Stator assembly, servo motor and industrial robot

Abstract

The utility model discloses a stator assembly, a servo motor and an industrial robot, the stator assembly comprises a stator assembly and a wiring assembly, the stator assembly comprises a plurality of iron core units and a plurality of windings, the plurality of iron core units are sequentially arranged along the circumferential direction of the stator assembly, and the plurality of windings are respectively and correspondingly wound on the plurality of iron core units. Each winding comprises a wire inlet end and a wire outlet end; the wiring assembly is arranged at one end of the stator assembly in the axial direction, the wiring assembly comprises a plurality of connecting bars, part of the connecting bars are arranged in a layered mode in the axial direction, part of the connecting bars are arranged in a layered mode in the radial direction of the stator assembly, and the connecting bars are connected with the wire inlet end and the wire outlet end respectively to form a three-phase circuit system. The stator assembly is simple in structure, good in heat dissipation effect and high in structural strength.

Description

Technical Field

[0001] This utility model relates to the field of servo motor technology, and in particular to a stator assembly, a servo motor, and an industrial robot. Background Technology

[0002] The stator of a servo motor consists of a stator core, multiple windings wound around the stator core, and a wiring structure, which includes multiple busbars electrically connected to the windings. In existing technologies, the wiring structure arranges multiple busbars using a wire frame, resulting in a complex overall structure that is difficult to assemble. Furthermore, the concentration of multiple busbars leads to excessive heat concentration after energization, hindering heat dissipation and potentially causing the encapsulated material to crack due to concentrated heat, thus affecting the structural strength of the stator. Utility Model Content

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a stator assembly with simple structure, good heat dissipation, and high structural strength.

[0004] This utility model also provides a servo motor and an industrial robot having the above-mentioned stator assembly.

[0005] According to a first aspect of the present invention, a stator assembly includes a stator component comprising a plurality of core units and a plurality of windings. The plurality of core units are arranged sequentially along the circumference of the stator component, and the plurality of windings are respectively wound around the plurality of core units. Each winding includes an input end and an output end. A wiring assembly is disposed at one end of the stator component along the axial direction. The wiring assembly includes a plurality of connecting rows. Some of the connecting rows are arranged in layers along the axial direction, and some of the connecting rows are arranged in layers along the radial direction of the stator component. The plurality of connecting rows are respectively connected to the input end and the output end to form a three-phase circuit system.

[0006] The stator assembly according to the first aspect of this utility model has at least the following beneficial effects: by arranging some connecting bars of the wiring assembly in layers along the axial direction of the stator assembly and others in layers along the radial direction of the stator assembly, the multiple connecting bars are more dispersed, ensuring sufficient installation space for each connecting bar. This eliminates the need for wire frames to position multiple connecting bars, resulting in a simple structure and convenient assembly. Simultaneously, it avoids the drawback of excessive heat concentration from multiple connecting bars, facilitating heat dissipation and preventing cracking of the encapsulation due to heat concentration, thus improving the structural strength of the encapsulation and the stator assembly.

[0007] According to some embodiments of the present invention, the plurality of connecting blocks include a first connecting block, a second connecting block, and a third connecting block that constitute each phase circuit. The first connecting block, the second connecting block, and the third connecting block are arranged in layers along the radial direction. The first connecting block connects two input terminals of two adjacent windings, and the second connecting block connects two output terminals of another two adjacent windings. In two windings that are spaced apart by at least one winding, the input terminal of one winding is connected to one end of the third connecting block, and the output terminal of the other winding is connected to the other end of the third connecting block.

[0008] According to some embodiments of the present invention, the third connecting bar includes a first main body and a second main body arranged sequentially and connected along the circumferential direction. The first main body and the second main body are staggered in the axial direction. The three third connecting bars of the three-phase circuit are arranged sequentially along the circumferential direction. In two adjacent third connecting bars, the first main body of one third connecting bar and the second main body of the other third connecting bar are arranged in layers in the axial direction.

[0009] According to some embodiments of the present invention, the plurality of connecting blocks further include a fourth connecting block that forms each phase circuit. One end of the fourth connecting block is connected to the winding, and the other end is a lead-out end for connecting to an external circuit. The fourth connecting block and the third connecting block are arranged in layers along the axial direction.

[0010] According to some embodiments of the present invention, the fourth connecting row extends along the circumferential direction, and the two ends of the fourth connecting row are respectively provided with a fourth welding hook. The openings of the two fourth welding hooks face the circumferential direction, and the openings of the two fourth welding hooks face away from the middle position of the fourth connecting row along the circumferential direction.

[0011] According to some embodiments of the present invention, the plurality of connecting rows further include intermediate point connecting rows, which are connected to the three-phase circuit of the three-phase circuit system, and the intermediate point connecting rows and the third connecting row are arranged in layers along the axial direction.

[0012] According to some embodiments of the present invention, the intermediate point connecting row extends along the circumferential direction, and the two ends and the middle position of the intermediate point connecting row are respectively provided with a fifth welding hook. The openings of the three fifth welding hooks all face the circumferential direction, and the opening direction of one of the fifth welding hooks is opposite to the opening direction of the other two fifth welding hooks.

[0013] According to some embodiments of the present invention, the first connecting bar extends along the circumferential direction, and each end of the first connecting bar is provided with a first welding hook. The openings of the two first welding hooks face the circumferential direction, and the openings of the two first welding hooks face away from the middle position of the first connecting bar along the circumferential direction.

[0014] According to some embodiments of the present invention, the second connecting row extends along the circumferential direction, and the two ends of the second connecting row are respectively provided with second welding hooks, the openings of the two second welding hooks are facing the circumferential direction, and the openings of the two second welding hooks are facing the middle position of the second connecting row along the circumferential direction.

[0015] According to some embodiments of the present invention, the third connecting row extends along the circumferential direction, and the two ends of the third connecting row are respectively provided with third welding hooks, and the openings of the two third welding hooks are both facing away from the middle position of the third connecting row along the circumferential direction.

[0016] According to some embodiments of the present invention, the stator assembly further includes a molding compound, a portion of which fills the space between two adjacent connecting rows.

[0017] The servo motor according to a second aspect embodiment of the present invention includes the stator assembly of the first aspect embodiment of the present invention.

[0018] The servo motor according to the second aspect embodiment of this utility model has at least the following beneficial effects: Because the servo motor adopts the aforementioned stator assembly, by arranging some connecting bars of the wiring assembly in layers along the axial direction of the stator assembly and others in layers along the radial direction of the stator assembly, the multiple connecting bars are more dispersed, ensuring sufficient installation space for each connecting bar. This eliminates the need for wire frames to position multiple connecting bars, resulting in a simple structure and convenient assembly. Simultaneously, it avoids the drawback of excessive heat concentration from multiple connecting bars, facilitating heat dissipation and preventing cracking of the encapsulation due to heat concentration, thus improving the structural strength of the encapsulation and the stator assembly.

[0019] The industrial robot according to a third aspect of the present invention includes a servo motor according to a second aspect of the present invention.

[0020] The industrial robot according to the third aspect embodiment of this utility model has at least the following beneficial effects: Because the industrial robot uses the aforementioned servo motor, by arranging some connecting bars of the wiring assembly in layers along the axial direction of the stator assembly and others in layers along the radial direction of the stator assembly, the multiple connecting bars are more dispersed, ensuring sufficient installation space for each connecting bar. This eliminates the need for wire frames to position multiple connecting bars, resulting in a simple structure and convenient assembly. Simultaneously, it avoids the drawback of excessive heat concentration from multiple connecting bars, facilitating heat dissipation and preventing cracking of the encapsulation due to heat concentration, thus improving the structural strength of the encapsulation and the stator assembly.

[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 stator assembly in an embodiment of the present invention;

[0024] Figure 2 This is an axial schematic diagram of the stator assembly in an embodiment of this utility model;

[0025] Figure 3 This is a schematic diagram of the wiring assembly in an embodiment of this utility model;

[0026] Figure 4 This is an exploded view of the wiring assembly in an embodiment of this utility model;

[0027] Figure 5 This is an axial schematic diagram of the wiring assembly in an embodiment of this utility model;

[0028] Figure 6 This is a schematic diagram of the structure of a single iron core unit and winding combination according to an embodiment of this utility model.

[0029] Figure label:

[0030] Stator assembly 100; Core unit 110; Winding 120; Inlet terminal 121; Outlet terminal 122;

[0031] Wiring assembly 200; First phase first connection bar 211; First welding hook 2111; First phase second connection bar 212; Second welding hook 2121; First phase third connection bar 213; Third welding hook 2131; First phase fourth connection bar 214; Fourth welding hook 2141; Second phase first connection bar 221; Second phase second connection bar 222; Second phase third connection bar 223; Second phase fourth connection bar 224; Third phase first connection bar 231; Third phase second connection bar 232; Third phase third connection bar 233; Third phase fourth connection bar 234; Intermediate point connection bar 240; Fifth welding hook 241; First main body 250; Second main body 260;

[0032] Three-phase circuit system 300; first phase circuit 310; second phase circuit 320; third phase circuit 330. Detailed Implementation

[0033] 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.

[0034] 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.

[0035] 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.

[0036] In the description of this utility model, unless otherwise explicitly defined, terms such as setting, installing, connecting, assembling, and cooperating 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.

[0037] Reference Figures 1 to 6As shown, the first aspect of this utility model provides a stator assembly applied in a servo motor of an industrial robot. The industrial robot can be a mechanical device with humanoid arm, wrist, and hand functions, used to complete processes such as automatic welding, spraying, laser cutting, workpiece handling, and part assembly. Typically, the servo motor also includes a rotor assembly, with the stator assembly 100 arranged around the outer periphery of the rotor assembly, and the rotor assembly capable of rotating relative to the stator assembly 100.

[0038] Reference Figure 1 As shown, the stator assembly includes a stator assembly 100 and a wiring assembly 200. The stator assembly 100 includes multiple core units 110 and multiple windings 120. Specifically, the number of core units 110 and windings 120 is equal. The multiple core units 110 are arranged sequentially along the circumference of the stator assembly 100 and form a ring, with adjacent core units 110 interconnected. Each core unit 110 can be an independent single structure, i.e., each core unit 110 consists of multiple laminations stacked along the axial direction of the stator assembly 100. Alternatively, the multiple core units 110 can be an integral structure, i.e., composed of multiple ring-shaped laminations stacked along the axial direction of the stator assembly 100. The circumference of the stator assembly 100 is the direction around the rotation axis of the rotor assembly, and the axial direction of the stator assembly 100 is the direction of the rotation axis of the rotor assembly. The central axis of the stator assembly 100 coincides with the rotation axis of the rotor assembly.

[0039] Reference Figure 1 and Figure 6 As shown, it can be understood that a winding slot is defined between two adjacent core units 110, and the number of winding slots is equal to the number of core units 110. Multiple winding slots are arranged at circumferential intervals along the stator assembly 100. The winding slots are used to accommodate windings 120. Specifically, multiple windings 120 are respectively wound around multiple core units 110. Each winding 120 includes an inlet end 121 and an outlet end 122. The inlet end 121 is located on the outer side of the winding 120, that is, on the side of the winding 120 away from the central axis of the stator assembly 100. Along the radial direction of the stator assembly 100, the outlet end 122 is closer to the central axis of the stator assembly 100 than the inlet end 121. Specifically, the outlet end 122 is located at the middle position of the winding 120 along the radial direction of the stator assembly 100. The input terminals 121 and output terminals 122 of the multiple windings 120 are all located at the same end of the stator assembly 100 along the axial direction.

[0040] Understandably, the winding 120 can be made of aluminum or copper wire, and the cross-section of the winding 120 can be circular, rectangular, triangular, or other polygonal.

[0041] Reference Figure 1 and Figure 2As shown, it can be understood that the wiring assembly 200 is located at one end of the stator assembly 100 along the axial direction, and the wiring assembly 200 and the input terminal 121 and output terminal 122 of the winding 120 are located at the same end of the stator assembly 100 along the axial direction. The wiring assembly 200 includes multiple connecting bars, which are conductors, such as copper busbars. The connecting bars are used to connect at least two windings 120. The connecting bars are connected to the input terminal 121 or output terminal 122 of the winding 120. Multiple connecting bars connect multiple windings 120 to form a three-phase circuit system 300. It is easy to understand that the three-phase circuit system 300 is a three-phase AC power system, including U phase, V phase and W phase. Its circuit usually adopts a three-phase four-wire system and adopts a star connection method.

[0042] Reference Figure 1 , Figure 3 and Figure 5 As shown, it can be understood that among the multiple connection rows of the wiring assembly 200, some connection rows are arranged in layers along the axial direction of the stator assembly 100, meaning that the distance between these connection rows and the core unit 110 in the axial direction of the stator assembly 100 is not equal. Some connection rows are arranged in layers along the radial direction of the stator assembly 100, meaning that the distance between these connection rows and the central axis of the stator assembly 100 in the radial direction of the stator assembly 100 is not equal.

[0043] Understandably, the stator assembly also includes a molding compound, which is made by injection molding. The molding compound covers the outside of the stator assembly 100 and the wiring assembly 200. At the same time, part of the structure of the molding compound fills the space between any two adjacent connection bars to enhance the insulation performance between the two adjacent connection bars and make the installation of multiple connection bars more stable.

[0044] Reference Figure 1 and Figure 2 As shown, it can be understood that in this embodiment, the number of core units 110 is twelve, and the number of winding slots and windings 120 is also twelve. Of course, the number of core units 110, winding slots, and windings 120 can also be ten, thirteen, fourteen, or more, and their numbers are not specifically limited here.

[0045] The connection relationship between the wiring assembly 200 and the multiple windings 120 will be described in detail below using an embodiment in which the stator assembly 100 includes twelve iron core units 110 as an example. Correspondingly, the rotor assembly can have ten poles, that is, the motor adopts a twelve-slot, ten-pole design. Of course, the rotor assembly can also have fourteen poles, that is, the motor adopts a twelve-slot, fourteen-pole design.

[0046] Reference Figure 2As shown, it can be understood that the three-phase circuits of the three-phase circuit system 300 are defined as the first-phase circuit 310, the second-phase circuit 320, and the third-phase circuit 330. In this embodiment, each phase circuit includes four windings 120. The four windings 120 of each phase circuit are divided into two groups of two, with the two windings 120 in each group arranged adjacent to each other. The two groups of windings 120 are arranged symmetrically about the central axis of the stator assembly 100. The two groups of windings 120 are defined as the first group of windings 120 and the second group of windings 120, respectively. The four windings 120 of each phase circuit are connected in series.

[0047] Reference Figures 1 to 3 As shown, it can be understood that the multiple connection bars of the wiring assembly 200 include a first connection bar, a second connection bar, and a third connection bar that constitute each phase circuit. Specifically, the first phase circuit 310 includes a first phase first connection bar 211, a first phase second connection bar 212, and a first phase third connection bar 213. The first phase first connection bar 211, the first phase second connection bar 212, and the first phase third connection bar 213 are arranged in layers along the radial direction of the stator assembly 100, and are arranged sequentially from the outside to the inside along the radial direction of the stator assembly 100. The side closer to the central axis of the stator assembly 100 is the inside, and the side farther from the central axis of the stator assembly 100 is the outside. The first phase first connecting bar 211 connects to the input terminals 121 of the two windings 120 of the first group of windings 120 of the first phase circuit 310; the first phase second connecting bar 212 connects to the output terminals 122 of the two windings 120 of the second group of windings 120 of the first phase circuit 310; one end of the first phase third connecting bar 213 connects to the output terminal 122 of one winding 120 of the first group of windings 120 of the first phase circuit 310, and the other end connects to the input terminal 121 of one winding 120 of the second group of windings 120 of the first phase circuit 310. In this way, the four windings 120 of the first phase circuit 310 are connected in series, and the magnetic field directions of the four windings 120 are positive, negative, negative and positive in sequence. Here, the magnetic field direction of the winding 120 is defined as positive when the current enters from the input terminal 121 and flows out from the output terminal 122; the magnetic field direction of the winding 120 is negative when the current enters from the output terminal 122 and flows out from the input terminal 121.

[0048] Continue to refer to Figures 1 to 3Similarly, the second phase circuit 320 includes a second phase first connection bar 221, a second phase second connection bar 222, and a second phase third connection bar 223. The second phase first connection bar 221, the second phase second connection bar 222, and the second phase third connection bar 223 are arranged in layers along the radial direction of the stator assembly 100, and the second phase first connection bar 221, the second phase second connection bar 222, and the second phase third connection bar 223 are arranged sequentially from the outside to the inside along the radial direction of the stator assembly 100. In this circuit, the first connecting bar 221 of the second phase connects to the input terminals 121 of the two windings 120 of the first winding 120 of the second phase circuit 320; the second connecting bar 222 of the second phase connects to the output terminals 122 of the two windings 120 of the second winding 120 of the second phase circuit 320; and one end of the third connecting bar 223 of the second phase connects to the output terminal 122 of one winding 120 of the first winding 120 of the second phase circuit 320, while the other end connects to the input terminal 121 of one winding 120 of the second winding 120 of the second phase circuit 320. This connects the four windings 120 of the second phase circuit 320 in series, and the magnetic field directions of the four windings 120 are, in sequence, positive, negative, negative, and positive.

[0049] Continue to refer to Figures 1 to 3 Similarly, the third phase circuit 330 includes a third phase first connection bar 231, a third phase second connection bar 232, and a third phase third connection bar 233. The third phase first connection bar 231, the third phase second connection bar 232, and the third phase third connection bar 233 are arranged in layers along the radial direction of the stator assembly 100, and are arranged sequentially from the outside to the inside along the radial direction of the stator assembly 100. In this circuit, the first connecting bar 231 of the third phase connects to the input terminals 121 of the two windings 120 of the first winding 120 of the third phase circuit 330; the second connecting bar 232 of the third phase connects to the output terminals 122 of the two windings 120 of the second winding 120 of the third phase circuit 330; and one end of the third connecting bar 233 of the third phase connects to the output terminal 122 of one winding 120 of the first winding 120 of the third phase circuit 330, while the other end connects to the input terminal 121 of one winding 120 of the second winding 120 of the third phase circuit 330. This connects the four windings 120 of the third phase circuit 330 in series, and the magnetic field directions of the four windings 120 are, in sequence, positive, negative, negative, and positive.

[0050] Therefore, the first, second, and third connecting blocks of each phase circuit are arranged radially in layers along the stator assembly 100. Since multiple core units 110 are arranged sequentially along the circumference of the stator assembly 100, it is easy to understand that the first phase first connecting block 211, the first phase second connecting block 212, the second phase first connecting block 221, the second phase second connecting block 222, the third phase first connecting block 231, and the third phase second connecting block 232 are arranged at intervals along the circumference of the stator assembly 100. This dispersed arrangement of connecting blocks provides sufficient installation space, has a simple structure, and facilitates assembly. Simultaneously, it avoids the drawback of excessive heat concentration from multiple connecting blocks, which is beneficial for heat dissipation and prevents cracking of the encapsulation due to heat concentration, thus improving the structural strength of the encapsulation and the stator assembly.

[0051] Reference Figures 1 to 3 As shown, it can be understood that the multiple connection bars also include a fourth connection bar that constitutes each phase circuit. Specifically, the first phase circuit 310 includes a first phase fourth connection bar 214, one end of which is connected to the input terminal 121 of the other winding 120 of the second set of windings 120 of the first phase circuit 310, and the other end is a lead-out terminal used to connect to the external circuit of the stator assembly 100.

[0052] Continue to refer to Figures 1 to 3 Similarly, the second phase circuit 320 includes a second phase fourth connection bar 224. One end of the second phase fourth connection bar 224 is connected to the input terminal 121 of the other winding 120 of the second winding 120 of the second phase circuit 320, and the other end is a lead-out terminal.

[0053] Continue to refer to Figures 1 to 3 Similarly, the third phase circuit 330 includes a third phase fourth connection bar 234. One end of the third phase fourth connection bar 234 is connected to the input terminal 121 of the other winding 120 of the second winding 120 of the third phase circuit 330, and the other end is a lead-out terminal.

[0054] Reference Figures 1 to 3 As shown, it can be understood that the multiple connection bars also include a midpoint connection bar 240, which is connected to the three-phase circuit. Specifically, the midpoint connection bar 240 is connected to the output terminal 122 of the other winding 120 of the first winding 120 of the first phase circuit 310, the output terminal 122 of the other winding 120 of the first winding 120 of the second phase circuit 320, and the output terminal 122 of the other winding 120 of the first winding 120 of the third phase circuit 330. This makes the three-phase circuit a star connection.

[0055] Of course, in some other embodiments, the intermediate point connecting row 240 can be connected to the incoming terminal 121, and the first phase fourth connecting row 214, the second phase fourth connecting row 224, and the third phase fourth connecting row 234 are respectively connected to the outgoing terminal 122, which will not be described in detail here.

[0056] Reference Figure 4 As shown, it can be understood that the length of the third connecting row is much greater than the length of the first and second connecting rows along the circumference of the stator assembly 100, and the three third connecting rows cannot be arranged on the same layer along the axial direction of the stator assembly 100. Therefore, the third connecting row includes a first main body portion 250 and a second main body portion 260 arranged sequentially along the circumference of the stator assembly 100. The first main body portion 250 and the second main body portion 260 are staggered in the axial direction of the stator assembly 100, and the first main body portion 250 and the second main body portion 260 are connected by a bending portion. In the axial direction of the stator assembly 100, the first main body portion 250 is further away from the core unit 110 than the second main body portion 260. The first phase third connecting row 213, the second phase third connecting row 223, and the third phase third connecting row 233 are arranged sequentially in the circumference of the stator assembly 100. In this configuration, the first main body 250 of the first phase third connecting bar 213 is located on the side of the second main body 260 of the second phase third connecting bar 223 away from the core unit 110; the second main body 260 of the first phase third connecting bar 213 is located on the side of the first main body 250 of the third phase third connecting bar 233 close to the core unit 110; and the first main body 250 of the second phase third connecting bar 223 is located on the side of the second main body 260 of the third phase third connecting bar 233 away from the core unit 110. This arrangement creates a two-layer structure along the axial direction of the stator assembly 100, which helps reduce the space occupied by the wiring assembly 200 along the axial direction of the stator assembly 100. Furthermore, the first phase third connecting bar 213, the second phase third connecting bar 223, and the third phase third connecting bar 233 are arranged in layers along the axial direction.

[0057] Reference Figure 3 and Figure 4 As shown, it can be understood that the intermediate point connecting row 240 is located on the side of the two-layer structure consisting of the first phase third connecting row 213, the second phase third connecting row 223, and the third phase third connecting row 233, facing away from the core unit 110. Thus, the intermediate point connecting row 240, the first phase third connecting row 213, the second phase third connecting row 223, and the third phase third connecting row 233 form a three-layer structure.

[0058] Reference Figure 3 and Figure 4As shown, it can be understood that the second-phase fourth connection bar 224 and the third-phase fourth connection bar 234 are located on the same layer along the axial direction of the stator assembly 100 and on the side of the intermediate point connection bar 240 away from the core unit 110. The first-phase fourth connection bar 214 is located on the same layer as the second main body 260 of the first-phase third connection bar 213. Therefore, the intermediate point connection bar 240, the first-phase third connection bar 213, the second-phase third connection bar 223, the third-phase third connection bar 233, the first-phase fourth connection bar 214, the second-phase fourth connection bar 224, and the third-phase fourth connection bar 234 form a four-layer structure. This effectively reduces the space occupied by the wiring assembly 200 in the axial direction of the stator assembly 100.

[0059] Of course, in other embodiments, the first phase fourth connection row 214 may also be located in the same layer as the second phase fourth connection row 224 and the third phase fourth connection row 234 along the axial direction of the stator assembly 100.

[0060] Meanwhile, the four-layer structure, consisting of the intermediate point connecting row 240, the first phase third connecting row 213, the second phase third connecting row 223, the third phase third connecting row 233, the first phase fourth connecting row 214, the second phase fourth connecting row 224, and the third phase fourth connecting row 234, is arranged layer by layer along the axial direction of the stator assembly 100, eliminating the need for wire frame positioning and facilitating assembly. Furthermore, it avoids the drawback of excessive heat concentration from multiple connecting rows, promoting heat dissipation and preventing cracking of the encapsulated body due to heat concentration, thus improving the structural strength of the encapsulated body and the stator assembly.

[0061] Understandably, the encapsulated portion of its structure fills the spaces between any two adjacent layers of the four-layer structure comprised of the intermediate point connector 240, the first-phase third connector 213, the second-phase third connector 223, the third-phase third connector 233, the first-phase fourth connector 214, the second-phase fourth connector 224, and the third-phase fourth connector 234. It also fills the spaces between the first-phase first connector 211, the first-phase second connector 212, and the first-phase third connector 213; between the second-phase first connector 221, the second-phase second connector 222, and the second-phase third connector 223; and between the third-phase first connector 231, the third-phase second connector 232, and the third-phase third connector 233. This improves insulation and enhances the installation stability of the wiring assembly 200. Simultaneously, heat is not excessively concentrated on the encapsulated portion, effectively preventing cracking due to concentrated heat and improving structural strength.

[0062] Reference Figures 3 to 5As shown, it can be understood that the first connecting bar extends circumferentially along the stator assembly 100, and each end of the first connecting bar is provided with a first welding hook 2111. The openings of both first welding hooks 2111 are located circumferentially away from the middle position of the first connecting bar along the circumferential direction of the stator assembly 100. Specifically, taking the first phase first connecting bar 211 as an example, the first phase first connecting bar 211 extends circumferentially along the stator assembly 100, and each end of the first phase first connecting bar 211 is provided with a first welding hook 2111. The openings of both first welding hooks 2111 are located circumferentially away from the middle position of the first phase first connecting bar 211 along the circumferential direction of the stator assembly 100. Thus, when the first phase first connecting bar 211 is connected to the input terminals 121 of the two windings 120, the two first welding hooks 2111 respectively abut against the two terminals on opposite sides of the stator assembly 100 along the circumference. This restricts the first phase first connecting bar 211 from moving along the circumference of the stator assembly 100, preventing it from loosening, and facilitates welding of the first welding hooks 2111 to the input terminals 121, thereby improving the connection strength between the first phase first connecting bar 211 and the input terminals 121. The structures of the second phase first connecting bar 221 and the third phase first connecting bar 231 can refer to the structure of the first phase first connecting bar 211, and will not be described again here.

[0063] Reference Figures 3 to 5 As shown, it can be understood that the second connecting bar extends circumferentially along the stator assembly 100, and each end of the second connecting bar is provided with a second welding hook 2121. The openings of both second welding hooks 2121 are circumferentially oriented towards the middle position of the second connecting bar along the circumferential direction of the stator assembly 100. Specifically, taking the first phase second connecting bar 212 as an example, the first phase second connecting bar 212 extends circumferentially along the stator assembly 100, and each end of the first phase second connecting bar 212 is provided with a second welding hook 2121. The openings of both second welding hooks 2121 are circumferentially oriented towards the middle position of the first phase second connecting bar 212 along the circumferential direction of the stator assembly 100. Thus, when the first phase second connecting bar 212 is connected to the output terminals 122 of the two windings 120, the two second welding hooks 2121 respectively hook onto the two output terminals 122, which can restrict the first phase second connecting bar 212 from moving circumferentially along the stator assembly 100, prevent the first phase second connecting bar 212 from loosening, and facilitate the welding of the second welding hooks 2121 to the output terminals 122, thereby improving the connection strength between the first phase second connecting bar 212 and the output terminals 122. The structures of the second phase second connecting bar 222 and the third phase second connecting bar 232 can refer to the structure of the first phase second connecting bar 212, and will not be described again here.

[0064] Reference Figures 3 to 5As shown, it can be understood that the third connecting bar extends circumferentially along the stator assembly 100, and each end of the third connecting bar is provided with a third welding hook 2131. The openings of both third welding hooks 2131 are located circumferentially away from the middle position of the third connecting bar along the circumferential direction of the stator assembly 100. Specifically, taking the first phase third connecting bar 213 as an example, the first phase third connecting bar 213 extends circumferentially along the stator assembly 100, and each end of the first phase third connecting bar 213 is provided with a third welding hook 2131. The openings of both third welding hooks 2131 are located circumferentially away from the middle position of the first phase third connecting bar 213 along the circumferential direction of the stator assembly 100. Thus, when the first phase third connecting bar 213 is connected to the two windings 120, the two third welding hooks 2131 respectively abut against the terminals and output terminals 122 on opposite sides of the stator assembly 100 along the circumference. This restricts the first phase third connecting bar 213 from moving circumferentially along the stator assembly 100, preventing it from becoming loose, and facilitates welding of the third welding hooks 2131 to the input terminals 121 and output terminals 122, thereby improving the connection strength between the first phase third connecting bar 213 and the input terminals 121 and output terminals 122. The structures of the second phase third connecting bar 223 and the third phase third connecting bar 233 can refer to the structure of the first phase third connecting bar 213, and will not be described again here.

[0065] Reference Figures 3 to 5 As shown, it can be understood that the fourth connecting bar extends circumferentially along the stator assembly 100, and each end of the fourth connecting bar is provided with a fourth welding hook 2141. The openings of both fourth welding hooks 2141 are located circumferentially away from the middle position of the fourth connecting bar along the circumference of the stator assembly 100. Specifically, taking the first phase fourth connecting bar 214 as an example, the first phase fourth connecting bar 214 extends circumferentially along the stator assembly 100, and each end of the first phase fourth connecting bar 214 is provided with a fourth welding hook 2141. The openings of both fourth welding hooks 2141 are located circumferentially away from the middle position of the first phase fourth connecting bar 214 along the circumference of the stator assembly 100. When the first phase fourth connecting bar 214 is connected to the winding 120, one of the fourth welding hooks 2141 presses against the terminal, which facilitates welding of the fourth welding hook 2141 to the input terminal 121 and helps to improve the connection strength between the first phase fourth connecting bar 214 and the input terminal 121. The other fourth welding hook 2141 is the lead-out terminal, which facilitates the external circuit connection of the stator assembly 100. The structure of the second phase fourth connection bar 224 and the third phase fourth connection bar 234 can refer to the structure of the first phase fourth connection bar 214, and will not be described again here.

[0066] Reference Figures 3 to 5As shown, the intermediate point connecting strip 240 extends circumferentially along the stator assembly 100, and fifth welding hooks 241 are respectively provided at both ends and the middle position of the intermediate point connecting strip 240. The openings of the three fifth welding hooks 241 all face circumferentially towards the stator assembly 100, and the opening direction of one of the fifth welding hooks 241 is opposite to the opening direction of the other two fifth welding hooks 241. For example, the opening directions of the two fifth welding hooks 241 located at both ends of the intermediate point connecting strip 240 are opposite, while the opening direction of the fifth welding hook 241 located at the middle position of the intermediate point connecting strip 240 is the same as the opening direction of one of the fifth welding hooks 241 located at both ends of the intermediate point connecting strip 240. When the intermediate point connecting strip 240 is connected and welded to the three outgoing terminals 122, it is possible to restrict the movement of the intermediate point connecting strip 240 along the circumferential direction of the stator assembly 100 and prevent the intermediate point connecting strip 240 from becoming loose.

[0067] Understandably, the connecting bars are welded to the inlet terminal 121 and the outlet terminal 122 using resistance welding, resulting in high connection strength and improved reliability. Furthermore, the multiple connecting bars are arranged and welded in layers along the axial and radial directions of the stator assembly 100, facilitating welding and ensuring a more robust weld, thus enhancing reliability.

[0068] The servo motor of the second aspect of this utility model includes a rotor assembly and a stator assembly of the first aspect of this utility model. The stator assembly 100 is wound around the outer periphery of the rotor assembly, which will not be described in detail here.

[0069] Since the servo motor adopts all the technical solutions of the stator assembly in the above embodiments, it has at least all the beneficial effects brought about by the technical solutions in the above embodiments.

[0070] The industrial robot of the third aspect of this utility model includes the servo motor of the second aspect of this utility model. The industrial robot can be a mechanical device with humanoid arm, wrist and hand functions, which will not be described in detail here.

[0071] Since the industrial robot 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.

[0072] 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. A stator assembly, characterized in that, include: A stator assembly includes multiple core units and multiple windings. The multiple core units are arranged sequentially along the circumference of the stator assembly, and the multiple windings are respectively wound around the multiple core units. Each winding includes an input end and an output end. A wiring assembly is located at one end of the stator assembly along the axial direction. The wiring assembly includes multiple connecting bars, some of which are arranged in layers along the axial direction and some of which are arranged in layers along the radial direction of the stator assembly. The multiple connecting bars are respectively connected to the input terminal and the output terminal to form a three-phase circuit system.

2. The stator assembly according to claim 1, characterized in that: The plurality of connection bars include a first connection bar, a second connection bar, and a third connection bar that form each phase circuit. The first connection bar, the second connection bar, and the third connection bar are arranged in layers along the radial direction. The first connection bar connects two input terminals of two adjacent windings. The second connection bar connects two output terminals of another two adjacent windings. In two windings that are spaced apart by at least one winding, the input terminal of one winding is connected to one end of the third connection bar, and the output terminal of the other winding is connected to the other end of the third connection bar.

3. The stator assembly according to claim 2, characterized in that: The third connecting bar includes a first main body and a second main body arranged sequentially and connected along the circumferential direction. The first main body and the second main body are staggered in the axial direction. The three third connecting bars of the three-phase circuit are arranged sequentially along the circumferential direction. In two adjacent third connecting bars, the first main body of one third connecting bar and the second main body of the other third connecting bar are arranged in layers in the axial direction.

4. The stator assembly according to claim 2 or 3, characterized in that: The plurality of connection bars also include a fourth connection bar that forms each phase circuit. One end of the fourth connection bar is connected to the winding, and the other end is a lead-out end for connecting to an external circuit. The fourth connection bar and the third connection bar are arranged in layers along the axial direction.

5. The stator assembly according to claim 4, characterized in that: The fourth connecting row extends along the circumferential direction, and each end of the fourth connecting row is provided with a fourth welding hook. The openings of the two fourth welding hooks face the circumferential direction, and the openings of the two fourth welding hooks face away from the middle position of the fourth connecting row along the circumferential direction.

6. The stator assembly according to claim 2 or 3, characterized in that: The plurality of connecting rows also includes an intermediate point connecting row, which is connected to the three-phase circuit of the three-phase circuit system, and the intermediate point connecting row and the third connecting row are arranged in layers along the axial direction.

7. The stator assembly according to claim 6, characterized in that: The intermediate point connecting row extends along the circumferential direction, and the two ends and the middle position of the intermediate point connecting row are respectively provided with a fifth welding hook. The openings of the three fifth welding hooks all face the circumferential direction, and the opening direction of one of the fifth welding hooks is opposite to the opening direction of the other two fifth welding hooks.

8. The stator assembly according to claim 2, characterized in that: The first connecting bar extends along the circumferential direction, and each end of the first connecting bar is provided with a first welding hook. The openings of the two first welding hooks face the circumferential direction, and the openings of the two first welding hooks face away from the middle position of the first connecting bar along the circumferential direction.

9. The stator assembly according to claim 2, characterized in that: The second connecting bar extends along the circumferential direction, and each end of the second connecting bar is provided with a second welding hook. The openings of the two second welding hooks face the circumferential direction, and the openings of the two second welding hooks face the middle position of the second connecting bar along the circumferential direction.

10. The stator assembly according to claim 2, characterized in that: The third connecting row extends along the circumferential direction, and each end of the third connecting row is provided with a third welding hook. The openings of the two third welding hooks are both circumferentially opposite to the middle position of the third connecting row along the circumferential direction.

11. The stator assembly according to claim 1, characterized in that: The stator assembly also includes a molding compound, a portion of which fills the space between two adjacent connecting rows.

12. A servo motor, characterized in that, Includes the stator assembly as described in any one of claims 1 to 11.

13. An industrial robot, characterized in that, Includes the servo motor as described in claim 12.

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