Stator structure and servo motor

Abstract

The utility model discloses a stator structure and a servo motor, and relates to the servo motor technology field, the stator structure comprises a stator iron core structure and a plurality of winding structures, the plurality of winding structures are arranged on the stator iron core structure, the plurality of winding structures comprise a first winding, a second winding and a third winding, the first winding is provided with a plurality of wire layers which are sequentially stacked, the plurality of wire layers comprise a first wire layer and a second wire layer adjacent to the first wire layer, the second wire layer is sequentially wound from the outer side of the stator core structure to the inner side of the stator core structure in the radial direction, and the tail end of the first wire layer is connected to a winding post; wherein the turn wire of the second wire layer spans from the tail end outgoing line to the middle outgoing line and then is connected with the head end of the turn wire of the first wire layer. The overline distance is still half of the width of the line layer, so that the overline size is shortened, and the problem that the overline distance from the head end to the tail end is large and is difficult to realize is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of servo motors, and particularly relates to a stator structure and a servo motor. Background Art

[0002] At present, high power density is the market trend of servo motors. High power density requires improving the slot fill factor of servo motors and at the same time increasing the magnetic load of servo motors. However, at present, the slot fill factor of servo motors in the industry has reached a bottleneck and cannot be easily further improved. At the same time, if it is necessary to further increase the magnetic load on the existing basis, the cost of servo motors will increase significantly, which is not conducive to improving the cost performance of products. Summary of the Utility Model

[0003] In order to improve the slot fill factor and magnetic load of servo motors, it involves the design of turn wires. When winding, there is a situation where the cross-wire distance of the turn wires is too far, resulting in the inability to realize winding.

[0004] The main purpose of the utility model is to propose a stator structure and a servo motor, aiming to solve the problem of large cross-wire distance in winding.

[0005] To achieve the above object, the stator structure proposed by the utility model includes:

[0006] A stator core structure; and,

[0007] A plurality of winding structures arranged on the stator core structure, the plurality of winding structures including a first winding, the first winding forming a plurality of wire layers stacked in sequence, the plurality of wire layers including a first wire layer and a second wire layer adjacent to the first wire layer, and in the radial direction, the second wire layer winds from the outside of the stator core structure to its inside in sequence, and the tail end of the first wire layer is connected to a winding post;

[0008] Wherein, the turn wire of the second wire layer goes from the tail-end outlet to the middle outlet, and then is connected to the head end of the turn wire of the first wire layer.

[0009] In an embodiment, the plurality of winding structures further include a second winding;

[0010] Wherein, the wire diameter of the first winding is smaller than that of the second winding, and the number of turns of the first winding is greater than that of the second winding.

[0011] In an embodiment, the first winding and the second winding are in one-to-one correspondence and are both provided in plurality, and the plurality of second windings and the plurality of first windings are alternately arranged along the circumference of the stator core structure.

[0012] In one embodiment, one of the first winding and the second winding is connected in a star connection manner, and the other is connected in a delta connection manner.

[0013] In one embodiment, the stator core structure includes an inner stator core and an outer stator core sleeved outside the inner stator core;

[0014] A plurality of winding structures are located between the inner stator core and the outer stator core.

[0015] In one embodiment, each of the winding structures includes:

[0016] A skeleton fixed to the outer peripheral side of the inner stator core, a wire slot is formed on the skeleton, and,

[0017] A winding wound along the wire slot.

[0018] In one embodiment, the plurality of winding structures further includes a second winding, the wire diameter of the first winding is smaller than that of the second winding, and the number of turns of the first winding is greater than that of the second winding;

[0019] The width dimension of the wire slot of the first winding is different from that of the wire slot of the second winding.

[0020] In one embodiment, a plurality of spaced-apart mounting portions are formed on the outer peripheral side of the inner stator core;

[0021] The side surface of the skeleton facing the inner stator core is provided with a mounting groove for fixedly buckling on the mounting portion.

[0022] In one embodiment, the connection manner of the plurality of winding structures includes a star connection manner and / or a delta connection manner; and / or,

[0023] The stator structure further includes a circuit board, the circuit board is at the end of the stator core structure, and is fixedly connected to the plurality of winding structures.

[0024] The present utility model further includes a servo motor including the above-mentioned stator structure.

[0025] The technical solution of the present utility model changes the winding method by changing the structure of the wire layer. The tail end of the first wire layer is connected to the winding column. The turns of the second wire layer are led out from the tail end and cross to the middle to lead out, and then connected to the head end of the turns of the first wire layer. That is, when the second wire layer is wound, it starts winding radially corresponding to the outside of the stator core structure, continues winding after leaving a blank in the middle turns, returns to the blank position in the middle after completing the tail end winding. At this time, the distance of the cross wire is half of the width of the wire layer, and then it is connected to the head end of the turns of the first wire layer, and the distance of the cross wire is still half of the width of the wire layer. Therefore, the cross wire size is shortened, and the situation that it is difficult to achieve a large cross wire distance from the head end to the tail end is solved. Description of the Drawings

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0027] Figure 1 Structural schematic diagram of the stator structure provided by the present utility model;

[0028] Figure 2 is Figure 1 Schematic diagram of the cooperation between the winding structure and the stator core structure in

[0029] Figure 3 is Figure 1 Structural schematic diagram of the first winding in

[0030] Figure 4 is Figure 3 Top view schematic diagram of the first winding in

[0031] Figure 5 is Figure 1 Cross-sectional schematic diagram along A-A in

[0032] Figure 6 is Figure 1 Structural schematic diagram of the second winding in

[0033] Figure 7 is Figure 6 Top view schematic diagram of the second winding in

[0034] Explanation of the reference numerals in the drawings:

[0035] 100, stator structure;

[0036] 1, inner stator core;

[0037] 2, outer stator core;

[0038] 3. Winding structure; 3a. First winding; 311. Wire layer; 311a. First wire layer; 311b. Second wire layer; 3b. Second winding; 321. Skeleton; 3211. Mounting groove;

[0039] 4. Circuit board;

[0040] a. First end of the first wire layer; b. First end of the second wire layer; c. Middle part of the second wire layer; d. Tail end of the second wire layer.

[0041] The realization, functional features and advantages of the present utility model will be further described with reference to the embodiments and the accompanying drawings. Specific embodiments

[0042] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0043] It should be noted that if there are directional indications (such as up, down, left, right, front, back,...) involved in the embodiments of the present utility model, the directional indications are only used to explain the relative position relationship and movement conditions between components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0044] In addition, if there are descriptions such as "first", "second", etc. involved in the embodiments of the present utility model, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, if "and / or" or "and / or" appears throughout the text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or the solution where A and B are satisfied simultaneously. In addition, the technical solutions between the embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present utility model.

[0045] At present, high power density is the market trend of servo motors. The need for high power density requires increasing the slot fill factor of servo motors while increasing the magnetic loading of servo motors. However, there are bottlenecks in the current technological development. In the industry, the slot fill factor of servo motors has reached a bottleneck and cannot be easily further improved. At the same time, if the magnetic loading needs to be further increased on the existing basis, the cost of servo motors will increase significantly, which is not conducive to improving the cost performance of products. Therefore, how to improve the slot fill factor and magnetic loading of servo motors without significantly increasing the cost of servo motors is a challenge for the industry.

[0046] Based on this, the present utility model proposes a stator structure and a servo motor, which are beneficial to improving the winding coefficient of the servo motor on the one hand and beneficial to increasing the number of turns of wire entering the slot of the servo motor on the other hand.

[0047] Specifically, please refer to Figures 1 to 2 , the stator structure 100 includes a stator core structure and a plurality of winding structures 3. The plurality of winding structures 3 are arranged on the stator core structure. The plurality of winding structures 3 include a first winding 3a. The first winding 3a is formed with a plurality of wire layers 311 arranged in layers in sequence. The plurality of wire layers 311 include a first wire layer and a second wire layer 311b adjacent to the first wire layer 311a. In the radial direction, the second wire layer 311b winds wire from the outside to the inside of the stator core structure in sequence. The tail end of the first wire layer 311a is connected to a winding post; wherein, the turn wire of the second wire layer 311b goes from the tail end outlet to the middle outlet and then is connected to the head end of the turn wire of the first wire layer 311a.

[0048] The technical solution of the present utility model changes the winding method by changing the structure of the wire layer. The tail end of the first wire layer 311a is connected to a winding post. The turn wire of the second wire layer 311b goes from the tail end outlet to the middle outlet and then is connected to the head end of the turn wire of the first wire layer 311a. That is, when the second wire layer 311b is wound, it starts to wind wire corresponding to the outside of the stator core structure in the radial direction, continues to wind after leaving the middle turn wire empty, returns to the middle empty position after completing the tail end winding. At this time, the distance of the cross wire is half of the width of the wire layer, and then it is connected to the head end of the turn wire of the first wire layer 311a, and the distance of the cross wire is still half of the width of the wire layer. Therefore, the cross wire size is shortened, and the situation that it is difficult to achieve a large cross wire distance from the head end to the tail end is solved.

[0049] Specifically, the stator core structure includes an inner stator core 1 and an outer stator core 2 sleeved outside the inner stator core 1; the plurality of winding structures 3 are located between the inner stator core 1 and the outer stator core 2, and the plurality of winding structures 3 are distributed along the circumference of the inner stator core 1 and fixed on the outer peripheral side of the inner stator core 1.

[0050] Further, the multiple winding structures 3 further include a second winding 3b; the wire diameter of the first winding 3a is smaller than that of the second winding 3b, and the number of turns of the first winding 3a is greater than that of the second winding 3b. The first winding 3a and the second winding 3b can be set to be multiple and arranged alternately.

[0051] The technical solution of the present utility model obtains a hybrid winding through the design of the first winding 3a and the second winding 3b. Through an asymmetric winding design, that is, the wire diameter of the first winding 3a is smaller than that of the second winding 3b and the number of turns is greater than that of the second winding 3b, the windings can be arranged arbitrarily. When the two are arranged alternately, the minimum gap between adjacent winding structures 3 no longer limits the wiring, which is convenient for reasonable use of space, thereby increasing the slot fill factor, further improving the output capacity of the servo motor, and reducing the temperature rise. At the same time, due to the cooperative design of the first winding 3a and the second winding 3b. And this structural form mainly improves the winding, and has a weak impact on the cost, thus solving the industry contradiction between low cost and high slot fill factor and high magnetic load.

[0052] Specifically, please refer to Figure 3 and Figure 6 , each of the winding structures 3 includes a skeleton 321 and a winding. The skeleton 321 is fixed to the outer peripheral side of the inner stator core 1, and the winding is wound around the outside of the skeleton 321. It should be understood that among the outer surfaces of the skeleton 321, except for the two side surfaces arranged along the radial direction of the inner stator core 1, the remaining side surfaces form an installation ring surface for the winding, and the winding is wound in layers on the skeleton 321 to form a multi-layer structure.

[0053] To facilitate the installation and positioning of the winding, in some embodiments, a wire slot is formed on the skeleton 321, and the winding is wound along the wire slot. Specifically, an annular wire slot is formed on the installation ring surface of the skeleton 321 to form a limit. Specifically, an annular groove is provided on the installation ring surface of the skeleton 321, and the annular groove can directly serve as a wire slot. A plurality of depressions arranged along the radial direction of the inner stator core 1 can be provided at the bottom of the wire slot to adapt to the size of the winding, that is, when the winding is wound, each turn of the first layer in contact with the bottom of the wire slot can be embedded in the depression. Or, the annular groove only serves as a limit for the winding and has a plurality of slot segments arranged along the radial direction of the inner stator core 1 for the winding to be embedded to form a wire slot.

[0054] Further, the width dimensions of the wire slots of the first windings 3a are different from those of the wire slots of the second windings 3b. Since the wire diameters of the first winding 3a and the second winding 3b are different, the width dimensions of the wire slots should be reasonably designed according to their respective wire diameters.

[0055] In order to facilitate installation and matching, a plurality of installation parts arranged at intervals are formed on the outer peripheral side of the inner stator core 1; the side of the frame 321 facing the inner stator core 1 is provided with an installation groove 3211, and the installation groove 3211 is used to be fixedly buckled on the installation part, so that each winding is assembled on the outside of the inner stator core 1 through the installation groove 3211.

[0056] Specifically, the notch of the installation slot 3211 is gradually expanded to facilitate installation and positioning. At the same time, a plurality of ribs can be designed on the inner wall surface of the installation slot 3211 to make up for the gap during fitting and increase the tightness of fitting.

[0057] It should be noted that the mounting portion may be an insulating structure added to the outside of the inner stator core 1 , or may be a punching portion of the inner stator core 1 .

[0058] It should be noted that the present invention does not limit the form of the stator core structure. In this embodiment, the inner stator core 1 is formed by stacking notched sun tooth punchings. The outer stator core 2 is formed by stacking annular yoke punchings.

[0059] The gaps of conventional symmetrical windings vary in size in the radial direction of the stator core due to the arrangement of the windings. The insulation bottleneck between two adjacent winding structures 3 lies in the minimum gap. Figure 7 Since the structure of the present application is different from that of the common symmetrical winding, the gap between the first winding 3a and the second winding 3b can be used more reasonably. The asymmetrical hybrid winding can arrange the windings at will, and the first winding 3a can be arranged according to the shape of the second winding 3b, so that the gap between the windings is uniform in the radial direction.

[0060] Since the wire diameter of the first winding 3a is smaller and the number of turns is greater, when winding, if the conventional winding method is used, that is, each layer is wound one by one, the cross-line distance between the first turn of the last layer and the last turn of the second to last layer will be too far. The cross-line distance at this time is the entire groove width of the mounting ring groove where the winding 311 is located. When the groove is an irregular shape, the cross-line distance is even greater, making winding impossible. Therefore, please refer to Figure 7 The specific winding process of the cross-wire method adopted by the first winding 3a in the utility model is as follows: the first winding 3a is wound along the radial direction, and when it is wound to the second wire layer 311b, it is wound turn by turn from the first end b of the second wire layer. When it is wound to the middle, the middle part c of the second wire layer is left empty and the winding is continued. After the winding of the tail end d of the second wire layer is completed, it returns to the empty position of the middle part c of the second wire layer to complete the winding. Therefore, the way of outputting the wire is from the tail end outputting the wire to the middle outputting the wire, and finally the wire is outputted from the middle c of the second wire layer to the first end a of the first wire layer, thereby reducing the span of the winding by half. The way of routing the wire is referred to Figure 4 andFigure 5 As shown by the dashed arrow in

[0061] It should be noted that the two opposite ends of each wire layer 311 along the radial direction of the inner stator core 1 are respectively the head end and the tail end, and the turn wires at the corresponding positions are the first turn and the last turn, and the directions of the head ends of each wire layer 311 are the same. For example, if the second wire layer 311b has a total of 5 turn wires, when the 2nd turn is wound, the 3rd turn is skipped, and it directly jumps to the position of the 4th turn. After the 5th turn is completed, it returns to the 3rd turn to fill the vacancy. At this time, the winding of the second wire layer 311b is completed.

[0062] It should be noted that, please refer to Figure 7 , the wire diameter of the second winding 3b can be the same as the conventional wire diameter. At this time, there is no challenge of a long cross-wire distance, and the conventional winding means can be guaranteed.

[0063] It should be understood that the groove width of the annular groove for winding positioning on the bobbin 321 may vary. For example Figure 7 , the groove width of the annular groove gradually expands along the direction from the groove bottom to the groove opening. Therefore, based on this structural form, the number of winding turns of each wire layer 311 may be the same or different.

[0064] Furthermore, the present invention does not limit the connection method of the winding structure 3. The connection methods of the multiple winding structures 3 include star connection method and / or delta connection method. For example, the connection methods of the multiple winding structures 3 are all the same, or some may be different. In one embodiment, the connection method of one of the first winding 3a and the second winding 3b is the star connection method, and the connection method of the other is the delta connection method. Thus, star-delta hybrid connection can be achieved, which can improve the winding coefficient of the servo motor. Specifically, after using the star-delta hybrid connection winding, under the same equivalent number of turns, this structure is 3.5% higher than the ordinary star-connected winding, and can improve the torque. In addition, after using the star-delta hybrid connection winding, under the same slot area, different numbers of turns and different wire diameters can wind more copper wires to fill more blanks, which is beneficial to reducing the resistance of the servo motor, thereby improving the heat generation of the servo motor.

[0065] Furthermore, the stator structure 100 further includes a circuit board 4. The circuit board 4 is located at the end of the stator core structure and is fixedly connected to the multiple winding structures 3. In some embodiments, the circuit board 4 is a printed circuit board, which is welded through pads and is used to connect each winding structure 3.

[0066] The present utility model further provides a servo motor, which includes a stator structure 100. The specific structure of the stator structure 100 refers to the above embodiments. Since this servo motor adopts all the technical solutions of the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be elaborated here one by one.

[0067] In the technical solution of the present application, by adopting a hybrid winding with different numbers of turns and different wire diameters, on the one hand, the winding coefficient of the servo motor can be improved, thereby improving the magnetic load of the servo motor, further improving the output capacity of the servo motor, reducing the temperature rise, and having no impact on the cost; on the other hand, the number of turns of the wire entering the slot of the servo motor can be increased. Through the asymmetric winding design, the first winding 3a can be arranged along the outer shape of the second winding 3b, so that the gaps between the windings are in a uniform state in the radial direction, making rational use of the space in the slot, thereby improving the slot fill factor of the servo motor, further improving the output capacity of the servo motor, reducing the temperature rise, and having no obvious impact on the cost.

[0068] The above are only exemplary embodiments of the present utility model, and do not limit the patent scope of the present utility model accordingly. Any equivalent structural transformation made by using the content of the specification and drawings of the present utility model under the technical concept of the present utility model, or any direct / indirect application in other related technical fields is included in the patent protection scope of the present utility model.

Claims

1. A stator structure, characterized in that: include: Stator core structure; as well as, A plurality of winding structures are arranged on the stator core structure, the plurality of winding structures include a first winding, the first winding is formed with a plurality of wire layers stacked in sequence, the plurality of wire layers include a first wire layer and a second wire layer adjacent to the first wire layer, the second wire layer is wound in sequence from the outside to the inside of the stator core structure in the radial direction, and the tail end of the first wire layer is connected to the winding post; The turns of the second wire layer extend from the tail end to the middle end, and then are connected to the head end of the turns of the first wire layer.

2. The stator structure according to claim 1, characterized in that: The plurality of winding structures further includes a second winding; The wire diameter of the first winding is smaller than the wire diameter of the second winding, and the number of turns of the first winding is greater than the number of turns of the second winding.

3. The stator structure according to claim 2, characterized in that: The first windings and the second windings correspond to each other one by one and are each provided in plurality. The plurality of second windings and the plurality of first windings are alternately arranged along the circumference of the stator core structure.

4. The stator structure according to claim 2, characterized in that: A connection mode of one of the first winding and the second winding is a star connection mode, and a connection mode of the other winding is a delta connection mode.

5. The stator structure according to claim 1, characterized in that: The stator core structure comprises an inner stator core and an outer stator core sleeved outside the inner stator core; A plurality of winding structures are located between the inner stator core and the outer stator core.

6. The stator structure according to claim 5, characterized in that: Each of the winding structures comprises: A frame is fixed to the outer peripheral side of the inner stator core, and a wire arrangement groove is formed on the frame, and, The wire winding is arranged along the wire arrangement groove.

7. The stator structure according to claim 6, characterized in that: The plurality of winding structures further include a second winding, the wire diameter of the first winding is smaller than the wire diameter of the second winding, and the number of turns of the first winding is greater than the number of turns of the second winding; The width of the wire slot of the first winding is different from the width of the wire slot of the second winding.

8. The stator structure according to claim 6, characterized in that: A plurality of installation parts arranged at intervals are formed on the outer peripheral side of the inner stator core; The frame is provided with a mounting groove on the side facing the inner stator core, and the mounting groove is used for being fixedly buckled on the mounting portion.

9. The stator structure according to claim 1, characterized in that: The connection mode of the plurality of winding structures includes a star connection mode and / or a delta connection mode; and / or, The stator structure also includes a circuit board, which is located at the end of the stator core structure and fixedly connected to the multiple winding structures.

10. A servo motor, characterized in that: Comprising the stator structure according to any one of claims 1 to 9.

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