Insulating frame, servo motor and servo system

Abstract

The utility model discloses an insulating frame, a servo motor and a servo system, and relates to the technical field of servo motors. The insulating frame comprises a first frame body and a second frame body, the first end portion and the second end portion of the first frame body are connected to the two ends of the first side edge portion respectively, and the third end portion and the fourth end portion of the second frame body are connected to the two ends of the second side edge portion respectively. The first end part and the third end part are connected and abut against one end of the stator tooth along the axial direction, and the second end part and the fourth end part are connected and abut against the other end of the stator tooth along the axial direction, so that the joint of the first frame body and the second frame body is located outside the winding groove of the stator core, and the first side edge part and the second side edge part are located in the winding groove; therefore, the thicknesses of the first side edge part and the second side edge part can be thinner, the wall thickness is smaller, the slot filling rate can be improved, and the output torque and the power density of the servo motor can be improved.

Description

Technical Field

[0001] This utility model relates to the field of servo motor technology, and in particular to an insulating frame, a servo motor, and a servo system. Background Technology

[0002] The stator core of a servo motor has a yoke and multiple stator teeth. These teeth are connected to the inner side of the yoke and spaced apart, with winding slots formed between adjacent teeth. An insulating frame is fitted onto the stator teeth, and the windings are wound around the insulating frame and pass through the winding slots. The insulating frame prevents direct contact between the windings and the stator teeth, ensuring the servo motor can operate normally. In related technologies, the insulating frame is typically divided into an upper frame and a lower frame, which are inserted into the winding slots along the axial direction of the servo motor and fitted onto the stator teeth. Because the connection between the upper and lower frames is located within the winding slots, and positioning and connecting structures are required at the connection point, the wall thickness of the upper and lower frames at the connection point is relatively thick, resulting in a reduced slot fill factor. Utility Model Content

[0003] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes an insulating frame that can reduce wall thickness and improve slot fill factor.

[0004] This utility model also proposes a servo motor and servo system having the above-mentioned insulating frame.

[0005] An insulating frame according to a first aspect of the present invention is installed on a stator core having stator teeth. The insulating frame includes: a first frame body including a first side portion, a first end portion, and a second end portion; the first side portion having a first limiting groove; the first end portion being connected to one end of the first side portion along the axial direction of the stator core; the first end portion having a second limiting groove communicating with one end of the first limiting groove; the second end portion being connected to the other end of the first side portion along the axial direction of the stator core; and the second end portion having a third limiting groove communicating with the other end of the first limiting groove; and a second frame body including a second side portion, a third end portion, and a fourth end portion; the second side portion having a fourth limiting groove; and the third end portion being connected to one end of the second side portion along the axial direction of the stator core. The third end is provided with a fifth limiting groove that communicates with one end of the fourth limiting groove. The fourth end is connected to the other end of the second side portion along the axial direction of the stator core. The fourth end is provided with a sixth limiting groove that communicates with the other end of the fourth limiting groove. The first end and the third end are connected, the second end and the fourth end are connected, and the first limiting groove, the second limiting groove, the fifth limiting groove, the fourth limiting groove, the sixth limiting groove and the third limiting groove are sequentially connected and together form an annular groove for surrounding the stator teeth. The first end and the third end are used to abut against one end of the stator teeth along the axial direction of the stator core, and the second end and the fourth end are used to abut against the other end of the stator teeth along the axial direction of the stator core.

[0006] The insulating frame according to the embodiments of the present invention has at least the following beneficial effects:

[0007] By setting an insulating frame including a first frame and a second frame, the first end and the second end of the first frame are respectively connected to the two ends of the first side portion, and the third end and the fourth end of the second frame are respectively connected to the two ends of the second side portion. The first limiting groove, the second limiting groove, the fifth limiting groove, the fourth limiting groove, the sixth limiting groove, and the third limiting groove are sequentially connected and together form an annular groove surrounding the stator teeth. Therefore, the winding can be wound in the annular groove. Since the first end and the third end are connected and abut against one end of the stator teeth along the axial direction, and the second end and the fourth end are connected and abut against the other end of the stator teeth along the axial direction, the connection between the first frame and the second frame is located outside the winding slot of the stator core, while the first side portion and the second side portion are located inside the winding slot. This allows the thickness of the first side portion and the second side portion to be made thinner and the wall thickness to be smaller, which can improve the slot fill factor and thus improve the output torque and power density of the servo motor.

[0008] According to some embodiments of the present invention, an extension plate is provided on the side of the first end facing the third end, and a mounting groove is provided on the third end. The extension plate is inserted into the mounting groove. On a projection plane parallel to the extension plate, the projection of the joint between the second limiting groove and the fifth limiting groove is located within the outer contour line of the extension plate.

[0009] According to some embodiments of the present invention, the mounting groove is located on the side of the third end opposite to the fifth limiting groove.

[0010] According to some embodiments of the present invention, the first end is provided with one of a positioning protrusion or a positioning hole on the side facing the third end, and the third end is provided with the other of the positioning protrusion or the positioning hole on the side facing the first end, and the positioning protrusion is inserted into the positioning hole.

[0011] According to some embodiments of the present invention, a plurality of wiring grooves are provided at the connection between the bottom wall of the first limiting groove and the bottom wall of the second limiting groove, and the plurality of wiring grooves are arranged along the width direction of the bottom wall of the first limiting groove; and / or, a plurality of wiring grooves are provided at the connection between the bottom wall of the fifth limiting groove and the bottom wall of the fourth limiting groove, and the plurality of wiring grooves are arranged along the width direction of the bottom wall of the fourth limiting groove; and / or, a plurality of wiring grooves are provided at the connection between the bottom wall of the fourth limiting groove and the bottom wall of the sixth limiting groove, and the plurality of wiring grooves are arranged along the width direction of the bottom wall of the fourth limiting groove; and / or, a plurality of wiring grooves are provided at the connection between the bottom wall of the third limiting groove and the bottom wall of the first limiting groove, and the plurality of wiring grooves are arranged along the width direction of the bottom wall of the first limiting groove.

[0012] According to some embodiments of the present invention, the first end is provided with a first wire passage groove communicating with the second limiting groove at one end along the axial direction of the stator core, and a wire outlet post is provided in the first wire passage groove; and / or, the third end is provided with a second wire passage groove communicating with the fifth limiting groove at one end along the axial direction of the stator core, and a wire inlet post is provided in the second wire passage groove.

[0013] According to some embodiments of the present invention, the first side portion includes a side plate, a first side plate, and a second side plate. The side plate is elongated and extends along the width direction of the side plate. The first side plate is connected to one end of the side plate, and the second side plate is connected to the other end of the side plate. The first side plate, the side plate, and the second side plate enclose each other to form the first limiting groove.

[0014] According to some embodiments of this utility model, the maximum thickness of the side plate is h, which satisfies: 0.25mm≤h≤0.35mm.

[0015] According to a second aspect embodiment of the present invention, a servo motor includes a stator core and an insulating frame as described in the above embodiment. The stator core includes a yoke and a plurality of stator teeth. The plurality of stator teeth are spaced apart circumferentially along the yoke and connected to the inner side of the yoke. A winding groove is formed between adjacent stator teeth. The insulating frame includes a plurality of first frames and a plurality of second frames. A first frame and a second frame connected to the same stator tooth constitute a frame group. The number of frame groups is equal to the number of stator teeth. The plurality of frame groups are fitted one-to-one with the plurality of stator teeth.

[0016] The servo motor according to the embodiments of the present invention has at least the following beneficial effects:

[0017] By employing the insulating frame of the first aspect embodiment, the insulating frame includes a first frame and a second frame. The first end and the second end of the first frame are respectively connected to the two ends of the first side portion, and the third end and the fourth end of the second frame are respectively connected to the two ends of the second side portion. The first limiting groove, the second limiting groove, the fifth limiting groove, the fourth limiting groove, the sixth limiting groove, and the third limiting groove are sequentially connected and together form an annular groove surrounding the stator teeth. Therefore, the winding can be wound in the annular groove. Since the first end and the third end are connected and abut against one end of the stator teeth along the axial direction, and the second end and the fourth end are connected and abut against the other end of the stator teeth along the axial direction, the connection between the first frame and the second frame is located outside the winding slot of the stator core, while the first side portion and the second side portion are located inside the winding slot. This allows the thickness of the first side portion and the second side portion to be made thinner and the wall thickness to be smaller, thereby increasing the slot fill factor and improving the output torque and power density of the servo motor.

[0018] The servo system according to a third aspect of the present invention includes the servo motor described in the above embodiments.

[0019] The servo system according to the embodiments of the present invention has at least the following beneficial effects:

[0020] By employing the servo motor of the second aspect embodiment, the servo motor includes an insulating frame comprising a first frame and a second frame. The first end and the second end of the first frame are respectively connected to the two ends of a first side portion, and the third end and the fourth end of the second frame are respectively connected to the two ends of a second side portion. A first limiting groove, a second limiting groove, a fifth limiting groove, a fourth limiting groove, a sixth limiting groove, and a third limiting groove are sequentially connected and together form an annular groove surrounding the stator teeth. Therefore, the winding can be wound in the annular groove. Since the first end and the third end are connected and abut against one end of the stator teeth along the axial direction, and the second end and the fourth end are connected and abut against the other end of the stator teeth along the axial direction, the connection point between the first frame and the second frame is located outside the winding slot of the stator core, while the first side portion and the second side portion are located inside the winding slot. This allows the thickness of the first side portion and the second side portion to be made thinner, with a smaller wall thickness, thereby increasing the slot fill factor and improving the output torque and power density of the servo motor.

[0021] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0022] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0023] Figure 1 This is a schematic diagram of the structure of the first frame and the second frame sleeved on the segmented stator according to an embodiment of the present invention;

[0024] Figure 2 This is an exploded view of the first frame, the second frame, and the segmented stator according to one embodiment of the present invention;

[0025] Figure 3 This is a schematic diagram of the structure of the first frame of one embodiment of the present utility model;

[0026] Figure 4 This is a structural schematic diagram of the first frame of one embodiment of the present invention from another perspective;

[0027] Figure 5 This is a schematic diagram of the structure of the second frame of one embodiment of the present invention;

[0028] Figure 6 This is a side view of the first frame of an embodiment of the present invention;

[0029] Figure 7 yes Figure 6 Enlarged cross-sectional view at point AA;

[0030] Figure 8 yes Figure 4 Enlarged view of point B in the middle;

[0031] Figure 9 This is a partial structural schematic diagram of a stator assembly according to an embodiment of the present invention.

[0032] Figure label:

[0033] Frame assembly 1000;

[0034] First frame 100; first side portion 110; first limiting groove 111; side plate 113; first side plate 114; second side plate 115; first end portion 120; second limiting groove 121; first positioning protrusion 122; extension plate 123; first wire guide groove 124; wire outlet post 125; second end portion 130; third limiting groove 131; second positioning hole 132; cable tray 140;

[0035] Second frame 200; second side portion 210; fourth limiting groove 211; third end portion 220; fifth limiting groove 221; first positioning hole 222; mounting groove 223; second wire guide groove 224; wire inlet post 225; fourth end portion 230; sixth limiting groove 231; second positioning protrusion 232; annular groove 240;

[0036] Segmented stator 300; stator teeth 310; winding groove 320; yoke 330.

[0037] 400 windings. Detailed Implementation

[0038] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0039] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0040] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If "first" or "second" is used in the description, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0041] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0042] Reference Figure 1 and Figure 2 As shown, an insulating frame according to one embodiment of the present invention can be fitted onto a stator core, particularly a segmented stator core 300. For example, the stator core includes multiple segmented stators 300, which are sequentially connected circumferentially to form a ring-shaped stator core. Each segmented stator 300 includes a stator tooth 310 and a yoke segment. The stator tooth 310 is connected to the inner side of the yoke segment. The yoke segments of the multiple segmented stators 300 are sequentially connected axially to form a ring-shaped yoke portion 330. A winding groove 320 is formed between adjacent stator teeth 310.

[0043] To improve the slot fill factor of the stator core, refer to Figure 2 and Figure 3 As shown, the insulating frame of this utility model embodiment includes a first frame 100 and a second frame 200. One first frame 100 and one second frame 200 constitute a frame group 1000. The frame group 1000 has multiple frames, the same number as the stator teeth 310. The first frame 100 includes a first side portion 110, a first end portion 120, and a second end portion 130. The first side portion 110 has a first limiting groove 111. The first end portion 120 is connected to one end of the first side portion 110 along the axial direction of the stator core, for example, the axial direction of the stator core is... Figure 2The first end portion 120 is provided with a second limiting groove 121 that communicates with one end of the first limiting groove 111. The second end portion 130 is connected to the other end of the first side portion 110 along the axial direction of the stator core, and the second end portion 130 is provided with a third limiting groove 131 that communicates with the other end of the first limiting groove 111. The second frame 200 includes a second side portion 210, a third end portion 220 and a fourth end portion 230. The second side portion 210 is provided with a fourth limiting groove 211. The third end portion 220 is connected to one end of the second side portion 210 along the axial direction of the stator core, and the third end portion 220 is provided with a fifth limiting groove 221 that communicates with one end of the fourth limiting groove 211. The fourth end portion 230 is connected to the other end of the second side portion 210 along the axial direction of the stator core, and the fourth end portion 230 is provided with a sixth limiting groove 231 that communicates with the other end of the fourth limiting groove 211. The first end 120 and the second end 130 can be integrally injection molded to the first side portion 110, and the third end 220 and the fourth end 230 can be integrally injection molded to the second side portion 210.

[0044] When the insulating frame is installed on the stator core, the first end 120 and the third end 220 are connected, and the second end 130 and the fourth end 230 are connected, so that the frame assembly 1000 forms a complete ring structure, which is then fitted onto the stator tooth 310. Each stator tooth 310 is fitted with a frame assembly 1000. Subsequently, the first frame 100 and the second frame 200 are fixedly connected to the stator tooth 310 by winding the winding 400. The first limiting groove 111, the second limiting groove 121, the fifth limiting groove 221, the fourth limiting groove 211, the sixth limiting groove 231 and the third limiting groove 131 are connected in sequence and together form an annular groove 240 surrounding the stator tooth 310. The first end 120 and the third end 220 abut against one end of the stator tooth 310 along the axial direction of the stator core, and the second end 130 and the fourth end 230 abut against the other end of the stator tooth 310 along the axial direction of the stator core. The first side portion 110 is inserted into the winding groove 320, and the second side portion 210 is inserted into the adjacent winding groove 320.

[0045] Understandably, by adopting the above scheme, the winding 400 can be wound in the annular groove 240, thereby fixing the first frame 100 and the second frame 200 to the stator tooth 310. Since the first end 120 and the third end 220 are connected and abut against one end of the stator tooth 310 along the axial direction, and the second end 130 and the fourth end 230 are connected and abut against the other end of the stator tooth 310 along the axial direction, the connection between the first frame 100 and the second frame 200 is located outside the winding groove 320 of the stator core, while the first side portion 110 and the second side portion 210 are located inside the winding groove 320. This allows the thickness of the first side portion 110 and the second side portion 210 to be made thinner and the wall thickness to be smaller, thereby increasing the slot fill factor and improving the output torque and power density of the servo motor. It should be noted that the slot fill factor refers to the proportion of space occupied by the copper coil in the stator core of the servo motor, that is, the ratio of the effective area of ​​the winding slot 320 occupied by the winding 400 after it is wound in the winding slot 320.

[0046] Reference Figure 3 As shown in the embodiment of this utility model, the first side portion 110 includes a side plate 113, a first side plate 114, and a second side plate 115. The side plate 113 is elongated, and along the width direction of the side plate 113, the first side plate 114 is connected to one end of the side plate 113, and the second side plate 115 is connected to the other end of the side plate 113. The first side plate 114, the side plate 113, and the second side plate 115 enclose each other to form a first limiting groove 111. Therefore, when the winding 400 is wound in the first limiting groove 111, it can abut against the side plate 113, the first side plate 114, and the second side plate 115, thereby preventing the winding 400 from directly contacting the stator core and preventing short circuits and leakage. It should be noted that the second side portion 210 also includes a side plate 113, a first side plate 114, and a second side plate 115, and its structure and function are similar to those of the first side portion 110. For details, please refer to the above embodiment for understanding, and it will not be repeated here.

[0047] Reference Figure 6 and Figure 7As shown, in this embodiment of the present invention, the maximum thickness of the side plate 113 is h, satisfying the condition: 0.25mm ≤ h ≤ 0.35mm. For example, the value of h can be 0.25mm, 0.28mm, 0.29mm, 0.33mm, 0.35mm, etc. When the thickness h of the side plate 113 is greater than 0.35mm, the thickness of the side plate 113 is too large, occupying more space in the winding slot 320, reducing the volume of the winding 400, and resulting in a lower slot fill factor. When the thickness h of the side plate 113 is less than 0.25mm, the thickness of the side plate 113 is too thin, resulting in lower overall strength and reduced insulation. Therefore, by reasonably designing the maximum thickness h of the side plate 113 to be within the range of 0.25mm to 0.35mm, it is possible to ensure that the overall strength of the side plate 113 meets the requirements, and the insulation also meets the requirements. At the same time, it can reduce the volume occupied by the side plate 113 in the winding slot 320, and more copper wires can be filled into the iron core slot, thereby generating a stronger magnetic field and greater output power, thereby improving the slot fill factor and improving the power density and efficiency of the servo motor.

[0048] Manufacturing errors can easily cause gaps at the connection point between the first end 120 and the third end 220, potentially leading to direct contact between the winding 400 and the stator core, thus posing a risk of short circuits and leakage. Therefore, referring to... Figure 4 and Figure 5 As shown in the embodiment of this utility model, an extension plate 123 is provided on the side of the first end 120 facing the third end 220, and a mounting groove 223 is provided on the third end 220. When the frame assembly 1000 is sleeved on the stator tooth 310, and the extension plate 123 is inserted into the mounting groove 223, on the projection plane parallel to the protruding direction of the extension plate 123, the projection of the joint between the second limiting groove 121 and the fifth limiting groove 221 is located within the outer contour line of the extension plate 123. Therefore, even if the joint width between the first end 120 and the second end 130 is large due to processing errors, the extension plate 123 can effectively prevent the winding 400 and the stator tooth 310 from directly contacting each other, thereby reducing the risk of short circuit and leakage, and improving the reliability and safety of the servo motor. It should be noted that the second end 130 may also be provided with a mounting groove 223, and the fourth end 230 is provided with an extension plate 123 on the side facing the second end 130. The structure and effect are similar to those of the above embodiments, and will not be described again here.

[0049] Reference Figure 5 As shown, in this embodiment of the present invention, the mounting groove 223 is located on the side of the third end 220 opposite to the fifth limiting groove 221. Along Figure 4 The extension plate 123 and the bottom wall of the second limiting groove 121 are spaced apart in the vertical direction, so that the extension plate 123 can be smoothly inserted into the mounting groove 223, while avoiding the extension plate 123 occupying the space of the fifth limiting groove 221, which is beneficial to the winding of the winding 400.

[0050] Reference Figure 5 and Figure 6 As shown in the embodiment of this utility model, a first positioning protrusion 122 is provided on the side of the first end 120 facing the third end 220, and a first positioning hole 222 is provided on the side of the third end 220 facing the first end 120. The first positioning protrusion 122 is inserted into the first positioning hole 222, thereby determining the relative position of the first frame 100 and the second frame 200, which facilitates the fixed connection of the first frame 100 and the second frame 200 during subsequent winding of the winding 400. In another embodiment, the first positioning hole 222 may be provided on the side of the first end 120 facing the third end 220, and the first positioning protrusion 122 may be provided on the side of the third end 220 facing the first end 120. The appropriate solution may be selected according to the actual situation.

[0051] Continue to refer to Figure 5 and Figure 6 As shown in the embodiment of this utility model, a second positioning protrusion 232 is provided on the side of the second end 130 facing the fourth end 230, and a second positioning hole 132 is provided on the side of the fourth end 230 facing the second end 130. The second positioning protrusion 232 is inserted into the second positioning hole 132, thereby determining the relative position of the first frame 100 and the second frame 200, which facilitates the fixed connection of the first frame 100 and the second frame 200 during subsequent winding of the winding 400. In another embodiment, the second positioning hole 132 may be provided on the side of the second end 130 facing the fourth end 230, and the second positioning protrusion 232 may be provided on the side of the fourth end 230 facing the second end 130. The appropriate solution may be selected according to the actual situation.

[0052] Reference Figure 6 and Figure 8 As shown, in the embodiments of this utility model, a plurality of wiring grooves 140 are provided at the connection between the bottom wall of the first limiting groove 111 and the bottom wall of the second limiting groove 121, and the plurality of wiring grooves 140 are arranged along the width direction of the bottom wall of the first limiting groove 111; a plurality of wiring grooves 140 are provided at the connection between the bottom wall of the fifth limiting groove 221 and the bottom wall of the fourth limiting groove 211, and the plurality of wiring grooves 140 are arranged along the width direction of the bottom wall of the fourth limiting groove 211; a plurality of wiring grooves 140 are provided at the connection between the bottom wall of the fourth limiting groove 211 and the bottom wall of the sixth limiting groove 231, and the plurality of wiring grooves 140 are arranged along the width direction of the bottom wall of the fourth limiting groove 211; a plurality of wiring grooves 140 are provided at the connection between the bottom wall of the third limiting groove 131 and the bottom wall of the first limiting groove 111, and the plurality of wiring grooves 140 are arranged along the width direction of the bottom wall of the first limiting groove 111. By setting the wiring groove 140, it is beneficial to arrange the winding of the winding 400 during winding, thereby improving the accuracy of winding of the winding 400 and making the overall wiring more consistent.

[0053] Reference Figure 2 and Figure 9 As shown in the embodiment of this utility model, the first end 120 is provided with a first wire passage groove 124 communicating with the second limiting groove 121 at one end along the axial direction of the stator core, and a wire exit post 125 is provided in the first wire passage groove 124. The third end 220 is provided with a second wire passage groove 224 communicating with the fifth limiting groove 221 at one end along the axial direction of the stator core, and a wire inlet post 225 is provided in the second wire passage groove 224. Therefore, when winding is required, the wire end of the winding 400 is first wound around the wire inlet post 225 for 1 to 1.5 turns and then tightened to ensure that the wire end does not come loose. Subsequently, it passes through the second wire passage groove 224 and is wound around the annular groove 240. When the winding is completed, the wire end of the winding 400 passes through the first wire passage groove 124 and is wound around the wire exit post 125, which can also prevent the wire end of the winding 400 from coming loose.

[0054] A servo motor according to one embodiment of the present invention includes the insulating frame described in the above embodiments. The servo motor also includes a stator core, which includes a yoke 330 and a plurality of stator teeth 310. The plurality of stator teeth 310 are spaced apart circumferentially along the yoke 330 and connected to the inner side of the yoke 330. A winding groove 320 is formed between adjacent stator teeth 310. The insulating frame includes a plurality of first frame bodies 100 and a plurality of second frame bodies 200. A first frame body 100 and a second frame body 200 connected to the same stator tooth 310 constitute a frame group 1000. The number of frame groups 1000 is equal to the number of stator teeth 310. The frame groups 1000 are fitted one-to-one with the stator teeth 310. The servo motor of this utility model embodiment adopts the insulating frame of the above embodiment. The insulating frame includes a first frame 100 and a second frame 200. The first end 120 and the second end 130 of the first frame 100 are respectively connected to the two ends of the first side portion 110. The third end 220 and the fourth end 230 of the second frame 200 are respectively connected to the two ends of the second side portion 210. The first limiting groove 111, the second limiting groove 121, the fifth limiting groove 221, the fourth limiting groove 211, the sixth limiting groove 231 and the third limiting groove 131 are sequentially connected and together form an annular groove 240 surrounding the stator teeth 310. Therefore, the winding 400 can be wound around the annular groove 240. Since the first end 120 and the third end 220 are connected and abut against one end of the stator tooth 310 along the axial direction, and the second end 130 and the fourth end 230 are connected and abut against the other end of the stator tooth 310 along the axial direction, the connection between the first frame 100 and the second frame 200 is located outside the winding slot 320 of the stator core, while the first side portion 110 and the second side portion 210 are located inside the winding slot 320. This allows the thickness of the first side portion 110 and the second side portion 210 to be made thinner and the wall thickness to be smaller, thereby increasing the slot fill factor and improving the output torque and power density of the servo motor.

[0055] Since the servo motor adopts all the technical solutions of the insulating frame in the above embodiments, it has at least all the beneficial effects brought about by the technical solutions in the above embodiments, which will not be repeated here.

[0056] This utility model discloses a servo system according to one embodiment, including the servo motor described in the above embodiments. The servo system further includes a servo driver, a feedback device, and a controller. The servo driver receives command signals from the controller and converts them into current signals to drive the servo motor, thereby controlling the movement of the servo motor. The feedback device can be an encoder, photoelectric switch, etc., used to monitor the position, speed, or acceleration of the servo motor in real time and return the feedback signal to the controller to achieve closed-loop control. The controller receives input signals and generates control commands, serving as the command center of the entire servo system. The controller can be a PLC (Programmable Logic Controller), a CNC system, or other dedicated controller. The servo system can be used in industrial automation, robotics, aerospace, medical equipment, home appliances, etc.

[0057] The servo system of this utility model embodiment adopts the servo motor of the above embodiment. By setting an insulating frame including a first frame 100 and a second frame 200, the first end 120 and the second end 130 of the first frame 100 are respectively connected to the two ends of the first side portion 110, and the third end 220 and the fourth end 230 of the second frame 200 are respectively connected to the two ends of the second side portion 210. The first limiting groove 111, the second limiting groove 121, the fifth limiting groove 221, the fourth limiting groove 211, the sixth limiting groove 231 and the third limiting groove 131 are sequentially connected and together form an annular groove 240 surrounding the stator teeth 310. Therefore, the winding 400 can be wound around the annular groove 240. Since the first end 120 and the third end 220 are connected and abut against one end of the stator tooth 310 along the axial direction, and the second end 130 and the fourth end 230 are connected and abut against the other end of the stator tooth 310 along the axial direction, the connection between the first frame 100 and the second frame 200 is located outside the winding slot 320 of the stator core, while the first side portion 110 and the second side portion 210 are located inside the winding slot 320. This allows the thickness of the first side portion 110 and the second side portion 210 to be made thinner and the wall thickness to be smaller, thereby increasing the slot fill factor and improving the output torque and power density of the servo motor.

[0058] Since the servo system adopts all the technical solutions of the servo motor in the above embodiments, it has at least all the beneficial effects brought about by the technical solutions in the above embodiments, which will not be repeated here.

[0059] The embodiments of the present utility model have been described in detail above with reference to the accompanying drawings. However, the present utility model is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present utility model.

Claims

1. An insulating frame mounted to a stator core having stator teeth, characterized by, The insulating frame comprises: a first frame body comprising a first side edge portion, a first end portion and a second end portion, the first side edge portion is provided with a first limiting groove, the first end portion is connected to one end of the first side edge portion along the axial direction of the stator core, the first end portion is provided with a second limiting groove in communication with one end of the first limiting groove, the second end portion is connected to the other end of the first side edge portion along the axial direction of the stator core, and the second end portion is provided with a third limiting groove in communication with the other end of the first limiting groove; a second frame body comprising a second side edge portion, a third end portion and a fourth end portion, the second side edge portion is provided with a fourth limiting groove, the third end portion is connected to one end of the second side edge portion along the axial direction of the stator core, the third end portion is provided with a fifth limiting groove in communication with one end of the fourth limiting groove, the fourth end portion is connected to the other end of the second side edge portion along the axial direction of the stator core, and the fourth end portion is provided with a sixth limiting groove in communication with the other end of the fourth limiting groove; wherein the first end portion and the third end portion are connected, the second end portion and the fourth end portion are connected, the first limiting groove, the second limiting groove, the fifth limiting groove, the fourth limiting groove, the sixth limiting groove and the third limiting groove are sequentially communicated and jointly form an annular groove for surrounding the stator teeth, and the first end portion and the third end portion are used for abutting one end of the stator teeth along the axial direction of the stator core, and the second end portion and the fourth end portion are used for abutting the other end of the stator teeth along the axial direction of the stator core.

2. The insulating frame of claim 1, wherein: The first end portion is provided with an extension plate on the side facing the third end portion, the third end portion is provided with a mounting groove, the extension plate is inserted into the mounting groove, and the projection of the joint between the second limiting groove and the fifth limiting groove on the projection plane parallel to the extension plate is located within the outer contour line of the extension plate.

3. The insulating frame of claim 2, wherein: The mounting groove is located on the side of the third end portion away from the fifth limiting groove.

4. The insulating frame of claim 1, wherein: The first end portion is provided with one of a positioning protrusion or a positioning hole on the side facing the third end portion, the third end portion is provided with the other one of the positioning protrusion or the positioning hole on the side facing the first end portion, and the positioning protrusion is inserted into the positioning hole.

5. The insulating frame of claim 1, wherein: The joint of the bottom wall of the first limiting groove and the bottom wall of the second limiting groove is provided with a plurality of wire arranging grooves, and the plurality of wire arranging grooves are arranged along the width direction of the bottom wall of the first limiting groove; and / or The joint of the bottom wall of the fifth limiting groove and the bottom wall of the fourth limiting groove is provided with a plurality of wire arranging grooves, and the plurality of wire arranging grooves are arranged along the width direction of the bottom wall of the fourth limiting groove; and / or The joint of the bottom wall of the fourth limiting groove and the bottom wall of the sixth limiting groove is provided with a plurality of wire arranging grooves, and the plurality of wire arranging grooves are arranged along the width direction of the bottom wall of the fourth limiting groove; and / or The joint of the bottom wall of the third limiting groove and the bottom wall of the first limiting groove is provided with a plurality of wire arranging grooves, and the plurality of wire arranging grooves are arranged along the width direction of the bottom wall of the first limiting groove.

6. The insulating frame of claim 1, wherein: The first end portion is provided with a first wire passing groove communicating with the second limiting groove at one end along the axial direction of the stator core, and the first wire passing groove is provided with an outgoing wire column; and / or, The third end portion is provided with a second wire passing groove communicating with the fifth limiting groove at one end along the axial direction of the stator core, and the second wire passing groove is provided with an incoming wire column.

7. The insulating frame of claim 1, wherein: The first side edge portion comprises a side plate, a first side plate and a second side plate, the side plate is in a strip shape, along the width direction of the side plate, the first side plate is connected to one end of the side plate, the second side plate is connected to the other end of the side plate, and the first side plate, the side plate and the second side plate form the first limiting groove.

8. The insulating frame of claim 7, wherein: The maximum thickness of the side plate is h, and 0.25mm≤h≤0.35mm is satisfied.

9. Servomotor, characterized in that: The stator core comprises a yoke portion and a plurality of stator teeth, the plurality of stator teeth are arranged at intervals along the circumferential direction of the yoke portion and connected to the inner side of the yoke portion, and the wire slot is formed between adjacent stator teeth, the insulation frame comprises a plurality of first frame bodies and a plurality of second frame bodies, one first frame body and one second frame body connected to the same stator tooth constitute a frame body group, the number of frame body groups is equal to the number of stator teeth, and a plurality of frame body groups are correspondingly sleeved on a plurality of stator teeth.

10. Servo system, characterized in that: The servo motor as claimed in claim 9 is provided.

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