WO2020107582A1 - 电机、动力装置及机器人 - Google Patents

电机、动力装置及机器人 Download PDF

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Publication number
WO2020107582A1
WO2020107582A1 PCT/CN2018/122797 CN2018122797W WO2020107582A1 WO 2020107582 A1 WO2020107582 A1 WO 2020107582A1 CN 2018122797 W CN2018122797 W CN 2018122797W WO 2020107582 A1 WO2020107582 A1 WO 2020107582A1
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WIPO (PCT)
Prior art keywords
equal
stator
yoke
motor
width
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PCT/CN2018/122797
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English (en)
French (fr)
Inventor
黄宏升
黄悦
董群
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深圳市大疆创新科技有限公司
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Publication of WO2020107582A1 publication Critical patent/WO2020107582A1/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
    • 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

Definitions

  • the embodiment of the invention relates to a motor, a power device and a robot, which belong to the technical field of motors.
  • Permanent magnet synchronous motors are widely used in the field of robots. Permanent magnet synchronous motors are used as the driving parts of the execution parts of the robot such as the gimbal and the robot arm to provide flight power for the execution parts.
  • the selection of the permanent magnet synchronous motor is based on the user's experience, which is relatively rough, and due to the limitation of its structure, it is difficult to achieve a large torque output.
  • Embodiments of the present invention provide a motor, a power device, and a robot, which can overcome related problems in the prior art.
  • 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 15 mm and less than or equal to 25 mm, and The outer diameter is greater than or equal to 60 mm and less than or equal to 63.8 mm.
  • the height of the stator is 20 mm.
  • the outer diameter of the stator is 60 mm.
  • 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 along the diameter direction of the yoke is greater than or equal to 0.6 mm and less than or equal to 1.8 mm; the width or average width of each magnet along the circumferential direction of the yoke is greater than or equal to 3.81 mm and less than or equal to 8.58 mm.
  • the thickness or average thickness of each magnet in the diameter direction of the yoke is 1.2 mm; the width or average width of each magnet in the circumferential direction of the yoke is 7.91 mm.
  • the stator includes an iron core and a coil disposed on the iron core;
  • the iron core includes a sleeve portion and a support portion disposed on the sleeve portion, and the coil is wound around the On the support portion;
  • the width or average width of the support portion is greater than or equal to 2.5 mm and less than or equal to 4.5 mm.
  • the width or average width of the support portion is 3.8 mm.
  • the coil is formed by winding 48 turns of a wire with a diameter of 0.45 mm.
  • the output torque of the motor is greater than or equal to 1.19 Newton-meters.
  • a power device including an actuator and the motor according to any one of the foregoing, the actuator is connected to the motor, and the motor can drive the actuator to move.
  • the weight of the execution component is greater than or equal to 1 kg and less than or equal to 2 kg.
  • the execution component includes at least one of the following: a gimbal shaft arm and a mechanical arm.
  • a further aspect of an embodiment of the present invention provides a robot including a fuselage and the power device according to any one of the foregoing, the power device being disposed on the fuselage.
  • FIG. 1 is a schematic structural diagram 1 of a motor provided according to an exemplary embodiment
  • FIG. 2 is a second structural diagram of a motor provided according to an exemplary embodiment
  • FIG. 3 is a schematic structural view of an iron core, a magnet, and a yoke provided according to an exemplary embodiment
  • FIG. 4 is a schematic structural view of an iron core according to an exemplary embodiment
  • FIG. 5 is a cross-sectional view of FIG. 4 at A-A;
  • FIG. 6 is a schematic structural diagram of a magnet provided according to an exemplary embodiment.
  • FIG. 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 an iron core, magnet and Schematic structural view of the yoke
  • FIG. 4 is a structural schematic view of the iron core provided according to an exemplary embodiment
  • FIG. 5 is a cross-sectional view of FIG. 4 at AA;
  • this embodiment provides a robot including a fuselage and a power device disposed on the fuselage.
  • the power device includes a motor and an execution component.
  • the execution component includes an operable component such as a mechanical arm and a gimbal shaft arm provided on the vehicle body.
  • the motor can drive the execution component to perform a corresponding operation.
  • the motor 100 includes a base 10, a stator fixedly connected to the base 10, a rotor rotatably connected to the base 10, and a rotating shaft assembly provided on the rotor.
  • 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
  • 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.
  • the fixing portion 12 is used to fix the stator.
  • 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 part of the rotating shaft assembly.
  • the stator is provided on the fixed portion 12 of the base 10.
  • the stator includes an iron core 32 and a coil 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.
  • the height of the sleeve portion 321 along its axial direction is greater than or equal to 15 mm and less than or equal to 25 mm.
  • the height of the sleeve portion 321 can be any value between 15 mm and 25 mm, for example, the height of the sleeve portion 321 can be 15 mm, 16 mm, 17 mm, 18 mm, 19 mm, 20 mm, 21 mm, 22 mm, 23 mm, 24 mm, 25 mm, or any value within the range defined by any two of the above values.
  • the height of the sleeve portion 321 along its axial direction may be 20 mm.
  • the number of the support portions 323 is eighteen, and the eighteen support 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.
  • the width of the support portion 323 gradually increases from the side close to the sleeve portion 321 to the side away from the sleeve portion 321.
  • the average width t of the support portion 323 is greater than or equal to 2.5 mm and less than or equal to 4.5 mm.
  • the average width t of the support portion 323 may be any value between 2.5 mm and 4.5 mm, for example, the average width t of the support portion 323 is 2.5 mm, 2.6 mm, 2.7 mm, 2.8 mm, 2.9 mm, 3.0 mm, and 3.1 mm , 3.2 mm, 3.3 mm, 3.4 mm, 3.5 mm, 3.6 mm, 3.7 mm, 3.8 mm, 3.9 mm, 4.0 mm, 4.1 mm, 4.2 mm, 4.3 mm, 4.4 mm, 4.5 mm, or any two of the above values Any value within the defined numerical range.
  • the average width t of the support portion 323 is 3.8 mm.
  • 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 2.5 mm and less than or equal to 4.5 mm.
  • the average width t of the support portion 323 may be any value between 2.5 mm and 4.5 mm, for example, the average width t of the support portion 323 is 2.5 mm, 2.6 mm, 2.7 mm, 2.8 mm, 2.9 mm, 3.0 mm, and 3.1 mm , 3.2 mm, 3.3 mm, 3.4 mm, 3.5 mm, 3.6 mm, 3.7 mm, 3.8 mm, 3.9 mm, 4.0 mm, 4.1 mm, 4.2 mm, 4.3 mm, 4.4 mm, 4.5 mm, or any two of the above values Any value within the defined numerical range.
  • the number of the support portions 323 may be multiple.
  • the number of support portions 23 is not limited to this, for example, sixteen, seventeen, nineteen, twenty... and so on.
  • the support portion 323 supports the coil. There may be a plurality of coils, and each coil is wound on a support portion 323.
  • the number of turns of the coil can be 30, 40, 50, 60, 70, 80, etc., and the diameter of the wire can be designed according to requirements.
  • the diameter of the wire (including the insulating layer) used to form the coil is 0.45 mm, and the number of winding turns is 48 turns.
  • the fractional slot concentrated winding method is used to increase the slot full rate and increase the number of effective conductors. , And increase the motor torque constant.
  • the coil may be formed by winding wires of other specifications around the corresponding number of turns, and details are not repeated herein in this embodiment.
  • 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 partial cylindrical surface.
  • the width or average width of the stop portion 325 along the circumferential direction of the sleeve portion 321 may be 7.42 ⁇ 0.05 mm.
  • the stator formed by the stopper 325, the support portion 323, the sleeve portion 321, and the coil is substantially cylindrical.
  • the outer diameter of the stator that is, the outer diameter D of the iron core is greater than or equal to 60 mm and less than or equal to 63.8 mm.
  • the outer diameter D of the stator can be any value between 60 mm and 63.8 mm, such as 60 mm, 60.4 mm, 60.8 mm, 61.2 mm, 61.6 mm, 62.0 mm, 62.4 mm, 62.8 mm, 63.2 mm, 63.6 mm, 63.8 mm Mm, or any value within the range of values defined by any two of the above values.
  • the outer diameter D of the stator is 60 mm.
  • the height H of the stator along its axial direction is greater than or equal to 15 mm and less than or equal to 25 mm.
  • the height H of the stator along its axis can be any value between 15 mm and 25 mm, for example, the height H of the stator along its axis can be 15 mm, 16 mm, 17 mm, 18 mm, 19 mm, 20 mm , 21 mm, 22 mm, 23 mm, 24 mm, 25 mm, or any value within the range defined by any two of the above values.
  • the height H of the stator along its axial direction is 20 mm, which can not only ensure that the motor can continuously output a large torque for a long time, but also make the motor have a lower cost.
  • the height H of the stator in the axial direction is equal to the height of the sleeve portion 321 in the axial direction; it can be understood that in other embodiments, the height H of the stator in the axial direction may be larger or smaller than the sleeve portion 321 The height along its axis.
  • the inner diameter of the stator may be 36.8 mm.
  • the motor 100 of this embodiment can be made of silicon steel sheet with a thickness of 0.35 mm, which can not only reduce the eddy current loss caused by the high-speed operation of the motor 100, but also reduce the cost of the motor 100.
  • the rotor cover is provided on the outer periphery of the stator, and includes a yoke 52 and a magnet 54 provided on the yoke 52.
  • the yoke 52 is substantially cylindrical and can rotate relative to the iron core 32.
  • the yoke 52 has a peripheral wall, and the peripheral wall is substantially cylindrical, and is used to receive the magnet 54.
  • the magnet 54 may be made of sintered NdFeB.
  • the magnets 54 are basically in the shape of an arc-shaped sheet, and the number of the magnets is twenty.
  • the twenty magnets 54 are fixed on the inner side of the peripheral wall of the yoke 52 and are spaced along the circumferential direction of the peripheral wall.
  • the magnet 54 may have other shapes, such as a rectangular sheet shape; the number of magnets 54 is not limited to this embodiment, and the number of magnets 54 may be multiple, such as sixteen, twenty-two Wait.
  • 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 0.6 mm and less than or equal to 1.8 mm.
  • the thickness T or average thickness of the magnet 54 may be any value between 0.6 mm and 1.8 mm, for example, the thickness T or average thickness T of the magnet 54 may be 0.6 mm, 0.8 mm, 0.9 mm, 1 mm, 1.1 mm, 1.2 Mm, 1.3 mm, 1.4 mm, 1.5 mm, 1.6 mm, 1.7 mm, 1.8 mm, or any value within the range of values defined by any two of the above values.
  • the thickness T or the average thickness T of the magnet 54 in the diameter direction of the yoke 52 is 1.2 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 3.81 mm and less than or equal to 8.58 mm.
  • the width b or average width b of the magnet 54 may be any value between 3.81 mm and 8.58 mm, for example, the width b or average width b of the magnet 54 may be 3.81 mm, 4.77 mm, 5.72 mm, 6.67 mm, 7.91 mm, 8.58 mm, or any value within the range of values defined by any two of the above values.
  • the width b or average width b of the magnet 54 in the circumferential direction of the yoke 52 is 7.91 mm.
  • the rotating shaft assembly 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, and is inserted into the fixing portion 12 of the base 10.
  • the motor 100 When the motor 100 is powered on, the rotor drives the rotating shaft assembly to rotate relative to the stator and the base 10.
  • the number of bearings 94 is two, and the two bearings 94 are provided on the rotating shaft 92 at a distance from each other, and are accommodated in the accommodating holes of the fixed portion 12.
  • the coil 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 then the yoke 52 is sheathed outside the stator. Finally, the rotating shaft 92 and the bearing 94 of the rotating shaft assembly are accommodated in the fixed portion 12, and the cover for rotating the yoke 52 is provided on the outer periphery of the stator.
  • a locking sleeve 96 may also be provided on the rotating shaft 92, and the locking sleeve 96 is screwed to the rotating shaft 92 and fixed by an adhesive.
  • the fixing portion 12 of the base 10 is provided with a limiting portion 121 protruding inward. As shown in FIG.
  • the two bearings 94 are respectively placed on the upper and lower ends of the limiting portion 121, the locking sleeve 96 is placed on the lower end of the bearing 94 located at the lower end of the limiting portion 121, and the upper end cover 56 of the motor 100 is located
  • the bearing 94 at the upper end of the limiting portion 121 counteracts to limit the axial direction of the rotating shaft 92 and eliminate the axial gap between the rotor and the stator of the motor 100, that is, eliminate the axial movement of the rotating shaft 92 of the motor 100.
  • the locking sleeve 96 may also be embedded with a magnetic ring 98 for detecting rotor rotation information.
  • the upper end cover 56 is fixedly connected to the rotating shaft in the rotating shaft assembly, and is fixedly connected to the yoke 52 in the rotor, so that when the rotor rotates relative to the stator, the rotor can drive the upper end cover 56 to rotate relative to the stator, so that the upper end cover 56 The rotating shaft assembly is driven to rotate relative to the stator.
  • Table 1 shows the case of using the motor 100 provided by the embodiment of the invention under different core heights, different core outer diameters, different magnet widths, different magnet thicknesses, and different support portion widths ,
  • the input power of the motor 100 the rated output torque, the motor constant, the effective value of the input current, the torque constant, and the slot full rate.
  • the rated output torque of the motor 100 provided in this embodiment can be up to 1.199
  • the motor constant can be up to 0.3
  • the torque constant can be up to 693.16
  • the slot full rate can be up to 51.8%.
  • the motor 100 provided in this embodiment is applied to the execution parts of the robot such as a robot arm and a gimbal shaft arm.
  • the motor 100 When the motor 100 is powered on, the rotor or the shaft 92 of the motor 100 drives the executed component to rotate, thereby driving the executing component to perform the corresponding operation.
  • the output torque of the motor is greater than or equal to 1.19 Newton-meters.
  • the weight of the execution component is greater than or equal to 1 kg and less than or equal to 2 kg.
  • the rated output torque of the motor 100 can reach 1.24 N ⁇ m, and the speed regulation range is 0-300 rpm.
  • the execution component includes at least one of the following: a gimbal shaft arm and a robot arm.
  • the motor 100 by optimizing the size of the stator, when the motor 100 drives an execution component, it can achieve a low rotation speed and a large torque output, and can continuously output a large torque for a long time.
  • the first feature may be “upper” or “lower” of the second feature by directly contacting the first and second features, or the first and The second feature is indirect contact through the intermediary.
  • 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.
  • 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 a It is a detachable connection, or integrated; it can be directly connected or indirectly connected through an intermediate medium. It can be the connection between the two components or the interaction between the two components.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Iron Core Of Rotating Electric Machines (AREA)
  • Permanent Magnet Type Synchronous Machine (AREA)

Abstract

一种电机（100）、动力装置及机器人，属于电机技术领域。其中，电机（100）包括定子以及能够转动的设置于所述定子外的转子，所述定子的高度大于或等于15毫米且小于或等于25毫米，且所述定子的外径大于或等于60毫米且小于或等于63.8毫米。

Description

电机、动力装置及机器人 技术领域
本发明实施例涉及一种电机、动力装置及机器人，属于电机技术领域。
背景技术
目前，永磁同步电机广泛应用于机器人领域，永磁同步电机作为机器人中执行部件如云台、机械臂的驱动件为执行部件提供飞行动力。现有技术中，永磁同步电机的选择都是依据用户的经验，比较粗略，且受其结构的限制，很难实现大扭矩的输出。
发明内容
本发明实施例提供一种电机、动力装置及机器人，能够克服现有技术的相关问题。
本发明实施例的一个方面提供一种电机，其包括定子以及能够转动的设置于所述定子外的转子，所述定子的高度大于或等于15毫米且小于或等于25毫米，且所述定子的外径大于或等于60毫米且小于或等于63.8毫米。
可选地，所述定子的高度为20毫米。
可选地，所述定子的外径为60毫米。
可选地，所述转子包括磁轭及设置于所述磁轭内的多个磁体，所述磁轭罩设在所述定子外；多个所述磁体固定于所述磁轭的内壁上；每个所述磁体沿所述磁轭直径方向的厚度或者平均厚度大于或等于0.6毫米且小于或等于1.8毫米；每个所述磁体沿所述磁轭的周向的宽度或者平均宽度大于或等于3.81毫米且小于或等于8.58毫米。
可选地，每个所述磁体沿所述磁轭直径方向的厚度或者平均厚度为1.2毫米；每个所述磁体沿所述磁轭的周向的宽度或者平均宽度为7.91毫米。
可选地，所述定子包括铁芯及设置于所述铁芯上的线圈；所述铁芯包括套设部及设置于所述套设部上的支撑部，所述线圈绕设于所述支撑部上； 所述支撑部的宽度或者平均宽度大于或等于2.5毫米且小于或等于4.5毫米。
可选地，当所述转子包括多个磁体时，所述支撑部的宽度或者平均宽度为3.8毫米。
可选地，所述线圈由直径为0.45毫米的导线绕设48匝形成。
可选地，所述电机的输出扭矩大于或等于1.19牛顿·米。
本发明实施例的另一个方面提供一种动力装置，包括执行部件及如前述任一项所述的电机，所述执行部件与所述电机相连接，所述电机能够驱动所述执行部件运动。
可选地，所述执行部件的重量大于等于1千克且小于等于2千克。
可选地，所述执行部件包括如下至少一种：云台轴臂、机械臂。
本发明实施例的又一个方面提供一种机器人，其包括机身及如前述任一项所述的动力装置，所述动力装置设置于所述机身上。
采用本发明实施例提供的电机、动力装置及机器车，通过优化定子的尺寸，使所述电机驱动执行部件时，能够实现地低转速、大扭矩的输出，且能够长时间持续地输出较大的扭矩。
除了上面所描述的本发明实施例解决的技术问题、构成技术方案的技术特征以及由这些技术方案的技术特征所带来的有益效果外，本发明实施例所能解决的其他技术问题、技术方案中包含的其他技术特征以及这些技术特征带来的有益效果，将在具体实施方式中作出进一步详细的说明。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本发明的实施例，并与说明书一起用于解释本发明的原理。
图1为根据一示例性实施例提供的电机的结构示意图一；
图2为根据一示例性实施例提供的电机的结构示意图二；
图3为根据一示例性实施例提供的铁芯、磁体与磁轭的结构示意图；
图4为根据一示例性实施例提供的铁芯的结构示意图；
图5为图4在A-A处的剖视图；
图6为根据一示例性实施例提供的磁体的结构示意图。
附图标记说明：
电机 100
基座 10
座体 11
固定部 12
限位部 121
铁芯 32
套设部 321
支撑部 323
止挡部 325
磁轭 52
上端盖 56
磁体 54
上端盖 56
转轴 92
轴承 94
锁紧套 96
磁环 98
通过上述附图，已示出本发明明确的实施例，后文中将有更详细的描述。这些附图和文字描述并不是为了通过任何方式限制本发明构思的范围，而是通过参考特定实施例为本领域技术人员说明本发明的概念。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描 述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。
基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
其中，“上”、“下”等的用语，是用于描述各个结构在附图中的相对位置关系，仅为便于叙述的明了，而非用以限定本发明可实施的范围，其相对关系的改变或调整，在无实质变更技术内容下，当亦视为本发明可实施的范畴。
图1为根据一示例性实施例提供的电机的结构示意图一；图2为根据一示例性实施例提供的电机的结构示意图二；图3为根据一示例性实施例提供的铁芯、磁体与磁轭的结构示意图；图4为根据一示例性实施例提供的铁芯的结构示意图；图5为图4在A-A处的剖视图；图6为根据一示例性实施例提供的磁体的结构示意图。
请参照图1-图6，本实施例提供一种机器人，其包括机身及设置在机身上的动力装置。动力装置包括电机以及执行部件，执行部件包括车身上设置有的机械臂、云台轴臂等可操作的部件，电机可驱动执行部件执行相应的操作。
电机100包括基座10、固定连接于基座10的定子、可转动的连接于基座10的转子及设置于转子上的转轴组件。
基座10包括座体11及设置于座体11上的固定部12。座体11基本呈圆盘状，固定部12基本呈圆筒状，座体11的中心轴与固定部12的中心轴大致重合。固定部12凸出于座体11朝向定子的一表面。固定部12用于固定定子。固定部12开设有贯穿固定部12的收容孔，收容孔贯穿座体11。收容孔用于收容部分转轴组件。
定子设置于基座10的固定部12上。定子包括铁芯32以及绕在铁芯32上的线圈。铁芯32包括套设部321及形成于套设部321的外周面上的支撑部323。套设部321基本呈圆筒状，其套设在固定部12上。
本实施方式中，套设部321沿其轴向的高度大于或等于15毫米且小于或等于25毫米。套设部321的高度可以为15毫米至25毫米之间的任 意值，例如，套设部321的高度可以为15毫米、16毫米、17毫米、18毫米、19毫米、20毫米、21毫米、22毫米、23毫米、24毫米、25毫米，或者为上述任意两个数值所界定的数值范围内的任意值。本实施例中，套设部321沿其轴向的高度可以为20毫米。
本实施方式中，支撑部323的数量为十八个，十八个支撑部323设置于套设部321的外周壁上，并沿套设部321的周向间隔排列。可以理解，支撑部323的数量并不限于本实施方式，在其他实施方式中，支撑部323的数量可以根据实际需要改变。支撑部323大致呈板状，其一侧固定于套设部321的外周，另一侧沿套设部321的径向朝远离套设部321的方向延伸。支撑部323的宽度从靠近套设部321的一侧到远离套设部321的一侧逐渐增大。
如图3-图4所示，本实施方式中，支撑部323的平均宽度t大于或等于2.5毫米且小于或等于4.5毫米。支撑部323的平均宽度t可以为2.5毫米至4.5毫米之间的任意值，例如，支撑部323的平均宽度t为2.5毫米、2.6毫米、2.7毫米、2.8毫米、2.9毫米、3.0毫米、3.1毫米、3.2毫米、3.3毫米、3.4毫米、3.5毫米、3.6毫米、3.7毫米、3.8毫米、3.9毫米、4.0毫米、4.1毫米、4.2毫米、4.3毫米、4.4毫米、4.5毫米，或者为上述任意两个数值所界定的数值范围内的任意值。本实施例中，支撑部323的平均宽度t为3.8毫米。
可以理解，在其他实施方式中，支撑部323可以为矩形板状，其宽度t从靠近套设部321的一侧到远离套设部321的一侧均相等，支撑部323的平均宽度t大于或等于2.5毫米且小于或等于4.5毫米。支撑部323的平均宽度t可以为2.5毫米至4.5毫米之间的任意值，例如，支撑部323的平均宽度t为2.5毫米、2.6毫米、2.7毫米、2.8毫米、2.9毫米、3.0毫米、3.1毫米、3.2毫米、3.3毫米、3.4毫米、3.5毫米、3.6毫米、3.7毫米、3.8毫米、3.9毫米、4.0毫米、4.1毫米、4.2毫米、4.3毫米、4.4毫米、4.5毫米，或者为上述任意两个数值所界定的数值范围内的任意值。
可以理解的是，支撑部323的数量可以为多个。支撑部23的数量并不限于此，例如，十六个，十七个，十九个，二十个……等等。
支撑部323用于支撑线圈。线圈可以为多个，每个线圈绕设在一个支 撑部323上。线圈的匝数可以为30、40、50、60、70、80、等，导线的直径可以根据需求来设计。
本实施方式中，用于绕设形成线圈的导线(含绝缘层)的直径为0.45毫米，其绕设匝数为48匝，采用分数槽集中绕组方式，以提高槽满率，提高有效导体数，且增加电机的扭矩常数。
可以理解，在其他实施方式中，线圈可以由其他规格的导线绕设对应的匝数而形成，本实施例此处不再一一赘述。
每个支撑部323远离套设部321的末端形成有一个止挡部325。每个止挡部325的尺寸大于对应的支撑部323末端的尺寸，以防止对应的线圈脱离对应的支撑部323。
止挡部325背离对应的支撑部323的表面为部分圆柱面。止挡部325沿套设部321的周向的宽度或者平均宽度可以为7.42±0.05毫米。
止挡部325、支撑部323、套设部321以及线圈所构成的定子大致呈圆柱状。
如图3-图5所示，定子的外径也即铁芯的外径D大于或等于60毫米且小于或等于63.8毫米。定子的外径D可以为60毫米至63.8毫米之间的任意值，例如60毫米、60.4毫米、60.8毫米、61.2毫米、61.6毫米、62.0毫米、62.4毫米、62.8毫米、63.2毫米、63.6毫米、63.8毫米，或者上述任意两个数值所界定的数值范围内的任意值。本实施例中，定子的外径D为60毫米。
定子沿其轴向的高度H大于或等于15毫米且小于或等于25毫米。定子沿其轴向的高度H可以为15毫米至25毫米之间的任意值，例如，定子沿其轴向的高度H可以为15毫米、16毫米、17毫米、18毫米、19毫米、20毫米、21毫米、22毫米、23毫米、24毫米、25毫米，或者为上述任意两个数值所界定的数值范围内的任意值。本实施例中，定子沿其轴向的高度H为20毫米，既能保证电机能够长时间持续输出较大的扭矩，还能使得电机具有较低的成本。
本实施方式中，定子沿其轴向的高度H等于套设部321沿其轴向的高度；可以理解，在其他实施方式中，定子沿其轴向的高度H可以大于或者小于套设部321沿其轴向的高度。
此外，本实施例中，定子的内径可以为36.8毫米。本实施例的电机100中，可采用厚度为0.35毫米的硅钢片制成，既能减少电机100高速运转带来的涡流损耗，还能够降低电机100的成本。
转子罩设在定子的外周，其包括磁轭52及设置于磁轭52上的磁体54。
磁轭52大致呈圆柱筒状，其能够相对于铁芯32转动。磁轭52具有周壁，周壁基本呈圆筒状，其用于收容磁体54。
本实施方式中，磁体54可采用烧结钕铁硼制成。磁体54基本呈弧形片状，其数量为二十个，二十个磁体54固定在磁轭52的周壁的内侧，并沿周壁的周向间隔设置。
可以理解，在其他实施方式中，磁体54可以为其他形状，如矩形片状；磁体54的数量并不限于本实施方式，磁体54的数量可以为多个，如十六个、二十二个等。
如图3及图6所示，磁体54沿磁轭52的直径方向的厚度T或平均厚度T大于或等于0.6毫米且小于或等于1.8毫米。磁体54的厚度T或平均厚度可以为0.6毫米至1.8毫米之间的任意值，例如，磁体54的厚度T或平均厚度T可以为0.6毫米、0.8毫米、0.9毫米、1毫米、1.1毫米、1.2毫米、1.3毫米、1.4毫米、1.5毫米、1.6毫米、1.7毫米、1.8毫米，或者为上述任意两个数值所界定的数值范围内的任意值。本实施例中，磁体54沿磁轭52的直径方向的厚度T或平均厚度T为1.2毫米。
如图3及图6所示，磁体54沿磁轭52的圆周方向的宽度b或平均宽度b大于或等于3.81毫米且小于或等于8.58毫米。磁体54的宽度b或平均宽度b可以为3.81毫米至8.58毫米之间的任意值，例如，磁体54的宽度b或平均宽度b可以为3.81毫米、4.77毫米、5.72毫米、6.67毫米、7.91毫米、8.58毫米，或者为上述任意两个数值所界定的数值范围内的任意值。本实施例中，磁体54沿磁轭52的圆周方向的宽度b或平均宽度b为7.91毫米。
转轴组件包括转轴92以及设置于转轴92上的轴承94。转轴92大致呈圆柱杆状，其穿设于基座10的固定部12中。当电机100通电运转时，转子带动转轴组件相对定子及基座10转动。
本实施方式中，轴承94的数量为两个，两个轴承94彼此间隔的设置 于转轴92上，并收容于固定部12的收容孔中。
组装时，首先，将线圈绕设于铁芯32上，将铁芯32固定地设置于固定部12上。之后，将磁体54设置于磁轭52上，再将磁轭52套设于定子外。最后，将转轴组件的转轴92及轴承94收容于固定部12内，使磁轭52转动的罩设于定子的外周。
此外，转轴92上还可设置有锁紧套96，锁紧套96与转轴92螺接且通过粘接胶固定。基座10的固定部12的内部设置有向内凸出的限位部121。如图1所示，两个轴承94分别抵设在限位部121的上下两端，锁紧套96抵设在位于限位部121下端的轴承94的下端，电机100的上端盖56与位于限位部121上端的轴承94相抵，以实现对转轴92的轴向的限位，消除电机100转子与定子之间的轴向间隙，也即消除电机100转轴92的轴向窜动。其中，锁紧套96中还可以嵌设有用于检测转子转动信息的磁环98。
其中，上端盖56与转轴组件中的转轴固定连接，且与转子中的磁轭52固定连接，以在转子相对于定子转动时，转子能够带动上端盖56相对于定子转动，从而由上端盖56带动转轴组件相对于定子转动。
请参阅表1，表1示出了使用发明实施例提供的电机100在不同的铁芯高度、不同的铁芯外径、不同的磁体宽度、不同的磁体厚度以及不同的支撑部宽度的情况下，电机100的输入功率、额定输出扭矩、电机常数、输入电流有效值、扭矩常数以及槽满率。
表1本发明实施例提供的电机效率参数表
Figure PCTCN2018122797-appb-000001
Figure PCTCN2018122797-appb-000002
Figure PCTCN2018122797-appb-000003
自表1中可以看出，本实施例提供的电机100的额定输出扭矩最高可达1.199，电机常数最大可达0.3，扭矩常数最大可达693.16，槽满率最高可达51.8％。
本实施例提供的电机100，其应用于机器人的的执行部件如机械臂、云台轴臂上。当电机100通电运转时，电机100的转子或转轴92带动所执行部件转动，从而驱动执行部件执行相应的操作。
可选地，电机的输出扭矩大于或等于1.19牛顿·米。
可选地，执行部件的重量大于等于1千克且小于等于2千克。此时，电机100的额定输出扭矩可达1.24牛·米，调速范围为0-300转/分钟。
可选地，执行部件包括如下至少一种：云台轴臂、机械臂。
采用本实施例提供的电机100，通过优化定子的尺寸，使电机100驱动执行部件时，能够实现低转速、大扭矩的输出，且能够长时间持续地输出较大的扭矩。
需要说明的是：在本发明实施例中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
此外，在本发明实施例中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明实施例中的具体含义。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示意性实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本公开的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (28)

  1. 一种电机，其包括定子以及能够转动的设置于所述定子外的转子，其特征在于：所述定子的高度大于或等于15毫米且小于或等于25毫米，且所述定子的外径大于或等于60毫米且小于或等于63.8毫米。
  2. 如权利要求1所述的电机，其特征在于：所述定子的高度为20毫米；和/或，所述定子的外径为60毫米。
  3. 如权利要求1所述的电机，其特征在于：所述转子包括磁轭及设置于所述磁轭内的多个磁体，所述磁轭罩设在所述定子外；多个所述磁体固定于所述磁轭的内壁上；
    每个所述磁体沿所述磁轭直径方向的厚度或者平均厚度大于或等于0.6毫米且小于或等于1.8毫米；
    每个所述磁体沿所述磁轭的周向的宽度或者平均宽度大于或等于3.81毫米且小于或等于8.58毫米。
  4. 如权利要求3所述的电机，其特征在于：每个所述磁体沿所述磁轭直径方向的厚度或者平均厚度为1.2毫米；
    每个所述磁体沿所述磁轭的周向的宽度或者平均宽度为7.91毫米。
  5. 如权利要求1所述的电机，其特征在于：所述定子包括铁芯及设置于所述铁芯上的线圈；
    所述铁芯包括套设部及设置于所述套设部上的支撑部，所述线圈绕设于所述支撑部上；
    所述支撑部的宽度或者平均宽度大于或等于2.5毫米且小于或等于4.5毫米。
  6. 如权利要求5所述的电机，其特征在于：当所述转子包括多个磁体时，所述支撑部的宽度或者平均宽度为3.8毫米。
  7. 如权利要求4所述的电机，其特征在于：所述线圈由直径为0.45毫米的导线绕设48匝形成。
  8. 如权利要求1所述的电机，其特征在于：所述电机的输出扭矩大 于或等于1.19牛顿·米。
  9. 一种动力装置，其特征在于，包括执行部件及电机，所述执行部件与所述电机相连接，所述电机能够驱动所述执行部件运动；
    所述电机包括定子以及能够转动的设置于所述定子外的转子，其特征在于：所述定子的高度大于或等于15毫米且小于或等于25毫米，且所述定子的外径大于或等于60毫米且小于或等于63.8毫米。
  10. 如权利要求9所述的动力装置，其特征在于：所述定子的高度为20毫米；和/或，所述定子的外径为60毫米。
  11. 如权利要求9所述的动力装置，其特征在于：所述转子包括磁轭及设置于所述磁轭内的多个磁体，所述磁轭罩设在所述定子外；多个所述磁体固定于所述磁轭的内壁上；
    每个所述磁体沿所述磁轭直径方向的厚度或者平均厚度大于或等于0.6毫米且小于或等于1.8毫米；
    每个所述磁体沿所述磁轭的周向的宽度或者平均宽度大于或等于3.81毫米且小于或等于8.58毫米。
  12. 如权利要求11所述的动力装置，其特征在于：每个所述磁体沿所述磁轭直径方向的厚度或者平均厚度为1.2毫米；
    每个所述磁体沿所述磁轭的周向的宽度或者平均宽度为7.91毫米。
  13. 如权利要求9所述的动力装置，其特征在于：所述定子包括铁芯及设置于所述铁芯上的线圈；
    所述铁芯包括套设部及设置于所述套设部上的支撑部，所述线圈绕设于所述支撑部上；
    所述支撑部的宽度或者平均宽度大于或等于2.5毫米且小于或等于4.5毫米。
  14. 如权利要求13所述的动力装置，其特征在于：当所述转子包括多个磁体时，所述支撑部的宽度或者平均宽度为3.8毫米。
  15. 如权利要求12所述的动力装置，其特征在于：所述线圈由直径为 0.45毫米的导线绕设48匝形成。
  16. 如权利要求9所述的动力装置，其特征在于：所述电机的输出扭矩大于或等于1.19牛顿·米。
  17. 根据权利要求9-16任一项所述的动力装置，其特征在于，所述执行部件的重量大于等于1千克且小于等于2千克。
  18. 根据权利要求9-16任一项所述的动力装置，其特征在于，所述执行部件包括如下至少一种：云台轴臂、机械臂。
  19. 一种机器人，其包括机身及动力装置，所述动力装置设置于所述机身上；
    所述动力装置包括执行部件及电机，所述执行部件与所述电机相连接，所述电机能够驱动所述执行部件运动；
    所述电机包括定子以及能够转动的设置于所述定子外的转子，其特征在于：所述定子的高度大于或等于15毫米且小于或等于25毫米，且所述定子的外径大于或等于60毫米且小于或等于63.8毫米。
  20. 如权利要求19所述的机器人，其特征在于：所述定子的高度为20毫米；和/或，所述定子的外径为60毫米。
  21. 如权利要求19所述的机器人，其特征在于：所述转子包括磁轭及设置于所述磁轭内的多个磁体，所述磁轭罩设在所述定子外；多个所述磁体固定于所述磁轭的内壁上；
    每个所述磁体沿所述磁轭直径方向的厚度或者平均厚度大于或等于0.6毫米且小于或等于1.8毫米；
    每个所述磁体沿所述磁轭的周向的宽度或者平均宽度大于或等于3.81毫米且小于或等于8.58毫米。
  22. 如权利要求21所述的机器人，其特征在于：每个所述磁体沿所述磁轭直径方向的厚度或者平均厚度为1.2毫米；
    每个所述磁体沿所述磁轭的周向的宽度或者平均宽度为7.91毫米。
  23. 如权利要求19所述的机器人，其特征在于：所述定子包括铁芯及 设置于所述铁芯上的线圈；
    所述铁芯包括套设部及设置于所述套设部上的支撑部，所述线圈绕设于所述支撑部上；
    所述支撑部的宽度或者平均宽度大于或等于2.5毫米且小于或等于4.5毫米。
  24. 如权利要求23所述的机器人，其特征在于：当所述转子包括多个磁体时，所述支撑部的宽度或者平均宽度为3.8毫米。
  25. 如权利要求22所述的机器人，其特征在于：所述线圈由直径为0.45毫米的导线绕设48匝形成。
  26. 如权利要求19所述的机器人，其特征在于：所述电机的输出扭矩大于或等于1.19牛顿·米。
  27. 根据权利要求19-26任一项所述的机器人，其特征在于，所述执行部件的重量大于等于1千克且小于等于2千克。
  28. 根据权利要求19-26任一项所述的机器人，其特征在于，所述执行部件包括如下至少一种：云台轴臂、机械臂。
PCT/CN2018/122797 2018-11-29 2018-12-21 电机、动力装置及机器人 WO2020107582A1 (zh)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0198986A2 (fr) * 1985-04-23 1986-10-29 Telemecanique Machine électrodynamique synchrone hexapolaire à aimants permanents
EP0391791B1 (fr) * 1989-04-04 1994-10-12 Louis Banon Machine polyphasée synchrone à aimants permanents
CN204652062U (zh) * 2015-05-19 2015-09-16 深圳市大疆创新科技有限公司 电机、动力装置及使用该动力装置的无人飞行器
CN105490491A (zh) * 2016-01-25 2016-04-13 深圳市大疆创新科技有限公司 电机、动力装置及无人飞行器
CN205429898U (zh) * 2015-11-30 2016-08-03 深圳市大疆创新科技有限公司 电机、动力装置及无人飞行器
CN207475297U (zh) * 2017-10-20 2018-06-08 浙江赛速尔机电有限公司 一种定子以及纯电动汽车驱动电机

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0198986A2 (fr) * 1985-04-23 1986-10-29 Telemecanique Machine électrodynamique synchrone hexapolaire à aimants permanents
EP0391791B1 (fr) * 1989-04-04 1994-10-12 Louis Banon Machine polyphasée synchrone à aimants permanents
CN204652062U (zh) * 2015-05-19 2015-09-16 深圳市大疆创新科技有限公司 电机、动力装置及使用该动力装置的无人飞行器
CN205429898U (zh) * 2015-11-30 2016-08-03 深圳市大疆创新科技有限公司 电机、动力装置及无人飞行器
CN105490491A (zh) * 2016-01-25 2016-04-13 深圳市大疆创新科技有限公司 电机、动力装置及无人飞行器
CN207475297U (zh) * 2017-10-20 2018-06-08 浙江赛速尔机电有限公司 一种定子以及纯电动汽车驱动电机

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