CN-224233424-U - High-torque-density cooperative robot joint motor

Abstract

The utility model discloses a high torque density cooperation robot joint motor, including stator and rotor, the rotor includes hollow shaft and establishes the magnet steel in the hollow shaft outside; the stator comprises a stator core arranged on the outer wall of the magnetic steel, a coil bracket is arranged on the outer wall of the stator core, a stator coil is wound on the coil bracket, and an outgoing line is arranged on the stator coil; the coil support is a thin coil support; the utility model discloses a select for use and specific machine wire winding mode of spare part special material such as coil support, enameled wire, silicon steel sheet, under the prerequisite of effective control cost, furthest's improvement motor's efficiency makes this motor compare with the same type motor, has higher torque density, adopts slim coil support through the coil support, and slim coil support adopts nylon and glass fine injection moulding, when having guaranteed motor dielectric strength, and the occupation ratio of insulating material in the groove area has been improved to a certain extent to the greatest extent.

Inventors

• JIANG BO
• HUANG JIAGENG
• LI HAO
• WANG WEITING
• GUO MINGLU
• GU MIAOMIAO
• MO WEI

Assignees

• 深圳市正德智控股份有限公司

Dates

Publication Date

20260512

Application Date

20250525

Claims (4)

1. 1. The high-torque-density cooperative robot joint motor comprises a stator (1) and a rotor (2), and is characterized in that the rotor (2) comprises a hollow shaft (201) and magnetic steel (202) arranged outside the hollow shaft (201); The stator (1) comprises a stator core (101) arranged on the outer wall of magnetic steel (202), a coil support (102) is arranged on the outer wall of the stator core (101), a stator coil (103) is wound on the coil support (102), and an outgoing line (104) is arranged on the stator coil (103); the coil support (102) is a thin coil support, and the thin coil support is formed by injection molding nylon and glass fiber.
2. 2. The high torque density cooperative robot joint motor of claim 1, wherein the stator core (101) is made of a silicon steel sheet material.
3. 3. The high torque density cooperative robot joint motor of claim 1, wherein the lead-out wire (104) is a thin enameled wire.
4. 4. A high torque density cooperative robot joint motor as claimed in claim 1, wherein the windings of the stator coils (103) are two parallel concentrated windings of 24 slot 20 poles.

Description

High-torque-density cooperative robot joint motor Technical Field The utility model relates to the technical field of motors, in particular to a joint motor of a high-torque-density cooperative robot. Background The existing motor basically comprises a stator and a rotor, wherein the stator is formed by laminating silicon steel sheets into a stator core, the stator core is wound after being arranged in a coil bracket, the rotor is formed by magnetic steel and a hollow shaft, and the magnetic steel is adhered to the excircle of the hollow shaft by adhesive. But has the following problems: 1. The stator core is wound by a machine after being wound by a coil support, the slot filling rate is lower and is usually lower than 45%, 2, when the wire diameter of an enameled wire is thicker, a wire nozzle with a larger diameter is needed, which is not beneficial to improving the slot filling rate, in addition, when the enameled wire with a larger wire diameter is wound, larger tension is needed, the stator core of a motor is easy to deform, the uniformity of the arrangement position of the enameled wire in a slot is affected, 3, when the stator core is made of a common silicon steel sheet, the iron loss is relatively higher, the heating of the motor is larger, and the efficiency is lower. Disclosure of Invention In order to overcome the defects in the prior art, the utility model provides the joint motor of the high-torque-density cooperative robot. In order to solve the technical problems, the utility model provides the following technical scheme: The utility model discloses a high-torque-density cooperative robot joint motor, which comprises a stator and a rotor, wherein the rotor comprises a hollow shaft and magnetic steel arranged outside the hollow shaft, the stator comprises a stator core arranged on the outer wall of the magnetic steel, a coil support is arranged on the outer wall of the stator core, a stator coil is wound on the coil support, an outgoing line is arranged on the stator coil, the coil support is a thin coil support, and the thin coil support is formed by injection molding nylon and glass fibers. As a preferable technical scheme of the utility model, the stator core is made of silicon steel sheet material. As a preferable technical scheme of the utility model, the outgoing line adopts a thin enameled wire. As a preferable technical scheme of the utility model, the winding of the stator coil adopts two paths of parallel concentrated windings with 24 slots and 20 poles. The beneficial effects of the utility model are as follows: 1. According to the high-torque-density cooperative robot joint motor, the thin coil support is adopted by the coil support, nylon and glass fiber are adopted by the thin coil support for injection molding, so that the insulation strength of the motor is ensured, the proportion of an insulating material in the groove area is reduced as much as possible, and the groove filling rate is improved to a certain extent. 2. According to the high-torque-density cooperative robot joint motor, the silicon steel sheet material is adopted as the material of the stator core, so that the iron loss of the motor is effectively reduced, and the efficiency of the motor is improved. 3. According to the high-torque-density cooperative robot joint motor, the thin enameled wire is adopted by the outgoing line, so that the groove filling rate of the motor can be improved to more than 50%. 4. According to the high-torque-density cooperative robot joint motor, the winding of the stator coil adopts two paths of parallel concentrated windings with 24 slots and 20 poles, the winding end is short in size and high in winding utilization rate, and the number of turns of the two paths of parallel windings is 2 times that of the one path of parallel windings relative to the one path of parallel windings, so that the enameled wire with relatively small wire diameter can be used for winding, and the process difficulty of winding of a large-diameter enameled wire machine is relieved to a great extent. Drawings The accompanying drawings are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate the utility model and together with the embodiments of the utility model, serve to explain the utility model. In the drawings: FIG. 1 is a schematic diagram of a high torque density cooperative robot joint motor of the present utility model; FIG. 2 is an expanded view of two parallel concentrated windings of a 24 slot 20 pole of a high torque density cooperative robot joint motor of the present utility model; FIG. 3 is a cross-sectional view of an anti-drop connection assembly of a joint motor of a high torque density collaborative robot in accordance with the present utility model; FIG. 4 is a cross-sectional view of an alloy ring of a high torque density cooperative robot joint motor of the present utility model. In the figure, 1