WO2018086595A1

WO2018086595A1 - High-torque electric motor and robot comprising same

Info

Publication number: WO2018086595A1
Application number: PCT/CN2017/110495
Authority: WO
Inventors: 何国斌
Original assignee: 南方电机科技有限公司
Priority date: 2016-11-11
Filing date: 2017-11-10
Publication date: 2018-05-17
Also published as: CN106817003A

Abstract

A high-torque electric motor comprises an assembly of a rotor (20) and a stator (10). The rotor (20) and the stator (10) respectively comprise a magnetic conductive portion (23, 13). The stator (10) and/or the rotor (20) is provided with a plurality of permanent magnets (30) thereon. The rotor (20) and the stator (10) have a gap therebetween. At least part of the magnetic conductive portion (23, 13) is made of a material having a high magnetic flux density. The high-torque electric motor of the present application has at least part of the magnetic conductive portions (13, 23) of the stator and the rotor comprising a high magnetic-flux magnetic conductive portion and increases the torque by increasing the strength of the magnetic field, thereby addressing the problem caused by an electric motor using a reducer.

Description

High torque motor and robot including the same

Technical field

The present invention relates to the field of automation technology, and in particular to a high torque motor and a robot including the same.

Background technique

In the field of robotics, it is necessary to use an electric motor to drive each joint motion. However, due to the movement of the robot, especially the industrial robot usually needs to bear a certain load, a high torque motor is required to meet the requirements of the industrial robot.

The electric motor in the prior art generally uses a speed reducer to increase the torque, but the motor with the structure has high cost, low efficiency, and high noise due to the reducer, thereby causing high cost, high noise, and deceleration of the entire motor. The presence of the device causes the weight and volume of the motor to increase, so the application of such a motor to a robot, especially a robot directly driven by the motor, is disadvantageous.

Summary of the invention

In order to solve the above problems, the present invention provides a high torque motor and a robot including the same, at least part of the stator magnetic flux portion and the mover magnetic conductive portion including a high magnetic flux magnetic permeability portion, by increasing the magnetic field strength Increase the torque, thus avoiding the problems caused by the use of a reducer for the motor.

A first aspect of the present invention provides a high torque electric motor including a mover and a stator assembly, the mover and the stator respectively comprising a stator magnetic guide portion and a mover magnetic guide portion, the stator and/or the mover including a plurality of permanent magnets and / or windings to generate a magnetic field, there is a gap between the mover and the stator, at least part of the stator magnetic guide and the mover magnetic guide includes a high flux magnetic permeability, by increasing the strength of the magnetic field to increase the torque.

Further, the material of the high magnetic flux permeability portion includes: any one or combination of pure iron, Pomande alloy, iron cobalt vanadium.

Further, the opposite faces of the stator and the mover include a plurality of teeth and slots, and the number of the stator teeth and The number of mover teeth is not equal, and the plurality of permanent magnets are disposed in the slots of the stator and/or the mover, and the number of the plurality of permanent magnets is greater than or equal to 20 pairs of poles.

Further, when the plurality of permanent magnets are greater than or equal to 20 poles, the gap between the stator and the mover is less than or equal to 0.5 MM.

Further, the motor further includes a bushing layer disposed between the stator and the opposite faces of the mover for defining the gap, the bushing layer having a thickness slightly smaller than the gap.

Further, the material of the bushing layer includes any one or a combination of Teflon, epoxy resin, nickel, surface-coated epoxy resin, electroplatable metal or alloy.

Further, the plurality of permanent magnets constitute a Halbach array or a plurality of Halbach array units.

Further, the plurality of Halbach array elements are distributed in a plurality of slots formed by opposing faces of the stator and/or mover.

Further, the motor further includes a rotating shaft, and the non-magnetic conductive region on the rotating shaft or the stator magnetic conductive portion and the moving magnetic conductive portion includes but is not limited to: Teflon, carbon fiber or carbon fiber composite material, glass fiber, bronze, Any one or combination of nickel.

Further, the mover is disposed outside the stator, the mover includes a radially outer side surface and an axial outer side surface, and at least a portion of the axial outer side surface of the mover is a first output end, and Or at least a portion of the radially outer side of the mover is a second output.

A second aspect of the present invention also provides a robot comprising the high torque motor of any of the above.

As can be seen from the above, the present invention provides a high-torque motor that increases the torque by using at least a portion of the material of the magnetizer with a high magnetic flux density, thereby avoiding the problems caused by the use of a speed reducer for the motor. Technical effect:

1. Since the high-torque motor is mainly used in low-speed operation, occasionally high-speed motion is required. Therefore, the core eddy current loss due to current change is small, negligible, when the stator magnetic guide and mover At least part of the magnetic permeability portion includes a high magnetic flux magnetic permeability portion, and the torque is increased by increasing the magnetic field strength, thereby avoiding the high cost and low efficiency brought by the motor using the reducer for torque increase. Problems such as loud noise.

2. Since a plurality of permanent magnets are installed in the slots of the stator and/or the mover, the number of permanent magnets is greater than or equal to 20 pairs of poles, which is equivalent to splitting the original relatively large-volume permanent magnet into several small permanent The magnet reduces the thickness of the corresponding magnetic conductive portion, thereby reducing the volume and mass of the motor, thereby facilitating the high torque density of the motor; and because the permanent magnet is installed in the groove, the number of pole pairs of the permanent magnet is increased, and the same is required. Increasing the number of teeth and slots is equivalent to reducing the volume of each tooth and groove, thereby reducing the effect of torque between the teeth, making the torque output smoother and more favorable for achieving high torque density of the motor.

3. Since the permanent magnets on the stator and/or the mover are mounted in the slots between the teeth and the teeth, the magnetic resistance of the stator and the mover toward the gap side is uneven in the circumferential direction. Moreover, since the number of stator teeth and the number of mover teeth are not equal, and the permanent magnets with multiple pairs of poles are used, when the rotor rotates, the gap magnetic field generated by the rotor changes at a high frequency, resulting in a certain permanent magnet. A large electromagnetic torque is generated under the material.

4. Since the plurality of permanent magnets comprise: forming a Halbach array or composing a plurality of Halbach array units, the motor structure of the motor can be increased relative to a motor structure in which a single permanent magnet is disposed in each slot; a plurality of teeth and groove structures are formed on opposite sides of the mover, and the plurality of HALBACH array permanent magnet units are distributed in each of the slots of the stator and/or the mover to form a simple HALBACH array arrangement, That is to improve the torque density of the motor, and also contribute to mass production of permanent magnets, reduce production costs, and is easy to install and not easily damaged.

5. Since the first and third permanent magnets are located at least at a distance from the opposite end of the mover or the stator, which is lower than the same end of the second permanent magnet, by adopting the above structure, on the one hand, Since the area affected by the anti-magnetization is removed, the entire HALBACH array permanent magnet is not demagnetized, which affects the stability of the entire motor. On the other hand, since some of the permanent magnet structures are removed, each group of HALBACH arrays can be relatively reduced. The quality of the magnet, thus reducing the weight of the motor to a certain extent.

6. Since the width of the permanent magnet located in the middle of each HARBACH array permanent magnet is larger than the width of the permanent magnets located on both sides, a better sinusoidal magnetic field can be formed.

7. Because of the increase in torque and the reduction of the volume of the permanent magnet, it is necessary to reduce the gap between the stator and the mover.

8. Since the motor is provided with a bushing layer between the stator and the opposite faces of the mover, the thickness of the bushing layer is slightly smaller than the gap, thus defining a gap between the mover and the stator At the same time, it can ensure that the mover can move relative to the stator, and does not affect the magnetic gap between the mover and the stator, so that the motor can define the gap between the stator and the mover through a simple structure, thereby reducing the motor. At the same time, with this simple structure, a small gap between the stator and the mover can be defined without adding additional components, so that even in a motor with a small gap, the motor itself can be lightened. weight.

9. Since the bushing layer is preferably: Teflon, epoxy resin, nickel (NICKEL); or any material coated with an epoxy resin material; or the bushing layer may be other directly A material such as a metal or alloy plated on the stator and/or mover; or a combination of the above. The above materials have the advantages of light weight, friction resistance and smooth surface, so that the bushing layer using this material can relatively reduce the wear during movement between the mover and the stator, compared with the prior art bearings. The resulting friction, and the use of a bushing layer made of this material, enables the motor to have a lighter weight.

10. Since the output shaft of the motor or the non-magnetic field on the magnetic conductive part of the stator and the non-magnetic field on the magnetic conductive part of the mover use composite materials or other high-strength light-weight materials to replace other heavy-weight steel structures, it is possible to ensure structural strength. In the case of the case, the structure is made lighter as much as possible, so that the weight of the motor itself can be reduced.

11. Since at least part of the axial outer side of the motor is the first output end, at least part of the radially outer side is the second output end, and the first output end and/or the second output end are directly connected to the component to be driven, thereby avoiding In the prior art, the output shaft output requires an additional mechanical component to reduce the weight of the motor itself.

DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments and the prior art description will be briefly described below. Obviously, the drawings in the following description are only some implementations of the present invention. For example, other drawings may be obtained from those skilled in the art without any inventive effort.

1 is a schematic top plan view of a high torque motor according to an embodiment of the present invention;

2 is a partial structural schematic view of a linear motor according to an embodiment of the present invention;

3A-3D are schematic diagrams showing several embodiments of a magnetic flux direction on each HALBACH array permanent magnet according to an embodiment of the present invention;

4A-4D are schematic diagrams of several embodiments of each HALBACH array permanent magnet according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of an embodiment of an electric motor according to an embodiment of the present invention; FIG.

FIG. 6 is a magnetic density change of each permanent magnet in a HALBACH array permanent magnet according to an embodiment of the present invention;

7A-7B are schematic diagrams showing another embodiment of a HALBACH array permanent magnet according to an embodiment of the present invention;

8 is a structural block diagram of a motor mover and a stator assembly according to an embodiment of the present invention;

FIG. 9 is a schematic structural diagram of a high-torque motor according to an embodiment of the present invention, wherein the left side is an overall axial cross-sectional view of the motor, and the right side is an enlarged schematic view of the portion A;

10 is a schematic structural view of another high-torque motor according to an embodiment of the present invention, wherein the left side is an overall axial cross-sectional view of the motor, and the right side is an enlarged schematic view of the portion A';

11 is a schematic structural view of another high-torque motor according to an embodiment of the present invention, wherein the left side is an overall axial cross-sectional view of the motor, and the right side is an enlarged schematic view of the portion A';

FIG. 12 is a partial cross-sectional structural diagram of another direct drive high torque motor according to an embodiment of the present invention; FIG.

FIG. 13 is a partial cross-sectional structural diagram of another rotary motor for directly driving a robot according to an embodiment of the present invention; FIG.

14A-14B are top plan views of two embodiments of a first connecting portion of a connector according to an embodiment of the invention;

15A-15C are side views of three embodiments of a second connecting portion of a connector according to an embodiment of the invention;

16A-16C are schematic diagrams of a direct drive 6-axis robot according to an embodiment of the present invention, wherein FIG. 15A is a side view of an embodiment of a 6-axis robot, and FIGS. 15B and 15C are another 6-axis robot. A schematic of an embodiment.

detailed description

The technical solutions in the embodiments of the present invention will be clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. Some embodiments of the invention, rather than all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without departing from the inventive scope should fall within the scope of the present invention.

Embodiment 1

In the field of robotics, electric motors (also called motors) are required to drive the various joint movements. However, due to the movement of the robots, especially industrial robots usually need to bear a certain load, it is necessary to use a high-torque motor to meet the requirements of industrial robots. The electric motor in the prior art generally uses a speed reducer to increase the torque, but the motor with the structure has a high cost and a large noise due to the high cost of the reducer, and the noise is large due to the speed reducer. There is an increase in the weight and volume of the motor itself, and therefore it is disadvantageous to apply such a motor to a robot, particularly a robot directly driven by the motor.

In order to solve the above problems, the present invention provides a high-torque motor, at least part of which includes a high-flux magnetic permeability portion, which increases the strength of the magnetic field to increase the torque, thereby avoiding the problem. The motor uses the problems caused by the reducer.

1 is a schematic structural view of a high-speed motor with low speed operation according to an embodiment of the present invention.

As shown in FIG. 1, an embodiment of the present invention provides a high torque motor including: a stator 10 and a mover 20 assembly, a plurality of permanent magnets 30 and/or windings for generating a magnetic field (as shown in FIG. 1 At the same time, permanent magnets and windings are included, and there is a gap between the mover 20 and the stator 10 to form a magnetic gap. According to the principle of electromagnetic reaction, the stator does not move and the mover moves.

It should be noted that the motor according to the embodiment of the present invention may include a linear motor in addition to the rotary motor shown in FIG. 1. In a rotating electric machine, the mover is usually called a rotor, and the mover is fixedly connected to the output shaft (usually the output shaft is disposed at the center of the rotor), and the mover is surrounded and driven relative to the stator. The output shaft rotates; in the linear motor, the mover moves relative to the stator plane, and the mover is also connected to the output shaft, and the output shaft moves linearly through the mover.

The mover 20 and the stator 10 respectively include a mover magnetic conductive portion 23 and a stator magnetic conductive portion 13, and at least a portion of the mover magnetic conductive portion 23 and the stator magnetic conductive portion 13 include a high magnetic flux magnetic guide portion for Increase torque by increasing the strength of the magnetic field.

The stator magnetizing portion 13 and the mover magnetic conducting portion 23 are used for magnetic conduction, so that when the magnetic field is passed through the stator 10 and the mover 20, a closed magnetic line circuit can be formed.

The high magnetic flux permeability portion refers to a magnetic permeability portion having a saturation magnetic flux density of ≥ 1.5T, and the material forming the high magnetic flux magnetic permeability portion may include, but is not limited to, pure iron, Permendur, Any one or combination of iron cobalt vanadium (FeCoV).

The saturation magnetic flux density refers to the maximum allowable magnetic flux line per unit area. The higher the saturation magnetic flux density, the more magnetic flux lines are allowed to pass through the unit area. Thus, when the high magnetic flux permeability is used, the unit area can be used. More magnetic lines of force are applied so that high torque can be achieved when the magnetic field strength is increased. In addition, since more magnetic lines of force can be accommodated per unit area, the same magnetic field can be generated, and the volume of the magnetic conductive portion can be reduced. When the volume is reduced, the weight of the motor itself is reduced, thereby indirectly increasing the torque of the motor.

On the other hand, the square of the magnetic flux density is usually the iron loss of the motor (the iron loss is the energy loss caused by the magnetic material during the electromagnetic reaction, and the energy lost is finally converted into heat energy, causing the motor to heat up). Proportionally, the higher the magnetic flux density, the greater the iron loss. When the motor moves at high speed (such as in the field of automobile driving), it will generate excessive iron loss per unit time, which will cause the motor to generate heat seriously, which will seriously affect the motor. The performance even caused damage to the motor. However, the motor according to the embodiment of the present invention is suitable for use in a field mainly performing low-speed operation (for example, a robot). Since the motor only occasionally exhibits high-speed motion, it is possible to use high-flux magnetic permeability without considering the iron loss factor. unit.

Since the high-torque motor according to the embodiment of the present invention is mainly used in a low-speed operation environment, occasionally high-speed motion is required, so that the core eddy current loss caused by the current change is small and negligible, when the stator is magnetically permeable. At least part of the mooring portion of the portion and the mover includes a high magnetic flux guide portion, which increases the strength of the magnetic field to help increase the torque, thereby avoiding the increase in the torque of the motor using the reducer. High cost, low efficiency, and high noise.

It should be noted that at least part of the stator magnetic conductive portion and the mover magnetic conductive portion includes a high magnetic flux magnetic conductive portion, which may mean that the magnetic conductive portion as a whole adopts a high magnetic flux magnetic conductive portion, or may be based on a stator. The density of the magnetic flux actually passing through the magnetic conductive portion and the magnetic conductive portion of the mover is designed. Since the density of magnetic lines of force passing through the magnetic conductive portion is not completely uniform, some magnetic lines of force are dense, and some magnetic lines of force are sparse, so A high-flux magnetic permeability portion is used in a portion where the magnetic flux density is high, and a common magnetic conductive portion is used in a place where the magnetic flux density is low, so that the torque can be increased and the iron loss can be reduced.

As mentioned above, in order to increase the torque, it is also necessary to increase the strength of the magnetic field. The prior art includes many methods and structures for increasing the magnetic field strength, such as by increasing the magnetic field strength of a single permanent magnet, increasing the number of permanent magnets, and on the stator and mover. Both permanent magnets (as described in Figure 1), currents through the windings, etc., are not listed here. The structure for increasing the magnetic field strength of this embodiment will be further described in detail below.

In some embodiments, the plurality of permanent magnets may include a plurality of permanent magnets having a single flux direction, in addition to which, in this embodiment, it is preferred to include an entire Halbach array or a plurality of Halbach array units. a plurality of permanent magnets, as also described above, the entire Halbach array or a plurality of Halbach array permanent magnet units may be disposed on a stator or a mover, preferably as shown in FIG. 1, on both the mover 20 and the stator 10. . The multiple Halbach array permanent magnet units are further described in detail below.

The HALBACH array permanent magnets are superimposed and offset by the intermediate magnetic field, so that the magnetic strength of the single side is enhanced, and the gap magnetic density of the motor can be improved. Generally, the HALBACH array we refer to refers to an entire HALBACH array consisting of a ring (rotary motor) or a plane (linear motor) that is disposed on the opposite surface of the mover and/or the stator, such as a ring (linear motor). Patent: CN203278585, but the HALBACH array adopting such an arrangement has the disadvantage that a plurality of permanent magnets of various magnetization directions are required to be combined, so that the processing is complicated and costly, and the arrangement of such arrays The method requires that the permanent magnets located in the middle are in close contact with each other, so that assembly is troublesome and damage of the permanent magnet is easily caused. To this end, a simplified HALBACH array is proposed for the embodiment of the present invention, and the simplification refers to the simple arrangement of the HALBACH array on the stator and/or the mover. The plurality of teeth and groove structures are disposed on opposite sides of the mover and/or the stator, and the plurality of HALBACH array permanent magnet units are distributed in the each of the stator and/or the mover. Since the stator and the moving body form a plurality of cogging structures, at least one HALBACH array permanent magnet is disposed in each of the slots of the stator and/or the mover, thereby forming a simple HALBACH array arrangement. Therefore, the torque density of the motor can be improved (the torque of the motor with the simple HALBACH array is 2.5 times that of the existing motor) compared to the conventional method of providing a single permanent magnet in the groove. It also helps the mass production of permanent magnets, reduces production costs, and is easy to install and not easily damaged.

In some preferred embodiments, each of the HALBACH array units has the same shape, so that the mass production requirements can be maximized, and only the mounting direction of the permanent magnets of the HALBACH array is adjusted according to the magnetic flux direction on the HARBACH array permanent magnets during installation. Therefore, the single-sided magnetic field generated by the HARBACH array permanent magnets mounted on the stator and the mover corresponds to the gap direction between the mover and the stator between the two. In addition to the preferred manner, the shape of each HALBACH array unit does not have to be the same. For example, the shape of the HALBACH array unit located in the stator slot can be different from the shape of the HALBACH array unit located in the mover slot, as long as the stator and the mover are ensured. The single-sided magnetic field formed by the HALBACH array may correspond to the direction of the magnetic gap.

It should be noted that the opposite faces of the stator and the mover form a plurality of teeth and slots, and preferably, the plurality of HALBACH array permanent magnet units are respectively distributed in the slots of the stator and the mover as shown in FIG. In the cloth mode, it is only necessary to ensure that the single-sided magnetic field formed by the HARBACH array on the stator and the mover corresponds to the gap direction between the mover and the stator. In addition to the preferred arrangement described above, it is also possible to provide HALBACH array permanent magnets only in the slots on the movers (as shown in Figure 2), or to provide HALBACH array permanent magnets only in the slots of the stator (not shown) Out).

It should be further noted that, in each of the foregoing setting manners, it is preferable that at least one HALBACH array unit is distributed in each slot of the stator and/or the mover (that is, one HALBACH array is distributed in each slot, or a plurality of slots are distributed in each slot. HALBACH array units); instead of distributing one HALBACH array unit in each slot, for example, at least one HALBACH array unit is distributed every several slots.

2 is a partial structural schematic view of a linear motor according to an embodiment of the present invention. Figure 3A-3D A schematic diagram of several embodiments of magnetic flux directions on each of the HALBACH array permanent magnets provided by embodiments of the present invention. FIG. 4 is a schematic diagram of several embodiments of each HALBACH array permanent magnet according to an embodiment of the present invention.

As shown in FIG. 2, each of the HALBACH array permanent magnets 30 includes: at least first, second, and third

permanent magnets

31, 32, 33 arranged in a lateral direction.

The first permanent magnet 31 includes a first magnetic flux direction,

The second permanent magnet 32 includes a second magnetic flux direction,

The third permanent magnet 33 includes a third magnetic flux direction.

The first, second, and third magnetic flux directions may be a combination of any direction conforming to the HALBACH array principle. In the present embodiment, as shown in FIGS. 3A-3D, preferably, the second magnetic flux direction is perpendicular (including completely vertical and approximately vertical) to the opposite faces of the stator or mover, and the first and third magnetic flux directions are mutually Symmetrical or parallel inversion.

As shown in FIG. 4, the respective permanent magnets constituting the HALBACH array can be designed into various shapes as needed.

As shown in FIGS. 4A and 4B, the shapes of the first, second, and third permanent magnets are preferably rectangular;

As shown in FIG. 4C, the HALBACH array includes first, second, and third permanent magnets that are respectively trapezoidal.

As shown in FIG. 4D, the HALBACH array includes first, second, and third permanent magnets that are respectively triangular.

Except for the shapes of the first, second, and third permanent magnets illustrated in FIGS. 4A-4D in the present embodiment, any permanent magnet shape that satisfies the HALBACH array principle is within the scope of the present invention.

7A-7B are schematic diagrams showing two embodiments of a HALBACH array permanent magnet according to an embodiment of the present invention.

The number of the HARBACH array permanent magnets is preferably the first, second, and third permanent magnets, but the number of the permanent magnets is not limited to the first, second, and third permanent magnets, and may be five ( As shown in FIG. 7 , 7 , 9 , etc., with the second permanent magnet as the center, any number of equal permanent magnets can be added to both sides. For the other related permanent magnets, reference may be made to the related descriptions of the first and third permanent magnets, and the detailed description thereof will not be repeated here.

FIG. 5 is a schematic diagram of an embodiment of an electric motor according to an embodiment of the present invention.

As shown in FIG. 5, in some preferred embodiments, in some of the HALBACH array permanent magnets in each slot in the relatively high magnetic density of the motor, the ends of the permanent magnets on both sides are subjected to the magnetic lines of force passing through. The influence of 40, when the direction of the magnetic line 40 is different from the direction of the magnetic field of the permanent magnet itself, may cause demagnetization of the permanent magnet, thereby affecting the stability of the entire motor. In order to solve the above problem, the embodiment of the present invention preferably has at least one end of the opposite side of the mover or the stator located on both sides of the HALBACH array at a certain distance lower than the same end of the permanent magnet located in the middle.

By adopting the above structure, on the one hand, since the region affected by the demagnetization is removed, the entire HALBACH array permanent magnet is not demagnetized, thereby affecting the stability of the entire motor; on the other hand, due to the removal of part of the permanent magnet structure, Relatively reduce the mass of each group of HALBACH array permanent magnets, thereby reducing the weight of the motor to some extent.

As shown in FIG. 5, the HALBACH array includes three permanent magnets of the first, second, third, 31, 32, and 33, and the first 31 and the third permanent magnet 33 are close to the mover or the One end of the opposite surface of the stator is lower than the same end of the second permanent magnet 32 by a certain distance.

The HALBACH array permanent magnet includes five first, second, third, fourth, and fifth

permanent magnets

31, 32, 33, 34, 35, preferably as described in FIG. 7A, fourth, One end of the five permanent magnets near the opposite side of the mover or the stator is lower than the same end of the second permanent magnet located at the middle; or may be first, third, as described in FIG. 7B The one end of the fourth and fifth permanent magnets adjacent to the mover or the opposite surface of the stator is lower than the same end of the second permanent magnet located at the middle.

In some preferred embodiments, the height ratio of the permanent magnets on both sides to the height of the permanent magnets in the middle includes: 1:1.5 to 1:1.9. As shown in FIG. 5, the height ratio of the height of the first and third

permanent magnets

31, 33 to the second permanent magnet 32 preferably includes 1:1.5 to 1:1.9.

However, it should be noted that the height ratio of each of the permanent magnets is not limited to the range of values listed above, and there may be other changes depending on the specifications of the motors of different specifications and the HARBACH array permanent magnets used. It is within the scope of the present invention to ensure that the missing portions of the first and second permanent magnets are part of the range that may be affected by the anti-magnetization.

FIG. 6 is a diagram showing changes in magnetic density of each permanent magnet in a HALBACH array permanent magnet according to a width variation ratio according to an embodiment of the present invention, wherein the X axis is a width ratio of the second permanent magnet to the first third permanent magnet, and the Y axis is Magnetic torque density.

In some preferred embodiments, the width of the permanent magnets in the middle of each of the HALBACH array permanent magnets is greater than the width of the permanent magnets on both sides, so that a better sinusoidal magnetic field can be formed. As shown in Fig. 6, it is assumed that the second permanent magnet 32 has a width P, and the first and third

permanent magnets

31, 33 have a width T, and when the ratio of the two is about 2.5, the magnetic moment density is the largest.

It should be noted that the plurality of permanent magnets 30 may be disposed on the stator and/or the mover, and the manner in which the plurality of permanent magnets are disposed on the stator and the mover includes a surface mount and an embedded. The surface mount includes: a plurality of permanent magnets are distributed in the slots of the cogging structure formed by the opposite faces of the mover and/or the stator (as shown in FIG. 1 ), and the plurality of permanent magnets are directly attached to the mover and/or the stator The opposite side; embedded, that is, an embedding groove is provided in the magnetic conductive portion of the mover and/or the stator, and a plurality of permanent magnets are embedded in each slot

In some preferred embodiments, the permanent magnets are disposed on the stator and/or the mover in a surface-mounted manner including a cogging structure, that is, a plurality of permanent magnets distributed on the opposite sides of the stator and/or the mover. In the groove formed between, the number of stator teeth and the number of mover teeth are not equal. This can facilitate the installation and mass production of permanent magnets, thereby reducing the cost of the motor.

In the conventional surface-mounted permanent magnet motor, the number of permanent magnets is generally 10 or less, and the torque output is not stabilized due to the influence of the torque between the teeth. In order to solve the technical problem, a preferred embodiment of the present invention is to increase the number of permanent magnets by 20 or more poles (as shown in FIG. 1, the permanent magnets 30 are 50 pairs of poles). Since a plurality of permanent magnets (20 or more poles or more) are installed in the slots of the stator and/or the mover, it is equivalent to splitting the original relatively large-volume permanent magnet into a plurality of small permanent magnets, thereby reducing the corresponding The thickness of the magnetic conductive portion, which in turn reduces the volume and mass of the motor, contributes to the high torque density of the motor; in addition, since the permanent magnet is installed in the groove, the number of pole pairs of the permanent magnet is increased, and the teeth and the groove are also required to be added. The quantity is equivalent to reducing the volume of each tooth and groove, thereby reducing the influence of the torque between the teeth, so that the smoothness of the torque output is more favorable for achieving the high torque density of the motor.

As described above, since the permanent magnet is mounted in the groove formed between the teeth and the teeth, the magnetic resistance of the stator and the mover toward the gap side is uneven in the circumferential direction. And because of the number of stator teeth and the number of moving teeth Unequal, and the use of multiple pairs of permanent magnets, when the mover moves, it will cause a high frequency change in the air gap magnetic field generated, resulting in high torque.

In some preferred embodiments, according to the above, since the volume of the permanent magnet can be reduced by increasing the number of permanent magnets, when it is required to increase the torque, in order to cooperate with the reduced-volume permanent magnet, it is necessary to reduce the stator and the movement. The gap between the sub-spaces (the gap refers to a certain distance between the mover and the opposite faces of the stator). In the prior art, the gap between the mover and the stator is usually 0.5-1 mm (MM), and in the present embodiment, the gap between the mover and the stator is reduced to 0.1-0.15 mm.

In the prior embodiments, in order to prevent the inconsistency of the gap between the two during the movement of the mover, thereby affecting the movement of the mover, the prior art usually passes through the stator and the mover at both ends of the motor. By using bearings to define the gap between the stator and the mover, the disadvantage of using this structure is that, on the one hand, the quality of the bearing itself is large; on the other hand, the use of bearings is usually only possible between the mover and the stator. The gap of 0.5-1MM is limited. When it is necessary to define a smaller gap between the mover and the stator, it is difficult to ensure the accuracy of the gap. Therefore, other mechanical structures are added to ensure the position of the bearing, because the quality of the bearing itself is large. The other auxiliary mechanical structures, on the other hand, result in a complicated structure and an increased mass of the entire motor.

FIG. 8 is a structural block diagram of a motor mover and a stator assembly according to an embodiment of the present invention.

As shown in FIG. 8, the present invention provides an electric motor according to the present invention. An electric motor according to an embodiment of the present invention includes a stator disposed between the opposite faces of the stator 10 and the mover 20 for defining the mover. A liner layer 50 having a gap between the stator and the stator, the liner layer 50 having a thickness slightly smaller than the gap.

The thickness of the bushing layer is slightly smaller than the gap, so as to ensure that the bushing layer defines a gap between the stator and the mover, but does not affect the movement of the mover relative to the stator; in addition, although the bushing layer is disposed on the stator and the moving Between the opposite faces, a part (preferably more than half) or all fills the air gap between the mover and the opposite face of the stator, but as long as there is a gap between the mover and the stator, it does not affect the formation of the magnetic gap between each other. .

It should be noted that the bushing layer is disposed between the stator and the opposite surface of the mover, preferably fixedly connected to the corresponding stator or mover, so as to ensure that the bushing layer is at least fixed on the stator or the mover. Therefore, the friction between the stator or the mover and the corresponding fixedly connected bushing layer during the movement of the mover can be relatively reduced; in addition, the bushing layer can also be fixedly connected to the stator or the mover. That is, only the bushing layer is inserted into the air gap between the stator and the mover. Since the thickness of the bushing layer is only slightly smaller than the gap, this method is also possible, but this method relatively increases the movement of the mover. Friction.

It should be noted that the thickness may be preferably less than 0.01-0.02 mm (MM), but it is not limited thereto. The value may be different according to the structure of the motor, as long as the bushing layer can define the stator and the movement. The gap between the sub-sets, but not affecting the movement of the mover relative to the stator, is within the scope of the present invention. With respect to the method of arranging the bearings at both ends, the method can define a gap of 0.1-0.15 MM between the stator and the mover by a simple structure.

Since the motor accommodates a bushing layer having a thickness slightly smaller than the gap between the stator and the opposite surface of the mover, the gap between the mover and the stator is defined while ensuring that the mover can be opposite The stator rotates without affecting the magnetic gap between the mover and the stator, so that the motor can define the gap between the stator and the mover through a simple structure, thereby reducing the weight of the motor itself; The simple structure allows a small gap between the stator and the mover to be defined without adding additional components, so that even in a small-gap motor, the weight of the motor itself can be reduced.

In addition, in some motors in which the stator and the rotor surface are provided with a cogging structure, the torque can be increased by increasing the number of slots and correspondingly reducing the gap between the stator and the mover, so in some cases, Instead of a speed reducer (the disadvantage of the speed reducer is that it is costly, high in quality, and resistant to wear, etc.), a certain degree of increased torque is achieved, thereby overcoming the disadvantages of using a speed reducer.

The bushing layer may be of various shapes, configurations, and numbers that may be disposed in an air gap between the mover and the opposite faces of the stator, as long as the bushing layer disposed between the stator and the opposite faces of the mover is ensured It is within the scope of the present invention to define a gap between the mover and the stator and to ensure that the mover can move relative to the stator. The bushing layer will be described in further detail below with examples of several bushing layers. It should be noted, however, that the shape, configuration, and number of the liner layers are not limited to the preferred embodiments set forth below.

FIG. 9 is a schematic structural diagram of a rotating electrical machine according to an embodiment of the present invention, wherein the left side is an overall axial cross-sectional view of the motor, and the right side is an enlarged schematic view of the partial A.

As shown in FIG. 9, in some embodiments, the bushing is an integral first bushing 51, and the two sides of the first bushing 61 correspond to the stator 10 and the mover 20, respectively.

The shape of the gap between the shape of the first bushing 51 and the opposite surface of the stator 10 and the mover 20 of the motor Correspondingly, when the motor is a rotating electrical machine, the gap between the mover and the stator is a cylinder or a ring, and the shape of the first bushing 61 may be a cylinder or a ring; and when the motor is a linear motor Then, the gap forms a plane, and the shape of the first bushing may be a plane. The first bushing preferably fills the gap structure between the mover and the opposite surface of the stator as shown in FIG. 8, that is, the shape completely corresponds to the gap, but the thickness is slightly smaller than the gap; in addition, the first bushing A bushing may also be a structure partially filled with a gap (for example, a height smaller than the gap height) or the like, as long as the thickness is slightly smaller than the gap, and the first bushing can fill the entire or a part of the void is within the scope of the present invention.

In other preferred embodiments, the first bushing 51 includes two sides corresponding to the stator 10 and the mover 20, one of which is fixedly connected to the corresponding stator 10 or the mover 20, thus ensuring the The first bushing 51 is at least fixed to the stator 10 or the mover 20, so that the side of the stator 10 or the mover 20 and the corresponding fixedly connected first bushing 51 can be relatively reduced during the rotation of the mover 20 Friction.

In addition to the above preferred manner, it is also possible that the two sides of the entire first bushing are not fixedly connected to the stator and the mover, that is, only the bushing layer is inserted into the gap between the stator and the mover, due to the first bushing. The thickness is only slightly smaller than the gap. This is also possible, but this method will increase the friction during the rotation.

FIG. 10 is a schematic structural view of another rotary electric motor according to an embodiment of the present invention, wherein the left side is an overall axial cross-sectional view of the electric motor, and the right side is an enlarged schematic view of the partial A'.

As shown in FIG. 10, in another preferred embodiment, the bushing layer is two

second bushings

52, 53 arranged side by side in the radial direction.

The bushing layer is disposed in the gap by two second bushings in parallel, and the thickness of the two second bushings may be the same or different, as long as the two second bushings are superposed The thickness is slightly smaller than the gap between the stator and the mover. The two second bushing shapes are different according to the shape of the gap between the stator and the mover of the motor. When the motor is a rotating electric machine, the gap between the mover and the stator is a cylinder or a ring. Then, the shape of the

second bushing

52, 53 is a cylinder or a ring; and when the motor is a linear motor, the gap between the mover and the stator is a plane, and the shape of the

second bushing

52, 53 is one. flat. The two second bushings are preferably a structure that can completely fill the gap as shown in FIG. 10, that is, the shape completely corresponds to the gap, but the thickness is slightly smaller than the gap; in addition, the 2 The second bushing may also be a structure partially filling the gap (for example, the height is smaller than the gap height) or the like, as long as the thickness of the two second bushings is slightly smaller than the gap, and the second bushing can fill the whole or part of the gap. All are within the scope of protection of the invention.

One of the side faces of the two

second bushings

52, 53 is opposed to each other, and the other side faces the stator 10 and the mover 20, respectively. Preferably, one side of each of the two

second bushings

52, 53 corresponding to the stator 10 and the mover 20 is fixedly coupled to the corresponding stator 10 and the mover 20, respectively.

In addition to the above preferred manners, the two sides of the

second bushings

52, 53 may not be fixedly connected to the stator 10 and the mover 20, that is, only the

second bushing

52, 53 is inserted into the gap between the stator 10 and the mover 20, since the thickness of the bushing layer is only slightly smaller than the gap, this way is also possible, but in this way, the relatively preferred way is to relatively increase the bushing layer during the rotation. Friction between the stator and the mover.

It should be noted that the second bushing is not limited to two as shown in FIG. 10, and may be two or more (not shown). Preferably, as long as the two second bushings located on both sides are fixedly connected to the corresponding stator and mover respectively. In addition to the preferred mode, the two sides of the two second bushings on both sides may not be fixedly connected to the stator and the mover, that is, only the second bushing is inserted into the gap between the stator and the mover, Since the thickness of the second bushing is only slightly smaller than the gap, this is also possible, but this way relatively increases the friction during the rotation.

FIG. 11 is a schematic structural view of another rotary electric motor according to an embodiment of the present invention, wherein the left side is an overall axial cross-sectional view of the electric motor, and the right side is an enlarged schematic view of the partial A'.

As shown in FIG. 11, in another preferred embodiment, the bushing layer includes at least two third bushings 54 disposed in the gap, the third bushing 54 including at least two of the same thickness Arbitrarily shaped block, ring, etc., for example, it may be a plurality of block structures scattered in the gap (as shown in FIG. 11), the block structure may be a plane (such as an application) In a linear motor, or in a curved surface (applied in a rotating electrical machine); or when the electric machine is a rotating electrical machine, the third bushing is a plurality of cylinders or rings that are surrounded by the gap The corresponding ring or cylinder is axially arranged side by side. The shape of each of the third bushings may be the same or different, as long as the thickness is the same and slightly smaller than the gap, and the entire third bushing can fill the whole or a part of the gap is within the scope of protection of the present invention.

Preferably, each of the third bushings 54 has a side surface fixedly connected to the corresponding stator 10 or the mover 20, so that the third bushing 34 is at least fixed to the stator 10 or the mover 20, thus It is possible to relatively reduce the friction of the side of the mover 20 that is fixedly coupled to the third bushing 54 during the rotation.

In addition to the above preferred manner, the two sides of each of the third bushings 54 may not be fixedly connected to the stator and the mover, that is, only the third bushing 54 is inserted into the gap between the stator and the mover, due to the The thickness of the three bushings is only slightly smaller than the gap. This is also possible, but this way it will relatively increase the friction during the rotation.

It should be noted that, in addition to the structures of the first bushing, the second bushing, and the third bushing mentioned in the respective preferred embodiments listed above, the bushing layer of the present invention is disposed in any Between the opposite faces of the stator and the mover, the thickness is slightly smaller than the gap, and the structure capable of defining the gap between the stator and the mover through the bushing layer and ensuring the movement of the mover relative to the stator belongs to the lining of the present invention. The cover layer is protected.

It should be noted that the bushing layer, the first bushing, the second bushing, and the third bushing are preferably: Teflon, epoxy resin, nickel (NICKEL); or any surface coated epoxy The material of the resin; or it may be a material such as a related metal or alloy that can be directly electroplated on the stator and/or mover, such as copper. The above materials have the advantages of light weight, friction resistance and smooth surface, so the bushing of this material can relatively reduce the wear and friction generated during the rotation between the mover and the stator and reduce the weight of the motor, thus For bearings, bushings made of this material enable the motor to be lighter in weight. However, it should be noted that the bushing layer, the first bushing, the second bushing, and the third bushing are not limited to the above materials, and in principle, as long as the non-magnetic conductive material can be used as the bushing.

The manner of the fixed connection includes, but is not limited to, bonding, plating, and fixing by a fixing member such as a screw. Preferably, the connection is fixed by bonding.

Increasing the torque of the motor can be achieved by an improvement or an improved combination of any of the above structures. However, in order to be applied to the field of direct drive robots, it is also necessary to reduce the weight and volume of the motor itself, thereby indirectly increasing the torque of the motor. Specifically, the following structure can be adopted:

In some embodiments, since a plurality of windings are usually disposed on the magnetic conductive portion of the stator or the mover of the motor, the number of turns of the coil is reduced by increasing the current density passing through the winding, thereby reducing the motor self. The weight of the body; in addition, since the number of turns of the coil is reduced, the volume of the opposite mover or the magnetic conductive portion on the stator can be relatively reduced, so that the weight of the motor itself can be further reduced.

In other embodiments, the material of the mover and the stator can be further improved, and other heavy-weight steel structures can be replaced by composite materials or other high-strength light-weight materials, and the structure can be lightened as much as possible while ensuring structural strength. . For example, when the electric motor includes fixedly connecting the mover shaft and output torque through the rotary shaft, the material of the shaft may include, but not limited to, Teflon, carbon fiber or carbon fiber composite material, glass fiber, bronze, nickel, etc. .

In addition to this, both the stator and the mover include a magnetic conductive portion, and the prior art stator magnetic conductive portion and the mover magnetic conductive portion are generally one unit, for example, the rotary electric motor is a cylinder, and the linear motor is a flat surface. However, due to the difference in the arrangement of the permanent magnets or the windings of the motor, the density of magnetic lines passing through the magnetically conductive portion is different in different regions, some regions have a high density, some regions have a small density, and some regions do not even have magnetic lines of force. We refer to the area where no magnetic lines pass through as non-magnetic areas. In order to achieve the purpose of ensuring structural strength and minimizing the weight of the structure, we can remove the non-magnetically conductive area on the magnetic conductive portion of the stator and/or mover instead of filling the composite material or other high-strength light-weight materials, such as: Any one or combination of materials such as Teflon, carbon fiber or carbon fiber composite material, glass fiber, bronze, nickel, and the like.

FIG. 12 is a partial cross-sectional structural diagram of another high torque motor according to an embodiment of the present invention.

The conventional motor usually has a mover disposed on the inner side of the stator, and the mover is connected to the output shaft as an output end. The disadvantage is that the mover of the motor needs to connect the output shaft as an output end, thereby increasing the weight of the motor itself, and thus The load that the robot itself drives is increased, which is not conducive to direct drive.

As shown in FIG. 12, in some preferred embodiments, the mover 20 is disposed outside of the stator 10, and the mover 20 includes an axial outer side 24 and a radially outer side 25, the mover 20 At least a portion of the axially outer side 24 is a first output, and/or at least a portion of the radially outer side 25 of the mover 20 is a second output. The motor according to the embodiment of the invention avoids the addition of mechanical components such as an output shaft, thereby reducing the weight of the motor itself.

It should be noted that the mover may include only the first output, or may only include the second output. End, or include the first and second outputs. The first output end and the second output end may be formed by a partial radial surface, a partial axial surface, or may be composed of an entire radial surface and an entire axial surface, and the first output end and the second output end The output is described in further detail.

It should be noted that the motor in the embodiment may be a rotating motor (as shown in FIG. 13) or a linear motor (not shown). Since the two principles are the same, the specific embodiment only uses a rotating motor. Give an example for a detailed description.

Continuing with Figure 12, the axially outer side 24 of the mover 20 includes a first axial outer side 241 and a second axial outer side 242 at both ends of the mover axially, such that the first output includes At least a portion of the first axial outer side surface 241 and/or at least a portion of the second axial outer side surface 242.

According to the above, the first output end may be a first axial outer side surface or a second axial outer side surface, and the mechanical arm is connected through the first output end (usually the motor is connected to one end of the mechanical arm, but not limited to the connection At one end of the robot arm, in fact, it can be connected to any position of the robot arm) to drive the arm to move; or the first and second axial outer sides are all the first output ends, that is, there are two first outputs. Therefore, the motor can be fixedly connected to the two robot arms at the same time, and simultaneously drives the two robot arms to move synchronously.

14A-14B are plan views of three different first output ends of a mover of a motor according to an embodiment of the present invention; wherein 14A is shown as the first output of the first axial outer side 241 as the first output; 14B is shown as the first axis. A plurality of portions of the outward side serve as a first output. 15A-15C are side views of three different second output ends of a motor mover according to an embodiment of the present invention, wherein 15A is shown as a whole of the radially outer side as a second output, and 15B is shown as a radially outer side of the shaft. To both ends as the second output, 15C is shown as a plurality of portions on the radially outer side as the first output.

Further, the at least a portion of the axially outer side surface may be a first output end that may include at least a portion of the first axial outer side surface and/or at least a portion of the second axial outer side surface, and further includes the following embodiments:

As shown in FIG. 14A, on the one hand, the entire surface of the first axial outer side surface 241 is a first output end 241', and the first surface of the first axial outer side surface 241 is an annular plane, the first The output end 241' is an annular plane; in addition, when the motor is a linear motor, the integral plane may also be a rectangular plane (not shown).

As shown in FIG. 14B, on the other hand, one of the entire planes of the first axial outer side surface 241 The one or more partial planes are the first output end 241'', and when it is a plurality of parts, the plurality of parts can take any position as needed.

It should be noted that the second axial outer side surface (not shown in FIGS. 14A-14B) is used as the first output end, and the first axial outer side surface is referred to as the first output end, and the details are not repeated herein.

In other embodiments, the at least a portion of the radially outer side of the second output may include the following embodiments:

As shown in Figure 15A, in one aspect, the radially outer side 25 is a second output end 25', that is, the entire cylindrical outer surface of the radially outer side 25 is a second output end 25';

On the other hand, a part of the surface of the radially outer side surface 25 is a second output end, and specifically includes:

As shown in Fig. 15B, the two second cylindrical outer surfaces of the radially outer side faces 25 at the axial ends respectively are the second output ends 25''; or

As shown in Fig. 15C, the face of one or more portions of the radially outer side surface 25 on the entire first cylindrical outer surface at any position is the second output end 25"'.

FIG. 13 is a partial cross-sectional structural diagram of another direct drive high torque motor according to an embodiment of the present invention.

As shown in FIG. 13, in some preferred embodiments, the electric motor further includes at least one connecting member 60, the at least one connecting member 60 corresponding to the first output end 24 and/or the second output end 25, And is fixedly connected to the first output terminal 24 and/or the second output terminal 25. That is, the first and second output ends 24, 25 of the mover are not directly connected to the robot arm of the robot, but are fixedly connected to the robot arm of the robot through the connecting member 60. This can prevent the first and second output ends of the mover from directly connecting other components to cause structural damage and wear on the mover.

As shown in FIG. 13, the connecting member 60 includes a first connecting portion 61 corresponding to the first output end 24, and a second connecting portion 62 corresponding to the second output end. 25. Thus the first output and the second output 24, 25 are connected to the other components of the robot by the first connection 61 and the second connection 62.

It should be noted that, since the first connecting portion corresponds to the first output end, and the second connecting portion corresponds to the second output end, the first connecting portion and the second connecting portion may refer to the above related first output end and the first The related description of the two outputs will not be repeated here.

It should be noted that the connecting member may be determined according to the output end set on the mover. When the mover includes only the first output end, the connecting member may only include the first connecting portion; when the mover only includes In the second output end, the connecting member may only include the second connecting portion; as shown in FIG. 13, when the mover includes both the first and second output ends, the connecting member of the motor may include the first connecting portion 61 and the first Two connecting portions 62. The first connecting portion 61 and the second connecting portion 62 are preferably fixedly connected and pre-assembled by assembly (as shown in FIG. 13 ), and the first connecting portion and the second connecting portion may also be separately disposed ( FIG. Not shown).

As shown in FIG. 13, in some preferred embodiments, the mover includes first and second axial outer lateral faces 241, 242, wherein at least a portion of the first axial outer lateral surface 241 is a first output end, At least a portion of the second axial outer side 242 is a connecting end, that is, the first axial outer side is for outputting torque, and the second axial outer side is for connecting other components, and the other member drives the rotation of the mover. It should be noted that the first and second axial outer sides of the embodiment are only for the name of the distinction, and the orientations of the first and second axial outer sides can be changed, for example, the second axis can also be said. The outward side is the first output and the first axial outer side is the connector.

The connecting end at least partially corresponding to the second axial outer side of the mover is: the entire second axial outer side of the mover serves as a connection end; or a portion of the second axial outer side of the mover ( For example, one or more partial faces on the second axial outer side surface serve as connecting ends).

As shown in FIG. 13, in some preferred embodiments, when at least a portion of the second axial outer side 242 is a connecting end, the mover may further include a fixing member 70 corresponding to the connecting end, that is, the connection of the mover. The end is fixedly connected to the mechanical arm by the fixing member 70. On the one hand, the mover 10 is fixedly connected to the mechanical arm through the fixing member 70, so as to prevent the connecting end of the mover from directly connecting the mechanical arm to wear and damage the structure caused by the mover; On the other hand, the fixing member can also be used to define the position of the mover in the axial or radial direction to prevent the mover from moving in the axial or radial direction. Of course, it is also possible to define the displacement of the mover in the axial or radial direction by using many other existing structural members, since it is not invented by the present invention. Moreover, it is not related to the inventive point of the present invention, and therefore other structures will not be described.

The fixing member corresponds to the connecting end, and the structural form thereof is described above with respect to the connecting end, and details are not described herein again.

The mechanical arm can be designed into various shapes according to requirements, and at least one end of the mechanical arm is fixedly connected with the first and second ends of the motor, so that the flexible design of the robot can be realized.

The at least one end of the mechanical arm fixedly connected to the motor may include, but is not limited to, the following cases:

One end of the mechanical arm is directly fixedly coupled to the first or second output end of the motor; or

One end of the mechanical arm is fixedly connected to the first or second output end of the motor through a connecting member; or

The mechanical arm includes two ends, one end of which is directly fixedly connected to the first output end or the second output end of the motor; the other end is directly fixedly connected to the connection end of the motor; or

The mechanical arm includes two ends, one end of which is fixedly connected to the first output end of the motor through a connecting member, and the other end is connected to the connecting end of the motor through a fixing member.

It should be noted that, in addition to the above-mentioned mover output end or connection end, it is not limited to being connected to one end of the mechanical arm, and actually it can be connected at any position of the mechanical arm.

It should be noted that the connecting portion of the first output end of the mover corresponding to the motor of the motor, the connecting portion corresponding to the second output end, and the connecting portion of the corresponding connecting end may be any shape, preferably the first with the mover. The shapes of the output end, the second output end and the connecting end correspond to each other, and may specifically include the structure of the following embodiments:

a connecting portion of the mechanical arm corresponding to the first output end and a connecting portion of the corresponding connecting end form a plane through which the first output end is fixedly connected; and/or

A connecting portion of the mechanical arm corresponding to the second output end forms an enclosure structure at least partially surrounding the second output end, and the second output end is surrounded or fixedly surrounded by the surrounding structure portion.

For a better understanding of the structure of the motor direct drive robot of the present invention, it will be described in further detail below with reference to the accompanying drawings.

16A-16C are schematic diagrams of a direct drive 6-axis robot according to an embodiment of the present invention, wherein FIG. 16A is a side view of an embodiment of a 6-axis robot, and FIGS. 16B and 16C are another 6-axis robot. A schematic of an embodiment.

As shown in FIG. 16A, the 6-axis robot includes 6 axis robot arms (Z1, Z2, Z3, Z4, Z5), each of which is connected to an electric motor, and thus includes 6 motors (M1, M2, M3, M4). , M5, M6).

As shown in FIG. 16A, the mechanical arm can be designed in any shape as needed, and its two ends are respectively connected to the first and second output ends and the connecting end of the adjacent two motors. For example, the two ends of Z1 are respectively connected to the first output end of M1 and the connection end of M2, and M2 drives M1 to rotate through Z1; for example, the two ends of Z4 are respectively connected to the second output end of M5 and the connection end of M4, etc. Wait.

In addition to the structure of the robot shown in Fig. 16A, a robot structure as shown in Figs. 16B and 16C may be employed, and each robot includes six motors (M1, M2, M3, M4, M5, M6).

Except for the robot shown in the drawings, any robot that satisfies the direct use of the mover of the motor as the output end is within the scope of the present invention.

For further optimization, in each mover position, the current of each stator winding is calculated by the optimization method through the finite element calculation of the electromagnetic field. The objective function of the optimization calculation is that the electromagnetic torque generated by the motor is the largest. This method of determining the winding current waveform ensures that the motor can produce the maximum electromagnetic torque under a certain electrical load.

In order to achieve a torque of 10 NM for an existing electric motor, a mass of 4 KG or more is usually required. The motor of the present embodiment can achieve a torque of 10 NM by using a combination of the structures described in the above embodiments or some improved combination. With a smaller weight, it can reach a weight of only 1.4KG. Therefore, the application of such a motor in a direct drive robot has a very large beneficial effect.

Embodiment 2

Embodiment 2 of the present invention also provides a robot including the high torque motor of Embodiment 1.

As described in the first embodiment, the higher the magnetic flux density, the greater the iron loss. When the motor moves at a high speed (such as in the field of automobile driving), excessive iron loss occurs in a unit time, resulting in electric power. The machine is severely heated, which in turn seriously affects the performance of the motor and even causes damage to the motor. However, the motor according to the embodiment of the present invention is suitable for use in a field mainly performing low-speed operation (for example, a robot). Since the motor only occasionally exhibits high-speed motion, it is possible to use a high magnetic flux density without considering the iron loss factor. material.

Preferably, the robot is an industrial robot, because industrial robots often have to bear excessive loads. However, in addition to industrial robots, any robot that needs to bear a large load is within the scope of the present invention.

Further preferably, the robot refers to a robot that is directly driven by the high-torque motor because, in order to increase the flexibility of the joint motion of the robot, the existing robot is often driven directly by a motor, and thus a high-torque motor is required.

For a description of the motor, refer to the specific embodiment 1, and details are not described herein again.

The term “and/or” in the terminology is merely an association that describes the associated object, indicating that there may be three relationships, such as: A and/or B, which may indicate that A exists separately, while A and B exist, and B exists separately. These three situations. In addition, the character "/" in this article generally indicates that the contextual object is an "or" relationship.

The terms "first", "second", "third", etc. (if present) in the claims and the description of the invention and the above figures are used to distinguish similar objects and are not necessarily used to describe particular Order or order. It is to be understood that the data so used may be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than what is illustrated or described herein. Moreover, the terms "comprising" and "having" and "the" For example, a process, method, system, product, or device that comprises a series of steps or modules is not necessarily limited to those steps or modules that are clearly listed, but includes those processes, methods, systems, and products that are not explicitly listed or Or other steps or modules inherent to the device.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

The fixed connections described in this embodiment include, but are not limited to, fixed connections by bonding, or by detachable means such as snaps, screws, or the like.

In the above embodiments, the descriptions of the various embodiments are different, and the parts that are not described in detail in a certain embodiment can be referred to the related description of other embodiments.

It should be noted that those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the structures and modules involved are not necessarily required by the present invention.

The high torque motor and the robot including the same according to the embodiments of the present invention have been described in detail above, but the description of the above embodiments is only for helping to understand the method of the present invention and its core idea, and should not be construed as being limit. Those skilled in the art, in light of the spirit of the present invention, are susceptible to variations or substitutions within the scope of the present invention.

Claims

A high torque electric motor comprising a mover and a stator assembly, the mover and the stator respectively comprising a stator magnetic guide and a mover magnetic guide, the stator and/or the mover comprising a plurality of permanent magnets and/or windings to generate a magnetic field There is a gap between the mover and the stator, characterized in that at least part of the stator magnetic guide and the mover magnetic guide includes a high magnetic flux guide for increasing the torque of the motor by increasing the strength of the magnetic field.
The high torque electric motor according to claim 1, wherein the material of the high magnetic flux permeability portion comprises: any one or a combination of pure iron, Pomande alloy, iron cobalt vanadium.
A high torque electric motor according to claim 1, wherein said opposite faces of said stator and mover comprise a plurality of teeth and grooves, said number of said stator teeth and said number of mover teeth being unequal, said plurality The permanent magnets are disposed in the slots of the stator and/or the mover, and the number of the plurality of permanent magnets is greater than or equal to 20 pairs of poles.
The high torque electric motor according to claim 3, wherein when the plurality of permanent magnets are equal to or greater than 20 poles, a gap between the stator and the mover is 0.5 MM or less.
A high torque electric motor according to any one of claims 1 to 4, wherein said electric motor further comprises a bushing disposed between said stator and said opposite faces of said mover for defining said gap The layer has a thickness of the liner layer that is slightly smaller than the gap.
The high torque electric motor according to claim 5, wherein the material of the bushing layer comprises: Teflon, epoxy resin, nickel, surface coated epoxy resin, electroplatable metal or alloy Any one or combination.
A high torque electric motor according to any one of claims 1 to 4, wherein said plurality of permanent magnets constitute a Halbach array or a plurality of Halbach array units, said plurality of Halbach array units being distributed in the stator and/or Or a plurality of grooves formed by opposing faces of the mover.
The high-torque motor according to claim 7, wherein at least one end of the permanent magnet of each of the Halbach array units adjacent to the mover or the opposite side of the stator is lower than the intermediate portion The permanent magnet has a certain distance from the same end.
The high torque motor according to claim 7, wherein a width of the permanent magnet located in the middle of each of the HALBACH array permanent magnet units is greater than a width of the permanent magnets located on both sides.
A high torque electric motor according to any one of claims 1 to 4, characterized in that The motor further includes a rotating shaft, and the non-magnetic conductive region on the rotating shaft or the stator magnetic conductive portion and the movable magnetic conductive portion includes: any one of a Teflon, a carbon fiber or a carbon fiber composite material, a glass fiber, a bronze, and a nickel. Or a combination.
The high torque electric motor according to any one of claims 1 to 4, wherein the mover is disposed outside the stator, the mover includes a radially outer side surface and an axial outer side surface, At least a portion of the axially outer side of the mover is a first output, and/or at least a portion of the radially outer side of the mover is a second output.
A robot characterized by comprising the high torque motor of any of claims 1-10.