Micro-operation robot double-stator motor

Abstract

The utility model relates to power motor technical field, especially a kind of micro-operation robot double-stator motor, including inner stator subassembly, rotor subassembly and outer stator subassembly, the inner stator subassembly includes fixed main shaft and first stator winding, the first stator winding is arranged on fixed main shaft, the rotor subassembly includes rotor support and rotor magnetic tile, the outer stator subassembly includes stator shell and second stator winding, the second stator winding is arranged in stator shell, the inner circumference of the rotor support is connected with fixed main shaft by setting inner bearing, and outer circumference is connected with stator shell by setting outer bearing;The inner and outer sides of the rotor magnetic tile respectively correspond first stator winding and second stator winding.The utility model improves the performance and reliability of motor by optimizing structure, improving coupling efficiency and enhancing stability, adapts to the demand of modern robot technology to high-efficiency motor.

Description

Technical Field

[0001] This utility model relates to the field of power motor technology, and in particular to a dual-stator motor for micro-manipulation robots. Background Technology

[0002] Currently, industrial robots and high-end automated equipment place increasingly higher demands on the performance of drive motors, especially in collaborative robots and precision machining, where there is an urgent need for high-efficiency motors that combine high power density, fast dynamic response, and compact structure. Traditional single-stator motors, limited by magnetic circuit design and space utilization, struggle to simultaneously achieve high torque output and high-speed operation within a limited volume. This often necessitates increasing motor size or adding transmission mechanisms to meet power requirements, contradicting the trend towards lightweight and integrated robot systems. While some existing dual-stator motor designs improve power density to some extent, they generally suffer from low internal and external magnetic field coupling efficiency, poor heat dissipation, and insufficient rotor support stiffness. This leads to significant vibration and decreased positioning accuracy at high speeds, severely impacting the robot's motion smoothness and repeatability. Furthermore, traditional dual-bearing support structures often exhibit misalignment errors, exacerbating rotor radial runout and bearing wear, and shortening motor lifespan. Therefore, a novel dual-stator motor structure is urgently needed to achieve higher power output and torque density within a compact space, while ensuring excellent dynamic response characteristics, operational stability, and mechanical reliability to meet the pressing demands of modern robotics for high-performance drive motors. Utility Model Content

[0003] To address the aforementioned issues, this invention comprehensively enhances the performance and reliability of the motor by optimizing its structure, improving coupling efficiency, and strengthening stability. It is a dual-stator motor for micro-manipulation robots with built-in braking, meeting the demands of modern robotics technology for high-efficiency motors.

[0004] The technical solution adopted by this utility model is: a dual-stator motor for a micro-manipulation robot, including an inner stator assembly, a rotor assembly, and an outer stator assembly. The inner stator assembly includes a fixed main shaft and a first stator winding, which is disposed on the fixed main shaft. The rotor assembly includes a rotor support and rotor magnets. The outer stator assembly includes a stator housing and a second stator winding, which is disposed inside the stator housing. The inner circumference of the rotor support is provided with an inner bearing connected to the fixed main shaft, and the outer circumference is provided with an outer bearing connected to the stator housing. The inner and outer sides of the rotor magnets correspond to the first stator winding and the second stator winding, respectively.

[0005] A further improvement to the above scheme is that the fixed spindle includes a first connecting end, a fixed mounting end, and a second connecting end, both of which are connected to the rotor bracket via an inner bearing; the fixed mounting end is provided with an assembly step, and the first stator winding is arranged on the assembly step.

[0006] A further improvement to the above scheme is that a through hole is provided at the center of the fixed spindle, and a wiring hole is provided on one side of the fixed spindle, with one end of the wiring hole connected to the through hole.

[0007] A further improvement to the above solution is that the rotor support includes an upper end cover, a lower end cover, and a rotor mounting ring. The upper end cover is provided with an upper mounting step, and the lower end cover is provided with a lower mounting step. The upper mounting step and the lower mounting step are respectively fixed to both ends of the rotor mounting ring.

[0008] A further improvement to the above solution is that two inner bearings and two outer bearings are provided, respectively located on the inner and outer circumferences of the upper and lower end covers.

[0009] A further improvement to the above scheme is that the rotor magnetic tiles include multiple inner magnetic tiles and multiple outer magnetic tiles. The multiple inner magnetic tiles are evenly distributed in a circumferential direction on the inner periphery of the rotor mounting ring, and the multiple outer magnetic tiles are evenly distributed in a circumferential direction on the outer periphery of the rotor mounting ring. The inner magnetic tiles are opposite to the first stator winding, and the outer magnetic tiles are opposite to the second stator winding.

[0010] A further improvement to the above scheme is that the stator housing is provided with a bottom cover and an outer end cover, the bottom cover is provided with a fixing part, the outer end cover is provided with an end cover connecting part, the fixing part is connected to one end of the fixed spindle, and the end cover connecting part is connected to the outer bearing.

[0011] A further improvement to the above solution is that a fixing hole is provided on the side of the stator housing, and a screw is installed in the fixing hole to fix the outer end cover.

[0012] A further improvement to the above scheme is that a reading device is provided inside the stator housing, and a grating ring is provided on the rotor support, with the reading end of the reading device facing the grating ring.

[0013] A further improvement to the above scheme is that the reading device includes a first reader and a second reader, which are respectively disposed on both sides of the stator housing, and both the first reader and the second reader face the grating ring; the first reader is provided with a first reading frame, which is used to fix the first reader to the positioning housing, and the second reader is provided with a second reading frame, which is used to fix the second reader to the positioning housing; the stator housing is provided with a first through slot and a second through slot, the first through slot being located on one side of the first reader for routing the first reader's wiring, and the second through slot being located on one side of the second reader for routing the second reader's wiring.

[0014] The beneficial effects of this utility model are: Compared to existing robot motors, the dual-stator structure design of this invention effectively improves the motor's power density. The inner and outer stator assemblies operate independently, allowing the motor to output higher power within the same volume. This optimizes space utilization and reduces the overall weight of the motor, meeting the demands of modern robots for lightweight and high efficiency. The arrangement of inner and outer stator windings enhances the motor's coupling efficiency. The inner and outer sides of the rotor magnets correspond to the first and second stator windings, respectively, ensuring optimal magnetic field matching and thus improving torque output and response speed. The dual-stator configuration enables the motor to exhibit higher dynamic performance during startup, acceleration, and deceleration, making it suitable for fast-response applications. The inner stator is supported by a fixed spindle, while the outer stator is enclosed by a stator housing, forming a robust structure. The inner circumference of the rotor support connects to the inner bearing, and the outer circumference connects to the outer bearing, effectively reducing rotor vibration and radial offset during high-speed rotation, improving the motor's operational reliability and lifespan. This invention, through optimized structure, improved coupling efficiency, and enhanced stability, comprehensively improves the performance and reliability of the motor, meeting the demands of modern robotics for high-efficiency motors. Attached Figure Description

[0015] Figure 1 This is a three-dimensional schematic diagram of the dual-stator motor of the micro-manipulation robot of this utility model; Figure 2 for Figure 1 Front view schematic diagram of the dual stator motors of the micro-manipulation robot; Figure 3 for Figure 2 Sectional view of AA; Figure 4 for Figure 1 Exploded view of the dual-stator motor of a micro-manipulation robot; Figure 5 for Figure 1 An exploded view of the dual stator motors of a micro-manipulation robot from another perspective.

[0016] Explanation of reference numerals in the attached drawings: Inner stator assembly 1, fixed spindle 11, first connecting end 111, fixed mounting end 112, second connecting end 113, through hole 114, wiring hole 115, first stator winding 12, rotor assembly 2, rotor bracket 21, upper end cover 211, upper mounting step 2111, lower end cover 212, lower mounting step 2121, rotor mounting ring 213, grating ring 214, rotor magnet 22, inner magnet 221, outer magnet 222, inner bearing 23, outer bearing 24, outer stator assembly 3, stator housing 31, bottom cover 311, fixing part 3111, outer end cover 312, end cover connecting part 3121, fixing hole 313, first through slot 314, second through slot 315, second stator winding 32, reading device 33, first reader 331, second reader 332, first reading frame 333, second reading frame 334. Detailed Implementation

[0017] To facilitate understanding of this utility model, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of this utility model are shown in the drawings. However, this utility model can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this utility model.

[0018] It should be noted that when a component is said to be "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Figures 1-5As shown, in one embodiment of this utility model, a dual-stator motor for a micro-manipulation robot is disclosed, comprising an inner stator assembly 1, a rotor assembly 2, and an outer stator assembly 3. The inner stator assembly 1 includes a fixed spindle 11 and a first stator winding 12, which is mounted on the fixed spindle 11. The rotor assembly 2 includes a rotor support 21 and rotor magnets 22. The outer stator assembly 3 includes a stator housing 31 and a second stator winding 32, which is disposed within the stator housing 31. An inner bearing 23 is provided on the inner circumference of the rotor support 21 to connect with the fixed spindle 11, and an outer bearing 24 is provided on the outer circumference to connect with the stator housing 31. The inner and outer sides of the rotor magnets 22 correspond to the first stator winding 12 and the second stator winding 32, respectively. In this embodiment, the dual-stator structure improves the power density of the motor. The inner stator assembly 1 and the outer stator assembly 3 operate independently, allowing the motor to output higher power within the same volume. This design optimizes space utilization and reduces the overall weight of the motor, meeting the demands of modern robots for lightweight and high-efficiency operation. The use of inner and outer stator windings improves coupling efficiency. The inner and outer sides of the rotor magnet 22 correspond to the first stator winding 12 and the second stator winding 32, respectively, ensuring optimal magnetic field matching and thus improving torque output and response speed. The dual-stator configuration enables the motor to exhibit higher dynamic performance during startup, acceleration, and deceleration, making it suitable for fast-response applications. The inner stator is supported by the fixed spindle 11, while the outer stator is enclosed by the stator housing 31, forming a robust structure. The inner circumference of the rotor support 21 is connected to the inner bearing 23, and the outer circumference is connected to the outer bearing 24, effectively reducing rotor vibration and radial offset during high-speed rotation, improving the motor's operational reliability and lifespan. This embodiment, through optimized structure, improved coupling efficiency, and enhanced stability, comprehensively improves the motor's performance and reliability, meeting the demands of modern robotics for high-efficiency motors.

[0020] The fixed spindle 11 includes a first connecting end 111, a fixed mounting end 112, and a second connecting end 113. Both the first connecting end 111 and the second connecting end 113 are connected to the rotor support 21 via an inner bearing 23. The fixed mounting end 112 is provided with an assembly step, on which the first stator winding 12 is mounted. In this embodiment, the fixed spindle 11 consists of the first connecting end 111, the fixed mounting end 112, and the second connecting end 113, wherein the first connecting end 111 and the second connecting end 113 are connected to the rotor support 21 via an inner bearing 23. This ensures that the rotor maintains good alignment and low friction operation during rotation, reducing energy loss and improving motor efficiency. The fixed mounting end 112 is provided with an assembly step, on which the first stator winding 12 is mounted, enhancing the fixation and stability of the winding. This improves the mechanical strength of the winding and effectively reduces the risk of winding damage caused by vibration, extending the service life of the motor. The design of the assembly step simplifies the winding installation process and improves production efficiency.

[0021] A through hole 114 is provided at the center of the fixed spindle 11, and a wiring hole 115 is provided on one side of the fixed spindle 11, with one end of the wiring hole 115 connected to the through hole 114. In this embodiment, the through hole 114 provides a direct channel for electrical connections inside the motor, allowing power lines and signal lines to be easily introduced from outside the motor to inside. This reduces the complexity of external cable laying, lowers the difficulty of wiring, and effectively reduces the risk of cable damage caused by external vibration or pulling, thereby improving the reliability of the motor. The connection of one end of the wiring hole 115 to the through hole 114 provides better protection for electrical components.

[0022] The rotor support 21 includes an upper end cover 211, a lower end cover 212, and a rotor mounting ring 213. The upper end cover 211 is provided with an upper mounting step 2111, and the lower end cover 212 is provided with a lower mounting step 2121. The upper mounting step 2111 and the lower mounting step 2121 are respectively fixed to both ends of the rotor mounting ring 213. Specifically, two inner bearings 23 and two outer bearings 24 are provided, respectively located on the inner and outer circumferences of the upper end cover 211 and the lower end cover 212. In this embodiment, the upper end cover 211 and the lower end cover 212 are respectively provided with upper mounting steps 2111 and lower mounting steps 2121, which allows the rotor mounting ring 213 to be effectively fixed at both ends, ensuring precise positioning of the rotor. This helps reduce rotor vibration and radial offset during high-speed rotation, improves the rotor's dynamic balance performance, and thus improves the overall efficiency and service life of the motor. Two inner bearings 23 and two outer bearings 24 are provided, and are respectively installed on the inner and outer circumferences of the upper end cover 211 and the lower end cover 212. The dual bearing configuration effectively distributes the load generated by the rotor during operation, enhances the stability of the support, and reduces friction and wear. The dual bearing design also improves the motor's load-bearing capacity under high speed and heavy load conditions, ensuring the reliability of the motor in harsh working environments.

[0023] The rotor magnet 22 includes multiple inner magnets 221 and multiple outer magnets 222. The inner magnets 221 are evenly distributed circumferentially on the inner periphery of the rotor mounting ring 213, and the outer magnets 222 are evenly distributed circumferentially on the outer periphery of the rotor mounting ring 213. The inner magnets 221 are opposite to the first stator winding 12, and the outer magnets 222 are opposite to the second stator winding 32. In this embodiment, the circumferentially distributed design of the inner and outer magnets 221 effectively optimizes the magnetic field distribution. The inner magnets 221 are opposite to the first stator winding 12, while the outer magnets 222 are opposite to the second stator winding 32, enabling a more uniform magnetic force during motor operation and enhancing the motor's output torque. This improves the motor's acceleration performance and allows the robot to operate more smoothly during dynamic work. The design of the inner and outer magnets 222 helps reduce hysteresis losses and eddy current losses. Due to the material selection and arrangement of the inner magnetic tile 221 and the outer magnetic tile 222, the magnetic field can be better utilized, reducing unnecessary energy loss and thus improving the overall efficiency of the motor. This is particularly important for the robot's performance under high loads and long-term operation, significantly extending battery life.

[0024] The stator housing 31 is provided with a bottom cover 311 and an outer end cover 312. The bottom cover 311 is provided with a fixing part 3111, and the outer end cover 312 is provided with an end cover connecting part 3121. The fixing part 3111 is connected to one end of the fixed main shaft 11, and the end cover connecting part 3121 is connected to the outer bearing 24. Specifically, the side of the stator housing 31 is provided with a fixing hole 313, and screws are installed in the fixing hole 313 to fix the outer end cover 312. In this embodiment, the fixing part 3111 on the bottom cover 311 is connected to one end of the fixed main shaft 11, forming a stable support structure. The tight connection can effectively transmit the force generated by the rotor, ensuring the stability and vibration resistance of the motor during operation. Through effective support, the motor can maintain a good working condition under high load and high speed conditions, reducing the risk of failure caused by vibration. The end cover connecting part 3121 of the outer end cover 312 is connected to the outer bearing 24, forming a good bearing support system. The outer bearing 24 bears an important load during motor operation. Through its tight fit with the outer end cover 312, it can effectively reduce friction and wear, and extend the service life of the motor.

[0025] A reading device 33 is provided inside the stator housing 31, and a grating ring 214 is provided on the rotor support 21. The reading end of the reading device 33 faces the grating ring 214. Specifically, the reading device 33 includes a first reader 331 and a second reader 332, which are respectively disposed on both sides of the stator housing 31, and both the first reader 331 and the second reader 332 face the grating ring 214; the first reader 331 is provided with a first reading frame 333, which is used to fix the first reader 331 to the stator housing 31; the second reader 332 is provided with a second reading frame 334, which is used to fix the second reader 332 to the stator housing 31; the stator housing 31 is provided with a first through slot 314 and a second through slot 315, the first through slot 314 is located on one side of the first reader 331 and is used for the first reader 331 to run wires, and the second through slot 315 is located on one side of the second reader 332 and is used for the second reader 332 to run wires. In this embodiment, the reading device 33 includes a first reader 331 and a second reader 332, respectively disposed on both sides of the stator housing 31 and facing the grating ring 214. This enables real-time monitoring of rotor position information, providing more accurate feedback signals. It ensures stable motor operation under high speed and high load conditions, improving the robot's control accuracy and response speed, especially in applications requiring precise positioning. The first reader 331 and the second reader 332 are fixed using a first reading frame 333 and a second reading frame 334, respectively, ensuring the stability and reliability of the readers. This reduces misreadings caused by vibration or external interference, thereby improving the accuracy and consistency of readings and further enhancing the reliability of the entire motor system. The first through slot 314 and the second through slot 315 in the stator housing 31 are used for wiring of the first reader 331 and the second reader 332, optimizing the electrical connection layout. This simplifies the wiring installation process, improves the overall compactness of the motor structure, helps reduce internal interference and noise, and thus improves the system's stability and anti-interference capability.

[0026] The above embodiments only illustrate several implementation methods of this utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A dual-stator motor for a micromanipulation robot, characterized in that: The system includes an inner stator assembly, a rotor assembly, and an outer stator assembly. The inner stator assembly includes a fixed main shaft and a first stator winding, which is mounted on the fixed main shaft. The rotor assembly includes a rotor support and rotor magnets. The outer stator assembly includes a stator housing and a second stator winding, which is mounted inside the stator housing. The rotor support has an inner bearing on its inner circumference that connects to the fixed main shaft, and an outer bearing on its outer circumference that connects to the stator housing. The inner and outer sides of the rotor magnets correspond to the first stator winding and the second stator winding, respectively.

2. The dual-stator motor for micromanipulation robots according to claim 1, characterized in that: The fixed spindle includes a first connecting end, a fixed mounting end, and a second connecting end. Both the first connecting end and the second connecting end are connected to the rotor bracket through an inner bearing. The fixed mounting end is provided with an assembly step, and the first stator winding is arranged on the assembly step.

3. The dual-stator motor for micromanipulation robots according to claim 1, characterized in that: A through hole is provided at the center of the fixed spindle, and a wiring hole is provided on one side of the fixed spindle, with one end of the wiring hole connected to the through hole.

4. The dual-stator motor for micromanipulation robots according to claim 1, characterized in that: The rotor support includes an upper end cover, a lower end cover, and a rotor mounting ring. The upper end cover is provided with an upper mounting step, and the lower end cover is provided with a lower mounting step. The upper mounting step and the lower mounting step are respectively fixed to both ends of the rotor mounting ring.

5. The dual-stator motor for a micromanipulation robot according to claim 4, characterized in that: Two inner bearings and two outer bearings are provided, and they are respectively located on the inner and outer circumferences of the upper and lower end covers.

6. The dual-stator motor for a micromanipulation robot according to claim 1, characterized in that: The rotor magnet includes multiple inner magnets and multiple outer magnets. The multiple inner magnets are evenly distributed in a circumferential direction on the inner periphery of the rotor mounting ring, and the multiple outer magnets are evenly distributed in a circumferential direction on the outer periphery of the rotor mounting ring. The inner magnets are opposite to the first stator winding, and the outer magnets are opposite to the second stator winding.

7. The dual-stator motor for a micromanipulation robot according to claim 1, characterized in that: The stator housing is provided with a bottom cover and an outer end cover. The bottom cover is provided with a fixing part, and the outer end cover is provided with an end cover connecting part. The fixing part is connected to one end of the fixed spindle, and the end cover connecting part is connected to the outer bearing.

8. The dual-stator motor for a micromanipulation robot according to claim 7, characterized in that: The stator housing has a fixing hole on its side, and screws are installed in the fixing hole to fix the outer end cover.

9. The dual-stator motor for a micromanipulation robot according to claim 1, characterized in that: A reading device is provided inside the stator housing, and a grating ring is provided on the rotor support. The reading end of the reading device faces the grating ring.

10. The dual-stator motor for a micromanipulation robot according to claim 9, characterized in that: The reading device includes a first reader and a second reader, which are respectively disposed on both sides of the stator housing, and both the first reader and the second reader face the grating ring; the first reader is provided with a first reading frame, which is used to fix the first reader to the positioning housing, and the second reader is provided with a second reading frame, which is used to fix the second reader to the positioning housing; the stator housing is provided with a first through slot and a second through slot, the first through slot is located on one side of the first reader and is used for the first reader's wiring, and the second through slot is located on one side of the second reader and is used for the second reader's wiring.

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