Stator assembly of an electric machine and electric machine, robot

Abstract

The utility model discloses a kind of stator assembly of motor and motor, robot, the stator assembly of motor includes: stator core, including tooth portion and yoke portion;Insulating part, insulating part includes bobbin, first limiting portion and second limiting portion, bobbin is wrapped tooth portion, bobbin, first limiting portion and second limiting portion are collectively defined bobbin slot, and bobbin slot is used to wind coil winding;Wherein, the outer peripheral wall of bobbin has locating member, and locating member is used to constrain the position of at least part coil winding.The stator assembly of motor according to the utility model embodiment, by setting locating member on the outer peripheral wall of bobbin, the position of at least part coil winding is constrained using locating member, auxiliary coil winding winding, it is convenient to reduce the possibility that coil winding occurs sliding, it is convenient to reduce winding difficulty, improve the slot fullness of stator assembly.

Description

Technical Field

[0001] This utility model relates to the field of motor technology, and more specifically, to a stator assembly of a motor, a motor, and a robot. Background Technology

[0002] In related technologies, when processing the motor stator and winding the wire harness onto the winding frame of the motor stator, the position of the wire harness on the winding frame is prone to slippage. This results in insufficient stability in the processing of the coil windings on the motor stator, affecting the slot fill factor of the stator assembly. Utility Model Content

[0003] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a stator assembly for a motor. The stator assembly uses positioning elements provided on the outer peripheral wall of the winding frame to constrain the position of at least a portion of the coil windings, thereby assisting in the winding of the coil windings. This reduces the possibility of coil winding slippage, simplifies winding difficulty, and improves the slot fill factor of the stator assembly.

[0004] This invention also proposes a motor having the stator assembly of the motor.

[0005] This invention also proposes a robot having the aforementioned motor.

[0006] A stator assembly of a motor according to a first aspect of the present invention includes: a stator core, the stator core including teeth and a yoke; an insulating member, the insulating member including a winding frame, a first limiting portion and a second limiting portion, the winding frame wrapping around the teeth, the first limiting portion and the second limiting portion being located at opposite ends of the winding frame in the radial direction of the stator core, the first limiting portion and the second limiting portion extending beyond the winding frame in the circumferential direction of the stator core, the winding frame, the first limiting portion and the second limiting portion jointly defining a winding groove for winding a coil winding; wherein the outer peripheral wall of the winding frame has a positioning member for constraining the position of at least a portion of the coil winding.

[0007] According to the present invention, the stator assembly of the motor has a positioning member on the outer peripheral wall of the winding frame. The positioning member constrains the position of at least part of the coil winding, which assists in the winding of the coil winding. This reduces the possibility of the coil winding slipping, reduces the winding difficulty, and improves the slot fill factor of the stator assembly.

[0008] In addition, the stator assembly of the motor according to the above embodiments of the present invention may also have the following additional technical features: According to some embodiments of the present invention, the positioning member includes at least one positioning protrusion that protrudes in the circumferential direction of the stator core.

[0009] According to some optional embodiments of the present invention, the winding frame includes at least one winding group, the winding group includes a first winding portion and a second winding portion, the first winding portion and the second winding portion are arranged radially along the stator core, and in the circumferential direction of the stator core, the portion of the second winding portion that extends beyond the first winding portion defines the positioning protrusion.

[0010] According to some specific embodiments of the present invention, in the radial direction of the stator core, the size of the first winding portion gradually increases in the direction toward the yoke portion; and / or, in the radial direction of the stator core, the size of the second winding portion gradually increases in the direction toward the yoke portion.

[0011] According to some embodiments of the present invention, the positioning member further includes a plurality of recessed wire grooves provided on the outer peripheral wall of the winding frame, each wire groove being used to accommodate the wire body of the coil winding.

[0012] According to some optional embodiments of the present invention, in the circumferential direction of the stator core, the winding frame has a first sidewall disposed opposite to the stator core; in the axial direction of the stator core, the winding frame has a second sidewall disposed opposite to the stator core; the first sidewall and / or the second sidewall are provided with the wire groove.

[0013] According to some optional embodiments of the present invention, the wire groove has a first wire wall and a second wire wall that intersect each other, and the angle between the first wire wall and the second wire wall is an obtuse angle.

[0014] According to some embodiments of the present invention, the stator core includes multiple segmented cores, the multiple segmented cores are arranged circumferentially along the stator core, each segmented core includes a toothed portion and a segmented yoke portion, and the stator assembly includes multiple insulating members, the insulating members wrapping the segmented cores.

[0015] According to some optional embodiments of the present invention, the insulating component and the segmented iron core are integrally formed.

[0016] According to some optional embodiments of the present invention, the winding frame wraps around the toothed portion, the first limiting portion wraps around a portion of the segmented yoke facing the toothed portion, and a portion of the segmented yoke facing away from the toothed portion is exposed to the insulating member. In the circumferential direction of the stator core, one side of the segmented yoke has a connecting protrusion and the other side has a connecting groove, and two adjacent segmented yokes are connected through the connecting protrusion and the connecting groove.

[0017] According to some specific embodiments of this utility model, the connecting protrusion and the connecting groove are interference-fitted.

[0018] According to a second aspect of the present invention, an electric motor is provided, the electric motor comprising: a stator assembly as described in the first aspect of the present invention; and a mover assembly, the stator assembly and the mover assembly being coupled together.

[0019] According to the embodiments of the present invention, the motor utilizes the stator assembly of the motor described in the first aspect of the present invention. By providing a positioning member on the outer peripheral wall of the winding frame, the positioning member constrains the position of at least a portion of the coil winding, assisting in the winding of the coil winding. This facilitates reducing the possibility of the coil winding slipping, reducing the winding difficulty, and improving the slot fill factor of the stator assembly.

[0020] A robot is provided according to a third aspect of the present invention, the robot including a motor as described in a second aspect of the present invention.

[0021] The robot according to the embodiments of the present invention utilizes the motor described in the second aspect of the present invention. By setting a positioning member on the outer peripheral wall of the winding frame, the positioning member constrains the position of at least part of the coil winding, assists in the winding of the coil winding, reduces the possibility of the coil winding slipping, reduces the winding difficulty, and improves the slot fill factor of the stator assembly.

[0022] 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

[0023] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a structural schematic diagram of the segmented iron core and insulating components according to an embodiment of the present utility model; Figure 2 This is a top view of the segmented iron core and insulating components according to an embodiment of the present utility model; Figure 3 yes Figure 2 Sectional view at point AA; Figure 4 This is a front view of the segmented iron core and insulating components according to an embodiment of the present utility model; Figure 5 yes Figure 4 Sectional view at point BB; Figure 6 yes Figure 5 Enlarged view of point C in the middle.

[0024] Reference numerals: 10, segmented iron core; 11, toothed part; 12, segmented yoke; 121, connecting protrusion; 122, connecting groove; 20. Insulating component; 201. Winding groove; 21. First limiting part; 22. Second limiting part; 23. Winding frame; 230. Winding assembly; 231. First winding part; 232. Second winding part; 233. First sidewall; 234. Second sidewall; 251. Positioning protrusion; 252. Wire groove; 2521. First wire wall; 2522. Second wire wall. Detailed Implementation

[0025] 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.

[0026] The stator assembly of a motor according to an embodiment of the present invention is described below with reference to the accompanying drawings.

[0027] like Figures 1-3 As shown, the stator assembly of the motor according to an embodiment of the present invention includes a stator core and an insulating component 20.

[0028] The stator core includes a toothed portion 11 and a yoke portion. The insulating component 20 includes a winding frame 23, a first limiting portion 21, and a second limiting portion 22. The winding frame 23 encloses the toothed portion 11. In the radial direction of the stator core, the first limiting portion 21 and the second limiting portion 22 are located at opposite ends of the winding frame 23. In the circumferential direction of the stator core, the extensions of the first limiting portion 21 and the second limiting portion 22 extend beyond the winding frame 23. The winding frame 23, the first limiting portion 21, and the second limiting portion 22 together define a winding groove 201, which is used for winding the coil winding. Specifically, the coil winding is adapted to be wound on the winding frame 23 and the coil winding is located in the winding slot 201. The first limiting part 21 and the second limiting part 22 can restrict the position of the coil winding in the radial direction of the stator core, thereby positioning the coil winding in the winding slot 201 and preventing the coil winding from falling off from the end of the winding frame 23 in the radial direction of the stator core.

[0029] The outer peripheral wall of the winding frame 23 has a positioning element for constraining the position of at least a portion of the coil winding and limiting the position of at least a portion of the coil winding within the winding slot 201 to assist in the winding of the coil winding.

[0030] Specifically, the coil winding includes multiple wires. When the multiple wires are wound on the winding frame 23, the position of the wires is prone to slippage. By setting a positioning element on the outer peripheral wall of the winding frame 23, the positioning element can constrain the position of at least part of the coil winding, thereby playing a role in positioning the position of at least part of the coil winding, thus assisting in the winding of the coil winding and reducing the possibility of the coil winding slipping relative to the winding frame 23.

[0031] The positioning element can assist in the winding of the coil winding and position the coil winding in the winding slot 201. On the one hand, it can reduce the possibility of the coil winding loosening or detaching in the winding slot 201 and reduce the difficulty of winding. On the other hand, it can facilitate the compact winding of the coil winding on the winding frame 23 and improve the slot fill factor of the stator assembly.

[0032] In some embodiments, such as Figure 1 As shown, the radial direction of the stator core is the X direction, the circumferential direction of the stator core is the Y direction, and the axial direction of the stator core is the Z direction. The first limiting part 21 and the second limiting part 22 are located at opposite ends of the winding frame 23 in the X direction. The winding groove 201 is open at both ends in the Z direction and at both ends in the Y direction. The coil winding is adapted to extend into the winding groove 201 along the Z and Y directions and be wound on the winding frame 23.

[0033] The first limiting part 21 and the second limiting part 22 can prevent the coil winding from detaching from the end of the winding frame 23 in the X direction. The positioning member located on the outer peripheral wall of the winding frame 23 plays a limiting role on part of the coil winding to assist the winding of the coil winding, thereby facilitating the compact winding of the coil winding in the winding groove 201.

[0034] According to the embodiment of the present invention, the stator assembly of the motor has a positioning member on the outer peripheral wall of the winding frame 23. The positioning member constrains the position of at least part of the coil winding, assists in the winding of the coil winding, reduces the possibility of the coil winding slippage, reduces the winding difficulty, and improves the slot fill factor of the stator assembly.

[0035] The stator assembly of a motor according to a specific embodiment of the present invention is described below with reference to the accompanying drawings.

[0036] In some specific embodiments of this utility model, such as Figures 1-3 As shown, the stator assembly of the motor includes a stator core and an insulator 20.

[0037] In some embodiments of this utility model, such as Figure 3As shown, the positioning member includes at least one positioning protrusion 251, which protrudes circumferentially from the stator core. Part of the coil winding can be attached to the positioning protrusion 251 to support the position of part of the coil winding. Thus, when the coil winding is wound in the winding slot 201, the positioning protrusion 251 can assist in positioning the position of the coil winding, thereby helping with winding and improving the winding yield.

[0038] In some optional embodiments of this utility model, such as Figure 3 As shown, the winding frame 23 includes at least one winding group 230, the winding group 230 includes a first winding portion 231 and a second winding portion 232, the first winding portion 231 and the second winding portion 232 are arranged radially along the stator core, and in the circumferential direction of the stator core, the portion of the second winding portion 232 that extends beyond the first winding portion 231 defines a positioning protrusion 251.

[0039] Specifically, the winding frame 23 may include one or more winding groups 230 so that the number of positioning protrusions 251 is one or more, without much restriction here.

[0040] When the coil winding is wound on the winding frame 23 and the coil winding is located in the winding slot 201, part of the coil can be supported on the positioning protrusion 251. In this way, the positioning protrusion 251 can be used to support and position part of the coil winding, thereby assisting the winding of the coil winding, reducing the possibility of coil winding slippage, improving the compactness of the coil winding, and facilitating the improvement of the slot fill factor of the stator assembly.

[0041] In some embodiments, the winding frame 23 includes a plurality of winding sections, and two adjacent winding sections of different sizes constitute a winding group 230. It is understood that three winding sections can form two winding groups 230, and four winding sections can also form two winding groups 230. No further restrictions are imposed here.

[0042] In some examples, the dimensions of multiple winding portions gradually decrease in the direction toward the yoke to form a stepped shape on the outer surface of the winding frame 23, thereby forming multiple positioning protrusions 251.

[0043] In some embodiments, the positioning protrusion 251 is annular, and the positioning protrusion 251 includes a portion extending axially along the stator core and a portion extending circumferentially along the stator core. In this way, when the coil winding is wound in the winding slot 201, the positioning protrusion 251 can be used to fully support part of the coil winding and define the position of this part of the winding, thereby assisting the winding of the coil winding.

[0044] In some optional embodiments of this utility model, such as Figure 3As shown, in the radial direction of the stator core, the size of the first winding portion 231 gradually increases in the direction toward the yoke. This increases the area of ​​the outer circumferential surface of the first winding portion 231, and when the coil winding is wound on the first winding portion 231, the length of the coil winding wound on the first winding portion 231 can be increased, thereby facilitating an increase in the slot fill factor of the stator assembly.

[0045] In some optional embodiments of this utility model, such as Figure 3 As shown, in the radial direction of the stator core, the size of the second winding portion 232 gradually increases in the direction toward the yoke. This increases the area of ​​the outer circumferential surface of the second winding portion 232, and when the coil winding is wound on the second winding portion 232, the length of the coil winding wound on the second winding portion 232 can be increased, thereby facilitating an increase in the slot fill factor of the stator assembly.

[0046] In some embodiments of this utility model, such as Figure 4 , Figure 5 As shown, the positioning component also includes a plurality of recessed wire grooves 252 disposed on the outer peripheral wall of the winding frame 23. Each wire groove 252 is used to accommodate the wire body of the coil winding and to support the position of the corresponding coil winding wire body, so as to fully limit the position of at least part of the wire body in the winding groove 201. In this way, when the coil winding is wound in the winding groove 201, the possibility of the wire body sliding in the winding groove 201 can be reduced, thereby facilitating the improvement of the coil winding yield and the increase of the slot fill factor of the stator assembly.

[0047] The wire used in the coil winding can be either flat or round; no particular restrictions are imposed here. The shape of the conductor groove 252 should be adapted to suit different wire types, ensuring that the conductor groove 252 provides good support and restraint for the wire.

[0048] In some optional embodiments of this utility model, such as Figure 3 As shown, in the circumferential direction of the stator core, the winding frame 23 has a first sidewall 233 disposed opposite to it. The first sidewall 233 is provided with a wire groove 252. When the wire of the coil winding is wound around the first sidewall 233 of the winding frame 23, the wire groove 252 on the first sidewall 233 can support the position of the corresponding wire, thereby limiting the position of the wire and reducing the possibility of the wire sliding in the winding groove 201. Specifically, the wire groove 252 can assist the winding of the coil winding, which can help improve the winding yield of the coil winding and improve the slot fill factor of the stator assembly.

[0049] In some embodiments, such as Figure 1 , Figure 3As shown, the radial direction of the stator core is the X direction, the circumferential direction of the stator core is the Y direction, and the axial direction of the stator core is the Z direction. The wire groove 252 on the first sidewall 233 is adapted to be recessed along the Y direction and extend along the Z direction in the length direction.

[0050] In some examples, the first sidewall 233 is provided with a plurality of wire grooves 252, which are arranged along the X direction. The arrangement direction of the plurality of wire grooves 252 is consistent with the winding method of the coil winding, so that the plurality of wire grooves 252 on the first sidewall 233 can be used to support the multiple turns of the coil winding.

[0051] In some optional embodiments of this utility model, such as Figure 1 , Figure 4 As shown, along the axial direction of the stator core, the winding frame 23 has a second sidewall 234 disposed opposite to it. The second sidewall 234 is provided with a wire groove 252. When the wire of the coil winding is wound around the second sidewall 234 of the winding frame 23, the wire groove 252 on the second sidewall 234 can support the position of the corresponding wire, thereby limiting the position of the wire and reducing the possibility of the wire sliding in the winding groove 201. Specifically, the wire groove 252 can assist in the winding of the coil winding, which can help improve the winding yield of the coil winding and improve the slot fill factor of the stator assembly.

[0052] In some embodiments, such as Figure 4 As shown, the second sidewall 234 is stepped, and multiple wire grooves 252 are continuously defined on the second sidewall 234.

[0053] In some embodiments, such as Figure 1 , Figure 4 As shown, the radial direction of the stator core is the X direction, the circumferential direction of the stator core is the Y direction, and the axial direction of the stator core is the Z direction. The wire groove 252 on the second side wall 234 is adapted to be recessed along the Z direction and extend along the Y direction in length. It should be understood that the above directional limitation is only for the convenience of describing the figure and does not limit the actual setting position and direction of the stator assembly of the motor.

[0054] In some examples, such as Figure 4 As shown, the second sidewall 234 is provided with a plurality of wire grooves 252, which are arranged along the X direction. The arrangement direction of the plurality of wire grooves 252 is consistent with the winding method of the coil winding, so that the plurality of wire grooves 252 on the second sidewall 234 can be used to support the multiple turns of the coil winding.

[0055] In some optional embodiments of this utility model, such as Figure 4 , Figure 5As shown, the wire groove 252 has a first wire wall 2521 and a second wire wall 2522 that intersect each other. The angle between the first wire wall 2521 and the second wire wall 2522 is an obtuse angle. This allows the wire groove 252 to have a larger opening, which makes it easier for the wire of the coil winding to enter the wire groove 252. This provides a larger operating space for winding the coil winding, thereby reducing the difficulty of entering the wire into the wire groove 252. At the same time, the opening of the wire groove 252 gradually increases outward, which prevents the wire wall of the wire groove 252 from scratching the wire of the coil winding. This also reduces the difficulty of winding the coil winding onto the winding frame 23, reduces the time cost of winding, and improves the product yield.

[0056] In some embodiments of this utility model, such as Figure 1 As shown, the stator core includes multiple segmented cores 10, which are arranged circumferentially along the stator core. Each segmented core 10 includes a toothed portion 11 and a segmented yoke portion 12. The stator assembly includes multiple insulating members 20, which wrap around the segmented cores 10 to separate the segmented cores 10 from the coil windings, preventing short circuits between the coil windings and the stator core, thereby ensuring the safe, reliable and efficient operation of the motor.

[0057] In some optional embodiments of this utility model, the insulating component 20 and the segmented iron core 10 are integrally formed, which facilitates the connection of the insulating component 20 and the segmented iron core 10 together, so that the insulating component 20 can stably separate the segmented iron core 10 and the coil winding, thereby preventing short circuits between the coil winding and the stator iron core, and ensuring the safe, reliable and efficient operation of the motor.

[0058] Furthermore, by making the insulating component 20 and the segmented iron core 10 an integral molded part, there is no need to set a connecting part between the insulating component 20 and the segmented iron core 10, which helps to reduce the complexity of the stator assembly structure and reduce the cost of the stator assembly.

[0059] In some embodiments, the segmented iron core 10 is placed in a mold, and the insulating part 20 is injection molded in the mold, so that the insulating part 20 and the segmented iron core 10 are integrally formed at the same time. Injection molding of the insulating part 20 facilitates the molding of the insulating part 20 with a complex structure, while also keeping the cost of the insulating part 20 low.

[0060] In some optional embodiments of this utility model, such as Figure 1 , Figure 3As shown, the winding frame 23 encloses the toothed portion 11, and the first limiting portion 21 encloses a portion of the segmented yoke 12 facing the toothed portion 11. A portion of the segmented yoke 12 facing away from the toothed portion 11 is exposed to the insulating member 20. In the circumferential direction of the stator core, one side of the segmented yoke 12 has a connecting protrusion 121, and the other side has a connecting groove 122. Two adjacent segmented yokes 12 are connected by the connecting protrusion 121 and the connecting groove 122. By utilizing the connection of the connecting protrusion 121 and the connecting groove 122 on the segmented yoke 12, multiple segmented cores 10 are connected together to form an integral stator core.

[0061] Specifically, the connecting protrusion 121 and the connecting groove 122 are located on the portion of the segmented yoke 12 that is exposed outside the insulating member 20. The connecting protrusion 121 and the connecting groove 122 of two adjacent segmented yokes 12 are arranged opposite each other in the circumferential direction of the stator core to connect the two connected segmented yokes 12 together, thereby forming a stator core from multiple segmented cores 10.

[0062] In some specific embodiments of this utility model, the connecting protrusion 121 and the connecting groove 122 are interference-fitted to fix two adjacent segmented yokes 12 together, thereby fixing multiple segmented iron cores 10 and forming an integral stator iron core.

[0063] In some embodiments, the interference fit between the connecting protrusion 121 and the connecting groove 122 can be achieved by using the temperature difference method or the pressing method.

[0064] The following describes a motor according to an embodiment of the present invention. The motor according to an embodiment of the present invention includes a stator assembly and a mover assembly.

[0065] The stator assembly and the mover assembly are coupled. Specifically, an alternating current flows through the coil windings of the stator assembly, which generates a traveling magnetic field or a rotating magnetic field. The mover assembly is located within this magnetic field and moves or rotates under its influence. The mover assembly drives the output shaft of the motor to move or rotate, thereby realizing the output of the motor.

[0066] According to the present invention, the motor utilizes the stator assembly of the motor according to the above embodiment of the present invention. By setting a positioning member on the outer peripheral wall of the winding frame 23, the positioning member constrains the position of at least part of the coil winding, assists in the winding of the coil winding, reduces the possibility of the coil winding slipping, reduces the winding difficulty, and improves the slot fill factor of the stator assembly.

[0067] Other configurations and operations of the motor according to embodiments of the present invention are known to those skilled in the art and will not be described in detail here.

[0068] The robot according to an embodiment of the present invention is described below. The robot according to an embodiment of the present invention includes a motor according to the above embodiment of the present invention.

[0069] The robots can be industrial robots, such as handling robots, welding robots, painting robots, assembly robots, and inspection robots. They can also be mobile robots, such as drones and mobile guidance robots. Furthermore, they can be service robots, such as medical robots and welcoming robots; there are no further restrictions here.

[0070] The robot according to the present invention utilizes the motor according to the above embodiment of the present invention, and sets a positioning member on the outer peripheral wall of the winding frame 23 to constrain the position of at least part of the coil winding, thereby assisting in the winding of the coil winding, reducing the possibility of the coil winding slipping, reducing the winding difficulty, and improving the slot fill factor of the stator assembly.

[0071] Other components and operations of the robot according to embodiments of the present invention are known to those skilled in the art and will not be described in detail here.

[0072] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating the orientation or positional relationship shown in the accompanying drawings, 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, and therefore should not be construed as a limitation of this utility model. Furthermore, features defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more. In the description of this utility model, "above" or "below" a second feature may include direct contact between the first and second features, or it may include contact between the first and second features not being in direct contact but through another feature between them.

[0073] In the description of this utility model, the terms "above", "over" and "on top" for the first feature and the second feature include the first feature being directly above or diagonally above the second feature, or simply indicate that the first feature is at a higher horizontal level than the second feature.

[0074] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0075] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0076] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A stator assembly for an electric motor, characterized in that, include: A stator core, the stator core comprising a toothed portion and a yoke portion; An insulating component includes a winding frame, a first limiting portion, and a second limiting portion. The winding frame wraps around the teeth. In the radial direction of the stator core, the first limiting portion and the second limiting portion are located at opposite ends of the winding frame. In the circumferential direction of the stator core, the first limiting portion and the second limiting portion extend beyond the winding frame. The winding frame, the first limiting portion, and the second limiting portion together define a winding groove for winding a coil winding. The outer peripheral wall of the winding frame has a positioning element, which is used to constrain the position of at least a portion of the coil winding.

2. The stator assembly of the motor according to claim 1, characterized in that, The positioning element includes at least one positioning protrusion that protrudes in the circumferential direction of the stator core.

3. The stator assembly of the motor according to claim 2, characterized in that, The winding frame includes at least one winding group, the winding group including a first winding portion and a second winding portion, the first winding portion and the second winding portion being arranged radially along the stator core, and in the circumferential direction of the stator core, the portion of the second winding portion extending beyond the first winding portion defines the positioning protrusion.

4. The stator assembly of the motor according to claim 3, characterized in that, In the radial direction of the stator core, the size of the first winding portion gradually increases in the direction toward the yoke; and / or, in the radial direction of the stator core, the size of the second winding portion gradually increases in the direction toward the yoke.

5. The stator assembly of the motor according to any one of claims 1-4, characterized in that, The positioning element also includes a plurality of recessed wire grooves provided on the outer peripheral wall of the winding frame, each wire groove being used to accommodate the wire body of the coil winding.

6. The stator assembly of the motor according to claim 5, characterized in that, In the circumferential direction of the stator core, the winding frame has a first sidewall disposed opposite to it; Along the axial direction of the stator core, the winding frame has a second sidewall disposed opposite to it; The first sidewall and / or the second sidewall are provided with the wire groove.

7. The stator assembly of the motor according to claim 5, characterized in that, The wire groove has a first wire wall and a second wire wall that intersect each other, and the angle between the first wire wall and the second wire wall is an obtuse angle.

8. The stator assembly of the motor according to claim 1, characterized in that, The stator core includes multiple segmented cores, which are arranged circumferentially along the stator core. Each segmented core includes a toothed portion and a segmented yoke portion. The stator assembly includes multiple insulating members that enclose the segmented cores.

9. The stator assembly of the motor according to claim 8, characterized in that, The insulating component and the segmented iron core are integrally formed.

10. The stator assembly of the motor according to claim 8, characterized in that, The winding frame encloses the teeth, the first limiting portion encloses a portion of the segmented yoke facing the teeth, and a portion of the segmented yoke facing away from the teeth protrudes from the insulating member. In the circumferential direction of the stator core, one side of the segmented yoke has a connecting protrusion and the other side has a connecting groove, and two adjacent segmented yokes are connected through the connecting protrusion and the connecting groove.

11. The stator assembly of the motor according to claim 10, characterized in that, The connecting protrusion and the connecting groove are interference-fitted.

12. An electric motor, characterized in that, include: A stator assembly, wherein the stator assembly is the stator assembly according to any one of claims 1-11; The mover assembly is coupled to the stator assembly.

13. A robot, characterized in that, Includes the motor as described in claim 12.

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