High-torque-density collaborative robot joint motor

Abstract

The utility model discloses a high-torque-density collaborative robot joint motor, which comprises a stator and a rotor, and is characterized in that the rotor comprises a hollow shaft and magnetic steel arranged outside the hollow shaft; the stator comprises a stator iron core arranged on the outer wall of the magnetic steel, a coil support is arranged on the outer wall of the stator iron core, a stator coil is wound on the coil support, and an outgoing line is arranged on the stator coil; the coil support is a thin coil support. According to the utility model, through selection of special materials of parts such as the coil support, the enameled wires and the silicon steel sheets and a specific machine winding mode, the efficiency of the motor is improved to the greatest extent on the premise of effectively controlling the cost, so that the motor has higher torque density compared with a motor of the same type; the thin coil support is made of nylon and glass fibers through injection molding, the proportion of insulating materials in the groove area is reduced as much as possible while the insulating strength of the motor is guaranteed, and the groove fullness rate is improved to a certain extent.

Description

Technical Field

[0001] This utility model relates to the field of motor technology, specifically to a high torque density collaborative robot joint motor. Background Technology

[0002] Existing motors basically consist of two parts: a stator and a rotor. The stator is made of silicon steel sheets stacked together to form a stator core, on which coil supports are installed before winding. The rotor consists of magnets and a hollow shaft, with the magnets glued to the outer circumference of the hollow shaft. However, the following problems exist:

[0003] 1. After the stator core is fitted with the coil support, machine winding is used, resulting in a low slot fill factor, typically below 45%. 2. Currently, with machine winding, when the enameled wire diameter is large, a larger diameter wire nozzle is required, which is detrimental to improving the slot fill factor. Furthermore, large-diameter enameled wire requires greater tension during winding, which can easily cause deformation of the motor stator core, affecting the consistency of the enameled wire's arrangement in the slots. 3. When ordinary silicon steel sheets are used for the stator core, iron losses are relatively high, resulting in greater motor heat generation and lower efficiency. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a high torque density collaborative robot joint motor.

[0005] To solve the above-mentioned technical problems, this utility model provides the following technical solution:

[0006] This utility model discloses a high torque density collaborative robot joint motor, comprising a stator and a rotor. The rotor includes a hollow shaft and a magnet disposed outside the hollow shaft. The stator includes a stator core disposed on the outer wall of the magnet. A coil support is provided on the outer wall of the stator core. A stator coil is wound on the coil support, and a lead wire is provided on the stator coil. The coil support is a thin coil support, which is injection molded from nylon and glass fiber.

[0007] As a preferred embodiment of this utility model, the stator core is made of silicon steel sheet.

[0008] As a preferred embodiment of this utility model, the lead wire is made of thin-coated enameled wire.

[0009] As a preferred technical solution of this utility model, the stator coil winding adopts a two-way parallel concentrated winding with 24 slots and 20 poles.

[0010] The beneficial effects of this utility model are:

[0011] 1. The joint motor of this high torque density collaborative robot adopts a thin coil support, which is injection molded from nylon and glass fiber. This ensures the insulation strength of the motor while minimizing the proportion of insulation material in the slot area, thereby improving the slot fill factor to a certain extent.

[0012] 2. This type of high torque density collaborative robot joint motor uses silicon steel sheet material for the stator core, which effectively reduces the iron loss of the motor and improves the efficiency of the motor.

[0013] 3. The joint motor of this high torque density collaborative robot can increase the slot fill factor to over 50% by using thin-coated enameled wire for the lead wire.

[0014] 4. The joint motor of this high torque density collaborative robot adopts a two-way parallel concentrated winding with 24 slots and 20 poles in the stator coil winding. The winding end size is short and the winding utilization rate is high. Compared with a single parallel winding, the number of turns of the coil in the two parallel windings is twice that of the single parallel winding. Therefore, relatively fine enameled wire can be used for winding, which greatly alleviates the process difficulty of winding large-diameter enameled wire. Attached Figure Description

[0015] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0016] Figure 1 This is a schematic diagram of the structure of a high torque density collaborative robot joint motor according to this utility model;

[0017] Figure 2 This is a diagram showing the development of a 24-slot, 20-pole two-way parallel concentrated winding of a high torque density collaborative robot joint motor according to this utility model.

[0018] Figure 3 This is a cross-sectional view of an anti-detachment connection component for a joint motor of a high torque density collaborative robot according to this utility model.

[0019] Figure 4 This is a cross-sectional view of an alloy ring of a high torque density collaborative robot joint motor according to this utility model.

[0020] In the diagram: 1. Stator; 101. Stator core; 102. Coil support; 103. Stator coil; 104. Lead wire; 2. Rotor; 201. Hollow shaft; 202. Magnet; 3. Anti-detachment connection assembly; 4. Guide key; 5. Guide keyway; 6. Positioning plate; 7. Spring pin; 8. Limiting groove; 9. Miniature strain gauge; 10. Temperature sensor; 11. Alloy ring. Detailed Implementation

[0021] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0022] Example: Figure 1 As shown, this utility model discloses a high torque density collaborative robot joint motor, including a stator 1 and a rotor 2. The rotor 2 includes a hollow shaft 201 and a magnet 202 disposed outside the hollow shaft 201. The stator 1 includes a stator core 101 disposed on the outer wall of the magnet 202. A coil support 102 is provided on the outer wall of the stator core 101. A stator coil 103 is wound on the coil support 102, and a lead wire 104 is provided on the stator coil 103. The coil support 102 is a thin coil support, which is injection molded from nylon and glass fiber. By using a thin coil support 102, which is injection molded from nylon and glass fiber with a wall thickness of about 0.4mm, the insulation strength of the motor is ensured while minimizing the proportion of insulation material in the slot area, thereby improving the slot fill factor to a certain extent.

[0023] The stator core 101 is made of silicon steel sheet, which effectively reduces the iron loss of the motor and improves the efficiency of the motor. According to simulation calculations, the steady-state temperature rise of the motor is reduced by about 10°C when running under the same conditions.

[0024] The lead wire 104 is made of thin-coated enameled wire with a thickness of about 0.03 mm. By using thin-coated enameled wire for the lead wire 104, the slot fill factor of the motor can be increased to more than 50%.

[0025] Specifically, such as Figure 2 As shown, the stator coil 103 uses a two-way parallel concentrated winding with 24 slots and 20 poles. By using a two-way parallel concentrated winding with 24 slots and 20 poles, the winding end size is short and the winding utilization rate is high. Compared with a single parallel winding, the number of turns of the coil in the two parallel windings is twice that of the single parallel winding. Therefore, relatively fine enameled wire can be used for winding, which greatly alleviates the process difficulty of winding large-diameter enameled wire by machine.

[0026] Specifically, such as Figure 3As shown, the hollow shaft 201 and the magnet 202 are connected by an anti-detachment connection assembly 3. The anti-detachment connection assembly 3 includes a guide key 4 on the outer wall of the hollow shaft 201, and a guide keyway 5 on the inner wall of the magnet 202 that slides in accordance with the guide key 4. The guide keyway 5 is dovetail shaped. One end of the magnet 202 is provided with a positioning plate 6 located at one end of the guide keyway 5. One end of the magnet 202 is embedded with a spring pin 7. The guide key 4 is provided with a limiting groove 8 that matches the pin of the spring pin 7. The hollow shaft 201 and the magnet 202 are fixedly connected by a mechanical fixing method, which reduces the risk of long-term aging caused by adhesive bonding. Adhesive is filled in the connection gap between the hollow shaft 201 and the magnet 202.

[0027] Specifically, such as Figure 3 As shown, the inner wall of the hollow shaft 201 is embedded with a micro strain gauge 9 and a temperature sensor 10, which can realize real-time torque monitoring and overheating early warning.

[0028] Specifically, such as Figure 4 As shown, an alloy ring 11 is provided between the stator core 101 and the coil support 102. The alloy ring 11 is a low thermal expansion coefficient alloy ring to offset the thermal deformation difference between silicon steel sheet and nylon material.

[0029] During operation, the coil support 102 adopts a thin coil support, which is injection molded from nylon and glass fiber with a wall thickness of about 0.4mm. This ensures the insulation strength of the motor while minimizing the proportion of insulation material in the slot area, thus improving the slot fill factor to a certain extent. The stator core 101 is made of silicon steel sheet, which effectively reduces the iron loss of the motor and improves the efficiency of the motor. The lead wire 104 uses thin-coated enameled wire, which can increase the slot fill factor of the motor to more than 50%. The stator coil 103 uses a 24-slot, 20-pole two-way parallel concentrated winding. The winding end size is short and the winding utilization rate is high. Compared with a single parallel winding, the number of turns of the two-way parallel winding is twice that of a single parallel winding. Therefore, relatively fine enameled wire can be used for winding, which greatly alleviates the process difficulty of winding with thick-diameter enameled wire.

[0030] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A high torque density collaborative robot joint motor, comprising a stator (1) and a rotor (2), characterized in that, The rotor (2) includes a hollow shaft (201) and a magnet (202) disposed outside the hollow shaft (201). The stator (1) includes a stator core (101) disposed on the outer wall of the magnet (202). The outer wall of the stator core (101) is provided with a coil support (102). A stator coil (103) is wound on the coil support (102). A lead wire (104) is provided on the stator coil (103). The coil support (102) is a thin coil support, which is injection molded from nylon and glass fiber.

2. The high torque density collaborative robot joint motor according to claim 1, characterized in that, The stator core (101) is made of silicon steel sheet.

3. The high torque density collaborative robot joint motor according to claim 1, characterized in that, The lead wire (104) is made of thin-coated enameled wire.

4. A high torque density collaborative robot joint motor according to claim 1, characterized in that, The stator coil (103) is a 24-slot, 20-pole two-way parallel concentrated winding.

Images