Stator core, stator, brushless motor and robot

Abstract

The utility model provides a stator core, a stator, a brushless motor and a robot, and relates to the technical field of motors, the stator core comprises a stator tooth part and a stator yoke part; the stator yoke part is annular; the stator tooth part comprises a plurality of tooth monomers which are uniformly arranged along the circumferential direction of the inner ring surface of the stator yoke part and are fixedly connected with the stator yoke part respectively; the inner ring surface is a surface, close to the central axis of the circular ring, of the stator yoke part, a winding groove is formed between every two adjacent tooth single bodies in a limiting mode, and a preset distance is reserved between the first shoe parts of every two adjacent tooth single bodies. A stator tooth part in the stator core comprises a plurality of tooth monomers. Since the preset distance is arranged between the first shoe parts of the two adjacent tooth monomers, compared with the prior art that the first shoe parts of the two adjacent tooth monomers are connected by a magnetic conductive material, the magnetic flux leakage can be avoided, and meanwhile, the single tooth monomer is separated from the stator yoke part, so that the magnetic flux leakage can be avoided. Therefore, a winding with a large number of coils can be sleeved on the tooth single body before the tooth single body is fixedly connected with the stator yoke part, so that the slot fullness rate is improved.

Description

Technical Field

[0001] This application belongs to the field of motor technology, specifically relating to a stator core, stator, brushless motor and robot. Background Technology

[0002] As the robotics industry develops, higher demands are being placed on robot performance, and the key to robot performance lies in the performance of the brushless motors installed on these robots.

[0003] Currently, common stator designs in brushless motors include: sunflower-shaped stators, modular stators, and stators with integrated teeth and yokes. The sunflower-shaped stator comprises two parts: teeth and yoke. The teeth have multiple stator teeth, allowing winding coils to be wound onto them first, and then the teeth are fixedly connected to the yoke via the stator teeth. The modular stator comprises multiple stator blocks. Coils are wound onto each stator block first, and then the multiple wound stator blocks are enclosed and fixed to form a modular stator. The stator with integrated teeth and yokes refers to a stator where the teeth and yoke are integrally formed, but an opening is provided between adjacent stator teeth to allow the winding machine needle to pass through, thus winding the coil onto the stator teeth.

[0004] In the process of realizing the technical solution of this application, the inventors discovered the following problems with the related technologies: In the sunflower structure stator, all the tooth units are integrally formed, and there is a magnetic material between the second shoe of two adjacent tooth units. Therefore, when the stator interacts with the rotor, the magnetic field generated by the stator and the rotor partially passes through the magnetic material, resulting in magnetic leakage; The modular stator is composed of multiple stator blocks. In order to ensure the structural strength of the modular stator, the third shoe of two adjacent stator blocks is usually connected, which also leads to magnetic leakage; In the stator with integrally formed tooth and yoke, there is a gap between the fourth shoe of two adjacent stator teeth, which can avoid magnetic leakage and ensure the passage of the winding machine needle. However, since this gap needs to ensure the passage of the winding machine needle, the gap will be relatively wide, which leads to a decrease in the slot fill factor of the stator with integrally formed tooth and yoke.

[0005] Therefore, existing technologies suffer from low slot fill factor while avoiding magnetic leakage. Utility Model Content

[0006] The purpose of this application is to provide a stator core, stator, brushless motor, and robot that can solve the problem of low slot fill factor while avoiding magnetic leakage.

[0007] In a first aspect, embodiments of this application provide a stator core, including: a stator tooth portion and a stator yoke portion;

[0008] The stator yoke is circular;

[0009] The stator tooth portion includes multiple tooth units, which are evenly arranged circumferentially along the inner ring surface of the stator yoke and are respectively fixedly connected to the stator yoke portion;

[0010] The inner ring surface is the surface on the stator yoke that is close to the central axis of the annulus. A winding groove is formed between two adjacent toothed units, and a preset distance is spaced between the first boots of two adjacent toothed units.

[0011] Optionally, the preset distance is greater than or equal to 0.5 mm.

[0012] Optionally, the toothed unit includes multiple toothed plates, which are stacked to form the toothed unit. The toothed plates are stamped from oriented silicon steel sheets. Each toothed plate includes a first end and a second end. The first end is the end near the first shoe portion, and the second end is the end fixedly connected to the stator yoke portion. The direction from the first end to the second end is a first direction, and the minimum included angle between the first direction and the rolling direction of the oriented silicon steel sheet is less than 90 degrees.

[0013] Optionally, the first direction is parallel to the rolling direction of the oriented silicon steel sheet.

[0014] Optionally, the stator yoke includes a plurality of yoke annular plates, which are stacked to form the stator yoke, and the yoke annular plates are stamped from non-oriented silicon steel sheets.

[0015] Optionally, a plurality of buckle holes are provided circumferentially on the first surface of each yoke annular piece, and a plurality of buckle plugs are provided on the second surface of the yoke annular piece corresponding to the plurality of buckle holes. Each buckle hole and the corresponding buckle plug are coaxial. The buckle plug of the first yoke annular piece is embedded in the buckle hole of the second yoke annular piece. The first surface and the second surface are two opposite surfaces on the yoke annular piece. The first yoke annular piece and the second yoke annular piece are two adjacent layers of yoke annular pieces in the stator yoke.

[0016] Optionally, the outer ring surface of the stator yoke is provided with a positioning groove, and the outer ring surface is the surface of the stator yoke that is away from the central axis.

[0017] Optionally, the inner ring surface of the stator yoke is provided with a plurality of dovetail grooves evenly distributed in the circumferential direction, and the tooth single unit is provided with a dovetail tenon at one end away from the first boot part;

[0018] The toothed unit is fixedly connected to the dovetail groove of the stator yoke via the dovetail tenon.

[0019] Optionally, the first width of the dovetail tenon is smaller than the width of the toothed single piece, and the width difference of the dovetail tenon is greater than 0.5 mm;

[0020] Wherein, the first width is the maximum width of the dovetail tenon in the second direction, the width difference is the difference between the first width and the second width, the second width is the minimum width of the dovetail tenon in the second direction, and the second direction is a direction perpendicular to the first direction and the axial direction of the stator core, respectively.

[0021] Optionally, the length of the dovetail tenon in the first direction is less than or equal to half the radial thickness of the stator yoke, and the length of the dovetail tenon in the first direction is greater than 0.5 mm;

[0022] Wherein, the radial length is the length of the dovetail tenon in the first direction.

[0023] Optionally, the fillet radius of the dovetail groove is greater than or equal to 0.2 mm.

[0024] Optionally, the fit between the dovetail tenon and the dovetail groove is an interference fit.

[0025] Optionally, the smooth surface of the stator teeth and the rough surface of the stator yoke are on the same plane, and the rough surface of the stator teeth and the smooth surface of the stator yoke are on the same plane.

[0026] Optionally, the ratio of the wall thickness of the stator yoke to the diameter of the stator core is less than or equal to 5%, and the ratio of the wall thickness of the stator yoke to the diameter of the stator core is greater than 2%.

[0027] Secondly, embodiments of this application provide a stator, including: the stator core described above; and a winding, wherein the winding is sleeved on the toothed unit and housed in the winding slot.

[0028] Thirdly, embodiments of this application provide a brushless motor, including: the stator described above, and a rotor;

[0029] The rotor includes a permanent magnet and a permanent magnet carrier, wherein the permanent magnet is disposed on the outer surface of the permanent magnet carrier;

[0030] 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.

[0031] Fourthly, embodiments of this application provide a robot, which includes the brushless motor described above.

[0032] In this application, the stator core includes a stator tooth section and a stator yoke section; the stator yoke section is annular; the stator tooth section includes multiple individual tooth units, which are evenly arranged circumferentially along the inner ring surface of the stator yoke section and fixedly connected to the stator yoke section respectively; the inner ring surface is the surface of the stator yoke section near the central axis of the annular ring, and a winding slot is formed between adjacent two individual tooth units, with a predetermined distance between the first shoe portions of adjacent two individual tooth units. The stator tooth section in this stator core includes multiple individual tooth units. Because the predetermined distance is between the first shoe portions of adjacent two individual tooth units, compared with the related technology where the first shoe portions of adjacent two individual tooth units are connected by a magnetic material, magnetic leakage can be avoided. At the same time, each individual tooth unit is separate from the stator yoke section, so a larger number of windings can be wound on it before the individual tooth unit is fixedly connected to the stator yoke section, thereby improving the slot fill factor. Attached Figure Description

[0033] 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 application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 A schematic diagram of the planar structure of the stator core provided in the embodiments of this application;

[0035] Figure 2 A three-dimensional structural schematic diagram of the stator core provided in the embodiments of this application;

[0036] Figure 3 A schematic diagram of the planar structure of a single tooth element provided in an embodiment of this application;

[0037] Figure 4 A three-dimensional structural schematic diagram of a single tooth element provided in an embodiment of this application;

[0038] Figure 5 A schematic diagram of four stamping directions of a single tooth on a silicon steel sheet, provided in the embodiments of this application;

[0039] Figure 6 This is a schematic diagram of the stator teeth section with a sunflower structure in the prior art;

[0040] Figure 7 This is a schematic diagram of the structure of a modular stator core in the prior art;

[0041] Figure 8 This is a schematic diagram of the structure of a stator core in the prior art where the teeth and yoke are integrally formed;

[0042] Reference numerals: stator core 1000, tooth unit 100, tooth plate 10, first shoe 101, first end 102, second end 103, stator yoke 200, yoke annular plate 20, winding groove 300, positioning groove 400, second shoe 500, third shoe 600, fourth shoe 700. Detailed Implementation

[0043] 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 application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0044] The terms "first," "second," etc., used in the specification and claims of this application 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 application 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.

[0045] 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.

[0046] See appendix Figures 6-8 , attached Figure 6 A schematic diagram of the stator teeth with a sunflower structure in the prior art; attached. Figure 7 A schematic diagram of the existing modular stator core structure is shown; (Attached) Figure 8 This is a schematic diagram of the structure of a stator core in the prior art where the teeth and yoke are integrally formed;

[0047] Understandably, in the existing technology, the stator teeth of the sunflower structure are separated from the stator yoke. Therefore, when windings are wound on the stator teeth, a larger number of windings can be wound. Thus, the stator core with the sunflower structure of the stator teeth has a high slot fill factor. However, the second shoe 500 between two adjacent tooth units in this stator teeth is connected by a magnetically conductive material. When the stator and rotor interact, the magnetic field generated by the rotor and the magnetic field generated by the stator will be partially lost through this magnetically conductive material, resulting in magnetic leakage.

[0048] Understandably, in the existing technology, the modular stator core is formed by assembling and fixing multiple stator blocks. Therefore, when a single stator block is not assembled and fixed, it can accommodate a large number of windings to ensure a high slot fill factor. However, after the windings are assembled and fixed, in order to ensure that the resulting stator core has good roundness and structural stability, it is usually necessary to weld and fix the third shoe portion 600 of adjacent tooth units in the stator core. Similarly, when this modular stator core interacts with the rotor, it will also lead to magnetic leakage.

[0049] Understandably, in existing stator cores where the teeth and yoke are integrally formed, the teeth and yoke are integrally formed throughout the entire stator core, and there is a gap between the fourth shoe portion 700 of two adjacent tooth units. Therefore, this stator core with integrally formed teeth and yoke can avoid magnetic leakage. However, since the teeth and yoke are integrally formed, when windings are fitted onto the teeth or when winding is performed using a winding machine, this gap needs to reach a certain width. Furthermore, because the gap needs to reach a certain width, in actual winding or fitting of windings, it is inevitable that only a smaller number of windings can be fitted, resulting in a lower slot fill factor.

[0050] To address the issue of low stator slot fill factor while avoiding magnetic leakage, this application provides a stator core, see appendix. Figures 1-2 , Figure 1 This is a schematic diagram of the planar structure of the stator core provided in an embodiment of this application. Figure 2 This is a three-dimensional structural schematic diagram of the stator core provided in the embodiments of this application;

[0051] The stator core 1000 includes: a stator tooth section and a stator yoke section 200;

[0052] The stator yoke 200 is circular in shape;

[0053] The stator tooth portion includes a plurality of tooth units 100, which are evenly arranged circumferentially along the inner ring surface of the stator yoke portion 200 and are respectively fixedly connected to the stator yoke portion 200.

[0054] The inner ring surface is the surface on the stator yoke 200 that is close to the central axis of the annulus. A winding groove 300 is formed between two adjacent toothed units 100, and a preset distance is spaced between the first boot portions 101 of two adjacent toothed units 100.

[0055] Optionally, in some embodiments, the preset distance is greater than or equal to 0.5 mm.

[0056] It should be understood that the inventors discovered during the development of this application that when the preset distance is less than 0.5 mm, for example, when the preset distance is equal to 0.1 mm, there will still be magnetic leakage between two adjacent teeth of the stator. However, when the preset distance is set to 0.5 mm, the magnetic leakage between two adjacent teeth of the stator is well alleviated. In the prior art, the spacing between the needles of the winding machine is usually more than 1 cm. Therefore, the stator core in the embodiment of this application can improve the slot fill factor while avoiding magnetic leakage.

[0057] It should be understood that a winding groove 300 is formed between two adjacent toothed units 100, which is used to accommodate half of the coil of each of the two windings.

[0058] It should also be noted that the stator teeth of this application are multiple independent individual tooth units 100. Therefore, winding on the tooth unit 100 is less restrictive and easier to perform winding work compared to winding on the teeth of the stator core 1000, which is integrally formed with the teeth and yoke. It is also easier to wind the interlaced windings located on the short side of the coil on the tooth unit 100.

[0059] The staggered position can be understood as follows: since coils are often wound in multiple layers and in a spiral manner, during the winding process, there must be a position where the lines of a certain layer and the next layer will intersect. If the long side of the coil is to be arranged in the most dense plane, then the staggered position must be located on the short side.

[0060] Furthermore, the aforementioned staggered positions located on the short side of the coil winding, compared to staggered positions located on the long side of the coil or staggered positions located on both the long and short sides of the coil winding, will correspondingly increase the slot fill factor when set in the stator core 1000.

[0061] It should be noted that any two of the plurality of toothed units 100 do not directly contact or connect; that is, each toothed unit 100 is an individual before it is assembled with the stator yoke 200 to form a fixed connection.

[0062] Specifically, a predetermined distance is spaced between the first shoe portions 101 of two adjacent toothed units 100. The width of this predetermined distance is narrower than the width of the gap between the fourth shoe portions 700 of two adjacent toothed units 100 in a stator core 1000 where the tooth and yoke are integrally formed in the prior art. This is because it does not require space to be reserved for the passage of the winding machine needle, or in other words, it does not require space to be reserved for the winding. Therefore, the predetermined distance between the first shoe portions 101 of the two adjacent toothed units 100 can be designed to be narrower. Correspondingly, the narrower the predetermined distance, the higher the slot fill factor.

[0063] Furthermore, the width of this preset distance can be designed according to the actual situation.

[0064] It should be understood that the stator core 1000 provided in this application embodiment is the stator core 1000 of an internal rotor brushless motor.

[0065] It should be understood that the winding is a concentrated winding.

[0066] In this embodiment, the stator core 1000 includes a stator tooth portion and a stator yoke portion 200. The stator yoke portion 200 is annular. The stator tooth portion includes multiple tooth units 100, which are evenly arranged circumferentially along the inner ring surface of the stator yoke portion 200 and fixedly connected to the stator yoke portion 200 respectively. The inner ring surface is the surface of the stator yoke portion 200 near the central axis of the annular ring. A winding groove 300 is formed between two adjacent tooth units 100, and the first shoe portions 101 of two adjacent tooth units 100 are spaced apart by a predetermined distance. The stator tooth portion in the stator core 1000 includes multiple tooth units 100. Since there is a preset distance between the first boot portion 101 of two adjacent tooth units 100, compared with the related technology where the first boot portion 101 of two adjacent tooth units 100 are connected by a magnetic material, magnetic leakage can be avoided. At the same time, a single tooth unit 100 is separate from the stator yoke 200, so before the tooth unit 100 is fixedly connected to the stator yoke 200, a larger number of windings can be installed on it, thereby improving the slot fill factor.

[0067] See appendix Figures 3-5 , Figure 3 This is a schematic diagram of the planar structure of a single tooth unit 100 provided in an embodiment of this application. Figure 4 A three-dimensional structural schematic diagram of a single tooth unit 100 provided in an embodiment of this application; Figure 5 A schematic diagram showing four stamping directions of the toothed unit 100 on a silicon steel sheet, as provided in the embodiments of this application;

[0068] Optionally, in some embodiments, the toothed unit 100 includes a plurality of toothed plates 10, which are stacked to form the toothed unit 100. The toothed plates 10 are stamped from oriented silicon steel sheets. Each toothed plate 10 includes a first end 102 and a second end 103. The first end 102 is the end near the first boot portion 101, and the second end 103 is the end fixedly connected to the stator yoke portion 200. The direction from the first end 102 to the second end 103 is a first direction, and the minimum included angle between the first direction and the rolling direction of the oriented silicon steel sheet is less than 90 degrees.

[0069] In this embodiment of the application, by Figure 4 It can be clearly seen that the toothed unit 100 is composed of multiple toothed pieces 10 stacked together.

[0070] In this embodiment, the minimum angle between the first direction and the rolling direction of the oriented silicon steel sheet is less than 90 degrees. Figure 5 To explain, Figure 5 The rolling direction specified in the text refers to the grain orientation in the oriented silicon steel sheet. (a), (b), and (d) all belong to the case where the minimum angle between the first direction and the rolling direction of the oriented silicon steel sheet is less than 90 degrees. Only (c) is an exception, belonging to the case where the minimum angle between the first direction and the rolling direction of the oriented silicon steel sheet is equal to 90 degrees.

[0071] In this embodiment of the application, the toothed plate 10 obtained by stamping in three directions (a), (b) and (d) on oriented silicon steel sheet has a relatively high saturation magnetic flux density compared to the toothed plate 10 obtained by stamping on non-oriented silicon steel sheet. The toothed unit 100 obtained by stacking the toothed plate 10 also has a low iron loss, thereby improving the output capability and output efficiency of the brushless motor made by the toothed unit 100.

[0072] Optionally, in some embodiments, the first direction is parallel to the rolling direction of the oriented silicon steel sheet.

[0073] It should be understood that the first direction is parallel to the rolling direction of the oriented silicon steel sheet, with reference to... Figure 5 It should be noted that only cases (a) and (b) satisfy the condition that the first direction is parallel to the rolling direction of the oriented silicon steel sheet.

[0074] In this embodiment of the application, by making the first direction parallel to the rolling direction of the oriented silicon steel sheet, the toothed plate 10 has a higher saturation magnetic flux density compared to stamping the toothed plate 10 on the non-oriented silicon steel sheet and in case (d). The toothed unit 100 obtained by stacking the toothed plate 10 also has lower iron loss, thereby further improving the output capability and output efficiency of the brushless motor made using the toothed unit 100.

[0075] It should be noted that the grain orientation of oriented silicon steel sheets can be observed and determined by electron microscopy, or by taking pictures of oriented silicon steel sheets with a high-speed camera using a real-time imaging system, and then processing and analyzing the images in real time, that is, extracting the grain orientation of oriented silicon steel sheets.

[0076] Optionally, in some embodiments, the stator yoke 200 includes a plurality of yoke annular plates 20, which are stacked to form the stator yoke 200, and the yoke annular plates 20 are stamped from non-oriented silicon steel sheets.

[0077] In the embodiments of this application, reference is made to Figure 2 Explanation provided, attached Figure 2The stator yoke 200 is formed by the stacking of multiple yoke annular plates 20.

[0078] It should be understood that the yoke ring 20 is made by stamping non-oriented silicon steel sheet. The grain orientation on the non-oriented silicon steel sheet is non-directional, and therefore it is suitable for manufacturing the yoke ring 20.

[0079] In this embodiment, the yoke ring 20 is made by stamping non-oriented silicon steel, which results in a more uniform saturation magnetic flux density in each direction compared to the yoke ring 20 made by stamping oriented silicon steel. The stator yoke 200 obtained by stacking the yoke ring 20 also has lower iron loss, thereby further improving the output capability and output efficiency of the brushless motor made using the stator yoke 200.

[0080] Optionally, in some embodiments, a plurality of fastening holes are provided circumferentially on the smooth surface of each yoke annular piece 20, and a plurality of fastening plugs are provided on the rough surface of the yoke annular piece 20 corresponding to the plurality of fastening holes. Each fastening hole and the corresponding fastening plug are coaxial. The fastening plug of the first yoke annular piece 20 is embedded in the fastening hole of the second yoke annular piece 20. The first yoke annular piece 20 and the second yoke annular piece 20 are two adjacent layers of yoke annular pieces 20 in the stator yoke 200.

[0081] It should be understood that the first surface can be smooth and the second surface can be matte; or the first surface can be matte and the second surface can be smooth.

[0082] It should be understood that during the stamping process, the yoke ring plate 20 will form a rough surface and a smooth surface; the rough surface refers to the torn surface formed by the main crack penetration surface, which is very rough and has a certain slope; the smooth surface refers to the bright and perpendicular cross-section formed by the convex and concave die sides and the material during the precision pressing when the cutting edge cuts into the sheet metal and produces plastic deformation.

[0083] It should be noted that multiple buckle holes are formed on the first surface of the yoke annular plate 20, and multiple buckle plugs are formed on the second surface. The processing technology can be to start a stamping machine, apply pressure to the first surface of the silicon steel sheet through a mold, and make it plastically deform according to the shape of the mold to form buckle holes, and correspondingly form buckle plugs on the second surface.

[0084] It should be understood that the shapes of the buckle hole and the buckle plug are matched, and can be square, round or triangular.

[0085] In this embodiment of the application, by providing multiple buckles and buckle holes on each of the yoke ring plates 20, the stator yoke 200 obtained by directly stacking multiple yoke ring plates 20 has higher overall structural reliability and improves the service life of the brushless motor made using the yoke ring plates 20.

[0086] Optionally, in some embodiments, the outer ring surface of the stator yoke 200 is provided with a positioning groove 400, and the outer ring surface is the surface of the stator yoke 200 that is away from the central axis.

[0087] See appendix Figures 1-2 It can be seen that the outer ring surface of the stator yoke 200 is provided with a positioning groove 400.

[0088] In this embodiment of the application, by providing a positioning groove 400 on the outer ring surface, it is convenient to position the stator core 1000 and determine the output position of the brushless motor when using it in the future.

[0089] Optionally, in some embodiments, the inner ring surface of the stator yoke 200 is provided with a plurality of dovetail grooves evenly distributed in the circumferential direction, and the tooth unit 100 is provided with a dovetail tenon at one end away from the first boot part 101.

[0090] The toothed unit 100 is fixedly connected to the dovetail groove of the stator yoke 200 via the dovetail tenon.

[0091] See appendix Figures 1-2 As can be seen, the toothed unit 100 is fixedly connected to the dovetail groove of the stator yoke 200 through the dovetail tenon.

[0092] Furthermore, the dovetail groove will form a rough surface and a smooth surface during the stamping process, and the smooth surfaces of all the dovetail grooves of the same yoke ring piece are on the same plane, and the rough surfaces of all the dovetail grooves of the same yoke ring piece are on the same plane.

[0093] In this embodiment of the application, by fixing the toothed unit 100 to the dovetail groove of the stator yoke 200 through the dovetail tenon, the connection stability between the toothed unit 100 and the stator yoke 200 can be improved, thereby increasing the service life of the brushless motor.

[0094] Optionally, the first width of the dovetail tenon is smaller than the width of the toothed single piece, and the width difference of the dovetail tenon is greater than 0.5 mm;

[0095] Wherein, the first width is the maximum width of the dovetail tenon in the second direction, the width difference is the difference between the first width and the second width, the second width is the minimum width of the dovetail tenon in the second direction, and the second direction is a direction perpendicular to the first direction and the axial direction of the stator core, respectively.

[0096] In this application, the above method can ensure the structural strength of the dovetail tenon itself and improve the connection stability between the toothed unit 100 and the stator yoke 200, thereby increasing the service life of the brushless motor.

[0097] Optionally, the length of the dovetail tenon in the first direction is less than or equal to half the radial thickness of the stator yoke, and the length of the dovetail tenon in the first direction is greater than 0.5 mm;

[0098] Wherein, the radial length is the length of the dovetail tenon in the first direction.

[0099] In this application, the connection stability between the toothed unit 100 and the stator yoke 200 can be improved by the above method, thereby increasing the service life of the brushless motor.

[0100] Optionally, in some embodiments, the fillet radius of the dovetail groove is greater than or equal to 0.2 mm.

[0101] In this embodiment of the application, the connection stability between the toothed unit 100 and the stator yoke 200 can be improved by the above method, thereby improving the service life of the brushless motor.

[0102] Optionally, in some embodiments, the fit between the dovetail tenon and the dovetail groove is an interference fit.

[0103] In this embodiment, the interference fit between the dovetail tenon and the dovetail groove can improve the connection stability between the toothed unit 100 and the stator yoke 200, thereby increasing the service life of the brushless motor.

[0104] Optionally, in some embodiments, the smooth surface of the stator teeth and the rough surface of the stator yoke 200 are on the same plane, and the rough surface of the stator teeth and the smooth surface of the stator yoke 200 are on the same plane.

[0105] It should be noted that the technical feature of this application embodiment is the restriction on the assembly orientation of the stator teeth and the stator yoke 200 after the stator teeth and the stator yoke 200 are assembled.

[0106] In particular, in one embodiment, when assembling the stator teeth with the stator yoke 200, the smooth surface of the stator teeth is first aligned with the smooth surface of the stator yoke 200, and then pushed in. After the pushing is completed, the smooth surface of the stator teeth and the rough surface of the stator yoke 200 are on the same plane, and the rough surface of the stator teeth and the smooth surface of the stator yoke 200 are on the same plane.

[0107] In another embodiment, when assembling the stator teeth with the stator yoke 200, the rough surface of the stator teeth is first aligned with the rough surface of the stator yoke 200, and then pushed in. After the pushing is completed, the smooth surface of the stator teeth and the rough surface of the stator yoke 200 are on the same plane.

[0108] In this embodiment, by having the smooth surface of the stator teeth and the rough surface of the stator yoke 200 on the same plane, and the rough surface of the stator teeth and the smooth surface of the stator yoke 200 on the same plane, it is easier to assemble the stator core 1000 and improve the assembly quality.

[0109] Optionally, in some embodiments, the ratio of the wall thickness of the stator yoke to the diameter of the stator core is less than or equal to 5%, and the ratio of the wall thickness of the stator yoke to the diameter of the stator core is greater than 2%.

[0110] In this embodiment of the application, by setting the ratio of the wall thickness of the stator yoke to the diameter of the stator core to be less than or equal to 5%, and the ratio of the wall thickness of the stator yoke to the diameter of the stator core to be greater than 2%, the entire stator core can be made lighter, thereby improving the torque density.

[0111] This application embodiment also provides a stator, including: the stator core 1000 described above; and a winding, the winding being sleeved on the toothed unit 100 and housed in the winding slot 300.

[0112] The stator can achieve the technical effects of the stator core 1000 mentioned above, which will not be elaborated further here.

[0113] This application embodiment also provides a brushless motor, including: the stator described above, and a rotor;

[0114] The rotor includes a permanent magnet and a permanent magnet carrier, wherein the permanent magnet is disposed on the outer surface of the permanent magnet carrier;

[0115] 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.

[0116] It should be understood that in the above-mentioned brushless motor, the stator is wound around the outer circumference of the rotor, the rotor can rotate relative to the stator, and the transmission axis of the rotor coincides with the central axis of the stator.

[0117] The brushless motor can achieve the technical effects of the stator core 1000 mentioned above, which will not be elaborated further here.

[0118] This application also provides a robot, which includes the brushless motor described above.

[0119] The robot can achieve the technical effects of the stator core 1000 mentioned above, which will not be elaborated further here.

[0120] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application 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 application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A stator core, characterized in that, include: Stator teeth and stator yoke; The stator yoke is circular; The stator tooth portion includes multiple tooth units, which are evenly arranged circumferentially along the inner ring surface of the stator yoke and are respectively fixedly connected to the stator yoke portion; The inner ring surface is the surface on the stator yoke that is close to the central axis of the annulus. A winding groove is formed between two adjacent toothed units, and a preset distance is spaced between the first boots of two adjacent toothed units.

2. The stator core according to claim 1, characterized in that, The preset distance is greater than or equal to 0.5 mm.

3. The stator core according to claim 1, characterized in that, The toothed unit includes multiple toothed pieces, which are stacked to form the toothed unit. The toothed pieces are made of oriented silicon steel sheets by stamping. The toothed plate includes a first end and a second end. The first end is the end near the first boot portion, and the second end is the end fixedly connected to the stator yoke portion. The direction from the first end to the second end is a first direction, and the minimum included angle between the first direction and the rolling direction of the oriented silicon steel sheet is less than 90 degrees.

4. The stator core according to claim 3, characterized in that, The first direction is parallel to the rolling direction of the oriented silicon steel sheet.

5. The stator core according to claim 1, characterized in that, The stator yoke includes multiple yoke annular plates, which are stacked to form the stator yoke. The yoke annular plates are made of non-oriented silicon steel sheets by stamping.

6. The stator core according to claim 5, characterized in that, Each of the yoke annular plates has a plurality of buckle holes arranged circumferentially on its first surface, and a plurality of buckle plugs arranged on its second surface corresponding to the plurality of buckle holes. Each buckle hole and its corresponding buckle plug are coaxial. The buckle plug of the first yoke annular plate is inserted into the buckle hole of the second yoke annular plate. The first surface and the second surface are two opposite surfaces on the yoke annular plate. The first yoke annular plate and the second yoke annular plate are two adjacent layers of yoke annular plates in the stator yoke.

7. The stator core according to claim 1, characterized in that, The outer ring surface of the stator yoke is provided with a positioning groove, and the outer ring surface is the surface of the stator yoke that is away from the central axis.

8. The stator core according to claim 3, characterized in that, The inner ring surface of the stator yoke is uniformly provided with multiple dovetail grooves along the circumference, and the tooth unit is provided with a dovetail tenon at the end away from the first boot part. The dovetail tenon and the dovetail groove cooperate to form a fixed connection.

9. The stator core according to claim 8, characterized in that, The first width of the dovetail tenon is less than the width of the single tooth, and the width difference of the dovetail tenon is greater than 0.5 mm. Wherein, the first width is the maximum width of the dovetail tenon in the second direction, the width difference is the difference between the first width and the second width, the second width is the minimum width of the dovetail tenon in the second direction, and the second direction is a direction perpendicular to the first direction and the axial direction of the stator core, respectively.

10. The stator core according to claim 8, characterized in that, The length of the dovetail tenon in the first direction is less than or equal to half the radial thickness of the stator yoke, and the length of the dovetail tenon in the first direction is greater than 0.5 mm. Wherein, the radial length is the length of the dovetail tenon in the first direction.

11. The stator core according to claim 8, characterized in that, The radius of the dovetail groove is greater than 0.2 mm.

12. The stator core according to claim 8, characterized in that, The fit between the dovetail tenon and the dovetail groove is an interference fit.

13. The stator core according to claim 1, characterized in that, The smooth surface of the stator teeth and the rough surface of the stator yoke are on the same plane, and the rough surface of the stator teeth and the smooth surface of the stator yoke are on the same plane.

14. The stator core according to claim 1, characterized in that, The ratio of the wall thickness of the stator yoke to the diameter of the stator core is less than or equal to 5%, and the ratio of the wall thickness of the stator yoke to the diameter of the stator core is greater than 2%.

15. A stator, characterized in that, include: The stator core as described in any one of claims 1 to 14; the winding, wherein the winding is sleeved on the toothed unit and housed in the winding slot.

16. A brushless motor, characterized in that, include: The stator and rotor as described in claim 14; The rotor includes a permanent magnet and a permanent magnet carrier, wherein the permanent magnet is disposed on the outer surface of the permanent magnet carrier; 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.

17. A robot, characterized in that, include: The brushless motor as described in claim 16.

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