Stator assembly, driving device and robot

Abstract

The utility model discloses a stator assembly, a driving device and a robot, the stator assembly comprises a stator body, a winding wire, a first encapsulation part and a circuit board, and the stator body is provided with a plurality of stator grooves arranged at intervals along the circumferential direction of the stator body; at least part of the winding wire is arranged in the stator groove, and two ends of the winding wire are provided with end leading-out wires led out from one axial end of the stator body; the first potting part is arranged at one axial end of the stator body, the end lead-out wire penetrates through the first potting part, and a wire end is exposed out of the first potting part; the circuit board is arranged on one side, deviating from the stator body, of the first encapsulation part, and the circuit board is connected with the end lead-out wire. According to the stator assembly provided by the utility model, through the arrangement of the first potting part, the mechanical strength and the electrical performance of the stator assembly are enhanced, convenience is provided for a subsequent connection process with a circuit board, and the size of the stator assembly, especially the thickness of the upper part and the lower part of the stator assembly, is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to drive device field especially is related to a kind of stator assembly, drive device and robot. BACKGROUND

[0002] With the continuous progress and development of robot technology, more stringent requirements are put forward for the performance of each component that constitutes the key driving system. As the core component in the driving system, the performance of the motor is directly related to the overall motion performance of the robot. In recent years, frameless torque motor has gradually attracted widespread attention in the industry, especially its stator part, which shows great potential in improving the joint driving performance of robots.

[0003] The frameless torque motor stator can be flexibly embedded in the robot joint to achieve a more compact structural layout, while efficiently transmitting torque to meet the needs of robots in high-load, high-precision motion scenarios. In addition, the frameless torque motor stator also has good adaptability and can adapt to various compact spaces, providing a more flexible and efficient solution for the joint driving system of robots.

[0004] In related technologies, the stator assembly often uses a simple winding fixation method, with the winding exposed externally, lacking effective fixation and protection of the winding, affecting the overall performance of the stator assembly. SUMMARY

[0005] The utility model aims at at least one of the technical problems existing in prior art. To this end, one purpose of the utility model is to propose a stator assembly. According to the stator assembly of the utility model, by setting the first potting part, not only the mechanical strength and electrical performance of the stator assembly are enhanced, but also the connection process with the circuit board is facilitated, and the volume of the stator assembly is reduced, especially the thickness of the stator assembly.

[0006] The utility model further proposes a drive device with the above-mentioned stator assembly.

[0007] The utility model further proposes a robot with the above-mentioned drive device.

[0008] According to the stator assembly of the utility model, the stator body is formed with a plurality of stator slots arranged at intervals along its circumferential direction; the winding is at least partially arranged in the stator slot, and both ends of the winding have end portion lead-out wires led out from one axial end of the stator body; the first potting part is arranged at one axial end of the stator body, the end portion lead-out wires penetrate through the first potting part, and the wire heads are exposed from the first potting part; the circuit board is arranged on the side of the first potting part away from the stator body, and the circuit board is connected with the end portion lead-out wires.

[0009] In the related art, without a circuit board, after winding forms a winding, the winding is high at the end of the stator assembly, which increases the thickness of the stator assembly. In order to reduce the thickness, the application replaces a part of the winding with a circuit board (i.e. the circuit board in the circuit as a part of the winding), which reduces the thickness of the entire stator. In addition, the application separates the circuit board from the first sealing part to facilitate the assembly / disassembly of the circuit board and reduce the thickness of the stator assembly, rather than connecting the circuit board and the winding together and then sealing together, because sealing together means that the first sealing part covers the circuit board, which increases the thickness of the entire stator and is not convenient for the assembly / disassembly of the circuit board.

[0010] According to the stator assembly of the application, the first sealing part is arranged at one end of the stator body in the axial direction, which effectively protects and supports the end lead-out wire. The end lead-out wire penetrates the first sealing part, which not only stably fixes the end lead-out wire, but also provides certain insulation performance and waterproof and moisture-proof capability. The fixation of the end lead-out wire by the first sealing part is conducive to the connection of the end lead-out wire and the circuit board.

[0011] According to some embodiments of the application, the end lead-out wire is configured as a plurality of wires arranged at intervals in the circumferential direction of the stator body.

[0012] According to some embodiments of the application, the circuit board is configured as a ring, and the circuit board is formed with a plurality of wire holes arranged at intervals in the circumferential direction, and the end lead-out wire is correspondingly arranged in the wire hole.

[0013] According to some embodiments of the application, at least two adjacent end lead-out wires constitute a lead-out wire group, and at least two end lead-out wires in the lead-out wire group extend obliquely towards or away from each other between the first sealing part and the circuit board.

[0014] According to some embodiments of the application, the two end lead-out wires on both sides in the lead-out wire group extend obliquely towards or away from each other between the first sealing part and the circuit board.

[0015] According to some embodiments of the application, the wire hole is arranged at the outer edge of the circuit board and is configured as a notch hole that is open in the radial direction.

[0016] According to some embodiments of the application, the opening width of the notch hole open in the radial direction is less than the maximum width of the notch hole in the radial direction.

[0017] According to some embodiments of the application, the stator assembly further comprises a second sealing part arranged at the other end of the stator body in the axial direction.

[0018] The driving device according to the present application will be described briefly below.

[0019] The driving device according to the present application comprises the stator assembly described in any one of the above embodiments. Since the driving device according to the present application comprises the stator assembly described in any one of the above embodiments, the driving device according to the present application has excellent electrical performance, mechanical strength and heat dissipation capacity, ensuring efficient and stable operation. Such driving device can be a device with power output, such as a motor.

[0020] The robot according to the present application will be described briefly below.

[0021] The robot according to the present application comprises the driving device described in any one of the above embodiments. Since the robot according to the present application comprises the driving device described in any one of the above embodiments, the robot according to the present application, such as a humanoid robot, a wheel-foot robot, etc., has excellent power performance and stability, which helps to realize flexible and diverse actions and motion control.

[0022] The additional aspects and advantages of the present application will be partially given in the following description, partially will become obvious from the following description, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0023] The above and / or additional aspects and advantages of the present application will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:

[0024] Figure 1 is a structural schematic view of a stator assembly according to one embodiment of the present application;

[0025] Figure 2 is a structural schematic view of a stator body and a winding of a stator assembly according to one embodiment of the present application;

[0026] Figure 3 is a structural schematic view of a stator body, a winding, a first potting portion and a second potting portion of a stator assembly according to one embodiment of the present application;

[0027] Figure 4 is a structural schematic view of a circuit board of a stator assembly according to one embodiment of the present application.

[0028] REFERENCE NUMERALS:

[0029] 1, stator assembly;

[0030] 11, stator body;

[0031] 12, winding, 121, end portion lead-out wire;

[0032] 13. The first potting portion;

[0033] 14. The circuit board, 141, the threading hole, 142, the three-phase lead wire;

[0034] 15. The second potting portion. DETAILED DESCRIPTION

[0035] Embodiments of the present application will be described in detail below, examples of which are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present application, and cannot be understood as a limitation of the present application.

[0036] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application. In addition, the features limited by "first" and "second" can be explicitly or implicitly included one or more features. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0037] In the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0038] In the related art, the stator assembly often adopts a simple winding fixing method, and the winding is exposed outside, which lacks effective fixing and protection of the winding, affecting the overall performance of the stator assembly.

[0039] Reference will now be made to Figures 1-4 The stator assembly 1 according to the embodiments of the present application is described.

[0040] As Figures 1-3As shown, the stator assembly 1 according to the utility model comprises a stator body 11 and a winding 12, the stator body 11 is formed with a plurality of stator slots arranged at intervals along the circumference thereof. The stator slot is used for accommodating the winding 12, so that the winding 12 can be fixed on the stator body 11 in a certain arrangement mode, so as to realize the electromagnetic conversion function. At least part of the winding 12 is arranged in the stator slot to constitute an electromagnetic loop together with the stator body 11. The winding 12 has an end portion lead-out wire 121 led out from one axial end of the stator body 11, so as to connect the end portion lead-out wire 121 with the circuit board 14, so as to realize the transmission and / or control of electric energy.

[0041] The stator assembly 1 further comprises a first potting portion 13 arranged at one axial end of the stator body 11, which realizes effective protection and support of the end portion lead-out wire 121. The end portion lead-out wire 121 penetrates through the first potting portion 13, which not only stably fixes the end portion lead-out wire 121, but also provides certain insulation performance and waterproof and moisture-proof capability. The fixing effect of the end portion lead-out wire 121 by the first potting portion 13 is conducive to the connection of the end portion lead-out wire 121 with the circuit board 14.

[0042] The stator assembly 1 further comprises a circuit board 14 arranged on the side of the first potting portion 13 away from the stator body 11, the circuit board 14 is connected with the end portion lead-out wire 121, so as to realize stable transmission and control of electric energy. The connection of the winding 12 through the circuit board 14 not only improves the electrical performance of the stator assembly 1, but also simplifies the circuit connection process, so that the entire stator assembly 1 is more easily integrated and maintained. Moreover, the circuit board 14 isolates the winding 12 from the external environment, effectively preventing the invasion of dust, moisture and other harmful substances, further enhancing the durability and reliability of the stator assembly 1. In addition, the circuit board 14 has certain heat dissipation capability, which can improve the heat dissipation performance of the stator assembly 1.

[0043] Therefore, according to the stator assembly 1 of the utility model, by arranging the first potting portion 13, not only the mechanical strength and electrical performance of the stator assembly 1 are enhanced, but also the connection process with the circuit board 14 is facilitated, and the volume of the stator assembly 1 is reduced, especially the thickness of the stator assembly 1.

[0044] It should be noted that in the related art, without the circuit board, after the winding is formed, the portion of the winding protruding / arching at one end of the stator assembly is high, which increases the thickness of the stator assembly. In order to reduce the thickness, the circuit board 14 is used to replace a part of the winding (i.e. the circuit in the circuit board 14 as a part of the winding), which reduces the thickness of the entire stator assembly 1. In addition, the circuit board 14 is separated from the first potting portion 13 to facilitate the assembly / disassembly of the circuit board 14 and reduce the thickness of the stator assembly 1, rather than potting together after the circuit board and the winding are connected, because potting together means that the first potting portion covers the circuit board, which increases the thickness of the entire stator assembly and is not convenient for the assembly / disassembly of the circuit board.

[0045] In some embodiments according to the present application, the circuit board 14 integrated with the wires is not integrally potted with the stator body 11, but a more flexible solution is adopted: the circuit board 14 is externally arranged, and the stator body 11 is separately potted. The specific operation of this process is as follows: first, the stator body 11 is potted to ensure that the stator body 11 is fully protected and fixed. Then, on the basis of the potted stator body 11, the end lead-out wire 121 is precisely connected with the circuit board 14. By separately potting the stator body 11, a series of problems caused by the method of the related art, in which the end lead-out wire 121 is connected with the circuit board 14 and then the whole is potted, are avoided. For example, the end lead-out wire 121 may be easily damaged or short-circuited due to the permeability and fluidity of the potting material; in order to ensure that the potting layer can completely cover the circuit board 14, additional potting height is often required, which not only increases the overall volume, but also may cause uneven potting, irregular volume and other problems.

[0046] In contrast, by externally arranging the circuit board 14 and separately potting the stator body 11, the present application not only simplifies the production process and reduces the potting difficulty, but also effectively protects the end lead-out wire 121 from damage, ensures the stability and reliability of the electrical connection, helps to reduce the overall volume of the stator assembly 1, and improves the integration and aesthetics thereof.

[0047] According to some embodiments of the present application, as shown in Figures 1-3 The end lead-out wire 121 is arranged in a plurality of intervals in the circumferential direction of the stator body 11, which realizes the compactness and symmetry of the internal structure of the stator assembly 1, effectively disperses the current load, and improves the efficiency of electromagnetic conversion. By arranging the end lead-out wire 121 in intervals, it is helpful to reduce electromagnetic interference and heat accumulation, further enhance the operation stability and durability of the stator assembly 1, and avoid short circuit caused by mutual contact of adjacent two end lead-out wires 121.

[0048] According to some embodiments of the present application, as shown in Figure 1 and Figure 4 The circuit board 14 is configured in a ring shape, which is beneficial to make full use of space and match the shape of the stator body 11, thereby optimizing the overall structural layout of the stator assembly 1. The circuit board 14 is formed with a plurality of threading holes 141 arranged at intervals in the circumferential direction, and the end lead-out wires 121 are correspondingly threaded through the threading holes 141. The ring-shaped circuit board 14 can better adapt to the lead-out wire layout of the stator body 11 in the circumferential direction, so that the positions of the end lead-out wires 121 and the threading holes 141 correspond to each other in the axial direction of the stator body 11, thereby realizing efficient and reliable connection between the end lead-out wires 121 and the circuit board 14, and further simplifying the circuit connection process.

[0049] It is particularly pointed out that after the end lead-out wires 121 are threaded through the threading holes 141, the end lead-out wires 121 can be connected with the circuit board 14 in various ways and realize electrical connection between the end lead-out wires 121 and the circuit board 14. For example, welding technology can be used to firmly weld the end lead-out wires 121 and the corresponding pads on the circuit board 14. This way not only has stable connection, but also can withstand larger current and mechanical stress.

[0050] According to some embodiments of the present application, as shown in Figures 1-3 The at least two adjacent end lead-out wires 121 form a lead-out wire group, which is helpful to realize more efficient and unified processing when connecting the end lead-out wires 121 with the circuit board 14. In the lead-out wire group, the at least two end lead-out wires 121 extend relatively close to or away from each other between the first sealing part 13 and the circuit board 14, which can form a more complex and more secure connection structure after the end lead-out wires 121 are threaded through the threading holes 141 and connected with the circuit board 14, while ensuring the symmetry of the internal structure of the stator assembly 1. The end lead-out wires 121 are tensioned between the first sealing part 13 and the circuit board 14, which increases the strength of physical connection and improves the stability and reliability of the stator assembly 1.

[0051] It should be noted that the lead-out wire group can be two adjacent end lead-out wires 121, or three adjacent end lead-out wires 121, or even more, and the specific number is determined according to the design requirements and space layout of the stator assembly 1. In the same embodiment, the lead-out wire group can also adopt various different combination forms. For example, Figure 1 The lead-out wire group in

[0052] According to some embodiments of the present application, as shown in Figure 1As shown, the two end lead-out wires 121 located at the two sides in the lead-out wire group are inclined to extend relatively close to or away from each other between the first potting part 13 and the circuit board 14. Whether the end lead-out wires 121 in the lead-out wire group are odd or even, the two end lead-out wires 121 located at the two sides are inclined to extend relatively close to or away from each other between the first potting part 13 and the circuit board 14, which can ensure the symmetry of the internal structure of the stator assembly 1 and physically form a more uniform and firm connection structure, so that the circuit board 14 is more stable and firm (especially for example Figure 1 As shown, when the circuit board 14 swings to the left, each end lead-out wire 121 inclined to the left plays a role of pulling to the right, and when the circuit board 14 swings to the right, each end lead-out wire 121 inclined to the right plays a role of pulling to the left, which can generally balance and stabilize the circuit board at a stable position), further improving the stability and reliability of the stator assembly 1.

[0053] According to some embodiments of the present application, Figure 4 As shown, the threading hole 141 is provided on the outer edge of the circuit board 14 and is configured as a notch hole open in the radial direction of the threading hole 141. The notch hole can be circular, or other non-circular shapes such as oval, rectangular or other irregular shapes to adapt to specific installation or connection requirements. Radial refers to any straight line direction from the center point to the edge. The threading hole 141 is open in its radial direction, not only facilitating the smooth threading and fixing of the end lead-out wire 121, but also optimizing the spatial layout of the circuit board 14, making the structure of the entire stator assembly 1 more compact and efficient, bringing convenience to the manufacturing and installation process of the stator assembly 1, and improving production and installation efficiency.

[0054] By setting the notch hole, the connection process of the end lead-out wire 12 and the threading hole 141 is simpler, that is, only the end lead-out wire 12 needs to be pressed into the threading hole 141 to be welded and fixed, and it is also convenient to disassemble.

[0055] It is particularly noted that if the threading hole 141 does not have the notch, the end lead-out wire 12 needs to be threaded through the threading hole 141 to be welded, and such threading operation is very time-consuming in actual production, and disassembly is also very time-consuming.

[0056] According to some embodiments of the present application, the open width of the notch hole in the radial direction is smaller than the maximum width of the notch hole in the radial direction. The open width of the notch hole in the radial direction refers to the distance between one side edge and the other side edge of the opening. The maximum width of the notch hole in the radial direction refers to the maximum width that can be measured in any radial direction of the notch hole. The notch hole is narrower at the opening and wider at other positions of the notch hole, which helps the installation and fixation of the end lead-out wire 121. Since the threading hole 141 is open in its radial direction, the end lead-out wire 121 can be more easily threaded into the threading hole 141, but since the notch hole is narrower at the opening, the end lead-out wire 121 can be effectively fixed within the threading hole 141, thereby enhancing the structural stability and electrical connection reliability of the stator assembly 1.

[0057] According to some embodiments of the present application, as shown in Figure 1 The circuit board 14 is connected with three-phase lead-out wires 142, which correspond to the three-phase windings 12 in the stator assembly 1. The three-phase lead-out wires 142 are used to achieve efficient and stable power transmission and control on the circuit board 14, ensuring that the motor can work according to the predetermined three-phase alternating current signal, thereby providing smooth and powerful driving force. In addition, the connection between the three-phase lead-out wires 142 and the circuit board 14 adopts a reliable electrical connection method, such as welding, crimping, etc., to ensure the stability and durability of the electrical connection, thereby improving the electrical performance of the stator assembly 1.

[0058] According to some embodiments of the present application, as shown in Figure 1 and Figure 3 The stator assembly 1 further comprises a second potting portion 15, which is arranged at the other end of the stator body 11 in the axial direction. The second potting portion 15 plays a protective and supporting role for the structure of the other end of the stator body 11, ensuring the overall stability of the stator assembly 1. Similar to the first potting portion 13, the arrangement of the second potting portion 15 not only enhances the mechanical strength of the stator assembly 1, but also helps to improve the overall insulation performance and waterproof and moisture-proof capability. By arranging the second potting portion 15 at the other end of the stator body 11 in the axial direction, the structure of the stator assembly 1 is more complete, further improving its reliability and durability in various application environments.

[0059] The driving device according to the present application will be described briefly below.

[0060] The driving device according to the present application comprises the stator assembly 1 in any one of the above embodiments. Since the driving device according to the present application comprises the stator assembly 1 in any one of the above embodiments, the driving device according to the present application has excellent electrical performance, mechanical strength and heat dissipation capacity, ensuring efficient and stable operation.

[0061] The driving device according to the utility model can be a driving unit in a humanoid robot, a wheeled robot or other equipment, such as a motor, or a joint module composed of a motor using the stator assembly. The driving device realizes high-precision, high-torque output and fast response of the joint through the cooperation of the stator assembly 1 and the rotor assembly, and improves the motion flexibility and stability of the robot.

[0062] The robot according to the utility model will be described briefly below.

[0063] The robot according to the utility model comprises the driving device in any one of the above embodiments. Since the robot according to the utility model comprises the driving device in any one of the above embodiments, the humanoid robot, the wheeled robot or other equipment according to the utility model has excellent power performance and stability, and helps to realize flexible and diverse actions and motion control.

[0064] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the utility model. In the present specification, the exemplary description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0065] Although the embodiments of the utility model have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and purposes of the utility model, and the scope of the utility model is defined by the claims and their equivalents.

Claims

1. A stator assembly characterized by, Comprising: a stator body (11) formed with a plurality of stator slots arranged at intervals in the circumferential direction thereof; winding wires (12) of which at least a part is arranged in the stator slots, both ends of the winding wires (12) having end portion lead-out wires (121) led out from one axial end of the stator body (11); a first potting portion (13) arranged at one axial end of the stator body (11), the end portion lead-out wires (121) penetrating the first potting portion (13) and the wire ends being exposed from the first potting portion (13); a circuit board (14) arranged on the side of the first potting portion (13) facing away from the stator body (11), the circuit board (14) being connected to the end portion lead-out wires (121).

2. The stator assembly of claim 1, wherein, The end portion lead-out wires (121) are configured to be arranged at intervals in the circumferential direction of the stator body (11).

3. The stator assembly of claim 2, wherein, The circuit board (14) is configured to be annular, the circuit board (14) being formed with a plurality of wire penetration holes (141) arranged at intervals in the circumferential direction, the end portion lead-out wires (121) being correspondingly arranged in the wire penetration holes (141).

4. The stator assembly of claim 3, wherein, At least two adjacent end portion lead-out wires (121) constitute a lead-out wire group, the at least two end portion lead-out wires (121) in the lead-out wire group being relatively close to or inclined away from each other between the first potting portion (13) and the circuit board (14).

5. The stator assembly of claim 4, wherein, The two end portion lead-out wires (121) located at both sides in the lead-out wire group are relatively close to or inclined away from each other between the first potting portion (13) and the circuit board (14).

6. The stator assembly of claim 3, wherein, The wire penetration holes (141) are arranged at the outer edge of the circuit board (14) and are configured to be notch holes open in the radial direction.

7. The stator assembly of claim 6, wherein, The open width of the notch hole open in the radial direction is smaller than the maximum width of the notch hole in the radial direction.

8. The stator assembly of claim 1, wherein, Further comprising: a second potting portion (15) arranged at the other axial end of the stator body (11).

9. A drive device characterized by comprising: The stator assembly of any one of claims 1-8.

10. A robot, characterized in that The driving device of claim 9.

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