Stator core, stator, brushless motor, end effector and robot
By setting a thin insulating layer on the surface of the stator teeth and optimizing the stator core structure, the problem of insufficient space in the winding slots of miniaturized motors was solved, and a motor design with high torque and low iron loss was achieved.
Patent Information
- Application Number
- CN202422100517.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-28
- Publication Date
- 2025-10-28
- Estimated Expiration
- 2034-08-28
AI Technical Summary
In existing motors, after miniaturization, the width of the winding slots in the stator core is insufficient to accommodate a large number of coils, resulting in lower motor torque.
An insulating layer with a thickness of ≤0.05mm is set on the first surface of the stator teeth. Combined with appropriate spacing between adjacent stator teeth and reduction of the thickness of the stator yoke ring plate, it is ensured that there is enough space in the winding slot to accommodate the coil and reduce iron loss.
This improves the torque performance and quality stability of the motor, while reducing iron loss and overall motor size.
Smart Images
Figure CN223487937U_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the field of motor technology, specifically relating to a stator core, stator, brushless motor, end effector, and robot. Background Technology
[0002] With the gradual development of the robotics industry, humanoid robots have also seen significant advancements. Humanoid robots can be equipped with various end effectors, among which the most important is undoubtedly the bionic dexterous hand. The bionic dexterous hand is key to enabling humanoid robots to perform a series of operations such as dexterous grasping. The size of the bionic dexterous hand is designed with reference to a real human hand, resulting in a relatively small size. Due to the small size of the bionic dexterous hand, especially for those driven by motors, a significant direction for miniaturization lies in reducing the size of the motor itself.
[0003] In the process of realizing the technical solution of this application, the inventors discovered that miniaturizing the size of a motor is not simply a matter of proportionally reducing the size of each component. In existing motor designs, to ensure insulation between the winding coils and the stator core, the stator core is typically covered with plastic to prevent direct contact between the winding coils and the stator core. However, after miniaturizing the stator core, the width of the winding slot between two adjacent stator teeth may only be 1 to 2 millimeters. At this point, it becomes apparent that if the stator core is further covered with plastic, the width of the winding slot may be almost negligible, making it impossible to accommodate windings with a large number of coils. This results in a lower torque in the miniaturized motor. Utility Model Content
[0004] This application provides a stator core, a stator, a brushless motor, an end effector, and a robot. The first surface of the stator teeth in the stator core has an insulating layer with a thickness of ≤0.05mm, which can avoid further compression of the winding slot's accommodating space, allowing for the installation of windings with a larger number of coils, thereby increasing the torque of the motor with the stator core.
[0005] A first aspect of this application provides a stator core comprising a stator tooth portion and a stator yoke portion. The stator tooth portion includes a plurality of stator teeth arranged circumferentially along the inner surface of the stator yoke portion. A first surface of each stator tooth has an insulating layer, which is the surface covered by the winding when a winding is arranged on the stator tooth, and the thickness of the insulating layer is ≤0.05mm. When a winding is arranged in the winding slot of this stator core, since the thickness of the insulating layer on the first surface of the stator tooth is ≤0.05mm, further compression of the winding slot's accommodating space can be avoided, thereby allowing for the arrangement of a winding with a larger number of coils, thus increasing the torque of the motor with this stator core.
[0006] In one possible implementation, a preset distance is maintained between two adjacent stator teeth in the stator core, with the preset distance ranging from 0.4 mm to 2.6 mm. By miniaturizing the preset distance between adjacent stator teeth, the overall size of the motor with this stator core can be reduced.
[0007] Furthermore, since the preset distance between two adjacent stator teeth is in the range of 0.4 to 2.6 mm, the space for the winding slot between the two adjacent stator teeth is also small. Therefore, when designing the insulation layer thickness, the insulation layer thickness should be reduced as much as possible to further reduce the space occupied by the winding slot, thereby leaving more space for the winding to be installed, and thus increasing the torque of the motor with the stator core.
[0008] In one possible implementation, the stator yoke includes multiple yoke annular plates, which are stacked to form the stator yoke, and the nominal thickness of the yoke annular plates is ≤0.2mm. Since the iron loss of the stator core is positively correlated with the square of the thickness of the yoke annular plates, the iron loss of the stator core can be significantly reduced by ensuring that the nominal thickness of the yoke annular plates is ≤0.2mm.
[0009] In one possible implementation, the first surface is a surface that has undergone a deburring process. Deburring the first surface can improve the yield when forming an insulating layer on the first surface.
[0010] In one possible implementation, the second surface of the stator yoke has an insulating layer. This second surface is the surface of the stator yoke located within the winding slot, with the winding slot formed between adjacent stator teeth. The insulating layer on the surface of the stator yoke within the winding slot further prevents the winding within the slot from contacting the stator core, thereby improving the quality stability of the motor with this stator core.
[0011] In one possible implementation, the width of the stator teeth is ≥0.5mm. Ensuring the stator teeth are ≥0.5mm reduces the machining difficulty.
[0012] In one possible implementation, the outer diameter of the stator core is ≥6mm and ≤22mm. By designing the outer diameter of the stator core to be ≥6mm and ≤22mm, the overall number of motors with this stator core can be reduced.
[0013] In one possible implementation, the axial length of the stator core is ≥4mm and ≤20mm. By designing the axial length of the stator core to be ≥4mm and ≤20mm, the overall number of motors with this stator core can be reduced.
[0014] A second aspect of this application provides a stator, comprising: any of the aforementioned stator cores, and a winding, the winding being sleeved on stator teeth and bonded and fixed to the stator teeth. By including a stator core, and the thickness of the insulation layer of the stator teeth of the stator core being ≤0.05mm, further compression of the accommodating space of the winding slots can be avoided, thereby allowing a winding with a larger number of coils to be sleeved, thus enabling the motor with the stator to have higher torque.
[0015] In one possible implementation, when the number of windings is greater than half the number of stator teeth, the windings are divided into a first winding and a second winding, with adjacent stator teeth respectively fitted with the first winding and the second winding; wherein, the first winding includes n first wiring layers from the inside out, each first wiring layer having the same number of coil turns, and n is a positive integer; the second winding includes m second wiring layers, the m second wiring layers of the second winding being divided into w types of first sub-wiring layers from the inside out, the number of coil turns of the w types of first sub-wiring layers of the second winding decreasing from the inside out, each second sub-wiring layer being close to the inner surface of the stator yoke, m is a positive integer, and w is a positive integer less than or equal to m. The stator core has two adjacent stator teeth, one of which houses the first winding and the other of which houses the second winding. Since the number of turns of the first sub-coil layer of the second winding decreases sequentially from the inside to the outside, and each first sub-coil layer is close to the inner surface of the stator yoke, the overall outline size of the second winding gradually decreases in the direction away from the stator yoke. This allows the second winding to occupy more space in the winding slot near the tooth root, thereby increasing the slot fill factor of the stator and thus enabling the brushless motor with this stator to have greater torque.
[0016] A third aspect of this application provides a brushless motor, including: the stator described above, and a rotor; the rotor includes a permanent magnet and a permanent magnet carrier, the permanent magnet being located on the outer side of the permanent magnet carrier;
[0017] The rotor is located inside the stator cavity, and the rotor has 10 poles;
[0018] The permanent magnet is used for excitation to generate a magnetic field, and its outer surface is the side of the permanent magnet carrier away from the central axis. By including a stator, which comprises a stator core with an insulation layer thickness ≤0.05mm, the brushless motor exhibits high torque performance characteristics.
[0019] In one possible implementation, the permanent magnet and the permanent magnet carrier are integrally formed. Integrating the permanent magnet and the permanent magnet carrier can improve the service life of the rotor, thereby enhancing the quality stability of the brushless motor.
[0020] In one possible implementation, the integrally formed permanent magnet and permanent magnet carrier are a ring-shaped integral magnetic ring, and the ratio of the axial length to the outer diameter of the integral magnetic ring is ≤1.5. This reduces the manufacturing difficulty of the integral magnetic ring.
[0021] A fourth aspect of this application provides an end effector, comprising: any of the brushless motors described above, and at least one motion mechanism; the brushless motor is drively connected to the motion mechanism for driving the motion mechanism to operate. By including a brushless motor, the end effector itself has a smaller size, and because the brushless motor has higher torque, the end effector has higher operating power.
[0022] A fifth aspect of this application provides a robot, including: the aforementioned end effector, and a body, wherein the end effector is fixedly connected to the body. By including the end effector, the robot has higher operating power. Attached Figure Description
[0023] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0024] Figure 1 One of the schematic diagrams of the planar structure of the stator core provided in the embodiments of this application;
[0025] Figure 2 A second schematic diagram of the planar structure of the stator core provided in the embodiments of this application;
[0026] Figure 3 The third schematic diagram of the planar structure of the stator core provided in the embodiments of this application;
[0027] Figure 4 A three-dimensional structural schematic diagram of the stator core provided in the embodiments of this application;
[0028] Figure 5 for Figure 1 A magnified view of part A in the middle;
[0029] Figure 6 A schematic diagram showing the windings mounted on two adjacent stator teeth on the stator core according to an embodiment of this application;
[0030] Figure 7 A side view of the first winding along the direction it is sleeved on the stator teeth, provided for an embodiment of this application;
[0031] Figure 8 A side view of the first winding along the stator core axis provided for an embodiment of this application;
[0032] Reference numerals: stator core 1000; stator tooth 100, shoe part 101, first surface 102; stator yoke 200, second surface 201; insulation layer 300; stator 2000; first winding 400, first wiring layer 401; second winding 500, second wiring layer 501. Detailed Implementation
[0033] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure are within the scope of protection of this disclosure.
[0034] The terms "first," "second," etc., used in this disclosure and in the claims are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this disclosure can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.
[0035] The structure provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings, through specific examples and application scenarios.
[0036] Figure 1 This is one of the schematic diagrams of a planar structure of a stator core provided in this application.
[0037] See also Figure 1 The stator core 1000 may include a stator tooth 100 portion and a stator yoke portion 200; the stator tooth 100 portion includes a plurality of stator teeth 100, which are arranged circumferentially along the inner surface of the stator yoke portion 200; the first surface 102 of the stator tooth 100 has an insulating layer 300, which is the surface covered by the winding on the stator tooth 100 when the winding is arranged on the stator tooth 100, and the thickness of the insulating layer 300 is ≤0.05mm.
[0038] It should be understood that the stator core 1000 may have 12 stator teeth 100 or 14 stator teeth 100, without further limitation. The stator teeth 100 may be obtained by fixed assembly with the stator yoke 200, or the stator teeth 100 may be integrally formed with the stator yoke 200.
[0039] Optionally, the insulating layer 300 can be formed on the first surface 102 by electrophoresis; the insulating layer 300 can be formed on the first surface 102 by chemical vapor deposition; or the first sub-insulating layer 300 can be formed on the first surface 102 by electrophoresis, and then the second sub-insulating layer 300 can be formed on the first sub-insulating layer 300 by chemical vapor deposition.
[0040] In the case where a first sub-insulating layer 300 is first formed on the first surface 102 by electrophoresis, and then a second sub-insulating layer 300 is formed on the first sub-insulating layer 300 by chemical vapor deposition, the insulating layer 300 includes the first sub-insulating layer 300 and the second sub-insulating layer 300.
[0041] To further clarify, regardless of which of the above processes is used to form the insulation layer 300, the thickness of the resulting insulation layer 300 is ≤0.05mm.
[0042] For example, the thickness of the insulating layer 300 can be 0.02 mm, 0.03 mm, or 0.04 mm, and no further limitation is made here.
[0043] In particular, the stator core in this embodiment is used for motors with a voltage value of less than or equal to 48V. Therefore, even if the thickness of the insulation layer 300 is ≤0.05mm, the insulation layer 300 is sufficient to provide insulation.
[0044] Figure 2 A second schematic diagram of the planar structure of the stator core provided in the embodiments of this application;
[0045] See also Figure 2 In the stator core provided in this application embodiment, one stator tooth 100 is a shoe-shaped portion 101 and the other stator tooth 100 is a shoeless portion.
[0046] Figure 3 The third schematic diagram of the planar structure of the stator core provided in the embodiments of this application;
[0047] See also Figure 3 In the stator core provided in this application embodiment, two adjacent stator teeth 100 are stator teeth 100 with shoe portions 101.
[0048] It should be noted that when adopting Figure 1 The schematic diagram of the stator core 1000 shown can be used to install windings on each stator tooth 100. Figure 2 In the plan view of the stator core 1000, windings can be provided on the stator teeth 100 without the shoe portion 101, when using... Figure 3 The schematic diagram of the stator core 1000 shown indicates that windings can be installed on each stator tooth 100.
[0049] Among them, in adopting Figure 1 The schematic diagram of the stator core 1000 shown indicates that windings can be installed on each stator tooth 100 to obtain a motor with higher torque.
[0050] Figure 4 A three-dimensional structural schematic diagram of the stator core provided in the embodiments of this application;
[0051] Figure 5 for Figure 1 A magnified view of part A in the middle;
[0052] See also Figure 4 , Figure 4 The text indicates a portion of the first surface of the stator tooth; however, the actual first surface of the stator tooth also includes... Figure 4 The two first surfaces pointed to in the figure are directly opposite each other, and all the first surfaces of a stator tooth are the surfaces covered by the winding on the stator tooth.
[0053] See also Figure 5 , Figure 5 The diagram illustrates that the first surface is covered with an insulating layer 300 with a thickness of less than or equal to 0.05 mm.
[0054] In this embodiment of the application, the first surface 102 of the stator tooth 100 has an insulating layer 300. The insulating layer 300 can be used to isolate the winding from the stator core 1000, avoiding direct contact between the winding and the stator core 1000. Since the insulating layer 300 is insulating, the winding can be insulated from the stator core 1000.
[0055] Furthermore, compared to the existing technology of coating the first surface 102 of the stator teeth 100 with plastic to achieve insulation between the winding and the stator core 1000, since the thickness of the insulation layer 300 is less than or equal to 0.05 mm, while the thickness of the plastic layer formed by coating the first surface 102 is usually 1 to 2 mm, which is much greater than the thickness of the insulation layer 300 in the embodiment of this application, the accommodating space of the winding slot caused by the plastic coating can be avoided, thereby allowing the installation of windings with more coils, and thus increasing the torque of the motor with the stator core 1000.
[0056] Optionally, in some embodiments, the first surface is a surface that has undergone a deburring process.
[0057] It should be noted that before the insulating layer 300 is formed on the first surface 102, a deburring process can be performed on the first surface 102 to make the first surface 102 smooth.
[0058] In this embodiment of the application, by performing a deburring process on the first surface, the first surface becomes a smooth surface, thereby improving the yield when forming an insulating layer on the first surface.
[0059] Optionally, in one embodiment, the thickness of the insulating layer 300 is 0.02 mm.
[0060] In this embodiment, the thickness of the insulation layer 300 is 0.02mm, which, compared to the thicknesses of 0.05mm, 0.04mm, and 0.03mm, further reduces the space occupied by the winding slot, thereby leaving more space for the winding and increasing the torque of the motor with the stator core 1000.
[0061] Optionally, in some embodiments, a preset distance is spaced between two adjacent stator teeth 100 in the stator core 1000, and the preset distance ranges from 0.4 mm to 2.6 mm.
[0062] It should be noted that the specific value of the preset distance needs to be determined comprehensively based on the outer diameter, inner diameter, stator tooth 100 length, and number of stator teeth 100 of the stator core 100.
[0063] For example, when the outer diameter and inner diameter of the stator core 1000 are both large, and the length of the stator teeth 100 is short and the number of stator teeth 100 is small, the preset distance can be 2.6 mm.
[0064] In another example, when the outer and inner diameters of the stator core 1000 are both small, while the length of the stator teeth 100 is long and the number of stator teeth 100 is large, the preset distance can be 0.4 mm.
[0065] In this embodiment, since the preset distance between two adjacent stator teeth 100 is in the range of 0.4 to 2.6 mm, the accommodating space of the winding slot between the two adjacent stator teeth 100 is also small. Therefore, when designing the thickness of the insulation layer 300, the thickness of the insulation layer 300 should be reduced as much as possible to further reduce the accommodating space occupied by the winding slot, thereby leaving more accommodating space for mounting the winding, and thus improving the torque of the motor with the stator core 1000.
[0066] Optionally, in some embodiments, the preset distance between adjacent stator teeth 100 of the stator core 1000 is 0.4 mm, and the thickness of the insulating layer 300 on the first surface 102 of the stator tooth 100 is 0.01 mm.
[0067] In this embodiment, since the preset distance is 0.4mm, and because the stator core 1000 is relatively small, and the insulation layer 300 on the first surface 102 of the stator tooth 100 is 0.01mm thick, more space can be left between the winding slots of two adjacent stator teeth 100 of the stator core 1000 for accommodating a larger number of windings, thereby increasing the torque of the motor with the stator core 1000.
[0068] Optionally, in some embodiments, the stator yoke 200 includes a plurality of yoke annular plates, which are stacked to form the stator yoke 200, and the nominal thickness of the yoke annular plates is ≤0.2mm.
[0069] It should be noted that the number of the yoke ring plates is determined based on the axial length of the stator core 1000. For example, the number of the yoke ring plates can be obtained by dividing the axial length of the stator core 1000 by the nominal size of the yoke ring plates.
[0070] It should be noted that, in the process of implementing the embodiments of this application, the inventors summarized and derived the following empirical formula:
[0071]
[0072] Wherein, the W Fe The following parameters are used to characterize the iron loss of the stator core 1000: L represents the actual thickness of the yoke annular plate, B represents the magnetic field strength, f represents the magnetic field alternation frequency, d represents the mass volume density of the stator core 1000, and ρ represents the resistivity.
[0073] Furthermore, the actual thickness of the yoke annular plate can be determined based on the nominal size, which can be determined by directly measuring the yoke annular plate.
[0074] It should be understood that the magnitude of the iron loss of the stator core 1000 can be determined according to the above empirical formula. From the above empirical formula, it can be seen that since the iron loss of the stator core 1000 is positively correlated with the square of the thickness of the yoke ring plate, the iron loss of the stator core 1000 can be significantly reduced by making the nominal thickness of the yoke ring plate ≤ 0.2mm.
[0075] Optionally, in some embodiments, multiple yoke ring plates are stacked to form a stator yoke 200, and adjacent yoke ring plates are fixedly connected by snap-fit holes.
[0076] The shape and size of the buttonhole and the button plug are compatible; for example, if the buttonhole is triangular, then the button plug is also triangular, and the outline size of the button plug is slightly larger than the outline size of the buttonhole, to achieve an interference fit between the buttonhole and the button plug. In addition, the buttonhole and the button plug can also be square or round, without further restrictions.
[0077] It should be understood that the buckle hole and buckle plug can be formed by stamping the rough surface of the yoke ring piece with a stamping device, so that the rough surface is the buckle hole and the smooth surface is the buckle plug. Then, in two adjacent yoke ring pieces, the smooth surface of the first piece faces the rough surface of the second piece, so that the buckle plug on the smooth surface of the first piece can be fastened into the buckle hole on the rough surface of the second piece. This achieves a fixed connection by stacking the pieces vertically.
[0078] Optionally, in some embodiments, multiple yoke ring plates are stacked to form a stator yoke 200, and adjacent yoke ring plates are fixed together by adhesive bonding.
[0079] In the embodiments of this application, the above-described method can achieve a fixed connection of multiple yoke ring plates, thereby improving the structural reliability and service life of the entire stator core 1000.
[0080] Optionally, in some embodiments, the nominal thickness of the yoke annular plate is 0.15 mm.
[0081] In this embodiment, the iron loss of the stator core 1000 is significantly reduced by using a yoke ring with a nominal thickness of 0.15 mm, compared to a yoke ring with a nominal thickness of 0.02 mm.
[0082] Optionally, in some embodiments, the second surface 201 of the stator yoke 200 has an insulating layer 300, and the second surface 201 is the surface of the stator yoke 200 located in the winding groove, with the winding groove being formed between two adjacent stator teeth 100.
[0083] It should be noted that the number of second surfaces 201 is the same as the number of stator teeth 100 of the stator core 1000.
[0084] See also Figures 1 to 4 All of these indicate the location of the second surface on the stator core.
[0085] In this embodiment, the surface of the stator yoke 200 located in the winding slot has an insulating layer 300. During the later use of the motor, even if the winding becomes loose, it will not directly contact the stator core 1000, thereby improving the quality stability of the motor with the stator core 1000.
[0086] Optionally, in some embodiments, the stator core has 12 winding slots.
[0087] In the embodiments of this application, the stator core with 12 winding slots is easy to manufacture and has a low cost.
[0088] Optionally, in some embodiments, the surface of the stator core 1000 has an insulating layer 300.
[0089] In this embodiment of the application, when forming an insulating layer 300 on the first surface 102, or on the first surface 102 and the second surface 201, an insulating layer 300 can be formed on all other surfaces of the stator core 1000.
[0090] In this embodiment, the surface of the stator core 1000 has an insulating layer 300, which has two advantages: first, it simplifies the process by allowing the entire stator core 1000 to be placed in the electric pool; second, it improves the overall insulation performance of the motor, thereby increasing the service life of the motor.
[0091] Optionally, in some embodiments, the width of the stator teeth is ≥0.5mm. Having a stator tooth width ≥0.5mm reduces the machining difficulty of the stator teeth.
[0092] It should be understood that the width of the stator teeth mentioned above can be the width of each stator tooth along the radial direction of the stator core.
[0093] Optionally, in some embodiments, the outer diameter of the stator core 1000 is ≥6mm and ≤22mm. By designing the outer diameter of the stator core 1000 to be ≥6mm and ≤22mm, the overall size of the motor having the stator core 1000 can be reduced.
[0094] Optionally, in some embodiments, the axial length of the stator core 1000 is ≥4mm and ≤20mm. By designing the axial length of the stator core 1000 to be greater than or equal to 4mm and ≤20mm, the overall size of the motor having the stator core 1000 can be reduced.
[0095] A second aspect of this application provides a stator 2000, comprising: any of the aforementioned stator cores 1000, and a winding, the winding being sleeved on stator teeth 100, and the winding being bonded and fixed to the stator teeth 100. By including a stator core 1000, and the insulation layer 300 of the stator teeth 100 of the stator core 1000 having a thickness of less than 0.05 mm, further compression of the winding slot's accommodating space can be avoided, thereby allowing for the installation of a winding with a larger number of coils, thus enabling the motor with this stator to have higher torque.
[0096] Optionally, in some embodiments, when the number of windings is greater than half the number of stator teeth, the windings are divided into a first winding 400 and a second winding 500, and two adjacent stator teeth are respectively fitted with the first winding 400 and the second winding 500.
[0097] The first winding 400 includes n first wiring layers 401 from the inside to the outside, and each first wiring layer 401 has the same number of coil turns, where n is a positive integer. The second winding 500 includes m second wiring layers 501, and the m second wiring layers 501 of the second winding 500 are divided into w types of first sub-wiring layers from the inside to the outside. The number of coil turns of the w types of first sub-wiring layers of the second winding 500 decreases from the inside to the outside. Each second sub-wiring layer is close to the inner surface of the stator yoke, where m is a positive integer and w is a positive integer less than or equal to m.
[0098] Figure 6 This is a schematic diagram of two adjacent stator teeth sleeved with windings on the stator core provided in the embodiments of this application.
[0099] See also Figure 6 , Figure 6 The diagram shows that the first winding and the first winding 500 are respectively fitted on two adjacent stator teeth.
[0100] Figure 7 A side view of the first winding along the direction it is sleeved on the stator teeth, provided for an embodiment of this application.
[0101] See also Figure 7 , Figure 7 The diagram shows that the first winding has four layers, namely the first wiring layer 401.
[0102] Figure 8 A side view of the first winding along the stator core axis provided for an embodiment of this application.
[0103] See also Figure 8 , Figure 8 The diagram shows that the first wiring layer 401 of one layer of the first winding 400 has 4 turns. Therefore, the number of turns can be understood as the number of turns each wiring layer makes around the stator teeth.
[0104] Similarly, the number of layers in the second row of wires of the second winding 500 can be determined in the same way as the first winding 400; the number of coil turns in each second row of wires of the second winding 500 can also be determined in the same way as described above.
[0105] It should be understood that in the w types of first sub-wire layers, the number of coil turns of each type of first sub-wire layer is different, and from the inside to the outside of the second winding 500, the number of coil turns of the first sub-wire layer is less as it gets further out, but there are cases where the number of coil turns of two adjacent first sub-wire layers is the same.
[0106] For example, when n=6, m=6, w=3, the first winding 400 has six layers of first wiring layers 401, and each first wiring layer 401 has the same number of coil turns; the second winding 500 also has six layers of second wiring layers 501, but they are divided into three types of first sub-wiring layers, wherein the first type of first sub-wiring layer is located inside the second winding 500, the second type of first sub-wiring layer is located in the middle of the second winding 500, and the third type of first sub-wiring layer is located outside the second winding 500.
[0107] In the embodiment of the application, by respectively setting a first winding 400 and a second winding 500 on two adjacent stator teeth, and the m second wiring layers 501 of the second winding 500 are divided into w types of first sub-wiring layers from the inside to the outside, and the number of coil turns of the w types of first sub-wiring layers of the second winding 500 decreases from the inside to the outside, the outer contour size of the second winding 500 gradually decreases from the central axis of the stator yoke to the stator core. Therefore, compared with setting the first winding on both adjacent stator teeth, the space in the stator slot can be utilized more fully, thereby improving the slot fill factor.
[0108] This application embodiment also provides a brushless motor, including: the stator described above, and a rotor; the rotor includes a permanent magnet and a permanent magnet carrier, the permanent magnet being located on the outer side of the permanent magnet carrier;
[0109] The rotor is located inside the stator cavity, and the rotor has 10 poles;
[0110] The permanent magnet is used for excitation to generate a magnetic field, and its outer surface is the side of the permanent magnet carrier away from the central axis. By including a stator, which comprises a stator core with an insulation layer thickness ≤0.05mm, the brushless motor exhibits high torque performance characteristics.
[0111] Optionally, in some embodiments, the permanent magnet and the permanent magnet carrier are integrally formed. Integrating the permanent magnet and the permanent magnet carrier can improve the service life of the rotor, thereby enhancing the quality stability of the brushless motor.
[0112] Optionally, in some embodiments, the integrally formed permanent magnet and permanent magnet carrier are annular integral magnetic rings, and the ratio of the axial length to the outer diameter of the integral magnetic ring is ≤1.5. This reduces the manufacturing difficulty of the integral magnetic ring.
[0113] In this embodiment of the application, by ensuring that the ratio of the axial length to the outer diameter of the integrated magnetic ring is ≤1.5, the manufacturing process of the second rotor can be simplified and the cost reduced.
[0114] A fifth aspect of this application provides an end effector, comprising: any of the brushless motors described above, and at least one motion mechanism; the brushless motor is drively connected to the motion mechanism for driving the motion mechanism to operate. By including a brushless motor, the end effector itself has a smaller size, and because the brushless motor has higher torque, the end effector has higher operating power.
[0115] A sixth aspect of this application provides a robot, including: the aforementioned end effector, and a body, wherein the end effector is fixedly connected to the body. By including the end effector, the robot has higher operating power.
[0116] The embodiments of this disclosure have been described above with reference to the accompanying drawings. However, this disclosure is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this disclosure without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this disclosure.
Claims
1. A stator core, characterized in that, The stator core includes: a stator tooth section and a stator yoke section; The stator tooth portion includes a plurality of stator teeth, which are arranged circumferentially along the inner surface of the stator yoke portion, and the first surface of the stator teeth has an insulating layer; Wherein, the first surface is the surface covered by the winding on the stator teeth when the winding is provided on the stator teeth, and the thickness of the insulating layer is ≤0.05mm.
2. The stator core according to claim 1, characterized in that, The stator core is spaced apart by a preset distance between two adjacent stator teeth, and the preset distance ranges from 0.4 mm to 2.6 mm.
3. The stator core according to claim 1, characterized in that, The stator yoke includes a plurality of yoke annular plates, which are stacked to form the stator yoke, and the nominal thickness of the yoke annular plates is ≤0.2mm.
4. The stator core according to claim 1, characterized in that, The first surface is the surface after a deburring process.
5. The stator core according to claim 1, characterized in that, The second surface of the stator yoke has the insulating layer, and the second surface is the surface of the stator yoke located in the winding groove, with the winding groove formed between two adjacent stator teeth.
6. The stator core according to claim 5, characterized in that, The stator core has 12 winding slots.
7. The stator core according to claim 1, characterized in that, The width of the stator teeth is ≥0.5mm.
8. The stator core according to claim 1, characterized in that, The outer diameter of the stator core is ≥6mm, and the outer diameter of the stator core is ≤22mm.
9. The stator core according to claim 1, characterized in that, The axial length of the stator core is ≥4mm, and the axial length of the stator core is ≤20mm.
10. A stator, characterized in that, The stator comprises: the stator core as described in any one of claims 1 to 9, and windings; The winding is sleeved on the stator teeth, and the winding is bonded and fixed to the stator teeth.
11. The stator according to claim 10, characterized in that, When the number of windings is greater than half the number of stator teeth, the windings are divided into a first winding and a second winding, and two adjacent stator teeth are respectively fitted with the first winding and the second winding; The first winding includes n first wiring layers, each of which has the same number of coil turns, where n is a positive integer. The second winding includes m second wiring layers, which are divided into w types of first sub-wiring layers. The number of coil turns in the w types of first sub-wiring layers decreases sequentially from the inside to the outside. Each first sub-wiring layer is close to the inner surface of the stator yoke, where m is a positive integer and w is a positive integer less than or equal to m.
12. A brushless motor, characterized in that, The brushless motor includes: a stator as described in any one of claims 10-11, and a rotor; The rotor includes: a permanent magnet and a permanent magnet carrier, wherein the permanent magnet is located on the outer side of the permanent magnet carrier; The rotor is located inside the stator cavity, and the rotor has 10 poles; The permanent magnet is used to generate a magnetic field, and the outer surface is the side of the permanent magnet carrier away from the central axis of the stator core.
13. The brushless motor according to claim 12, characterized in that, The permanent magnet and the permanent magnet carrier are integrally formed.
14. The brushless motor according to claim 13, characterized in that, The integrally formed permanent magnet and the permanent magnet carrier are an integral magnetic ring in the shape of a ring, and the ratio of the axial length to the outer diameter length of the integral magnetic ring is ≤1.
5.
15. An end effector, characterized in that, The end effector comprises: a brushless motor as described in any one of claims 12 to 14, and at least one motion mechanism; The brushless motor is connected to the at least one motion mechanism for driving the motion mechanism to operate.
16. A robot, characterized in that, include: The end effector as described in claim 15, and the housing; The end effector is fixedly connected to the body.