Motor and actuator

Abstract

Provided is a motor, comprising a stator (2) and a rotor (3). The stator (2) comprises a stator yoke (21) and a flexible member (1); the stator yoke (21) is provided with an accommodating cavity (20), and two ends of the stator yoke (21) are in communication with each other; the rotor (3) is arranged in the accommodating cavity (20); the flexible member (1) is located between an inner wall of the stator yoke (21) and an outer wall of the rotor (3); the flexible member (1) comprises a stator winding (11) and a base plate (10), and the stator winding (11) is located on the base plate (10); the flexible member (1) is provided with a conductive layer; the flexible member (1) is provided with the stator winding (11) on the conductive layer; the flexible member (1) is cylindrically wound around the accommodating cavity (20); the flexible member (1) comprises a first ring and a second ring, the first ring is closer to the rotor (3) than the second ring, and the second ring is closer to the stator yoke (21) than the first ring; the stator winding (11) comprises a plurality of coil conductors (111); and the line spacing between adjacent coil conductors (111) located on the first ring is A1, the line spacing between adjacent coil conductors (111) located on the second ring is A2, the coil width of the coil conductors (111) located on the first ring is W1, and the coil width of the coil conductors (111) located on the second ring is W2, wherein A1 is less than or equal to A2, or W1 is less than or equal to W2, or A1 is less than A2 and W1 is less than W2.

Description

Motors and actuators

[0001] This application claims priority to Chinese Patent Application No. 202510345316.2, filed on March 24, 2025, entitled "Electric 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 more particularly to a motor and actuator. Background Technology

[0003] Slotless motors are widely used in applications requiring small, high-performance motors, such as in robotics and medical devices. Currently, some motors use stacked flexible circuit boards as stator windings. However, this type of wound flexible circuit board may experience problems such as localized overheating and poor heat dissipation. Summary of the Invention

[0004] The purpose of this application is to provide an electric motor with improved heat dissipation.

[0005] An electric motor includes a stator and a rotor. The stator includes a stator yoke and a flexible member. 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 member is located between the inner wall of the stator yoke and the outer wall of the magnetic member. The flexible member includes a stator winding and a substrate. The stator winding is located on the substrate. The flexible member has a conductive layer. The stator winding is provided on the conductive layer of the flexible member. The flexible member is cylindrical and wound in the receiving cavity. The flexible member is wound at least two turns, including a first turn and a second turn. The first turn is closer to the rotor than the second turn, and the second turn is closer to the stator yoke than the first turn. The stator winding includes a plurality of coil conductors. The line spacing between adjacent coil conductors in the first turn is A1, and the line spacing between adjacent coil conductors in the second turn is A2. The line width of the coil conductor in the first turn is W1, and the line width of the coil conductor in the second turn is W2. A1 is less than or equal to A2, or W1 is less than or equal to W2, or A1 is less than A2 and W1 is less than W2.

[0006] The spacing between adjacent coil conductors in the first coil closer to the rotor is less than or equal to the spacing between adjacent coil conductors in the second coil closer to the stator yoke; or, the line width of the coil conductor in the first coil is less than or equal to the line width of the coil conductor in the second coil; or, the spacing between adjacent coil conductors in the first coil closer to the rotor is less than the spacing between adjacent coil conductors in the second coil closer to the stator yoke, and the line width of the coil conductor in the first coil is less than the line width of the coil conductor in the second coil. By making the spacing between coil conductors closer to the rotor smaller, or making the line width between coil conductors closer to the rotor smaller, or making both the spacing between coil conductors closer to the rotor smaller, the heat generated is concentrated in the part of the flexible component closer to the rotor. When the rotor rotates, this helps to enhance the heat dissipation effect closer to the rotor, thereby improving heat dissipation.

[0007] An actuator includes a drive assembly, a reduction assembly, and a transmission assembly. The drive assembly drives the reduction assembly, which in turn drives the transmission assembly to output power. The drive assembly includes a stator and a rotor. The stator includes a stator yoke and a flexible member. 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 member is located between the inner wall of the stator yoke and the outer wall of the magnetic member. The flexible member includes a stator winding and a substrate. The stator winding is located on the substrate. The flexible member has a conductive layer, and the stator winding is disposed on the conductive layer. The flexible member is cylindrically wound around the receiving cavity. The flexible element is wound at least two turns, including a first turn and a second turn. The first turn is closer to the rotor than the second turn, and the second turn is closer to the stator yoke than the first turn. The stator winding includes several coil conductors. The line spacing between adjacent coil conductors in the first turn is A1, and the line spacing between adjacent coil conductors in the second turn is A2. The line width of the coil conductor in the first turn is W1, and the line width of the coil conductor in the second turn is W2. A1 is less than or equal to A2, or W1 is less than or equal to W2, or A1 is less than A2 and W1 is less than W2.

[0008] Within the actuator's drive assembly, the line spacing between adjacent coil conductors in the first coil, closer to the rotor, is less than the line spacing between adjacent coil conductors in the second coil, closer to the stator yoke. Alternatively, the line width of the coil conductors in the first coil is less than or equal to the line width of the coil conductors in the second coil. This reduces the line spacing of the coil conductors closer to the rotor, or reduces the line width of the coil conductors closer to the rotor, or reduces both the line spacing and line width of the coil conductors closer to the rotor. This concentrates the area with the most heat generation near the rotor within the flexible component, which helps enhance heat dissipation near the rotor during rotor rotation, thereby improving overall heat dissipation. Attached Figure Description

[0009] Figure 1 is a schematic diagram of a flexible component in a cylindrical wound structure according to an embodiment of this application;

[0010] Figure 2 is a cross-sectional schematic diagram of a motor according to an embodiment of this application;

[0011] Figure 3 is a schematic diagram of a flexible component wound multiple turns according to an embodiment of this application;

[0012] Figure 4 is a schematic diagram of the structure of a flexible component in an unfolded state according to an embodiment of this application;

[0013] Figure 5 is a structural schematic diagram of the flexible component in an unfolded state, as provided in another example of this application.

[0014] Figure 6 is a structural schematic diagram of the flexible component in an unfolded state according to another embodiment of the present application;

[0015] Figure 7 is a cross-sectional schematic diagram of an actuator according to an embodiment of this application;

[0016] Figure 8 is a cross-sectional schematic diagram of a motor according to another embodiment provided in this application. Detailed Implementation

[0017] To better understand the technical solution of this application, the embodiments of this application are described below with reference to the accompanying drawings.

[0018] As shown in Figures 1-7, an electric motor includes a stator 2 and a rotor 3. The stator 2 includes a stator yoke 21 and a flexible member 1. The stator yoke 21 has a receiving cavity 20, and both ends of the stator yoke 21 are through-connected. The rotor 3 is located in the receiving cavity 20. The flexible member 1 is located between the inner wall of the stator yoke 21 and the outer wall of the rotor 3. The flexible member 1 includes a stator winding 11 and a substrate 10. The stator winding 11 is located on the substrate 10. The flexible member 1 has a conductive layer, and the stator winding 11 is provided on the conductive layer of the flexible member 1. The flexible member 1 is cylindrically wound in the receiving cavity 20, and the flexible member 1 is wound at least two turns. 1 includes a first winding and a second winding. The first winding is closer to the rotor 3 than the second winding, and the second winding is closer to the stator yoke 21 than the first winding. The stator winding 11 includes a plurality of coil conductors 111. The line spacing between adjacent coil conductors 111 in the first winding is A1, and the line spacing between adjacent coil conductors 111 in the second winding is A2. The coil width of the coil conductor 111 in the first winding is W1, and the coil width of the coil conductor 111 in the second winding is W2. A1 is less than or equal to A2, or W1 is less than or equal to W2, or A1 is less than A2 and W1 is less than W2.

[0019] The wire spacing between adjacent coil conductors in the coil closer to the rotor is less than or equal to the wire spacing between adjacent coil conductors in the coil closer to the stator yoke; or, the coil width of the coil conductor in the coil closer to the rotor is less than or equal to the coil width of the coil conductor in the coil closer to the stator; or, the adjacent wire spacing in the coil closer to the rotor is less than the adjacent wire spacing in the coil closer to the stator, and the coil width in the coil closer to the rotor is less than the coil width in the coil closer to the stator. The wire spacing of the coil closer to the rotor is smaller than that of the coil closer to the stator. A smaller wire spacing on the inner side may result in stronger heat generation on the inner side compared to the outer side. The resistance of coil conductors with smaller wire widths is greater than that of coil conductors with larger wire widths. These conductors with higher resistance are concentrated in the inner coil of the flexible component, closer to the rotor. Therefore, the inner coil of the flexible component will generate more heat than the outer coil. To address this, we can concentrate the area with stronger heat generation closer to the rotor. This can be achieved by: (1) having a smaller wire spacing between adjacent coils closer to the rotor, when the overall coil width is equal; (2) having a smaller coil width between adjacent coils closer to the rotor, when the overall coil spacing is equal; or (3) having both a smaller wire spacing between adjacent coils closer to the rotor and a smaller coil width. This concentrates the potentially stronger heat generation area on the inner side. When the rotor rotates, the airflow in the inner region of the flexible component closer to the rotor is better than in the outer region, which helps improve heat dissipation.

[0020] Additionally, it should be noted that when the flexible component is used as the stator winding, it needs to be wound into a cylindrical shape. The more coil conductors on the flexible component, the stronger the magnetic field generated by the stator will be. Since the coil conductors are arranged on the substrate, to place as many coil conductors as possible within the limited or fixed length of the substrate, it is necessary to reasonably adjust the line width or spacing of the coil conductors. This will inevitably result in uneven distribution of line width, uneven distribution of line spacing, or uneven distribution of both line width and line spacing. In this way, the heat generation of the flexible component will be more intense in the parts where the coil conductors are densely arranged or where the line width of the coil conductors is smaller than in other parts. Adjusting the areas with intense heat generation to the region closer to the rotor will accelerate air circulation in this area when the rotor rotates, thereby improving the heat dissipation effect. When the coil width and wire spacing differ between conductors wound in different turns, particularly when the coil width of the coil conductors near the rotor is smaller than that near the stator yoke, the copper wires of the inner coil conductors may align with those of the outer coil conductors on a flexible component wound into a cylindrical shape. In this case, compared to a motor with misaligned inner and outer coil conductors, the motor with aligned inner and outer coil conductors exhibits a higher back electromotive force (EMF). Similarly, if the wire spacing between adjacent inner coil conductors is smaller than that between adjacent outer coil conductors, alignment of the inner and outer coil conductors may also occur, resulting in an even higher back EMF. A higher back EMF in a motor improves overall efficiency and reduces energy consumption.

[0021] The rotor 3 includes a rotor shaft 31 and a rotor core. The rotor core is mounted on the outside of the rotor shaft 31. The flexible component serves as the winding of the stator yoke. When three-phase alternating current is applied to the stator winding of the flexible component, a rotating magnetic field is generated at the stator, causing the rotor to rotate. The flexible component is made of a flexible printed circuit board (FPC), and the stator yoke is formed by fixing annular silicon steel sheets. The flexible component includes terminals for connecting to the AC power supply. Multiple sets of coil conductors, arranged in the conductive layer, are spaced apart along the axial direction of the stator yoke and electrically connected to the terminals. When alternating current passes through the coils, a radial magnetic field perpendicular to the stator yoke is generated in the motor air gap. During motor operation, alternating current is input to the stator winding through the terminals of the flexible component. Because the multiple sets of coil conductors are symmetrically distributed in space, the three-phase time-domain symmetrical current forms a rotating magnetic field in the motor air gap, which interacts with the rotor magnetic field, thereby driving the motor to rotate. The flexible component is generally rectangular in shape before winding. One end is wound around the other end to form a cylinder. The wound flexible circuit board is then attached to the inner wall of the stator yoke by adhesive or other means to form a stator winding. Compared with the existing scheme where the coil is set in the stator slot of the stator core, this application can greatly reduce the structural volume occupied by the stator winding. At the same time, it is not necessary to set the stator slot on the stator yoke. The stator winding is installed by simply attaching it, which improves the convenience of processing and assembling the stator structure of the motor.

[0022] Furthermore, as shown in Figure 4, the number of coil conductors 111 in each turn is the same. The coil conductor 111 includes a vertical segment 1111 and a diagonal segment 1112. The line width of the vertical segment 1111 is greater than the line width of the diagonal segment 1112.

[0023] Further, as shown in Figures 3 and 4, the thickness of the substrate 10 is defined as d, the outer diameter of the outermost ring of the flexible member 1 is D, the flexible member 1 is wound n times, and the substrate 10 is provided with N coil conductors 111. From the outside to the inside, the outermost ring of the flexible member 1 is the first ring, and the innermost ring of the flexible member 1 is the nth ring. The line width of the coil conductor 111 in the nth ring is defined as a, and the line spacing between adjacent coil conductors 111 in the nth ring is b. Then the coil width + line spacing of the first ring is: (a+b)=n*π(Dd) / N, the coil width + line spacing of the nth ring is: (a+b)=n*π(D-nd) / N, and the length L of the substrate is: L=π((Dd)+(D-2d)+…+(D-nd)). Assuming there are a total of N coil conductors on the substrate, and the flexible component is wound n times, then on average there are N / n coil conductors per turn. The circumference of each turn of the flexible component is the arrangement area of ​​the coil conductors in each turn. On average, the circumference of the outermost turn is π*(Dd). The line width and line spacing of the outermost turn is the circumference divided by the average number of turns, which is n*π(Dd) / N. Therefore, the line width and line spacing of the nth turn is n*π(D-nd) / N. The length of the substrate is the sum of the circumferences of all turns, which is π((Dd)+(D-2d)+…+(D-nd)).

[0024] In one embodiment of this application, the flexible member 1 is wound at least three times. The coil conductors 111 in each turn have the same coil width. The outermost turn of the flexible member 1 is defined as the outermost turn, and the innermost turn is defined as the innermost turn. The spacing between adjacent coil conductors 111 in the outermost turn is greater than that in the innermost turn. Assuming that the coil conductors in each turn have the same coil width, the spacing between the coil conductors in the innermost turn is smaller than that in the outermost turn. This places the part with stronger heat generation closer to the rotor on the inner side, and the rotation of the rotor accelerates the airflow in the inner turn, improving the heat dissipation effect.

[0025] Specifically, as shown in Figure 5, the line spacing of the adjacent coil conductors 111 of the innermost loop is defined as the minimum process value bmin that the substrate 10 can print the line spacing of the coil conductors 111. The substrate 10 has N coil conductors 111. The flexible member 1 is wound n times. From the outside to the inside, the outer diameter of the flexible member 1 is (Dd), the outer diameter of the second loop is (D-2d)... the outer diameter of the nth loop is (D-nd). The coil width of the coil conductor 111 of the first loop is a1, the coil width of the coil conductor 111 of the second loop is a2... the coil width of the coil conductor 111 of the nth loop is an, a1=a2=an=nπ(D-nd) / N-bmin. When the coil width of each coil conductor is the same, the line spacing of the outer coil conductor is greater than that of the inner coil conductor. Thus, the line spacing of the innermost coil conductor is set as the minimum process value for the coil conductor line spacing that the substrate can etch. In this way, the sum of the coil width and line spacing can be calculated based on the circumference of the innermost coil. Then, based on the known line spacing of the innermost coil, the line width of the innermost coil can be obtained. Since the coil width of all coils is the same in this scheme, the line spacing of different coils can be calculated based on the circumference of different coils.

[0026] In another embodiment of this application, the flexible member 1 is wound at least three times. The wire spacing of adjacent coil conductors 111 in each turn is the same. The outermost turn of the flexible member 1 is defined as the outermost turn, and the innermost turn is defined as the innermost turn. The coil width of the coil conductor 111 in the outermost turn is greater than that in the innermost turn. Assuming that the wire spacing of the coil conductors in each turn is the same, the coil width of the coil conductor in the innermost turn is smaller than that in the outermost turn. This places the part with stronger heat generation on the inner side closer to the rotor. The rotation of the rotor accelerates the airflow in the inner turn, improving the heat dissipation effect. It should be noted that Figures 5 and 6 are only schematic diagrams. The coil conductor arrangement on a normal substrate is similar to that in Figure 4. Each turn of the coil conductor is arranged in a hexagonal form. Each coil conductor includes diagonal segments and vertical segments, consisting of four diagonal segments and two vertical segments respectively. Figures 5 and 6 only show the relationship between the coil width and wire spacing in the coil conductors, so some diagonal segments are not fully shown. Specifically, as shown in Figure 6, the line spacing of the outermost adjacent coil conductors 111 is defined as the minimum process value bmin that the substrate 10 can print the line spacing of the coil conductors 111. The substrate 10 has N coil conductors 111, and the flexible member 1 is wound n times. From the outside to the inside, the outer diameter of the first turn of the flexible member 1 is (Dd), the outer diameter of the second turn is (D-2d)... and the outer diameter of the nth turn is (D-nd). The coil width of the first turn of the coil conductor 111 is a1, the coil width of the second turn of the coil conductor 111 is a2... and the coil width of the nth turn of the coil conductor 111 is an. Then an = nπ(D-2nd) / N-bmin. When the wire spacing of the coil conductors in each turn is the same, the wire spacing of the innermost coil conductor is set as the minimum process value that the substrate can print the wire spacing of the coil conductors. In this way, the sum of the coil width and wire spacing can be calculated based on the circumference of the innermost turn. Then, based on the known wire spacing, the coil width corresponding to each turn can be obtained. Since the wire spacing of all turns is the same in this scheme, the coil width of different turns can be calculated based on the circumference of different turns.

[0027] In another embodiment of this application, the thickness of the substrate 10 is defined as d, the outer diameter of the outermost ring of the flexible member 1 is defined as D, the flexible member 1 is wound n times, and the substrate 10 is provided with N coil conductors 111. From the outside to the inside, the outermost ring of the flexible member 1 is the first ring, and the innermost ring of the flexible member 1 is the nth ring. The coil width of the coil conductor 111 in the nth ring is defined as a, and the line spacing between adjacent coil conductors 111 in the nth ring is defined as b. Then the coil width + line spacing of the first ring is: a + b = n * π(Dd) / N, and the coil width + line spacing of the nth ring is: a + b = n * πD - (2n - 1)d / N. The length L of the substrate 10 is L = π((Dd) + (D - 3d) + ... + (D - (2n - 1)d)).

[0028] The flexible member 1 is wound at least three times, and the coil conductors 111 in each turn have the same coil width. The outermost turn of the flexible member 1 is defined as the outermost turn, and the innermost turn of the flexible member 1 is defined as the innermost turn. The line spacing of the adjacent coil conductors 111 in the outermost turn is greater than that of the adjacent coil conductors 111 in the innermost turn.

[0029] The line spacing of the innermost adjacent coil conductor 111 is defined as the minimum process value bmin that the substrate 10 can print the line spacing of the coil conductor 111. The substrate 10 has N coil conductors 111. The flexible member 1 is wound n times. From the outside to the inside, the outer diameter of the flexible member 1 is (Dd), the outer diameter of the second turn is (D-3d)...the outer diameter of the nth turn is (D-(2n-1)d). The coil width of the coil conductor 111 in the first turn is a1, the coil width of the coil conductor 111 in the second turn is a2...the coil width of the coil conductor 111 in the nth turn is an, a1=a2=an=nπ(D-(2n-1)d) / N-bmin.

[0030] In another embodiment of this application, the flexible member 1 is wound at least three times, with adjacent coil conductors 111 in each turn having the same spacing. The outermost coil is defined as the outermost turn, and the innermost coil is defined as the innermost turn. The coil width of the coil conductor 111 in the outermost turn is greater than that of the coil conductor 111 in the innermost turn. The line spacing of the outermost adjacent coil conductors 111 is defined as the minimum process value bmin that the substrate 10 can print the line spacing of the coil conductors 111. The substrate 10 has N coil conductors 111. The flexible member 1 is wound n times. From the outside to the inside, the outer diameter of the flexible member 1 is (Dd), the outer diameter of the second turn is (D-3d)...the outer diameter of the nth turn is (D-(2n-1)d), the coil width of the first turn of the coil conductor 111 is a1, the coil width of the second turn of the coil conductor 111 is a2...the coil width of the nth turn of the coil conductor 111 is an. Then an=nπ(D-(2n-1)d) / N-bmin.

[0031] Another implementation involves the flexible member 1 being wound at least three times, with adjacent coil conductors 111 in each turn having the same spacing. The outermost turn of the flexible member is defined as the outermost turn, and the innermost turn is defined as the innermost turn. The coil width of the coil conductor 111 in the outermost turn gradually decreases towards the innermost turn. In this implementation, when the spacing of the coil conductors in each turn is the same, the coil width of the coil conductors gradually decreases from the outside to the inside of the flexible member, thus ensuring that the spacing between adjacent coil conductors is not the same.

[0032] Another implementation involves the flexible element being wound at least three times, with the coil conductor 111 in each turn having the same coil width. The outermost turn of the flexible element 1 is defined as the outermost turn, and the innermost turn as the innermost turn. The spacing between adjacent coil conductors 111 in the outermost turn gradually decreases from that in the innermost turn. In this implementation, when the coil width of each coil conductor is the same, the spacing between the coil conductors gradually decreases from the outside to the inside of the flexible element, thus ensuring that the coil width of each coil conductor is different.

[0033] Another implementation is that the coil conductors 111 in the same turn have the same coil width, or the line spacing between adjacent coil conductors 111 in the same turn is the same.

[0034] As shown in Figures 3 and 8, the flexible component 1 has a wiring portion 1a. The first coil 1b is defined as the innermost coil of the rotor 3 closest to it. In the axial direction of the rotor, the wiring portion 1a protrudes from one end of the first coil 1n. The wiring portion 1a is electrically connected to an external power source directly or indirectly. For example, the flexible component 1 has a three-phase winding circuit provided in it through printed circuits or other means, and the terminals of the three-phase winding circuit are respectively placed in the wiring portion 1a. Of course, there can be multiple wiring portions 1b, which will not be elaborated here. The wiring portion 1a is away from the stator yoke 21, which reduces the possibility of wear during assembly, improves the safety of the motor and facilitates assembly. Moreover, it is beneficial for the overall glue layer to be formed when potting glue between the flexible component 1 and the stator yoke 21, thus improving the processability.

[0035] This application also provides an actuator, as shown in FIG7, including a drive assembly 4, a reduction assembly 5, and a transmission assembly 6. The drive assembly 4 drives the reduction assembly 5, and the reduction assembly 5 drives the transmission assembly 6 to output transmission. The drive assembly 4 includes a stator 2 and a rotor 3. The stator 2 includes a stator yoke 21 and a flexible member 1. The stator yoke 21 has a receiving cavity 20. The flexible member 1 is located between the inner wall of the stator yoke 21 and the outer wall of the rotor 3. The flexible member 1 includes a stator winding 11 and a substrate 10. The stator winding 11 is located on the substrate 10. The flexible member 1 has a conductive layer, and the stator winding 11 is disposed on the conductive layer of the flexible member 1. The flexible member 1 is in the form of... A cylindrical coil is wound in the accommodating cavity 20. The flexible member 1 is wound at least two turns. The flexible member 1 includes a first turn and a second turn. The first turn is closer to the rotor 3 than the second turn, and the second turn is closer to the stator yoke 21 than the first turn. The stator winding 11 includes a plurality of coil conductors 111. The line spacing between adjacent coil conductors 111 in the first turn is A1, and the line spacing between adjacent coil conductors 111 in the second turn is A2. A1 is less than or equal to A2, and / or, the line width of the coil conductors 111 in the first turn is W1, and the line width of the coil conductors 111 in the second turn is W2. W11 is less than or equal to W2.

[0036] Within the actuator's drive assembly, the line spacing between adjacent coil conductors in the first turn closer to the rotor is smaller than the line spacing between adjacent coil conductors in the second turn closer to the stator yoke, and / or, the line width of the coil conductors in the first turn is greater than the line width of the coil conductors in the second turn. This reduces the line spacing of the coil conductors closer to the rotor, and / or reduces the line width of the coil conductors closer to the rotor. This concentrates the area with stronger heat generation in the flexible component near the rotor, which helps to enhance heat dissipation closer to the rotor when the rotor rotates, thereby improving heat dissipation.

Claims

1. An electric motor, characterized in that, The device includes a stator (2) and a rotor (3). The stator (2) includes a stator yoke (21) and a flexible member (1). The stator yoke (21) has a cavity (20) and both ends of the stator yoke (21) are through-connected. The rotor (3) is located in the cavity (20). The flexible member (1) is located between the inner wall of the stator yoke (21) and the outer wall of the rotor (3). The flexible member (1) includes a stator winding (11) and a substrate (10). The stator winding (11) is located on the substrate (10). The flexible member (1) has a conductive layer. The stator winding (11) is disposed on the conductive layer of the flexible member (1). The flexible member (1) is cylindrically wound. In the accommodating cavity (20), the flexible member (1) is wound at least two turns, the flexible member (1) including a first turn and a second turn, the first turn being closer to the rotor (3) relative to the second turn, and the second turn being closer to the stator yoke (21) relative to the first turn. The stator winding (11) includes a plurality of coil conductors (111), the line spacing between adjacent coil conductors (111) in the first turn is A1, the line spacing between adjacent coil conductors (111) in the second turn is A2, the coil width of the coil conductor (111) in the first turn is W1, and the coil width of the coil conductor (111) in the second turn is W2. A1 is less than or equal to A2, or W1 is less than or equal to W2, or A1 is less than A2 and W1 is less than W2.

2. The motor according to claim 1, characterized in that, The thickness of the substrate (10) is defined as d, the outer diameter of the outermost ring of the flexible member (1) is defined as D, the flexible member (1) is wound n times, and N coil conductors (111) are provided on the substrate (10). From the outside to the inside, the outermost ring of the flexible member (1) is defined as the 1st ring, and the innermost ring of the flexible member (1) is defined as the nth ring. The coil width of the coil conductor (111) in the nth ring is defined as a, and the line spacing between adjacent coil conductors (111) in the nth ring is defined as b. Therefore, the coil width and spacing of the first turn are: (a+b)=n*π(Dd) / N. The width of the nth coil plus the spacing between the lines is: (a+b)=n*π(D-nd) / N, The length L of the substrate (10) is L=π((Dd)+(D-2d)+…+(D-nd)).

3. The motor according to claim 2, characterized in that, The flexible element (1) is wound at least three times, and the coil width of the coil conductor (111) in each turn is the same. The outermost turn of the flexible element (1) is defined as the outermost turn, and the innermost turn of the flexible element (1) is defined as the innermost turn. The line spacing of the adjacent coil conductor (111) in the outermost turn is greater than the line spacing of the adjacent coil conductor (111) in the innermost turn.

4. The motor according to claim 3, characterized in that, The line spacing of the innermost adjacent coil conductors (111) is defined as the minimum process value bmin that the substrate (10) can print the line spacing of the coil conductors (111). The substrate (10) has N coil conductors (111). The flexible member (1) is wound n times. From the outside to the inside, the outer diameter of the first turn is (Dd), the outer diameter of the second turn is (D-2d)...the outer diameter of the nth turn is (D-nd). The coil width of the first turn of the coil conductor (111) is a1, the coil width of the second turn of the coil conductor (111) is a2...the coil width of the nth turn of the coil conductor (111) is an. a1=a2=an=nπ(D-nd) / N-bmin.

5. The motor according to claim 2, characterized in that, The flexible element (1) is wound at least three times, and the line spacing of the adjacent coil conductors (111) in each turn is the same. The outermost turn of the flexible element (1) is defined as the outermost turn, and the innermost turn of the flexible element (1) is defined as the innermost turn. The coil width of the coil conductor (111) in the outermost turn is greater than the coil width of the coil conductor (111) in the innermost turn.

6. The motor according to claim 5, characterized in that, The line spacing of the outermost adjacent coil conductors (111) is defined as the minimum process value bmin that the substrate (10) can print the line spacing of the coil conductors (111). The substrate (10) has N coil conductors (111). The flexible member (1) is wound n times. From the outside to the inside, the outer diameter of the first turn is (Dd), the outer diameter of the second turn is (D-2d)...the outer diameter of the nth turn is (D-nd). The line width of the coil conductor (111) in the first turn is a1, the line width of the coil conductor (111) in the second turn is a2...the line width of the coil conductor (111) in the nth turn is an. Then an = nπ(D-2nd) / N-bmin.

7. The motor according to claim 1, characterized in that, The thickness of the substrate (10) is defined as d, the outer diameter of the outermost ring of the flexible member (1) is defined as D, the flexible member (1) is wound n times, and N coil conductors (111) are provided on the substrate (10). From the outside to the inside, the outermost ring of the flexible member (1) is defined as the 1st ring, and the innermost ring of the flexible member (1) is defined as the nth ring. The coil width of the coil conductor (111) in the nth ring is defined as a, and the line spacing between adjacent coil conductors (111) in the nth ring is defined as b. Therefore, the coil width and spacing of the first turn are: (a+b)=n*π(Dd) / N. The width of the nth coil plus the spacing between the lines is: (a+b)=n*π(D-(2n-1)d) / N, The length L of the substrate (10) is L=π((Dd)+(D-3d)+…+(D-(2n-1)d)).

8. The motor according to claim 7, characterized in that, The flexible element (1) is wound at least three times, and the coil width of the coil conductor (111) in each turn is the same. The outermost turn of the flexible element (1) is defined as the outermost turn, and the innermost turn of the flexible element (1) is defined as the innermost turn. The line spacing of the adjacent coil conductor (111) in the outermost turn is greater than the line spacing of the adjacent coil conductor (111) in the innermost turn.

9. The motor according to claim 8, characterized in that, The line spacing of the innermost adjacent coil conductors (111) is defined as the minimum process value bmin that the substrate (10) can print the line spacing of the coil conductors (111). The substrate (10) has N coil conductors (111). The flexible member (1) is wound n times. From the outside to the inside, the outer diameter of the first turn is (Dd), the outer diameter of the second turn is (D-3d)...the outer diameter of the nth turn is (D-2(n-1)d). The coil width of the first turn of the coil conductor (111) is a1, the coil width of the second turn of the coil conductor (111) is a2...the coil width of the nth turn of the coil conductor (111) is an. a1=a2=an=nπ(D-(2n-1)d) / N-bmin.

10. The motor according to claim 7, characterized in that, The flexible element (1) is wound at least three times, and the spacing between adjacent coil conductors (111) in each turn is the same. The outermost turn of the flexible element (1) is defined as the outermost turn, and the innermost turn of the flexible element (1) is defined as the innermost turn. The coil width of the coil conductor (111) in the outermost turn is greater than the coil width of the coil conductor (111) in the innermost turn.

11. The motor according to claim 10, characterized in that, The flexible element (1) is wound at least three times, and the line spacing of the adjacent coil conductors (111) in each turn is the same. The outermost turn of the flexible element (1) is defined as the outermost turn, and the innermost turn of the flexible element (1) is defined as the innermost turn. The coil width of the coil conductor (111) in the outermost turn is greater than the coil width of the coil conductor (111) in the innermost turn.

12. The motor according to claim 11, characterized in that, The line spacing of the outermost adjacent coil conductors (111) is defined as the minimum process value bmin that the substrate (10) can print the line spacing of the coil conductors (111). The substrate (10) has N coil conductors (111). The flexible member (1) is wound n times. From the outside to the inside, the outer diameter of the first turn is (Dd), the outer diameter of the second turn is (D-3d)...the outer diameter of the nth turn is (D-(2n-1)d). The coil width of the first turn of the coil conductor (111) is a1, the coil width of the second turn of the coil conductor (111) is a2...the coil width of the nth turn of the coil conductor (111) is an. Then an=nπ(D-(2n-1)d) / N-bmin.

13. The motor according to claim 2 or claim 7, characterized in that, The flexible element (1) is wound at least three times, and the spacing between adjacent coil conductors (111) in each turn is the same. The outermost coil is defined as the outermost turn, and the innermost coil is defined as the innermost turn. The coil width of the coil conductor (111) in the outermost turn gradually decreases from the coil width of the coil conductor (111) in the innermost turn.

14. The motor according to claim 2 or claim 7, characterized in that, The flexible element (1) is wound at least three times, and the coil width of the coil conductor (111) in each turn is the same. The outermost turn of the flexible element (1) is defined as the outermost turn, and the innermost turn of the flexible element (1) is defined as the innermost turn. The line spacing of the adjacent coil conductor (111) in the outermost turn gradually decreases from the line spacing of the adjacent coil conductor (111) in the innermost turn.

15. The motor according to any one of claims 1-12, characterized in that, The coil conductors (111) located in the same turn have the same line width, and / or the line spacing between adjacent coil conductors (111) located in the same turn is the same.

16. The motor according to any one of claims 1-14, characterized in that, The number of coil conductors (111) in each turn is the same. Each coil conductor (111) includes a vertical segment (1111) and a diagonal segment (1112). The line width of the vertical segment (1111) is greater than the line width of the diagonal segment (1112).

17. The motor according to any one of claims 1-16, characterized in that, The flexible member (1) has a wiring portion (1a), and the first ring (1b) is defined as the innermost ring closest to the rotor (3). In the axial direction of the rotor, the wiring portion (1a) protrudes from one end of the first ring (1b).

18. An actuator, characterized in that, The device includes a drive assembly (4), a reduction assembly (5), and a transmission assembly (6). The drive assembly (4) drives the reduction assembly (5), and the reduction assembly (5) drives the transmission assembly (6) to output power. The drive assembly (4) includes a stator (2) and a rotor (3). The stator (2) includes a stator yoke (21) and a flexible member (1). The stator yoke (21) has a cavity (20), and both ends of the stator yoke (21) are through-connected. The rotor (3) is located in the cavity (20). The flexible member (1) is located between the inner wall of the stator yoke (21) and the outer wall of the rotor (3). The flexible member (1) includes a stator winding (11) and a substrate (10). The stator winding (11) is located on the substrate (10). The flexible member (1) has a conductive layer. The flexible member (1) has the following on the conductive layer: The stator winding (11) has a flexible member (1) wound in a cylindrical shape around the accommodating cavity (20). The flexible member (1) is wound at least two turns. The flexible member (1) includes a first turn and a second turn. The first turn is closer to the rotor (3) than the second turn, and the second turn is closer to the stator yoke (21) than the first turn. The stator winding (11) includes a plurality of coil conductors (111). The line spacing between adjacent coil conductors (111) in the first turn is A1, and the line spacing between adjacent coil conductors (111) in the second turn is A2. The line width of the coil conductors (111) in the first turn is W1, and the line width of the coil conductors (111) in the second turn is W2. A1 is less than or equal to A2, or W1 is less than or equal to W2, or A1 is less than A2 and W1 is less than W2.

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