradually increases from the inside to the outside along the radial direction of the stator core 110 to form an isosceles trapezoidal structure. Therefore, the stator slot 112 between two adjacent stator teeth 111 is affected by the circumferential arrangement, so that the two sides of the stator slot 112 are parallel to each other, thus forming a rectangular slot structure.

[0060] By setting the rectangular slots, the effective tooth width of the stator teeth 111 is increased, which can effectively reduce magnetic resistance, increase magnetic flux, and thus improve the torque performance of the motor. Under the same performance requirements, the size and weight of the motor can be reduced; at the same time, the magnetic flux density and iron loss are reduced.

[0061] Furthermore, any stator winding 120 includes multiple turns of flat wire 121 wound sequentially along the extension direction of the stator teeth 111. Since the tooth width of the stator teeth 111 gradually increases from the inside to the outside along the radial direction of the stator core 110, forming an isosceles trapezoidal structure, the circumference of the multiple turns of flat wire 121 gradually increases along the extension direction of the stator teeth 111, so that the cross-section of the stator winding 120 along the radial direction of the stator core 110 is an isosceles trapezoid, such as... Figure 9 As shown.

[0062] In one possible implementation of this application, please refer to Figure 3 , Figure 4 , Figure 6 and Figure 7 The stator core 110 includes a first lamination 131 and a second lamination 132. The first lamination 131 is annular, and a plurality of grooves 1311 are provided at intervals along the circumferential direction of the first lamination 131. The grooves 1311 are used to engage the second lamination 132 to form stator teeth 111. One end of the second lamination 132 is engaged with the first lamination 131, and the other end extends outward along the radial direction of the first lamination 131. The width of the second lamination 132 gradually increases outward along the radial direction of the first lamination 131.

[0063] Specifically, the stator core 110 is composed of multiple first laminations 131 and second laminations 132, such as Figure 6 and Figure 7 As shown, the first lamination 131 has a ring structure with a hollow circular through hole in its center. When multiple first laminations 131 are stacked, the circular through hole in its center can form a receiving cavity. Multiple grooves 1311 are provided at intervals along the circumferential direction of the first lamination 131. The multiple grooves 1311 are evenly distributed on the outer wall of the first lamination 131, and each groove 1311 is used to accommodate a second lamination 132.

[0064] like Figure 3 and Figure 4 As shown, the width of the second lamination 132 gradually increases outward along the radial direction of the first lamination 131 to form an isosceles trapezoidal structure. When multiple layers of silicon steel sheets are stacked to form the stator core 110, multiple second laminations 132 are stacked to form stator teeth 111. The second laminations 132 are arranged in an isosceles trapezoidal structure to cooperate with the circumferential structure so that the stator slots 112 between two adjacent stator teeth 111 form grooves 1311, thereby increasing the magnetic flux of the stator assembly 100 and effectively reducing the magnetic resistance.

[0065] To facilitate the stable engagement of the second lamination 132 with the groove 1311 of the first lamination 131, the width of the side of the second lamination 132 closest to the first lamination 131 is adapted to the groove width of the groove 1311. This ensures that after the stator winding 120 is wound around the outer wall of the second lamination 132, the second lamination 132 can carry the stator winding 120 and stably engage it with the groove 1311 of the first lamination 131 through the end of the second lamination 132.

[0066] Furthermore, since a stator winding 120 formed by overlapping flat wires 121 is wound around the middle of the second lamination 132, in order to prevent the stator winding 120 from falling off, and at the same time ensure that the gap between two adjacent turns of flat wires 121 of the stator winding 120 is small enough, such as... Figure 4 As shown, a limiting portion 1321 is provided at the end of the second lamination 132 away from the first lamination 131. The limiting portion 1321 extends circumferentially, and the limiting portions 1321 of adjacent second laminations 132 are not connected, so as to limit and fix the stator winding 120. This not only prevents the stator winding 120 from falling off, but also ensures that the adjacent two turns of flat wire 121 of the stator winding 120 are always in close contact, thereby improving the slot fill factor of the stator slot 112. Preferably, the limiting portion 1321 is perpendicularly connected to the end of the second lamination 132.

[0067] It should be noted that in the stator assembly 100 described above, each stator tooth 111 is wound with a stator winding 120. The stator winding 120 may include a stator main winding and a stator auxiliary winding. The stator main winding may include an A-phase stator main winding, a B-phase stator main winding, and a C-phase stator main winding. The stator auxiliary winding may include an A-phase stator auxiliary winding, a B-phase stator auxiliary winding, and a C-phase stator auxiliary winding, so as to facilitate connection with the PCB board 210 to form a three-phase motor. Correspondingly, the number of stator teeth 111 is a multiple of 3.

[0068] In one specific embodiment of this application, the stator assembly 100 is formed by stacking 132 layers of silicon steel sheets. Each layer of silicon steel sheets includes one first lamination 131 and a plurality of second laminations 132 evenly distributed on the outer wall of the first lamination 131; to further achieve connection with the PCB board 210 to form a three-phase motor, the number of second laminations 132 is a multiple of 3. In this specific embodiment, such as... Figure 1 As shown, the number of second laminations 132 is 36. The first laminations 131 of 132 layers of silicon steel sheets are stacked to form an annular portion, and the second laminations 132 are stacked to form stator teeth 111. The stator assembly 100 is wound on the stator teeth 111. In a specific embodiment of this application, the stator winding 120 is obtained by winding 8 turns of flat wire 121, and the cross-section of the stator winding 120 is an isosceles trapezoid.

[0069] It should be noted that this application does not impose any restrictions on the number of silicon steel sheet layers, the specific number of second laminations 132, or the number of winding turns of the flat wire 121 in the stator assembly 100. The stator assembly 100 provided in this application can be adjusted accordingly according to specific production requirements.

[0070] In another aspect of the present invention, a stator assembly 100 for an internal rotor motor is provided, comprising a stator core 110, the stator core 110 including an annular portion and a plurality of stator teeth 111, the stator teeth 111 extending radially inward along the annular portion and gradually decreasing in width, the two adjacent sides of two adjacent stator teeth 111 being parallel, and a stator slot 112 being formed between two adjacent stator teeth 111; the stator assembly 100 further includes a stator winding 120, the stator winding 120 being formed by lapping flat wires 121, the stator winding 120 being sleeved outside any stator tooth 111 and partially accommodated within the stator slot 112.

[0071] Furthermore, any stator winding 120 includes multiple turns of flat wire 121 wound sequentially along the extension direction of the stator teeth 111. The circumference of the multiple turns of flat wire 121 gradually decreases along the extension direction of the stator teeth 111, so that the cross section of the stator winding 120 along the extension direction of the stator teeth 111 is an isosceles trapezoid.

[0072] The stator core 110 includes a first lamination 131 and a second lamination 132. The first lamination 131 is annular, and a plurality of grooves 1311 are provided at intervals along the circumference of the first lamination 131. The grooves 1311 are used to engage the second lamination 132 to form stator teeth 111. One end of the second lamination 132 is engaged with the first lamination 131, and the other end extends radially inward along the first lamination 131. The width of the second lamination 132 gradually decreases radially inward along the first lamination 131.

[0073] In the stator assembly 100 used in an external rotor motor, the opening direction of the stator slot 112 faces outward, such as... Figure 8 As shown; the stator assembly 100 applied to an internal rotor motor has stator slots 112 with their openings facing inwards, as... Figure 10 As shown. Apart from the structural differences mentioned above, the stator assembly 100 used in the internal rotor motor and the stator assembly 100 used in the external rotor motor are completely identical in structure, and will not be described again here. It should be noted that the same reference numerals are used for the same structural parts of the stator assembly 100 used in the internal rotor motor and the stator assembly 100 used in the external rotor motor in this application.

[0074] The stator assembly 100 applied to the internal rotor motor described above can improve the slot fill factor of the stator slots 112 of the stator assembly 100, thereby reducing the motor resistance and losses, and thus reducing the heat generated by the motor.

[0075] In another aspect of the present invention, an external rotor motor is provided, including a rotor, a PCB board 210, and a stator assembly 100 applied to the external rotor motor. The rotor is disposed on the outer periphery of the stator assembly 100. The PCB board 210 and the stator assembly 100 are stacked. The PCB board 210 has a plurality of wire holes 211. The inner edge of the wire holes 211 is provided with conductive material. The stator winding 120 of the stator assembly 100 can be electrically connected to the wires in the PCB board 210 through the wire holes 211.

[0076] Specifically, the external rotor motor includes a rotor and a stator assembly 100 for use with the external rotor motor. The rotor of the external rotor motor is disposed outside the stator assembly 100, and the openings of the stator slots 112 in the stator assembly 100 are oriented towards the rotor, allowing the rotor to rotate relative to the stator assembly 100. Please refer to [reference needed]. Figure 1 The external rotor motor also includes a PCB board 210, which is disposed on either side of the stator assembly 100. The surface of the PCB board 210 is perpendicular to the tooth surface of the stator teeth 111 of the stator assembly 100. The specific structure and beneficial effects of the stator assembly 100 have been described in detail above and will not be repeated here.

[0077] The PCB board 210 has multiple wires inside, which are used to connect to different types of stator windings 120 in parallel or series, and are divided into phase A, phase B and phase C.

[0078] To facilitate a stable connection between the stator winding 120 of the stator assembly 100 and the internal wires of the PCB board 210, multiple wire-passing holes 211 are provided on the surface of the PCB board 210, such as... Figure 1As shown, optionally, multiple wire holes 211 are arranged at intervals to form a first ring and a second ring concentrically arranged. The diameter of the first ring is smaller than the diameter of the second ring, and the wire holes 211 of the first ring correspond one-to-one with the wire holes 211 of the second ring. The stator winding 120 is formed by stacking flat wires 121. The flat wires 121 include a body 1211 and a first connecting portion 1212 and a second connecting portion 1213 respectively disposed at opposite ends of the body 1211. The first connecting portion 1212 is a connecting portion close to the center of the stator assembly 100, and the second connecting portion 1213 is a connecting portion away from the center of the stator assembly 100. The first connecting portion 1212 can be electrically connected to the wires in the PCB board 210 through the wire holes 211 of the first ring, and the second connecting portion 1213 can be electrically connected to the wires in the PCB board 210 through the wire holes 211 of the second ring. With this arrangement, the first connecting portion 1212 and the second connecting portion 1213 at opposite ends of the stator winding 120 each have a wire-passing hole 211. The first connecting portion 1212 and the second connecting portion 1213 of the stator winding 120 can pass through the wire-passing hole 211 to connect with the wires of the PCB board 210, making the connection process between the stator winding 120 and the PCB board 210 more orderly, simple, and reliable.

[0079] Because the wires inside the PCB board 210 are arranged according to the layout of the A-phase stator winding, B-phase stator winding, and C-phase stator winding, the first connection part 1212 and the second connection part 1213 of the stator winding 120 are respectively connected to the corresponding neatly arranged three-phase wires inside the PCB board 210 through the wire through hole 211. Furthermore, a safe insulation distance is provided between the wires, avoiding the insulation safety problems caused by direct contact between wires with voltage differences in traditional round wire motors, which can lead to accidental short circuits or insulation aging after long-term operation. Compared to existing external rotor motors, this stator assembly 100 configuration in the aforementioned external rotor motor reduces resistance and losses while maintaining the same stator core 110 stacking thickness and output torque, thereby reducing motor heat generation and improving motor lifespan and reliability.

[0080] In another aspect of the present invention, an internal rotor motor is provided, including a rotor, a PCB board 210, and a stator assembly 100 for use in the internal rotor motor. The rotor is disposed inside the stator assembly 100. The PCB board 210 and the stator assembly 100 are stacked. The PCB board 210 has a plurality of wire holes 211. The inner edge of the wire holes 211 is provided with conductive material. The stator winding 120 of the stator assembly 100 can be electrically connected to the wires in the PCB board 210 through the wire holes 211.

[0081] The remaining structural features of the internal rotor motor are the same as those of the external rotor motor, and will not be described again here. It should be noted that the same reference numerals are used for the identical structural parts of the internal rotor motor and the external rotor motor in this application.

[0082] By configuring the stator assembly 100, the aforementioned internal rotor motor, compared to existing internal rotor motors, can reduce resistance and losses while maintaining the same stator core 110 stacking thickness and output torque, thereby reducing motor heat generation and improving motor service life and reliability.

[0083] In another aspect of the present invention, an integrated joint (not shown in the figure) is also provided, including the aforementioned external rotor motor. Since the integrated joint has an internal rotor motor with low resistance, low loss and low heat generation, it can operate continuously, achieve high load operation, and improve working time and reliability.

[0084] In another aspect of the present invention, an integrated joint (not shown in the figure) is also provided, including the aforementioned internal rotor motor. Since the integrated joint has an internal rotor motor with low resistance, low loss and low heat generation, it can operate continuously, achieve high load operation, and improve working time and reliability.

[0085] In another aspect of the present invention, a robot (not shown in the figure) is also provided, including the aforementioned integrated joint.

[0086] Specifically, the robot may include multiple connecting arms, with adjacent connecting arms pivotally connected by corresponding integrated joints. The specific structure and beneficial effects of the integrated joints have been described in detail above and will not be repeated here.

[0087] Optionally, the robot also includes a gripper, one end of which is connected to a corresponding connecting arm. The robot can use the integrated joint to pivotally engage with the connecting arm to enable the gripper to grasp or place objects.

[0088] The robot described above can perform heavy-load movements through continuous motion of its integrated joints, thereby improving working time and reliability.

[0089] The above description is merely an optional embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0090] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present invention will not describe the various possible combinations separately.

Claims

1. A stator assembly for an external rotor motor, characterized in that, Includes a stator core (110), the stator core (110) includes an annular portion and a plurality of stator teeth (111), the stator teeth (111) extend radially outward along the annular portion and the width gradually increases, the two adjacent sides of two adjacent stator teeth (111) are parallel, and a stator slot (112) is formed between two adjacent stator teeth (111); The stator assembly (100) further includes a stator winding (120), which is formed by overlapping flat wires (121). The stator winding (120) is sleeved outside any of the stator teeth (111) and partially accommodated in the stator slot (112).

2. The stator assembly for an external rotor motor according to claim 1, characterized in that, Each of the stator windings (120) includes multiple turns of flat wire (121) wound sequentially along the extension direction of the stator teeth (111). The circumference of the multiple turns of flat wire (121) gradually increases along the extension direction of the stator teeth (111) so that the cross section of the stator winding (120) along the extension direction of the stator teeth (111) is an isosceles trapezoid.

3. The stator assembly for an external rotor motor according to claim 1, characterized in that, The flat wire (121) includes a body (1211) and a first connecting part (1212) and a second connecting part (1213) respectively disposed at opposite ends of the body (1211). The first connecting part (1212) and the second connecting part (1213) are used to connect with the PCB board (210) of the motor. An insulating layer is sleeved on the body (1211), and the body (1211) is wrapped multiple times to fit on the outer wall of the stator tooth (111).

4. The stator assembly for an external rotor motor according to any one of claims 1-3, characterized in that, The stator core (110) is made of multiple layers of silicon steel sheets.

5. The stator assembly for an external rotor motor according to any one of claims 1-3, characterized in that, The stator core (110) includes a first lamination (131) and a second lamination (132). The first lamination (131) is annular, and a plurality of grooves (1311) are provided at intervals along the circumferential direction of the first lamination (131). The grooves (1311) are used to engage the second lamination (132) to form the stator teeth (111). One end of the second lamination (132) is engaged with the first lamination (131), and the other end extends outward along the radial direction of the first lamination (131). The width of the second lamination (132) gradually increases outward along the radial direction of the first lamination (131).

6. The stator assembly for an external rotor motor according to claim 5, characterized in that, The second lamination (132) has a limiting part (1321) at one end away from the first lamination (131). The limiting part (1321) extends circumferentially, and the limiting parts (1321) of two adjacent second laminations (132) are not connected.

7. A stator assembly for use in an internal rotor motor, characterized in that, Includes a stator core (110), the stator core (110) includes an annular portion and a plurality of stator teeth (111), the stator teeth (111) extend radially inward along the annular portion and the width gradually decreases, the two adjacent sides of two adjacent stator teeth (111) are parallel, and a stator slot (112) is formed between two adjacent stator teeth (111); The stator assembly (100) further includes a stator winding (120), which is formed by overlapping flat wires (121). The stator winding (120) is sleeved outside any of the stator teeth (111) and partially accommodated in the stator slot (112).

8. The stator assembly for an internal rotor motor according to claim 7, characterized in that, Each of the stator windings (120) includes multiple turns of flat wire (121) wound sequentially along the extension direction of the stator teeth (111). The circumference of the multiple turns of flat wire (121) gradually decreases along the extension direction of the stator teeth (111) so that the cross section of the stator winding (120) along the extension direction of the stator teeth (111) is an isosceles trapezoid.

9. The stator assembly for an internal rotor motor according to claim 7, characterized in that, The flat wire (121) includes a body (1211) and a first connecting part (1212) and a second connecting part (1213) respectively disposed at opposite ends of the body (1211). The first connecting part (1212) and the second connecting part (1213) are used to connect with the PCB board (210) of the motor. An insulating layer is sleeved on the body (1211), and the body (1211) is wrapped multiple times to fit on the outer wall of the stator tooth (111).

10. The stator assembly for an internal rotor motor according to any one of claims 7-9, characterized in that, The stator core (110) is made of multiple layers of silicon steel sheets.

11. The stator assembly for an internal rotor motor according to any one of claims 7-9, characterized in that, The stator core (110) includes a first lamination (131) and a second lamination (132). The first lamination (131) is annular. The inner circumference of the first lamination (131) is provided with a plurality of grooves (1311) spaced apart along the circumferential direction of the first lamination (131). The grooves (1311) are used to engage the second lamination (132) to form the stator teeth (111). One end of the second lamination (132) is engaged with the first lamination (131), and the other end extends radially inward along the first lamination (131). The width of the second lamination (132) gradually decreases radially inward along the first lamination (131).

12. The stator assembly for an internal rotor motor according to claim 11, characterized in that, The second lamination (132) has a limiting part (1321) at one end away from the first lamination (131). The limiting part (1321) extends circumferentially, and the limiting parts (1321) of two adjacent second laminations (132) are not connected.

13. An external rotor motor, characterized in that, It includes a rotor, a PCB board (210), and a stator assembly (100) as described in any one of claims 1-6, wherein the rotor is disposed on the outer periphery of the stator assembly (100); The PCB board (210) and the stator assembly (100) are stacked. The PCB board (210) has a plurality of wire holes (211). The inner edge of the wire holes (211) is provided with conductive material. The stator winding (120) of the stator assembly (100) can be electrically connected to the wires in the PCB board (210) through the wire holes (211).

14. The external rotor motor according to claim 13, characterized in that, The plurality of through holes (211) opened on the PCB board (210) are arranged at intervals to form a first ring and a second ring arranged concentrically. The diameter of the first ring is smaller than the diameter of the second ring, and the through holes (211) of the first ring correspond one-to-one with the through holes (211) of the second ring. The stator winding (120) is formed by overlapping flat wires (121). The flat wires (121) include a body (1211) and a first connecting portion (1212) and a second connecting portion (1213) respectively disposed at opposite ends of the body (1211). The first connecting portion (1212) is a connecting portion close to the center of the stator assembly (100), and the second connecting portion (1213) is a connecting portion away from the center of the stator assembly (100). The first connecting part (1212) can be electrically connected to the wires in the PCB board (210) through the wire hole (211) of the first ring, and the second connecting part (1213) can be electrically connected to the wires in the PCB board (210) through the wire hole (211) of the second ring.

15. An internal rotor motor, characterized in that, It includes a rotor, a PCB board (210), and a stator assembly (100) as described in any one of claims 7-12, wherein the rotor is disposed inside the stator assembly (100); The PCB board (210) and the stator assembly (100) are stacked. The PCB board (210) has a plurality of wire holes (211). The inner edge of the wire holes (211) is provided with conductive material. The stator winding (120) of the stator assembly (100) can be electrically connected to the wires in the PCB board (210) through the wire holes (211).

16. The internal rotor motor according to claim 15, characterized in that, The plurality of through holes (211) opened on the PCB board (210) are arranged at intervals to form a first ring and a second ring arranged concentrically. The diameter of the first ring is smaller than the diameter of the second ring, and the through holes (211) of the first ring correspond one-to-one with the through holes (211) of the second ring. The stator winding (120) is formed by overlapping flat wires (121). The flat wires (121) include a body (1211) and a first connecting portion (1212) and a second connecting portion (1213) respectively disposed at opposite ends of the body (1211). The first connecting portion (1212) is a connecting portion close to the center of the stator assembly (100), and the second connecting portion (1213) is a connecting portion away from the center of the stator assembly (100). The first connecting part (1212) can be electrically connected to the wires in the PCB board (210) through the wire hole (211) of the first ring, and the second connecting part (1213) can be electrically connected to the wires in the PCB board (210) through the wire hole (211) of the second ring.

17. An integrated joint, characterized in that, Includes the external rotor motor as described in claim 13 or 14.

18. An integrated joint, characterized in that, Including the internal rotor motor as described in claim 15 or 16.

19. A robot, characterized in that, Includes the integrated joint as described in claim 17.

20. A robot, characterized in that, Includes the integrated joint as described in claim 18.

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