Micro transverse flux motor for robotic hand

Abstract

The present application relates to the technical field of micro drive motor for robot joint, in particular to a micro transverse flux motor for robot dexterous hand, comprising a casing, a front end cover, a rear end cover, a rotating shaft, a stator assembly and a rotor assembly; the inner wall of the casing is provided with a locating circular rib along the axial direction; at least one locating groove is arranged on the outer wall of the stator core of the stator assembly; the stator core comprises multi-phase stator windings, and the locating grooves of adjacent stator windings are arranged in a circumferential staggered manner; the locating grooves are matched with the locating circular rib; the rotor magnetic steel in the rotor assembly is distributed in multiple layers along the axial direction, each layer is formed by a plurality of rotor magnetic steels attached to the outer circumference of the rotor core, and the magnetic poles of adjacent rotor magnetic steels are arranged alternately. The torque density and power density of the present application are significantly improved, and the requirements of large torque and small size of the end joint of the dexterous hand are met; the rotor avoiding groove in the central three grooves of the front and rear end covers effectively prevents axial movement and sweep bore, and the axial reliability is high; the cost is low, the number of parts is small, and it is beneficial to reduce the cost of the dexterous hand joint in batches.

Description

Technical Field

[0001] This invention relates to the field of micro drive motor technology for robot joints, specifically a micro transverse flux motor for robot dexterity hand. Background Technology

[0002] Currently, various collaborative / service robots are entering mass production, and dexterous hands, as the last centimeter of interaction between robots and the physical world, have become one of the most certain growth tracks in the industry. The end joints of dexterous hands, such as the fingers, have extremely limited space, requiring motors with small outer diameters, short axial lengths, high power and torque densities, controllable heat generation, and good mass production processability. Motor power and torque density are the core bottlenecks for advancing robot performance: under the D²L rule, doubling the torque requires a significant increase in length or diameter, creating a structural contradiction with the dexterous hand's requirements for millimeter-level cavities, lightweight design, and high-frequency dynamic response.

[0003] Currently, traditional micro motors used for driving the joints of robot dexterous hands include radial flux motors, axial flux motors, and transverse flux motors. However, these motors have the following drawbacks in practical applications: (1) Radial flux motor: The magnetic load and the electrical load are in the same direction and mutually restrain each other. The increase in the number of pole pairs will drastically increase the end winding loss and limit the torque density. (2) Axial flux motor: The stator yoke results in a longer magnetic circuit, which generates additional material, the core is prone to wear, and the torque density is limited; (3) Transverse flux motor: In traditional radial flux motors (RFM) and axial flux motors (AFM), the circuit, magnetic circuit and rotational motion are coupled in the same stator slot space and are mutually constrained; while the existing transverse flux motor (TFM) achieves triple decoupling through the geometric transformation that the flux plane and the rotation plane are orthogonal, namely, decoupling of magnetic circuit and circuit (electrical and magnetic decoupling), orthogonality of flux plane and rotation plane (magnetic and rotational decoupling), and decoupling of pole pair number and flux per pole (electrical and rotational decoupling).

[0004] Although transverse flux motors offer the advantage of high torque density, triple decoupling means that the magnetic flux must flow in three-dimensional space, while traditional silicon steel laminations can only provide a low magnetic reluctance path in a two-dimensional plane. Soft magnetic composite materials, made by pressing iron powder with a surface insulating coating, possess isotropic magnetic properties, thermal isotropy, and extremely low eddy current losses, making three-dimensional magnetic circuits engineering feasible. In addition, existing C-type / disc stators generally suffer from complex structures, high processing and assembly difficulties, low slot fill factor, and difficulties in circumferential positioning of three-phase stators. Furthermore, miniaturization places higher demands on stator segmentation, positioning, potting heat dissipation, and anti-scraping structures. Therefore, there is an urgent need for a miniature transverse flux motor structure and design that is manufacturable, assembleable, and capable of maximizing performance. Summary of the Invention

[0005] This invention addresses the technical deficiencies mentioned in the background section by providing a miniature transverse flux motor for a robot's dexterous hand.

[0006] This invention provides a miniature transverse flux motor solution for finger joint spaces with a radial envelope of Φ20mm and an axial diameter of ≤20mm. The motor features a single-ring winding, modular positioning slots for phase misalignment, a three-dimensional magnetic circuit, and is mass-producible using SMC soft magnetic composite material. Through a multi-layered fastening and heat dissipation combination of semi-circular protrusions on the inner wall of the housing, press-fitted front and rear end caps, M1 micro-threads, and thermally and magnetically conductive potting compound with metal filler, it balances mechanical assembly reliability with electromagnetic thermal performance. This solution can serve as a universal solution for direct-drive motors for single finger joints in dexterous hands, wrist rotary joint motors, small gimbals, or camera universal joint motors.

[0007] To achieve the above technical objectives, the present invention adopts the following technical solution: a miniature transverse flux motor for a robot dexterous hand, comprising a housing, a front cover, a rear cover, a rotating shaft, a stator assembly, and a rotor assembly; the housing has an axially elongated positioning ridge on its inner wall; a housing wire outlet notch is provided at a relative position on its other side wall; the stator assembly includes a stator core, and at least one positioning groove is provided on the outer wall of the stator core; the stator core includes multi-phase stator windings, and the positioning grooves of adjacent stator windings are circumferentially offset; the positioning grooves cooperate with the positioning ridge; the rotor assembly includes a rotor core and rotor magnets; the rotor magnets are distributed in multiple layers along the axial direction, each layer consisting of several rotor magnets attached to the outer circumference of the rotor core, with the magnetic poles of adjacent rotor magnets arranged alternately; the rotor assembly is placed inside the stator assembly, and the rotor core in the rotor assembly is fitted onto the rotating shaft; the stator assembly is axially pressed into the housing by the front and rear covers; the rotating shaft passes through the housing, with its two ends passing through the front and rear covers, and is supported by bearings on the front and rear covers.

[0008] As a preferred technical solution: In the stator assembly, the stator core has a C-shaped structure, and each phase stator winding includes two toothed layers and one toothless layer; multiple stator teeth are evenly distributed circumferentially on the inner wall of the toothed layer; the stator teeth extend radially inward and face the rotor magnet; the toothless layer is placed between the two toothed layers, connecting the tooth roots of the two toothed layers to form the yoke of the magnetic circuit; the intermediate slot formed by the side walls of the two toothed layers and the inner wall of the toothless layer is the coil slot, used to accommodate the coil.

[0009] As a preferred technical solution, the toothed and non-toothed layers in the stator core are made of 10# electrical steel.

[0010] As a preferred technical solution: the stator teeth have a trapezoidal shape with equal width, and a single-sided air gap of 0.3–0.5 mm is left between the tooth tip and the outer circle of the rotor magnet.

[0011] As a preferred technical solution: In the stator core, multiple positioning slots are arranged side by side on the outer circumference of the toothed layer; one positioning slot is arranged on the outer circumference of the untoothed layer; the positioning slots of the untoothed layer in each phase stator winding are coaxial; in each phase stator winding, the two positioning slots of the same position of the toothed layer are coaxial with the positioning slot of the untoothed layer in the stator winding of that phase; in adjacent stator windings, the positioning slots of the toothed layer that are coaxial with the positioning slot of the untoothed layer are circumferentially offset, so as to realize the multi-phase differentiation of the stator winding and the offset angle along the circumferential direction.

[0012] As a preferred technical solution, the positioning rounded edge is embedded in the axially continuous positioning groove formed after the positioning grooves in each toothed layer and the non-toothed layer are aligned, thereby realizing the circumferential fixation and positioning of the stator assembly.

[0013] As a preferred technical solution: a stator wire exit notch is provided on the side wall opposite to the positioning groove on the non-toothed layer; the stator wire exit notch corresponds to the housing wire exit notch.

[0014] As a preferred technical solution: In the rotor assembly, the rotor magnets adopt a 20-pole 6-layer structure: divided into 6 layers along the axial direction, each layer consists of 20 single-layer rotor magnets attached to the outer circumference of the rotor core by an adhesive process, with adjacent rotor magnets arranged alternately in N / S configuration; In the stator assembly, the stator core adopts a three-phase 9-piece structure, each phase including 2 toothed layers and 1 toothless layer, with the toothless layer located between the two toothed layers; every 2 layers of rotor magnets correspond to 1 phase of the stator, realizing a three-dimensional structure of the transverse magnetic circuit.

[0015] As a preferred technical solution: a filling layer is provided between the stator core and the housing; the filling layer is a thermally and magnetically conductive adhesive with metal filler.

[0016] Compared with the prior art, the beneficial effects of the improvements of the present invention are as follows: 1. Significantly improved torque and power density: The lateral magnetic flux circuit is decoupled from the circuit, and combined with the high pole pair design of 10 slots and 20 poles, the torque and power density are significantly improved compared with traditional radial and axial magnetic flux motors, meeting the high torque and small size requirements of dexterous hand end joints; 2. High copper fill factor and high efficiency: The toroidal coil has no end windings and no end copper losses; 0.1×2.0mm flat wire combined with alpha winding makes the coil slot fill factor significantly higher than that of round wire, reducing copper losses and improving electromagnetic efficiency; TFM can maintain high torque output in the 100–500RPM range; it can directly drive dexterous finger joints, wrist joints, and small gimbals, eliminating or significantly reducing reliance on harmonic reducers. 3. Good processing and assembly processability: SMC stator segmentation reduces the difficulty of single-piece processing; positioning grooves and rounded edges of the housing enable three-phase phase misalignment and circumferential positioning in one step, resulting in high assembly consistency and positioning accuracy, which is convenient for mass production; 4. Excellent heat dissipation and magnetic circuit performance: The thermally and magnetically conductive potting compound with metal filler reduces the thermal resistance of the stator and housing and improves the continuity of the magnetic circuit; the gears, potting compound, and housing together form a three-dimensional heat conduction network; 5. High axial reliability: The rotor clearance groove in the three central slots of the front and rear end covers effectively prevents axial movement and rotor swiping. 6. Low cost: Traditional winding equipment can be used. The toroidal coil is easy to wind, the SMC molding cost is low, and the number of parts is small, which is conducive to mass production and cost reduction of dexterous hand joints. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the motor of the present invention.

[0018] Figure 2 This is a schematic diagram of the stator structure of the present invention.

[0019] Figure 3 This is a schematic diagram of the toothed layer structure in the stator.

[0020] Figure 4 This is a schematic diagram of the stator without toothed layers.

[0021] Figure 5 This is a schematic diagram of a three-phase stator winding structure.

[0022] Figure 6 Schematic diagram of a loop coil structure Figure 1 .

[0023] Figure 7 Schematic diagram of a loop coil structure Figure 2 .

[0024] Figure 8 This is a schematic diagram of the magnetic circuit structure of the present invention.

[0025] Figure 9 This is a schematic diagram of the front cover structure of the motor as a whole.

[0026] Figure 10 This is a schematic diagram of the rear end cover structure of the motor as a whole.

[0027] Figure 11 This is a schematic diagram of the positioning rounded edge structure.

[0028] Figure 12 This is a schematic diagram of the stator winding structure for each phase.

[0029] Figure 13 This is a schematic diagram of the rotor assembly structure of the present invention.

[0030] Figure 14 This is a schematic diagram of the internal structure of the stator assembly of the present invention.

[0031] Figure 15This is a schematic diagram of the lead wire routing in this invention.

[0032] In the diagram: 1. Shaft; 2. Front end cover; 3. Rotor assembly; 3-1. Rotor magnet; 3-2. Rotor core; 4. Stator assembly; 4-1. Stator tooth; 4-2. Stator slot; 4-3. Stator housing; 5. Rear end cover; 6. Positioning round ridge; 7. Positioning groove; 8. Without tooth layer; 9. With tooth layer; 10. Coil slot; 11. Coil; 12. Root of tooth layer; 13. Stator yoke; 14. Rotor clearance groove; 15. Bearing chamber groove; 16. Shaft outlet hole; 17. Wire outlet groove; 18. Housing wire outlet notch; 19. Stator wire outlet notch; 20. Detailed Implementation

[0033] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0034] See appendix Figure 1-15 This invention provides a miniature transverse flux synchronous motor (TFM) for direct-drive integrated actuators for the finger joints of robot dexterous hands (humanoid robots, collaborative robots, dexterous manipulators).

[0035] like Figure 1 As shown, the miniature flux motor disclosed in this invention is cylindrical in shape, with an outer diameter of approximately Φ20mm and a total axial length of approximately 20mm. It mainly comprises: a one-piece housing 5 made of 6061 aluminum alloy, a front cover 2, a rear cover 6, a rotating shaft 1 made of 304 stainless steel, a stator assembly 4, coils 12, and a rotor assembly 3. The rotor assembly 3 is fitted onto the rotating shaft 1. The rotating shaft 1 and the rotor assembly are disposed inside the stator assembly 4. The rotor assembly 3 and the stator assembly 4 are installed inside the housing 5. The stator assembly 4 is axially pressed into the housing 5 by the front cover 2 and the rear cover 6. The rotating shaft 1 penetrates the housing 5, with both ends passing through the front cover 2 and the rear cover 6, and is supported by bearings on the front and rear covers.

[0036] A locating circular ridge 7, i.e., an R0.5 semi-circular protrusion, is provided along the axial direction of the inner wall of the housing, which runs through the entire length of the housing and is used for circumferential positioning of the stator windings. Figure 12 As shown. A housing outlet notch 19 is provided at a relative position on the other side wall of the housing; the housing outlet notch 19 is a slender through hole and corresponds to the toothless layer 9 in each phase stator assembly. The stator assembly 4 includes a stator core 4-3, and at least one positioning groove 8 is provided on the outer wall of the stator core 4-3. The stator core 4-3 includes multi-phase stator windings, and the positioning grooves 8 of adjacent stator windings are circumferentially staggered, and the positioning grooves 8 cooperate with the positioning round edges 7.

[0037] As a preferred technical solution, in the stator assembly, the stator core 4-3 has a C-shaped structure, and each phase stator winding includes two toothed layers 10 and one toothless layer 9. Multiple stator teeth 4-1 are evenly distributed circumferentially on the inner wall of the toothed layer 10; the stator teeth 4-1 extend radially inward, directly opposite the rotor magnet 3-1. The toothless layer 9 is placed between the two toothed layers 10, and its lower stator yoke 14 connects to the roots 13 of the two toothed layers, forming the yoke of the C-shaped magnetic circuit, thus creating a C-shaped three-dimensional magnetic circuit. The intermediate slot formed by the sidewalls of the two toothed layers 10 and the inner wall of the toothless layer 9 is the coil slot 11, used to accommodate the coil 12; that is, the inner wall of the toothless layer 9 serves as the sidewall, and the sidewalls of the two toothed layers 10 serve as the upper and lower walls of the coil slot 11.

[0038] In a preferred embodiment of this scheme, the stator core adopts a three-phase C-shaped toothed structure. Each phase stator winding is approximately C-shaped in the circumferential direction (C-core), with its opening facing the outer circle of the rotor, so that the magnetic flux passes through, that is, the rotor permanent magnet N pole → air gap → C-shaped tooth → tooth root → C-shaped yoke (without tooth layer in the middle) → another tooth root → air gap → rotor permanent magnet S pole, forming a three-dimensional closed magnetic circuit that exists simultaneously in the circumferential, axial and radial directions.

[0039] As a preferred technical solution: a stator cable outlet notch 20 is provided on the side wall opposite to the positioning groove on the toothless layer 9. The stator cable outlet notch 20 corresponds to the housing cable outlet notch 19.

[0040] As a preferred embodiment, the coil is made of enameled copper flat wire wound in a continuous spiral manner (i.e., spiral flat wire coil). Of its two leads, one is led outward from the outer diameter side of the coil through the aforementioned lead-out notch without teeth, and is used to connect to external terminals or phase leads; the other is led out from the inner diameter side of the coil and is used for the neutral point of the star connection.

[0041] In this embodiment, the toothed layer 10 and the non-toothed layer 9 in the stator core 4-3, which has an outer diameter of less than 15 mm and a single-layer thickness of less than 1 mm, are made of 10# electrical steel. 10# electrical steel is low-carbon electrical steel with a carbon content of approximately 0.10% or less. The stator core disclosed in this invention has a three-dimensional magnetic circuit structure. Its toothed and non-toothed layers need to be stacked under conditions of circumferential misalignment and axial alignment. Therefore, the positional accuracy of the positioning groove of each piece is required to be much higher than that of conventional lamination. If there is a deviation in the position of the positioning groove, it is impossible to form a continuous positioning groove for the positioning round edge to be embedded after multiple layers are stacked. The advantage of directly machining 10# electrical steel is that its single-piece positioning groove is machined by clamping the housing once to complete the machining of the tooth shape and positioning groove, ensuring the relative positional accuracy, and thus forming a continuous and aligned continuous groove after stacking.

[0042] Ten stator teeth 4-1 are evenly distributed circumferentially in the toothed layer 10, corresponding to ten stator slots 4-2. The stator teeth 4-1 extend radially inward, facing the rotor magnets, and are distributed with 10 pole angles. The tooth profile of the stator teeth 4-1 adopts a trapezoidal structure of equal width, and a single-sided air gap of 0.3–0.5 mm is left between the tooth tip and the outer circle of the rotor magnet 3-1.

[0043] As another preferred technical solution, in the stator core 4-3, multiple positioning slots 8 are arranged side-by-side on the outer circumference of the toothed layer 10; one positioning slot 8 is arranged on the outer circumference of the untoothed layer 9. After the stator windings of each phase are assembled, the positioning slots of the untoothed layers 9 are coaxial. In each phase stator winding, the positioning slots of the two toothed layers at the same position are coaxial with the positioning slots of the untoothed layers in the same phase stator winding. In adjacent stator windings, the positioning slots of the toothed layers that are coaxial with the positioning slots of the untoothed layers are circumferentially offset, realizing the multi-phase differentiation of the stator windings and the circumferential offset angle.

[0044] In a preferred embodiment of this scheme, the stator core includes three-phase stator windings, namely phase A, phase B, and phase C. The circumferential staggered angles of the three-phase stator windings are designed as follows: see... Figure 2-6 Three positioning slots 8, denoted as slot a, slot b, and slot c, are provided on the outer circumference of the toothed layer 10; one positioning slot, slot d, is provided on the outer circumference of the non-toothed layer 9. During assembly, the three slots d of the non-toothed layer 9 are first made coaxial, and then the circumferential position of the positioning slot of the toothed layer is adjusted so that one non-toothed slot d of each phase is aligned with slots a, b, and c of the two toothed layers 10 of each phase. The positions of the two slots of the toothed layer 10 in each phase are the same, thus realizing the distinction between phases A, B, and C, i.e., the staggered angle along the circumference. The positioning rounded edge 7 is embedded in the axially continuous positioning slot formed by the alignment of the non-toothed layer positioning slot with the toothed layer positioning slot, realizing the circumferential fixation and positioning of the stator assembly. This positioning structure is located on the outside of the stator yoke, does not occupy the air gap, does not damage the main magnetic circuit, and minimizes the loss of electromagnetic performance. The three-phase stator windings are stacked sequentially along the axial direction, with each phase consisting of two toothed layers and one toothless layer, for a total of nine SMC stator laminations.

[0045] As another preferred technical solution, the electromagnetic coil 12 of the transverse flux motor is only a single ring, i.e., a toroidal coil, without any end windings. The end copper loss is approximately zero, resulting in low design and manufacturing difficulty. In this embodiment, the toroidal coil has an outer diameter of approximately Φ15.10mm, an inner diameter of approximately Φ11.98mm, and a thickness of approximately 2.00mm. Figure 6 .

[0046] This toroidal coil is wound using a non-alpha winding method, as detailed below.

[0047] (a) A notch for cable exit is made directly opposite the positioning groove without toothed layers. On the outer circumference of the untoothed layer, a small notch is made directly opposite the positioning groove (i.e., "groove d") of this layer (at a position approximately half a tooth pitch apart circumferentially), denoted as stator lead-out notch 20. The stator lead-out notch 20 extends radially through the wall thickness of the untoothed layer, and its axial position is opposite to the coil groove, so that one lead of the wound spiral flat wire (annular coil wound with enameled copper flat wire) can be led outward from the outer diameter side of the coil through this notch.

[0048] (ii) Outer line of spiral flat wire Because the flat wire itself has a width-to-thickness ratio (0.1×1.0mm or 0.1×2.0mm in this example), its orientation along the winding direction is naturally stable and the pitch is consistent, so there is no need to shape each turn during the winding process; after eliminating the twisting of the lead wire, the direction of the flat wire at the notch is a natural extension of the winding direction, and there is no need to bend it, thus avoiding insulation damage caused by stress concentration at the twisting point of the flat wire.

[0049] (iii) The inner outgoing line is used for the neutral point of the star connection. Each phase of the stator is equipped with one toroidal coil, for a total of three toroidal coils across the three phases. The inner diameter leads of the three coils converge on the inner diameter side of the stator and are connected in a star configuration to form the neutral point. This means that the three inner diameter leads of each of the three phase coils are combined into one point to form the neutral point N in the star connection. The neutral point is located within the cavity on the inner diameter side of the coils and does not require additional axial space.

[0050] Therefore, the two leads of the same phase coil have distinct and non-interfering functions: the inner lead is used for the neutral point of the star connection, and the outer lead is used for the phase lead-out. The two do not need to be distinguished or switched outside the motor.

[0051] (iv) Axial length of side-outlet cable compression The three-phase lead wires (i.e., the outer lead wires of each coil led out from the notch) run along the outside of the stator and are led out from the side (radial) of the motor through the lead wire outlet notch in the housing, rather than from the axial rear end (center of the end cover) of the motor.

[0052] Lead-out path: The complete path of the three-phase lead-out is as follows: the coil leads out from the outer side without toothed layer lead-out notch → runs axially along the outer diameter side of the stator → leads out of the housing through the lead-out notch on the side wall of the housing → connects with the external drive board; while the neutral point is formed by the inner lead-out of the three-phase coil converging on the inner diameter side of the stator, and does not lead out of the housing.

[0053] Each phase stator is equipped with one ring coil, and there are a total of three ring coils for the three phases, which are respectively embedded in the coil slots 11 between the toothed layers of each phase.

[0054] As another preferred technical solution, the rotor assembly 3 includes a rotor core 3-2 and rotor magnets 3-1. The rotor magnets 3-1 are distributed in multiple layers along the axial direction, and each layer consists of several rotor magnets 3-1 attached to the outer circumference of the rotor core 3-2, with the magnetic poles of adjacent rotor magnets 3-1 arranged alternately.

[0055] In a preferred embodiment of this scheme, the rotor magnet 3-1 adopts a 20-pole, 6-layer design: it is divided into 6 layers along the axial direction, each layer consisting of 20 single-layer neodymium iron boron magnets (N48SH) bonded to the outer circumference of the SMC rotor core 3-2 using an adhesive bonding process. Adjacent magnets are arranged alternately in N / S configurations, with 20 poles per layer. Each pair of magnets corresponds to one phase of the stator, i.e., layers 1 and 2 correspond to phase A, layers 3 and 4 to phase B, and layers 5 and 6 to phase C, achieving a three-dimensional transverse magnetic circuit structure. The rotor core 3-2 serves both as a magnetic conductor and structural support, and is mounted on the shaft 1.

[0056] As another preferred technical solution, the stator is axially pressed together by the end faces of the front and rear end covers and mechanically fixed with M1 screws. Each of the front and rear end covers has 3 M1×2.5 threaded lifting lugs, evenly distributed at 120°.

[0057] In a preferred embodiment of this solution, a filler layer is provided between the stator core 4-3 and the housing 5; the filler layer is a thermally and magnetically conductive adhesive with a metallic filler. The specific filling method of the filler layer is as follows: After the stator core 4-3 is assembled, insulating adhesive is injected into the housing through an auxiliary process between the stator core and the housing. The adhesive is a thermally and magnetically conductive adhesive with metal filler: on the one hand, it minimizes the thermal resistance between the stator and the housing and improves heat dissipation; on the other hand, it improves the continuity of the magnetic circuit, reduces magnetic resistance, and optimizes the electromagnetic and thermal performance of the motor.

[0058] As another preferred technical solution, both the front cover 2 and the rear cover 6 have a central opening with a total of three coaxial slots. The largest slot is a rotor clearance slot 15, which avoids rotor end movement and prevents rotor rubbing due to axial slippage. The middle slot is a bearing housing slot 16, for mounting bearings. The smallest slot is a shaft outlet hole 17, for the shaft to extend from the center. This coaxial arrangement of the three slots combines rotor clearance, bearing support, and shaft outlet functions, improving the axial reliability of the micro motor. Figure 9-10 As shown.

[0059] The rear cover 6 has a wire outlet groove 18, located radially at the wire outlet on the inner side of the coil. After the double-ended inner wire of the α winding exits, the three-phase six leads (A in / out, B in / out, C in / out, each ≥50mm) converge into a star-shaped bundle along the inner diameter side of the coil and exit the machine via the following path: 1. The traces are run axially along the inner diameter side of the stator; 2. Pass through the pre-drilled outlet slot on the rear cover; 3. Connect to an external driver board.

Claims

1. A miniature transverse flux motor for a robot dexterous hand, comprising a housing, a front cover, a rear cover, a rotating shaft, a stator assembly, and a rotor assembly; characterized in that: The housing has a continuous locating rounded ridge on its inner wall along the axial direction; a housing wire outlet notch is provided at a relative position on its other side wall. The stator assembly includes a stator core, and at least one positioning groove is provided on the outer wall of the stator core; the stator core includes multi-phase stator windings, and the positioning grooves of adjacent stator windings are circumferentially staggered; the positioning grooves cooperate with the positioning round edges; The rotor assembly includes a rotor core and rotor magnets; The rotor magnets are distributed in multiple layers along the axial direction. Each layer consists of several rotor magnets attached to the outer circumference of the rotor core, with the magnetic poles of adjacent rotor magnets arranged alternately. The rotor assembly is placed inside the stator assembly, and the rotor core in the rotor assembly is mounted on the rotating shaft; the stator assembly is axially pressed into the housing through the front end cover and the rear end cover; the rotating shaft passes through the housing, with its two ends passing through the front end cover and the rear end cover, and is supported by bearings on the front and rear end covers.

2. The miniature transverse flux motor for a robot dexterous hand according to claim 1, characterized in that: In the stator assembly, the stator core has a C-shaped structure, and each phase stator winding includes two toothed layers and one toothless layer; Multiple stator teeth are evenly distributed circumferentially on the inner wall of the toothed layer; the stator teeth extend radially inward and face the rotor magnets; The untoothed layer is placed between the two toothed layers, connecting the tooth roots of the two toothed layers, forming the yoke of the magnetic circuit; The intermediate groove formed by the two toothed sidewalls and the one untoothed inner wall is the coil groove, which is used to accommodate the coil.

3. The miniature transverse flux motor for a robot dexterous hand according to claim 2, characterized in that: The toothed and non-toothed layers in the stator core are made of 10# electrical steel.

4. The miniature transverse flux motor for a robot dexterous hand according to claim 2, characterized in that: The stator teeth have a trapezoidal shape with equal width, and a single-sided air gap of 0.3–0.5 mm is left between the tooth tip and the outer circle of the rotor magnet.

5. The miniature transverse flux motor for a robot dexterous hand according to claim 2, characterized in that: In the stator core, multiple positioning slots are arranged side by side on the outer circumference of the toothed layer; and one positioning slot is arranged on the outer circumference of the untoothed layer. The toothless positioning slots in each phase stator winding are coaxial; In each phase stator winding, the two toothed locating slots at the same position are coaxial with the toothless locating slots in the same phase stator winding. In adjacent stator windings, the toothed positioning slots, which are coaxial with the non-toothed positioning slots, are circumferentially misaligned to achieve multi-phase differentiation of the stator windings and circumferential offset angles.

6. The miniature transverse flux motor for a robot dexterous hand according to claim 5, characterized in that: The positioning rounded edge is embedded into the positioning groove formed by aligning the positioning grooves in each toothed layer and the non-toothed layer, thus achieving circumferential fixation and positioning of the stator assembly.

7. The miniature transverse flux motor for a robot dexterous hand according to claim 5, characterized in that: The side wall opposite the positioning groove on the non-toothed layer is provided with a stator wire exit notch; the stator wire exit notch corresponds to the housing wire exit notch.

8. The miniature transverse flux motor for a robot dexterous hand according to claim 2, characterized in that: In the rotor assembly, the rotor magnets adopt a 20-pole 6-layer structure: divided into 6 layers along the axial direction, each layer consists of 20 single-layer rotor magnets attached to the outer circumference of the rotor core by an adhesive bonding process, with adjacent rotor magnets arranged alternately in N / S configuration; In the stator assembly, the stator core adopts a three-phase nine-piece structure, with each phase including two toothed layers and one toothless layer, and the toothless layer is located between the two toothed layers; Two layers of rotor magnets correspond to one phase of stator, realizing a three-dimensional structure of transverse magnetic circuit.

9. The miniature transverse flux motor for a robot dexterous hand according to claim 2, characterized in that: A filler layer is provided between the stator core and the housing; The filling layer is a thermally and magnetically conductive adhesive with metal filler.

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