Servo motor and industrial automation equipment

Abstract

The utility model relates to the technical field of motors, and discloses a servo motor and industrial automation equipment, the servo motor comprises a stator assembly and a rotor assembly, the stator assembly comprises a stator iron core, the stator iron core comprises an annular stator yoke part iron core and a plurality of stator tooth part iron cores, a connecting part is arranged between two adjacent stator tooth part iron cores, and the stator yoke part iron core is connected with the rotor assembly. In the circumferential direction of the stator iron core, the length of the connecting parts is Bs, the maximum outer diameter of the stator yoke iron core is Rs, a plurality of # imgabs0 # stator tooth iron cores are evenly distributed in the circumferential direction of the stator yoke iron core, the connecting parts are arranged between every two adjacent stator tooth iron cores, notches can be eliminated, cogging torque and torque pulsation can be improved, and the service life of the stator yoke iron core is prolonged. And the width of the connecting part and the maximum outer diameter of the stator yoke iron core meet the relational expression: # imgabs1 # limits the width range of the connecting part, so that the requirement of eliminating a notch is met, and the influence of the connecting part on the performance of the motor is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of motors, in particular to a servo motor and industrial automation equipment. Background Art

[0002] In the related technology, the motor is a widely used actuator, in which the stator core of the motor is usually T-shaped. The roundness of the T-shaped block is difficult to control after being assembled, and there are still notches, which is not conducive to reducing torque pulsation. If you want to further reduce costs and reduce volume, you need to increase the magnetic load, which will further worsen the torque pulsation. Utility Model Content

[0003] The utility model aims to solve at least one of the technical problems existing in the prior art. To this end, the utility model provides a servo motor, which eliminates the notch structure and helps to improve torque pulsation.

[0004] The utility model also provides industrial automation equipment using the servo motor.

[0005] According to the servo motor of the first aspect of the utility model, the embodiment comprises a stator assembly and a rotor assembly, wherein the stator assembly comprises a stator core, wherein the stator core comprises an annular stator yoke core and a plurality of stator tooth cores connected to the stator yoke core, wherein the plurality of stator tooth cores are evenly distributed along the circumference of the stator yoke core, and a connecting portion is provided between two adjacent stator tooth cores, wherein the length of the connecting portion along the circumference of the stator core is B. s The maximum outer diameter of the stator yoke core is R s ,satisfy: The rotor assembly is arranged inside the stator assembly, and the rotor assembly includes a rotor core, which is formed by stacking a plurality of rotor punching sheets.

[0006] The servo motor according to the first embodiment of the utility model has at least the following beneficial effects:

[0007] The stator core is composed of a stator yoke core and a plurality of stator tooth cores. The plurality of stator tooth cores are evenly distributed along the circumference of the stator yoke core. A connecting portion is provided between two adjacent stator tooth cores, which can eliminate the notch and help improve the tooth torque and torque pulsation. Moreover, the width of the connecting portion and the maximum outer diameter of the stator yoke core satisfy the relationship: Limiting the length range of the connection portion can not only meet the need to eliminate the notch, but also reduce the impact of the connection portion on the motor performance.

[0008] According to some embodiments of the first aspect of the utility model, the stator core is formed by laminating a plurality of stator punchings, and along the axial direction of the stator core, the radial width of the connecting portion is H s , the thickness of the stator sheet is H1, satisfying: 0.85H1≤H s ≤1.1H1.

[0009] According to some embodiments of the first aspect of the utility model, a plurality of the stator tooth cores form an inner ring through a plurality of the connecting parts, and the contour line of the inner ring is circular.

[0010] According to some embodiments of the first aspect of the utility model, the stator tooth core includes a rectangular portion and a trapezoidal portion, two ends of the rectangular portion are respectively connected to the stator yoke core and the trapezoidal portion, and one end of the trapezoidal portion facing away from the rectangular portion is connected to the connecting portion.

[0011] According to some embodiments of the first aspect of the utility model, the rotor core is provided with a plurality of magnetic steel slots, which are evenly distributed along the circumference of the rotor core, and magnetic isolation slots are respectively provided on both sides of one end of the magnetic steel slot away from the stator core, the radial length of the magnetic isolation slot away from the magnetic steel slot is greater than the radial length of the side close to the magnetic steel slot, an inner magnetic bridge is formed between two adjacent magnetic isolation slots, and an outer magnetic bridge is formed between the magnetic steel slot and the outer wall surface of the rotor core.

[0012] According to some embodiments of the first aspect of the present invention, along the radial direction of the rotor core, the length of the inner magnetic bridge is B i , the width of the external magnetic bridge is H o , along the circumference of the rotor core, the width of the inner magnetic bridge is H i , the length of the external magnetic bridge is B o The thickness of the rotor punching is H2, satisfying: 0.85H2≤H o ≤1.1H2, H2≤H i ≤1.5H2,

[0013]

[0014] According to some embodiments of the first aspect of the utility model, two anti-demagnetization slots are provided at one end of the magnetic steel slot close to the stator core, and the two anti-demagnetization slots are symmetrically arranged on both sides of the magnetic steel slot.

[0015] According to some embodiments of the first aspect of the utility model, the rotor core is provided with a plurality of triangular magnetic conductive areas, and one triangular magnetic conductive area is distributed on both sides of one end of each magnetic steel slot facing away from the stator core.

[0016] According to some embodiments of the first aspect of the utility model, the outer peripheral profile of the cross section of the rotor core is non-circular, the maximum outer diameter of the rotor core is R1, and the minimum outer diameter of the rotor core is R2, satisfying:

[0017] The industrial automation equipment according to the second embodiment of the utility model includes the servo motor described in the first embodiment.

[0018] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0020] Figure 1 This is a schematic diagram of the connection structure of the stator core and the rotor core in one embodiment of the utility model;

[0021] Figure 2 for Figure 1 A local enlarged view of point A;

[0022] Figure 3 This is a schematic structural diagram of a stator core in one embodiment of the utility model;

[0023] Figure 4 for Figure 3 A local enlarged view of point B;

[0024] Figure 5 It is a schematic structural diagram of a rotor core in one embodiment of the utility model.

[0025] The figures are as follows:

[0026] A stator core 100 , a stator yoke core 110 , a plurality of stator teeth cores 120 , a rectangular portion 121 , a trapezoidal portion 122 , and a connecting portion 130 ;

[0027] The rotor core 200 , the magnetic steel slots 201 , the anti-demagnetization slots 202 , the magnetic isolation slots 203 , the inner magnetic bridge 210 , the outer magnetic bridge 220 , and the triangular magnetic conductive area 230 . DETAILED DESCRIPTION

[0028] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0029] In the description of the present invention, it should be understood that descriptions involving orientation, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0030] In the description of the utility model, if there is a description of first and second, it is only for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0031] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0032] Motors are important power units in industrial equipment and are widely used in various types of industrial equipment. For example, the industrial automation equipment field that the country is currently focusing on promoting includes industrial robots, precision robotic arms, automated production lines, etc. They are widely used in the lithium battery industry, automotive industry, electrical appliance industry, etc.

[0033] In the related technologies, improving the torque pulsation of the motor is an important research and development direction, because the torque pulsation directly affects the performance and service life of the motor. Torque pulsation refers to the fluctuation phenomenon of the output torque of the motor over time during operation. Torque pulsation is usually caused by factors such as the uneven magnetic field inside the motor or the imbalance of the mechanical system. Torque pulsation will reduce the running stability of the motor, increase noise, accelerate the wear of mechanical parts, etc., affect the running accuracy of the motor, and increase power consumption and operating costs. Therefore, in motor design and control, the amplitude of torque pulsation is usually minimized to improve motor performance and reliability.

[0034] The stator core of the motor usually adopts T-shaped blocks. The roundness of the T-shaped blocks is difficult to control after being assembled into a circle, and there are still notches, which is not conducive to reducing torque pulsation. If you want to further reduce costs and reduce volume, you need to increase the magnetic load, which will further worsen the torque pulsation.

[0035] To this end, an embodiment of the first aspect of the utility model proposes a servo motor, which helps to improve the torque pulsation of the motor by optimizing the structural design of the stator core and eliminating the notches.

[0036] It is understandable that, referring to Figures 1 to 3The embodiment of the first aspect of the utility model proposes a servo motor, which includes a stator assembly and a rotor assembly. The improved design of the stator assembly is concentrated on the stator core 100, wherein the stator core 100 includes a stator yoke core 110 and a plurality of stator tooth cores 120, the stator tooth core 120 is connected with the stator yoke core 110, the stator yoke core 110 is annular, the plurality of stator tooth cores 120 are located on the inner side of the stator yoke core 110, the plurality of stator tooth cores 120 are evenly distributed along the circumference of the stator yoke core 110, the plurality of stator tooth cores 120 are radially distributed, and a connecting portion 130 is provided between two adjacent stator tooth cores 120. The connecting portion 130 is used to close the notch between the two adjacent stator tooth cores 120, so as to reduce the cogging torque and improve the torque pulsation.

[0037] It should be understood that the cogging torque is when the motor winding is in an open circuit state, and the motor tends to approach the minimum magnetic resistance position within one rotation due to the slots in the stator core, thereby generating a periodic torque, which is the cogging torque. Torque pulsation refers to the fluctuation phenomenon of the output torque of the motor over time during operation. Torque pulsation is usually caused by factors such as the uneven magnetic field inside the motor or the imbalance of the mechanical system. The stator core 100 used in the stator assembly of the first embodiment of the utility model is provided with a connecting portion 130, and the connecting portion 130 is used to close the slot between two adjacent stator tooth cores 120, which can improve the unevenness of the magnetic field, reduce torque pulsation and eliminate cogging torque.

[0038] The length of the connecting portion 130 along the circumferential direction of the stator core 100 is defined as B s , the maximum outer diameter of the stator yoke core 110 is R s , the design satisfies the relationship: By limiting the proportional relationship between the length of the connecting portion 130 and the maximum outer diameter of the stator yoke core 110, the length of the connecting portion 130 is limited to between 1% and 2% of the maximum outer diameter of the stator yoke core 110, and the length dimension of the connecting portion 130 is set within a suitable range, the notch can be eliminated.

[0039] The first embodiment of the utility model provides a servo motor, wherein the stator core 100 of the servo motor is composed of a stator yoke core 110 and a plurality of stator tooth cores 120, wherein the plurality of stator tooth cores 120 are evenly distributed along the circumference of the stator yoke core 110, and a connecting portion 130 is provided between two adjacent stator tooth cores 120, so as to eliminate the notch, help improve the tooth slot torque and torque pulsation, and enhance the performance of the servo motor; and the width of the connecting portion 130 and the maximum outer diameter of the stator yoke core 110 satisfy the relationship: Limiting the length range of the connection portion 130 can not only meet the requirement of eliminating the notch, but also reduce the influence of the connection portion 130 on the performance of the servo motor.

[0040] It can be understood that in some embodiments of the first aspect of the present invention, the stator core 100 is formed by laminating a plurality of stator punching sheets, the thickness of the stator punching sheets is H1, and along the axial direction of the stator core 100, the radial width of the connecting portion 130 is H s , the design satisfies the relationship: 0.85H1≤H s ≤1.1H1. Using the relationship: 0.85H1≤H s ≤1.1H1 defines the size ratio of the radial width of the connection portion 130 to the thickness of the stator punching sheet, so that the connection portion 130 can not only meet the requirement of closing the slot between two adjacent stator tooth cores 120, but also simplify the production process of the stator core 100. For example, the radial width (H s ) is designed to be consistent with the thickness (H1) of the stator punching sheet, the stator punching sheet is integrally formed into the connecting portion 130, and then stacked to form the stator core 100. In addition, the radial width (H s ) is designed to be 0.85 times, 0.9 times, 1.05 times, 1.1 times, etc., of the thickness of the stator punching sheet (H1), and can be designed according to the characteristics of the actual product.

[0041] Reference Figure 3 and Figure 4 In some embodiments of the first aspect of the fundamental utility model, the stator yoke core 110 is designed to be annular, and a plurality of stator tooth cores 120 are connected to the inner side of the stator yoke core 110 and are radially distributed. Moreover, the plurality of stator tooth cores 120 are connected through a plurality of connecting parts 130 to form an inner ring, and the contour line of the inner ring is set to be circular, so that after the rotor assembly is assembled, the fluctuation of the air gap size between the stator core 100 and the rotor assembly is reduced, and the influence of the air gap on the magnetic field is reduced, which helps to further reduce the torque pulsation and improve the performance of the servo motor.

[0042] It can be understood that the outer peripheral wall of the rotor assembly can be a cylindrical surface or a non-cylindrical surface. When the outer peripheral wall of the rotor assembly is a non-cylindrical surface, the difference between the maximum outer diameter and the minimum outer diameter of the rotor assembly can be limited to a suitable range. When the rotor assembly rotates, the fluctuation of the air gap is reduced, and the influence of the air gap on the magnetic field is reduced, which helps to reduce torque pulsation.

[0043] Reference Figure 3 and Figure 4It can be understood that the stator tooth core 120 includes a rectangular portion 121 and a trapezoidal portion 122, one end of the rectangular portion 121 is connected to the stator yoke core 110, and the other end of the rectangular portion 121 is connected to the trapezoidal portion 122, and the connecting portions 130 are distributed on both sides of the end of the trapezoidal portion 122 away from the rectangular portion 121. The use of the trapezoidal portion 122 can help position the winding, and reduce the slot width between two adjacent stator tooth cores 120, and correspondingly reduce the length of the connecting portion 130 (B s ), which is beneficial to the design of the stator core 100 and has a larger design space.

[0044] It can be understood that the stator yoke core 110 and the stator tooth core 120 are two independent components, which are then assembled into one. The above structure is beneficial to winding, improving the slot fill rate, and thus improving the torque density of the servo motor.

[0045] Reference Figure 1 The servo motor includes a stator assembly and a rotor assembly, wherein the rotor assembly is arranged inside the stator assembly, the stator assembly includes a stator core 100, and the rotor assembly includes a rotor core 200, wherein the rotor core 200 is formed by laminating a plurality of rotor punchings, and the rotor core 200 is arranged inside the stator core 100. The stator core 100 includes a stator yoke core 110 and a plurality of stator tooth cores 120, wherein the stator yoke core 110 is in a circular ring shape, wherein the plurality of stator tooth cores 120 are located inside the stator yoke core 110, wherein the plurality of stator tooth cores 120 are uniformly distributed along the circumference of the stator yoke core 110, wherein the plurality of stator tooth cores 120 are radially distributed, and a connecting portion 130 is provided between two adjacent stator tooth cores 120, wherein the connecting portion 130 is used to close the notch between the two adjacent stator tooth cores 120, thereby reducing the cogging torque and improving the torque pulsation.

[0046] It should be understood that the cogging torque is the periodic torque generated when the motor winding is in an open circuit state and the motor tends to approach the minimum magnetic resistance position within one rotation due to the slots in the stator core. Torque pulsation refers to the fluctuation phenomenon of the output torque of the motor over time during operation. Torque pulsation is usually caused by factors such as the uneven magnetic field inside the motor or the imbalance of the mechanical system. The stator core 100 used in the stator assembly in the embodiment of the first aspect of the utility model is provided with a connecting portion 130. The connecting portion 130 is used to close the slot between two adjacent stator tooth cores 120, which can improve the unevenness of the magnetic field, reduce torque pulsation and eliminate cogging torque.

[0047] The length of the connecting portion 130 along the circumferential direction of the stator core 100 is defined as B s , the maximum outer diameter of the stator yoke core 110 is R s , the design satisfies the relationship: By limiting the proportional relationship between the length of the connecting portion 130 and the maximum outer diameter of the stator yoke core 110, the length of the connecting portion 130 is limited to between 1% and 2% of the maximum outer diameter of the stator yoke core 110, and the length dimension of the connecting portion 130 is set within a suitable range, the notch can be eliminated.

[0048] Reference Figure 5 In some embodiments of the first aspect of the utility model, the rotor core 200 is provided with a plurality of magnetic steel slots 201, and the magnetic steel slots 201 are used to install magnetic steel. The plurality of magnetic steel slots 201 are evenly distributed along the circumference of the rotor core 200. At a position close to the inner wall of the rotor core 200, that is, on the side away from the stator assembly, magnetic isolation slots 203 are provided on both sides of the magnetic steel slots 201. An inner magnetic bridge 210 is formed between two adjacent magnetic isolation slots 203, and an outer magnetic bridge 220 is formed between the magnetic steel slots 201 and the outer wall surface of the rotor core 200. Along the radial direction of the rotor core 200, the length of the inner magnetic bridge 210 is B. i , the width of the outer magnetic bridge 220 is H o , along the circumference of the rotor core 200, the width of the inner magnetic bridge 210 is H i , the length of the outer magnetic bridge 220 is B o , the thickness of the rotor punching is H2, and the design satisfies the relationship: The length of the inner magnetic bridge 210 and the length of the outer magnetic bridge 220 are limited within a suitable range to prevent the inner magnetic bridge 210 from being too large, which is beneficial to improving the mechanical structural strength of the rotor assembly and improving the dynamic balance of the rotor assembly during rotation; at the same time, preventing the inner magnetic bridge 210 from being too small can suppress the leakage of the rotor assembly, which is beneficial to improving the performance of the servo motor.

[0049] In addition, the rotor core 200 is designed to satisfy the relationship: 0.85H2≤H o ≤1.1H2 and H2≤H i ≤1.5H2, using the relationship: 0.85H2≤H o ≤1.1H2 defines the size ratio of the width of the external magnetic bridge 220 to the thickness of the rotor punching sheet, so that the external magnetic bridge 220 can not only meet the function of guiding the magnetic field, but also simplify the production process of the rotor core 200. For example, the width (H o ) is designed to be consistent with the thickness (H2) of the rotor punching sheet, and the rotor punching sheet is integrally formed into the outer magnetic bridge 220, and then stacked to form the rotor core 200. In addition, the width (H o ) is designed to be 0.85 times, 0.9 times, 1.05 times, 1.1 times, etc., of the thickness of the rotor sheet (H2). It can be designed according to the characteristics of the actual product. The relationship is: H2≤H i≤1.5H2 defines the size ratio of the width of the inner magnetic bridge 210 to the thickness of the rotor punching sheet, so that the inner magnetic bridge 210 can not only meet the function of guiding the magnetic field, but also simplify the production process of the rotor core 200. For example, the width of the inner magnetic bridge 210 (H i ) is designed to be consistent with the thickness (H2) of the rotor punching, and the rotor punching is integrally formed into the inner magnetic bridge 210, and then the rotor core 200 is formed by lamination. In addition, the width (H i ) is designed to be 1.05 times, 1.1 times, 1.3 times, 1.5 times the thickness of the rotor punching (H2) and other sizes, and can be designed according to the characteristics of the actual product.

[0050] It is understandable that the thickness of the stator punching sheet (H1) and the thickness of the rotor punching sheet (H2) are usually 0.35 mm, and may also be other sizes, such as 0.3 mm, 0.4 mm, etc.

[0051] Considering that the magnetic steel is installed in the magnetic steel slot 201 of the rotor assembly, the magnetic steel is affected by the electromagnetic field of the stator assembly during the operation of the motor and demagnetization may occur. Therefore, in some embodiments of the first aspect of the utility model, two anti-demagnetization slots 202 are provided at one end of the magnetic steel slot 201 close to the stator core 100, and the two anti-demagnetization slots 202 are symmetrically arranged on both sides of the magnetic steel slot 201. The demagnetization of the magnetic steel mainly occurs on both sides close to the outer end of the stator assembly. When the stator assembly is powered on, the anti-demagnetization slots 202 at both ends of the magnetic steel slot 201 help to block the demagnetization magnetic field, thereby protecting the magnetic steel and helping to increase the service life of the servo motor.

[0052] Reference Figure 2 and Figure 5 In some embodiments of the second aspect of the utility model, the rotor core 200 is provided with a plurality of triangular magnetic conductive areas 230, and a triangular magnetic conductive area 230 is distributed on both sides of one end of each magnetic steel slot 201 away from the stator core 100, and the triangular magnetic conductive area 230 can be formed by designing the shape of the magnetic isolation slot 203. It can be understood that in the rotor assembly, the magnetic steel is the source of the magnetic circuit, and the magnetic circuit has two paths. One path is the main magnetic circuit that is closed through the air gap between the rotor assembly and the stator assembly and the stator core 100, which is used to generate torque; the other path is the leakage magnetic circuit through the external magnetic bridge 200, which has no contribution to the performance of the servo motor. By setting the triangular magnetic conductive area 230, more magnetic circuits can be guided into the main magnetic path and less can be entered into the leakage magnetic circuit, thereby improving the magnetic density of the main magnetic circuit and improving the output performance of the servo motor.

[0053] Reference Figure 5In some embodiments of the second aspect of the present utility model, the outer peripheral contour of the cross section of the rotor core 200 is non-circular, the maximum outer diameter of the rotor core 200 is R1, and the minimum outer diameter of the rotor core 200 is R2, and the design satisfies the relationship: The ratio of the maximum outer diameter of the rotor core 200 to the minimum outer diameter of the rotor core 200 is limited to between 1 and 1.01, so that the difference between the minimum outer diameter of the rotor core 200 and the maximum outer diameter is small. Within this range, during the rotation of the rotor assembly, the air gap fluctuation between the rotor assembly and the stator assembly is reduced, reducing the influence of the air gap on the magnetic field, which helps to further reduce the torque pulsation, and at the same time the output performance of the servo motor is effectively guaranteed.

[0054] The second aspect of the present invention provides industrial automation equipment, which uses the servo motor of the first aspect. The industrial automation equipment includes but is not limited to industrial robots, precision robotic arms, and automated production lines.

[0055] The servo motor includes a stator assembly and a rotor assembly. The stator core 100 of the stator assembly includes a stator yoke core 110 and multiple stator tooth cores 120. The stator yoke core 110 is in a circular shape. The multiple stator tooth cores 120 are located on the inner side of the stator yoke core 110. The multiple stator tooth cores 120 are evenly distributed along the circumference of the stator yoke core 110. The multiple stator tooth cores 120 are radially distributed. A connecting portion 130 is provided between two adjacent stator tooth cores 120. The connecting portion 130 is used to close the slot between two adjacent stator tooth cores 120, so as to reduce the tooth torque and improve the torque pulsation.

[0056] The length of the connecting portion 130 along the circumferential direction of the stator core 100 is defined as B s , the maximum outer diameter of the stator yoke core 110 is R s , the design satisfies the relationship: By limiting the proportional relationship between the length of the connecting portion 130 and the maximum outer diameter of the stator yoke core 110, the length of the connecting portion 130 is limited to between 1% and 2% of the maximum outer diameter of the stator yoke core 110, and the length of the connecting portion 130 is set within a suitable range, which can eliminate the notch, help improve the cogging torque and torque pulsation, and enhance the performance of the servo motor; and the length of the connecting portion 130 and the maximum outer diameter of the stator yoke core 110 satisfy the relationship: Limiting the length range of the connection portion 130 can not only meet the requirement of eliminating the notch, but also reduce the influence of the connection portion 130 on the performance of the servo motor.

[0057] The rotor core 200 of the rotor assembly is provided with a plurality of magnetic steel slots 201, and the magnetic steel slots 201 are used to install magnetic steel. The plurality of magnetic steel slots 201 are evenly distributed along the circumference of the rotor core 200. An inner magnetic bridge 210 is formed between two adjacent magnetic steel slots 201 at a position close to the inner wall of the rotor core 200. An outer magnetic bridge 220 is formed between the magnetic steel slots 201 and the outer wall surface of the rotor core 200. Along the radial direction of the rotor core 200, the length of the inner magnetic bridge 210 is B. i , along the circumference of the rotor core 200, the length of the outer magnetic bridge 220 is B o , the design satisfies the relationship: The length of the inner magnetic bridge 210 and the length of the outer magnetic bridge 220 are limited within a suitable range to prevent the inner magnetic bridge 210 from being too large, which is beneficial to improving the mechanical structural strength of the rotor assembly and improving the dynamic balance of the rotor assembly during rotation; at the same time, preventing the inner magnetic bridge 210 from being too small can suppress the leakage of the rotor assembly, which is beneficial to improving the performance of the servo motor.

[0058] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the relevant technical field without departing from the purpose of the present invention.

Claims

1. A servo motor, characterized in that: include: A stator assembly, wherein the stator assembly comprises a stator core, wherein the stator core comprises an annular stator yoke core and a plurality of stator tooth cores connected to the stator yoke core, wherein the plurality of stator tooth cores are evenly distributed along the circumference of the stator yoke core, and a connecting portion is provided between two adjacent stator tooth cores, and along the circumference of the stator core, the length of the connecting portion is B s The maximum outer diameter of the stator yoke core is R s ,satisfy: The rotor assembly is arranged inside the stator assembly, and the rotor assembly includes a rotor core, which is formed by stacking a plurality of rotor punching sheets.

2. The servo motor according to claim 1, characterized in that: The stator core is formed by laminating a plurality of stator punching sheets. Along the axial direction of the stator core, the radial width of the connecting portion is H s The thickness of the stator sheet is H1, which satisfies: 0.85H1≤H s ≤1.1H1.

3. The servo motor according to claim 1, characterized in that: The plurality of stator tooth cores form an inner ring through the plurality of connecting parts, and the contour line of the inner ring is circular.

4. The servo motor according to claim 3, characterized in that: The stator teeth core includes a rectangular portion and a trapezoidal portion, two ends of the rectangular portion are respectively connected to the stator yoke core and the trapezoidal portion, and one end of the trapezoidal portion away from the rectangular portion is connected to the connecting portion.

5. The servo motor according to claim 1, characterized in that: The rotor core is provided with a plurality of magnetic steel slots, which are evenly distributed along the circumference of the rotor core. Magnetic isolation slots are respectively provided on both sides of one end of the magnetic steel slot away from the stator core. The radial length of the magnetic isolation slot on the side away from the magnetic steel slot is greater than the radial length on the side close to the magnetic steel slot. An inner magnetic bridge is formed between two adjacent magnetic isolation slots, and an outer magnetic bridge is formed between the magnetic steel slot and the outer wall surface of the rotor core.

6. The servo motor according to claim 5, characterized in that: Along the radial direction of the rotor core, the length of the inner magnetic bridge is B i , the width of the external magnetic bridge is H o , along the circumference of the rotor core, the width of the inner magnetic bridge is H i , the length of the external magnetic bridge is B o The thickness of the rotor punching is H2, which satisfies: 0.85H2≤H o ≤1.1H2, H2≤H i ≤1.5H2, 7. The servo motor according to claim 6, characterized in that: Two anti-demagnetization slots are arranged at one end of the magnetic steel slot close to the stator core, and the two anti-demagnetization slots are symmetrically arranged on both sides of the magnetic steel slot.

8. The servo motor according to claim 6, characterized in that: The rotor core is provided with a plurality of triangular magnetic conductive areas, and one triangular magnetic conductive area is distributed on both sides of one end of each magnetic steel slot away from the stator core.

9. The servo motor according to claim 5, characterized in that: The outer peripheral contour of the cross section of the rotor core is non-circular, the maximum outer diameter of the rotor core is R1, and the minimum outer diameter of the rotor core is R2, which satisfies:

10. Industrial automation equipment, characterized in that, Comprising the servo motor according to any one of claims 1 to 9.

Images