WO2020098126A1 - 一种无刷电机以及机械臂 - Google Patents

一种无刷电机以及机械臂 Download PDF

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Publication number
WO2020098126A1
WO2020098126A1 PCT/CN2018/125756 CN2018125756W WO2020098126A1 WO 2020098126 A1 WO2020098126 A1 WO 2020098126A1 CN 2018125756 W CN2018125756 W CN 2018125756W WO 2020098126 A1 WO2020098126 A1 WO 2020098126A1
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WO
WIPO (PCT)
Prior art keywords
brushless motor
iron core
axial direction
yoke
stator assembly
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PCT/CN2018/125756
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English (en)
French (fr)
Inventor
刘元江
刘鹏
周忠厚
陈志�
刘元宜
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歌尔股份有限公司
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Application filed by 歌尔股份有限公司 filed Critical 歌尔股份有限公司
Publication of WO2020098126A1 publication Critical patent/WO2020098126A1/zh

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/12—Stationary parts of the magnetic circuit
    • H02K1/14—Stator cores with salient poles
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/22—Rotating parts of the magnetic circuit
    • H02K1/27—Rotor cores with permanent magnets
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/22—Rotating parts of the magnetic circuit
    • H02K1/28—Means for mounting or fastening rotating magnetic parts on to, or to, the rotor structures
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
    • H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
    • H02K21/24—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets axially facing the armatures, e.g. hub-type cycle dynamos

Definitions

  • the present invention relates to the technical field of drive control devices. More specifically, the present invention relates to a brushless motor and a mechanical arm.
  • the robotic arm belongs to a type of robot, which has become more and more popular in the field of modern industrial production technology or daily work and life. Under the corresponding driving device, for example, under the control of the motor, the robot arm can be used to move an item from one position to another specified position as required, so as to complete the operation requirements of an industrial production.
  • the use of robotic arms can not only reduce labor, but also effectively improve work efficiency, and ultimately reduce the production costs of enterprises.
  • the robotic arm can basically replace manual to complete fixed programmed movements.
  • the brushless motor has no brush structure, and has many advantages such as high efficiency and long service life.
  • Today, brushless motors have been widely used in many fields and have developed very rapidly.
  • the brushless motor can be used as a drive control device for the robot arm.
  • the existing brushless motor includes an iron core, a coil is wound around the teeth of the iron core, and a magnet and a yoke are also included.
  • the effective areas of the magnetic circuit such as iron core, coil, magnet and yoke are all arranged radially, which makes the size of the middle hole of the motor restricted to a great extent and cannot be relatively large.
  • the existing brushless motor is usually a structure with a small middle hole and a large axial size.
  • the motor is designed with a large and medium hole and a flat structure.
  • the robotic arm is usually composed of multiple joint modules and external devices, cables generated by multiple modular motors and external devices need to pass through each joint module, and due to various factors, the middle hole of the brushless motor If it is small, it will cause difficulty in threading through the multi-joint hole of the robot arm.
  • An object of the present invention is to provide a new technical solution for a brushless motor.
  • a brushless motor including a stator assembly, and a rotor assembly that rotates relative to the stator assembly;
  • the stator assembly includes an iron core, and a plurality of teeth are provided on the side wall of the iron core, each tooth extends along the axial direction of the iron core, and each tooth is wound with a winding;
  • the rotor assembly It is arranged in the axial direction of the stator assembly and is clearance-matched with the end face of the stator assembly in the axial direction.
  • the rotor assembly includes a yoke and a plurality of permanent magnets disposed on the yoke; the plurality of permanent magnets are distributed along the circumferential direction of the yoke.
  • a tooth groove with an opening is formed between two adjacent teeth.
  • the end portions of the teeth extend toward both sides of the teeth, and the end surfaces of the plurality of teeth surround an annular plane separated by the opening.
  • the brushless motor of the present invention further includes a motor housing and a rotor shaft; the yoke and the plurality of permanent magnets, and the iron core are all disposed in the motor housing; the iron core and the rotor
  • the motor housing is fixedly connected, and the yoke is connected to the rotor shaft.
  • the iron core is made of SMC composite material.
  • the size of the yoke in the axial direction does not exceed 5 mm.
  • the yoke is made of soft magnetic material.
  • another brushless motor including a stator assembly and a rotor assembly that rotates relative to the stator assembly;
  • the rotor assembly includes an iron core, and a plurality of teeth are formed on the side wall of the iron core in the axial direction, and each tooth is wound with a winding; the stator assembly is disposed in the axial direction of the rotor assembly In the direction, and the gap of the end surface of the rotor assembly in the axial direction is fitted together.
  • a robot arm including at least one joint module, the robot arm further includes at least one brushless motor according to any one of the above, and the joint module One-to-one correspondence with the brushless motor.
  • the brushless motor provided by the embodiment of the invention has the characteristics of simple structure and convenient production and manufacturing. It uses the axial part of the core side wall to form teeth, and windings are wound on the teeth. In the structure of the brushless motor, the effective areas of the magnetic circuit such as teeth, windings, magnets, and yokes are all arranged axially This design can make the diameter of the middle hole of the brushless motor larger.
  • FIG. 1 is a schematic structural view of a brushless motor provided by an embodiment of the present invention from a perspective.
  • FIG. 2 is a schematic structural view of a brushless motor provided by an embodiment of the present invention from another perspective.
  • FIG 3 is a side view of a brushless motor provided by an embodiment of the present invention.
  • FIG. 4 is a perspective view of an iron core provided by an embodiment of the present invention.
  • FIG. 5 is a side view of the iron core provided by the embodiment of the present invention.
  • FIG. 6 is a front view of an iron core provided by an embodiment of the present invention.
  • a brushless motor provided by an embodiment of the present invention includes a stator assembly and a rotor assembly cooperating with the stator assembly, and the rotor assembly can be opposite to the The stator assembly rotates.
  • the stator assembly includes an iron core 3, a plurality of teeth 33 are provided on the side wall of the iron core 3, each tooth 33 extends along the axial direction of the iron core 3, and each tooth 33 is wound There are winding 2.
  • the rotor assembly is arranged in the axial direction of the stator assembly and is clearance-matched with the end face of the stator assembly in the axial direction
  • the brushless motor provided by the embodiment of the invention has the characteristics of simple structure and convenient manufacture. Compared with the conventional brushless motor, the difference between the brushless motor provided by the embodiment of the present invention is as follows: referring to FIG. 1 and FIG. 2, the brushless motor of the present invention has an axial direction on the side wall of the iron core 3 A plurality of teeth 33 are formed, and the winding 2 is wound on each tooth 33, and the rotor assembly is also located in the axial direction of the stator assembly.
  • the use of such a design in the axial direction can save space in the radial direction of the motor (conventionally, it takes up space in the radial direction).
  • the diameter of the central hole of the brushless motor of the present invention can be about 1 More than times.
  • the overall height of the brushless motor of the present invention is reduced by about 1 cm compared to the overall height of the conventional brushless motor, so that a flat, large and medium hole structure brushless motor can be formed. .
  • the rotor assembly includes a yoke 1 and a plurality of permanent magnets 4 provided on the yoke 1.
  • the plurality of permanent magnets 4 are distributed along the circumferential direction of the yoke 1.
  • the plurality of permanent magnets 4 are evenly distributed along the circumferential direction of the yoke 1 so as to form a uniform magnetic field.
  • the yoke 1 and the plurality of permanent magnets 4 may be fixedly connected.
  • the yoke 1 and the plurality of permanent magnets 4 can be fixed together by means of gel bonding.
  • the connection method using colloidal bonding has a relatively simple process and low cost, does not cause damage to the performance of the permanent magnet and the yoke, and can connect multiple permanent magnets and the yoke firmly together.
  • the number of permanent magnets 4 can be flexibly set according to needs, and the present invention does not limit this.
  • the number of permanent magnets 4 is the same as the number of teeth 33 on the iron core 3.
  • the number of permanent magnets 4 may be different from the number of teeth 33.
  • the permanent magnet 4 can be made of materials well known in the art, such as aluminum iron copper material, which is not limited in the present invention.
  • the shape of the permanent magnet 4 can also be flexibly set as required, as long as it does not occupy a large space in the radial direction, and the present invention does not limit this.
  • a tooth groove 31 having an opening 32 is formed between two adjacent teeth 33.
  • the slot 31 can be used to accommodate the winding 2 wound on the tooth 33.
  • the slot 31 has an opening 32, and the design of the opening 32 is advantageous for winding the winding on the tooth 33, in particular, it can be realized by using an automatic winding device for Effectively improve production efficiency.
  • the size of the opening 32 can be designed to be relatively small, so that the cogging effect can be effectively reduced or avoided during operation.
  • the ends of the teeth 33 extend toward both sides of the teeth 33, and the end surfaces of the plurality of teeth 33 enclose an annular plane separated by the opening 32.
  • the structural design of the end of the teeth 33 can prevent the winding 32 from slipping off from the end of the teeth 33, which is beneficial to restrict the winding 2 to the teeth 33.
  • the winding 2 may use a winding material well known in the art, which is not limited in the present invention.
  • the winding may use copper wire, which has the characteristics of low price, good stability, and strong durability.
  • the brushless motor provided by the embodiment of the present invention may further include: a motor housing and a rotor rotating shaft (not shown in the figure).
  • the yoke 1, the plurality of permanent magnets 4 and the iron core 3 are all disposed inside the motor housing, and the yoke 1, the plurality of permanent magnets 4 and the iron core 3 can be formed by the motor housing To good protection.
  • the yoke 1 is connected to the rotor shaft, and when the rotor shaft rotates, the yoke 1 and the plurality of permanent magnets 4 (rotor assembly) can be driven to rotate relative to the iron core 3.
  • the motor housing can be made of materials well known in the art, such as aluminum alloy materials, which can make the motor housing have a certain corrosion resistance and a certain mechanical strength.
  • the quality of the aluminum alloy material is relatively light and the price is low, and the weight of the entire brushless motor will not be increased after use, and the manufacturing cost will not be increased.
  • the motor housing may be made of 6061 aluminum alloy material.
  • 6061 aluminum alloy has high mechanical strength, high toughness, good corrosion resistance, not easy to deform after processing, and weldability. It is very suitable for use as a motor housing material and can The yoke, magnet, iron core, winding and other components play a good protective role; and light weight, will not increase the weight of the entire brushless motor.
  • motor housing can also be processed from other materials, either metallic or non-metallic, which is not limited in the present invention.
  • the iron core 3 (when used as a stator) can be fixedly connected to the motor housing by fasteners.
  • the fasteners may use bolts, screws, rivets, and other fasteners well known in the art, which is not limited in the present invention.
  • welding, glue bonding and other well-known fixing methods can also be used, as long as the iron core 3 can be firmly fixed in the motor housing. No restrictions.
  • the iron core 3 provided by the embodiment of the present invention, as shown in FIG. .
  • the rotor assembly is arranged in the axial direction of the stator assembly, and is matched with the end face gap in the axial direction of the stator assembly.
  • This design allows the teeth and rotor assembly to use the motor's axial space.
  • the teeth are evenly distributed in the radial direction of the core side wall.
  • the rotor assembly is also distributed in the radial direction of the core, because the rotor assembly itself also has a certain thickness Therefore, it will occupy a large space in the radial direction of the motor, and in order to keep the radial size of the motor not too large, it will cause the size of the motor's middle hole to be small.
  • the design in the present invention improves this problem, effectively uses the size of the motor in the axial direction, and can significantly increase the middle hole of the motor.
  • the iron core 3 provided by the embodiment of the present invention, as shown in FIGS. 4, 5 and 6, has an outer shape of a circular ring structure with a certain height in the axial direction.
  • the size in the axial direction can be flexibly set according to actual needs or the amount of winding to be wound, which is not limited by the present invention.
  • the iron core 3 may be made of SMC composite material.
  • SMC Sheet molding
  • SMC compound material is a high-performance composite material, which has many excellent properties such as low density, light weight, high strength, corrosion resistance, high production efficiency and low production cost.
  • the iron core structure in the present invention is relatively complicated. When it is made of SMC composite material, it not only has the advantages of simple and rapid casting molding process, but also can effectively reduce high-frequency eddy current losses. Finally, the reliability and overall performance of the brushless motor can be effectively improved.
  • the yoke 1 provided by the embodiment of the present invention has a ring structure in appearance, and has an appropriate size in the axial direction, and the diameter of the central hole can be made larger.
  • the size of the yoke 1 in the axial direction can be appropriately reduced.
  • the size of the yoke 1 in the axial direction is preferably not more than 5 mm. This design can not only restrain the magnetic flux leakage from diffusing outward, but also increase the axial direction of the motor. The size can also appropriately reduce production costs.
  • the yoke 1 can be made of soft magnetic materials well known in the art, or other materials, for example, can be formed by stacking silicon steel sheets, which is not limited in the present invention.
  • the yoke 1 and the rotor shaft can be connected by bearings.
  • the rotor shaft can be a hollow shaft to reduce the weight of the brushless motor.
  • the embodiment of the invention also provides another structure of the brushless motor.
  • the structure of the brushless motor includes a stator assembly and a rotor assembly that rotates relative to the stator assembly.
  • the rotor assembly includes an iron core, a plurality of teeth are formed on the side wall of the iron core in the axial direction, and windings are wound on each tooth.
  • the stator assembly is arranged in the axial direction of the rotor assembly, and is clearance-fitted with the end face of the rotor assembly in the axial direction.
  • the rotor assembly includes a yoke and a plurality of permanent magnets arranged on the yoke.
  • the plurality of permanent magnets are distributed along the circumferential direction of the yoke.
  • the iron core can also be used as the rotor, and the yoke and multiple permanent magnets can be used as the stator.
  • the present invention will not be discussed in detail about the further structure of the brushless motor.
  • an embodiment of the present invention also provides a mechanical arm.
  • the robotic arm includes at least one joint module, and the robotic arm further includes at least one brushless motor of any one of the above types, and the joint module and the brushless motor are arranged in one-to-one correspondence.
  • any of the brushless motors described above is used as the driving device. Since the brushless motor of the present invention has a highly flat and large middle hole structure, it can effectively solve the problem of difficulty in passing holes in the middle hole of the multi-joint module of the robot arm. When the mechanical arm is used in industrial production, it can make the production process have continuity, stability and high efficiency, and can effectively improve production efficiency.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Iron Core Of Rotating Electric Machines (AREA)

Abstract

一种无刷电机以及机械臂。该无刷电机，包括定子组件，以及相对于所述定子组件转动的转子组件；其中，所述定子组件包括铁芯（3），在所述铁芯（3）的侧壁上设置有多个齿（33），各个齿（33）沿着铁芯（3）的轴向方向延伸，各个齿（33）上均绕制有绕组（2）；所述转子组件设置在所述定子组件的轴向方向上，且与所述定子组件轴向方向上的端面间隙配合在一起。该无刷电机所到达的一个技术效果是：可以有效增大电机中孔的尺寸。

Description

一种无刷电机以及机械臂 技术领域
本发明涉及驱动控制装置技术领域，更具体地，本发明涉及一种无刷电机以及机械臂。
背景技术
近年来，随着科学技术的快速发展，机器人技术已经在工业生产中发挥着越来越重要的作用，人们也开始越来越关注和重视机器人的技术发展与应用。
机械臂属于一类机器人，在现代化工业生产技术领域，或者日常的工作、生活中已经应用的越来越普及。在相应的驱动装置，例如在电机的控制下，机械臂可用于将某一物品按照要求从一个位置移动到另一个指定的位置，从而能完成某一工业生产的作业要求。机械臂的使用不仅能够减少劳动力，还能够有效的提高工作效率，最终能降低企业的生产成本。如今，机械臂已经基本可以替代人工完成固定的程序化动作。
无刷电机没有电刷结构，本身具有效率高以及使用寿命长等诸多的优点。如今，无刷电机已经被广泛的应用于众多领域中，发展非常迅速。尤其是，无刷电机可以用作机械臂的驱动控制装置。现有的无刷电机包括铁芯，在铁芯的齿部上绕制有线圈，还包括磁体以及磁轭。其中，铁芯、线圈、磁铁以及磁轭等磁路有效区域均呈径向布置，这使得电机的中孔尺寸受到了很大程度的限制，无法做到比较大。并且，当铁芯的齿部上缠绕线圈后，在轴向方向上线圈两边端部区域受线圈绕制厚度的影响，会使整个无刷电机在轴向上的尺寸受到限制而无法减薄。也就是说：现有的无刷电机通常为中孔较小而轴向尺寸较大的结构。实际上，针对机械臂关节模组所使用的无刷电机，更希望电机呈大中孔、扁平的结构设计。由于机械臂通常由多个关节模块和外加装置组成，多个模块化电机以及外加装置产生的线缆需要从每个关节模块中穿过，而由于各种因素的限制导致无刷电机的中孔较小，就会造成机械臂多关节中孔过线困难的问题。
因此，非常有必要研究新的无刷电机的结构，以解决上述存在的问题。
发明内容
本发明的一个目的在于提供一种无刷电机的新技术方案。
根据本发明的第一个方面，提供了一种无刷电机，包括定子组件，以及相对于所述定子组件转动的转子组件；
其中，所述定子组件包括铁芯，在所述铁芯的侧壁上设置有多个齿，各个齿沿着铁芯的轴向方向延伸，各个齿上均绕制有绕组；所述转子组件设置在所述定子组件的轴向方向上，且与所述定子组件轴向方向上的端面间隙配合在一起。
可选地，所述转子组件包括磁轭和设置在磁轭上的多个永磁体；所述多个永磁体沿着磁轭的圆周方向分布。
可选地，相邻两个齿之间形成具有开口的齿槽。
可选地，所述齿的端部向齿的两侧延伸，且多个齿的端面围成被所述开口间隔的环状平面。
可选地，本发明的无刷电机，还包括电机壳体以及转子转轴；所述磁轭和多个永磁体，以及铁芯均设置在所述电机壳体内；所述铁芯与所述电机壳体固定连接，所述磁轭与所述转子转轴连接。
可选地，所述铁芯采用SMC复合材料制成。
可选地，所述磁轭在轴向方向上的尺寸不超过5mm。
可选地，所述磁轭采用软磁材料制成。
根据本发明的第二个方面，提供了另一种无刷电机，包括定子组件，以及相对于所述定子组件转动的转子组件；
其中，所述转子组件包括铁芯，在所述铁芯的侧壁上沿轴向形成有多个齿，各个齿上均绕制有绕组；所述定子组件设置在所述转子组件的轴向方向上，且与所述转子组件轴向方向上的端面间隙配合在一起。
根据本发明的第三个方面，提供了一种机械臂，所述机械臂包括至少一个关节模块，所述机械臂还包括至少一个上述任一项所述的无刷电机，且所述关节模块与所述无刷电机一一对应配置。
本发明实施例提供的无刷电机，具有结构简单，以及生产制造方便的特点。其利用铁芯侧壁轴向上的部分形成齿，并在齿上绕制有绕组，在该无刷电机的结构中，齿、绕组、磁体以及磁轭等磁路有效区域均呈轴向布置的形式，这一设计可以使无刷电机的中孔直径做的更大。
通过以下参照附图对本发明的示例性实施例的详细描述，本发明的其它特征及其优点将会变得清楚。
附图说明
被结合在说明书中并构成说明书的一部分的附图示出了本发明的实施例，并且连同其说明一起用于解释本发明的原理。
图1是本发明实施例提供的无刷电机一视角的结构示意图。
图2是本发明实施例提供的无刷电机另一视角的结构示意图。
图3是本发明实施例提供的无刷电机的侧视图。
图4是本发明实施例提供的铁芯的立体图。
图5是本发明实施例提供的铁芯的侧视图。
图6是本发明实施例提供的铁芯的主视图。
附图标记说明：
1-磁轭，2-绕组，3-铁芯，4-永磁体；
31-齿槽，32-开口，33-齿。
具体实施方式
现在将参照附图来详细描述本发明的各种示例性实施例。应注意到：除非另外具体说明，否则在这些实施例中阐述的部件和步骤的相对布置、数字表达式和数值不限制本发明的范围。
以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本发明及其应用或使用的任何限制。
对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为说明书的一部分。
在这里示出和讨论的所有例子中，任何具体值应被解释为仅仅是示例 性的，而不是作为限制。因此，示例性实施例的其它例子可以具有不同的值。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步讨论。
本发明实施例提供的一种无刷电机，参考图1、图2以及图3所示，包括定子组件，以及与所述定子组件相配合的转子组件，且所述转子组件能相对于所述定子组件产生转动。其中，所述定子组件包括铁芯3，在所述铁芯3的侧壁上设置有多个齿33，每个齿33沿着铁芯3的轴向方向延伸，各个齿33上均绕制有绕组2。所述转子组件设置在所述定子组件的轴向方向上，且与所述定子组件轴向方向上的端面间隙配合在一起
本发明实施例提供的无刷电机，具有结构简单以及制造方便等特点。本发明实施例提供的无刷电机与常规的无刷电机相比，其区别主要在于：参考图1以及图2所示，本发明的无刷电机，在铁芯3的侧壁上沿轴向形成有多个齿33，在各个齿33上均绕制有绕组2，转子组件也位于定子组件的轴向方向上。采用这样的轴向方向的设计可以节省在电机径向方向上的空间(常规的是占用径向上的空间)。实际上，在铁芯3的外径相同、铁芯3与转子组件产生磁路区域体积相同的条件下，本发明无刷电机的中孔直径可以比常规无刷电机的中孔直径要大约一倍以上。并且，本发明无刷电机的整体高度比常规无刷电机的整体高度降低了大约1cm左右，这样可以形成一种扁平、大中孔结构的无刷电机，该结构非常适合作为机械臂的驱动装置。
其中，所述转子组件包括磁轭1以及设置在磁轭1上的多个永磁体4。所述多个永磁体4沿着磁轭1的圆周方向分布。在本发明的一个具体实施方式中，多个永磁体4沿着磁轭1的圆周方向呈均匀分布，以便于形成均匀的磁场。
其中，磁轭1与多个永磁体4之间可以为固定连接。在本发明的一个具体实施方式中，磁轭1与多个永磁体4之间可以采用胶体粘合的方式固定在一起。采用胶体粘合的连接方式，其工艺较为简单，成本低，不会对 永磁体和磁轭的性能造成损伤，且能使多个永磁体与磁轭之间牢固的连接在一起。
其中，永磁体4的数量可以根据需要灵活设置，本发明对此不作限制。在本发明的一个具体实施方式中，永磁体4的设置数量与铁芯3上的齿33的设置数量相同。当然，永磁体4的数量也可以与齿33的数量不同。
另外，永磁体4可以采用本领域熟知的材料制造，例如可以采用铝铁铜材料制成，本发明对此不作限制。并且，永磁体4的形状也可以根据需要灵活设置，只要不会在径向上占用较大的空间即可，本发明对此不作限制。
其中，在铁芯3的侧壁上，相邻两个齿33之间形成具有开口32的齿槽31。齿槽31能用于容纳绕制在齿33上的绕组2。参考图4、图5以及图6所示，该齿槽31具有开口32，该开口32的设计有利于在齿33上绕制绕组，尤其是可以实现采用自动绕线设备进行绕制，从而能有效提高生产效率。其中，开口32的尺寸可以设计的比较小，这样能够在运行中有效的减弱或者避免出现齿槽效应。
并且，参考图4以及图6所示，所述齿33的端部向齿33的两侧延伸，且多个齿33的端面围成被所述开口32间隔的环状平面。齿33端部的结构设计可以防止绕组32从齿33的端部滑脱，有利于将绕组2限制在齿33上。
其中，绕组2可以采用本领域所熟知的绕组材料，本发明对此不作限制。在本发明的一个具体实施方式中，绕组可以采用铜线，具有价格低廉、稳定性好、结实耐用的特点。
本发明实施例提供的无刷电机，还可以包括：电机壳体以及转子转轴(图中未示出)。其中，所述磁轭1、多个永磁体4以及铁芯3均设置在所述电机壳体的内部，可以由电机壳体对磁轭1、多个永磁体4以及铁芯3起到良好的保护作用。所述铁芯3与所述电机壳体之间为固定连接，其相对于电机壳体不会产生相对的转动。所述磁轭1与所述转子转轴连接，当所述转子转轴进行转动时，可以带动所述磁轭1和多个永磁体4(转子组件)相对于所述铁芯3产生转动。
其中，电机壳体可以采用本领域熟知的材料制作，例如可以采用铝合 金材料制成，能使电机壳体具有一定的耐腐蚀性以及一定的机械强度。此外，铝合金材料的质量比较轻且价格低廉，使用后不会增加整个无刷电机的重量，且不会增加制造成本。
在本发明的一个具体实施方式中，电机壳体可以采用6061铝合金材料制成。具体来说，6061铝合金具有较高的机械强度、较高的韧性、良好的抗腐蚀性、加工后不易变形以及可焊接性等特点，非常适合作为电机壳体材料使用，能对其内部的磁轭、磁体、铁芯以及绕组等部件起到良好的保护作用；而且质轻，不会增加整个无刷电机的重量。
当然，电机壳体也可以采用其它的材料加工而成，可以为金属材料，也可以为非金属材料，本发明对此不作限制。
其中，铁芯3(当作为定子时)可以采用紧固件与电机壳体固定连接在一起。具体来说，紧固件可以采用螺栓、螺钉、铆钉等本领域所熟知的固定件，本发明对此不作限制。当然，在电机壳体内固定铁芯3时，还可以采用焊接、胶水粘合等本领域熟知的固定方式，只要能使铁芯3牢固的固定在电机壳体内即可，本发明对此不作限制。
本发明实施例提供的铁芯3，参考图4所示，有效的利用了铁芯3的侧壁上轴向上的部分，在铁芯3的侧壁上形成了多个均匀分布的齿33。其中，转子组件设置在定子组件的轴向方向上，且与定子组件轴向方向上的端面间隙配合在一起。这一设计使齿和转子组件均利用了电机在轴向上的空间。实际上，在常规的无刷电机中，齿均匀分布在铁芯侧壁的径向方向上，此时设转子组件也分布在铁芯的径向方向上，由于转子组件本身也具有一定的厚度，从而会导致占用电机径向上的较大空间，而为了保持电机的径向尺寸不会过大，就会造成电机的中孔尺寸较小。本发明中的设计正是改善了该问题，有效的利用了电机在轴向上的尺寸，可以明显增大电机的中孔。
本发明实施例提供的铁芯3，参考图4、图5以及图6所示，其外形为：在轴向上具有一定高度的圆环状结构。其在轴向上的尺寸可以根据实际需要或者要绕制的绕组的量灵活设置，本发明对此不作限制。
在本发明的一个具体实施方式中，铁芯3可以采用SMC复合材料制成。 其中，SMC(Sheet molding compound)复合材料是一种高性能的复合材料，该材料本身具有密度小、质量轻、强度高、耐腐蚀、生产效率高以及制作成本低等诸多优良性能。参考图4，本发明中的铁芯结构是比较复杂的，当采用SMC复合材料制作时，不仅具有铸造成型工艺简单、快速的优点，还可以有效减小高频涡流损耗。最终可以有效提升无刷电机的可靠性以及综合性能。
本发明实施例提供的磁轭1，从外形上看呈环状结构，并且在轴向上具有适宜的尺寸，其中部的孔直径可以做的较大。为了使本发明实施例的无刷电机在轴向上的尺寸可以不受限制，能够做的更薄，可以适当减小磁轭1在轴向方向上的尺寸。在本发明的一个具体实施方式中，磁轭1在轴向方向上的尺寸最好不超过5mm，这一设计既能起到约束漏磁向外扩散，还不会增加电机在轴向上的尺寸，还能适当的降低生产成本。
其中，磁轭1可以采用本领域熟知的软磁材料制成，也可以采用其它的材料，例如可以采用硅钢片叠加形成，本发明对此不作限制。
另外，本发明中磁轭1与转子转轴之间可以通过轴承连接。其中，转子转轴可以为空心轴，以减轻无刷电机的重量。
本发明的实施例还提供了另一种无刷电机的结构。该无刷电机的结构为：包括定子组件，以及相对于所述定子组件转动的转子组件。其中，所述转子组件包括铁芯，在所述铁芯的侧壁上沿轴向形成有多个齿，在各个齿上均绕制有绕组。所述定子组件设置在所述转子组件的轴向方向上，且与所述转子组件轴向方向上的端面间隙配合在一起。
其中，所述转子组件包括磁轭和设置在磁轭上的多个永磁体。所述多个永磁体沿着磁轭的圆周方向分布。
实际上，对于本领域技术人员而言，还可以将铁芯作为转子使用，而将磁轭和多个永磁体作为定子使用，此时可以将磁轭和多个永磁铁固定在电机壳体内，将铁芯与转子转轴连接。当转子转轴转动时可以带动铁芯相对于磁轭和多个永磁铁产生转动。对于无刷电机的进一步结构本发明不再详细论述。
另一方面，本发明实施例还提供了一种机械臂。所述机械臂包括至少 一个关节模块，所述机械臂还包括至少一个上述任一种无刷电机，且所述关节模块与所述无刷电机一一对应配置。
本发明实施例提供的机械臂，其驱动装置采用上述任一种无刷电机。由于本发明的无刷电机具有高度扁平、大中孔的结构，可以有效解决机械臂多关节模块中孔过线难的问题。当将该机械臂应用于工业生产中时，能使生产过程具有连贯性、稳定性和高效性，能有效提高生产效率。
虽然已经通过例子对本发明的一些特定实施例进行了详细说明，但是本领域的技术人员应该理解，以上例子仅是为了进行说明，而不是为了限制本发明的范围。本领域的技术人员应该理解，可在不脱离本发明的范围和精神的情况下，对以上实施例进行修改。本发明的范围由所附权利要求来限定。

Claims (10)

  1. 一种无刷电机，其特征在于，包括定子组件，以及相对于所述定子组件转动的转子组件；
    其中，所述定子组件包括铁芯，在所述铁芯的侧壁上设置有多个齿，各个齿沿着铁芯的轴向方向延伸，各个齿上均绕制有绕组；
    所述转子组件设置在所述定子组件的轴向方向上，且与所述定子组件轴向方向上的端面间隙配合在一起。
  2. 根据权利要求1所述的无刷电机，其特征在于，所述转子组件包括磁轭和设置在磁轭上的多个永磁体；
    所述多个永磁体沿着磁轭的圆周方向分布。
  3. 根据权利要求1所述的无刷电机，其特征在于，相邻两个齿之间形成具有开口的齿槽。
  4. 根据权利要求3所述的无刷电机，其特征在于，所述齿的端部向齿的两侧延伸，且多个齿的端面围成被所述开口间隔的环状平面。
  5. 根据权利要求1所述的无刷电机，其特征在于，还包括电机壳体以及转子转轴；
    所述磁轭和多个永磁体，以及铁芯均设置在所述电机壳体内；
    所述铁芯与所述电机壳体固定连接，所述磁轭与所述转子转轴连接。
  6. 根据权利要求1所述的无刷电机，其特征在于，所述铁芯采用SMC复合材料制成。
  7. 根据权利要求1所述的无刷电机，其特征在于，所述磁轭在轴向方向上的尺寸不超过5mm。
  8. 根据权利要求1所述的无刷电机，其特征在于，所述磁轭采用软磁材料制成。
  9. 一种无刷电机，其特征在于，包括定子组件，以及相对于所述定子组件转动的转子组件；
    其中，所述转子组件包括铁芯，在所述铁芯的侧壁上沿轴向形成有多 个齿，各个齿上均绕制有绕组；
    所述定子组件设置在所述转子组件的轴向方向上，且与所述转子组件轴向方向上的端面间隙配合在一起。
  10. 一种机械臂，所述机械臂包括至少一个关节模块，其特征在于，所述机械臂还包括至少一个权利要求1-9中任一项所述的无刷电机，且所述关节模块与所述无刷电机一一对应配置。
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