An open motor stator and assembly method, motor, machine joint

Abstract

The application discloses an open motor stator and an assembling method, a motor and a machine joint, and relates to the technical field of frameless torque motors. The motor stator comprises a stator core and a coil assembly. The stator core comprises a plurality of stampings which are laminated in the axial direction. Each stamping comprises a split magnetic yoke and a spoke tooth. The spoke tooth comprises a first end and a second end in the length direction. The first end is close to the magnetic yoke, and the second end is connected with a pole shoe. In the circumferential direction of the stamping, the shortest distance between the second ends of two adjacent spoke teeth is greater than the width of the spoke tooth. In the axial direction of the stator core, the magnetic yokes in the stampings are laminated to form a magnetic yoke assembly, and the spoke teeth in the stampings are laminated to form a spoke tooth assembly. The magnetic yoke assembly and the spoke tooth assembly are in radial interference fit. The coil assembly comprises a winding coil and a coil holder. The winding coil is wound on the coil holder, and the coil holder is sleeved on the laminated spoke tooth assembly. The motor stator has high assembling efficiency, and the winding is fixed firmly, which helps to improve the operation stability of the motor.

Description

Technical Field

[0001] This invention relates to the field of frameless torque motor technology, specifically to an open-type motor stator and assembly method, a motor, and a machine joint. Background Technology

[0002] A frameless torque motor is a special type of servo motor that eliminates the shaft, bearings, and housing of a traditional motor, consisting only of two core components: a rotor and a stator. It can be directly embedded into the mechanical structure of equipment. High-precision frameless torque motors have extremely high requirements for the roundness, concentricity, and structural rigidity of the stator.

[0003] Currently, frameless torque motor stators generally adopt on-site winding technology, which has low production efficiency, high labor costs, and poor winding consistency. During motor operation, the windings are prone to loosening and displacement, which greatly shortens the motor's service life. In addition, the existing stator slot structure is only compatible with a single type of winding, which cannot meet the needs of different application scenarios.

[0004] Therefore, current motor stators suffer from technical problems such as low assembly efficiency, poor winding fixation reliability, and insufficient motor operation stability. Summary of the Invention

[0005] The purpose of this invention is to overcome the above-mentioned technical deficiencies and propose an open-type motor stator and assembly method, motor, and machine joint to solve the technical problems of low assembly efficiency, poor winding fixation reliability, and insufficient motor operation stability in the prior art.

[0006] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides an open-type motor stator, which includes a stator core and a coil assembly. The stator core includes multiple laminations stacked axially, each lamination including a separate magnetic yoke and spoke teeth. The spoke teeth include a first end and a second end along the length direction, the first end being close to the magnetic yoke, and the second end being connected to a pole shoe. Along the circumferential direction of the laminations, the shortest distance between the second ends of two adjacent spoke teeth is greater than the width of the spoke teeth. Along the axial direction of the stator core, the magnetic yokes in the laminations are stacked to form a magnetic yoke assembly, and the spoke teeth in the laminations are stacked to form a spoke tooth assembly. The magnetic yoke assembly and the spoke tooth assembly are radially interference-fitted. The coil assembly includes a wound coil and a coil frame, the wound coil being wound on the coil frame, and the coil frame being sleeved on the stacked spoke tooth assembly.

[0007] In some embodiments, the coil assembly further includes an insulating layer that covers the outer surface of the wound coil and the coil frame.

[0008] In some embodiments, the insulating layer is a polyimide film or an injection-molded insulating plastic layer, and the thickness T1 of the insulating layer satisfies 0.15mm≤T1≤1.2mm.

[0009] In some embodiments, along the circumferential direction of the lamination, the shortest distance L1 between the second ends of two adjacent spoke teeth and the width L2 of the spoke teeth satisfy 1.2≤L1 / L2≤1.5.

[0010] In some embodiments, the second end of the spoke tooth is provided with a guide chamfer, which is used to guide the coil assembly to be sleeved on the stacked spoke tooth assembly.

[0011] In some embodiments, the laminations are divided into first laminations and second laminations, with the second laminations spaced apart between a plurality of stacked first laminations; there is a gap between two circumferentially adjacent pole pieces of the first laminations; and a magnetic bridge for connection is provided between two circumferentially adjacent pole pieces of the second laminations.

[0012] In some embodiments, the radial interference Y between the magnetic yoke assembly and the spoke tooth assembly satisfies 0.03mm≤Y≤0.1mm; the pressing pressure F between the magnetic yoke assembly and the spoke tooth assembly satisfies 5MPa≤F≤10MPa.

[0013] Secondly, the present invention also provides an assembly method for an open-type motor stator, applied to the aforementioned motor stator. The assembly method includes: stacking laminations to prefabricate a spoke tooth assembly and a magnetic yoke assembly; winding a coil on a coil frame to prefabricate a coil assembly; applying an adhesive to the mating surfaces of the coil assembly and the spoke tooth assembly; fitting the coil assembly onto the stacked spoke tooth assembly to bond and fix the coil assembly to the spoke tooth assembly; and radially press the magnetic yoke assembly with the spoke tooth assembly fitted with the coil assembly to complete the motor stator assembly and inspection and acceptance.

[0014] Thirdly, the present invention also provides an electric motor, which includes the above-mentioned motor stator, motor rotor, and a radial clearance L3 between the outer circle of the motor rotor and the inner circle of the motor stator, satisfying 0.2mm≤L≤2mm.

[0015] Fourthly, the present invention also provides a machine joint comprising the aforementioned motor.

[0016] Compared with existing technologies, this invention provides an open-type motor stator, which adopts a separate structure of magnetic yoke and spoke teeth, forming an open large slot between the teeth. By combining the open large slot with a prefabricated modular coil assembly, the coil is pre-wound on the coil frame and the whole assembly is fitted onto the spoke tooth assembly, realizing prefabrication of winding and standardization of assembly. This structure can solve the problems of high difficulty, low efficiency and poor assembly consistency of traditional on-site winding, and can also be compatible with round wire and flat wire windings, with a wide range of applications. After the coil assembly is assembled, it is stably positioned, which can prevent the winding from loosening and shifting, effectively improving the motor's operating stability and extending the motor's life. Attached Figure Description

[0017] Figure 1 This is an exploded structural diagram of a motor stator provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the motor stator provided in an embodiment of the present invention; Figure 3 yes Figure 2 A magnified schematic diagram of part A in the middle section; Figure 4 This is a top view of the motor stator provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of the first lamination in the stator core provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of the second lamination in the stator core provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the motor stator assembly method provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of the structure of an electric motor provided in an embodiment of the present invention; Figure 9 This is a top view of the motor provided in an embodiment of the present invention.

[0018] Explanation of reference numerals in the attached figures: 10. Electric motor; 100. Motor stator; 200. Motor rotor; 110. Stator core; 110A. Yoke assembly; 110B. Spoke tooth assembly; 111. Lamination; 1111. Yoke; 1112. Spoke tooth; 1113. Pole shoe; 1114. Magnetic bridge; 1115. Guide chamfer; 112. First lamination; 113. Second lamination; 120. Coil assembly; 121. Winded coil; 122. Coil holder; 300. Assembly method. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0020] Frameless torque motors are a special type of servo motor that eliminates the shaft, bearings, and housing of traditional motors, consisting only of two core components: the rotor and the stator. They can be directly embedded into the mechanical structure of equipment. Currently, frameless torque motor stators are generally manufactured using on-site winding, which results in low production efficiency, high labor costs, and poor winding consistency. Furthermore, manually wound stators are prone to loosening and displacement during motor operation, significantly shortening the motor's lifespan. Therefore, current motor stators suffer from technical problems such as low assembly efficiency, poor winding fixation reliability, and insufficient motor operational stability.

[0021] To address the technical problems of low assembly efficiency, poor winding fixation reliability, and insufficient motor operation stability, this invention provides an open-type motor stator. This motor stator has high assembly efficiency and secure winding fixation, which helps to improve the motor's operation stability.

[0022] It should be noted that the open-type motor stator provided by this invention is used in, but not limited to, industrial robots, precision automation equipment, and other scenarios where the accuracy and stability of the motor are required. For ease of explanation, this invention will only use the application of the open-type motor stator in industrial robots as an example. The principle of the open-type motor stator in other types of equipment is essentially the same as that in industrial robots, and will not be described in detail here.

[0023] This invention provides an open-type motor stator 100, such as... Figures 1 to 6 As shown, the motor stator 100 includes a stator core 110 and a coil assembly 120. The stator core 110 includes multiple laminations 111 stacked axially. Each lamination 111 includes a separate magnetic yoke 1111 and spoke teeth 1112. The spoke teeth 1112 include a first end and a second end along their length. The first end is close to the magnetic yoke 1111, and the second end is connected to a pole shoe 1113. Along the circumference of the lamination 111, the shortest distance between the second ends of two adjacent spoke teeth 1112 is greater than the distance between the spoke teeth. The width of tooth 1112; along the axial direction of stator core 110, the magnetic yokes in lamination 111 are stacked to form magnetic yoke assembly 110A, and the spoke teeth in lamination 111 are stacked to form spoke tooth assembly 110B. Magnetic yoke assembly 110A and spoke tooth assembly 110B are radially interference fit; coil assembly 120 includes wound coil 121 and coil frame 122. Wound coil 121 is wound on coil frame 122, and coil frame 122 is sleeved on the stacked spoke tooth assembly 110B.

[0024] like Figure 2 and Figure 3 As shown, the stator core 110 is the core magnetic conductive component of the motor stator 100, responsible for magnetic field conduction and supporting the coil assembly 120. The stator core 110 is formed by stacking multiple laminations 111. The material of the laminations 111 is not limited, as long as it meets the usage requirements. Specific embodiments will be given later for explanation.

[0025] like Figure 1 and Figure 4 As shown, the stator core 110 consists of an outer ring magnetic yoke and an inner ring tooth base. The lamination 111 includes a separate magnetic yoke 1111 and spoke teeth 1112. The magnetic yoke 1111 in the lamination 111 is stacked to form a magnetic yoke assembly 110A, which is the outer ring magnetic yoke of the stator core 110. The spoke teeth 1112 in the lamination 111 are stacked to form a spoke tooth assembly 110B, which is the inner ring tooth base of the stator core 110. The magnetic yoke assembly 110A and the spoke tooth assembly 110B are produced using a separate stamping and stacking process, and then pressed together to ensure the overall structural rigidity.

[0026] The spoke tooth assembly 110B forms the inner ring tooth base and forms radial tooth grooves. The tooth grooves are surrounded by the circumferential gaps between adjacent spoke teeth 1112 on the lamination 111, forming an open large groove that is wider on the outside and narrower on the inside. The shortest distance between the outer ends (second ends) of adjacent spoke teeth 1112 is greater than the width of the spoke tooth 1112 body, which makes it convenient for the coil assembly 120 to be directly fitted into the spoke tooth assembly 110B from the outside.

[0027] For example, along the circumference of the lamination 111, the shortest distance L1 between the second ends of two adjacent spoke teeth 1112 and the width L2 of the spoke teeth satisfy 1.2 ≤ L1 / L2 ≤ 1.5. The ratio L1 / L2 of the shortest distance L1 between the second ends and the width L2 of the spoke teeth can specifically be 1.2, 1.3, 1.4, 1.5, or any value between any two adjacent values ​​mentioned above. Limiting this ratio to between 1.2 and 1.5 ensures sufficient assembly space for the slot opening, allowing the prefabricated coil assembly 120 to be smoothly fitted onto the spoke tooth assembly 110B from the outside without jamming during assembly. Furthermore, it prevents the slot size from being too large, which could reduce the structural strength of the spoke teeth and decrease the magnetic permeability, effectively reducing motor leakage flux and ensuring the motor's torque output performance.

[0028] It should be noted that the magnetic yoke assembly 110A and the spoke tooth assembly 110B are two independent parts, which realizes the open large slot design of the spoke tooth assembly. The pre-made coil assembly 120 can be directly embedded in the spoke tooth assembly 110B, and then the magnetic yoke assembly 110A is connected to the spoke tooth assembly 110B, thus eliminating the need for on-site winding and improving assembly efficiency.

[0029] like Figure 1 As shown, the coil assembly 120 includes a wound coil 121 and a coil frame 122. The wound coil 121 is sleeved on the coil frame 122. The wound coil 121 serves as the armature winding of the motor. When an alternating current is applied, an alternating magnetic field can be generated on the stator core 110. This alternating magnetic field interacts with the magnetic field of the rotor permanent magnet, thereby generating an electromagnetic torque that drives the motor to rotate.

[0030] The coil 121 is wound on the coil frame 122 to form a coil, which is either a flat wire coil or a round wire coil.

[0031] The coil frame 122 serves as a physical separator between the winding coil 121 and the stator core 110. Since the stator core 110 is a high-permeability metal core, while the winding coil 121 is made of conductive copper or aluminum wire, the coil frame 122 effectively prevents direct contact between the coil and the core, preventing the sharp edges of the core from scratching the coil's insulating varnish and causing a short circuit. The material of the coil frame 122 is not particularly limited, as long as it meets the requirements for high temperature resistance and electrical insulation. For example, a plastic coil frame 122 can reliably block the current path between the coil and the stator core, ensuring the electrical safety of the motor operation.

[0032] It should be noted that the number of turns, wire diameter, and winding method of the winding coil 121 directly determine the rated voltage, rated current, torque density, and operating efficiency of the motor. The winding coil 121 can be neatly wound onto the coil frame 122 according to a preset number of turns and shape, realizing the prefabrication of the coil assembly 120. During assembly, the prefabricated coil assembly 120 can be directly fitted onto the stacked spoke tooth assembly, greatly improving assembly efficiency. Compared with the process of directly winding the coil on the spoke tooth assembly, it can also avoid the scrapping of the entire stator due to the scrapping of a single coil, thereby reducing manufacturing costs and helping to improve the yield rate.

[0033] In this embodiment, a separate structure of magnetic yoke 1111 and spoke teeth 1112 is adopted, forming an open large slot between the teeth. By combining the open large slot with the prefabricated modular coil assembly, the coil is pre-wound on the coil frame and the whole assembly is mounted on the spoke tooth assembly 110B, realizing the prefabrication of winding and standardization of assembly. This structure can solve the problems of high difficulty, low efficiency and poor assembly consistency of traditional field winding, and can also be compatible with round wire and flat wire windings, with a wide range of applications. After the coil assembly 120 is assembled, it is firmly positioned, which can prevent the winding from loosening and shifting, effectively improving the stability of motor operation and extending the motor life.

[0034] Specifically, the motor stator provided by this invention has a simple structure and strong process versatility. Compared with ordinary frameless torque motors, the winding efficiency is improved by 35%, the mass production yield is improved by 20%, there are no loosening or displacement problems in the windings, the slot fill factor can reach 80%-85%, and the motor efficiency is improved by more than 20%, which is suitable for the upgrade requirements of the next generation of high-efficiency frameless torque motors.

[0035] In some embodiments, the coil assembly 120 further includes an insulating layer that covers the outer surface of the wound coil 121 and the coil holder 122.

[0036] Specifically, in this embodiment, in addition to the winding coil 121 and the coil frame 122, the coil assembly 120 also includes an insulating layer. The winding coil 121 is wound around the outside of the coil frame 122, and the insulating layer completely covers the entire outer surface of the winding coil 121 and the coil frame 122. The insulating layer can isolate the energized winding coil 121 from the metal spoke tooth assembly 110B, achieving insulation to ground and preventing short circuits. At the same time, it buffers the assembly compression, prevents the iron core edges from scratching the coil, and, together with the adhesive, secures the assembly, improving the insulation reliability of the motor operation.

[0037] In some embodiments, the insulating layer is a polyimide film or an injection-molded insulating plastic layer, and the thickness T1 of the insulating layer satisfies 0.15mm≤T1≤1.2mm.

[0038] Specifically, in this embodiment, the insulating layer can be formed by wrapping polyimide film; alternatively, it can be formed by injection molding of high-temperature resistant insulating plastic. Both methods can completely wrap the wound coil 121 and the coil frame 122. The thickness T1 of the insulating layer can be 0.15mm, 0.3mm, 0.5mm, 0.8mm, 1mm, 1.2mm, or any value between any two adjacent values ​​mentioned above. By limiting the thickness of the insulating layer to between 0.15mm and 1.2mm, both the insulation withstand voltage and scratch and wear resistance performance can be guaranteed, avoiding insulation damage and leakage during assembly and operation; it also allows for an assembly gap, ensuring that the coil assembly can be smoothly fitted onto the spoke tooth assembly, while not occupying the slot space and avoiding excessively low slot fill factor that would affect the electromagnetic performance of the motor.

[0039] In some embodiments, such as Figure 3 , Figure 5 and Figure 6 As shown, the lamination 111 is divided into a first lamination 112 and a second lamination 113. The second lamination 113 is spaced apart between the stacked first laminations 112. There is a gap between two adjacent pole pieces 1113 of the first lamination 112 in the circumferential direction. A magnetic bridge 1114 for connection is provided between two adjacent pole pieces 1113 of the second lamination 113 in the circumferential direction.

[0040] Specifically, in this embodiment, the first lamination 112 includes multiple magnetic yokes 1111 along the circumferential direction, and radial spokes 1112 that correspond one-to-one with and are evenly distributed with the magnetic yokes 1111. The spokes 1112 have pole shoes 1113 at their tips. The difference between the first lamination 112 and the second lamination 113 is that the pole shoes 1113 in the first lamination 112 are not connected, while the pole shoes 1113 in the second lamination 113 are connected by magnetic bridges 1114. A magnetic bridge is a silicon steel sheet area between two pole shoes used to guide the magnetic circuit and reduce magnetic leakage. Its main function is to guide magnetic flux through the air gap to form effective magnetic flux, thereby improving the utilization rate of the permanent magnet.

[0041] For example, the spoke teeth 1112 in the first lamination 112 are integrally formed with the pole shoe 1113.

[0042] For example, the spoke teeth 1112, pole shoes 1113 and magnetic bridge 1114 in the second lamination 113 are integrally formed.

[0043] For example, the thickness T2 of the magnetic bridge 1114 satisfies 0.3mm≤T2≤1.5mm; the thickness T2 of the lamination 111 satisfies 0.1mm≤T3≤0.5mm.

[0044] The arrangement of the second lamination 113 and the first lamination 112 is not limited; they can be arranged at uniform intervals or at non-uniform intervals.

[0045] In some embodiments, such as Figure 4 As shown, in the stator core 110, along the circumference of the laminations 111, the magnetic yokes 1111 of each lamination 111 are connected end to end in sequence, and the magnetic yoke assembly 110A has a continuous ring structure along the circumference, so that the outer ring of the stator core 110 forms a complete circle.

[0046] It should be noted that the magnetic yoke assembly 110A has a continuous ring structure along the circumference to ensure overall rigidity, so that the outer ring of the stator core 110 forms a complete circle; the pole shoes 1113 of the second lamination 113 in the spoke tooth assembly 110B are connected by magnetic bridge 1114, so that the inner ring of the stator core 110 also has a complete circle structure, thus forming a double complete circle configuration of the stator core 110, with a concentricity error ≤0.02mm and a roundness error ≤0.02mm. By adopting a double-circle split-press structure for the inner and outer rings, which differs from conventional integral stacking and segmented splicing stators, this structure, combined with a precision pressing process, breaks through the industry's technical bottleneck of balancing high precision with convenient winding and high rigidity. It simultaneously solves technical problems related to stator precision, structural rigidity, winding assembly, and magnetic circuit efficiency. This double-circle configuration can simultaneously ensure processing precision, structural rigidity, and convenient winding assembly, effectively reducing core iron loss and improving motor operating efficiency and stability. It is suitable for various high-end precision drive conditions and has strong operational stability.

[0047] In some embodiments, such as Figure 4 As shown, the lamination 111 is a silicon steel sheet. Along the circumference of the lamination 111, the number of spoke teeth 1112 of each lamination 111 is N1, which satisfies 9≤N1≤36.

[0048] Specifically, in this embodiment, lamination 111 is a silicon steel sheet, also known as electrical steel. It is a silicon-iron soft magnetic alloy with extremely low carbon content and 1.0%-4.5% silicon content, mainly used as the core of various motors, generators, and transformers. The silicon steel sheet can be, for example, a high-permeability silicon steel sheet. High-permeability silicon steel is a cold-rolled electrical steel with high magnetic permeability and low iron loss. Relying on the high permeability and low iron loss characteristics of silicon steel, stator eddy current and hysteresis losses are effectively reduced, improving motor efficiency. The number N1 of the spoke teeth 1112 of each lamination 111 can be 9, 12, 15, 18, 24, 32, 36, or any value between any two adjacent values ​​mentioned above. By setting the number of spoke teeth 1112 to 9-36, too few teeth will lead to excessive magnetic load on a single tooth, severe magnetic saturation, and increased torque fluctuation, while too many teeth will increase the difficulty of stamping and increase the cost of winding production. Reasonable arrangement of the number of teeth can balance magnetic load, tooth cogging torque and processing capability, make the air gap magnetic field distribution uniform, and output torque stable, which helps to adapt to various specifications of high-precision frameless torque motors.

[0049] In some embodiments, such as Figure 3 As shown, along the axial direction of the stator core 110, the total number of laminations 111 is N2, and the number of second laminations 113 is N3, satisfying 1 / 15≤N3 / N2≤1 / 3.

[0050] Specifically, in this embodiment, the second lamination 113 is a lamination with a thin-walled magnetic bridge. The ratio N3 / N2 of the number of second laminations 113 to the total number of laminations 111 can be 1 / 15, 1 / 12, 1 / 10, 1 / 8, 1 / 5, 1 / 3, or any value between any two adjacent values ​​mentioned above. For example, nine first laminations 112 are continuously stacked along the axial direction of the stator core 110, and then one second lamination 113 is stacked, with the proportion of the second lamination 113 being 1 / 10; or four first laminations 112 are continuously stacked along the axial direction of the stator core 110, and then one second lamination 113 is stacked, with the proportion of the second lamination 113 being 1 / 5. By limiting the proportion of the second lamination 113 to between 1 / 15 and 1 / 3, it is possible to prevent the number of magnetic bridges from becoming too many and creating a continuous magnetic bridge effect, thus avoiding magnetic leakage and rebound. It also ensures the minimum number of mechanical connection points, preventing the stator from axially dispersing, misaligning, or loosely stacking due to insufficient laminations with magnetic bridges. Furthermore, it allows for precise proportioning and control of motor performance. A proportion close to 1 / 3 emphasizes structural rigidity, making it suitable for heavy-duty impact joints; a proportion close to 1 / 15 emphasizes low loss, making it suitable for high-speed precision joints, thus significantly improving adaptability and flexibility.

[0051] In some embodiments, such as Figure 1 As shown, the second end of the spoke tooth 1112 is provided with a guide chamfer 1115, which is used to guide the coil assembly 120 to be sleeved on the stacked spoke tooth assembly 110B.

[0052] Specifically, in this embodiment, the lamination 111 has multiple radial spoke teeth 1112 evenly arranged circumferentially. The distance between the second ends of adjacent spoke teeth 1112 is the width of the open slot, which is wider than the width of the slot body. The second end of the spoke teeth 1112 is provided with a guide chamfer 1115. The chamfer angle can be determined according to actual needs, for example, a 45° chamfer. The guide chamfer 1115 can further expand the slot accommodating space, facilitating the assembly of modular windings. The guide chamfer 1115 has guiding and clearance functions. First, it eliminates jamming during the assembly of the coil frame 122, improving the smoothness of coil assembly. Second, it prevents the hard edges of the coil frame 122 from scratching the insulating varnish film of the iron core, preventing inter-turn short circuits and iron core leakage, and improving the insulation reliability and service life of the motor. In addition, the guide chamfer 1115 of the spoke teeth 1112 can also play a role in alignment guidance during the pressing process of the magnetic yoke assembly and the spoke tooth assembly, improving the pressing assembly accuracy.

[0053] In some embodiments, the radial interference Y between the magnetic yoke assembly and the spoke tooth assembly satisfies 0.03mm≤Y≤0.1mm; the pressing pressure F between the magnetic yoke assembly and the spoke tooth assembly satisfies 5MPa≤F≤10MPa.

[0054] Specifically, in this embodiment, by limiting the interference fit between 0.03mm and 0.1mm, the lower limit ensures radial clamping force and prevents loosening and abnormal noise of the rotating teeth under no-load conditions; the upper limit prevents excessive interference fit from causing plastic deformation of the silicon steel sheet and damaging the roundness of the stator; and by limiting the pressing pressure between 5MPa and 10MPa, the magnetic crystal structure of the silicon steel sheet is protected from being crushed and damaged.

[0055] This invention also provides an assembly method 300 for an open-type motor stator, such as... Figure 7 As shown, the assembly method 300 includes: Step S310: Laminations are stacked to prefabricate spoke tooth assembly and magnetic yoke assembly; a winding coil is wound on coil frame to prefabricate coil assembly.

[0056] Specifically, the laminations are stamped and stacked separately to independently produce the two main core components: the spoke tooth assembly and the magnetic yoke assembly. Simultaneously, the winding coil is wound on a coil frame, completing the prefabrication of the entire coil assembly in advance. This achieves standardized prefabrication of the core and winding separately, eliminating the need for on-site winding on the stator core and avoiding the problems of low efficiency and poor consistency associated with manual winding. For example, after the prefabricated coil assembly is completed, a continuous insulating protective layer is applied to the outside of the coil assembly.

[0057] Step S320: Apply adhesive to the mating surfaces of the coil assembly and the spoke tooth assembly.

[0058] Specifically, a high-temperature resistant adhesive is applied to the mating surfaces of the coil assembly and the spoke tooth core to ensure that the two are tightly bonded together.

[0059] Step S330: The coil assembly is fitted onto the stacked spoke tooth assembly, so that the coil assembly and the spoke tooth assembly are bonded and fixed together.

[0060] Specifically, by utilizing the large slot structure on the outer side of the spoke teeth, the prefabricated coil assembly is directly fitted onto the outside of the spoke tooth assembly, simplifying the assembly process and adapting to automated workflows. A high-temperature adhesive is used to firmly bond the two together, preventing coil loosening or displacement during subsequent pressing or motor operation, thus improving the reliability of the winding fixation.

[0061] Step S340: The magnetic yoke assembly and the spoke tooth assembly with the coil assembly are radially pressed together to complete the motor stator assembly and inspection and acceptance.

[0062] Specifically, the magnetic yoke assembly and the spoke tooth assembly with the wound coil are radially interference-fitted together. The interference fit securely locks the two parts of the iron core together. The whole assembly is then impregnated with paint, dried, and cured to form a complete motor stator. Finally, the dimensions, insulation, and assembly quality are uniformly inspected to ensure uniform air gap and secure winding, thus guaranteeing the pass rate of mass-produced finished products.

[0063] This invention also provides a motor 10, such as... Figure 8 and Figure 9 As shown, the motor 10 includes a motor stator 100 and a motor rotor 200. The radial clearance L3 between the outer circle of the motor rotor 200 and the inner circle of the motor stator 100 satisfies 0.2mm≤L3≤2mm.

[0064] Specifically, in this embodiment, the motor 10 is a frameless torque motor, and the gap between the outer circle of the motor rotor and the inner circle of the motor stator is limited to 0.2mm-2mm to adapt to the magnetic load design requirements of different specifications of torque motors; at the same time, the uniformity error of the circumferential air gap is controlled between 0.01mm-0.05mm to ensure a consistent circumferential magnetic field distribution, effectively suppressing unilateral magnetic pull, making the motor output torque stable, the vibration noise lower, and the operating noise ≤55dB, so as to adapt to the joint drive of industrial robots.

[0065] This invention also provides a machine joint, which includes a motor 10. Specifically, the machine joint includes industrial robot joints, precision automated equipment joints, collaborative robot joints, etc.

[0066] The specific embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made in accordance with the technical concept of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An open-type motor stator, characterized in that, include: The stator core includes multiple laminations stacked along the axial direction. Each lamination includes a separate magnetic yoke and spoke teeth. The spoke teeth include a first end and a second end along the length direction. The first end is close to the magnetic yoke, and the second end is connected to a pole shoe. Along the circumferential direction of the lamination, the shortest distance between the second ends of two adjacent spoke teeth is greater than the width of the spoke teeth; along the axial direction of the stator core, the magnetic yokes in the lamination are stacked to form a magnetic yoke assembly, and the spoke teeth in the lamination are stacked to form a spoke tooth assembly, and the magnetic yoke assembly and the spoke tooth assembly are radially interference-fitted; A coil assembly includes a wound coil and a coil frame, the wound coil being wound on the coil frame and the coil frame being sleeved on the stacked spoke tooth assembly.

2. The motor stator according to claim 1, characterized in that, The coil assembly also includes an insulating layer that covers the outer surfaces of the wound coil and the coil frame.

3. The motor stator according to claim 2, characterized in that, The insulating layer is a polyimide film or an injection-molded insulating plastic layer, and the thickness T1 of the insulating layer satisfies 0.15mm≤T1≤1.2mm.

4. The motor stator according to claim 1, characterized in that, Along the circumferential direction of the lamination, the shortest distance L1 between the second ends of two adjacent spoke teeth and the width L2 of the spoke teeth satisfy 1.2≤L1 / L2≤1.

5.

5. The motor stator according to claim 4, characterized in that, The second end of the spoke tooth is provided with a guide chamfer, which is used to guide the coil assembly to be sleeved on the stacked spoke tooth assembly.

6. The motor stator according to claim 1, characterized in that, The laminations are divided into first laminations and second laminations, with the second laminations spaced apart between multiple stacked first laminations; there is a gap between two adjacent pole pieces of the first laminations in the circumferential direction; and a magnetic bridge for connection is provided between two adjacent pole pieces of the second laminations in the circumferential direction.

7. The motor stator according to claim 1, characterized in that, The radial interference Y between the magnetic yoke assembly and the spoke tooth assembly satisfies 0.03mm≤Y≤0.1mm; the pressing pressure F between the magnetic yoke assembly and the spoke tooth assembly satisfies 5MPa≤F≤10MPa.

8. An assembly method for an open-type motor stator, applied to the motor stator according to any one of claims 1-7, characterized in that, The assembly method includes: The laminations are stacked separately to prefabricate the spoke tooth assembly and the magnetic yoke assembly; the winding coil is wound on the coil frame to prefabricate the coil assembly. An adhesive is applied to the mating surfaces of the coil assembly and the spoke tooth assembly; The coil assembly is fitted onto the stacked spoke tooth assembly, so that the coil assembly and the spoke tooth assembly are bonded and fixed together; The magnetic yoke assembly and the spoke tooth assembly, which is fitted with the coil assembly, are radially pressed together to complete the motor stator assembly and inspection and acceptance.

9. An electric motor, characterized in that, include: The motor stator as described in any one of claims 1-7; The radial clearance L3 between the outer circle of the motor rotor and the inner circle of the motor stator satisfies 0.2mm≤L3≤2mm.

10. A machine joint, characterized in that, Includes the motor as described in claim 9.

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