Low-span multi-pole frameless motor

Abstract

The utility model discloses a kind of low span multi-pole frameless motor, including stator lamination and rotor shaft sleeve, the inner periphery of stator lamination is evenly arranged with 27 wire grooves, and the wire groove is wound with wire package winding group, the outside of rotor shaft sleeve is evenly arranged with 8 rotor magnets, the outer end surface of wire package winding group is coaxially covered and fixed with Hall circuit board.Affinity effect lies in: the utility model is provided with 27 wire grooves and 8 rotor magnets to adopt 27-slot 8-level wire package winding group design, so as to more finely divide stator circumference, so that the rotating magnetic field harmonic content produced by wire package winding group is lower, and the sine degree is better, which is beneficial to reduce vibration and noise when motor operates, improve running stability, and the design of the number of wire grooves is also more flexible wire package winding group arrangement can be achieved, which helps to optimize the magnetic field, reduce magnetic flux leakage, improve magnetic energy utilization, and thus improve the efficiency and power density of motor.

Description

Technical Field

[0001] This utility model relates to the field of frameless servo motor technology, specifically to a low-span multi-pole frameless motor. Background Technology

[0002] Frameless servo motors are highly integrated all-in-one motor solutions designed to reduce size, achieve a compact structure, and facilitate installation due to equipment structure requirements. They are typically used in the motion execution units of collaborative robot joints. Collaborative robots are custom-designed to utilize the available space in the joints, eliminating the need for the body and end caps of traditional motors, thus enabling motion control of robot joints.

[0003] In the design of existing frameless servo motors, the stator typically has 24 slots, divided into eight parts to correspond to eight magnetic poles, thus forming an 8-pole frameless motor. However, in actual use, due to the large spacing between the slots, the overall electrical angle of the motor is large, resulting in generally poor rotor rotational smoothness during movement and a tendency to generate significant vibration and noise. All of these factors can adversely affect the application of frameless servo motors at robot joint positions. Utility Model Content

[0004] The purpose of this invention is to provide a low-span multi-pole frameless motor to solve the above problems, as detailed below.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] The present invention provides a low-span multi-pole frameless motor, including stator laminations and rotor bushings. The stator laminations are provided with 27 winding slots evenly distributed on the inner circumference, and the winding slots are wound with wire wrapping.

[0007] The inner circumference of the stator lamination is coaxially rotatably fitted with a rotor sleeve, and eight rotor magnets are evenly distributed on the outside of the rotor sleeve, with any two adjacent rotor magnets having opposite magnetic poles.

[0008] The outer end face of the coil winding is coaxially covered and fixed with a Hall circuit board for electronic commutation control of the coil winding, and the Hall circuit board and the coil winding are insulated from each other.

[0009] Preferably, the rear end of the rotor bushing is a closed rotor stainless steel hub.

[0010] Preferably, the motor wiring of the coil winding extends outward through the Hall circuit board.

[0011] Preferably, the Hall circuit board is electrically connected to Hall wiring extending outwards.

[0012] Preferably, the coil winding is a three-phase double-layer coil winding.

[0013] Preferably, the coil winding has a total of 27 winding coils, divided into 3 phases with 9 winding coils per phase.

[0014] Preferably, the winding coils are wound into the winding slots in a 1-span-3-span sequence.

[0015] Preferably, each rotor magnet corresponds to 3.375 winding slots.

[0016] The aforementioned low-span multi-pole frameless motor, with its 27 winding slots and 8 rotor magnets employing a 27-slot, 8-pole coil winding design, allows for a more precise division of the stator circumference. This results in lower harmonic content and better sinusoidal polarity in the rotating magnetic field generated by the coil winding, which helps reduce vibration and noise during motor operation and improves operational stability. Furthermore, increasing the number of winding slots allows for a smaller slot pitch and more precise electrical angles. The increased number of slots also enables more flexible coil winding arrangement, which helps optimize the magnetic field, reduce magnetic leakage, and improve... High magnetic energy utilization improves the efficiency and power density of the motor. Furthermore, by increasing the number of winding slots, the current load of the coil winding corresponding to a single winding slot can be relatively reduced. This ensures that when a minor fault occurs in a slot or a local area of ​​the coil winding (such as insulation aging), the impact on the overall magnetic field is smaller, and it is less likely to cause operational failure due to local problems. This helps to improve fault tolerance. In addition, increasing the number of winding slots makes the magnetic field response smoother, reduces current surges, helps to extend the motor's service life, and meets the high operational stability requirements of robot joint positions.

[0017] The beneficial effects are as follows: 1. This utility model is equipped with 27 winding slots and 8 rotor magnets to adopt a 27-slot 8-level coil winding design, which can more finely divide the stator circumference, thereby reducing the harmonic content of the rotating magnetic field generated by the coil winding and improving the sinusoidal degree, which is conducive to reducing the vibration and noise of the motor during operation and improving the running stability.

[0018] 2. Increasing the number of winding slots can reduce the slot pitch and make the electrical angle more precise. At the same time, the design of increasing the number of winding slots can also achieve more flexible coil winding arrangement, which helps to optimize the magnetic field, reduce leakage flux, improve magnetic energy utilization, and thus improve the efficiency and power density of the motor.

[0019] 3. Increasing the number of winding slots can also reduce the current load of the coil winding corresponding to a single winding slot, ensuring that when a minor fault occurs in a certain slot or local coil winding (such as insulation aging), the impact on the overall magnetic field is smaller, and it is less likely to cause operational failure due to local problems, which helps to improve fault tolerance.

[0020] 4. Increasing the number of winding slots makes the magnetic field response smoother, reduces current surges, helps extend the motor's lifespan, and meets the high operational stability requirements of robot joints. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic cross-sectional view of the present invention;

[0023] Figure 2 This is a utility model Figure 1 Left-view external diagram;

[0024] Figure 3 This is a utility model Figure 1 A schematic diagram of the left-side cross-section;

[0025] Figure 4 This is a utility model Figure 1 Schematic diagram of M1 phase winding;

[0026] Figure 5 This is a utility model Figure 1 Schematic diagram of M2 phase winding;

[0027] Figure 6 This is a utility model Figure 1 Schematic diagram of M3 phase winding;

[0028] Figure 7 This is a utility model Figure 1 A schematic diagram of the three-phase integral winding.

[0029] The annotations in the attached figures are explained as follows:

[0030] 1. Rotor bushing; 2. Rotor magnet; 3. Hall circuit board; 4. Wire coil; 401. Winding coil; 5. Rotor stainless steel hub; 6. Stator laminations; 601. Winding slot; 7. Motor wiring; 8. Hall wiring. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0032] See Figures 1-3 As shown, this utility model provides a low-span multi-pole frameless motor, including stator laminations 6 and rotor sleeve 1. The inner circumference of the stator laminations 6 is evenly distributed with 27 winding slots 601, and the winding slots 601 are wound with coil windings 4. The inner circumference of the stator laminations 6 is coaxially rotatably fitted with the rotor sleeve 1, and the outer surface of the rotor sleeve 1 is evenly distributed with 8 rotor magnets 2, and any two adjacent rotor magnets 2 have opposite magnetic poles. The outer end face of the coil winding 4 is coaxially covered and fixed with a Hall circuit board 3 for electronic commutation control of the coil winding 4, and the Hall circuit board 3 and the coil winding 4 are insulated from each other. The purpose of this arrangement is that the Hall circuit board 3 can identify the phase position information of the motor winding and convert it into an electrical signal. By reading the output level signal of the Hall element, the position information of the rotor sleeve 1 is obtained. Then, according to the position information of the rotor sleeve 1, the correct commutation is completed, and current is passed to the corresponding winding coil 401 to form an air gap rotating magnetic field, so that the rotor sleeve 1 rotates continuously. Preferably, the rear end of the rotor bushing 1 is a closed rotor stainless steel hub 5.

[0033] See Figures 1-3 As shown, the following optimizations have been made to this application: the motor wiring 7 of the coil winding 4 extends outward through the Hall circuit board 3 to facilitate power supply to the coil winding 4 via the motor wiring 7. Optionally, the Hall circuit board 3 is electrically connected to an outwardly extending Hall wiring 8 to facilitate electrical connection between the Hall circuit board 3 and an external driver device. The coil winding 4 is a three-phase double-layer coil winding 4 with a total of 27 winding coils 401, divided into 3 phases with 9 winding coils 401 per phase. This arrangement facilitates the even distribution of winding coils 401 in each phase to ensure consistency. Optionally, the winding coils 401 are wound sequentially into the winding slots 601 with a span of 1 span and a distance of 3 spans. Each rotor magnet 2 corresponds to 3.375 winding slots 601, facilitating smooth winding of the winding coils 401.

[0034] It should be noted that the above winding method is as follows: The wiring steps for the coil winding 4 of the rotor magnet 2 in the 27 winding slot 8 are as follows:

[0035] 1. Place the wound coils 401 into the winding slots 601 in a 1-span, 3-span configuration. For example, in the winding diagram, place the winding coil 401 labeled 1 in winding slot 601 with the wire end in slot 1 and the wire end in winding slot 601. See the attached diagram for details. Figures 4-7 A schematic diagram of the winding;

[0036] 2. Separate the wire ends: First, separate all the upper and lower wire ends. For example, turn all the upper wire ends to the outside of the stator lamination 6 and turn all the lower wire ends to the inside of the stator lamination 6.

[0037] 3. Leave wire ends: With the connection port as the center, these nine wire ends should be as close to the connection port as possible in order to shorten the connecting wire;

[0038] 4. Connecting winding coils 401: The winding coils 401 in the same phase sequence are connected in series. Specifically, multiple winding coils 401 in the same phase are mostly connected head to head and tail to tail (significant pole connection). Find the wire end every two groups of winding coils 401, and connect the upper wire end to the upper wire end and the lower wire end to the lower wire end according to the principle. The connection sequence must be the same. Continue in this way until all wire ends are connected.

[0039] 5. Determine the markings of the external terminals: The clockwise side of the connection port is marked U1, V1, W1, and the counterclockwise side is marked U2, V2, W2.

[0040] Alternatively, the 27 winding slots 601 can be evenly divided into 8 poles, with each pole having approximately 3.375 slots. Then, the number of winding slots 601 in each pole can be evenly divided into three phases, so that the three phases are spatially staggered by 120 electrical degrees. Then, the winding coils 401 in the same phase band under each pole can be connected in series in sequence. Finally, they can be connected in series or in parallel according to design requirements to form a three-phase coil winding 4.

[0041] With the above structure, the stator circumference can be more precisely divided by the 27 winding slots 601 and 8 rotor magnets 2 used in the design of a 27-slot, 8-level coil winding 4. This results in lower harmonic content and better sinusoidal properties of the rotating magnetic field generated by the coil winding 4, which helps reduce vibration and noise during motor operation and improves operational stability. Furthermore, increasing the number of winding slots 601 allows for a smaller slot pitch and more precise electrical angles. The increased number of winding slots also enables more flexible arrangement of the coil winding 4, which helps optimize the magnetic field, reduce leakage flux, and improve magnetic energy utilization. This increases the efficiency and power density of the motor. Furthermore, by increasing the number of winding slots 601, the current load of the coil winding 4 corresponding to a single winding slot 601 can be relatively reduced. This ensures that when a minor fault occurs in a certain slot or a local coil winding 4 (such as insulation aging), the impact on the overall magnetic field is smaller, and it is less likely to cause operational failure due to local problems. This helps to improve fault tolerance. In addition, by increasing the number of winding slots 601, the magnetic field response is smoother, current surges are reduced, and the service life of the motor is extended, which meets the high operational stability requirements of robot joint positions.

[0042] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A low-span multi-pole frameless motor comprising a stator lamination (6) and a rotor sleeve (1), characterized in that: The stator lamination (6) has 27 winding slots (601) evenly distributed on its inner circumference, and the winding slots (601) are wound with a coil winding (4). The inner circumference of the stator lamination (6) is coaxially rotatably fitted with a rotor sleeve (1), and eight rotor magnets (2) are evenly distributed on the outside of the rotor sleeve (1), and any two adjacent rotor magnets (2) have opposite magnetic poles. The outer end face of the coil winding (4) is coaxially covered and fixed with a Hall circuit board (3) for electronic commutation control of the coil winding (4), and the Hall circuit board (3) and the coil winding (4) are insulated from each other.

2. The low-span multi-pole frameless motor according to claim 1, characterized in that: The rear end of the rotor bushing (1) is a closed rotor stainless steel hub (5).

3. The low-span multi-pole frameless motor according to claim 1, characterized in that: The motor wiring (7) of the coil winding (4) extends outward through the Hall circuit board (3).

4. The low-span multi-pole frameless motor according to claim 3, characterized in that: The Hall circuit board (3) is electrically connected to outwardly extending Hall wiring (8).

5. The low-span multi-pole frameless motor according to claim 1, characterized in that: The coil winding (4) is a three-phase double-layer coil winding (4).

6. The low-span multi-pole frameless motor according to claim 5, characterized in that: The coil winding (4) has a total of 27 winding coils (401), which are divided into 3 phases and each phase has 9 winding coils (401).

7. A low-span multi-pole frameless motor according to claim 6, characterized in that: The winding coils (401) are all wound into the winding slots (601) in a 1-span-3-span sequence.

8. A low-span multi-pole frameless motor according to any one of claims 1-7, characterized in that: Each of the rotor magnets (2) corresponds to 3,375 of the winding slots (601).

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