WO2022041568A1

WO2022041568A1 - Motor, power device, and mobile platform

Info

Publication number: WO2022041568A1
Application number: PCT/CN2020/135227
Authority: WO
Inventors: 魏翔宇
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-08-25
Filing date: 2020-12-10
Publication date: 2022-03-03
Also published as: CN212752089U

Abstract

A motor (100), a power device (1000), and a mobile platform (2000). The motor (100) comprises a stator (200) and a rotor (300) rotatably disposed outside the stator (200), and is characterized in that the rotor (300) comprises a magnetic yoke (310) and a plurality of magnets (320) disposed on the inner wall of the magnetic yoke (310), the magnetic yoke (310) is disposed around the stator (200), the outer diameter of the magnetic yoke (310) is [32.9 mm, 33.9 mm], and the height of the magnetic yoke (310) in the axial direction is [4.55 mm, 5.25 mm]. In the motor (100) in the embodiments of the present application, by optimizing the size of the rotor (300) of the motor (100), the external size of the motor (100) is reduced, the size and weight of the power device (1000) can be effectively controlled, the performance of the motor (100) can be fully exerted, and the power device (1000) can obtain better power.

Description

Motors, Power Units and Mobile Platforms

priority information

This application claims the priority and rights and interests of the patent application No. 202021821059.4 filed with the State Intellectual Property Office of China on August 25, 2020, which is hereby incorporated by reference in its entirety.

technical field

The present invention relates to the technical field of drive devices, in particular to a motor, a power device and a mobile platform.

Background technique

The electromagnetic part of the motor is mainly composed of four parts: iron core, magnet, yoke and enameled wire winding. The weight ratio and shape of each part will affect the overall weight and performance of the motor, which in turn affects the overall weight and performance of the power system. With the trend of smaller and lighter products such as handheld products and aircraft, how to design these parts so that the motor performance is optimal and the quality is the smallest is a problem that needs to be solved in motor design.

SUMMARY OF THE INVENTION

Embodiments of the present application provide a motor, a power device and a mobile platform.

A motor according to an embodiment of the present application includes a stator and a rotor rotatably disposed outside the stator, wherein the rotor includes a magnetic yoke and a plurality of magnets disposed on the inner wall of the magnetic yoke, The yoke cover is provided outside the stator, the outer diameter of the yoke is [32.9mm, 33.9mm], and the height of the yoke along the axial direction is [4.55mm, 5.25mm].

In the motor of the embodiment of the present application, by optimizing the size of the rotor of the motor, the outer size of the motor is made smaller, the size and weight of the power unit can be effectively controlled, so that the performance of the motor can be fully exerted, and the power unit can obtain better performance. Good motivation.

In some embodiments, the outer diameter of the magnetic yoke is 33.4 mm; and/or the height of the magnetic yoke in the axial direction is 4.9 mm.

In certain embodiments, the torque of the electric machine is less than or equal to 60 mNm.

In some embodiments, the stator includes an iron core, the outer diameter of the iron core is [27.5mm, 28.5mm], and the inner diameter of the iron core is [13.5mm, 14.5mm].

In certain embodiments, the outer diameter of the iron core is 28 mm; and/or the inner diameter of the iron core is 14 mm.

In some embodiments, the stator includes an iron core, the iron core includes a sleeve portion and a support portion, the support portion is disposed on the sleeve portion, and the sleeve portion has a thickness range in the radial direction is [1.1mm, 1.3mm]; and/or, the width or average width of the support portion in the circumferential direction is [1.3mm, 1.7mm]; and/or, the length or average length of the support portion in the radial direction is [4.59mm, 5.59mm].

In some embodiments, the thickness range of the sleeve portion in the radial direction is 1.2 mm; and/or the width or average width of the supporting portion in the circumferential direction is 1.5 mm; and/or, the supporting portion The length or average length in the radial direction is 5.09 mm.

In some embodiments, the stator includes an iron core, the iron core includes a sleeve portion, a support portion and a stop portion, the support portion is disposed on the sleeve portion, and the stop portion is disposed on the sleeve portion. At the end of the support part far from the sleeve part, the number of the stop parts is the same as the number of the support parts, along the circumferential direction of the stator, the space between two adjacent stop parts is the same. The interval is [1.35mm, 1.55mm].

In some embodiments, the interval between two adjacent stop parts is 1.45mm.

In some embodiments, the width or average width of the magnet along the circumferential direction of the yoke is [4.0 mm, 4.6 mm]; and/or, the magnet has a width along the radial direction of the yoke The thickness or average thickness is [0.9mm, 1.8mm]; and/or, the thickness or average thickness of the magnetic yoke in the radial direction is [1.0mm, 1.2mm]; and/or, the magnet body is along the magnetic The size of the air gap between the radial direction of the yoke and the stator is [0.1 mm, 0.5 mm].

In some embodiments, the width or average width of the magnet along the circumferential direction of the yoke is 4.6 mm; and/or the thickness or average thickness of the magnet along the radial direction of the yoke is 1.3mm; and/or, the thickness or average thickness of the yoke along the radial direction of the yoke is 1.1mm; and/or, the magnet is in the radial direction of the yoke and the stator The size of the air gap between them is 0.3mm.

In certain embodiments, the magnets are tile-shaped.

A power device according to an embodiment of the present application includes an actuator and the motor described in any of the above embodiments, the actuator is connected to the motor, and the motor can drive the actuator to move.

A mobile platform according to an embodiment of the present application includes a movable body and the power device described in any of the above embodiments, and the power device is provided on the movable body.

Additional aspects and advantages of the present invention will be set forth, in part, from the following description, and in part will be apparent from the following description, or may be learned by practice of the invention.

Description of drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of embodiments taken in conjunction with the accompanying drawings, wherein:

1 is a schematic three-dimensional assembly diagram of a motor according to an embodiment of the present application;

FIG. 2 is a schematic view of the plane assembly of the motor according to the embodiment of the present application;

3 is a perspective exploded schematic view of a motor according to an embodiment of the present application;

4 is a schematic plan view of an iron core according to an embodiment of the present application;

FIG. 5 is a schematic plan view of the assembly of the stator according to the embodiment of the application;

FIG. 6 is a schematic view of the plane assembly of the rotor according to the embodiment of the application;

7 is a schematic diagram of the assembly of a mobile platform and a power device according to some embodiments of the present application;

FIG. 8 is a torque fluctuation diagram of the motor according to the embodiment of the present application at no load;

FIG. 9 is a torque fluctuation diagram of the motor according to the embodiment of the present application when it is fully loaded;

FIG. 10 is a torque and rotational speed graph of an embodiment of the present application;

FIG. 11 is a torque and rotational speed graph of an embodiment of the present application;

FIG. 12 is a graph of torque and Km value of an embodiment of the present application;

FIG. 13 is a graph of magnet thickness and Km value according to an embodiment of the present application;

FIG. 14 is a graph showing an air gap versus Km value according to an embodiment of the present application.

Description of main component symbols:

Motor 100, power device 1000, actuator 1100, mobile platform 2000, movable body 2200, stator 200, iron core 210, sleeve part 211, support part 212, stopper part 213, coil 220, lead wire 221, rotor 300, Yoke 310, magnet 320.

detailed description

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, only used to explain the present invention, and should not be construed as a limitation of the present invention.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", " rear, left, right, vertical, horizontal, top, bottom, inside, outside, clockwise, counterclockwise, etc., or The positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, Therefore, it should not be construed as a limitation of the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, features defined as "first", "second" may expressly or implicitly include one or more of said features. In the description of the present invention, "plurality" means two or more, unless otherwise expressly and specifically defined.

In the description of the present invention, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense, unless otherwise expressly specified and limited, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; it can be mechanical connection, electrical connection or can communicate with each other; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal communication of two elements or the interaction of two elements relation. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

In the present invention, unless otherwise expressly specified and limited, a first feature "on" or "under" a second feature may include the first and second features in direct contact, or may include the first and second features Not directly but through additional features between them. Also, the first feature being "above", "over" and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is level higher than the second feature. The first feature is "below", "below" and "below" the second feature includes the first feature being directly below and diagonally below the second feature, or simply means that the first feature has a lower level than the second feature.

The following disclosure provides many different embodiments or examples for implementing different structures of the present invention. In order to simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are only examples and are not intended to limit the invention. Furthermore, the present disclosure may repeat reference numerals and/or reference letters in different instances for the purpose of simplicity and clarity and not in itself indicative of a relationship between the various embodiments and/or arrangements discussed. In addition, the present disclosure provides examples of various specific processes and materials, but one of ordinary skill in the art will recognize the application of other processes and/or the use of other materials.

Please refer to FIGS. 1 , 2 and 3 , a motor 100 according to an embodiment of the present application. The motor 100 includes a stator 200 and a rotor 300 rotatably disposed outside the stator 200 . The rotor 300 includes a yoke 310 and a yoke 310 . A plurality of magnets 320 on the inner wall of 310, the yoke 310 is covered outside the stator 200, the outer diameter D1 of the yoke 310 is [32.9mm, 33.9mm], and the height T1 of the yoke 310 along the axial direction is [4.55mm, 5.25mm].

In the motor 100 of the embodiment of the present application, by optimizing the size of the rotor 300 of the motor 100, the outer size of the motor 100 is smaller, and the size and weight of the power device can be effectively controlled, so that the performance of the motor 100 can be fully utilized, The power unit can get better power.

When the rotor 200 rotates relative to the stator 300 , the corresponding components are driven to rotate relative to the stator 300 . The outer diameter D1 of the magnetic yoke 310 is [32.9 mm, 33.9 mm], or in other words, the outer diameter D1 of the magnetic yoke 310 is greater than or equal to 32.9 mm and less than or equal to 33.9 mm. Specifically, the outer diameter D1 of the magnetic yoke 310 may be any value between 32.9 mm and 33.9 mm, for example, the outer diameter D1 of the magnetic yoke 310 may be 32.9 mm, 33.0 mm, 33.1 mm, 33.2 mm, 33.3 mm, 33.4 mm mm, 33.5mm, 33.6mm, 33.7mm, 33.8mm, 33.9mm, etc. any value between 32.9mm and 33.9mm. In one embodiment, the outer diameter D1 of the yoke 310 is 33.4 mm.

The height T1 of the yoke 310 in the axial direction is [4.55 mm, 5.25 mm], or in other words, the height T1 of the yoke 310 in the axial direction is greater than or equal to 4.55 mm and less than or equal to 5.25 mm. The height T1 of the yoke 310 in the axial direction can be any value between 4.55mm and 5.25mm, for example, the height T1 of the yoke 310 in the axial direction can be 5.0mm, 5.1mm, 5.2mm, 5.25mm, etc. Any value between 4.55mm and 5.25mm. In one embodiment, the height T1 of the yoke 310 in the axial direction is 4.9 mm.

In some embodiments, the outer diameter D1 of the magnetic yoke 310 may be the outer diameter of the motor 100 . In one embodiment, the outer diameter D1 of the magnetic yoke 310 and the height T1 of the magnetic yoke 310 in the axial direction may be the same as those of the propeller or the machine. The size and size of the arms are matched, and the outer diameter D1 of the yoke 310 and the height T1 of the yoke 310 in the axial direction are reasonably optimized, thereby reducing the size and weight of the motor 100, so that the volume and weight of the motor 100 are relatively small. Get better power.

Referring to FIGS. 2 and 3 , in some embodiments, the outer diameter D1 of the magnetic yoke 310 is 33.4 mm; or, the height T1 of the magnetic yoke 310 along the axial direction is 4.9 mm. Alternatively, the outer diameter D1 of the yoke 310 is 33.4 mm and the height T1 of the yoke 310 in the axial direction is 4.9 mm.

In this way, the outer diameter D1 of the magnetic yoke 310 and the height T1 of the magnetic yoke 310 along the axial direction are specifically defined, thereby defining the size of the motor 100 and ensuring that the motor 100 can achieve greater output and lower power consumption with a smaller volume and weight. power consumption.

Specifically, in some embodiments, the outer diameter D1 of the yoke 310 may only be kept at 33.4 mm, and there is no need to limit the height T1 of the yoke 310 along the axial direction to a fixed value of 4.9 mm. The range of the height T1 of the direction is [4.55mm, 5.25mm].

In some embodiments, the height T1 of the yoke 310 in the axial direction can only be kept at 4.9 mm, and it is not necessary to limit the outer diameter D1 of the yoke 310 to a fixed value of 33.4 mm, and it is only necessary to ensure that the outer diameter D1 of the yoke 310 is within the range is [32.9mm, 33.9mm].

In some embodiments, the outer diameter D1 of the magnetic yoke 310 should be kept at 33.4 mm, and the height T1 of the magnetic yoke 310 in the axial direction should be kept at 4.9 mm.

Referring to FIG. 1 , in some embodiments, the torque of the motor 100 is less than or equal to 60 mNm. In this way, the stability of the motor 100 is ensured.

Specifically, in one example, the motor 100 of this embodiment can be applied to a handheld gimbal, and the stabilization system on the handheld gimbal provides power, so that the entire shooting system is more stable, and can also be used in harsher working conditions. produce adequate torque support. The torque of the motor 100 is less than or equal to 60 mNm, or in other words, the motor 100 covers a torque output range of 0-60 mNm, which ensures that the motor 100 can achieve an optimal output effect and improve its stability.

Referring to FIGS. 2 , 3 and 4 , in some embodiments, the stator 200 includes an iron core 210 , the outer diameter D2 of the iron core 210 is [27.5mm, 28.5mm], and the inner diameter D3 of the iron core 210 is [ 13.5mm, 14.5mm].

In this way, by defining the size of the iron core 210 , the size of the stator 200 is further defined, so that the stator 200 can match the size of the rotor 300 .

Specifically, the stator 200 includes an iron core 210, and the outer diameter D2 of the iron core 210 is [27.5mm, 28.5mm], or in other words, the outer diameter D2 of the iron core 210 is greater than or equal to 27.5mm and less than or equal to 28.5mm. The inner diameter D3 of the iron core 210 is [13.5 mm, 14.5 mm], or in other words, the inner diameter D3 of the iron core 210 is greater than or equal to 13.5 mm and less than or equal to 14.5 mm. The external dimension of the motor 100 of the embodiment of the present application is small, the weight of the motor 100 is light, the performance of the motor 100 can be fully exerted, and the power device 1000 can obtain better power. The iron core 210 may be made of steel material such as JFE.

More specifically, the outer diameter D2 of the iron core 210 may be any value between 27.5mm and 28.5mm, for example, the outer diameter D2 of the iron core 210 may be 27.5mm, 27.6mm, 27.7mm, 27.8mm, 27.9mm, 28.0mm, 28.1mm, 28.2mm, 28.3mm, 28.4mm, 28.5mm, etc. Any value between 27.5mm and 28.5mm. The outer diameter D2 of the iron core 210 can be between 27.5mm and 28.5mm, the size of the iron core 210 in the radial direction is small, and the iron core 210 and the rotor 300 are easy to use together, and the iron core 210 and the rotor 300 can also be used together. The air gap between them is appropriate. In one embodiment, the outer diameter D2 of the iron core 210 is 28 mm.

The inner diameter D3 of the iron core 210 may be any value between 13.5 mm and 14.5 mm, for example, the inner diameter D3 of the iron core 210 may be 13.5 mm, 13.6 mm, 13.7 mm, 13.8 mm, 13.9 mm, 14.0 mm, 14.1 mm mm, 14.2mm, 14.3mm, 14.4mm, 14.5mm, etc. Any value between 13.5mm and 14.5mm. When the inner diameter D3 of the iron core 210 is between 13.5 mm and 14.5 mm, the iron core 210 can be better adapted to the size of the bearing under suitable tension, so that the motor 100 can be more miniaturized. In one embodiment, the inner diameter D3 of the iron core 210 is 14 mm.

2, 3 and 4, in some embodiments, the outer diameter D2 of the iron core 210 is 28 mm; or the inner diameter D3 of the iron core 210 is 14 mm; or the outer diameter D2 of the iron core 210 is 28 mm and The inner diameter D3 of the iron core 210 is 14 mm.

In this way, the outer diameter D2 of the iron core 210 and the inner diameter D3 of the iron core 210 are specifically defined, thereby defining the size of the stator 300 , so that the electronics 300 can cooperate with the rotor 200 to optimize the size and weight of the motor 100 .

Specifically, in some embodiments, the outer diameter D2 of the iron core 210 can only be kept at 28 mm, and it is not necessary to limit the inner diameter D3 of the iron core 210 to a fixed value of 14 mm, and it is only necessary to ensure the range of the inner diameter D3 of the iron core 210 is [13.5mm, 14.5mm]. In some embodiments, the inner diameter D3 of the iron core 210 can only be kept at a fixed value of 14 mm, and it is not necessary to limit the outer diameter D2 of the iron core 210 to a fixed value of 28 mm. [27.5mm, 28.5mm]. In some embodiments, the outer diameter D2 of the iron core 210 should be kept at 28 mm, and the inner diameter D3 of the iron core 210 should be kept at a fixed value of 14 mm.

Referring to FIGS. 4 and 5 , in some embodiments, the stator 200 includes an iron core 210 , the iron core 210 includes a sleeve portion 211 and a support portion 212 , the support portion 212 is disposed on the sleeve portion 211 , and the sleeve portion 211 The thickness T2 in the radial direction is in the range of [1.1mm, 1.3mm]; or the width or average width T3 of the support portion 212 in the circumferential direction is [1.3mm, 1.7mm]; or the length or average length of the support portion 212 in the radial direction T4 is [4.59mm, 5.59mm]; or any two of the above three size ranges may be limited; or all the above three size ranges may be limited.

In this way, the size of the iron core 210 is defined by defining the thickness T2 of the sleeve portion 211 in the radial direction, the width or average width T3 of the support portion 212 in the circumferential direction, and the width or average width T4 of the support portion 212 in the circumferential direction. , so that the size of the stator 200 and the rotor 300 can be matched.

Specifically, the iron core 210 may be made of steel sheets. Specifically, the iron core 210 may be made of a plurality of steel sheets with equal thickness stacked on each other. For example, the iron core 210 may be made of 0.2 mm JFE steel sheets stacked with each other. The support portion 212 may be substantially in the shape of a rectangular plate, the width T3 of the support portion 212 may be equal from the end close to the sleeve portion 211 to the end away from the sleeve portion 211 , and the width T3 may be the width of the shorter side of the rectangle.

The iron core 210 includes a sleeve portion 211 and a support portion 212. The support portion 212 is disposed on the sleeve portion 211. The thickness T2 of the sleeve portion 211 in the radial direction is in the range of [1.1mm, 1.3mm]. The thickness T2 of 211 in the radial direction is greater than or equal to 1.1 mm and less than or equal to 1.3 mm. The width or average width T3 of the support portion 212 in the circumferential direction is [1.3 mm, 1.7 mm], or in other words, the width or average width T3 of the support portion 212 in the circumferential direction is greater than or equal to 1.3 mm and less than or equal to 1.7 mm. In addition, the radial length or average length T4 of the support portion 212 is [4.59 mm, 5.59 mm], or the radial length or average length T4 of the support portion 212 is greater than or equal to 4.59 mm and less than or equal to 5.59 mm.

The thickness T2 of the sleeve portion 211 in the radial direction may be any value between 1.1 mm and 1.3 mm, for example, the thickness T2 of the sleeve portion 211 in the radial direction may be 1.1 mm, 1.15 mm, 1.2 mm, 1.25 mm, 1.3 mm mm etc. Any value between 1.1mm and 1.3mm. In one embodiment, the thickness T2 of the sleeve portion 211 in the radial direction is in the range of 1.2 mm. The width or average width T3 of the support portion 212 in the circumferential direction may be any value between 1.3 mm and 1.7 mm, for example, the width or average width T3 of the support portion 212 in the circumferential direction may be 1.3 mm, 1.4 mm, 1.5 mm , 1.6mm, 1.7mm, etc. Any value between 1.3mm and 1.7mm. In one embodiment, the circumferential width or average width T3 of the support portion 212 is 1.5 mm. The length or average length T4 of the support portion 212 in the radial direction is any value between 4.59mm and 5.59mm, for example, the length or average length T4 of the support portion 212 in the radial direction can be 4.59mm, 4.69mm, 4.79mm, 4.89mm Any value between mm, 4.99mm, 5.09mm, 5.19mm, 5.29mm, 5.39mm, 5.49mm, 5.59mm. In one embodiment, the radial length or average length T4 of the support portion 212 is 5.09 mm.

Specifically, the sleeve portion 211 is substantially cylindrical, and the circular hole in the sleeve portion 211 is used to pass through the rotating shaft (not shown in the figure). The support portion 212 may be disposed on the outer peripheral surface of the sleeve portion 211 . The number of support parts 212 may be multiple, for example, the number of support parts 212 may be ten, twelve, fourteen, sixteen, eighteen, twenty, etc. The outer peripheral surface of the setting portion 211 is equally spaced at equal angles. The shape and size of each support portion 212 may be identical. Meanwhile, when the width or average width T3 of the support portion 212 in the circumferential direction is between 1.3 mm and 1.7 mm, the support portion 212 can have sufficient strength and magnetic permeability, and the support portion 212 will not be too wide to compress the support portion The space between 212 for winding the coil 220 makes the motor 100 perform better.

In addition, the thickness T2 of the sleeve portion 211 in the radial direction is in the range of [1.1mm, 1.3mm], the width or average width T3 of the support portion 212 in the circumferential direction is [1.3mm, 1.7mm], and the support portion 212 in the radial direction. The length or average length T4 is [4.59mm, 5.59mm] three size ranges. In some embodiments, only one of the size ranges needs to be defined. In some embodiments, it is desirable to define any two of these size ranges. In some embodiments, three size ranges must be defined. to meet different needs.

Referring to FIGS. 3 and 4 , in some embodiments, the thickness T2 of the sleeve portion 211 in the radial direction is 1.2 mm; or the width or average width T3 of the supporting portion 212 in the circumferential direction is 1.5 mm; or the supporting portion 212 The length along the radial direction or the average length T4 is 5.09 mm; or any two of the above three dimensions can be defined; or all the above three dimensions can be defined.

In this way, by specifically defining the thickness T2 of the sleeve portion 211 along the radial direction, the circumferential width or average width T3 of the support portion 212, and the circumferential width or average width T4 of the support portion 212, the size of the iron core 210 is further defined, Therefore, the size of the stator 200 and the rotor 300 can be matched. Thus, the size of the stator 300 is limited, so that the electronics 300 can cooperate with the rotor 200 to optimize the size and weight of the motor 100 .

Specifically, the thickness T2 of the sleeve portion 211 in the radial direction is 1.2 mm, the width or average width T3 of the supporting portion 212 in the circumferential direction is 1.5 mm, and the length or average length T4 of the supporting portion 212 in the radial direction is 5.09 mm. size. In some embodiments, only one of the dimensions needs to be defined, and the other two dimensions need only be kept within the range. In some embodiments, any two of the dimensions need to be defined, and the other dimension need only be kept within the range. In some embodiments, three dimensions must be defined. to meet different needs.

Referring to FIGS. 4 and 5 , in some embodiments, the stator 200 includes an iron core 210 , the iron core 210 includes a sleeve portion 211 , a support portion 212 and a stopper portion 213 , and the support portion 212 is disposed on the sleeve portion 211 . , the stopper portion 213 is disposed at the end of the support portion 212 away from the sleeve portion 211 , the number of stopper portions 213 is the same as that of the support portion 212 , along the circumferential direction of the stator 200 , between two adjacent stopper portions 213 The gap dimension W is [1.35mm, 1.55mm].

In this way, the coil 220 wound around the support portion 212 can be prevented from slipping off the support portion 212 .

Specifically, the gap dimension W between two adjacent stopper parts 213 is [1.35mm, 1.55mm], or in other words, the gap dimension W between two adjacent stopper parts 213 is greater than or equal to 1.35mm and less than or equal to 1.35mm. Equal to 1.55mm. The gap dimension W between two adjacent stop parts 213 is any value between 1.35mm and 1.55mm, for example, the gap dimension W between two adjacent stop parts 213 can be 1.35mm, 1.4mm, Any value between 1.45mm, 1.5mm, 1.55mm. In one embodiment, the gap dimension W between two adjacent stopper portions 213 is 1.45 mm.

The stator 200 further includes a coil 220 , and the coil 220 is formed by winding the iron core 210 through a wire 221 . Specifically, the coil 220 can be formed by winding the wire 221 around the iron core 210 for multiple turns, wherein the wire 221 can be a single-layer winding iron core 210, and the wire 221 can also be a multi-layer winding iron core 210, which is not limited here. . In one embodiment, the diameter of the wire 121 is 0.25mm wire diameter enameled wire, and each tooth is wound with 46 turns in a star connection. More specifically, the wire 221 is wound on the support portion 212 to form the coil 220 . The number of turns of the wire 221 around the support portion 212 may be 10 turns, 15 turns, 19 turns, 20 turns, 25 turns, 30 turns, 40 turns, and the like. The double-layer winding of the wires 221 on the support portion 212 can better improve the slot filling rate of the motor 100 , thereby improving the efficiency of the motor 100 .

Referring to FIG. 4 , in some embodiments, the gap dimension W between two adjacent stopper portions 213 is 1.45 mm.

In this way, by defining the specific size of the gap dimension W between two adjacent stop parts 213 , it is ensured that the iron core 210 has enough space for winding the coil 220 .

Specifically, the gap dimension W between the two adjacent stop parts 213 is 1.45 mm, on the one hand, the iron core 210 has enough space to wind the coil 220, and on the other hand, the coil 220 wound on the support part 212 is prevented from The support portion 212 slides down.

Referring to FIGS. 2 , 3 and 6 , in some embodiments, the width or average width T5 of the magnet 320 along the circumferential direction of the yoke 310 is [4.0 mm, 4.6 mm]; The thickness or average thickness T6 in the radial direction of the The air gap size H between the radial direction and the stator 200 is [0.1mm, 0.5mm]; or any two of the above four size ranges can be limited; or any three of the above four size ranges can be limited, namely Yes; or limit all four size ranges above.

As such, by defining the width or average width T5 of the magnet 320 in the circumferential direction of the yoke 310 , the thickness or average thickness T6 of the magnet 320 in the radial direction of the yoke 310 , the thickness or average thickness of the yoke 310 in the radial direction T7. The size range of the air gap size H between the magnet 320 along the radial direction of the yoke 310 and the stator 200 matches the size of the rotor 300 to ensure effective cooperation between the rotor 300 and the stator 200 .

Specifically, the peripheral wall of the yoke 310 is substantially cylindrical, and the stator 200 is covered by the yoke 310 . The yoke 310 can be made of 10 gauge steel or SPCC or SPEC. It can be understood that the shape of the peripheral wall of the yoke 310 can also be set according to the interface of the load, for example, it can be set to any suitable shape such as a circle, a rectangle, a polygon, etc., which is not limited here. In this embodiment, the peripheral wall of the yoke 310 is cylindrical as an example.

More specifically, the magnet 320 is disposed on the inner wall of the yoke 310, the magnet 320 can be made of N45SH magnet, and the magnet 320 can be combined on the inner side of the peripheral wall of the yoke 310, for example, it can be combined by bonding or by setting a retainer. The magnet 320 is coupled to the yoke 310 . The number of the magnets 320 may be multiple, and the multiple magnets 320 may be disposed at different positions on the inner side of the peripheral wall of the yoke 310. For example, the number of the magnets 320 may be ten, twelve, fourteen, sixteen, eighteen one, twenty, etc.

Specifically, the width or average width T5 of the magnet 320 along the circumferential direction of the yoke 310 is [4.0 mm, 4.6 mm], or in other words, the width or average width T5 of the magnet 320 along the circumferential direction of the yoke 310 is greater than or equal to 4.0 mm, and less than or equal to 4.6mm. The width T5 may be the width of any one of the magnets 320 or the average width of multiple magnets 320 . The width or average width T5 of the magnet 320 along the circumferential direction of the yoke 310 may be any value between 4.0 mm and 4.6 mm, for example, the width or average width T5 of the magnet 320 along the circumferential direction of the yoke 310 may be 4.0 mm, 4.1mm, 4.2mm, 4.3mm, 4.4mm, 4.5mm, 4.6mm, etc. Any value between 4.0mm and 4.6mm. In one embodiment, the width or average width T5 of the magnet 320 in the circumferential direction of the yoke 310 is 4.6 mm.

Specifically, the thickness or average thickness T6 of the magnet 320 along the radial direction of the yoke 310 is [0.9 mm, 1.8 mm], or in other words, the thickness or average thickness T6 of the magnet 320 along the radial direction of the yoke 310 is greater than or equal to 0.9 mm, and less than or equal to 1.8mm. The thickness T6 may be the thickness of any place on the magnet 320 or the average thickness of the magnet 320 . The thickness or average thickness T6 of the magnet 320 in the radial direction of the yoke 310 may be any value between 0.9 mm and 1.8 mm, for example, the thickness or average thickness T6 of the magnet 320 in the radial direction of the yoke 310 may be 0.9 mm, 1.0mm, 1.1mm, 1.2mm, 1.3mm, 1.4mm, 1.5mm, 1.6mm, 1.7mm, 1.8mm, etc. Any value between 0.9mm and 1.8mm. In one embodiment, the thickness or average thickness T6 of the magnet 320 in the radial direction of the yoke 310 is 1.3 mm.

Specifically, the thickness or average thickness T7 of the magnetic yoke 310 in the radial direction is [1.0 mm, 1.2 mm], or in other words, the thickness or average thickness T7 of the magnetic yoke 310 in the radial direction is greater than or equal to 1.0 mm and less than or equal to 1.2 mm. Wherein, the thickness T7 may be the thickness on any part of the magnetic yoke 310 or the average thickness of the magnetic yoke 310 . The thickness or average thickness T7 of the magnetic yoke 310 in the radial direction may be any value between 1.0 mm and 1.2 mm, for example, the thickness or average thickness T7 of the magnetic yoke 310 in the radial direction may be 1.0 mm, 1.05 mm, 1.1 mm mm, 1.15mm, 1.2mm, etc. Any value between 1.0mm and 1.2mm. In one embodiment, the thickness or average thickness T7 of the yoke 310 in the radial direction is 1.1 mm.

Specifically, the size H of the air gap between the magnet 320 along the radial direction of the yoke 310 and the stator 200 is [0.1 mm, 0.5 mm], or in other words, between the magnet 320 and the stator 200 along the radial direction of the yoke 310 The air gap dimension H is greater than or equal to 0.1mm and less than or equal to 0.5mm. The size H of the air gap between the magnet 320 along the radial direction of the yoke 310 and the stator 200 may be any value between 0.1 mm and 0.5 mm, for example, between the magnet 320 along the radial direction of the yoke 310 and the stator 200 The air gap dimension H can be any value between 0.1mm, 0.2mm, 0.3mm, 0.4mm, 0.5mm, etc. between 0.1mm and 0.5mm. In one embodiment, the size H of the air gap between the magnet 320 along the radial direction of the yoke 310 and the stator 200 is 0.3 mm.

In addition, the width or average width T5 of the magnet 320 in the circumferential direction of the yoke 310 is [4.0 mm, 4.6 mm], or the thickness or average thickness T6 of the magnet 320 in the radial direction of the yoke 310 is [0.9 mm, 1.8mm], or the thickness or average thickness T7 of the yoke 310 in the radial direction is [1.0mm, 1.2mm], or the air gap dimension H between the magnet 320 in the radial direction of the yoke 310 and the stator 200 is [ 0.1mm, 0.5mm] four size ranges.

In some embodiments, only one of the size ranges needs to be defined. In some embodiments, it is desirable to define any two of these size ranges. In some embodiments, three size ranges need to be defined. In some embodiments, four size ranges must be defined. to meet different needs.

Referring to FIGS. 2 , 3 and 6 , in some embodiments, the width or average width T5 of the magnet 320 along the circumferential direction of the yoke 310 is 4.6 mm; The thickness or average thickness T6 is 1.3 mm; or the thickness or average thickness T7 of the yoke 310 in the radial direction of the magnetic yoke 310 is 1.1 mm; or the air gap between the magnet 320 and the stator 200 in the radial direction of the magnetic yoke 310 The dimension H is 0.3 mm; or any two of the above-mentioned four dimensions may be defined; or any three of the above-mentioned four dimensions may be defined; or all of the above-mentioned four dimensions may be defined.

As such, by specifically limiting the width or average width T5 of the magnet 320 in the circumferential direction of the yoke 310 , the thickness or average thickness T6 of the magnet 320 in the radial direction of the yoke 310 , the thickness or average thickness of the yoke 310 in the radial direction The thickness T7 and the size of the air gap H between the magnet 320 along the radial direction of the yoke 310 and the stator 200 ensure the size of the rotor 300 and enable the rotor 300 to effectively cooperate with the stator 200 .

Specifically, for the width or average width T5 of the magnet 320 in the circumferential direction of the yoke 310 , the thickness or average thickness T6 of the magnet 320 in the radial direction of the yoke 310 , the thickness or average thickness of the yoke 310 in the radial direction T7, four dimensions of the air gap dimension H between the magnet 320 along the radial direction of the yoke 310 and the stator 200 . In some embodiments, only one of the dimensions needs to be defined, and the other three dimensions need only be kept within the range. In some embodiments, any two of these dimensions need to be defined, and the other two dimensions need only be kept within the range. In some embodiments, any three of these dimensions need to be defined, and the other dimension need only be kept within the range. In some embodiments, four dimensions must be defined. to meet different needs.

Referring to FIGS. 2 , 3 and 6 , the magnet 320 is tile-shaped. In this way, the magnetic capability of the magnet 320 is enhanced, and the performance of the motor 100 is further improved.

Specifically, the magnet 320 is disposed on the inner wall of the yoke 310 , and the magnet 320 is tile-shaped to better fit on the yoke 310 . In one example, the plurality of magnets 320 are uniformly disposed on the inner side of the peripheral wall of the magnetic yoke 310 , that is, the plurality of magnets 320 are equally spaced on the peripheral wall of the magnetic yoke 310 . The tile-shaped sintered magnet 320 has a stronger output capability than the square sintered magnet 320 or the ring-shaped bonded magnet 320, and under the condition of the same output torque, the power consumption is lower, and the mass increase is extremely small. Therefore, the use of the tile-shaped magnet 320 can achieve high efficiency of the motor 100 and maximize the output capacity of the motor 100 , and at the same time, the weight of the tile-shaped magnet 320 is smaller than that of the ring magnet, which can reduce the weight of the motor 100 .

Referring to FIG. 7 , a power plant 1000 according to an embodiment of the present application includes an actuator 1100 and the motor 100 described in any of the above embodiments. The actuator 1100 is connected to the motor 100 , and the motor 100 can drive the actuator 1100 to move.

In the motor 100 of the embodiment of the present application, by optimizing the size of the rotor 300 of the motor 100, the outer size of the motor 100 is made smaller, the size and weight of the power device 1000 can be effectively controlled, so that the performance of the motor 100 can be fully utilized , the power plant 1000 can obtain better power.

In the motor 100 and the power plant 1000 according to the embodiment of the present application, by optimizing the dimensions of the rotor 300 and the stator 200 of the motor 100 , the outer dimensions of the motor 100 are made smaller. The actuator 1100 connected to the motor 100 is controlled to rotate by the motor 100 , and the actuator 1100 may be a propeller of an unmanned aerial vehicle or a shaft arm of a pan/tilt head. It can be understood that, in the embodiments of the present application, the application occasion of the power plant 1000 is not limited, as long as the requirements are met.

Referring to FIG. 7 , a mobile platform 2000 according to an embodiment of the present application includes a movable body 2200 and the power device 1000 described in any of the above embodiments. The power device 1000 is disposed on the movable body 2200 .

In some embodiments, the mobile platform 2000 may be an unmanned aerial vehicle, and of course, the mobile platform 2000 may also be an unmanned vehicle, an unmanned boat, or the like. In the embodiments of the present application, the type of the mobile platform 2000 is not limited to meet various requirements.

When the mobile platform 2000 is an unmanned aerial vehicle, the movable body 2200 can be the fuselage of the unmanned aerial vehicle, the power device 1000 can be a propeller, and the execution component 1100 can be a propeller blade.

In addition, the power device 1000 can also be applied to a mobile platform 2000 such as a gimbal, and the gimbal can be an airborne gimbal, a handheld gimbal, or the like. In some embodiments, the mobile platform 2000 may include an airborne pan/tilt head, in this case, the power device 1000 is applied on the airborne pan/tilt head, and the execution component 1100 may be a pan/tilt head shaft arm.

As shown in FIG. 8 and FIG. 9 , FIG. 8 is a torque fluctuation diagram of the motor according to the embodiment of the present application at no load. In the motor 100 according to the embodiment of the present application, as shown in FIG. 8 , when the motor 100 is at no load, In the case of 300rpm output, the maximum torque of the motor 100 is 0.5mNm, the minimum torque of the motor 100 is -0.3mNm, the difference between the two is 0.8mNm, that is, the no-load torque fluctuation is about 0.8mNm. FIG. 9 is a torque fluctuation diagram of the motor according to the embodiment of the present application when it is fully loaded. In the motor 100 according to the embodiment of the present application, as shown in FIG. 9 , when the output of the motor 100 is 60 mNm and 300 rpm, the maximum value of the torque of the motor 100 is 61.8 mNm , the minimum value of the torque of the motor 100 is 58.0mNm, the difference between the two is 3.8mNm, that is, the full-load torque fluctuation is 3.8mNm, which is about 6.3% of the average output torque. In the case of no load or full load, stable torque can be ensured, which improves the stability of the motor 100 .

As shown in FIG. 10 , FIG. 10 is a graph showing the relationship between the rotational speed and torque of the motor 100 under the conditions of 6.8V, 7.5V, and 8.4V. The working voltage of the motor 100 is 6.8V, 7.5V or 8.4V. In the case of , the torque and the rotational speed of the motor 100 can both maintain an approximate linear relationship, and the output of the torque of the motor 100 has stability.

As shown in FIG. 11, FIG. 11 is a torque and rotational speed graph of the embodiment of the present application. When the line current is small, the motor 100 needs to overcome the influence of various mechanical friction and other factors, and the output torque is small; but as the line current increases , the output torque and the line current gradually return to a linear relationship, and the final Kt value of the motor 100 is 33.6 mNm/A. The Kt value is the torque coefficient, which represents the coefficient of output torque and line current. As shown in FIG. 12 , FIG. 12 is a graph of torque and Km value of the embodiment of the present application. As the output torque increases, the Km value of the motor 100 tends to be stable, which is

The optimal use range of the motor is 30 to 60 mNm.

As shown in FIG. 13 , which is a graph of magnet thickness and Km value according to an embodiment of the present application, when the thickness T6 of the magnet 320 varies between 0.9 and 1.8 mm, the Km value of the motor 100 first increases and then decreases. When the motor 100 is at the maximum Km value, the thickness T6 of the magnet 320 is 1.3 mm, which is the value of this embodiment, and the torque output capability of the motor 100 is the strongest.

As shown in FIG. 14, FIG. 14 is a graph of the air gap and Km value of the embodiment of the present application. When the air gap H varies from 0.1 to 0.5 mm, the larger the air gap H, the lower the Km value of the motor 100, and the gradient For every 0.1mm increase, the Km value decreases by about 1.2%.

In the description of this specification, reference to the terms "one embodiment," "some embodiments," "exemplary embodiment," "example," "specific example," or "some examples", etc. A particular feature, structure, material, or characteristic described in this embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, The scope of the invention is defined by the claims and their equivalents.

Claims

A motor, comprising a stator and a rotor rotatably arranged outside the stator, characterized in that the rotor comprises a yoke and a plurality of magnets arranged on the inner wall of the yoke, the yoke covers Outside the stator, the outer diameter of the magnetic yoke is [32.9 mm, 33.9 mm], and the height of the magnetic yoke along the axial direction is [4.55 mm, 5.25 mm].
The motor according to claim 1, wherein the outer diameter of the yoke is 33.4 mm; and/or,

The height of the yoke in the axial direction is 4.9 mm.
The motor of claim 1, wherein the torque of the motor is less than or equal to 60 mNm.
The motor according to claim 1, wherein the stator comprises an iron core, the outer diameter of the iron core is [27.5mm, 28.5mm], and the inner diameter of the iron core is [13.5mm, 14.5mm] ].
The motor according to claim 4, wherein the outer diameter of the iron core is 28 mm; and/or,

The inner diameter of the iron core is 14 mm.
The motor according to claim 1, wherein the stator comprises an iron core, the iron core comprises a sleeve part and a support part, the support part is disposed on the sleeve part, and the sleeve part The thickness in the radial direction is in the range of [1.1mm, 1.3mm]; and/or,

The circumferential width or average width of the support portion is [1.3mm, 1.7mm]; and/or,

The length or average length of the support portion in the radial direction is [4.59mm, 5.59mm].
The motor according to claim 6, wherein the thickness of the sleeve portion in the radial direction is 1.2 mm; and/or,

The circumferential width or average width of the support portion is 1.5 mm; and/or,

The radial length or average length of the support portion is 5.09 mm.
The motor according to claim 1, wherein the stator comprises an iron core, the iron core comprises a sleeve part, a support part and a stop part, the support part is disposed on the sleeve part, and the The stop part is arranged at the end of the support part away from the sleeve part, the number of the stop part is the same as the number of the support part, along the circumferential direction of the stator, two adjacent The interval between the stops is [1.35mm, 1.55mm].
The motor according to claim 8, wherein an interval between two adjacent stop parts is 1.45 mm.
The motor according to claim 1, wherein the width or average width of the magnet along the circumferential direction of the yoke is [4.0mm, 4.6mm]; and/or,

The thickness or average thickness of the magnet in the radial direction of the yoke is [0.9mm, 1.8mm]; and/or,

The thickness or average thickness of the yoke in the radial direction is [1.0mm, 1.2mm]; and/or,

The size of the air gap between the magnet along the radial direction of the yoke and the stator is [0.1 mm, 0.5 mm].
The motor according to claim 10, wherein the width or average width of the magnet along the circumferential direction of the yoke is 4.6 mm; and/or,

The thickness or average thickness of the magnet in the radial direction of the yoke is 1.3 mm; and/or,

The thickness or average thickness of the yoke in the radial direction of the yoke is 1.1 mm; and/or,

The size of the air gap between the magnet along the radial direction of the yoke and the stator is 0.3 mm.
The motor of claim 10, wherein the magnets are tile-shaped.
A power plant, characterized in that it includes:

executive components; and

The motor according to any one of claims 1 to 12, wherein the actuator is connected to the motor, and the motor can drive the actuator to move.
A mobile platform, comprising:

the movable body; and

14. The power unit of claim 13, which is provided on the movable body.