WO2021254195A1 - 直驱电机及应用其的清洁机器人 - Google Patents

直驱电机及应用其的清洁机器人 Download PDF

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Publication number
WO2021254195A1
WO2021254195A1 PCT/CN2021/098582 CN2021098582W WO2021254195A1 WO 2021254195 A1 WO2021254195 A1 WO 2021254195A1 CN 2021098582 W CN2021098582 W CN 2021098582W WO 2021254195 A1 WO2021254195 A1 WO 2021254195A1
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WO
WIPO (PCT)
Prior art keywords
drive motor
direct drive
stator assembly
upper cover
cleaning robot
Prior art date
Application number
PCT/CN2021/098582
Other languages
English (en)
French (fr)
Inventor
张笛
朱志龙
钟志明
Original Assignee
东莞市本末科技有限公司
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Application filed by 东莞市本末科技有限公司 filed Critical 东莞市本末科技有限公司
Publication of WO2021254195A1 publication Critical patent/WO2021254195A1/zh

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Classifications

    • 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
    • H02K1/16—Stator cores with slots for windings
    • H02K1/165—Shape, form or location of the slots
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/0094—Structural association with other electrical or electronic devices
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/46—Fastening of windings on the stator or rotor structure
    • H02K3/50—Fastening of winding heads, equalising connectors, or connections thereto
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K5/00—Casings; Enclosures; Supports
    • H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
    • H02K5/16—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K5/00—Casings; Enclosures; Supports
    • H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
    • H02K5/22—Auxiliary parts of casings not covered by groups H02K5/06-H02K5/20, e.g. shaped to form connection boxes or terminal boxes
    • H02K5/225—Terminal boxes or connection arrangements
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/14—Structural association with mechanical loads, e.g. with hand-held machine tools or fans

Definitions

  • the invention belongs to the technical field of sweeping machines, and specifically relates to a direct-drive motor and a cleaning robot applying the same.
  • the cleaning robots all use a brush motor as a power source, and a reduction box as a transmission device to achieve the effect of reducing speed and increasing force, and provide power for the walking and cleaning of the cleaning robot.
  • the service life of the brushed motor is short: because the commutation is realized by the carbon brush, there is a wear condition.
  • the gearbox has low efficiency and high power consumption: the gearbox has frictional resistance and grease resistance, resulting in low transmission efficiency.
  • the layout of the motor and the reduction box is complicated: the housing needs to be designed according to the size of the gear and the size of the motor, and the layout is complicated.
  • a direct drive motor and a cleaning robot using the direct drive motor are provided.
  • the present invention first provides a direct drive motor, which is applied to a cleaning robot, and includes an upper cover, a magnet assembly, a stator assembly and a base.
  • the magnet assembly is installed on the inner wall of the upper cover, the upper cover is installed on the base, and the stator assembly is installed.
  • a cleaning robot which includes a robot body and the above-mentioned direct drive motor.
  • the direct drive motor is arranged in the driving wheel, the cleaning module, the washing base station or/and the dust collection module of the cleaning robot body.
  • the beneficial effects of the present invention include: the upper cover and the magnet assembly form an outer rotor, which cooperates with the stator assembly to make the upper cover rotate outside the stator assembly to directly form a power source without a reduction box, and can directly drive and clean.
  • the robot performs cleaning tasks such as walking, sweeping or mopping the floor.
  • the invention does not have a carbon brush structure and will not affect the service life of the motor due to the wear of the carbon brush; the reduction box is removed, the internal structure of the motor can be simplified, the failure rate is reduced, the efficiency of power transmission is improved, and the consumption due to the reduction box is eliminated The kinetic energy and the noise generated by the gearbox.
  • the direct-drive motor itself has a low speed, and the order of vibration source is low, and the noise generated is also reduced.
  • the invention is applied to the cleaning robot, which greatly improves the working efficiency of the cleaning robot, reduces the energy consumption, simplifies the structure, and saves the production cost.
  • Fig. 1 is a cross-sectional view of a direct drive motor according to an embodiment of the present invention.
  • Fig. 2 is a schematic diagram of the structure of the upper cover according to the first embodiment of the present invention.
  • Fig. 3 is an exploded view of the structure of a direct drive motor according to an embodiment of the present invention.
  • the first embodiment of the present invention provides a direct drive motor, which is applied to a cleaning robot, as shown in Figs. 1-3, including an upper cover 1, a magnet assembly 2, a stator assembly 3, and a base 4.
  • the magnet assembly 2 is installed on the upper cover On the inner wall of 1, the upper cover 1 is installed on the base 4, the stator assembly 3 is installed in the cavity formed by the upper cover 1 and the base 4, and there is an air gap between the magnet assembly 2 and the stator assembly 3 for electromechanical energy conversion;
  • the upper cover 1 rotates around the stator assembly 3 under the action of the magnetic force between the magnet assembly 2 and the stator assembly 3.
  • the upper cover 1 and the magnet assembly 2 form an outer rotor, which cooperates with the stator assembly 3 to make the upper cover 1 rotate outside the stator assembly 3 to directly form a power source, without a gear box, and can directly drive the cleaning robot to walk and sweep the floor. Or mopping the floor and other cleaning work.
  • the present invention has no carbon brush structure and will not affect the service life of the motor due to the wear of the carbon brush; without the reduction box, the internal structure of the motor can be simplified, the efficiency of power transmission is improved, and the kinetic energy consumed by the reduction box is eliminated. The noise produced. Improve the work efficiency of the cleaning robot and the user experience.
  • the upper cover 1 includes a top surface 11 and a side wall 12.
  • the top surface 11 is arranged on the upper end of the side wall 12.
  • the magnet assembly 2 is installed on the side wall 12 and forms an air gap with the stator assembly 3.
  • the surface 11 movably cooperates with the stator assembly 3.
  • the magnet assembly 2 and the stator assembly 3 on the side wall 12 generate magnetic force and drive the upper cover 1 to rotate.
  • the magnet assembly 2 can be surface-mounted on the side wall 12 by glue, or a mounting slot can be provided on the side wall 12, and the magnet assembly 2 can be embedded in the mounting slot.
  • This embodiment also includes a motor shaft 5, one end of the motor shaft 5 is connected to the top surface 11, and the upper cover 1 is movably connected to the stator assembly 3 through the motor shaft 5. Rotating with the motor shaft 5 as the rotating shaft can make the upper cover 1 rotate more stably and smoothly.
  • the base 4 includes a bottom surface 41 and a central shaft 42, the central shaft 42 is fixed on the bottom surface 41, the stator assembly 3 is sleeved on the central shaft 42, the bottom surface 41 is located below the upper cover 1, the central shaft 42 is located in the inner cavity of the motor, and the motor shaft 5 The movement is arranged in the central axis 42.
  • the stator assembly 3 and the base 4 are in interference fit, so that the two form a tight connection. When the motor is working, the stator assembly 3 is fixed and the motor shaft rotates in the central shaft 42.
  • the central shaft 42 is provided with a bearing chamber in the middle, and the motor shaft 5 and the bearing chamber of the central shaft 42 form an active connection through the bearing 8.
  • the outer ring of the bearing 8 is in interference fit with the inner wall of the central shaft 42, and the inner ring of the bearing 8 is loosely matched with the motor shaft 5.
  • a screw 9 is provided on the top of the motor shaft 5, and the motor shaft 5 is used to pre-tighten the bearing 8 through the screw 9 to eliminate the bearing
  • the axial clearance of 8 prevents the axial movement of the motor shaft 5 at the same time.
  • the stator assembly 3 includes an iron core 31 and a copper wire 32, the copper wire 32 is wound on the iron core 31, and the iron core 31 is sleeved on the central shaft 42. After the copper wire 32 is energized, a magnetic force is generated between the iron core 31 and the magnet assembly 2.
  • the magnet assembly 2 includes a plurality of magnets 21. Each magnet 21 is a magnetic pole.
  • the number of slots 311 of the iron core 31 is equal to the number of magnets 21. When electricity is applied, a magnetic force is formed between the magnets 21 and the slots 311.
  • the magnet assembly 2 is preferably provided with twenty magnets, that is, twentieth poles; preferably, the number of tooth slots 311 of the iron core 31 is eighteen. In this way, when the magnet assembly 2 rotates, the force can be uniformly received at every angle, and the rotation can be stable.
  • This embodiment also includes a circuit board 6 for controlling commutation, which is arranged on the base 4, and the stator assembly 3 is electrically connected to the circuit board 6; the circuit board 6 is provided with three wiring terminals, and the stator assembly 3 is provided with three wiring heads. , The connection head and the connection terminal are connected in a one-to-one correspondence. In this way, the three-phase commutation of the stator assembly 3 is realized through the circuit board 6, so that the power output of the motor is more stable and even.
  • the signal line of the circuit board 6 passes through the through hole on the bottom surface 41 and is electrically connected to the inside of the cleaning robot.
  • This embodiment also includes a washer 7 which is arranged at the bottom of the stator assembly 3.
  • the circuit board 6 is preferably arranged on the base 4.
  • the washer 7 is located to the west of the stator assembly 3 and above the circuit board 6. The washer 7 can make the stator assembly 3 and the circuit board 6 form a gap to avoid both Interfere with each other.
  • the workflow of this embodiment is as follows.
  • the circuit board 6 and the copper wire 32 are energized, and the cogging of the iron core 31 generates a magnetic field, forming a magnetic force with the magnet assembly 2, driving the upper cover 1 to rotate, and driving the motor shaft 5 to rotate in the central shaft 42 through the circuit
  • the stator assembly 3 realizes three-phase commutation, so that the upper cover 1 rotates evenly, and the power output of the motor is stable.
  • the second embodiment of the present invention provides a cleaning robot, including a robot body and a direct drive motor provided in the first embodiment.
  • the direct drive motor is arranged in the driving wheel of the cleaning robot body, the cleaning module, the washing base station or/and the dust collection module.
  • the cleaning robot of the invention has the advantages of high working efficiency, low energy consumption, simplified structure, low failure rate, long service life and low working noise.
  • the cleaning robot of the present invention includes, but is not limited to, sweepers and mopping machines, and is used in private or public places such as homes, offices, airports, stations, and exhibition centers.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Manufacture Of Motors, Generators (AREA)
  • Motor Or Generator Frames (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Abstract

本发明公开了一种直驱电机及应用其的清洁机器人，直驱电机包括上盖、磁铁组件、定子组件及底座，上盖设置在定子组件的外部，磁铁组件装设在上盖的内壁上，底座位于在上盖的底部，定子组件设置在上盖与底座形成的电机内腔中；通电工作时，上盖在磁铁组件与定子组件之间的磁力作用下，绕着定子组件转动。清洁机器人包括机器人本体和上述的直驱电机，直驱电机设置在清洁机器人本体的驱动轮、清洁模块、冲洗基站或/和吸尘模块中。本发明的清洁机器人采用无刷直驱电机，无需碳刷结构和减速箱，具有工作效率高，能耗低，结构精简，故障率低，使用寿命长、工作噪音小、生产成本低的优点。

Description

直驱电机及应用其的清洁机器人
相关申请的交叉引用。
本申请要求于2020年06月19日提交中国专利局，申请号为202010569039.0，发明名称为“直驱电机及应用其的清洁机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明属于扫地机的技术领域，具体涉及一种直驱电机及应用其的清洁机器人。
 背景技术
现有技术中清洁机器人都采用有刷电机作为动力源，减速箱作为传动装置，实现降速增力的作用，对清洁机器人的行走和清洁提供动力。
 技术问题
但有刷电机存在以下缺点和不足。
1.有刷电机的寿命短：因为通过碳刷实现换向，存在磨损的情况。
2.配合减速箱使用时噪声大：电机转速高振源阶数高，减速箱传动也会有声音。
3.减速箱的效率低，功耗大：减速箱存在摩擦阻力和润滑脂的阻力，导致传递效率低。
4.电机和减速箱的布局复杂：需要根据齿轮的尺寸和电机的尺寸设计外壳，布局复杂。
5.由于减速箱配合有间隙，减速箱输出端存在背隙。
 技术解决方案
根据本申请的各种实施例，提供一种直驱电机及应用其的清洁机器人。
本发明首先提供一种直驱电机，应用于清洁机器人上，包括上盖、磁铁组件、定子组件及底座，磁铁组件装设在上盖的内壁上，上盖装设在底座上，定子组件装设在上盖与底座形成的腔体中，磁铁组件与定子组件存在用于机电能量转换的气隙；通电工作时，上盖在磁铁组件与定子组件之间的磁力作用下，绕着定子组件转动。
同时提供一种清洁机器人，包括机器人本体和上述的直驱电机，直驱电机设置在清洁机器人本体的驱动轮、清洁模块、冲洗基站或/和吸尘模块中。
本发明的一个或多个实施例的细节在下面的附图和描述中提出。本发明的其它特征、目的和优点将从说明书、附图以及权利要求书变得明显。
 有益效果
与现有技术相比，本发明的有益效果包括：上盖和磁铁组件组成外转子，与定子组件配合，使上盖在定子组件外部转动，直接形成动力源，无需减速箱，可以直接驱动清洁机器人做行走、扫地或拖地等清洁工作。本发明没有碳刷结构，不会因碳刷磨损的影响电机的使用寿命；去掉了减速箱，可以精简电机内部结构，降低了故障率，提升了动力传输的效率，消除了因减速箱而消耗的动能以及减速箱产生的噪音，同时直驱电机本身转速低，振源阶次低，产生的噪音也降低了。本发明应用于清洁机器人，大大提升了清洁机器人的工作效率，降低了能耗，精简了结构，节省了生产成本。
 附图说明
为了更好地描述和说明这里公开的那些发明的实施例和/或示例，可以参考一幅或多幅附图。用于描述附图的附加细节或示例不应当被认为是对所公开的发明、目前描述的实施例和/或示例以及目前理解的这些发明的最佳模式中的任何一者的范围的限制。
在附图中。
图1是本发明实施例一直驱电机的剖面图。
图2是本发明实施例一上盖的结构示意图。
图3是本发明实施例一直驱电机的结构爆炸图。
 本发明的实施方式
为了便于理解本发明，下面将参照相关附图对本发明进行更全面的描述。附图中给出了本发明的较佳实施例。但是，本发明可以以许多不同的形式来实现，并不限于本文所描述的实施例。相反地，提供这些实施例的目的是使对本发明的公开内容的理解更加透彻全面。
需要说明的是，当元件被称为“固定于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。
实施例一。
本发明实施例一提供一种直驱电机，应用于清洁机器人上，如图1-3所示，包括上盖1、磁铁组件2、定子组件3及底座4，磁铁组件2装设在上盖1的内壁上，上盖1装设在底座4上，定子组件3装设在上盖1与底座4形成的腔体中，磁铁组件2与定子组件3存在用于机电能量转换的气隙；通电工作时，上盖1在磁铁组件2与定子组件3之间的磁力作用下，绕着定子组件3转动。
采用上述结构，上盖1和磁铁组件2组成外转子，与定子组件3配合，使上盖1在定子组件3外部转动，直接形成动力源，无需减速箱，可以直接驱动清洁机器人做行走、扫地或拖地等清洁工作。本发明没有碳刷结构，不会因碳刷磨损的影响电机的使用寿命；去掉了减速箱，可以精简电机内部结构，提升了动力传输的效率，消除了因减速箱而消耗的动能，以及其产生的噪音。提升了清洁机器人的工作效率和用户的使用体验。
如图2所示，上盖1包括顶面11和侧壁12，顶面11设置在侧壁12的上端，磁铁组件2装设在侧壁12上，并与定子组件3形成气隙，顶面11与定子组件3活动配合。侧壁12上的磁铁组件2与定子组件3产生磁力，并带动上盖1旋转。
磁铁组件2可以通过粘胶表贴在侧壁12上，也可以在侧壁12上设置安装槽，将磁铁组件2镶嵌在安装槽中。
本实施例还包括电机轴5，电机轴5的一端与顶面11连接，上盖1通过电机轴5与定子组件3活动连接。以电机轴5为转轴转动，可以让上盖1转动得更稳定流畅。
底座4包括底面41和中心轴42，中心轴42固定在底面41上，定子组件3套设在中心轴42上，底面41位于上盖1的下方，中心轴42位于电机内腔中，电机轴5活动设置在中心轴42内。定子组件3与底座4为过盈配合，这样两者形成紧固连接，在电机工作时，使定子组件3固定不动，电机轴在中心轴42内转动。
中心轴42中间设有轴承室，电机轴5与中心轴42的轴承室之间通过轴承8形成活动连接。轴承8的外圈与中心轴42内壁过盈配合，轴承8内圈与电机轴5松配，电机轴5顶端设有螺钉9，通过螺钉9电机轴5实现对轴承8的预紧，消除轴承8的轴向间隙，同时防止电机轴5的轴向窜动。
定子组件3包括铁芯31和铜线32，铜线32缠绕在铁芯31上，铁芯31套设在中心轴42上。铜线32通电后，铁芯31与磁铁组件2之间产生磁力。
磁铁组件2包括多个磁铁21，每个磁铁21为一个磁极，铁芯31的齿槽311的个数与磁铁21的个数相等，通电时，磁铁21与齿槽311之间形成磁力。本实施例中，磁铁组件2优选为设有二十个磁铁，即二十极；铁芯31的齿槽311优选为十八个。这样可以使磁铁组件2在转动时，可以在每个角度都能受力均匀，旋转平稳。
本实施例还包括用于控制换向的电路板6，其设置在底座4上，定子组件3与电路板6电连接；电路板6上设有三个接线端子，定子组件3设有三个接线头，接线头与接线端子一一对应相连。这样，通过电路板6实现定子组件3的三相换向，使电机的动力输出更平稳均匀。
电路板6的信号线穿过底面41上的通孔，与清洁机器人内部电连接。
本实施例还包括垫圈7，垫圈7设置在定子组件3的底部。
本实施例中电路板6优选的设置在底座4上，垫圈7位于定子组件3的西方，且位于电路板6的上方，通过垫圈7可以使定子组件3与电路板6形成间隙，避免二者互相干涉。
本实施例的工作流程如下。
当清洁机器人工作时，电路板6和铜线32通电，铁芯31的齿槽产生磁场，与磁铁组件2形成磁力，驱动上盖1转动，带动电机轴5在中心轴42内转动，通过电路板6的控制，定子组件3实现三相换向，使上盖1转动均衡，电机动力输出平稳。
实施例二。
本发明实施例二提供一种清洁机器人，包括机器人本体和实施例一提供直驱电机，直驱电机设置在清洁机器人本体的驱动轮、清洁模块、冲洗基站或/和吸尘模块中。
本发明的清洁机器人具有工作效率高，能耗低，结构精简，故障率低，使用寿命长、工作噪音小的优点。
本发明的清洁机器人包括但不限于扫地机和拖地机，应用于家庭、办公室、机场、车站、会展中心等私人或公共场所。
以上所述，仅为本发明较佳的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应该以权利要求的保护范围为准。

Claims (10)

  1. 直驱电机，应用于清洁机器人上，其特征在于，包括上盖、磁铁组件、定子组件及底座，所述上盖设置在所述定子组件的外部，所述磁铁组件装设在所述上盖的内壁上，所述上盖装设在所述底座上，所述定子组件装设在所述上盖与所述底座形成的腔体中，所述磁铁组件与所述定子组件存在用于机电能量转换的气隙；通电工作时，所述上盖在所述磁铁组件与所述定子组件之间的磁力作用下，绕着所述定子组件转动。
  2. 根据权利要求1所述的直驱电机，其特征在于，所述上盖包括顶面和侧壁，所述顶面设置在所述侧壁的上端，所述顶面与所述定子组件活动配合。
  3. 根据权利要求2所述的直驱电机，其特征在于，所述磁铁组件表贴于所述侧壁上，或镶嵌在所述侧壁的安装槽中。
  4. 根据权利要求2所述的直驱电机，其特征在于，还包括电机轴，所述电机轴的一端与所述顶面连接，所述上盖通过所述电机轴与所述定子组件连接。
  5. 根据权利要求4所述的直驱电机，其特征在于，所述底座包括底面和中心轴，所述中心轴固定在所述底面上，所述定子组件套设在所述中心轴上。
  6. 根据权利要求5所述的直驱电机，其特征在于，所述中心轴中间设有轴承室，所述电机轴与所述轴承室之间通过轴承形成活动连接。
  7. 根据权利要求5所述的直驱电机，其特征在于，所述定子组件包括铁芯和铜线，所述铜线缠绕在所述铁芯上，所述铁芯套设在所述中心轴上，所述磁铁组件的磁极数大于所述铁芯的齿槽数。
  8. 根据权利要求1-7任一项所述的直驱电机，其特征在于，还包括用于控制换向的电路板，其与所述定子组件电连接，所述电路板上设有三个接线端子，所述定子组件设有三个接线头，所述接线头与所述接线端子一一对应相连。
  9. 根据权利要求8所述的直驱电机，其特征在于，还包括垫圈，所述垫圈设置在所述定子组件的底部。
  10. 清洁机器人，其特征在于，包括机器人本体和权利要求1-9任一项所述的直驱电机，所述直驱电机设置在所述清洁机器人本体的驱动轮、清洁模块、冲洗基站或/和吸尘模块中。
PCT/CN2021/098582 2020-06-19 2021-06-07 直驱电机及应用其的清洁机器人 WO2021254195A1 (zh)

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