Frameless torque motor

Abstract

The utility model relates to robot technical field especially a frameless torque motor, including stator, coaxial inside being located in the rotor of stator, the circuit board of setting at stator one side and the axial location subassembly and the peripheral limit component of installing on stator, there is clearance between the rotor and stator, the inner and outer side surface of circuit board respectively with axial location subassembly and rub, form axial positioning, the peripheral limit component inserts the limit hole of opening on circuit board, forms peripheral positioning. The utility model provides a kind of to carry out stable location design to circuit board, and the frameless torque motor of simple rotor design.

Description

Technical Field

[0001] This utility model relates to the field of robot technology, and in particular to a frameless torque motor. Background Technology

[0002] A frameless torque motor is a type of motor specifically designed for robot joints. It features high precision, high response speed, and high torque. It typically employs a frameless design, meaning there is no traditional mechanical frame between the rotor and stator, thereby reducing weight and improving dynamic performance.

[0003] Currently, some frameless torque motors lack limiting designs for their circuit boards, making the boards prone to misalignment during installation or operation, thus affecting the stability of the wiring on the circuit board. Furthermore, the rotor design in existing frameless torque motors primarily involves arranging several permanent magnets at intervals around the outer circumference of the iron core, which is complex to manufacture and results in insufficient installation stability. Utility Model Content

[0004] The technical problem to be solved by this utility model is: in order to solve the problems existing in the prior art in the background art, a frameless torque motor with stable limiting design of circuit board and simple rotor design is provided.

[0005] The technical solution adopted by this utility model to solve its technical problem is: a frameless torque motor, including a stator, a rotor coaxially disposed within the stator, and a circuit board disposed on one side of the stator. There is a gap between the rotor and the stator. It also includes an axial limiting component and a circumferential limiting component mounted on the stator. The axial limiting component abuts against the inner and outer sides of the circuit board to form axial positioning. The circumferential limiting component is inserted into a limiting hole opened on the circuit board to form circumferential positioning.

[0006] Furthermore, the axial limiting assembly includes a limiting hook plate and a limiting abutment plate. The end of the limiting hook plate away from the stator extends toward the central axis of the stator and abuts against the outer side of the circuit board. The end of the limiting abutment plate away from the stator abuts against the inner side of the circuit board.

[0007] Furthermore, the limiting hook plate includes a mounting part and a hook contact part. The mounting part is mounted on the stator, and the hook contact part is mounted on the end of the mounting part away from the stator and abuts against the outer side of the circuit board.

[0008] Furthermore, a guide slope is provided on the side of the hook contact away from the circuit board.

[0009] Furthermore, the end of the circumferential limiting component away from the stator is provided with a guide arc surface.

[0010] Furthermore, the stator includes a stator core, an insulating sleeve, and a stator coil. The stator core has multiple stator laminations, and stator slots are formed between adjacent stator laminations. The insulating sleeve is fitted over the middle of the stator laminations, and the stator coil is wound around the insulating sleeve.

[0011] Furthermore, the insulating sleeve includes a sleeve body, a stop block, and a retaining ring. The sleeve body is sleeved on the middle part of the stator lamination, and the stop block and retaining ring are respectively disposed at the inner and outer ends of the sleeve body.

[0012] Furthermore, the insulating sleeve also includes a wire baffle plate, which is disposed on the retaining ring.

[0013] Furthermore, the rotor includes a rotor core and a magnetic ring, the magnetic ring being sleeved on the outer periphery of the rotor core, and the magnetic ring having N poles and S poles alternately formed along the circumferential direction.

[0014] Furthermore, a limiting notch is provided on the circuit board for positioning the end of the stator coil.

[0015] The beneficial effects of this utility model are:

[0016] (1) By setting the axial limiting component and the circumferential limiting component, this utility model realizes the axial and circumferential limiting of the circuit board, so that the circuit board is stably set on one side of the stator, avoiding the offset of the circuit board during installation or operation, thereby ensuring the stability of the wiring on the circuit board.

[0017] (2) In this utility model, the magnetic ring has N poles and S poles alternately formed along the circumference. Compared with using several permanent magnets spaced on the iron core, the process is simplified, and the magnetization waveform is close to the sine wave of AC power, thereby improving the stability and accuracy of the motor. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0019] Figure 1 This is a schematic diagram of the structure of this utility model;

[0020] Figure 2 This is a schematic diagram of the stator in this utility model;

[0021] Figure 3 This is a side view of the stator core in this utility model;

[0022] Figure 4 This is a schematic diagram of the axial limiting component in this utility model;

[0023] Figure 5 This is a schematic diagram of the circuit board in this utility model;

[0024] Figure 6This is a schematic diagram of the limiting hook plate in this utility model;

[0025] Figure 7 This is a schematic diagram of the circumferential limiting component in this utility model.

[0026] In the diagram: 100, stator; 110, stator core; 111, stator lamination; 112, stator slot; 120, insulating sleeve; 121, sleeve body; 122, stop block; 123, retaining ring; 124, wire stop plate; 130, stator coil; 200, rotor; 210, rotor core; 220, magnetic ring; 300, circuit board; 310, limiting hole; 320, limiting notch; 330, clearance notch; 400, axial limiting assembly; 410, limiting hook plate; 411, mounting part; 412, hook contact part; 4121, guide slope; 420, limiting stop plate; 500, circumferential limiting assembly; 510, guide arc surface. Detailed Implementation

[0027] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the present invention, and therefore only show the components relevant to the present invention.

[0028] like Figure 1 and Figure 5 As shown, a frameless torque motor includes a stator 100, a rotor 200 coaxially disposed within the stator 100, a circuit board 300 disposed on one side of the stator 100, and an axial limiting component 400 and a circumferential limiting component 500 mounted on the stator 100. A gap exists between the rotor 200 and the stator 100. The axial limiting component 400 abuts against the inner and outer surfaces of the circuit board 300 to form axial positioning. The circumferential limiting component 500 is inserted into a limiting hole 310 on the circuit board 300 to form circumferential positioning. Specifically, the circuit board 300 integrates Hall effect sensors and temperature sensing sensors. Multiple sets of axial limiting components 400 are evenly distributed along the circumference of the stator 100. Multiple sets of circumferential limiting components 500 can also be evenly distributed along the circumference of the stator 100.

[0029] By setting the axial limiting component 400 and the circumferential limiting component 500, the axial and circumferential limiting of the circuit board 300 are realized, so that the circuit board 300 is stably set on one side of the stator 100, avoiding the offset of the circuit board 300 during installation or operation, thereby ensuring the stability of the wiring on the circuit board 300.

[0030] like Figures 1-3As shown, the stator 100 includes a stator core 110, an insulating sleeve 120, and a stator coil 130. The stator core 110 has multiple stator laminations 111, with stator slots 112 formed between adjacent stator laminations 111. The insulating sleeve 120 is fitted onto the middle of the stator laminations 111, and the stator coil 130 is wound around the insulating sleeve 120. Specifically, there are eighteen stator laminations 111, and the stator laminations 111 are T-shaped. The insulating sleeve 120 is fitted onto the stator laminations 111 using an injection molding process, and the insulating sleeve 120 is made of plastic (such as PA66).

[0031] like Figure 2 and Figure 4 As shown, the insulating sleeve 120 includes a sleeve body 121, a stop block 122, a retaining ring 123, and a wire-blocking plate 124. The sleeve body 121 is sleeved on the middle of the stator lamination 111. The stop block 122 and the retaining ring 123 are respectively disposed at the inner and outer ends of the sleeve body 121. The wire-blocking plate 124 is disposed on the retaining ring 123 to prevent the connecting wires between adjacent stator coils 130 from passing through the stator slot 112, and also to facilitate the winding of the stator coils 130. Specifically, the stop block 122 and the retaining ring 123 are disposed on the left and right sides of the sleeve body 121; the end of the wire-blocking plate 124 away from the stator 100 contacts the inner side of the circuit board 300. Multiple wire-blocking plates 124 are disposed and evenly distributed along the circumference of the retaining ring 123.

[0032] The stop block 122 and the stop ring 123 limit the stator coil 130 wound around the sleeve body 121, preventing the stator coil 130 from detaching from the sleeve body 121.

[0033] like Figure 1 and Figure 2 As shown, the rotor 200 includes a rotor core 210 and a magnetic ring 220. The magnetic ring 220 is sleeved on the outer periphery of the rotor core 210. The magnetic ring 220 has N poles and S poles alternately formed along the circumference. Compared with using several permanent magnets spaced apart on the outer periphery of the core, the process is simplified, and the magnetization waveform is close to the sine wave of alternating current, thereby improving the stability and accuracy of the motor operation.

[0034] like Figure 5 As shown, a limiting notch 320 is provided on the circuit board 300 to position the end of the stator coil 130. The end of the stator coil 130 passes through the limiting notch 320 and is soldered to the circuit board 300.

[0035] like Figure 1 and Figure 4As shown, the axial limiting assembly 400 includes a limiting hook plate 410 and a limiting abutment plate 420. The end of the limiting hook plate 410 away from the stator 100 extends towards the central axis of the stator 100 and abuts against the outer surface of the circuit board 300; the end of the limiting abutment plate 420 away from the stator 100 abuts against the inner surface of the circuit board 300. Specifically, the axial limiting assembly 400 includes one limiting hook plate 410 and two limiting abutment plates 420, with the limiting hook plate 410 disposed between the two limiting abutment plates 420.

[0036] As a further optimization, this application can omit the limiting plate 420, and the limiting hook plate 410 and the line stop plate 124 cooperate to form the axial positioning of the circuit board 300, which simplifies the design and reduces the cost.

[0037] like Figure 5 and Figure 6 As shown, the limiting hook plate 410 includes a mounting part 411 and a hook contact part 412. The mounting part 411 is mounted on the stator 100, and the hook contact part 412 is mounted on the end of the mounting part 411 away from the stator 100 and abuts against the outer surface of the circuit board 300. Specifically, the circuit board 300 has an clearance notch 330 for the mounting part 411 to pass through, which also serves as a circumferential positioning function; the hook contact part 412 has a guide slope 4121 on the side away from the circuit board 300 to guide the circuit board 300 during installation. Specifically, the limiting hook plate 410 is made of plastic and has a certain degree of elasticity, which facilitates the installation of the circuit board 300.

[0038] like Figure 5 and Figure 7 As shown, in order to facilitate the insertion of the circumferential limiting component 500 into the limiting hole 310, the end of the circumferential limiting component 500 away from the stator 100 is provided with a guide arc surface 510.

[0039] When installing the circuit board 300, align the clearance notch 330 of the circuit board 300 with the hook contact 412, press the circuit board 300 toward the stator 100, and the hook contact 412 passes through the clearance notch 330 to achieve the snap-fit ​​of the circuit board 300.

[0040] Based on the above-described preferred embodiments of this utility model, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A frameless torque motor, comprising a stator (100), a rotor (200) coaxially disposed within the stator (100), and a circuit board (300) disposed on one side of the stator (100), wherein a gap exists between the rotor (200) and the stator (100), characterized in that: It also includes an axial limiting component (400) and a circumferential limiting component (500) installed on the stator (100). The axial limiting component (400) abuts against the inner and outer sides of the circuit board (300) respectively to form axial positioning; the circumferential limiting component (500) is inserted into the limiting hole (310) opened on the circuit board (300) to form circumferential positioning.

2. The frameless torque motor according to claim 1, characterized in that: The axial limiting assembly (400) includes a limiting hook plate (410) and a limiting abutment plate (420). The end of the limiting hook plate (410) away from the stator (100) extends toward the central axis of the stator (100) and abuts against the outer side of the circuit board (300). The end of the limiting abutment plate (420) away from the stator (100) abuts against the inner side of the circuit board (300).

3. The frameless torque motor according to claim 2, characterized in that: The limiting hook plate (410) includes a mounting part (411) and a hook contact part (412). The mounting part (411) is mounted on the stator (100), and the hook contact part (412) is mounted on the end of the mounting part (411) away from the stator (100) and abuts against the outer side of the circuit board (300).

4. The frameless torque motor according to claim 3, characterized in that: The hook contact (412) has a guide slope (4121) on the side away from the circuit board (300).

5. The frameless torque motor according to claim 1, characterized in that: The end of the circumferential limiting component (500) away from the stator (100) is provided with a guide arc surface (510).

6. The frameless torque motor according to claim 1, characterized in that: The stator (100) includes a stator core (110), an insulating sleeve (120), and a stator coil (130). The stator core (110) has a plurality of stator laminations (111), and stator slots (112) are formed between adjacent stator laminations (111). The insulating sleeve (120) is fitted on the middle part of the stator laminations (111), and the stator coil (130) is wound on the insulating sleeve (120).

7. The frameless torque motor according to claim 6, characterized in that: The insulating sleeve (120) includes a sleeve body (121), a stop block (122) and a retaining ring (123). The sleeve body (121) is sleeved on the middle part of the stator lamination (111), and the stop block (122) and the retaining ring (123) are respectively disposed at the inner and outer ends of the sleeve body (121).

8. The frameless torque motor according to claim 7, characterized in that: The insulating sleeve (120) also includes a wire baffle (124), which is disposed on the retaining ring (123).

9. The frameless torque motor according to claim 1, characterized in that: The rotor (200) includes a rotor core (210) and a magnetic ring (220). The magnetic ring (220) is sleeved on the outer periphery of the rotor core (210), and the magnetic ring (220) has N poles and S poles alternately formed along the circumferential direction.

10. The frameless torque motor according to claim 6, characterized in that: The circuit board (300) has a limiting notch (320) for positioning the end of the stator coil (130).

Images