Printed motor stator structure and robot joint motor with same

Abstract

The utility model relates to the technical field of motors, in particular to a stator structure of a printed motor, which comprises at least two layers of annular printed circuit boards, the printed circuit boards are used for replacing motor coil windings, and an insulating layer is arranged between every two layers of printed circuit boards. The printed circuit board comprises a circuit board substrate and a plurality of fan-shaped circuits arranged on the circuit board substrate; the fan-shaped circuit is formed by gradually extending outwards and encircling from one end part of the conductive circuit as a starting point, and gaps are formed between the conductive circuits with different diameter lengths; and a connecting port is formed in the middle of each fan-shaped circuit and is used for enabling the fan-shaped circuits on the same vertical axis to form a series circuit. The printed motor stator structure is formed by stacking two or more layers of printed circuit boards, each layer is isolated by an insulating layer, compact axial layout is realized, the length of the motor is greatly shortened, a conductive circuit can be formed through etching, the precision of fan-shaped circuit arrangement is higher, the difference between resistance and inductance is remarkably reduced, and the service life of the motor is prolonged. The method is suitable for robot joint motor driving.

Description

TECHNICAL FIELD

[0001] The utility model relates to motor technical field, including a kind of printed motor stator structure and the robot joint motor with the structure thereof. BACKGROUND

[0002] The stator is the stationary component of the motor, and its core function is to generate a rotating magnetic field through the stator winding to drive the rotor to move. The stator is usually composed of a stator core and a winding. The stator core has a ring structure with uniformly distributed slots on the inner periphery. The conductive wires are wound in the slots according to a specific pattern to form the winding. However, to ensure electromagnetic performance, the existing design often needs to increase the number of winding turns, and the number of winding layers or the extension of the end part is too much, which increases the axial length of the stator and expands the overall volume, making it prone to problems of excessive axial size, and difficult to meet the installation requirements of compact devices such as small robots. SUMMARY

[0003] To solve the problems in the above background art, the purpose of the present application is to provide a printed motor stator structure, which includes two or more circular printed circuit boards. The printed circuit boards are used to replace the motor coil winding. An insulating layer is provided between each two layers of printed circuit boards. The printed circuit board includes a circuit board substrate and a plurality of fan-shaped circuits on the circuit board substrate. The fan-shaped circuits are formed by gradually extending outward from one end of the conductive circuit as the starting point, and gaps are provided between conductive circuits of different diameters. A connection port is provided at the middle position of the fan-shaped circuit, which is used to form a series circuit for the fan-shaped circuits on the same vertical axis.

[0004] The printed motor stator structure of the present application is stacked by two or more printed circuit boards, and each layer is isolated by an insulating layer, which realizes a compact axial layout, significantly shortens the length of the motor, and the conductive circuit can be formed by etching. The precision of the fan-shaped circuit is higher, and the resistance and inductance difference is significantly reduced.

[0005] Further, the surface of the circuit board substrate is coated with a high thermal conductivity material.

[0006] Further, the insulating layer is provided with a microporous structure.

[0007] The second purpose of the present application is to provide a robot joint motor, which includes a housing, a rotor, a shaft, a stator and a bearing arranged inside the housing. The rotor is fixed to the outer side of the shaft by interference fit, the shaft is supported by the bearing, and the bearing is pressed into the bearing seat in the housing. The stator is fixedly connected with the housing.

[0008] Further, the housing includes a volute bottom plate and a volute top plate.

[0009] In summary, the utility model has the following advantages:

[0010] The application replaces the traditional coil winding with a multi-layer printed circuit board, realizes compact axial layout, greatly shortens the length of the motor, is suitable for the installation requirements of compact equipment such as small robots, and is suitable for robot joint motor driving;

[0011] The surface of the circuit board substrate is coated with a high-thermal-conductivity material, and the insulating layer is provided with a microporous structure, thereby improving the heat dissipation efficiency of the motor.

[0012] The above description is only a summary of the technical scheme of the present application, in order to more clearly understand the technical means of the present application, the content of the specification can be implemented, and in order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the following preferred embodiments are described in detail, and the accompanying drawings are as follows. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 It is a structural schematic view of the robot joint motor of the present embodiment;

[0014] Figure 2 It is a sectional view of the robot joint motor of the present embodiment;

[0015] Figure 3 It is a front view of the printed circuit board of the present embodiment.

[0016] In the figure: 1, stator; 11, printed circuit board; 2, rotor; 3, bearing; 4, volute bottom plate; 5, volute top plate; 6, shaft. DETAILED DESCRIPTION

[0017] In order to make the content of the present application more easily and clearly understood, the present application will be further described below according to specific embodiments and in conjunction with the drawings.

[0018] It should be noted that the terms "center", "upper", "lower", "front", "rear", "left", "right", "inner", "outer" and the like used herein indicate the orientation or positional relationship 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 do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation on the present application. Unless otherwise stated, the meaning of "a plurality of" is two or more.

[0019] Unless otherwise defined, the terms "mounting", "connected", "connection" are to be construed broadly, for example, can be fixed connection, can also be detachable connection, or integrally connected; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be internal communication of two elements. The specific meaning of the above terms in the utility model can be understood by the specific circumstances for those skilled in the art.

[0020] A printed motor stator 1 structure, comprising two or more than two circular ring printed circuit boards 11, an insulating layer is arranged between each two printed circuit boards 11, and the insulating layer in the embodiment is an adhesive layer.

[0021] As shown in Figure 3 The printed circuit board 11 comprises a circuit board substrate and six segment fan-shaped circuits arranged on the circuit board substrate; the fan-shaped circuits are formed by gradually extending outward from the starting point of the conductive circuit one end, and gaps are arranged between conductive circuits of different diameters to avoid interlayer short circuit and enhance the heat dissipation capacity; the printed circuit board 11 of the embodiment optimizes the motor space utilization by fan-shaped involute wiring, so that it is suitable for use in miniature equipment. The middle position of the fan-shaped circuit is provided with a connecting port, and the connecting port is used to form a series circuit of the fan-shaped circuits on the same vertical axis.

[0022] The printed circuit board 11 is designed by stacking in the embodiment, and the multi-layer conductive circuit is electrically connected, which replaces the traditional motor coil winding. Compared with the traditional motor, the design scheme realizes higher magnetic field strength in limited space, improves the torque density, thereby realizing high space utilization of the motor, and is suitable for designing miniature or precision motor, and can be applied to robot joint motor and sleep breathing machine fan.

[0023] Optionally, the printed circuit board 11 can be processed by etching and bonded by an insulating layer, and can be automatically produced, so as to improve the precision of the fan-shaped circuit arrangement, thereby significantly reducing the resistance and inductance difference of the motor.

[0024] The surface of the circuit board substrate of the embodiment is coated with a high-thermal-conductivity material, and through the above design, the high-thermal-conductivity material can efficiently conduct the heat generated by the printed circuit board 11 to the shell, avoid performance degradation or damage caused by local overheating of the motor, reduce the temperature difference of hot spots, and prolong the service life of the motor.

[0025] Optionally, the high-thermal-conductivity material can be a ceramic-filled coating, such as aluminum oxide, boron nitride epoxy resin, and can also be a metal matrix composite or graphene coating.

[0026] In another embodiment, the adhesive layer is provided with a microporous structure, which can reduce the density of the insulating layer, suitable for the design of lightweight motor, while the micropores can adjust the dielectric constant, reduce the parasitic capacitance effect of the motor at high frequency, and improve the heat dissipation efficiency of the motor. In addition, in order to ensure the insulation of the adhesive layer while improving its heat dissipation performance, the pore size of the microporous structure is 10-100 μm, and the porosity of the adhesive layer is 20%-40%. In addition, the pore wall can be coated with a high dielectric material to prevent surface discharge.

[0027] As Figure 1 and Figure 2 A robot joint motor, comprising a housing, and a rotor 2, a rotating shaft 6, a stator 1 and a bearing 3 arranged inside the housing; the rotor 2 is fixed on the outside of the rotating shaft 6 by interference fit, the rotating shaft 6 is supported by the bearing 3, and the bearing 3 is press-fitted in the bearing 3 seat in the housing; the stator 1 is fixedly connected with the housing. The housing comprises a volute bottom plate 4 and a volute top plate 5. The stator 1 is stacked and glued by twelve printed circuit boards 11, instead of traditional copper wire winding, and six segments of fan-shaped lines are arranged on the printed circuit board 11, and the fan-shaped lines on the same vertical axis are in series. Through the above scheme, the multi-segment fan-shaped line can optimize the magnetic field distribution in the motor, improve the motor torque output, and meet the instantaneous high load demand of the robot joint. At the same time, the stator 1 is stacked by printed circuit boards, realizing its compact axial layout, greatly shortening the length of the motor, and being suitable for robot joint motor drive.

[0028] The above-mentioned embodiments are only preferred embodiments of the present application, and cannot be used to limit the protection scope of the present application. Any non-essential changes and modifications made by those skilled in the art on the basis of the present application shall fall within the protection scope of the present application.

Claims

1. A printed motor stator (1) structure, characterized in that, It includes two or more annular printed circuit boards (11), the printed circuit boards (11) are used to replace motor coil windings, and an insulating layer is provided between every two layers of the printed circuit boards (11); The printed circuit board (11) includes a circuit board substrate and a plurality of fan-shaped lines disposed on the circuit board substrate; the fan-shaped lines are formed by gradually extending outward from one end of the conductive lines and are provided with gaps between conductive lines of different diameters. A connection port is provided at the middle position of the fan-shaped circuit, and the connection port is used to form a series circuit of fan-shaped circuits on the same vertical axis.

2. The printed motor stator (1) structure according to claim 1, characterized in that, The surface of the circuit board substrate is coated with a highly thermally conductive material.

3. The printed motor stator (1) structure according to claim 1, characterized in that, The insulating layer has a microporous structure.

4. A robot joint motor, characterized in that, It includes a housing, and a rotor (2), a shaft (6), a stator (1), and a bearing (3) disposed inside the housing; the rotor (2) is fixed to the outside of the shaft (6) by an interference fit, the shaft (6) is supported by the bearing (3), and the bearing (3) is press-fitted into a bearing (3) seat inside the housing; The stator (1) is fixedly connected to the outer casing, and the stator (1) is the printed motor stator (1) structure described in any one of claims 1-3.

5. A robot joint motor according to claim 4, characterized in that, The outer shell includes a volute bottom plate (4) and a volute top plate (5).

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