CN106817003A - A kind of motor of high torque and the robot including the motor - Google Patents

Abstract

The present invention relates to a kind of motor of high torque, the motor includes mover and stator module, and mover and stator include magnetic-conductance portion respectively, and multiple permanent magnets are set on stator and/or mover, there is gap between mover and stator, at least part of of the magnetic-conductance portion uses high magnetic flux density material.Using the motor of high torque of the invention, the stator magnetic-conductance portion and mover magnetic-conductance portion at least partly include magnetic flux magnetic-conductance portion high, by increasing magnetic field to improve moment of torsion, so as to avoid the problem that motor is brought using decelerator.

Description

A kind of motor of high torque and the robot including the motor

Technical field

The present invention relates to technical field of automation, and in particular to a kind of motor of high torque and the machine including the motor Device people.

Background technology

In robot field, it is necessary to using each joint motions of motor-driven.But, due to the motion of robot, especially It is that industrial robot generally needs to undertake certain load, it is therefore desirable to the motor of high torque, just adapts to industrial machine The requirement of people.

Motor of the prior art generally increases moment of torsion by using decelerator, but using the motor of the structure, Due to decelerator high cost, efficiency is low and noise is big, and high cost, the noise for thus resulting in whole motor are big, and due to slowing down The presence of device causes motor own wt and volume to increase, therefore by such motor applications in robot, especially electricity It is unfavorable in the robot of motivation direct drive.

The content of the invention

The present invention is to solve the above problems, there is provided a kind of motor of high torque and the robot including the motor, institute That states stator magnetic-conductance portion and mover magnetic-conductance portion at least partly includes magnetic flux magnetic-conductance portion high, by increasing magnetic field improving torsion Square, so as to avoid the problem that motor is brought using decelerator.

First aspect present invention provides a kind of motor of high torque, including mover and stator module, mover and divided stator Not Bao Kuo stator magnetic-conductance portion and mover magnetic-conductance portion, include multiple permanent magnets and/or winding to produce magnetic on stator and/or mover , there is gap between mover and stator, the stator magnetic-conductance portion and mover magnetic-conductance portion at least partly include magnetic flux magnetic conduction high Portion, by increasing magnetic field improving moment of torsion.

Further, the material of the magnetic flux magnetic-conductance portion high includes：Any one in pure iron, Permendur, iron cobalt vanadium Or combination.

Further, the opposite face of the stator and mover includes multiple teeth and groove, the number and mover tooth of the stator tooth Number it is unequal, the multiple permanent magnet is arranged in the groove of the stator and/or the mover, the multiple permanent magnet Number is more than or equal to 20 pairs of poles.

Further, when the multiple permanent magnet is more than or equal to 20 pairs of poles, the gap between the stator and mover is less than etc. In 0.5MM.

Further, the motor also includes being arranged between the opposite face of the stator and the mover for limiting institute The liner layer in gap is stated, the thickness of the liner layer is slightly less than the gap.

Further, the material of the liner layer includes：Teflon, epoxy resin, nickel, surface coating epoxy resin, can electricity Any one in the metal or alloy of plating or combination.

Further, the multiple set of permanent magnets is into a Halbach array or multiple Halbach array unit.

Further, multiple grooves that the multiple Halbach array cell distribution is formed in the opposite face of stator and/or mover It is interior.

Further, the motor also includes rotating shaft, non-in the rotating shaft or the stator magnetic-conductance portion, mover magnetic-conductance portion Magnetic conduction area includes but is not limited to：Any one in Teflon, carbon fiber or carbon fibre composite, glass fibre, bronze, nickel Or combination.

Further, the mover is arranged on the outside of the stator, and the mover includes radial outer side and axially external Face, at least part of described axially external face of the mover is the first output end, and/or the mover at least part of described footpath Outside side is the second output end.

The present invention second is convenient also to provide a kind of robot, and the robot includes high torque as above described in any one Motor.

Therefore, the present invention provides a kind of motor of high torque, is used by by least part of material of magnetic conductor The material of high magnetic flux density, so as to avoid the problem that motor is brought using decelerator, is achieved following with increasing moment of torsion Technique effect：

1st, because the motor of high torque is mainly used in the environment of low cruise, the motion of high speed is just needed once in a while, Therefore because the iron core vortex loss that curent change causes is smaller, can be ignored, when the stator magnetic-conductance portion and mover are led Magnetic portion at least partly includes magnetic flux magnetic-conductance portion high, by increasing magnetic field to improve moment of torsion, is adopted so as to avoid motor The problems such as high cost, poor efficiency, the big noise that increasing square is brought are carried out with decelerator.

2nd, because multiple permanent magnets are arranged in the groove of stator and/or mover, the number of permanent magnet is more than or equal to 20 pairs of poles, Equivalent to several small permanent magnets by original relatively large volume of permanent magnet, are split into, the thickness of corresponding magnetic-conductance portion is reduced, And then the volume and quality of motor are reduced, it is thus advantageous to realize the high torque density of motor；Additionally, due to permanent magnet In groove, increase the number of pole-pairs of permanent magnet, need also exist for increased the quantity of tooth and groove, be equivalent to reduce each tooth With the volume of groove, so as to reduce the influence of between cog moment of torsion so that torque output is steadily more beneficial for realizing the high torque of motor Density.

3rd, because the permanent magnet on stator and/or mover is arranged in the groove between tooth and tooth, stator and mover be result in Magnetic resistance towards gap side is along the circumferential direction uneven.Again because the number of stator tooth and the number of mover tooth are unequal, and The permanent magnet of multipair pole is employed, can cause its gap magnetic field for producing that high-frequency change occurs when the rotor rotates, so that Result in and big electromagnetic torque is produced under certain permanent magnet material.

4th, because the multiple permanent magnet includes：One Halbach array of composition or composition multiple Halbach array list Unit, relative to the torque density that the electric motor structure that single permanent magnet is set in each groove can increase motor；And due to The stator and mover opposite face form multiple teeth and slot structure, and the multiple HALBACH array permanent magnets cell distribution is in institute State in described each groove of stator and/or the mover, form easy HALBACH array arrangements, therefore motor can be improved Torque density, contribute to again permanent magnet batch production, reduce production cost, and conveniently install, do not allow it is fragile.

5th, due to described first and three permanent magnet be located at least in one end of the mover or the stator opposite face and be less than Same one end certain distance of second permanent magnet, therefore by using structure above, on the one hand, due to eliminating by anti- Magnetize the region of influence, therefore do not result in whole HALBACH array permanent magnets demagnetization, and then influence the stabilization of whole motor Property；On the other hand, due to eliminating part magnet structure, relative can reduce by every group of quality of HALBACH array permanent magnets, So as to reduce the weight of motor to a certain extent.

6th, due to being located at the width of middle permanent magnet in each HALBACH array permanent magnet more than the permanent magnetism positioned at both sides The width of body, can so form more preferable sinusoidal magnetic field.

7th, due to for increase moment of torsion and coordinate reduce volume permanent magnet, it is therefore desirable between reducing between stator and mover Gap.

8th, because motor sets liner layer, the thickness of the liner layer between the opposite face of the stator and the mover Degree is slightly less than the gap, so while being defined to the gap between mover and stator, can guarantee that mover can phase again To stator movement, and do not interfere with magnetic gap is produced between mover and stator so that motor can be to fixed by simple structure Gap between son and mover is defined, so as to alleviate the weight of motor itself；Meanwhile, using this simple structure, Being increased without extra part can just be defined to the gap of very little between stator and mover, even if therefore applying at small In the motor of gap, it is also possible to mitigate the weight of motor itself.

9th, because the liner layer is preferred：Teflon (TEFLON), epoxy resin, nickel (NICKEL)；Or surface coating Any materials of epoxide resin material；Or the liner layer can also be that other can be with Direct Electroplating on stator and/mover Associated metal or the material such as alloy；Or the combination of above-mentioned each material.Above-mentioned material have the advantage that including：Light weight, Rub resistance, surface are smooth, therefore for bearing of the prior art, relative can be reduced using the liner layer of this material The friction of abrasion and generation between mover and stator in motion process, and enabled to using the liner layer that the material is made Motor has lighter quality.

10th, because the non-magnetic area on the output shaft or stator magnetic-conductance portion and mover magnetic-conductance portion of motor uses composite wood The material of material or other high strength light quality replaces the steel construction of other heavier mass, therefore can realize ensureing structural strength In the case of, as far as possible cause it is structure lightened, can so reduce the own wt of motor.

11st, because at least part of axially external face of motor is the first output end, at least partially radial lateral surface is second Output end, and the first output end and/or the second output end are directly connected with part to be driven, it is to avoid in the prior art by defeated Shaft output needs the problem of extra addition mechanical part, mitigates the weight of motor itself.

Brief description of the drawings

Technical scheme in order to illustrate more clearly the embodiments of the present invention, below will be to institute in embodiment and description of the prior art The accompanying drawing for needing to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the invention Example, for those of ordinary skill in the art, on the premise of not paying creative work, can also obtain according to these accompanying drawings Obtain other accompanying drawings.

Fig. 1 is a kind of overlooking the structure diagram of the motor of high torque provided in an embodiment of the present invention；

Fig. 2 is a kind of part-structure schematic diagram of linear motor provided in an embodiment of the present invention；

Fig. 3 A-3D are several realities of the flow direction on each HALBACH array permanent magnet provided in an embodiment of the present invention Apply the schematic diagram of example；

Fig. 4 A-4D are the schematic diagram of several embodiments of each HALBACH array permanent magnet provided in an embodiment of the present invention；

Fig. 5 is a kind of schematic diagram of the embodiment of motor provided in an embodiment of the present invention；

Each permanent magnet is produced with change width ratio in Fig. 6 HALBACH array permanent magnets provided in an embodiment of the present invention Magnetic density change；

Fig. 7 A-7B are the schematic diagram of another embodiment of HALBACH array permanent magnets provided in an embodiment of the present invention；

Fig. 8 is the structured flowchart of motor mover provided in an embodiment of the present invention and stator module；

Fig. 9 is provided in an embodiment of the present invention for a kind of structure of the motor of high torque provided in an embodiment of the present invention is shown It is intended to, wherein overall axial cross-sectional views of the left side for motor, right side is the enlarged diagram of local A；

Figure 10 is the structural representation of the motor of another high torque provided in an embodiment of the present invention, wherein left side is electricity The overall axial cross-sectional views of motivation, right side is the enlarged diagram of part A '；

Figure 11 is the structural representation of the motor of another high torque provided in an embodiment of the present invention, wherein left side is electricity The overall axial cross-sectional views of motivation, right side is the enlarged diagram of part A '；

The cut-away section structural representation of the motor of Figure 12 another direct drive high torques provided in an embodiment of the present invention Figure；

Figure 13 is the cut-away section knot of another Direct Drive Robot electric rotating motivation provided in an embodiment of the present invention Structure schematic diagram；

Figure 14 A-14B are that the vertical view of two embodiments of the first connecting portion of the connector described in the embodiment of the present invention is illustrated Figure；

Figure 15 A-15C are that the side-looking of three embodiments of the second connecting portion of the connector described in the embodiment of the present invention is illustrated Figure；

Figure 16 A-16C are a kind of schematic diagram for directly driving 6 axle robots provided in an embodiment of the present invention, wherein Figure 15 A It is a kind of side view of embodiment of 6 axle robots, Figure 15 B, 15C are the schematic diagram of another embodiment of 6 axle robots.

Specific embodiment

In order that those skilled in the art more fully understand the present invention program, below in conjunction with the embodiment of the present invention in it is attached Figure, is clearly and completely described to the technical scheme in the embodiment of the present invention, it is clear that described embodiment is only this The embodiment of a part is invented, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art The all other embodiment obtained under the premise of creative work is not made, should all belong to the scope of protection of the invention.

Embodiment one,

In robot field, it is necessary to drive each joint motions using motor (also known as motor), but, due to robot Motion, especially industrial robot generally need to undertake certain load, it is therefore desirable to using high torque motor, ability Adapt to the requirement of industrial robot.Motor of the prior art generally increases moment of torsion by using decelerator, but use should The motor of structure, on the one hand because decelerator high cost and noise are big, thus results in high cost, the noise of whole motor Greatly, and because the presence of decelerator causes motor own wt and volume to increase, therefore by such motor applications in machine It is unfavorable in device people, the especially robot of motor direct drive.

The present invention is to solve the above problems, there is provided a kind of motor of high torque, the stator magnetic-conductance portion and mover magnetic conduction Portion at least partly includes magnetic flux magnetic-conductance portion high, by increasing magnetic field to improve moment of torsion, is used so as to avoid motor The problem that decelerator is brought.

Fig. 1 is the structural representation of the motor of the high torque of the low cruise described in the embodiment of the present invention.

As shown in figure 1, the embodiment of the present invention provides a kind of motor of high torque, including：Stator 10 and the component of mover 20, Multiple permanent magnets 30 and/or winding (as shown in fig. 1, while including permanent magnet and winding) for producing magnetic field, it is described dynamic There is gap to form magnetic gap between son 20 and stator 10.According to inductive reaction principle, stator is motionless, and mover is moved.

It should be noted that the motor described in the embodiment of the present invention is in addition to including electric rotating motivation as shown in Figure 1, also Linear motor can be included.In electric rotating motivation, mover is generally referred to as rotor, mover is fixedly connected output shaft (generally Output shaft is arranged on the center of rotor), mover relative stator around and drive output shaft rotation；In linear motor, mover Relative stator plane motion, mover also connects output shaft, drives output shaft to move along a straight line by mover.

The mover 20 and stator 10 include mover magnetic-conductance portion 23 and stator magnetic-conductance portion 13, the mover magnetic-conductance portion 23 respectively At least partly include magnetic flux magnetic-conductance portion high with stator magnetic-conductance portion 13, for by increasing magnetic field improving moment of torsion.

The stator magnetic conduction 13 and mover magnetic-conductance portion 23 are used for magnetic conduction so that by magnetic field on stator 10 and mover 20 When, may be constructed the flux loop of closure.

The magnetic flux magnetic-conductance portion high refers to the magnetic-conductance portion of saturation flux density >=1.5T, forms the magnetic flux magnetic-conductance portion high Material can be included but is not limited to：In pure iron, Permendur (Permendur), iron cobalt vanadium (FeCoV) any one or Combination.

Saturation flux density refers to the maximum allowable magnetic line of force for passing through in unit area, and saturation flux density is higher, unit The maximum allowable magnetic line of force for passing through is more in area, so, when using magnetic flux magnetic-conductance portion high, can be accommodated in unit area More magnetic lines of force, so when increase magnetic field intensity can just realize high torque；Further, since can be accommodated in unit area More magnetic lines of force, therefore when producing same magnetic field, the volume of magnetic-conductance portion can be reduced, when the reduction of magnetic-conductance portion volume is then electronic Machine own wt reduces, so as to improve the moment of torsion of motor indirectly.

On the other hand, magnetic flux density square typically with the iron loss of motor, (iron loss refers to that permeability magnetic material is carrying out electricity During magnetic response, the energy loss that itself is produced, the energy being lost is ultimately converted to heat energy, causes electric motor overheating) into Direct ratio, therefore magnetic flux density more conference causes iron loss bigger, when motor high-speed motion (such as in Automobile drive field), Excessive iron loss can be produced within the unit interval, so as to cause electric motor overheating serious, and then have a strong impact on the performance of motor Even cause the damage of motor.And the motor described in the embodiment of the present invention is suitably applied in the neck for being substantially carried out low cruise Domain is (such as：Robot), because only there is the motion of high speed once in a while in motor, therefore can without the concern for iron loss factor, and Magnetic flux magnetic-conductance portion high can be used.

Because the motor of the high torque described in the embodiment of the present invention is mainly used in the environment of low cruise, once in a while The motion of high speed is needed, therefore the iron core vortex loss that curent change causes is smaller, can be ignored, when the stator magnetic conduction Portion and mover magnetic-conductance portion at least partly include magnetic flux magnetic-conductance portion high, by increasing magnetic field, to help increase moment of torsion, so that Avoid motor using decelerator carry out increase square brought high cost, poor efficiency, big noise the problems such as.

It should be noted that the stator magnetic-conductance portion and mover magnetic-conductance portion at least partly include magnetic flux magnetic-conductance portion high, can Magnetic flux magnetic-conductance portion high is all used to refer to that the magnetic-conductance portion is overall, it is also possible to according to actual in stator magnetic-conductance portion and mover magnetic-conductance portion The density of the magnetic line of force for passing through is designed, due to the density of the magnetic line of force passed through in magnetic-conductance portion be not it is completely the same, Some part magnetic lines of force are intensive, and some part magnetic lines of force are sparse, therefore can use magnetic flux high in density of line of magnetic force part high Magnetic-conductance portion, and the low place of density of line of magnetic force uses common magnetic-conductance portion, so can improve moment of torsion reduces iron loss again Produce.

It is strong including many raising magnetic fields in the prior art as described above, to increase moment of torsion, in addition it is also necessary to improve the intensity in magnetic field Degree method and structure, such as by improve single permanent magnet magnetic field intensity, increase permanent magnet quantity, on stator and mover Electric current for all passing through in setting permanent magnet (as shown in Figure 1), raising winding etc., does not list one by one herein.Below to this tool The structure of the raising magnetic field intensity of body embodiment is described in further detail.

In certain embodiments, the multiple permanent magnet can include multiple permanent magnets with single flow direction, remove Outside this, preferably include to constitute a whole Halbach array or multiple Halbach array units in this specific embodiment Multiple permanent magnets, similarly, as described above, a whole Halbach array or multiple Halbach array permanent magnet units can To be arranged on stator or mover, preferably as shown in figure 1, all being set on mover 20 and stator 10.Below to multiple Halbach array permanent magnet unit is further described.

HALBACH array permanent magnets are by being overlapped mutually and offsetting positioned at neutral magnetic field so that unilateral magnetic field is strong Degree enhancing, and then the gap magnetic density of motor can be improved.The HALBACH arrays that generally we are previously mentioned refer to be arranged on it is dynamic Circle (electric rotating motivation) or a plane (straight-line electric that the surface of the opposite face of son and/or stator is surrounded by each permanent magnet Motivation) constitute a whole HALBACH arrays, such as patent：It is previously mentioned in CN203278585, but uses this kind arrangement Mode HALBACH arrays is disadvantage is that the permanent magnet of multiple various magnetizing directions is collectively formed, therefore processed complex And high cost, and the arrangement mode of this array needs the permanent magnet for being located at centre snugly into each other therefore cumbersome during assembling, And easily cause the damage of permanent magnet.For this embodiments of the invention proposes a kind of HALBACH arrays of simplification, simplification refers to The simplification of arrangement mode of the HALBACH arrays on stator and/or mover, sets multiple in the opposite face of mover and/or stator Tooth and slot structure, the multiple HALBACH array permanent magnets cell distribution described in the stator and/or the mover each In groove.Because the stator and mover opposite face form multiple tooth slot structures, described in each of the stator and/or the mover At least one HALBACH array permanent magnets are set in groove, so as to form easy HALBACH array arrangements, therefore can be improved (relative to the existing mode that single permanent magnet is set in groove, overall same specification size is forever for the torque density of motor Magnet, is 2.5 times of existing motor using the torque density of the motor of easy HALBACH arrays), permanent magnetism is contributed to again The batch production of body, reduce production cost, and conveniently install, do not allow it is fragile.

In some preferred embodiments, the shape of each HALBACH array element is identical, therefore can at utmost meet The requirement of batch production, it is only necessary to HALBACH arrays are adjusted according to the flow direction on HALBACH array permanent magnets when mounted Permanent magnet installation direction so that on stator and mover install HALBACH array permanent magnets produce unilateral magnetic field it is all right Answer the gap direction of mover and stator therebetween.Except preferred mode, the shape of each HALBACH array element is not Must be identical, such as：The HALBACH array elements being located in stator slot and the HALBACH being located in mover groove can be caused Array element shape is different, as long as ensureing that stator magnetic gap direction corresponding with the unilateral magnetic field that HALBACH arrays on mover are formed is Can.

It is preferably as shown in Figure 1 by multiple it should be noted that the opposite face of stator and mover forms multiple teeth and groove HALBACH array permanent magnetism body units are respectively distributed in the groove of stator and mover, when using this arrangement mode, as long as ensureing The gap direction of stator mover corresponding with the unilateral magnetic field that HALBACH arrays on mover are formed and stator.Except described above Preferred arrangement outside, it is also possible to HALBACH array permanent magnets (as shown in Figure 2) is only set in groove on mover, or Person only sets HALBACH array permanent magnets (not shown to anticipate out) in the groove of stator.

Explanation is needed further exist for, in each above-mentioned set-up mode, preferably in each groove of stator and/or mover (i.e. distribution is more in one HALBACH array of distribution, or each groove in each groove to be distributed at least one HALBACH array elements Individual HALBACH array elements)；One HALBACH array element of distribution in each groove is may not be, such as：Every some Individual groove is distributed at least one HALBACH array elements.

Fig. 2 is a kind of part-structure schematic diagram of linear motor provided in an embodiment of the present invention.Fig. 3 A-3D are the present invention The schematic diagram of several embodiments of the flow direction on each HALBACH array permanent magnet that embodiment is provided.Fig. 4 is the present invention The schematic diagram of several embodiments of each HALBACH array permanent magnet that embodiment is provided.

As shown in Fig. 2 described each HALBACH array permanent magnet 30 includes：Successively transversely arranged at least first, 2nd, three permanent magnet 31,32,33,

First permanent magnet 31 includes the first flow direction,

Second permanent magnet 32 includes the second flow direction,

The three permanent magnet 33 includes the 3rd flow direction.

First, second, third flow direction can be the combination of any direction for meeting HALBACH array principles. In this specific embodiment, as shown in figs. 3 a-3d, preferably the second flow direction vertical (including vertical and near normal completely) in The opposite face of the stator or mover, first is mutually symmetrical or parallel reverse with the 3rd flow direction.

As shown in figure 4, each permanent magnet of the composition HALBACH arrays can be designed to as needed it is variously-shaped.

As shown in Fig. 4 A, 4B, the preferred rectangle of shape of first, second, third permanent magnet；

As shown in Figure 4 C, the HALBACH arrays include first, second, third permanent magnet respectively in echelon.

As shown in Figure 4 D, the HALBACH arrays include first, second, third permanent magnet of triangularity respectively.

It is any to meet in addition to the shape of first, second, third permanent magnet that the accompanying drawing 4A-4D in the present embodiment is listed The permanent magnetism shape of HALBACH array principles is belonged in the scope of protection of the invention.

Fig. 7 A-7B are 2 schematic diagrames of embodiment of HALBACH array permanent magnets provided in an embodiment of the present invention.

Preferably first, second, third 3 permanent magnets of the quantity of the HALBACH array permanent magnets, but the permanent magnet Quantity is not limited to first, second, third 3 permanent magnets, can for 5 (as shown in Figure 7), 7,9 etc., with second forever Centered on magnet, the equal permanent magnet of any amount can be respectively added to both sides.Described other related permanent magnets may refer to Firstth, the associated description of three permanent magnet, no longer repeats to repeat herein one by one.

Fig. 5 is a kind of schematic diagram of the embodiment of motor provided in an embodiment of the present invention.

As shown in figure 5, in some preferred embodiments, due to being located in magnetic density motor higher at some, often In HALBACH array permanent magnets in each groove, the shadow of the magnetic line of force 40 that can be received through positioned at the end of the permanent magnet of both sides Ring, when the magnetic direction in the direction and permanent magnet of the magnetic line of force 40 itself is different, it is possible to cause the part permanent magnet to move back Magnetic phenomenon, so as to influence the stability of whole motor.To solve the above problems, the embodiment of the present invention will preferably be located at least in described One end of the close described mover of HALBACH arrays both sides or the stator opposite face is less than the permanent magnet for being located at centre With one end certain distance.

By using structure above, on the one hand, due to eliminating the region by demagnetization influence, therefore do not result in whole Individual HALBACH array permanent magnets demagnetization, and then influence the stability of whole motor；On the other hand, due to eliminating part permanent magnetism Body structure, relative can reduce by every group of quality of HALBACH array permanent magnets, so as to reduce the weight of motor to a certain extent Amount.

As shown in figure 5, so that HALBACH arrays include first, second, third 31,32,33 3 permanent magnets as an example, it is described 1st and three permanent magnet 33 close described mover or the stator opposite face one end be less than second permanent magnet 32 Same one end certain distance.

The HALBACH array permanent magnets include 5 the first, second, third, fourth, the 5th permanent magnets 31,32,33, 34th, 35, preferably can be the close described mover or the stator opposite face of the four, the 5th permanent magnets as described in Fig. 7 A One end less than the same one end certain distance for being located at the second middle permanent magnet；Can also be as described in Fig. 7 B, Firstth, one end of the close described mover of the three, the four, the 5th permanent magnets or the stator opposite face is located at less than described Same one end certain distance of the second middle permanent magnet.

In some preferred embodiments, positioned at both sides permanent magnet height and the height positioned at middle permanent magnet Than including：1：1.5 to 1：1.9.As shown in figure 5, i.e. described first, the height of three permanent magnet 31,33 and the second permanent magnet 32 Height ratio preferably include, 1：1.5 to 1：1.9.

But it should be recognized that the height ratio of each permanent magnet is not limited to bright number range listed above, The specification of the HALBACH array permanent magnets of motor and use according to different size, the ratio may also have other changes Change, if ensure first, second permanent magnet lack partly belong to may be belonged to the present invention by the part of reversely charging magnetic influence In the range of protection.

Fig. 6 be HALBACH array permanent magnets provided in an embodiment of the present invention in each permanent magnet with change width ratio produce Raw magnetic density variation diagram, wherein X-axis are the width ratio of the second permanent magnet and a three permanent magnet, and Y-axis is magnetic torque density.

In some preferred embodiments, the width of middle permanent magnet is located in described each HALBACH array permanent magnet More than the width of the permanent magnet positioned at both sides, more preferable sinusoidal magnetic field can be so formed.As shown in Figure 6, if the second permanent magnetism The width of body 32 is P, first, the width of three permanent magnet 31,33 be T, when the two ratio is about 2.5, magnetic torque density is most Greatly.

It should be noted that the multiple permanent magnet 30 can be arranged on stator and/or mover, the multiple permanent magnetism The mode that body is set on stator and mover includes surface-mount type and embedded.Surface-mount type includes：Multiple permanent magnets are distributed in mover And/or stator opposite face formed tooth slot structure groove in (as shown in Figure 1), multiple permanent magnet directly stick on mover and/ Or the opposite face of stator；It is embedded, i.e., embedded groove is set in the magnetic-conductance portion of mover and/or stator, by the insertion of multiple permanent magnets In each groove

In some preferred embodiments, the mode that permanent magnet is set on stator and/or mover is to include tooth slot structure Surface-mount type, i.e., multiple permanent magnets are distributed in the groove formed between stator and/or the tooth and tooth of mover opposite face, the number of stator tooth The number of mesh and mover tooth is unequal.Can so facilitate permanent magnet installation, batch production so that reduce motor into This.

It is existing to use the number that above-mentioned durface mounted permanent magnet body motor typically uses permanent magnet extremely following for 10 pairs, due to The influence of between cog moment of torsion so that torque output is not steady enough.To solve the technical problem, the preferred embodiment of the present invention is to increase forever As shown in Figure 1, the quantity of magnet is more than or equal to 20 pairs of poles (permanent magnet 30 is 50 pairs of poles).Because multiple permanent magnets (are more than Equal to 20 pairs of poles) it is arranged in the groove of stator and/or mover, equivalent to by original relatively large volume of permanent magnet, if splitting into Dry small permanent magnet, so as to reduce the thickness of corresponding magnetic-conductance portion, and then reduces the volume and quality of motor, is conducive to Realize the high torque density of motor；It is arranged in groove additionally, due to permanent magnet, increases the number of pole-pairs of permanent magnet, needs also exist for increasing The quantity of tooth and groove is added, has been equivalent to reduce the volume of each tooth and groove, so as to reduce the influence of between cog moment of torsion so that turned round The steady high torque density for being more beneficial for realizing motor of square output.

By described above, because permanent magnet is arranged in the groove formed between tooth and tooth, stator and mover court are result in The magnetic resistance of gap side is along the circumferential direction uneven.Again because the number of stator tooth and the number of mover tooth are unequal, and adopt With the permanent magnet of multipair pole, can cause its air-gap field for producing that high-frequency change occurs when mover is moved, so as to produce Raw high pulling torque.

In some preferred embodiments, according to described above, due to that can be reduced forever by increasing the quantity of permanent magnet The volume of magnet, therefore, when needing to increase moment of torsion, the permanent magnet of volume is reduced to coordinate, it is necessary to reduce stator and mover it Between gap (gap refer to certain spacing is formed between mover and stator opposite face).In the prior art, between mover and stator Gap is usually 0.5-1 millimeters (MM), and in this specific embodiment, the gap between the mover and stator is reduced to 0.1- 0.15 millimeter.

It is to prevent mover from causing gap therebetween that inconsistent changing occurs in motion process in existing embodiment Become, so that the motion of mover is influenceed, therefore existing technology generally passes through to adopt by the stator in motor and the two ends of mover The gap between stator and mover is limited with bearing, using this structure the disadvantage is that, one side, the quality of bearing itself It is larger；On the other hand, the gap for being typically only capable to the 0.5-1MM to existing between mover and stator using bearing is defined, when When needing to be defined gap smaller between mover and stator, it is difficult to ensure the precision in gap, therefore to add other machines Tool structure ensures the position of bearing, due to the bearing larger mechanical structure aided in along with other of quality in itself, thus results in whole The complex structure of individual motor, quality increase.

Fig. 8 is the structured flowchart of motor mover provided in an embodiment of the present invention and stator module.

It is provided in an embodiment of the present invention electronic as shown in figure 8, the present invention is to solve the above problems, there is provided a kind of motor Between machine includes being arranged between the opposite face of the stator 10 and the mover 20 for limiting between the mover and stator The liner layer 50 of gap, the thickness of the liner layer 50 is slightly less than the gap.

The liner layer thickness is slightly less than the gap, so can both ensure that liner layer was limited between stator and mover Gap, but do not influence mover relative stator to move；In addition, though liner layer is arranged between stator and mover opposite face, portion Divide (preferably more than half) or the air gap being stuffed entirely between mover and stator opposite face, but as long as between mover and stator There is gap, the formation of magnetic gap between would not influenceing.

It should be noted that the liner layer is arranged between stator and mover opposite face, preferably with corresponding stator Or mover is fixedly connected, so ensure that the liner layer is at least integrally fixed on stator or mover, therefore relative can subtract Few mover in motion process, the friction of stator or mover and this side of the corresponding liner layer being fixedly connected；Except this Outside, it is also possible to liner layer is not fixedly connected with stator or mover, i.e., liner layer is simply filled in the gas between stator and mover In gap, because the thickness of liner layer is only slightly less than gap, this mode is also possible, and simply this mode can relative increase Frictional force in mover motion process.

It should be noted that the thickness is slightly less than gap can be preferably 0.01-0.02 millimeters (MM), but it is not limited to This, the different numerical value according to electric machine structure also have difference, as long as ensureing that liner layer can be limited between stator and mover Gap, but do not influence mover relative stator to move and belong in protection scope of the present invention.Relative to two ends, bearing is set Method, the method can be defined by simple structure to the gap of 0.1-0.15MM between stator and mover.

Because the motor between stator and mover opposite face by housing the liner layer that thickness is slightly less than the gap, So while being defined to the gap between mover and stator, can guarantee that again mover can relative stator rotate, and not Can influence to produce magnetic gap between mover and stator so that motor can be to the gap between stator and mover by simple structure It is defined, so as to alleviate the weight of motor itself；Meanwhile, using this simple structure, it is increased without extra part The gap of very little between stator and mover can be just defined, even if therefore apply in the motor of small―gap suture, it is also possible to Mitigate the weight of motor itself.

In addition, in some stators and mover surface set the motor of tooth slot structure, by increasing the quantity of teeth groove, and The corresponding gap reduced between stator and mover, can increase moment of torsion, therefore (can subtract instead of decelerator in some cases The shortcoming of fast device is high cost, quality is not greatly and wear-resistant etc.) a certain degree of increase moment of torsion is realized, make so as to overcome With the shortcoming of decelerator.

The liner layer can be that may be provided at variously-shaped, the knot in the air gap between the mover and stator opposite face Structure, quantity, as long as ensureing that the liner layer being arranged between stator and mover opposite face can be both limited between mover and stator Gap can guarantee that again mover can relative stator motion, belong in the scope of protection of the invention.Several liner layers can be enumerated below Embodiment to liner layer further describe.But it should be noted that the shape of the liner layer, structure, quantity are not limited In bright several preferred embodiments set forth below.

Fig. 9 is a kind of structural representation of electric rotating machine provided in an embodiment of the present invention, wherein entirety of the left side for motor Axial cross-sectional views, right side is the enlarged diagram of local A.

As shown in figure 9, in certain embodiments, the bushing is 1 the first bushing 51 of entirety, the two of the first bushing 61 Side corresponds to stator 10 and mover 20 respectively.

Void shape between the shape of first bushing 51 and the stator 10 of motor and the opposite face of mover 20 is corresponding, When motor is electric rotating machine, then the space between mover and stator is a cylinder or annulus, the then shape of the first bushing 61 Can be cylinder or annulus；And when motor is linear electric motors, then space forms a plane, then the shape of the first bushing can be with It is a plane.First bushing space entirely filled between the mover and stator opposite face preferably as shown in Figure 8 Structure, i.e. shape are completely corresponding with space, and simply thickness is slightly less than gap；In addition, first bushing can also be portion Divide the structure in filling gap (such as：Highly it is less than clearance height) etc., as long as can meet thickness is slightly less than gap, and the first lining Set can fill whole or portion void and belong in the scope of protection of the invention.

In other preferred embodiments, first bushing 51 includes corresponding to the two of the stator 10 and mover 20 respectively Individual side, wherein one side are fixedly connected with corresponding stator 10 or mover 20, so ensure first bushing 51 at least It is integrally fixed on stator 10 or mover 20, therefore can be with respect to reduction mover 20 in rotation process, stator 10 or dynamic Son 20 and the friction of this side of corresponding the first bushing 51 being fixedly connected.

In addition to above-mentioned preferred embodiment, it is also possible to which two sides of whole first bushing are not fixed with stator and mover and connected Connect, i.e., simply fill in the space between stator and mover liner layer, because the thickness of the first bushing is only slightly less than gap, This mode is also possible, and simply this mode can the relative frictional force increased in rotation process.

Figure 10 is the structural representation of another electric rotating motivation provided in an embodiment of the present invention, wherein left side is motor Overall axial cross-sectional views, right side for part A ' enlarged diagram.

As shown in Figure 10, in another preferred embodiment, the liner layer is 2 the second bushings being radially set up in parallel 52、53。

The liner layer is radially overlapped side by side in the gap by 2 the second bushings, 2 second bushings Thickness can be the same or different, as long as ensureing that the thickness after the superposition of 2 the second bushings is slightly less than between stator and mover Gap.Described 2 the second bushing shapes according to the different and different of the void shape between the stator and mover of motor, When motor is electric rotating machine, then the space between mover and stator is into a cylinder or annulus, then the second bushing 52,53 It is shaped as cylinder or annulus；And when motor is linear electric motors, then the space between mover and stator is into a plane, then the Two bushings 52,53 are shaped as a plane.2 second bushings are preferably as shown in Figure 10 can entirely to fill the sky The structure of gap, i.e. shape are completely corresponding with space, and simply thickness is slightly less than the gap；In addition, 2 second bushings Can also be to be partially filled with the structure in gap (such as：Highly it is less than clearance height) etc., as long as 2 the second bushings can be met Thickness is slightly less than gap, and the second bushing can fill whole or portion gap and belong in the scope of protection of the invention.

2 one of sides of the second bushing 52,53 are relative to each other, and another side corresponds to stator 10 and moves respectively Son 20.It is preferred that 2 the second bushings 52,53 wherein correspond to stator 10 respectively and the one side of mover 20 is respectively fixedly connected with correspondence The stator 10 and mover 20.

In addition to above-mentioned preferred embodiment, it is also possible to 2 20 two sides of stator 10 and mover corresponding respectively of the second bushing 52,53 Face is not fixedly connected with stator 10 and mover 20, i.e., simply fill between stator 10 and mover 20 second bushing 52,53 In space, because the thickness of liner layer is only slightly less than gap, this mode is also possible, and simply this mode is relatively preferred Frictional force in the relative increase rotation process of mode meeting between liner layer and stator and mover.

It should be noted that second bushing is not limited to 2 shown in accompanying drawing 10, or more than 2 Any (not shown to anticipate out).Preferably, as long as ensureing that two the second bushings positioned at both sides are respectively fixedly connected with corresponding institute State stator and mover.In addition to preferred embodiment, it is also possible to positioned at both sides two the two of the second bushing sides not with stator and Mover is fixedly connected, i.e., simply fill in the space between stator and mover the second bushing, due to the thickness of the second bushing Gap is slightly less than, this mode is also possible, simply this mode can the relative frictional force increased in rotation process.

Figure 11 is the structural representation of another electric rotating motivation provided in an embodiment of the present invention, wherein left side is motor Overall axial cross-sectional views, right side for part A ' enlarged diagram.

As shown in figure 11, in another preferred embodiment, the liner layer is arranged on the gap including at least 2 distributions The 3rd interior bushing 54, the 3rd bushing 54 includes at least 2 bulk, the ring-types of thickness identical arbitrary shape etc. structure Composition, such as：It can be that multiple block structures are scattered is distributed in the gap (as shown in figure 11), and the block structure can Being plane (such as applying in linear electric motors), or it is cambered surface (applying in electric rotating machine)；Or when motor is rotation During rotating motor, the 3rd bushing is multiple annulus corresponding with the cylinder or annulus that space is surrounded or cylinder axial direction It is set up in parallel and forms.Described each the 3rd bushing shape can be with identical, it is also possible to different, as long as ensureing that thickness is identical and is slightly less than The gap, and the 3rd bushing can integrally be filled entirely or portion gap is belonged in the scope of protection of the invention.

Described each the 3rd bushing 54 is preferably, and wherein one side is fixed with corresponding stator 10 or mover 20 and connected Connect, so ensure that the 3rd bushing 34 is at least integrally fixed on stator 10 or mover 20, therefore relative can reduce mover 20 in rotation process, with the friction that the 3rd bushing 54 is fixedly connected this side.

In addition to above-mentioned preferred embodiment, it is also possible to which two sides of each the 3rd bushing 54 are not fixed with stator and mover and connected Connect, i.e., simply fill in the space between stator and mover the 3rd bushing 54, because the thickness of the 3rd bushing is only slightly less than Gap, this mode is also possible, and simply this mode can the relative frictional force increased in rotation process.

It should be noted that liner layer of the present invention is removed to include being mentioned in each bright preferred embodiment listed above The first bushing, the second bushing, the structure of the 3rd bushing outside, any to be arranged between stator and the opposite face of mover, thickness Gap is slightly less than, and the motion of mover energy relative stator can again be ensured by the gap between liner layer restriction stator and mover Structure, belongs in the protection domain of liner layer of the present invention.

It should be noted that the liner layer, the first bushing, the second bushing, the 3rd bushing are preferred：Teflon (TEFLON), epoxy resin, nickel (NICKEL)；Or arbitrary surfaces apply the material of epoxy resin；Or can also be for can be with The materials such as associated metal or alloy of the Direct Electroplating on stator and/mover, such as：Copper.Above-mentioned material have the advantage that including： Light weight, rub resistance, surface are smooth, therefore bushing using this material relative can reduce rotation process between mover and stator In abrasion and generation friction and reduce the weight of motor, therefore for bearing, be made of the material Bushing enables to motor with lighter quality.But it should be recognized that the liner layer, the first bushing, the second bushing, 3rd bushing is not limited to above-mentioned material, as long as non-magnet material can be used as bushing in principle.

The mode being fixedly connected is included but is not limited to：Bonding, plating, by fixture (such as：Screw) fixed company Connect.It is fixedly connected preferably through the mode of bonding.

The moment of torsion of motor can be realized increasing by the improvement or improved combination of any of the above structure, but It is, in order to apply in Direct Drive Robot field, in addition it is also necessary to reduce the weight and volume of motor itself, so as to improve indirectly The moment of torsion of motor.Following structure can specifically be used：

In certain embodiments, due to also generally setting multiple windings on the stator of motor or the magnetic-conductance portion of mover, By increasing the current density passed through in winding, to reduce coil turn, so as to reduce the weight of motor itself；In addition, by Tailed off in coil turn, the volume of the magnetic-conductance portion on relative mover or stator can also be relatively reduced, therefore can enter one Step reduces the weight of motor itself.

In further embodiments, the material of mover and stator can be further improved, composite or other height are used The material of strength lightweight amount replaces the steel construction of other heavier mass, in the case where structural strength is ensured, structure is caused as far as possible Lightweight.Such as：When motor includes being fixedly connected the mover rotating shaft, by the outside output torque of rotating shaft, the rotating shaft Material can be included but is not limited to：The material such as Teflon, carbon fiber or carbon fibre composite, glass fibre, bronze, nickel.

In addition, stator and mover all include magnetic-conductance portion, and the stator magnetic-conductance portion and mover magnetic-conductance portion of prior art are usual It is an entirety, such as electric rotating motivation is a cylinder, and linear motor is a plane.Yet with motor forever The difference of the arrangement mode of magnet or winding, causes the density of line of magnetic force passed through in magnetic-conductance portion different in different regions, has Areal concentration it is big, some areal concentrations are small, and some regions pass through even without the magnetic line of force, and we pass through no magnetic line of force Region is referred to as non-magnetic area.It is similarly realization and ensures structural strength, structure lightened purpose is caused as far as possible, we can determines Non-magnetic area in the magnetic-conductance portion of son and/or mover removes, instead of filled composite materials or the material of other high strength light quality, Such as：Any one in the material such as Teflon, carbon fiber or carbon fibre composite, glass fibre, bronze, nickel or group Close.

Figure 12 is the cut-away section structural representation of the motor of another high torque provided in an embodiment of the present invention.

Existing motor is typically the inner side that mover is arranged on stator, and mover connects output shaft as output end, and it lacks Point is that the mover of the motor needs connection output shaft as output end, therefore increased the weight of motor itself, is entered And the load that robot drives in itself is increased, it is unfavorable for direct drive.

As shown in figure 12, in some preferred embodiments, the mover 20 is arranged on the outside of the stator 10, described dynamic Son 20 includes axially external face 24 and radial outer side 25, and at least part of axially external face 24 of the mover 20 is the first output End, and/or at least partially radial lateral surface 25 of the mover 20 is the second output end.Using the electricity described in the embodiment of the present invention Machine avoids the mechanical parts such as extra addition output shaft, alleviates the weight of motor itself.

It should be noted that the mover can only include the first output end, it is also possible to only include the second output end, or Including first, second two output ends.First output end and the second output end can be by partially radially face, part axial direction Face constitutes, or is made up of whole sagittal plane, whole axial face, can enter one to the first output end and the second output end below Step is described in detail.

It should be noted that motor described in this specific embodiment can be electric rotating motivation (as shown in figure 13), also may be used To be linear motor (not shown to anticipate out), because the two principle is identical, this specific embodiment only enters by taking electric rotating motivation as an example Row is described in detail.

Continuation is as shown in figure 12, and the axially external face 24 of the mover 20 includes the first axial direction positioned at mover axial direction two ends The axially external face 242 of lateral surface 241 and second, therefore first output end includes at least part of first axially external face 241 And/or at least part of second axially external face 242.

According to described above, first output end can be the first axially external face or the second axially external face, lead to (usual motor is connected to one end of mechanical arm, but is not limited to be connected to mechanical arm to cross the first output end connection mechanical arm One end, the optional position that actually it can be connected to mechanical arm), the motion of driving mechanical arm；It can also be first, second axial direction Lateral surface is all the first output end, that is, have two the first output ends, and so motor can simultaneously be fixedly connected two machineries Arm, while driving two mechanical arms to be synchronized with the movement.

Figure 14 A-14B are three kinds of vertical views of the output end of difference first of the mover of motor provided in an embodiment of the present invention Figure；Wherein 14A is shown as the overall as the first output end of the first axially external face 241；14B is shown as the first axially external face Plurality of part as the first output end.Figure 15 A-15C be three kinds of motor mover provided in an embodiment of the present invention not With the side view of the second output end, wherein 15A is shown as the overall as the second output end of radial outer side, and 15B is shown as footpath Used as the second output end, 15C is shown as plurality of part in radial outer side as first at the axial two ends of outside side Output end.

Further, at least partly axially external face is that the first output end can include at least part of first axially Lateral surface and/or at least part of second axially external face, also including following several embodiments：

As shown in Figure 14 A, on the one hand, the entire surface in the first axially external face 241 be the first output end 241 ', due to The entire surface in the first axially external face 241 is planar annular, and first output end 241 ' is planar annular；Except this it Outward, when the motor is linear motor, the integral planar can also be a rectangle plane (not shown to anticipate out).

As shown in Figure 14B, on the other hand, in the whole plane in the first axially external face 241 one of them or it is many Individual part planar is the first output end 241 ", when for some, the multiple part can as needed take optional position.

It should be noted that the second axially external face (not illustrated in Figure 14 A-14B) is used as the first output end, referring to upper The axially external face in face first as the first output end description, it is no longer repeated herein.

In further embodiments, at least partly radial outer side is that the second output end can include following several Individual embodiment：

As shown in fig. 15, on the one hand, generally the second output end 25 ' of the radial outer side 25, i.e., described radial outside The whole cylindrical outer surface in face 25 is the second output end 25 '；

On the other hand, the part surface on the whole of the radial outer side 25 is the second output end, can specifically be included：

As shown in fig. 15b, two second cylindrical outer surfaces being located at respectively at axial two ends of the radial outer side 25 It is the second output end 25 "；Or

As shown in figure 15 c, positioned at one of optional position on whole first cylindrical outer surface of the radial outer side 25 Or the face of some is the second output end 25 " '.

Figure 13 is that the cut-away section structure of the motor of another direct drive high torque provided in an embodiment of the present invention is shown It is intended to.

As shown in figure 13, in some preferred embodiments, the motor also include at least one connector 60, it is described extremely Few a connector 60 correspondence first output end 24 and/or second output end 25, and with first output end 24 And/or second output end 25 is fixedly connected.First, second output end 24,25 of i.e. described mover is not directly connected machine The mechanical arm of people, but be fixedly connected with the mechanical arm of robot by connector 60.First, the of mover can so be avoided Two output ends are directly connected to other parts and structural damage, abrasion are caused to mover.

As shown in figure 13, the connector 60 includes first connecting portion 61 and second connecting portion 62, the first connecting portion 61 the first output ends 24 of correspondence, the second output end 25 of correspondence of the second connecting portion 62.Such first output end and the second output End 24,25 is connected by first connecting portion 61 and second connecting portion 62 with other parts of robot.

It should be noted that due to the first connecting portion the first output end of correspondence, the second connecting portion correspondence second Output end, thus first connecting portion be may refer to second connecting portion it is related to the second output end above in connection with the first output end Description, it is no longer repeated herein.

It should be noted that depending on the connector can be according to the situation of the output end set on mover, when on mover When only including the first output end, connector can only include first connecting portion；When mover only includes the second output end, connector Second connecting portion can be only included；As shown in figure 13, when mover includes first, second output end simultaneously, the connection of motor Part can simultaneously include first connecting portion 61 and second connecting portion 62.The first connecting portion 61 and second connecting portion 62 are preferably logical The mode for crossing assembling is fixedly connected, preset integral (as shown in figure 13), the first connecting portion and second connecting portion can also It is provided separately (not shown to anticipate out).

As shown in figure 13, in some preferred embodiments, the mover include first, second two axially external faces 241, 242, wherein, at least part of first axially external face 241 is the first output end, and at least part of second axially external face 242 is The axially external face of connection end, i.e., first is used for output torque, and the second axially external face is used to connect miscellaneous part, by other Part drives the rotation of the mover.It should be noted that first, second axially external face is intended merely to described in this specific embodiment The title of differentiation, the sensing in first, second axially external face can be with reversing of position, such as：Alternatively the second axle is outside Side is the first output end, and the first axially external face is connector.

The second axially external face that the connection end at least partly corresponds to the mover is：Whole second axle of the mover Outside side is used as connection end；Or the axially external face in part second (on the such as second axially external face of the mover Individual or some faces are used as connection end).

As shown in figure 13, in some preferred embodiments, when at least part of second axially external face 242 is connection end, institute Stating mover can also include fixture 70 corresponding with connection end, i.e., the connection end of described mover passes through fixture 70 and mechanical arm It is fixedly connected, on the one hand the mover 10 is fixedly connected by fixture 70 with mechanical arm, can so avoid the connection of mover End is directly connected to structural wear, the destruction that mechanical arm is caused to mover；On the other hand, the fixture can be also used for limiting institute Mover is stated in position axially or radially, prevents the mover from being moved axially or radially.Certainly limit described dynamic Son can also be realized in displacement axially or radially using other many existing structural members, because being not belonging to the present invention Inventive point, it is and unrelated with inventive point of the invention, therefore no longer other structures are illustrated.

The fixture is corresponding with connection end, its structure type referring to the description above in connection with connection end, herein no longer It is described in detail.

The mechanical arm can be designed to as needed it is variously-shaped, first, the of mechanical arm at least one end and motor Two ends are fixedly connected, it is possible to achieve the flexible design of robot.

At least one end of the mechanical arm is fixedly connected the motor and can include but is not limited to following several situations：

One end of the mechanical arm is directly fixedly connected the first or second output end of the motor；Or

One end of the mechanical arm is fixedly connected the first or second output end of motor by connector；Or

The mechanical arm includes two ends, and wherein one end is directly fixedly connected first output end or second of the motor Output end；The other end is directly fixedly connected the connection end of the motor；Or

The mechanical arm includes two ends, and wherein one end is fixedly connected the first output end of the motor by connector, The other end connects the connection end of the motor by fixture.

It should be noted that except mover output end recited above or connection end are not limited to be connected to the one of mechanical arm End, the optional position that actually it can be connected to mechanical arm.

It should be noted that the connecting portion of the first output end of the mover of the correspondence of the mechanical arm motor, right The connecting portion of the second output end, the connecting portion of correspondence connection end is answered to can have any shape, the first output end preferably with mover, Second output end, the shape of connection end are corresponding, can specifically include the structure of following examples：

The connecting portion of correspondence first output end of the mechanical arm, the connecting portion of correspondence connection end form a plane, First output end is fixedly connected by the plane；And/or

The connecting portion of correspondence second output end of the mechanical arm is formed and at least partly surround second output end Encirclement structure, surrounded by the encirclement structure division or be all surrounded and be fixedly connected second output end.

The structure of motor Direct Drive Robot for a better understanding of the present invention, below in conjunction with the accompanying drawings further in detail Explanation.

Figure 16 A-16C are a kind of schematic diagram for directly driving 6 axle robots provided in an embodiment of the present invention, wherein Figure 16 A It is a kind of side view of embodiment of 6 axle robots, Figure 16 B, 16C are the schematic diagram of another embodiment of 6 axle robots.

As shown in Figure 16 A, the 6 axle robot includes 6 shaft mechanical arms (Z1, Z2, Z3, Z4, Z5), and each mechanical arm connects A motor is connect, therefore including 6 motor (M1, M2, M3, M4, M5, M6).

As shown in Figure 16 A, the mechanical arm can as needed be designed to arbitrary shape, and its two ends connects adjacent respectively Two motor first, second output end and connection end.Such as：The two ends of Z1 connect first output end and M2 of M1 respectively Connection end, M2 by Z1 drive M1 rotate；Again such as：The two ends of Z4 connect the second output end and the company of M4 of the M5 respectively Connect end etc..

In addition to the structure of robot described in Figure 16 A, the robot architecture as described in Figure 16 B, Figure 16 C can also be used, often Individual robot includes 6 motor (M1, M2, M3, M4, M5, M6).

Except the robot shown in accompanying drawing, any satisfaction using by the mover of motor directly as output end robot Belong in the scope of protection of the invention.

As a example by further optimize, in each rotor position, the finite element meter that the electric current of each stator winding passes through electromagnetic field Calculation is calculated by optimization method.It is that the electromagnetic torque that motor is produced is maximum to optimize the object function for calculating.It is this determine around The method of group current waveform, it is ensured that motor can produce the electromagnetic torque of maximum under certain electric load.

Existing motor will realize that the moment of torsion of 10NM generally needs the quality of 4KG or more, electronic in the present embodiment Machine realizes the torsion of 10NM by the combination or some improved combinations using the structure described in above example, the motor Square can reach smaller weight, minimum to reach the weight for only needing to 1.4KG.Therefore such motor applications are direct It is have very big beneficial effect in driven machine people.

Embodiment two,

The embodiment of the present invention two also provides a kind of robot of the motor of the high torque including described in embodiment one.

As described in embodiment one, magnetic flux density more conference causes iron loss bigger, when motor high-speed motion (such as In Automobile drive field), excessive iron loss can be produced within the unit interval, so as to cause electric motor overheating serious, and then seriously The performance for influenceing motor or even the damage for causing motor.And the motor described in the embodiment of the present invention is suitably applied in mainly Carry out the field of low cruise (such as：Robot), because motor only the motion of high speed occurs once in a while, therefore can not need Consider iron loss factor, and can be using the material of high magnetic flux density.

Preferably, the machine artificially includes industrial robot, because industrial robot generally requires to undertake excessive bearing Carry.But in addition to industrial robot, the robot that any need undertakes relatively large load is belonged in the scope of protection of the invention.

It is further preferred that the robot refers to the robot of the motor direct drive of the high torque, because being Increase the flexibility of each joint motions of robot, existing robot is often directly driven using motor, it is therefore desirable to high The motor of moment of torsion.

, referring to specific embodiment one, it is no longer repeated herein for the associated description of the motor.

"and/or" in this paper terms, only a kind of incidence relation for describing affiliated partner, represents there may be three kinds of passes System, for example：A and/or B, can represent individualism A, while there is A and B, individualism B these three situations.In addition, herein Middle character "/", typicallys represent forward-backward correlation pair as if a kind of relation of "or".

Term " first ", " second ", " 3rd " in claims of the present invention and specification and above-mentioned accompanying drawing etc. (if present) is for distinguishing similar object, without for describing specific order or precedence.It should be appreciated that this The data that sample is used can be exchanged in the appropriate case, so that the embodiments described herein can be with except illustrating or retouching herein Order beyond the content stated is implemented.Additionally, term " including " " having " and their any deformation, it is intended that covering is not Exclusive includes.For example：Process, method, system, product or the equipment for including series of steps or module are not necessarily limited to clearly Those steps or module listed to Chu, but including it is not listing clearly or for these processes, method, system, Product or equipment intrinsic other steps or module.

In addition, during each functional unit in each embodiment of the invention can be integrated in a processing unit, it is also possible to It is that unit is individually physically present, it is also possible to which two or more units are integrated in a unit.It is above-mentioned integrated Unit can both be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.

Being fixedly connected including but not limited to described in this specific embodiment:By bonding, or by clamping, screw etc. Dismountable mode is fixedly connected.

In the above-described embodiments, the description to each embodiment all emphasizes particularly on different fields, and is not described in certain embodiment Part, may refer to the associated description of other embodiments.

It should be noted that those skilled in the art should also know, embodiment described in this description belongs to excellent Embodiment is selected, necessary to involved structure and the module not necessarily present invention.

The motor of the high torque for being provided the embodiment of the present invention above and the robot including the motor are carried out It is discussed in detail, but the explanation of above example is only intended to help and understands the method for the present invention and its core concept, should not be understood It is limitation of the present invention.Those skilled in the art, according to thought of the invention, the invention discloses technical scope Change or replacement that are interior, can readily occurring in, should all be included within the scope of the present invention.

Claims (12)

1. a kind of motor of high torque, including mover and stator module, mover and stator include stator magnetic-conductance portion and dynamic respectively Include that multiple permanent magnets and/or winding, to produce magnetic field, exist between mover and stator on sub- magnetic-conductance portion, stator and/or mover Gap, it is characterised in that the stator magnetic-conductance portion and mover magnetic-conductance portion at least partly include magnetic flux magnetic-conductance portion high, for passing through Increasing magnetic field is improving the moment of torsion of motor.

2. the motor of high torque according to claim 1, it is characterised in that the material bag of the magnetic flux magnetic-conductance portion high Include：Any one in pure iron, Permendur, iron cobalt vanadium or combination.

3. the motor of high torque according to claim 1, it is characterised in that the opposite face of the stator and mover includes Multiple teeth and groove, the number of the stator tooth and the number of mover tooth are unequal, and the multiple permanent magnet is arranged on the stator And/or in the groove of the mover, the number of the multiple permanent magnet is more than or equal to 20 pairs of poles.

4. the motor of high torque according to claim 3, it is characterised in that when the multiple permanent magnet is more than or equal to 20 To pole, the gap between the stator and mover is less than or equal to 0.5MM.

5. the motor of the high torque according to claim 1-4 any one, it is characterised in that the motor also includes Liner layer for limiting the gap, the thickness of the liner layer are arranged between the opposite face of the stator and the mover It is slightly less than the gap.

6. the motor of high torque according to claim 5, it is characterised in that the material of the liner layer includes：Iron fluorine Any one in dragon, epoxy resin, nickel, surface coating epoxy resin, the metal of electrodepositable or alloy or combination.

7. the motor of the high torque according to claim 1-4 any one, it is characterised in that the multiple set of permanent magnets Into a Halbach array or multiple Halbach array unit, the multiple Halbach array cell distribution stator and/ Or in multiple grooves of the opposite face formation of mover.

8. high torque motor according to claim 7, it is characterised in that described each Halbach array unit is at least Positioned at the close described mover of the permanent magnet of both sides or one end of the stator opposite face middle permanent magnet is located at less than described Same one end certain distance.

9. high torque motor according to claim 7, it is characterised in that described each HALBACH array permanent magnetism body unit In be located at the width of the width more than the permanent magnet positioned at both sides of middle permanent magnet.

10. the motor of the high torque according to claim 1-4 any one, it is characterised in that the motor is also wrapped Rotating shaft is included, the non-magnetic area in the rotating shaft or the stator magnetic-conductance portion, mover magnetic-conductance portion includes：Teflon, carbon fiber or carbon Any one in fibrous composite, glass fibre, bronze, nickel or combination.

The motor of 11. high torque according to claim 1-4 any one, it is characterised in that the mover is arranged on The outside of the stator, the mover includes radial outer side and axially external face, at least part of described axial direction of the mover Lateral surface is the first output end, and/or at least part of described radial outer side of the mover is the second output end.

12. a kind of robots, it is characterised in that the robot includes the high torque described in claim 1-10 any one Motor.