WO2020087691A1 - Motor, power apparatus, and robot vehicle - Google Patents

Abstract

A motor, a power apparatus, and a robot vehicle, the motor (100) comprising a stator (30) and a rotor (50) capable of being rotatably arranged outside the stator (30), the height of the stator (30) being greater than or equal to 4 mm and less than or equal to 11 mm, and the outer diameter of the stator (30) being greater than or equal to 36 mm and less than or equal to 42 mm; the power apparatus comprises a balancing rigid body and the motor (100); and the robot vehicle comprises a body and the power apparatus, the power apparatus being arranged on the body.

Description

Motor, power plant and locomotive Technical field

The invention relates to a motor, a power device and a locomotive, and belongs to the technical field of motors.

Background technique

There are many types of intelligent locomotives, among which educational locomotives based on edutainment attract much attention. There are many operable actuators installed on the educational robot vehicle, such as robotic arm and gimbal. Taking the gimbal as an example, the joints in the gimbal are usually directly driven by the permanent magnet synchronous motor. The permanent magnet synchronous motor uses the driver to perform vector control to output torque to provide stability enhancement and motion positioning. In the prior art, the selection of the permanent magnet synchronous motor is based on the user's experience, which is relatively rough, and it is difficult to balance the required torque and the smaller motor volume at the same time.

Summary of the invention

Embodiments of the present invention provide an electric motor, a power device, and a locomotive, which can overcome the above problems.

An aspect of an embodiment of the present invention provides a motor including a stator and a rotor rotatably disposed outside the stator, the height of the stator is greater than or equal to 4 mm and less than or equal to 11 mm, and The outer diameter is greater than or equal to 36 mm and less than or equal to 42 mm.

Optionally, the height of the stator is greater than or equal to 6 mm and less than or equal to 11 mm, and the outer diameter of the stator is greater than or equal to 40 mm and less than or equal to 42 mm.

Optionally, the rotor includes a yoke and a plurality of magnets provided in the yoke, the yoke cover is provided outside the stator; a plurality of the magnets are fixed on the inner wall of the yoke;

The thickness or average thickness of each magnet in the diameter direction of the yoke is greater than or equal to 3.2 mm and less than or equal to 5.2 mm;

The width or average width of each of the magnets in the circumferential direction of the yoke is greater than or equal to 4.81 mm and less than or equal to 7.84 mm.

Optionally, the thickness or average thickness of each magnet in the diameter direction of the yoke is greater than or equal to 4 mm and less than or equal to 4.8 mm;

The width or average width of each of the magnets in the circumferential direction of the yoke is 5.68 mm.

Optionally, the rotor includes a yoke and a magnetic ring provided in the yoke, the yoke cover is provided outside the stator; the magnetic ring is fixed on the inner wall of the yoke;

The thickness or average thickness of the magnetic ring in the diameter direction of the yoke is greater than or equal to 3.2 mm and less than or equal to 5.2 mm.

Optionally, the thickness or average thickness of the magnetic ring along the diameter direction of the yoke is greater than or equal to 4 mm and less than or equal to 4.8 mm.

Optionally, the stator includes an iron core and a coil provided on the iron core;

The iron core includes a sleeve portion and a support portion provided on the sleeve portion, and the coil is wound around the support portion;

The width or average width of the support portion is greater than or equal to 1.6 mm and less than or equal to 2.8 mm.

Optionally, when the rotor includes a plurality of magnets, the width or average width of the support portion is greater than or equal to 2.2 mm and less than or equal to 2.8 mm.

Optionally, when the rotor includes a magnetic ring, the width or average width of the support portion is greater than or equal to 1.8 mm and less than or equal to 2.4 mm.

Optionally, the width or average width of the support portion is 2.2 mm.

Optionally, a stop portion is provided at an end of the support portion facing away from the sleeve portion, a notch is formed between two adjacent stop portions, and the width of the notch is greater than or equal to 1 mm and less than or Equal to 2 mm.

Optionally, the width of the notch is 2 mm.

Optionally, the coil is formed by winding 70 turns of a wire with a diameter of 0.3 mm after removing the paint skin.

Optionally, the coil is formed by winding 80 turns of a wire with a diameter of 0.28 mm after removing the paint skin.

Optionally, the coil is formed by winding 48 turns of a wire with a diameter of 0.36 mm after removing the paint skin.

Optionally, the coil is formed by winding 39 turns of a wire with a diameter of 0.4 mm after removing the paint skin.

Another aspect of an embodiment of the present invention provides a power device including a balanced rigid body and a motor according to any one of the foregoing, the balanced rigid body is connected to the motor, and the motor can drive the balanced rigid body to rotate .

Optionally, the rotational inertia of the balanced rigid body is less than or equal to 9.554 * 106 [g · mm 2];

The angular acceleration of the balanced rigid body is greater than or equal to 6.28 [radian / sec squared].

Another aspect of the embodiments of the present invention provides a locomotive including a fuselage and the power device according to any one of the foregoing, the power device being disposed on the fuselage.

Using the motor, power plant and locomotive provided by the present invention, by optimizing the size of the stator, when the motor is applied to a balanced rigid body, it can have a larger output torque and also have a smaller input power. Good dynamic performance reduces the damage to the motor caused by excessive heat generated by excessive input power.

BRIEF DESCRIPTION

The drawings herein are incorporated into and constitute a part of this specification, show embodiments consistent with the present invention, and are used to explain the principles of the present invention together with the specification.

FIG. 1 is a schematic structural diagram 1 of a motor provided according to an exemplary embodiment;

2 is a second structural diagram of a motor provided according to an exemplary embodiment;

3 is a schematic structural diagram of a stator and a rotor according to an exemplary embodiment;

4 is a schematic structural diagram of a stator and a rotor according to another exemplary embodiment.

Description of reference signs:

Motor	100
Pedestal	10
Seat body	11
Fixed part	12
stator	30
Iron core	32
Setting Department	321
Support	323
Stop	325
notch	327
Rotor	50
Yoke	52
Zhou Bi	521
Bottom wall	523
magnet	54
Magnetic ring	55
Hinge assembly	90
Hinge	92
Bearing	94

Through the above drawings, a definite embodiment of the present invention has been shown, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the inventive concept in any way, but to explain the concept of the present invention to those skilled in the art by referring to specific embodiments.

detailed description

To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of the embodiments of the present invention, but not all the embodiments.

Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without making creative efforts fall within the protection scope of the present invention. In the case of no conflict, the following embodiments and the features in the embodiments can be combined with each other.

Among them, "upper", "lower" and other terms are used to describe the relative positional relationship of various structures in the drawings, which is only for the convenience of description, not to limit the scope of the invention, the relative relationship Changes or adjustments are considered to be within the scope of the invention without substantial changes in technical content.

It should be noted that: in the present invention, unless otherwise clearly stipulated and defined, the first feature on the second feature "on" or "below" may be the first and second features directly contact, or the first and second Features are indirectly contacted through intermediaries. Moreover, the first feature is “above”, “above” and “above” the second feature may be that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature is "below", "below", and "below" the second feature may be that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is less horizontal than the second feature.

In addition, in the present invention, unless otherwise clearly specified and defined, the terms "installation", "connected", "connected", "fixed" and other terms should be understood in a broad sense, for example, it can be a fixed connection or can be Disassembly connection or integration; it can be directly connected or indirectly connected through an intermediate medium, which can be the connection between the two components or the interaction between the two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

The following describes some embodiments of the present invention in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and the features in the embodiments can be combined with each other.

1 is a schematic structural diagram 1 of a motor provided according to an exemplary embodiment; FIG. 2 is a structural schematic diagram 2 of a motor provided according to an exemplary embodiment; FIG. 3 is a structure of a stator and a rotor provided according to an exemplary embodiment Schematic diagram; FIG. 4 is a schematic structural diagram of a stator and a rotor according to another exemplary embodiment.

Please refer to FIG. 1 to FIG. 4, this embodiment provides a locomotive including a vehicle body and a power device provided on the vehicle body. The power device includes a motor and a balance rigid body. The body is provided with an operable balance rigid body such as a mechanical arm and an axis arm of the gimbal. The motor is used to drive the balance rigid body to perform corresponding operations.

The motor 100 includes a base 10, a stator 30 fixedly connected to the base 10, a rotor 50 rotatably connected to the base 10, and a rotating shaft assembly 90 provided on the rotor 50.

The base 10 includes a base 11 and a fixing portion 12 provided on the base 11. The seat body 11 has a substantially disc shape, the fixing portion 12 has a substantially cylindrical shape, and the center axis of the seat body 11 substantially coincides with the center axis of the fixing portion 12. The fixing portion 12 protrudes from a surface of the seat body 11 facing the stator 30. The fixing portion 12 is used to fix the stator 30. The fixing portion 12 defines a receiving hole penetrating through the fixing portion 12, and the receiving hole penetrates the base 11. The receiving hole is used to receive a part of the rotating shaft assembly 90.

The stator 30 is provided on the fixed portion 12 of the base 10. The stator 30 includes an iron core 32 and a coil (not shown) wound on the iron core 32. The iron core 32 includes a sleeve portion 321 and a support portion 323 formed on the outer peripheral surface of the sleeve portion 321. The sleeve portion 321 is substantially cylindrical, and is sleeved on the fixing portion 12.

In this embodiment, the height h of the sleeve portion 321 along its axial direction is greater than or equal to 4 mm and less than or equal to 11 mm. The height h of the sleeve portion 321 can be any value between 4 mm and 11 mm, for example, the height h of the sleeve portion 321 can be 4 mm, 5 mm, 6 mm, 7 mm, 8 mm, 9 mm, 10 Mm, 11 mm, or any value within the range defined by any two of the above values. In this embodiment, the height h of the sleeve portion 321 along its axial direction may be greater than or equal to 6 mm and less than or equal to 11 mm, and may specifically be such as 6 mm.

In this embodiment, the number of the supporting portions 323 is fifteen. The fifteen supporting portions 323 are provided on the outer peripheral wall of the sleeve portion 321 and are arranged at intervals along the circumferential direction of the sleeve portion 321. It can be understood that the number of support parts 323 is not limited to this embodiment, and in other embodiments, the number of support parts 323 may be changed according to actual needs. The support portion 323 is substantially plate-shaped, and one side is fixed to the outer periphery of the sleeve portion 321, and the other side extends in a direction away from the sleeve portion 321 in the radial direction of the sleeve portion 321.

In this embodiment, the average width t of the support portion 323 is greater than or equal to 1.6 mm and less than or equal to 2.8 mm. The average width t of the support portion 323 may be any value between 1.6 mm and 2.8 mm, for example, the average width t of the support portion 323 is 1.6 mm, 1.7 mm, 1.8 mm, 1.9 mm, 2.0 mm, 2.1 mm, 2.2 mm , 2.3 mm, 2.4 mm, 2.5 mm, 2.6 mm, 2.7 mm, 2.8 mm, or any value within the range of values defined by any two of the above values. In this embodiment, the average width t of the support portion 323 is 2.2 mm.

In some examples, as shown in FIG. 3, the rotor 50 may include a plurality of magnets 54, and the average width t of the support portion 323 is greater than or equal to 2.2 mm and less than or equal to 2.8 mm. The average width t of the support portion 323 may be any value between 2.2 mm and 2.8 mm, for example, the average width t of the support portion 323 is 2.2 mm, 2.3 mm, 2.4 mm, 2.5 mm, 2.6 mm, 2.7 mm, 2.8 mm , Or any value within the range of values defined by any two of the above values. In this embodiment, the average width t of the support portion 323 is 2.2 mm.

In some examples, as shown in FIG. 4, the rotor 50 may include a magnetic ring 55 and the average width t of the support portion 323 is greater than or equal to 1.8 mm and less than or equal to 2.4 mm. The average width t of the support portion 323 may be any value between 1.8 mm and 2.4 mm, for example, the average width t of the support portion 323 is 1.8 mm, 1.9 mm, 2.0 mm, 2.1 mm, 2.2 mm, 2.3 mm, 2.4 mm , Or any value within the range of values defined by any two of the above values. In this embodiment, the average width t of the support portion 323 is 2.2 mm.

It can be understood that, in other embodiments, the support portion 323 may be in the shape of a rectangular plate, and its width t is equal from the side near the sleeve portion 321 to the side away from the sleeve portion 321, and the average width t of the support portion 323 is greater than Or equal to 1.6 mm and less than or equal to 2.8 mm. The average width t of the support portion 323 may be any value between 1.6 mm and 2.8 mm, for example, the average width t of the support portion 323 is 1.6 mm, 1.7 mm, 1.8 mm, 1.9 mm, 2.0 mm, 2.1 mm, 2.2 mm , 2.3 mm, 2.4 mm, 2.5 mm, 2.6 mm, 2.7 mm, 2.8 mm, or any value within the range of values defined by any two of the above values.

In addition, in this embodiment, the height of the support portion 323 in the diameter direction of the sleeve portion 321 may be greater than or equal to 7 mm and less than or equal to 7.5 mm; the height of the support portion 323 may be 7 mm, 7.1 mm, 7.2 mm, and 7.3 mm , 7.4 mm, 7.5 mm, or any value within the range defined by any two of the above values. Of course, the height of the support portion 323 is not limited to this, and it may specifically vary with the outer diameter of the core. In this embodiment, the height of the support portion 323 is 7.28 mm.

It can be understood that the number of the supporting portions 323 may be multiple, for example, twelve, thirteen, fourteen, sixteen, seventeen, eighteen, etc.

The support portion 323 supports the coil. There may be a plurality of coils, and each coil is wound on one support portion 323. The number of turns of the coil can be 30, 40, 50, 60, 70, 80, 90, etc., and the diameter of the wire can be designed according to requirements. In this embodiment, the diameter of the wire used for winding the wire forming the coil is 0.3 mm after removing the paint, and the number of winding turns is 70 turns.

It can be understood that, in other embodiments, the coil may be formed by winding wires of other specifications with corresponding turns. For example, the coil may be formed by winding 80 turns of a wire with a diameter of 0.28 mm after removing the paint, or the coil may be formed by removing the paint A conductor with a diameter of 0.36 mm is formed by winding 48 turns, or the coil may be formed by winding a conductor with a diameter of 0.4 mm by winding 39 turns.

A stop portion 325 is formed at the end of each support portion 323 away from the sleeve portion 321. The size of each stop portion 325 is larger than the size of the end of the corresponding support portion 323 to prevent the corresponding coil from escaping from the corresponding support portion 323. The surface of the stop portion 325 facing away from the corresponding support portion 323 is a partially cylindrical surface.

A stop portion 325 is provided at an end of the supporting portion 323 facing away from the sleeve portion 321, and a notch 327 is formed between two adjacent stop portions 325, and the width B of the notch 327 is greater than or equal to 1 mm and less than or equal to 2 mm. The width B of the notch 327 may be any value between 1 mm and 2 mm, for example, the average width t of the support portion 323 is 1.1 mm, 1.2 mm, 1.3 mm, 2.4 mm, 1.5 mm, 1.6 mm, 1.7 mm, 1.8 mm, 1.9 mm, 2.0 mm, or any value within the range defined by any two of the above values. In this embodiment, the width B of the notch 327 is 2 mm.

In this embodiment, the stator 30 constituted by the stopper 325, the support portion 323, the sleeve portion 321, and the coil is substantially cylindrical.

The outer diameter D of the stator 30 is greater than or equal to 36 mm and less than or equal to 42 mm. The outer diameter D of the stator 30 can be any value between 36 mm and 43 mm, such as 36 mm, 37 mm, 38 mm, 39 mm, 40 mm, 41 mm, 42 mm, or any two of the above values Any value within the range of values.

In this embodiment, the outer diameter D of the stator 30 is greater than or equal to 40 mm and less than or equal to 42 mm. The outer diameter D of the stator 30 may be any value between 40 mm and 42 mm, such as 40 mm, 41 mm, 42 mm, or any value within the range of values defined by any two of the above values. In this embodiment, the outer diameter D of the stator 30 is 40 mm.

The height H of the stator 30 along its axial direction is greater than or equal to 4 mm and less than or equal to 11 mm. The height H of the stator 30 along its axial direction may be any value between 4 mm and 11 mm, for example, the height H of the stator 30 along its axial direction may be 4 mm, 5 mm, 6 mm, 7 mm, 8 mm, 9 mm, 10 mm, 11 mm, or any value within the range defined by any two of the above values. In this embodiment, the height H of the stator 30 along its axial direction may be greater than or equal to 6 mm and less than or equal to 11 mm, and may specifically be such as 6 mm.

In this embodiment, the height H of the stator 30 along its axial direction is equal to the height h of the sleeve portion 321 along its axial direction; it can be understood that in other embodiments, the height H of the stator 30 along its axial direction may be larger or smaller than the sleeve The height h of the portion 321 along the axial direction thereof.

In some examples, the rotor 50 is covered on the outer periphery of the stator 30 and includes a yoke 52 and a magnet 54 disposed on the yoke 52.

The yoke 52 has a substantially cylindrical shape with a bottom wall, and can rotate relative to the iron core 32. The yoke 52 includes a peripheral wall 521 and a bottom wall 523 provided at one end of the peripheral wall 521. The bottom wall 523 covers the end of the peripheral wall 521 away from the seat body 11. The peripheral wall 521 has a substantially cylindrical shape and is used to receive the magnet 54. The bottom wall 523 defines a through hole, the through hole is used to receive a part of the rotating shaft assembly 90.

In this embodiment, the magnets 54 are basically in the shape of an arc-shaped sheet, and the number of the magnets is sixteen. The sixteen magnets 54 are fixed inside the peripheral wall 521 of the yoke 52 and are spaced along the circumferential direction of the peripheral wall 521.

It can be understood that, in other embodiments, the magnet 54 may have other shapes, such as a giant sheet; the number of the magnet 54 is not limited to this embodiment, and the number of the magnet 54 may be multiple, such as ten, twelve, and so on.

The thickness T or the average thickness T of the magnet 54 in the diameter direction of the yoke 52 is greater than or equal to 3.2 mm and less than or equal to 5.2 mm. The thickness T or average thickness of the magnet 54 may be any value between 3.2 mm and 5.2 mm, for example, the thickness T or average thickness T of the magnet 54 may be 3.2 mm, 3.5 mm, 4.0 mm, 4.5 mm, 5.0 mm, 5.2 Mm, or any value within the range of values defined by any two of the above values. In this embodiment, the thickness T or the average thickness T of the magnet 54 in the diameter direction of the yoke 52 is greater than or equal to 4 mm and less than or equal to 4.8 mm, and may specifically be such as 4 mm.

The width b or average width b of the magnet 54 in the circumferential direction of the yoke 52 is greater than or equal to 4.81 mm and less than or equal to 7.84 mm. The width b or average width b of the magnet 54 may be any value between 4.81 mm and 7.84 mm, for example, the width b or average width b of the magnet 54 may be 4.81 mm, 5.68 mm, 6.81 mm, 7.84 mm, or the above Any value within the range of values defined by any two values. In this embodiment, the width b or the average width b of the magnet 54 in the circumferential direction of the yoke 52 is 5.68 mm.

The rotating shaft assembly 90 includes a rotating shaft 92 and a bearing 94 provided on the rotating shaft 92. The rotating shaft 92 is substantially in the shape of a cylindrical rod, one end of which is fixedly inserted into the through hole of the bottom wall 523 and the other end is rotatably inserted into the fixing portion 12 of the base 10. When the motor 100 is powered on, the rotor 50 drives the rotating shaft assembly 90 to rotate relative to the stator 30 and the base 10. In this embodiment, the number of bearings 94 is two, and the two bearings 94 are spaced apart from each other on the rotating shaft 92 and are accommodated in the accommodating holes of the fixed portion 12.

When assembling, first, the coil is wound on the iron core 32, and the iron core 32 is fixedly installed on the fixing portion 12. After that, the magnet 54 is installed on the yoke 52, and one end of the rotation shaft 92 of the rotation shaft assembly 90 is inserted into the bottom wall 523 of the rotor 50. Finally, the other end of the rotating shaft 92 of the rotating shaft assembly 90 and the bearing 94 are accommodated in the fixed portion 12, and a cover for rotating the yoke 52 is provided on the outer periphery of the stator 30.

In other examples, the rotor 50 is covered on the outer periphery of the stator 30 and includes a yoke 52 and a magnetic ring 55 disposed in the yoke 52. The structure of the yoke 52 is the same as described above. The magnetic ring 55 is provided inside the peripheral wall 521 of the yoke 52.

The thickness or average thickness T of the magnetic ring 55 in the yoke diameter direction is greater than or equal to 3.2 mm and less than or equal to 5.2 mm. The thickness or average thickness T of the magnetic ring 55 in the diameter direction of the yoke may be any value between 3.2 mm and 5.2 mm, for example, the thickness or average thickness T of the magnetic ring 55 may be 3.2 mm, 3.5 mm, 4.0 mm, 4.5 Mm, 5.0 mm, 5.2 mm, or any value within the range defined by any two of the above values. In this embodiment, the thickness or average thickness of the magnetic ring 55 in the diameter direction of the yoke is greater than or equal to 4 mm and less than or equal to 4.8 mm, and may specifically be such as 4 mm.

When assembling, first, the coil is wound on the iron core 32, and the iron core 32 is fixedly installed on the fixing portion 12. After that, the magnetic ring 55 is installed on the yoke 52, and one end of the rotating shaft 92 of the rotating shaft assembly 90 is inserted into the bottom wall 523 of the rotor 50. Finally, the other end of the rotating shaft 92 of the rotating shaft assembly 90 and the bearing 94 are accommodated in the fixed portion 12, and a cover for rotating the yoke 52 is provided on the outer periphery of the stator 30.

Please refer to Table 1. Table 1 shows the use of the motor 100 provided in this embodiment at different stator heights, different stator outer diameters, different magnetic ring 55 outer diameters, different magnetic ring 55 inner diameters, and different support portion widths In the case of, the torque and input power of the motor 100 change.

It can be seen from Table 1 that when the motor 100 provided in this embodiment outputs a larger torque of 0.12 N · m, the required input power is lower, and the minimum can be 4.012 watts.

Please refer to Table 2. Table 2 shows the use of the motor 100 provided in this embodiment at different stator heights, different stator outer diameters, different magnet outer arc diameters, different magnet inner arc diameters, different Changes in torque and input power of the motor 100 in the case of magnet widths and different widths of the support portions.

It can be seen from Table 2 that when the motor 100 provided in this embodiment outputs a large torque of 0.12 N · m, the required input power is low, and the minimum input power can be 1.9 watts.

The motor 100 provided in this embodiment is applied to a balancing rigid body of a locomotive, and the balancing rigid body is fixedly connected to one end of a rotating shaft 92 of the motor 100. When the motor 100 is powered on, the rotor 50 of the motor 100 drives the balancing rigid body through the rotating shaft 92, so that the balancing rigid body performs the corresponding operation.

Optionally, the rotational inertia of the balanced rigid body is less than or equal to 9.554 * 106 [gram · square millimeter]; the angular acceleration of the balanced cylinder is greater than or equal to 6.28 [radian / second square].

Using the motor, power plant and locomotive of this embodiment, by optimizing the size of the stator, when the motor is applied to a balanced rigid body, it can have a larger output torque and also have a smaller input power. Good dynamic performance reduces damage to the motor.

In the description of this specification, reference to the descriptions of the terms "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples" is meant to be combined with the implementation The specific features, structures, materials, or characteristics described in the examples or examples are included in at least one embodiment or example of the present disclosure. In this specification, the schematic expression of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, rather than limiting it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or replacements do not deviate from the essence of the corresponding technical solutions of the technical solutions of the embodiments of the present invention. range.

Claims (49)

1. A motor including a stator and a rotor that can rotate outside the stator, characterized in that the height of the stator is greater than or equal to 4 mm and less than or equal to 11 mm, and the outer diameter of the stator is greater than or equal to Equal to 36 mm and less than or equal to 42 mm.
2. The motor according to claim 1, wherein the height of the stator is greater than or equal to 6 mm and less than or equal to 11 mm, and the outer diameter of the stator is greater than or equal to 40 mm and less than or equal to 42 mm.
3. The electric motor according to claim 1, wherein the rotor includes a yoke and a plurality of magnets provided in the yoke, the yoke cover is provided outside the stator; a plurality of the magnets are fixed On the inner wall of the yoke;

   The thickness or average thickness of each magnet in the diameter direction of the yoke is greater than or equal to 3.2 mm and less than or equal to 5.2 mm;

   The width or average width of each of the magnets in the circumferential direction of the yoke is greater than or equal to 4.81 mm and less than or equal to 7.84 mm.
4. The motor according to claim 3, wherein the thickness or average thickness of each magnet in the diameter direction of the yoke is greater than or equal to 4 mm and less than or equal to 4.8 mm;

   The width or average width of each of the magnets in the circumferential direction of the yoke is 5.68 mm.
5. The motor according to claim 1, wherein the rotor includes a yoke and a magnetic ring provided in the yoke, the yoke cover is provided outside the stator; the magnetic ring is fixed to the On the inner wall of the yoke;

   The thickness or average thickness of the magnetic ring in the diameter direction of the yoke is greater than or equal to 3.2 mm and less than or equal to 5.2 mm.
6. The motor according to claim 5, wherein the thickness or average thickness of the magnetic ring along the diameter direction of the yoke is greater than or equal to 4 mm and less than or equal to 4.8 mm.
7. The motor according to claim 1, wherein the stator includes an iron core and a coil provided on the iron core;

   The iron core includes a sleeve portion and a support portion provided on the sleeve portion, and the coil is wound around the support portion;

   The width or average width of the support portion is greater than or equal to 1.6 mm and less than or equal to 2.8 mm.
8. The motor according to claim 7, wherein when the rotor includes a plurality of magnets, the width or average width of the support portion is greater than or equal to 2.2 mm and less than or equal to 2.8 mm; or,

   When the rotor includes a magnetic ring, the width or average width of the support portion is greater than or equal to 1.8 mm and less than or equal to 2.4 mm.
9. The motor according to claim 7, wherein the width or average width of the support portion is 2.2 mm.
10. The motor according to claim 7, wherein a stop portion is provided at an end of the supporting portion facing away from the sleeve portion, and a notch is formed between two adjacent stop portions, and the The width is greater than or equal to 1 mm and less than or equal to 2 mm.
11. The motor according to claim 10, wherein the width of the notch is 2 mm.
12. The motor according to claim 5, wherein the coil is formed by winding 70 turns of a wire having a diameter of 0.3 mm after removing the paint;

    Or, the coil is formed by winding 80 turns of a wire with a diameter of 0.28 mm after removing the paint;

    Or, the coil is formed by winding 48 turns of a wire with a diameter of 0.36 mm after removing the paint skin;

    Alternatively, the coil is formed by winding 39 turns of a wire having a diameter of 0.4 mm after removing the paint skin.
13. A power plant includes a balanced rigid body and a motor. The motor includes a stator and a rotor rotatably disposed outside the stator, characterized in that the height of the stator is greater than or equal to 4 mm and less than or equal to 11 mm , And the outer diameter of the stator is greater than or equal to 36 mm and less than or equal to 42 mm, the balanced rigid body is connected to the motor, and the motor can drive the balanced rigid body to rotate.
14. The power plant according to claim 13, wherein the height of the stator is greater than or equal to 6 mm and less than or equal to 11 mm, and the outer diameter of the stator is greater than or equal to 40 mm and less than or equal to 42 mm.
15. The power plant according to claim 13, wherein the rotor includes a yoke and a plurality of magnets provided in the yoke, the yoke cover is provided outside the stator; a plurality of the magnets Fixed on the inner wall of the yoke;

    The thickness or average thickness of each magnet in the diameter direction of the yoke is greater than or equal to 3.2 mm and less than or equal to 5.2 mm;

    The width or average width of each of the magnets in the circumferential direction of the yoke is greater than or equal to 4.81 mm and less than or equal to 7.84 mm.
16. The power device according to claim 15, wherein the thickness or average thickness of each magnet in the diameter direction of the yoke is greater than or equal to 4 mm and less than or equal to 4.8 mm;

    The width or average width of each of the magnets in the circumferential direction of the yoke is 5.68 mm.
17. The power plant according to claim 13, wherein the rotor includes a yoke and a magnetic ring provided in the yoke, the yoke cover is provided outside the stator, and the magnetic ring is fixed to On the inner wall of the yoke;

    The thickness or average thickness of the magnetic ring in the diameter direction of the yoke is greater than or equal to 3.2 mm and less than or equal to 5.2 mm.
18. The power device according to claim 17, wherein the thickness or average thickness of the magnetic ring along the diameter direction of the yoke is greater than or equal to 4 mm and less than or equal to 4.8 mm.
19. The power device according to claim 13, wherein the stator includes an iron core and a coil provided on the iron core;

    The iron core includes a sleeve portion and a support portion provided on the sleeve portion, and the coil is wound around the support portion;

    The width or average width of the support portion is greater than or equal to 1.6 mm and less than or equal to 2.8 mm.
20. The power plant according to claim 19, wherein when the rotor includes a plurality of magnets, the width or average width of the support portion is greater than or equal to 2.2 mm and less than or equal to 2.8 mm; or,

    When the rotor includes a magnetic ring, the width or average width of the support portion is greater than or equal to 1.8 mm and less than or equal to 2.4 mm.
21. The power plant according to claim 19, wherein the width or average width of the support portion is 2.2 mm.
22. The power device according to claim 19, wherein a stop portion is provided at an end of the supporting portion facing away from the sleeve portion, a notch is formed between two adjacent stop portions, and the notch The width of is greater than or equal to 1 mm and less than or equal to 2 mm.
23. The power plant of claim 22, wherein the width of the notch is 2 mm.
24. The power device according to claim 17, wherein the coil is formed by winding 70 turns of a wire having a diameter of 0.3 mm after removing the paint;

    Or, the coil is formed by winding 80 turns of a wire with a diameter of 0.28 mm after removing the paint;

    Or, the coil is formed by winding 48 turns of a wire with a diameter of 0.36 mm after removing the paint skin;

    Alternatively, the coil is formed by winding 39 turns of a wire having a diameter of 0.4 mm after removing the paint skin.
25. The power device according to any one of claims 13 to 24, wherein the rotational inertia of the balanced rigid body is less than or equal to 9.554 * 106 [g · mm 2];

    The angular acceleration of the balanced rigid body is greater than or equal to 6.28 [radian / sec squared].
26. A locomotive includes a fuselage and a power device, the power device is disposed on the fuselage;

    The power device includes a balanced rigid body and a motor. The motor includes a stator and a rotor rotatably disposed outside the stator, characterized in that the height of the stator is greater than or equal to 4 mm and less than or equal to 11 mm. And the outer diameter of the stator is greater than or equal to 36 mm and less than or equal to 42 mm, the balanced rigid body is connected to the motor, and the motor can drive the balanced rigid body to rotate.
27. The locomotive according to claim 26, wherein the height of the stator is greater than or equal to 6 mm and less than or equal to 11 mm, and the outer diameter of the stator is greater than or equal to 40 mm and less than or equal to 42 mm.
28. The locomotive according to claim 26, wherein the rotor includes a yoke and a plurality of magnets provided in the yoke, the yoke cover is provided outside the stator; a plurality of the magnets Fixed on the inner wall of the yoke;

    The thickness or average thickness of each magnet in the diameter direction of the yoke is greater than or equal to 3.2 mm and less than or equal to 5.2 mm;

    The width or average width of each of the magnets in the circumferential direction of the yoke is greater than or equal to 4.81 mm and less than or equal to 7.84 mm.
29. The locomotive according to claim 28, wherein the thickness or average thickness of each magnet along the diameter direction of the yoke is greater than or equal to 4 mm and less than or equal to 4.8 mm;

    The width or average width of each of the magnets in the circumferential direction of the yoke is 5.68 mm.
30. The locomotive according to claim 26, wherein the rotor includes a yoke and a magnetic ring provided in the yoke, the yoke cover is provided outside the stator; the magnetic ring is fixed to On the inner wall of the yoke;

    The thickness or average thickness of the magnetic ring in the diameter direction of the yoke is greater than or equal to 3.2 mm and less than or equal to 5.2 mm.
31. The locomotive according to claim 30, wherein the thickness or average thickness of the magnetic ring along the diameter direction of the yoke is greater than or equal to 4 mm and less than or equal to 4.8 mm.
32. The locomotive according to claim 26, wherein the stator includes an iron core and a coil provided on the iron core;

    The iron core includes a sleeve portion and a support portion provided on the sleeve portion, and the coil is wound around the support portion;

    The width or average width of the support portion is greater than or equal to 1.6 mm and less than or equal to 2.8 mm.
33. The locomotive according to claim 32, wherein when the rotor includes a plurality of magnets, the width or average width of the support portion is greater than or equal to 2.2 mm and less than or equal to 2.8 mm; or,

    When the rotor includes a magnetic ring, the width or average width of the support portion is greater than or equal to 1.8 mm and less than or equal to 2.4 mm.
34. The locomotive according to claim 32, wherein the width or average width of the support portion is 2.2 mm.
35. The locomotive according to claim 32, wherein a stop portion is provided at an end of the supporting portion facing away from the sleeve portion, a notch is formed between two adjacent stop portions, and the notch The width of is greater than or equal to 1 mm and less than or equal to 2 mm.
36. The locomotive of claim 35, wherein the width of the notch is 2 mm.
37. The locomotive according to claim 30, wherein the coil is formed by winding 70 turns of a wire having a diameter of 0.3 mm after removing the paint;

    Or, the coil is formed by winding 80 turns of a wire with a diameter of 0.28 mm after removing the paint;

    Or, the coil is formed by winding 48 turns of a wire with a diameter of 0.36 mm after removing the paint skin;

    Alternatively, the coil is formed by winding 39 turns of a wire having a diameter of 0.4 mm after removing the paint skin.
38. A locomotive includes a fuselage and a power device. The power device is disposed on the fuselage and is characterized by

    The power device includes a balanced rigid body and a motor. The motor includes a stator and a rotor rotatably disposed outside the stator, characterized in that the height of the stator is greater than or equal to 4 mm and less than or equal to 11 mm. And the outer diameter of the stator is greater than or equal to 36 mm and less than or equal to 42 mm, the balanced rigid body is connected to the motor, and the motor can drive the balanced rigid body to rotate; the rotational inertia of the balanced rigid body is less than or equal to Equal to 9.554 * 106 [gram · square millimeter]; the angular acceleration of the balanced rigid body is greater than or equal to 6.28 [radian / second square].
39. The locomotive according to claim 38, wherein the height of the stator is greater than or equal to 6 mm and less than or equal to 11 mm, and the outer diameter of the stator is greater than or equal to 40 mm and less than or equal to 42 mm.
40. The locomotive according to claim 38, wherein the rotor includes a yoke and a plurality of magnets provided in the yoke, the yoke cover is provided outside the stator; a plurality of the magnets Fixed on the inner wall of the yoke;

    The thickness or average thickness of each magnet in the diameter direction of the yoke is greater than or equal to 3.2 mm and less than or equal to 5.2 mm;

    The width or average width of each of the magnets in the circumferential direction of the yoke is greater than or equal to 4.81 mm and less than or equal to 7.84 mm.
41. The locomotive according to claim 40, wherein the thickness or average thickness of each magnet along the diameter direction of the yoke is greater than or equal to 4 mm and less than or equal to 4.8 mm;

    The width or average width of each of the magnets in the circumferential direction of the yoke is 5.68 mm.
42. The locomotive according to claim 38, wherein the rotor includes a yoke and a magnetic ring provided in the yoke, the yoke cover is provided outside the stator; the magnetic ring is fixed to On the inner wall of the yoke;

    The thickness or average thickness of the magnetic ring in the diameter direction of the yoke is greater than or equal to 3.2 mm and less than or equal to 5.2 mm.
43. The locomotive according to claim 42, wherein the thickness or average thickness of the magnetic ring along the diameter direction of the yoke is greater than or equal to 4 mm and less than or equal to 4.8 mm.
44. The locomotive according to claim 38, wherein the stator includes an iron core and a coil provided on the iron core;

    The iron core includes a sleeve portion and a support portion provided on the sleeve portion, and the coil is wound around the support portion;

    The width or average width of the support portion is greater than or equal to 1.6 mm and less than or equal to 2.8 mm.
45. The locomotive according to claim 44, wherein when the rotor includes a plurality of magnets, the width or average width of the support portion is greater than or equal to 2.2 mm and less than or equal to 2.8 mm; or,

    When the rotor includes a magnetic ring, the width or average width of the support portion is greater than or equal to 1.8 mm and less than or equal to 2.4 mm.
46. The locomotive according to claim 44, wherein the width or average width of the support portion is 2.2 mm.
47. The locomotive according to claim 44, wherein a stop portion is provided at an end of the support portion facing away from the sleeve portion, and a notch is formed between two adjacent stop portions The width of is greater than or equal to 1 mm and less than or equal to 2 mm.
48. The locomotive according to claim 47, wherein the width of the notch is 2 mm.
49. The locomotive according to claim 42, wherein the coil is formed by winding 70 turns of a wire having a diameter of 0.3 mm after removing the paint;

    Or, the coil is formed by winding 80 turns of a wire with a diameter of 0.28 mm after removing the paint;

    Or, the coil is formed by winding 48 turns of a wire with a diameter of 0.36 mm after removing the paint skin;

    Alternatively, the coil is formed by winding 39 turns of a wire having a diameter of 0.4 mm after removing the paint skin.

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