Robot electric motor and actuator

Abstract

A robot electric motor. The electric motor comprises a stator and a rotor. The rotor comprises a magnetic member and a rotor shaft; and the stator comprises a stator yoke and a flexible member. The stator yoke is provided with an accommodating cavity. The flexible member is arranged in a wound manner in the accommodating cavity, the flexible member comprises stator windings and a substrate, the flexible member is provided with electrically conductive layers, a first electrically conductive layer and a second electrically conductive layer are respectively arranged on two sides of the substrate, and the flexible member is provided with the stator windings on the electrically conductive layers on the two sides. An interlayer connection portion penetrating the substrate is provided, and the interlayer connection portion is electrically connected to coils located on the first electrically conductive layer and the second electrically conductive layer; therefore, the stator windings are arranged on the flexible member, and the stator windings are formed on the electrically conductive layers on the two sides of the substrate. In this way, the radial thickness of the stator windings can be thinner than the thickness of stator windings formed by enameled wires, and the heat dissipation performance of the stator windings in the present application is better. Moreover, the solution used can reduce the occurrence of coil misalignment, thereby improving the balance and consistency of a magnetic field.

Description

Robot motors and actuators

[0001] This application claims priority to Chinese Patent Application No. 202510126447.1, filed on January 27, 2025, entitled "Robot Motor and Actuator", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of motor technology, and in particular to a robot motor and actuator. Background Technology

[0003] Slotless AC motors are used in applications requiring small, high-performance motors, such as in robotics and medical devices. Due to the large size and manufacturing difficulties of motors, miniaturization is a crucial product challenge. Currently, there are motors using stacked flexible circuit boards as stator windings, specifically two flexible circuit boards stacked and then wound together. However, this type of stator winding may experience coil misalignment, leading to an unbalanced magnetic field. Summary of the Invention

[0004] The purpose of this application is to provide a robot motor and actuator that improves magnetic field balance.

[0005] A robot motor includes a stator and a rotor. The rotor includes a magnetic component and a rotor shaft, the magnetic component being connected to the rotor shaft. The stator includes a stator yoke and a flexible component. The stator yoke has a receiving cavity, and both ends of the stator yoke are through-connected. The rotor is located in the receiving cavity. The flexible component is wound in the receiving cavity and is located between the inner wall of the stator yoke and the outer wall of the magnetic component. The flexible component includes a stator winding and a substrate. The flexible component has a conductive layer, and the stator winding is disposed on the conductive layer. The conductive layer includes a first conductive layer and a second conductive layer, the first conductive layer being located on one side of the substrate, and the second conductive layer being located on the substrate. On the other side, the motor includes at least two phases of the stator winding, each phase of the stator winding including at least one coil, at least a portion of the coil of the stator winding being located in the first conductive layer, and at least a portion of the coil of the stator winding being located in the second conductive layer. The flexible member further includes a conductive portion penetrating the substrate, the conductive portion including an interlayer connection portion, the substrate having a through hole in the conductive portion, the interlayer connection portion at least filling a portion of the through hole and electrically connecting the periphery of the portion of the through hole located on the first conductive layer and the second conductive layer; the interlayer connection portion electrically connects the portion of the same coil located in the first conductive layer and the portion of the same coil located in the second conductive layer.

[0006] The flexible component includes a stator winding and a substrate. The flexible component has at least two conductive layers and is wound in a receiving cavity. A first conductive layer and a second conductive layer are respectively disposed on both sides of the substrate. The stator winding is disposed on the conductive layers on both sides of the flexible component. An interlayer connection portion is provided through the substrate, and the interlayer connection portion is electrically connected to the coils located on the first and second conductive layers. The stator winding is disposed on the flexible component, and the stator winding is formed on the conductive layers on both sides of the substrate. This allows the radial thickness of the stator winding to be thinner than the thickness of the stator winding formed by enameled wire, and the heat dissipation is relatively better. Moreover, the adopted scheme can reduce the risk of coil misalignment, thereby improving the magnetic field balance and consistency.

[0007] An actuator includes a driving component, a transmission component, and an output component. The driving component includes a stator and a rotor. The rotor includes a magnetic element and a rotor shaft. The magnetic element is connected to the rotor shaft. The stator includes a stator yoke and a flexible element. The stator yoke has a receiving cavity, and both ends of the stator yoke are through-holes. The rotor is located in the receiving cavity. The flexible element is wound in the receiving cavity and is located between the inner wall of the stator yoke and the outer wall of the magnetic element. The flexible element includes a stator winding and a substrate. The flexible element has a conductive layer. The stator winding is disposed on the conductive layer of the flexible element. The conductive layer includes a first conductive layer and a second conductive layer. The first conductive layer is located on one side of the substrate, and the second conductive layer is located on the other side of the substrate. The motor includes at least two phases of the stator winding, one phase of which... The stator winding includes at least one coil, at least a portion of the coil of one phase of the stator winding is located in the first conductive layer, and at least a portion of the coil of one phase of the stator winding is located in the second conductive layer. The flexible member further includes a conductive portion penetrating the substrate. The conductive portion includes an interlayer connection portion. The substrate has a through hole in the conductive portion. The interlayer connection portion at least fills a portion of the through hole and electrically connects the periphery of the portion of the through hole located on the first conductive layer and the second conductive layer. The interlayer connection portion electrically connects the portion of the same coil located in the first conductive layer and the portion of the same coil located in the second conductive layer. The driving member is capable of driving the transmission member. The transmission member includes a reduction gear. The rotor shaft of the driving member is connected to the reduction gear, and the reduction gear is connected to the output member.

[0008] The flexible component includes a stator winding and a substrate. The flexible component has at least two conductive layers and is wound into a receiving cavity. A first conductive layer and a second conductive layer are respectively disposed on both sides of the substrate. The stator winding is disposed on the conductive layers on both sides of the flexible component. An interlayer connection portion is provided through the substrate, and the interlayer connection portion is electrically connected to the coils located on the first and second conductive layers. The stator winding is disposed on the flexible component, and the stator winding is formed on the conductive layers on both sides of the substrate. This allows the radial thickness of the stator winding to be thinner than the thickness of the stator winding formed by enameled wire, and the heat dissipation is relatively better. Moreover, the adopted scheme can reduce the risk of coil misalignment, thereby improving the magnetic field balance and consistency. The stator forming actuator of the flexible component with such a configuration has good heat dissipation performance and can achieve stable output. Attached Figure Description

[0009] Figure 1 is a schematic diagram of the structure of the robot motor of this application;

[0010] Figure 2 is a cross-sectional view of Figure 1;

[0011] Figure 3 is a schematic diagram of the structure of the flexible component of this application;

[0012] Figure 4 is a schematic diagram of the Y-type connection method of this application;

[0013] Figure 5 is a schematic diagram of the coil arrangement of the flexible component in Embodiment 1 of this application;

[0014] Figure 6 is a schematic diagram of the coil arrangement in the stator winding of phase A in Figure 5;

[0015] Figure 7 is a schematic diagram of the coil arrangement in the B-phase stator winding of Figure 5;

[0016] Figure 8 is a schematic diagram of the coil arrangement in the C-phase stator winding of Figure 5;

[0017] Figure 9 is a schematic diagram of the delta connection method of this application;

[0018] Figure 10 is a schematic diagram of the coil arrangement of the flexible component in Embodiment 2 of this application;

[0019] Figure 11 is a schematic diagram of the coil arrangement in the stator winding of phase A in Figure 10;

[0020] Figure 12 is a schematic diagram of the coil arrangement in the B-phase stator winding of Figure 10;

[0021] Figure 13 is a schematic diagram of the coil arrangement in the C-phase stator winding of Figure 10;

[0022] Figure 14 is a schematic diagram of the coil arrangement of the flexible component in Embodiment 3 of this application;

[0023] Figure 15 is a schematic diagram of the coil arrangement in the stator winding of phase A in Figure 14;

[0024] Figure 16 is a schematic diagram of the coil arrangement in the B-phase stator winding of Figure 14;

[0025] Figure 17 is a schematic diagram of the coil arrangement in the C-phase stator winding of Figure 14;

[0026] Figure 18 is a schematic diagram of the coil arrangement of the flexible component in Embodiment 4 of this application;

[0027] Figure 19 is a schematic diagram of the coil arrangement in the stator winding of phase A in Figure 18;

[0028] Figure 20 is a schematic diagram of the coil arrangement in the B-phase stator winding of Figure 18;

[0029] Figure 21 is a schematic diagram of the coil arrangement in the C-phase stator winding of Figure 18;

[0030] Figure 22 is a schematic diagram of the coil arrangement of the flexible component in Embodiment 5 of this application;

[0031] Figure 23 is a schematic diagram of the coil arrangement in the stator winding of phase A in Figure 22;

[0032] Figure 24 is a schematic diagram of the coil arrangement in the B-phase stator winding of Figure 22;

[0033] Figure 25 is a schematic diagram of the coil arrangement in the C-phase stator winding of Figure 22;

[0034] Figure 26 is a schematic diagram of the coil in Figure 22 located in the first conductive layer;

[0035] Figure 27 is a schematic diagram of the coil in Figure 22 located in the second conductive layer;

[0036] Figure 28 is a schematic diagram of the coil arrangement of the flexible component in Embodiment 6 of this application;

[0037] Figure 29 is a schematic diagram of the coil arrangement in the stator winding of phase A of Figure 28;

[0038] Figure 30 is a schematic diagram of the coil arrangement in the B-phase stator winding of Figure 28;

[0039] Figure 31 is a schematic diagram of the coil arrangement in the C-phase stator winding of Figure 28;

[0040] Figure 32 is a schematic diagram of the coil in Figure 28 located in the first conductive layer;

[0041] Figure 33 is a schematic diagram of the coil in Figure 28 located in the second conductive layer;

[0042] Figure 34 is a schematic diagram of the coil arrangement of the flexible component in Embodiment 6 of this application;

[0043] Figure 35 is a schematic diagram of the coil arrangement in the stator winding of phase A of Figure 34;

[0044] Figure 36 is a schematic diagram of the coil arrangement in the B-phase stator winding of Figure 34;

[0045] Figure 37 is a schematic diagram of the coil arrangement in the C-phase stator winding of Figure 34;

[0046] Figure 38 is a schematic diagram of the coil in Figure 34 located in the first conductive layer;

[0047] Figure 39 is a schematic diagram of the coil in Figure 34 located in the second conductive layer;

[0048] Figure 40 is a schematic diagram of the coil arrangement of the flexible component in Embodiment 6 of this application;

[0049] Figure 41 is a schematic diagram of the coil arrangement in the stator winding of phase A in Figure 40;

[0050] Figure 42 is a schematic diagram of the coil arrangement in the B-phase stator winding of Figure 40;

[0051] Figure 43 is a schematic diagram of the coil arrangement in the C-phase stator winding of Figure 40;

[0052] Figure 44 is a schematic diagram of the coil in Figure 40 located in the first conductive layer;

[0053] Figure 45 is a schematic diagram of the coil in Figure 40 located in the second conductive layer;

[0054] Figure 46 is a schematic diagram of the actuator of this application.

[0055] Reference numerals: Stator yoke 11, Flexible element 20, Inclined segment 211, First inclined segment 2111, First sub-inclined segment 21111, Second sub-inclined segment 21112, Second inclined segment 2112, Third sub-inclined segment 21121, Fourth sub-inclined segment 21122, Vertical segment 212, First vertical segment 2121, Second vertical segment 2122, First coil conductor 213, Second coil conductor 214, Terminal 22, First coil 221, Second coil 222, Third coil 223, Fourth coil 224, Fifth coil 225 The following components are listed: sixth coil 226, seventh coil 227, eighth coil 228, ninth coil 229, substrate 23, first conductive layer 241, second conductive layer 242, first interlayer connection 251, second interlayer connection 252, bridging part 26, phase-to-phase connection 27, first phase-to-phase connection 271, second phase-to-phase connection 272, third phase-to-phase connection 273, fourth phase-to-phase connection 274, fifth phase-to-phase connection 275, sixth phase-to-phase connection 276, accommodating cavity 28, stator winding 29, magnetic field detection assembly 30, circuit control board 31, Hall sensor 32, rotor shaft 40, magnetic component 41, front end cover 50, rear end cover 60, bearing 70, transmission component 8, main gear 81, auxiliary gear 82, reduction unit 83, output component 9, sleeve 91, connecting rod 92. Detailed Implementation

[0056] A robot motor includes a stator and a rotor. The rotor includes a magnetic element 41 and a rotor shaft 40, with the magnetic element 41 connected to the rotor shaft 40. The stator includes a stator yoke 11 and a flexible element 20. The stator yoke 11 has a receiving cavity 28, and both ends of the stator yoke 11 are through-connected. The rotor is located within the receiving cavity 28. The flexible element 20 is wound within the receiving cavity 28 and is located between the inner wall of the stator yoke 11 and the outer wall of the magnetic element 41. The flexible element 20 includes a stator winding 29 and a substrate 23. The flexible element 20 has a conductive layer, with the stator winding 29 disposed on the conductive layer. The conductive layer includes a first conductive layer 241 and a second conductive layer 242. The first conductive layer 241 is located on the substrate 23. On one side, the second conductive layer 242 is located on the other side of the substrate 23. The motor includes at least two phases of the stator winding 29. One phase of the stator winding 29 includes at least one coil. At least a portion of the coil of one phase of the stator winding 29 is located on the first conductive layer 241, and at least a portion of the other phase of the stator winding 29 is located on the second conductive layer 242. The flexible member 20 also includes a conductive portion penetrating the substrate 23. The conductive portion includes an interlayer connection portion. The substrate has a through hole in the conductive portion. The interlayer connection portion at least fills a portion of the through hole and electrically connects the periphery of the portion of the through hole located on the first conductive layer and the second conductive layer. The interlayer connection portion electrically connects the portion of the same coil located on the first conductive layer 241 and the portion of the same coil located on the second conductive layer 242.

[0057] The flexible component includes a stator winding and a substrate. The flexible component has at least two conductive layers and is wound up in the accommodating cavity. A first conductive layer 241 and a second conductive layer 242 are respectively disposed on both sides of the substrate 23. The stator winding is disposed on the conductive layers on both sides of the flexible component. An interlayer connection portion is provided through the substrate 23, and the interlayer connection portion is electrically connected to the coils located on the first conductive layer 241 and the second conductive layer 242. The stator winding is disposed on the flexible component. The stator winding is formed on the conductive layers on both sides of the substrate. This allows the radial thickness of the stator winding to be thinner than the thickness of the stator winding formed by enameled wire, and the heat dissipation is relatively better. In addition, the adopted scheme can reduce the risk of coil misalignment, thereby improving the magnetic field balance and consistency.

[0058] One method of forming the conductive part mainly includes the following steps:

[0059] Drilling to form through holes: Using a CNC drilling machine, drill a round hole through the top and bottom layers of the raw material according to the design documents. Of course, other shapes of holes can also be drilled.

[0060] Hole wall treatment: Remove resin burrs and dust generated during drilling, roughen the hole wall, improve the adhesion of the metal layer, and apply a conductive carbon film to the hole wall using a specific black hole solution.

[0061] Copper plating forms the interlayer connection: After the black hole, the product is plated with a copper layer of the required thickness on the hole wall under the principle of current and chemical reaction.

[0062] The interlayer connection is directly connected to the copper foil located in the first and second conductive layers (which will be retained as coil windings later, for example, through etching) and can conduct electricity.

[0063] The magnetic components and rotor shaft can be connected through other parts, or the magnetic components and rotor shaft can be integrally injection molded, etc., which will not be elaborated here.

[0064] Before winding, the shape of the coil can be polygonal, circular, elliptical, etc., which will not be elaborated here.

[0065] The flexible component 20 has a terminal 22 at one end for connecting to an external AC power source. The flexible component 20 includes at least two conductive layers, within which multiple sets of coils are arranged at intervals along the circumference of the stator yoke 11 and are all electrically connected to the terminal 22. The flexible component 20 is attached to the inner wall of the stator yoke 11. Current flows through the coils and generates a radial magnetic field perpendicular to the stator yoke 11 in the motor air gap. This magnetic field forms a magnetic field loop using the stator yoke 11. In this embodiment, the stator yoke 11 is formed by stacking annular silicon steel sheets or other magnetically permeable soft magnetic materials. By using a material with high permeability, the magnetic field strength and efficiency of the motor can be improved. When using annular silicon steel sheets, they can be fixed together by bonding, external welding, or a combination of bonding and welding to form a hollow cylindrical stator yoke 11. Alternatively, it can be a hollow polygonal prism or other geometric shapes suitable for motor design. In this application, the flexible component 20 is formed by winding a flexible printed circuit board (FPCB).

[0066] Meanwhile, the stator yoke 11 formed by the above-mentioned annular silicon steel sheet fixing method has sufficient strength for most small motor applications. Of course, the stator yoke 11 can also be fixed in a metal shell to enhance its mechanical strength.

[0067] An insulating layer made of polyimide or other high-temperature resistant and highly insulating material is provided between the two conductive layers of the flexible component 20 to prevent short circuits. The coil can be supported by copper wire or other highly conductive materials to reduce resistance loss and improve motor efficiency. The coil is located within the conductive layer, which protects it. The insulating layer between the two conductive layers provides electrical isolation between multiple coils and between the coil and the stator yoke 11. The flexible circuit board can be manufactured using existing FPCB production processes, employing photolithography, etching, and deposition techniques to achieve high-precision coil manufacturing.

[0068] One end of the flexible component 20 is provided with a terminal 22 for connecting to an external AC power source. Multiple sets of coils, arranged circumferentially around the stator yoke 11 within the conductive layer, are all electrically connected to the terminal 22. These coils can rotate clockwise or counterclockwise, forming a stator winding 29. When AC current passes through the coils, a radial magnetic field perpendicular to the stator yoke 11 is generated in the motor air gap. During motor operation, an external AC power source inputs current into the stator winding 29 through the terminal 22 of the flexible component 20. Because the multiple sets of coils are symmetrically distributed in space, the three-phase time-domain symmetrical current forms a rotating magnetic field in the motor air gap, interacting with the rotor magnetic field and thus driving the motor to rotate.

[0069] The flexible component 20 is rectangular before winding, and is wound from one end to the other to form a cylinder. The wound flexible circuit board is then glued to the inner wall of the stator yoke 11 to form the stator winding 29. Compared to the existing scheme that places the coil in the stator slot of the stator core, this application can greatly reduce the structural volume occupied by the stator winding 29. At the same time, it eliminates the need to set stator slots on the stator yoke 11, and the stator winding 29 can be installed simply by bonding, improving the convenience of processing and assembling the motor stator structure. This design also makes the motor structure more compact and reduces the difficulty of processing and assembly.

[0070] Each phase of the stator winding 29 includes at least two coils. The conductive portion includes a bridging portion 26, through which the two coils of the same phase of the stator winding 29 are connected. The bridging portion 26 is disposed near the center of the substrate 23 relative to the interlayer connection hole. The interlayer connection hole includes a first interlayer connection portion 251 and a second interlayer connection portion 252, which are located on opposite sides of the substrate 23. The bridging portion 26 is located between the first interlayer connection portion 251 and the second interlayer connection portion 252.

[0071] The coil includes a slanted segment 211. In the stator winding 29 of the same phase, the slanted segment 211 located on the first conductive layer 241 is defined as the first slanted segment 2111, and the slanted segment 211 located on the second conductive layer 242 is defined as the second slanted segment 2112. The interlayer connection portion electrically connects the adjacent first slanted segment 2111 and second slanted segment 2112. The interlayer connection portion is located on the side of the substrate 23.

[0072] The first oblique line segment 2111 includes multiple first sub-oblique line segments 21111 and multiple second sub-oblique line segments 21112 arranged side by side, and the current direction of the multiple first sub-oblique line segments 21111 is the same, and the current direction of the multiple second sub-oblique line segments 21112 is the same; the second oblique line segment 2112 includes multiple third sub-oblique line segments 21121 and multiple fourth sub-oblique line segments 21122 arranged side by side, and the current direction of the multiple third sub-oblique line segments 21121 is the same, and the current direction of the multiple fourth sub-oblique line segments 21122 is the same.

[0073] The coil includes a vertical segment 212. In the stator winding 29 of the same phase, the vertical segment 212 located in the first conductive layer is defined as the first vertical segment 2121, and the vertical segment 212 located in the second conductive layer is defined as the second vertical segment 2122. The first vertical segment 2121 is electrically connected to the first sub-sloping segment 21111 and the second sub-sloping segment 21112. The second vertical segment 2122 is electrically connected to the third sub-sloping segment 21121 and the fourth sub-sloping segment 21122. The current direction of the first vertical segment 2121 is the same as that of the second vertical segment 2122, and the current direction of the first vertical segment 2121 is opposite to that of the second vertical segment 2122.

[0074] The width of the vertical segment 212 is greater than the width of the diagonal segment 211, which reduces resistance, increases wiring density, and improves motor performance.

[0075] The motor includes a three-phase stator winding 29, with at least a portion of the first vertical section 2121 of one phase and at least a portion of the second vertical section 2122 of another phase arranged opposite to each other, and the current direction of the oppositely arranged first vertical section 2121 and second vertical section 2122 is the same.

[0076] And / or, at least a portion of the second vertical segment 2122 of one phase and at least a portion of the first vertical segment 2121 of another phase are arranged opposite each other, and the current directions of the oppositely arranged second vertical segment 2122 and first vertical segment 2121 are the same.

[0077] The first vertical segment 2121, which is arranged in opposite directions, consists of multiple segments arranged side by side, and the second vertical segment 2122, which is arranged in opposite directions, consists of multiple segments arranged side by side.

[0078] The motor includes three-phase stator windings 29, with at least a portion of the first vertical segment 2121 of one phase located between the second vertical segments 2122 of the other phase.

[0079] And / or, at least a portion of the second vertical segment 2122 of one phase is located between the first vertical segment 2121 of another phase;

[0080] And / or, at least a portion of the first vertical segment 2121 of one phase is located between the first vertical segment 2121 and the second vertical segment 2122 of another phase, and the first vertical segment 2121 of one phase located between the first vertical segment 2121 and the second vertical segment 2122 of another phase is a plurality of segments arranged side by side.

[0081] The same coil includes a first coil conductor 213 and a second coil conductor 214. The interlayer connection portion includes a first interlayer connection portion 251 and a second interlayer connection portion 252. The first interlayer connection portion 251 and the second interlayer connection portion 252 are located in the same coil conductor. The first interlayer connection portion 251 and the second interlayer connection portion 252 are located on opposite sides of the substrate 23. The first interlayer connection portion 251 of the first coil conductor 213 and the first interlayer connection portion 251 of the second coil conductor 214 are arranged in a transverse or longitudinal direction.

[0082] The motor includes three-phase stator windings, one phase of which includes two coils. The conductive part includes phase-to-phase connection holes, which electrically connect stator windings of different phases.

[0083] Embodiment 1 of this application: The motor in this embodiment is a three-phase motor with 6 slots and 2 poles using a Y-connection. Each phase stator winding includes two coils. The coils on the flexible component are wound in a saddle-shaped manner, and include a first coil 221, a second coil 222, a third coil 223, a fourth coil 224, a fifth coil 225, and a sixth coil 226. The first interlayer connection portion 251 of the first coil conductor 213 and the first interlayer connection portion 251 of the second coil conductor 214 are arranged laterally. There is one phase-to-phase connection hole 27, located between the fifth coil 225 and the sixth coil 226. Specifically, as shown in Figures 4-8, the coils on the first conductive layer 241 are drawn with solid lines, and the coils on the second conductive layer 242 are drawn with dashed lines. Half of a single coil conductor is located on the first conductive layer, and the other half is located on the second conductive layer, as shown in Figure 6. The portions of the single coil conductor located on different conductive layers are electrically connected through interlayer conductive portions. The current flow of the A-phase coil is as follows: the current flows into the A-phase coil, first passes through the first coil conductor 213 located in the first conductive layer 241, flows from the first sub-slope 21111 of the first oblique segment 21111 to the first vertical segment 2121 of the vertical segment 212, then flows from the first vertical segment 2121 into the second sub-slope segment 21112, flows through the second interlayer connection hole 252 into the second oblique segment 2112 of the second conductive layer 242, then flows through the third sub-slope segment 21121 and the second vertical segment 2122 into the fourth sub-slope segment 21122, and then flows from the first interlayer connection part 251 into the second coil conductor, and so on, until the current flows through one coil, then flows through the bridging part 26 into the second coil located in the same phase, until the current flows through the coil of one phase. In this embodiment, a Y-connection is used, so the currents between each phase are connected end-to-end. This means the coil from which current flows in phase A is connected to the coil from which current flows in phase B, the coil from which current flows in phase B is connected to the coil from which current flows in phase C, and the coil from which current flows in phase C is connected to the coil from which current flows in phase A. The conductive part used to connect the phases is the interphase connection hole 27. In this embodiment, the first coil 221 and the fourth coil 224 form the phase A winding, the third coil 223 and the sixth coil 226 form the phase B winding, and the second coil 222 and the fifth coil 225 form the phase C winding.

[0084] Embodiment 2 of this application: The motor in this embodiment is a three-phase motor with 6 slots and 2 poles using a delta connection. Each phase stator winding includes two coils. The coils on the flexible member 20 are wound in a saddle shape and include a first coil 221, a second coil 222, a third coil 223, a fourth coil 224, a fifth coil 225, and a sixth coil 226. The first interlayer connection portion 251 of the first coil conductor 213 and the first interlayer connection portion 251 of the second coil conductor 214 are arranged laterally. The phase connection holes include a first phase connection portion 271 and a second phase connection portion 272. The first phase connection portion 271 is located on the side of the substrate 23 closer to the first interlayer connection portion 271. The second phase connection portion 272 is located within the third coil 223 and / or the fifth coil 225. Specifically, as shown in Figures 9-13, the coil on the first conductive layer 241 is drawn with solid lines, and the coil on the second conductive layer 242 is drawn with dashed lines. Half of the single coil conductor is located in the first conductive layer, and the other half is located in the second conductive layer, as shown in Figure 10. The parts of the single coil conductor located in different conductive layers are connected by interlayer conductive parts. The current flow of the A-phase coil is as follows: the current flows into the A-phase coil, first passes through the first coil conductor 213 located in the first conductive layer 241, flows from the first sub-slope 21111 of the first oblique segment 21111 to the first vertical segment 2121 of the vertical segment 212, then flows from the first vertical segment 2121 into the second sub-slope segment 21112, flows through the second interlayer connection hole 252 into the second oblique segment 2112 of the second conductive layer 242, then flows through the third sub-slope segment 21121 and the second vertical segment 2122 into the fourth sub-slope segment 21122, and then flows from the first interlayer connection part 251 into the second coil conductor, and so on, until the current flows through the coil of one phase. In this embodiment, a delta connection is used, so the current between each phase is connected end-to-end. This means that the coil from which current flows out of phase A is connected to the coil from which current flows into phase B, the coil from which current flows out of phase B is connected to the coil from which current flows into phase C, and the coil from which current flows out of phase C is connected to the coil from which current flows into phase A. In this embodiment, the first phase-to-phase connection part 271 is the phase-to-phase connection hole connecting phases A and C, and the second phase-to-phase connection part 272 is the phase-to-phase connection hole connecting phases B and C. In this embodiment, the first coil 221 and the fourth coil 224 form the phase A winding, the third coil 223 and the sixth coil 226 form the phase B winding, and the second coil 222 and the fifth coil 225 form the phase C winding.

[0085] The motor includes a three-phase stator winding, each phase of which includes three coils. The conductive part includes interphase connection holes that electrically connect different phases of the stator winding.

[0086] Embodiment 3 of this application: The motor in this embodiment is a three-phase motor with 9 slots and 8 poles using a delta connection. One phase stator winding includes three coils. The coils on the flexible member 20 are arranged in a saddle-shaped overlapping manner. The coils include a first coil 221, a second coil 222, a third coil 223, a fourth coil 224, a fifth coil 225, a sixth coil 226, a seventh coil 227, an eighth coil 228, and a ninth coil 229. The first interlayer connection portion 251 of the first coil conductor 213 and the first interlayer connection portion 251 of the second coil conductor 214 are arranged laterally. The phase connection hole 27 is located between the fourth coil 224 and the fifth coil 225. Specifically, as shown in Figures 14-17, the coil on the first conductive layer 241 is drawn with solid lines, and the coil on the second conductive layer 242 is drawn with dashed lines. Half of the single coil conductor is located in the first conductive layer, and the other half is located in the second conductive layer, as shown in Figure 14. The parts of the single coil conductor located in different conductive layers are electrically connected through interlayer conductive parts. The current flow of the A-phase coil is as follows: the current flows into the A-phase coil, first passes through the first coil conductor 213 located in the first conductive layer 241, flows from the first sub-slope 21111 of the first oblique segment 21111 to the first vertical segment 2121 of the vertical segment 212, then flows from the first vertical segment 2121 into the second sub-slope segment 21112, flows through the second interlayer connection hole 252 into the second oblique segment 2112 of the second conductive layer 242, then flows through the third sub-slope segment 21121 and the second vertical segment 2122 into the fourth sub-slope segment 21122, and then flows from the first interlayer connection part 251 into the second coil conductor, and so on, until the current flows through one coil, then flows through the bridging part 26 into the second coil located in the same phase, until the current flows through the coil of one phase. In this embodiment, a delta connection is used, so the currents between each phase are connected end-to-end. Thus, the coil from which current flows in phase A is connected to the coil from which current flows in phase B, the coil from which current flows in phase B is connected to the coil from which current flows in phase C, and the coil from which current flows in phase C is connected to the coil from which current flows in phase A. The conductive part used to connect the phases is the interphase connection hole 27. In this embodiment, the first coil 221, the second coil 222, and the fourth coil 223 form the phase A winding; the fourth coil 224, the fifth coil 225, and the sixth coil 226 form the phase B winding; and the seventh coil 227, the eighth coil 228, and the ninth coil 229 form the phase C winding.

[0087] Embodiment 4 of this application: The motor in this embodiment is a three-phase motor with 9 slots and 8 poles using a delta connection. One phase stator winding includes three coils. The coils on the flexible member 20 are arranged in a saddle-shaped overlapping manner. The coils include a first coil 221, a second coil 222, a third coil 223, a fourth coil 224, a fifth coil 225, a sixth coil 226, a seventh coil 227, an eighth coil 228, and a ninth coil 229. The first interlayer connection portion 251 of the first coil conductor 213 and the first interlayer connection portion 251 of the second coil conductor 214 are arranged laterally. The phase connection holes include a first phase connection portion 271, a second phase connection portion 272, and a third phase connection portion 273. The first phase connection portion 271 is located on the side of the substrate 23 relative to the first interlayer connection portion 251. The second phase connection portion 272 is located inside the third coil 225, and the third phase connection portion 273 is located on the seventh coil. Specifically, as shown in Figures 18-21, the coil on the first conductive layer 241 is drawn with a solid line, and the coil on the second conductive layer 242 is drawn with a dashed line. Half of the single coil conductor is located in the first conductive layer, and the other half is located in the second conductive layer. As shown in Figure 18, the parts of the single coil conductor located in different conductive layers are electrically connected through the interlayer conductive part. The current flow of the A-phase coil is as follows: the current flows into the A-phase coil, first passes through the first coil conductor 213 located in the first conductive layer 241, flows from the first sub-slope 21111 of the first oblique segment 21111 to the first vertical segment 2121 of the vertical segment 212, then flows from the first vertical segment 2121 into the second sub-slope segment 21112, flows through the second interlayer connection hole 252 into the second oblique segment 2112 of the second conductive layer 242, then flows through the third sub-slope segment 21121 and the second vertical segment 2122 into the fourth sub-slope segment 21122, and then flows from the first interlayer connection part 251 into the second coil conductor, and so on, until the current flows through one coil, then flows through the bridging part 26 into the second coil located in the same phase, until the current flows through the coil of one phase. In this embodiment, a delta connection is used, so the current between each phase is connected end to end. In this way, the coil from which the current flows out of phase A is connected to the coil from which the current flows into phase B, the coil from which the current flows out of phase B is connected to the coil from which the current flows into phase C, and the coil from which the current flows out of phase C is connected to the coil from which the current flows into phase A. In this embodiment, the first phase connection part 271 is the phase connection hole connecting phase A and phase B, the second phase connection part 272 is the phase connection hole connecting phase A and phase C, and the third phase connection part 273 is the phase connection hole connecting phase B and phase C.

[0088] In Embodiment 5 of this application, referring to Figures 22-27, the motor is a three-phase motor with 6 slots and 2 poles using a Y-connection. The motor includes three-phase stator windings 29. Each phase of the stator winding 29 includes two coils, namely a first coil 221, a second coil 222, a third coil 223, a fourth coil 224, a fifth coil 225, and a sixth coil 226. The conductive part includes an interphase connection part 27, which electrically connects the stator windings 29 of different phases.

[0089] The first coil 221 is concentrically wound. The first interlayer connection portion 251 of the first coil conductor 213 and the first interlayer connection portion 251 of the second coil conductor 214 are arranged longitudinally. Half of the first coil 221 is located in the first conductive layer 241 (i.e., the solid line portion of the first coil shown in Figure 23), and the other half of the first coil 221 (i.e., the dashed line portion of the first coil shown in Figure 23) is located in the second conductive layer 242. The first coil 221 located in the first conductive layer 241 and the coil 221 located in the second conductive layer 242 are connected. The coils are connected by interlayer connecting parts. The number of interlayer connecting parts can be set according to requirements (e.g., the coil is concentrically wound, lapped, or the number of turns of the first coil 221). In this embodiment, the interlayer connecting part located on the upper side of the first coil 221 is the first interlayer connecting part 251, and the interlayer connecting part located on the lower side of the first coil 221 is the second interlayer connecting part 252. There are 3 first interlayer connecting parts 251 and 4 second interlayer connecting parts 252. The other coils can be set in the same or similar way, which will not be described in detail here.

[0090] The portion of the first coil conductor 213 located in the second conductive layer 242 has a first vertical segment 2121, a first sub-sloping segment 21111, and a second sub-sloping segment 21112. The first vertical segment 2121 is located between the first sub-sloping segment 21111 and the second sub-sloping segment 21112. Taking the first coil conductor 213 as an example, referring to Figures 26 and 27, the A-phase current flows from the terminal 22 into the first sub-sloping segment 211, and then flows through the first vertical segment 2121 into the second sub-sloping segment 21112. The diagonal segment 21111 flows through the second interlayer connection 252 into the fourth sub-diagonal segment 21122 of the first ring conductor 213, then flows to the second vertical segment 2122 and then into the third sub-diagonal segment 21121. Finally, it flows through the first interlayer connection 251 into the part of the second ring conductor 214 located in the first conductive layer 241, then through the part of the second ring conductor 214 located in the second conductive layer 242, and so on, until it flows into the innermost ring conductor.

[0091] Phase A includes two coils, namely the first coil 221 and the fourth coil 224, which are the coils of Phase A. The first coil 221 and the fourth coil 224 are arranged side by side from left to right. The current of Phase A flows from the end of the innermost coil conductor of the first coil 221 through the bridging part 26 to the beginning of the outermost coil conductor of the fourth coil 224.

[0092] Phases B and C are the same as or similar to phase A, and will not be elaborated here.

[0093] The phase-to-phase connection hole includes a first phase-to-phase connection portion 271, a second phase-to-phase connection portion 272, and a third phase-to-phase connection portion 273. The first phase-to-phase connection portion 271 is located between the first coil 221 and the second coil 222, the second phase-to-phase connection portion 272 is located inside the third coil 223, and the third phase-to-phase connection portion 273 is located inside the fifth coil 225.

[0094] The first phase-to-phase connection 271 and the second phase-to-phase connection 272 are electrically connected to the second conductive layer 242. The conductors that make the electrical connection (the dashed portion between the first phase-to-phase connection 271 and the second phase-to-phase connection 272) are approximately parallel to the oblique portion of the second coil 222 located in the second conductive layer 242. The second phase-to-phase connection 272 is located on the innermost coil conductor of the fourth coil 224. The second phase-to-phase connection 272 is electrically connected to the innermost first interlayer connection 251 of the fourth coil 224 through the innermost coil conductor of the fourth coil 224 (and the portion located in the first conductive layer 241). The third phase-to-phase connection 273 is located on the innermost coil conductor of the fourth coil 224. The third phase-to-phase connection 273 is electrically connected to the innermost first interlayer connection 251 of the fourth coil 224 through the innermost coil conductor of the fourth coil 224 (and the portion located in the second conductive layer 242).

[0095] In Embodiment 6 of this application, referring to Figures 28-33, the motor is a three-phase motor with 6 slots and 2 poles using a delta connection. The first coil 221 is wound concentrically, and the first interlayer connection portion 251 of the first coil conductor 213 and the first interlayer connection portion 251 of the second coil conductor 214 are arranged longitudinally.

[0096] The phase-to-phase connection portion includes a first phase-to-phase connection portion 271, a second phase-to-phase connection portion 272, a third phase-to-phase connection portion 273, a fourth phase-to-phase connection portion 274, a fifth phase-to-phase connection portion 275, and a sixth phase-to-phase connection portion 276. The first phase-to-phase connection portion 271 is located on the first coil 221, the second phase-to-phase connection portion 272 is located inside the first coil 221, the third phase-to-phase connection portion 273 is located between the second coil 222 and the third coil 223, the fourth phase-to-phase connection portion 274 and the fifth phase-to-phase connection portion 275 are located on the fourth coil 224, and the sixth phase-to-phase connection portion 276 is located inside the fifth coil 225.

[0097] The first phase-to-phase connection 271 is located on the outermost coil conductor of the first coil 221, and the second phase-to-phase connection 272 is located on the innermost coil conductor of the second coil 222. The first phase-to-phase connection 271 and the second phase-to-phase connection 272 (the dashed line portion between the first phase-to-phase connection 271 and the second phase-to-phase connection 272) are electrically connected through the second conductive layer 242. The conductors that make the electrical connection (the dashed line portion between the first phase-to-phase connection 271 and the second phase-to-phase connection 272) are approximately perpendicular to the oblique line portion of the first coil 221 located in the first conductive layer 241.

[0098] The third phase-to-phase connection 273 is located on the outermost coil conductor of the third coil 223, and the fourth phase-to-phase connection 274 is located on the innermost coil conductor of the fourth coil 224. The third phase-to-phase connection 273 and the fourth phase-to-phase connection 274 are electrically connected in the second conductive layer 242. The conductors connecting the third phase-to-phase connection 273 and the fourth phase-to-phase connection 274 (the dashed lines of the third phase-to-phase connection 273 and the fourth phase-to-phase connection 274) are approximately perpendicular to the oblique line portion of the third coil 223 located in the first conductive layer 241.

[0099] The fifth phase-to-phase connection 275 is located on the innermost coil conductor of the fifth coil 225, and the sixth phase-to-phase connection 276 is located on the innermost coil conductor of the sixth coil 226. The fifth phase-to-phase connection 275 and the sixth phase-to-phase connection 276 are partially electrically connected through the second conductive layer 242. The conductors that are electrically connected (the dashed line portion between the fifth phase-to-phase connection 275 and the sixth phase-to-phase connection 276) are approximately perpendicular to the oblique line portion of the sixth coil 226 located in the first conductive layer 241.

[0100] In Embodiment 7 of this application, referring to Figures 34-39, the motor is a three-phase motor with 9 slots and 8 poles using a Y-connection. The motor includes three-phase stator windings 29. Each phase of the stator winding 29 includes two coils: a first coil 221, a second coil 222, a third coil 223, a fourth coil 224, a fifth coil 225, a sixth coil 226, a seventh coil 227, an eighth coil 228, and a ninth coil 229. The conductive part includes an interphase connection part 27, which electrically connects the stator windings 29 of different phases.

[0101] The first coil 221 is concentrically wound. The first interlayer connection portion 251 of the first coil conductor 213 and the first interlayer connection portion 251 of the second coil conductor 214 are arranged longitudinally. Half of the first coil 221 is located in the first conductive layer 241 (i.e., the solid line portion of the first coil shown in Figure 29), and the other half of the first coil 221 is located in the second conductive layer 242 (i.e., the solid line portion of the first coil shown in Figure 29). The first coil 221 located in the first conductive layer 241 and the first coil 221 located in the second conductive layer 242 are connected. The coils are connected by interlayer connecting parts. The number of interlayer connecting parts can be set according to requirements (e.g., the coil is concentrically wound, lapped, or the number of turns of the first coil 221). In this embodiment, the interlayer connecting hole located on the upper side of the first coil 221 is the first interlayer connecting part 251, and the interlayer connecting hole located on the lower side of the first coil 221 is the second interlayer connecting part 252. There are 3 first interlayer connecting parts 251 and 4 second interlayer connecting parts 252. The other coils can be set in the same or similar way, which will not be described in detail here.

[0102] The portion of the first coil conductor 213 located in the second conductive layer 242 has a first vertical segment 2121 and a first sub-sloping segment 21111 and a second sub-sloping segment 21112. The first vertical segment 2121 is located between the first sub-sloping segment 21111 and the second sub-sloping segment 21112. The first sub-sloping segment 21111 is closer to the side of the substrate 23 relative to the first vertical segment 2121. Taking the first coil conductor 213 as an example, the A-phase current flows from the terminal 22 into the first sub-sloping segment 211, then through the first vertical segment 2121 into the second sub-sloping segment 21111, through the second interlayer connection portion 252 into the fourth sub-sloping segment 21122 of the first coil conductor 213, then into the second vertical segment 2122 and then into the third sub-sloping segment 21121.

[0103] Phase A current flows into the portion of the first coil conductor 213 located in the first conductive layer 241 of the first coil 221, then flows through the second interlayer connection portion 252 into the portion of the first coil conductor 213 located in the second conductive layer 242, then flows through the first interlayer connection portion 251 into the portion of the second coil conductor 214 located in the first conductive layer 241, then through the portion of the second coil conductor 214 located in the second conductive layer 242, and so on, until it flows into the innermost coil conductor.

[0104] Phase A includes three coils: a first coil 221, a second coil 222, and a third coil 223. These three coils are arranged side by side from left to right. The current in Phase A flows from the end of the innermost coil conductor of the first coil 221 through the bridging part 26 to the beginning of the outermost coil conductor of the third coil 223. Then, it flows through the innermost coil conductor of the third coil 223, which is located in the second conductive layer 242, to the outermost coil conductor of the second coil 222, which reduces the number of bridging parts 26 required.

[0105] Phases B and C are the same as or similar to phase A, and will not be elaborated here.

[0106] The phase-to-phase connection portion 27 includes a first phase-to-phase connection portion 271, a second phase-to-phase connection portion 272, and a third phase-to-phase connection portion 273. The first phase-to-phase connection portion 271, the second phase-to-phase connection portion 272, and the third phase-to-phase connection portion 273 are located on the side of the interlayer connection portion closer to the substrate 23. The first phase-to-phase connection portion 271 is located on the second coil 222, the second phase-to-phase connection portion 272 is located on the fifth coil 225, and the third phase-to-phase connection portion 273 is located on the eighth coil 228.

[0107] The first phase-to-phase connection portion 271, the second phase-to-phase connection portion 272, and the third phase-to-phase connection portion 273 are electrically connected to the second conductive layer 242. The first phase-to-phase connection portion 271 is located on the innermost coil conductor of the second coil 222 (and is located on the first conductive layer 241). The second phase-to-phase connection portion 272 is located on the innermost coil conductor of the fifth coil 225 (and is located on the first conductive layer 241). The third phase connection hole is located on the innermost coil conductor of the eighth coil 228 (and is located on the first conductive layer 241). The conductors that electrically connect the first phase-to-phase connection portion 271, the second phase-to-phase connection portion 272, and the third phase-to-phase connection portion 273 (the dashed line connecting the first phase-to-phase connection portion 271, the second phase-to-phase connection portion 272, and the third phase-to-phase connection portion 273) are arranged approximately perpendicular to the vertical portion.

[0108] In Embodiment 8 of this application, referring to Figures 40-46, the motor is a three-phase motor with 9 slots and 8 poles using a delta connection. The first coil 221 is wound concentrically, and the first interlayer connection portion 251 of the first coil conductor 213 and the first interlayer connection portion 251 of the second coil conductor 214 are arranged longitudinally.

[0109] The first phase-to-phase connection portion 271 and the second phase-to-phase connection portion 272 are located on the side of the substrate 23 near the interlayer connection hole. The first phase-to-phase connection portion 271 is located on the first coil 221, and the second phase-to-phase connection portion 272 is located on the eighth coil 228.

[0110] The first phase-to-phase connection portion 271 and the second phase-to-phase connection portion 272 are electrically connected to the second conductive layer 242. The first phase-to-phase connection portion 271 is located on the outermost coil conductor of the first coil 221 (and on a portion of the first conductive layer 241), and the second phase-to-phase connection portion 272 is located on the innermost coil conductor of the eighth coil 228 (and on the first conductive layer 241). The conductors that are electrically connected are arranged approximately perpendicular to the vertical portion.

[0111] The motor also includes a magnetic field detection component 30, which includes a circuit control board 31 and a Hall sensor 32. The Hall sensor 32 is mounted on the circuit control board 31, which is connected to the side of the flexible component 20 with a terminal 22. The flexible component 20 is wound into a cylindrical shape, and the circuit control board 31 is annular in shape, covering the end of the cylindrical flexible component. The circuit control board 31 can also be a flexible circuit board. By designing the circuit control board 31 as flexible, it is easier to integrate the circuit control board 31 and the flexible component 20 during manufacturing, allowing the Hall sensor 32 to be electrically connected to an external circuit via the terminal 22. This significantly improves the space utilization of the motor, reduces the structural volume, and enhances wiring convenience.

[0112] The robot motor of this application also includes a front cover 50, a rear cover 60, and a bearing 70. The stator has a front cover 50 and a rear cover 60 at both ends, respectively, and these covers are fixedly connected to the stator yoke 11 by adhesive bonding. The stator yoke 11 can be formed by splicing multiple annular silicon steel sheets. To enhance the strength of the stator yoke, the bonded stator yoke 11 can be further reinforced by welding the multiple annular silicon steel sheets together. The front cover 50 and the rear cover 60 are made of metal or other hard materials to improve the structural strength of the stator. When the front cover 50 and the rear cover 60 are made of metal, they can also be fixedly connected to the stator yoke 11 by welding.

[0113] The two bearings of the motor are respectively mounted on the front end cover 50 and the rear end cover 60. The magnets of the motor are mounted on the rotor shaft 40, and the two ends of the rotor are rotatably connected to the front end cover 50 and the rear end cover 60 of the motor through two bearings. When the motor is working, the external controller inputs current into the three-phase windings of the motor through the terminal 22 of the flexible component 20.

[0114] As shown in Figure 46, this application also provides an actuator, including a driving component, a transmission component 8, and an output component 9. The driving component includes a stator and a rotor. The rotor includes a magnetic element 41 and a rotor shaft 40. The magnetic element 41 is connected to the rotor shaft 40. The stator includes a stator yoke 11 and a flexible element 20. The stator yoke 11 has a receiving cavity 28, and both ends of the stator yoke 11 are through-connected. The rotor is located in the receiving cavity 28. The flexible element 20 is wound in the receiving cavity 28. The flexible element is located between the inner wall of the stator yoke 11 and the outer wall of the magnetic element 41. The flexible element 20 includes a stator winding 29 and a substrate 23. The flexible element 20 has a conductive layer. The stator winding 29 is disposed on the conductive layer of the flexible element. The conductive layer includes a first conductive layer 241 and a second conductive layer 242. The first conductive layer 241 is located on one side of the substrate 23, and the second conductive layer 242 is located on the other side of the substrate 23. On one side, the motor includes at least two phases of the stator winding 29, each phase of the stator winding 29 including at least one coil, at least a portion of the coil of the stator winding 29 being located in the first conductive layer 241, and at least a portion of the coil of the stator winding 29 being located in the second conductive layer 242. The flexible member 20 also includes a conductive portion penetrating the substrate 23, the conductive portion including an interlayer connection portion, the substrate 23 having a through hole in the conductive portion, the interlayer connection portion at least filling a portion of the through hole and electrically connecting the periphery of the through hole of the first conductive layer and the second conductive layer; the interlayer connection portion electrically connects the portion of the same coil located in the first conductive layer 241 and the portion of the same coil located in the second conductive layer 242, the driving member being able to drive the transmission member 8, the transmission member 8 including a reduction section, the rotor shaft 40 of the driving member being connected to the reduction section 81, and the reduction section 81 being connected to the output member 9. The transmission component 8 includes a main gear 81 and an auxiliary gear 82, the main gear 81 meshing with the auxiliary gear 82, the rotor shaft 40 connected to the main gear 81, and the output component 9 including a sleeve 91 and a connecting rod 92. The sleeve 91 has a cavity, the connecting rod 92 is at least partially located in the cavity, the sleeve 91 is threadedly connected to the connecting rod 92, one end of the sleeve 91 is connected to the auxiliary gear 82, or one end of the connecting rod 92 is connected to the auxiliary gear 82.

Claims

1. A robot motor, characterized in that, The motor includes a stator and a rotor. The rotor includes a magnetic component (41) and a rotor shaft (40). The magnetic component (41) is connected to the rotor shaft (40). The stator includes a stator yoke (11) and a flexible component (20). The stator yoke (11) has a receiving cavity (28), and both ends of the stator yoke (11) are through-connected. The rotor is located in the receiving cavity (28), and the flexible component (20) is wound in the receiving cavity (28). The flexible element (20) is located between the inner wall of the stator yoke (11) and the outer wall of the magnetic element (41). The flexible element (20) includes a stator winding (29) and a substrate (23). The flexible element (20) has a conductive layer, on which the stator winding (29) is disposed. The conductive layer includes a first conductive layer (241) and a second conductive layer (242). The first conductive layer (241) is located on the substrate (23). On one side, the second conductive layer (242) is located on the other side of the substrate (23). The motor includes at least two phases of the stator winding (29). One phase of the stator winding (29) includes at least one coil. At least a portion of the coil of one phase of the stator winding (29) is located on the first conductive layer (241). At least a portion of the coil of one phase of the stator winding (29) is located on the second conductive layer (242). The flexible member (20) also includes a conductive portion penetrating the substrate (23). The conductive portion includes an interlayer connection portion. The substrate (23) has a through hole in the conductive portion. The interlayer connection portion at least fills a portion of the through hole and electrically connects the periphery of the portion of the through hole located on the first conductive layer and the second conductive layer. The interlayer connection portion electrically connects the portion of the same coil located on the first conductive layer (241) and the portion of the same coil located on the second conductive layer (242).

2. The robot motor according to claim 1, characterized in that, The stator winding (29) of one phase includes at least two coils connected in series, and the conductive part includes a bridging part (26) through which two of the coils of the stator winding (29) of the same phase are electrically connected.

3. The robot motor according to claim 2, characterized in that, The bridging portion (26) is disposed relatively close to the center of the substrate (23) relative to the interlayer connection portion. The interlayer connection portion includes a plurality of first interlayer connection portions (251) and a plurality of second interlayer connection portions (252). The first interlayer connection portions (251) and the second interlayer connection portions (252) are located on opposite sides of the substrate (23). The bridging portion (26) is located between the first interlayer connection portions (251) and the second interlayer connection portions (252).

4. The robot motor according to claim 1, characterized in that, The coil includes a slant segment (211). In the stator winding (29) of the same phase, the slant segment (211) located in the first conductive layer is defined as the first slant segment (2111), and the slant segment (211) located in the second conductive layer is defined as the second slant segment (2112). The interlayer connection portion electrically connects the adjacent first slant segment (2111) and second slant segment (2112). The interlayer connection portion is located on the side of the substrate (23).

5. The robot motor according to claim 4, characterized in that, The first oblique line segment (2111) includes a plurality of first sub-oblique line segments (21111) arranged side by side and a plurality of second sub-oblique line segments (21112) arranged side by side, and the current direction of the plurality of first sub-oblique line segments (21111) is the same, and the current direction of the plurality of second sub-oblique line segments (21112) is the same. The second oblique segment (2112) includes a plurality of third sub-oblique segments (21121) arranged side by side and a plurality of fourth sub-oblique segments (21122) arranged side by side, and the current direction of the plurality of third sub-oblique segments (21121) is the same, and the current direction of the plurality of fourth sub-oblique segments (21122) is the same.

6. The robot motor according to claim 5, characterized in that, The coil includes a vertical segment (212). In the stator winding (29) of the same phase, the vertical segment (212) located in the first conductive layer is defined as the first vertical segment (2121), and the vertical segment (212) located in the second conductive layer is defined as the second vertical segment (2122). The first vertical segment (2121) is electrically connected to the first sub-slope segment (21111) and the second sub-slope segment (21112). The second vertical segment (2122) is electrically connected to the third sub-slope segment (21121) and the fourth sub-slope segment (21122). The current direction of the first vertical segment (2121) is the same, the current direction of the second vertical segment (2122) is the same, and the current direction of the first vertical segment (2121) and the current direction of the second vertical segment (2122) are opposite.

7. The robot motor according to claim 6, characterized in that, The motor includes a three-phase stator winding (29), with at least a portion of the first vertical segment (2121) of one phase and at least a portion of the second vertical segment (2122) of another phase arranged opposite to each other, and the current directions of the oppositely arranged first vertical segment (2121) and second vertical segment (2122) are the same; And / or, at least a portion of the second vertical segment (2122) of one phase and at least a portion of the first vertical segment (2121) of another phase are arranged opposite each other, and the current directions of the oppositely arranged second vertical segment (2122) and first vertical segment (2121) are the same.

8. The robot motor according to claim 7, characterized in that, The first vertical segment (2121) that is arranged opposite to each other is arranged in multiple rows, and the second vertical segment (2122) that is arranged opposite to each other is arranged in multiple rows.

9. The robot motor according to claim 6, characterized in that, The motor includes three-phase stator windings (29), with at least a portion of the first vertical segment (2121) of one phase located between the second vertical segments (2122) of the other phase adjacent to it; And / or, at least a portion of the second vertical segment (2122) of one phase is located between the adjacent first vertical segments (2121) of another phase; And / or, at least a portion of the first vertical segment (2121) of one phase is located between the first vertical segment (2121) and the second vertical segment (2122) of another phase, and the first vertical segment (2121) of the one phase located between the first vertical segment (2121) and the second vertical segment (2122) of another phase is a plurality of segments arranged side by side.

10. The robot motor according to any one of claims 1-9, characterized in that, The same coil includes a first coil conductor (213) and a second coil conductor (214). The conductive part includes a first interlayer connection part (251) and a second interlayer connection part (252). The first interlayer connection part (251) and the second interlayer connection part (252) are located on the same coil conductor of the same coil. The first interlayer connection part (251) and the second interlayer connection part (252) are located on opposite sides of the substrate (23). The first interlayer connection part (251) of the first coil conductor (213) and the first interlayer connection part (251) of the second coil conductor (214) are arranged in a transverse or longitudinal direction.

11. The robot motor according to claim 10, characterized in that, The motor includes a three-phase stator winding (29), one phase of the stator winding (29) includes two coils, and the conductive part includes an interphase connection part (27), which electrically connects the stator windings (29) of different phases.

12. The robot motor according to claim 11, characterized in that, The coils include a first coil (221), a second coil (222), a third coil (223), a fourth coil (224), a fifth coil (225), and a sixth coil (226). The first interlayer connection portion (251) of the first coil conductor (213) and the first interlayer connection portion (251) of the second coil conductor (214) are arranged laterally. There is one phase connection portion (27), which is located between the fifth coil (225) and the sixth coil (226).

13. The robot motor according to claim 11, characterized in that, The coils include a first coil (221), a second coil (222), a third coil (223), a fourth coil (224), a fifth coil (225), and a sixth coil (226). The first interlayer connection portion (251) of the first coil conductor (213) and the first interlayer connection portion (251) of the second coil conductor (214) are arranged longitudinally. The phase connection portion (27) includes a first phase connection portion (271), a second phase connection portion (272), and a third phase connection portion (273). The first phase connection portion (271) is located between the second coil (222) and the third coil (223). The second phase connection portion (272) is located inside the third coil (223). The third phase connection portion (273) is located inside the fifth coil (225).

14. The robot motor according to claim 11, characterized in that, The coils include a first coil (221), a second coil (222), a third coil (223), a fourth coil (224), a fifth coil (225), and a sixth coil (226). The first interlayer connection portion (251) of the first coil conductor (213) and the first interlayer connection portion (251) of the second coil conductor (214) are arranged laterally. The phase connection portion (27) includes a first phase connection portion (271) and a second phase connection portion (272). The first phase connection portion (271) is located near the side of the substrate (23) relative to the first interlayer connection portion (251). The second phase connection portion (272) is located within the third coil (223) and / or the fifth coil (225).

15. The robot motor according to claim 11, characterized in that, The coils include a first coil (221), a second coil (222), a third coil (223), a fourth coil (224), a fifth coil (225), and a sixth coil (226). The first interlayer connection portion (251) of the first coil conductor (213) and the first interlayer connection portion (251) of the second coil conductor (214) are arranged longitudinally. The phase-to-phase connection portion (27) includes a first phase-to-phase connection portion (271), a second phase-to-phase connection portion (272), a third phase-to-phase connection portion (273), a fourth phase-to-phase connection portion (274), and a fifth phase-to-phase connection portion (276). The first phase-to-phase connection (271) is located on the first coil (221), the second phase-to-phase connection (272) is located inside the first coil (221), the third phase-to-phase connection (273) is located between the second coil (222) and the third coil (223), the fourth phase-to-phase connection (274) and the fifth phase-to-phase connection (275) are located on the fourth coil (224), and the sixth phase-to-phase connection (276) is located inside the fifth coil (225).

16. The robot motor according to claim 10, characterized in that, The motor includes a three-phase stator winding (29), one phase of the stator winding (29) includes three coils, and the conductive part includes an interphase connection part (27), which electrically connects the stator windings (29) of different phases.

17. The robot motor according to claim 16, characterized in that, The coils include a first coil (221), a second coil (222), a third coil (223), a fourth coil (224), a fifth coil (225), a sixth coil (226), a seventh coil (227), an eighth coil (228), and a ninth coil (229). The first interlayer connection portion (251) of the first coil conductor (213) and the first interlayer connection portion (251) of the second coil conductor (214) are arranged laterally. The phase connection portion (27) is located between the fourth coil (224) and the fifth coil (225).

18. The robot motor according to claim 16, characterized in that, The coils include a first coil (221), a second coil (222), a third coil (223), a fourth coil (224), a fifth coil (225), a sixth coil (226), a seventh coil (227), an eighth coil (228), and a ninth coil (229). The first interlayer connection portion (251) of the first coil conductor (213) and the first interlayer connection portion (251) of the second coil conductor (214) are arranged longitudinally. The phase-to-phase connection portion (27) includes a first phase-to-phase connection portion (271). The first phase-to-phase connection (271), the second phase-to-phase connection (272) and the third phase-to-phase connection (273) are located on the side of the substrate (23) relative to the interlayer connection hole. The first phase-to-phase connection (271) is located on the second coil (222), the second phase-to-phase connection (272) is located on the fifth coil (225), and the third phase-to-phase connection (273) is located on the eighth coil (228).

19. The robot motor according to claim 16, characterized in that, The coils include a first coil (221), a second coil (222), a third coil (223), a fourth coil (224), a fifth coil (225), a sixth coil (226), a seventh coil (227), an eighth coil (228), and a ninth coil (229). The first interlayer connection portion (251) of the first coil conductor (213) and the first interlayer connection portion (251) of the second coil conductor (214) are arranged laterally. The phase connection portion (27) includes a first phase connection portion (271), a second phase connection portion (272), and a third phase connection portion (273). The first phase connection portion (271) is located near the side of the substrate (23) relative to the first interlayer connection portion (251). The second phase connection portion (272) is located inside the third coil (223), and the third phase connection portion (273) is located on the seventh coil (227).

20. The robot motor according to claim 16, characterized in that, The coils include a first coil (221), a second coil (222), a third coil (223), a fourth coil (224), a fifth coil (225), a sixth coil (226), a seventh coil (227), an eighth coil (228), and a ninth coil (229). The first interlayer connection portion (251) of the first coil conductor (213) and the first interlayer connection portion (251) of the second coil conductor (214) are arranged longitudinally. The phase connection portion (27) includes a first phase connection portion (271) and a second phase connection portion (272). The first phase connection portion (271) and the second phase connection portion (272) are located on the side of the substrate (23) relative to the interlayer connection hole. The first phase connection portion (271) is located on the first coil (221), and the second phase connection portion (272) is located on the eighth coil (228).

21. The robot motor according to claim 6, characterized in that, The width of the vertical segment (212) is greater than the width of the diagonal segment (211).

22. The robot motor according to any one of claims 1-21, characterized in that, The coil can be polygonal, circular, or elliptical in shape.

23. The robot motor according to any one of claims 1-21, characterized in that, The coil is made of copper foil.

24. The robot motor according to any one of claims 1-21, characterized in that, The robot motor includes an end cap and a bearing (70). The end cap is located at both ends of the robot motor. The bearing (70) is connected to the rotor shaft (40), and the bearing (70) is at least partially located inside the end cap.

25. An actuator, characterized in that, The system includes a drive component, a transmission component (8), and an output component (9). The drive component includes a stator and a rotor. The rotor includes a magnetic element (41) and a rotor shaft (40). The magnetic element (41) is connected to the rotor shaft (40). The stator includes a stator yoke (11) and a flexible element (20). The stator yoke (11) has a receiving cavity (28), and both ends of the stator yoke (11) are through-connected. The rotor is located in the receiving cavity (28). The flexible element (20) is wound in the receiving cavity (28). The flexible element is located between the inner wall of the stator yoke (11) and the outer wall of the magnetic element (41). The flexible element (20) includes a stator winding (29) and a substrate (23). The flexible element (20) has a conductive layer. The stator winding (29) is disposed on the conductive layer of the flexible element. The conductive layer includes a first... The motor includes at least two phase stator windings (29), each phase of which includes at least one coil. At least a portion of the coil of the stator winding (29) is located on the first conductive layer (241), and at least a portion of the coil of the stator winding (29) is located on the second conductive layer (242). The flexible member (20) also includes a conductive portion penetrating the substrate (23). The conductive portion includes an interlayer connection portion. The substrate has a through hole in the conductive portion. The interlayer connection portion at least fills a portion of the through hole and electrically connects the periphery of the portion of the through hole located on the first conductive layer and the second conductive layer. The interlayer connection portion electrically connects the portion of the same coil located in the first conductive layer (241) and the portion of the same coil located in the second conductive layer (242). The driving component is capable of driving the transmission component (8). The transmission component (8) includes a deceleration section (81). The rotor shaft (40) of the driving component is connected to the deceleration section (81), and the deceleration section (81) is connected to the output component (9).

26. The actuator according to claim 26, characterized in that, The transmission component (8) includes a main gear (81) and an auxiliary gear (82), the main gear (81) meshing with the auxiliary gear (82), the rotor shaft (40) connected to the main gear (81), and the output component (9) including a sleeve (91) and a connecting rod (92). The sleeve (91) has a cavity, the connecting rod (92) is at least partially located in the cavity, the sleeve (91) and the connecting rod (92) are threadedly connected, one end of the sleeve (91) is connected to the auxiliary gear (82), or one end of the connecting rod (92) is connected to the auxiliary gear (82).

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