WO2019228328A1 - 一种定子、马达及自动化设备 - Google Patents

一种定子、马达及自动化设备 Download PDF

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Publication number
WO2019228328A1
WO2019228328A1 PCT/CN2019/088747 CN2019088747W WO2019228328A1 WO 2019228328 A1 WO2019228328 A1 WO 2019228328A1 CN 2019088747 W CN2019088747 W CN 2019088747W WO 2019228328 A1 WO2019228328 A1 WO 2019228328A1
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WIPO (PCT)
Prior art keywords
pole
salient
motor
stator
salient pole
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Ceased
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PCT/CN2019/088747
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English (en)
French (fr)
Inventor
孙权
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Novomoto Ltd
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Novomoto Ltd
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Priority to EP19810529.8A priority Critical patent/EP3790164A4/en
Priority to US17/059,980 priority patent/US20210218291A1/en
Publication of WO2019228328A1 publication Critical patent/WO2019228328A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/12—Stationary parts of the magnetic circuit
    • H02K1/14—Stator cores with salient poles
    • H02K1/146—Stator cores with salient poles consisting of a generally annular yoke with salient poles
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/12—Stationary parts of the magnetic circuit
    • H02K1/16—Stator cores with slots for windings
    • 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
    • H02K1/17—Stator cores with permanent magnets
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
    • H02K3/18—Windings for salient poles
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
    • H02K3/28—Layout of windings or of connections between windings
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
    • H02K2213/03—Machines characterised by numerical values, ranges, mathematical expressions or similar information
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
    • H02K2213/06—Machines characterised by the presence of fail safe, back up, redundant or other similar emergency arrangements
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
    • H02K41/02—Linear motors; Sectional motors
    • H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
    • H02K41/031—Synchronous motors; Motors moving step by step; Reluctance motors of the permanent magnet type

Definitions

  • the present invention relates to the field of drive technology, and in particular, to a stator, a motor, and automation equipment.
  • the present invention provides a stator, a motor, and an automation device. Based on the principle of a unit motor, the overall structural design is adopted, thereby improving the reliability of the motor and facilitating the processing of the motor.
  • a first aspect of the present invention provides a stator, the stator including a stator core and a winding; the stator core including a yoke portion and a plurality of first salient poles and a plurality of first yoke portions extending from the yoke portion to at least one side; Two salient poles; the winding includes a first winding and a second winding;
  • the phase difference between the current passing through the first winding and the second winding is 180 degrees
  • Corresponding second salient poles of the plurality of second salient poles are respectively disposed on two sides of each of the plurality of first salient poles, so that the magnetic flux flowing out of the first salient poles is diverted to The corresponding second salient pole.
  • the width of the first salient pole is larger than the width of the second salient pole.
  • D is the width of the first salient pole
  • d is the width of the second salient pole.
  • the motor includes a rotary motor or a linear motor; or
  • the motor includes a radial magnetic flux motor or an axial magnetic flux motor.
  • the first salient pole includes a first pole post and a first end portion located at an end portion of the first pole post, and an end surface of the first end portion remote from the first pole post forms at least two first pole portions.
  • a small tooth, a first virtual slot is formed between two adjacent first small teeth;
  • the second salient pole includes a second pole post and a second end part located at an end of the second pole post, At least two second small teeth are formed on an end surface of the second end portion remote from the second pole, and a second virtual groove is formed between two adjacent second small teeth; or
  • the first salient pole includes a first pole post and a first end located at an end of the first pole post; the second salient pole includes a second pole post and an end located at the second pole post The second end; or
  • the first salient pole includes a first pole post, and the second salient pole includes a second pole post;
  • the first salient pole includes a first pole post, and an end surface of the first pole post forms at least two first small teeth, and a first virtual groove is formed between two adjacent first small teeth;
  • the two salient poles include a second pole post, and an end surface of the second pole post forms at least two second small teeth, and a second virtual groove is formed between two adjacent second small teeth.
  • the first salient pole includes the first dummy groove
  • at least a part of the first dummy groove is provided with a first permanent magnet.
  • the second salient pole includes a second pole post and a second end portion located at an end portion of the second pole post, and an end surface of the second end portion remote from the second pole post forms at least two first poles Two small teeth, a second virtual slot is formed between two adjacent second small teeth; or
  • the second salient pole includes a second pole post and a second end portion located at an end portion of the second pole post; or
  • the second salient pole includes a second pole post
  • the second salient pole includes a second pole post, and an end surface of the second pole post forms at least two second small teeth, and a second virtual groove is formed between two adjacent second small teeth.
  • a second permanent magnet is disposed in at least part of the second dummy groove.
  • a motor including the stator according to any one of the above, and the motor further includes a mover, and a gap exists between the mover and the stator to form a magnetic gap;
  • the mover is disposed corresponding to the first salient pole and the second salient pole.
  • the mover includes a first mover
  • the mover includes a first mover and a second mover.
  • the mover forms at least two third small teeth corresponding to an end surface of the stator, and two adjacent third small teeth A third virtual slot is formed between them.
  • a third aspect of the present invention provides an automation device including the motor described in any one of the above.
  • the stator is based on the principle of forming a plurality of independent magnetic field line circuit units, the insulation winding scheme is formed, so that the motor can be connected as a whole when the magnetic circuit is decoupled; therefore, it improves the The fault-tolerant performance of the motor guarantees good mechanical properties and ease of processing.
  • the thicknesses of the yoke portions of the stator core and the mover core can be reduced, thereby reducing the motor.
  • the magnetic output of the virtual groove can improve the output / torque of the motor.
  • the first salient pole of the stator includes the first virtual slot, at least part of the first virtual slot is embedded with permanent magnets; or the second salient pole includes the second virtual slot, and at least part of the second virtual slot is embedded with permanent magnets; or
  • the child includes a third virtual slot. At least part of the third virtual slot is embedded with permanent magnets, so the magnetic density of the magnetic circuit can be increased, and the magnetic leakage at the tooth end can be reduced. At the same time, the magnetic adjustment characteristics of the vernier motor can be combined, thereby improving the output of the motor. Torque.
  • the first salient pole of the stator includes the first virtual slot
  • the second salient pole includes the second virtual slot
  • the mover includes the third virtual slot, at least part of the first virtual slot, the second virtual slot, and the first
  • There are permanent magnets in the three virtual slots so using such a stator and mover motor can further increase the magnetic density of the magnetic circuit, reduce the magnetic leakage at the tooth end, and at the same time can combine the magnetic tuning characteristics of the vernier motor, thereby improving the axial direction. Torque or output of the flux motor.
  • the width of the first salient pole is larger than the width of the second salient pole, the iron loss can be better reduced while meeting the requirements of magnetic flux shunting.
  • FIG. 1 is a first schematic structural diagram of an embodiment of a stator of a rotary motor provided by the present invention.
  • FIG. 2 is a second structural diagram of an embodiment of a partial structure of a stator of a rotary motor provided by the present invention.
  • FIG. 3 is a third structural schematic diagram of an embodiment of a partial structure of a stator of a rotary motor provided by the present invention.
  • FIG. 4 is a fourth structural schematic diagram of an embodiment of a partial structure of a stator of a rotary motor provided by the present invention.
  • FIG. 5 is a first schematic structural diagram of an embodiment of a radial magnetic flux rotation motor provided by the present invention.
  • FIG. 6 is a partial structural schematic view of an embodiment of an axial magnetic flux rotary motor or an axial magnetic flux linear motor provided by the present invention.
  • FIG. 7 is a schematic diagram of a second part of an axial magnetic flux rotary motor or an axial magnetic flux linear motor according to an embodiment of the present invention.
  • the invention provides a stator, a motor, and an automation device. Based on the principle of a unit motor, an overall structural design is adopted, thereby improving the reliability of the motor and facilitating the processing of the motor.
  • FIG. 1 is a first schematic structural diagram of an embodiment of a stator of a radial magnetic flux rotating motor provided by the present invention.
  • FIG. 2 is a second structural schematic diagram of an embodiment of a partial structure of a stator of a radial magnetic flux rotary motor provided by the present invention.
  • FIG. 3 is a third structural schematic diagram of an embodiment of a partial structure of a stator of a radial magnetic flux rotary motor provided by the present invention.
  • FIG. 4 is a fourth structural schematic diagram of an embodiment of a partial structure of a stator of a radial magnetic flux rotary motor provided by the present invention.
  • FIG. 7 is a second structural schematic diagram of an embodiment of a partial structure of an axial magnetic flux rotary motor or an axial magnetic flux linear motor provided by the present invention.
  • An embodiment of the present invention provides a stator, and the stator may be a stator of various motors.
  • Motors can be divided into different types according to different basis. For example, taking the magnetic flux direction as an example, it can be divided into axial magnetic flux motor, radial magnetic flux motor or hybrid magnetic flux motor.
  • the motor movement mode can include linear motors and rotary motors. and many more.
  • an embodiment of the present invention provides a stator 10.
  • the stator 10 includes a stator core 11 and a winding 12.
  • the stator core 11 includes a yoke portion 111 and a plurality of first salient poles 112 and a plurality of second salient poles 113 extending from one side of the yoke portion 111 toward the mover. It should be noted that, when it is an axial magnetic flux motor, one side of the yoke portion is one side of the yoke axial direction, and when it is a radial magnetic flux motor, it is a radial side. In addition, as shown in FIG.
  • a plurality of first salient poles 112, 112 ′ and a plurality of first salient poles 112, 112 ′ and more may be extended from two sides of the yoke 111 to two movers, respectively.
  • Second salient poles 113, 113 ' may be extended from two sides of the yoke 111 to two movers, respectively.
  • the winding 12 includes a first winding 121 and a second winding 122.
  • a first winding 121 is wound on the first salient pole 112; a second winding 122 is wound on the second salient pole 113; a phase difference between the currents of the first winding 121 and the second winding 122 is 180 degrees.
  • Corresponding second salient poles corresponding to each first salient pole of the plurality of second salient poles are respectively disposed on two sides of each of the plurality of first salient poles, so that each first salient pole and two The corresponding second salient pole on the side forms an independent magnetic field line T loop unit.
  • each first salient pole is respectively provided with corresponding second salient poles, and one side of each first salient pole 112 may be provided with a second salient pole 113 (as shown in FIG. 1-4). );
  • two or more arbitrary number of second salient poles may be provided on both sides of each first salient pole.
  • first salient pole can be any number greater than or equal to 2; since at least one second salient pole must be provided on each side of each first salient pole, the second salient pole can be any number greater than or equal to 4.
  • the first salient pole 112 (or only a small part of the magnetic lines of force will flow to other parts), so that the first salient pole 112 and the corresponding second salient pole 113 are formed independently of the other salient poles and the second salient poles Therefore, a plurality of independent magnetic field line T circuit units composed of a first salient pole and corresponding second salient poles on both sides are formed on an integral motor.
  • stator described in the embodiment of the present invention based on the principle of forming a plurality of independent magnetic field line circuit units, a scheme of forming an insulated winding is made, so that the magnetic core of the motor is decoupled, and the stator core can be connected into one. Overall; therefore, it improves the fault tolerance of the motor, and ensures good mechanical properties and ease of processing.
  • the thicknesses of the yoke portions of the stator core and the mover core can be reduced, so that Reduce the overall weight and volume of the motor, while reducing iron consumption.
  • the width of the first salient pole and the width of the second salient pole may be in any proportion.
  • the width of the first salient pole is preferably greater than the width of the second salient pole. Therefore, even if the requirements of the magnetic flux shunt are met, the iron loss can be better reduced.
  • the width ratio relationship between the first salient pole and the second salient pole may be arbitrary. In some preferred embodiments, 1.5 ⁇ D / d ⁇ 2.5; where D is the width of the first salient pole, and d is the width of the second salient pole, so as to further satisfy the requirements of the magnetic flux shunt. Reduce iron loss.
  • the plurality of first salient poles may include but are not limited to the following forms:
  • the first salient pole 112 includes a first pole post 1121 and a first end portion 1122 located at an end of the first pole post 1121.
  • the first end portion 1122 is far from the first
  • An end surface of a pole 1121 forms at least two first small teeth 1123, and a first dummy groove 1124 is formed between two adjacent first small teeth 1123.
  • the first salient pole 112 includes a first pole post and a first end portion 1122 located at an end of the first pole post 1121.
  • the first salient pole 112 includes a first pole post 1121.
  • the first salient pole 112 includes a first pole post 1121, and an end surface of the first pole post 1121 forms at least two first small teeth 1123 and two adjacent first small teeth 1123.
  • a first dummy slot 1124 is formed between 1123.
  • width D of the first salient pole 112 described in the above embodiment generally refers to the width D of the first pole post 1121, but may also be the width of the first end portion.
  • the plurality of second salient poles may include but are not limited to the following forms:
  • the second salient pole 113 includes a second pole post 1131 and an end portion of the second pole post 1131.
  • a second end portion 1132 is formed on an end surface of the second end portion 1132 away from the second pole post 1131, and at least two second small teeth 1133 are formed, and a second virtual groove 1134 is formed between two adjacent second small teeth 1133.
  • the second salient pole 113 includes a second pole post 1131 and an end located on the second pole post 1131. ⁇ ⁇ ⁇ ⁇ ⁇ 1132 ⁇ The second end portion 1132.
  • the second salient pole 113 includes a second pole post 1131.
  • the second salient pole 113 includes a second pole post 1131, and an end surface of the second pole post 1131 forms at least A second virtual slot 1134 is formed between two second small teeth 1133 and two adjacent second small teeth 1133.
  • width d of the second salient pole 112 described in the above embodiment generally refers to the width d of the second pole post 1121, but may also be the width of the second end portion.
  • the first salient pole and the second salient pole can be combined using the same embodiment structure, for example: the first The salient poles 112 and the second salient poles 113 each adopt the structure of the above first embodiment (as shown in FIG. 1); in other embodiments, the first salient pole and the second salient pole may be selected and implemented differently.
  • the structures of the examples are combined, for example, the first salient pole adopts the structure of the first embodiment, and the second salient pole adopts the structure of the third embodiment (not shown in the figure).
  • first virtual slot 1124 and the second virtual slot 1134 in the above embodiments may be, but are not limited to, an open slot with one end open (as shown in Figure 1-4) and a closed slot (the open end of the open slot) Forming a closed) or semi-closed slot (the open end of the open slot is half closed).
  • each first virtual groove is Set up a permanent magnet (as shown in Figure 1-4).
  • the second salient pole includes the second virtual slot, at least a part of the second virtual slot is inlaid with a second permanent magnet, and preferably, a permanent magnet is disposed in each second virtual slot.
  • One permanent magnet can be set in the first virtual slot and / or the second virtual slot where the permanent magnet is set (as shown in Figure 1-4), or multiple permanent magnets can be set, for example, a Halbach array permanent magnet (not shown in the figure) ).
  • stator motor As the stator motor described above can increase the magnetic density of the magnetic circuit, reduce the magnetic leakage at the tooth end, and at the same time, the magnetic adjustment characteristics of the vernier motor can be combined, thereby improving the torque (rotary motor) / output (linear motor) .
  • FIG. 5 is a first schematic structural diagram of an embodiment of a radial magnetic flux rotation motor provided by the present invention.
  • FIG. 6 is a partial structural schematic view of an embodiment of an axial magnetic flux rotary motor or an axial magnetic flux linear motor provided by the present invention.
  • the present invention also provides a motor including the stator according to any one of the above embodiments and a mover provided corresponding to the plurality of first salient poles and the plurality of second salient poles of the stator.
  • the mover when the motor includes a first salient pole 112 and a second salient pole 113 formed on one side of the yoke of the stator, the mover includes only one side corresponding to the stator. A plurality of first salient poles 112 and a plurality of second salient poles 113 are provided with the first mover 20. A gap exists between the stator 10 and the first mover 20 to form a magnetic gap.
  • the mover when a plurality of first salient poles 112, 112 ′ and a plurality of second salient poles 113, 113 ′ are respectively formed on both sides of the yoke of the stator, the mover includes The first mover 20 and the second mover 20 'corresponding to the first and second salient poles on the two sides, respectively, the first mover 20 and the corresponding plurality of first salient poles 112 and the plurality of second salient poles
  • the pole 113 constitutes a magnetic field line T loop; the second mover 20 'and the corresponding plurality of first salient poles 112' and a plurality of second salient poles 113 'constitute a magnetic field line T' loop.
  • the stator is based on the principle of forming a plurality of independent magnetic field line circuit units to form an insulated winding scheme, so that when the magnetic circuit is decoupled, the stator core can be connected as a whole. ; Therefore, the fault tolerance of the motor is improved, and good mechanical properties and ease of processing are guaranteed.
  • the thicknesses of the yoke portions of the stator core and the mover core can be reduced, so that Reduce the overall weight and volume of the motor, while reducing iron consumption.
  • the first mover 20 forms at least two third small teeth 21 corresponding to the end surface of the stator 10, and two adjacent third small teeth 21 Third formation of a third virtual slot 22.
  • the third virtual slot is provided to adjust the magnetism, thereby increasing the output / torque of the motor.
  • the third virtual slot 22 may be an open slot (as shown in FIG. 7), a closed slot or a semi-closed slot.
  • a plurality of third virtual slots may be provided with permanent magnets in part of the third virtual slots, or permanent magnets may be provided in each of the third virtual slots; one permanent may be provided in each of the third virtual slots.
  • the magnet may also be provided with multiple permanent magnets, for example, a Halbach array permanent magnet.
  • the third dummy slot preferably corresponds to the sizes of the first dummy slot and the second dummy slot, but may be inconsistent.
  • the motor of the mover described above can increase the magnetic density of the magnetic circuit, reduce the magnetic leakage at the tooth end, and at the same time, can combine the magnetic tuning characteristics of the vernier motor, thereby improving the output / torque of the motor.
  • the first mover 20 and the second mover 20 ′ form at least two third small teeth 21, 22 ′ corresponding to the end faces of the stator 10, and two adjacent thirds A third virtual groove 22, 22 'is formed between the small teeth 21, 21'.
  • a permanent magnet is disposed in at least a portion of the third dummy slot 22, 22 '.
  • the first salient pole 112 of the stator includes a first virtual slot 1124
  • the second salient pole 113 includes a second virtual slot 1134
  • the mover includes a third virtual slot Slots 22 and / or 22 '
  • permanent magnets are provided in at least some of the first dummy slot 1124, the second dummy slot 1134, and the third dummy slot 22 and / or 22', and a motor using such a stator and a mover
  • the magnetic density of the magnetic circuit can be further increased to reduce the magnetic leakage at the tooth end.
  • the magnetic adjustment characteristics of the vernier motor can be combined, thereby improving the torque or output of the motor.
  • the present invention further provides an automation device (not shown in the figure), which includes at least one motor described in the above embodiment.
  • the automation equipment may include applications in various fields such as industry, medical treatment, life, transportation, etc. Among them, the robot may be regarded as a high-end automation equipment.

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  • Iron Core Of Rotating Electric Machines (AREA)

Abstract

本发明提供一种定子、马达及自动化设备。所述定子包括定子铁芯和绕组；所述定子铁芯包括轭部和由所述轭部延伸的多个第一凸极和多个第二凸极；所述绕组包括第一绕组和第二绕组；所述第一凸极上缠绕所述第一绕组；所述第二凸极上缠绕所述第二绕组；所述第一绕组和所述第二绕组通过电流的相位差为180度；所述多个第一凸极中的每个第一凸极的两侧分别设置所述多个第二凸极中的对应第二凸极，使得所述第一凸极流出的磁通分流到所述对应第二凸极。采用本发明的技术方案，基于单元马达的原理，采用整体的结构设计，从而即提高了马达的可靠性，又易于马达的加工。

Description

一种定子、马达及自动化设备 技术领域
本发明涉及驱动技术领域，具体涉及一种定子、马达及自动化设备。
背景技术
随着自动化技术的发展，人们对马达的可靠性、加工便利性等方面有了更高的要求，现有的马达往往难以满足人们的需求。
发明内容
有鉴于此，本发明提供一种定子、马达及自动化设备，基于单元马达的原理，采用整体的结构设计，从而即提高了马达的可靠性，又易于马达的加工。
本发明第一方面提供一种定子，所述定子包括定子铁芯和绕组；所述定子铁芯包括轭部和由所述轭部向至少一侧延伸的多个第一凸极和多个第二凸极；所述绕组包括第一绕组和第二绕组；
所述第一凸极上缠绕所述第一绕组；所述第二凸极上缠绕所述第二绕组；
所述第一绕组和所述第二绕组通过电流的相位差为180度；
所述多个第一凸极中的每个第一凸极的两侧分别设置所述多个第二凸极中的对应第二凸极，使得所述第一凸极流出的磁通分流到所述对应第二凸极。
进一步，所述第一凸极的宽度大于所述第二凸极的宽度。
进一步，所述第一凸极的宽度和所述第二凸极的宽度比例关系为：
1.5≤D/d≤2.5；
其中，D为第一凸极的宽度，d为第二凸极的宽度。
进一步，所述马达包括旋转马达或直线马达；或
所述马达包括径向磁通马达或轴向磁通马达。
进一步，所述第一凸极包括第一极柱和位于所述第一极柱的端部的第一端部，所述第一端部远离所述第一极柱的端面形成至少两个第一小齿，相邻两个 所述第一小齿之间形成第一虚槽；所述第二凸极包括第二极柱和位于所述第二极柱的端部的第二端部，所述第二端部远离所述第二极柱的端面形成至少两个第二小齿，相邻两个所述第二小齿之间形成第二虚槽；或
所述第一凸极包括第一极柱和位于所述第一极柱的端部的第一端部；所述第二凸极包括第二极柱和位于所述第二极柱的端部的第二端部；或
所述第一凸极包括第一极柱，所述第二凸极包括第二极柱；或
所述第一凸极包括第一极柱，所述第一极柱的端面形成至少两个第一小齿，相邻两个所述第一小齿之间形成第一虚槽；所述第二凸极包括第二极柱，所述第二极柱的端面形成至少两个第二小齿，相邻两个所述第二小齿之间形成第二虚槽。
进一步，当所述第一凸极包括所述第一虚槽，至少部分所述第一虚槽内设置第一永磁体。
进一步，所述第二凸极包括第二极柱和位于所述第二极柱的端部的第二端部，所述第二端部远离所述第二极柱的端面形成至少两个第二小齿，相邻两个所述第二小齿之间形成第二虚槽；或
所述第二凸极包括第二极柱和位于所述第二极柱的端部的第二端部；或
所述第二凸极包括第二极柱；或
所述第二凸极包括第二极柱，所述第二极柱的端面形成至少两个第二小齿，相邻两个所述第二小齿之间形成第二虚槽。
进一步，当所述第二凸极包括所述第二虚槽，至少部分所述第二虚槽内设置第二永磁体。
本发明第二方面提供一种马达，所述马达包括上面任意一项所述的定子，所述马达还包括动子，所述动子和所述定子之间存在间隙以形成磁隙；
所述动子与所述第一凸极和所述第二凸极对应设置。
进一步，当所述定子包括由所述轭部向一侧延伸的所述多个第一凸极和所述多个第二凸极时，所述动子包括第一动子；或
当所述定子包括由所述轭部向两侧延伸的所述多个第一凸极和所述多个 第二凸极时，所述动子包括第一动子和第二动子。
进一步，当所述定子包括所述第一小齿和所述第二小齿，所述动子对应所述定子的端面形成至少两个第三小齿，相邻两个所述第三小齿之间形成第三虚槽。
本发明第三方面提供一种自动化设备，所述自动化设备包括上面任意一项所述的马达。
采用本发明的定子、马达及自动化设备的技术方案具有如下的有益效果：
1、由于定子在基于形成多个独立的磁力线回路单元的原理下，形成隔绝绕组的方案，使得马达在磁路解耦的情况下，又使得定子铁芯能连接成一整体；因此，即提高了马达的容错性能,又保证了良好的机械性能以及易加工性。
2、由于将第一凸极流出的主磁通分别分流到两侧对应设置的两个第二凸极，可以分别减小定子铁芯和动子铁芯的轭部的厚度，从而即降低马达整体的重量和体积，又同时减小铁耗。
3、由于第一凸极包括第一虚槽，或第二凸极包括第二虚槽，或动子包括第三虚槽，因此通过虚槽的调磁作用，可以提高马达的出力/扭矩。
4、由于定子的第一凸极包括第一虚槽，至少部分第一虚槽内嵌入永磁体；或第二凸极包括第二虚槽，至少部分第二虚槽内嵌入永磁体；或动子包括第三虚槽，至少部分第三虚槽内嵌入永磁体，因此可以提高磁路的磁铁密度，减小齿端漏磁，同时可以组合游标电机的调磁特性，从而提高马达的出力/扭矩。
5、由于同时使得定子的第一凸极包括第一虚槽，第二凸极包括第二虚槽，并且动子包括第三虚槽，在至少部分第一虚槽、第二虚槽和第三虚槽内都设置永磁体，因此采用这样的定子和动子的马达可以进一步提高磁路的磁铁密度，减小齿端漏磁，同时可以组合游标电机的调磁特性，从而提高了轴向磁通马达的扭矩或出力。
6、由于直接在第一双向凸极上缠绕第一绕组，在第二凸极上缠绕第二绕组，采用这种集中绕组的缠绕方式，因此绕组制作简单，端部长度短，减小铜 耗。
7、由于第一凸极的宽度大于第二凸极的宽度，从而使得即满足磁通分流的要求又能更好的减少铁损。
8、由于1.5≤D/d≤2.5；其中，D为第一凸极的宽度，d为第二凸极的宽度，从而进一步使得即满足磁通分流的要求又能更好的减少铁损。
附图说明
为了更清楚地说明本发明实施例技术方案，下面将对实施例和现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它的附图。
图1为本发明提供的旋转马达的定子的实施例的第一结构示意图。
图2为本发明提供的旋转马达的定子的部分结构的实施例的第二结构示意图。
图3为本发明提供的旋转马达的定子的部分结构的实施例的第三结构示意图。
图4为本发明提供的旋转马达的定子的部分结构的实施例的第四结构示意图。
图5为本发明提供的径向磁通旋转马达的实施例的第一结构示意图。
图6为本发明提供的轴向磁通旋转马达展开或轴向磁通线性马达实施例的部分第一结构示意图。
图7为本发明提供的轴向磁通旋转马达展开或轴向磁通线性马达实施例的展开的部分第二结构示意图。
具体实施方式
为了使本领域的人员更好地理解本发明方案，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，所描述的实施例仅仅是本发明一部分的实施例，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 它实施例，都应当属于本发明保护的范围。
本发明提供一种定子、马达及自动化设备，基于单元马达的原理，采用整体的结构设计，从而即提高了马达的可靠性，又易于马达的加工。
图1为本发明提供的径向磁通旋转马达的定子的实施例的第一结构示意图。图2为本发明提供的径向磁通旋转马达的定子的部分结构的实施例的第二结构示意图。图3为本发明提供的径向磁通旋转马达的定子的部分结构的实施例的第三结构示意图。图4为本发明提供的径向磁通旋转马达的定子的部分结构的实施例第四结构示意图。图7为本发明提供的轴向磁通旋转马达展开或轴向磁通线性马达的部分结构的实施例的第二结构示意图。
本发明实施例提供一种定子，该定子可以为各种马达的定子。马达可以根据依据的不同划分为不同种类，比如，以磁通方向为例可以划分为轴向磁通马达、径向磁通马达或混合磁通马达；以马达运动方式可以包括直线马达和旋转马达等等。
如图1-4所示，以径向磁通旋转马达为例，本发明实施例提供一种定子10。该定子10包括定子铁芯11和绕组12。
定子铁芯11包括轭部111和由轭部111的一侧向动子延伸形成多个第一凸极112和多个第二凸极113。需要说明的是，当为轴向磁通马达时，所述轭部的一侧为轭部轴向的一侧，当为径向磁通马达时为径向一侧。除此之外，如图7所示，以轴向磁通马达10为例，也可以从轭部111的两侧分别向两个动子延伸形成多个第一凸极112，112’和多个第二凸极113，113’。下面以轭部的一侧形成第一凸极和第二凸极为例进一步详细说明。
绕组12包括第一绕组121和第二绕组122。
第一凸极112上缠绕第一绕组121；第二凸极113上缠绕第二绕组122；第一绕组121和第二绕组122通过电流的相位差为180度。多个第一凸极中的每个第一凸极的两侧分别设置多个第二凸极中与每个第一凸极对应的对应第二凸极，使得每个第一凸极与其两侧的对应第二凸极形成独立的磁力线T回路单元。
由于直接在第一双向凸极上缠绕第一绕组，在第二凸极上缠绕第二绕组， 采用这种集中绕组的缠绕方式，因此绕组制作简单，端部长度短，减小铜耗。
需要说明的是，每个第一凸极的两侧分别设置对应第二凸极，可以为每个第一凸极112的两侧分别设置一个第二凸极113(如图1-4所示)；除此之外，也可以在每个第一凸极的两侧设置2个以上的任意个数的第二凸极。
需要说明的是，第一凸极可以是大于等于2的任意个；由于每个第一凸极两侧必须至少设置一个第二凸极，因此第二凸极可以是大于等于4的任意个。
以其中一个凸极112及两侧设置的对应第二凸极121为例，由于第一绕组121和第二绕组122通过的电流的相位差为180度，使得第一凸极和对应第二凸极上产生的磁场方向相反，因此，由第一凸极112向两侧流出的磁力线T在两侧对应设置的对应第二凸极113的磁场吸引下分别通过对应第二凸极113再回到第一凸极112(或者只有很少部分的磁力线会流向其它部分)，从而形成由该第一凸极112与对应第二凸极113构成的相对于其它第一凸极和第二凸极独立的磁力线T回路单元,因此，在一个整体马达上，形成了多个由第一凸极和两侧对应的第二凸极构成的多个独立的磁力线T回路单元。
因此采用本发明实施例所述的定子，在基于形成多个独立的磁力线回路单元的原理下，形成隔绝绕组的方案，使得马达在磁路解耦的情况下，又使得定子铁芯能连接成一整体；因此，即提高了马达的容错性能,又保证了良好的机械性能以及易加工性。
另一方面，由于将第一凸极流出的主磁通分别分流到两侧对应设置的两个第二凸极，可以分别减小定子铁芯和动子铁芯的轭部的厚度，从而即降低马达整体的重量和体积，又同时减小铁耗。
需要说明的是，第一凸极跟第二凸极的宽度可以为任意比例关系，在一些实施例中，优选第一凸极的宽度大于第二凸极的宽度。从而使得即满足磁通分流的要求又能更好的减少铁损。
进一步，只要保证第一凸极的宽度大于第二凸极的宽度，第一凸极和第二凸极之间的宽度比例关系可以为任意。在一些优选实施例中，1.5≤D/d≤2.5；其中，D为第一凸极的宽度，d为第二凸极的宽度，从而进一步使得即满足磁通 分流的要求又能更好的减少铁损。
在一些实施例中，所述多个第一凸极可以包括但不限于如下几种形式：
如图1所示，在第一实施例中，所述第一凸极112包括第一极柱1121和位于第一极柱1121的端部的第一端部1122，第一端部1122远离第一极柱1121的端面形成至少两个第一小齿1123，相邻两个第一小齿1123之间形成第一虚槽1124。通过设置第一虚槽，起到调磁作用，从而马达的出力/扭矩。
如图2所示，在第二实施例中，所述第一凸极112包括第一极柱和1121位于第一极柱1121的端部的第一端部1122。
如图3所示，在第三实施例中，第一凸极112包括第一极柱1121。
如图4所示，在第四实施例中，第一凸极112包括第一极柱1121，第一极柱1121的端面形成至少两个第一小齿1123，相邻两个第一小齿1123之间形成第一虚槽1124。通过设置第一虚槽，起到调磁作用，从而马达的出力/扭矩。
需要说明的是，上面实施例所述的第一凸极112的宽度D通常是指第一极柱1121的宽度D，但也可以为第一端部的宽度。
在一些实施例中，所述多个第二凸极可以包括但不限于如下几种形式：
如图1所示，在第一实施例中，采用与第一凸极的第一实施例相同的结构，即第二凸极113包括第二极柱1131和位于第二极柱1131的端部的第二端部1132，第二端部1132远离第二极柱1131的端面形成至少两个第二小齿1133，相邻两个第二小齿1133之间形成第二虚槽1134。通过设置第二虚槽，起到调磁作用，从而马达的出力/扭矩。
如图2所示，在第二实施例中，采用与第一凸极的第二实施例相同的结构，即第二凸极113包括第二极柱1131和和位于第二极柱1131的端部的第二端部1132。
如图3所示，在第三实施例中，采用与第一凸极的第三实施例相同的结构，即第二凸极113包括第二极柱1131。
如图4所示，在第四实施例中，采用与第一凸极的第四实施例相同的结构，即第二凸极113包括第二极柱1131，第二极柱1131的端面形成至少两个第二小 齿1133，相邻两个第二小齿1133之间形成第二虚槽1134。通过设置第二虚槽，起到调磁作用，从而马达的出力/扭矩。
需要说明的是，上面实施例所述的第二凸极112的宽度d通常是指第二极柱1121的宽度d,但也可以为第二端部的宽度。
根据上面各个实施例所述的第一凸极和第二凸极的结构，在一些实施例中，可以第一凸极和第二凸极都采用相同的实施例结构进行组合，比如：第一凸极112和第二凸极113都分别采用上面各自的第一实施例的结构(如图1所示)；在另一些实施例中，也可以第一凸极和第二凸极选择不同实施例的结构进行组合，比如：第一凸极采用第一实施例结构，第二凸极采用第三实施例结构(图未示意出)。
需要说明的是，上面各个实施例中的第一虚槽1124和第二虚槽1134可以为但不限于一端开口的开口槽(如图1-4所示)、闭口槽(开口槽的开口端形成闭合)或半闭口槽(开口槽的开口端半闭合)。
进一步，在一些实施例中，根据上面的实施例所述，当第一凸极包括第一虚槽时，至少部分第一虚槽内镶嵌第一永磁体，优选每个第一虚槽内都设置永磁体(如图1-4所示)。当第二凸极包括第二虚槽时，至少部分第二虚槽内镶嵌第二永磁体，优选每个第二虚槽内设置永磁体。设置永磁体的第一虚槽和/或第二虚槽内可以设置一个永磁体(如图1-4所示)，也可以设置多个永磁体，比如，Halbach阵列永磁体(图未示意出)。由于用上面所述的定子的马达可以提高磁路的磁铁密度，减小齿端漏磁，同时可以组合游标电机的调磁特性，从而提高了马达的扭矩(旋转马达)/出力(直线马达)。
图5为本发明提供的径向磁通旋转马达的实施例的第一结构示意图。图6为本发明提供的轴向磁通旋转马达展开或轴向磁通线性马达实施例的部分第一结构示意图。
本发明还提供一种马达，该马达包括上面任意一个实施例所述的定子和与所述定子的多个第一凸极和多个第二凸极对应设置的动子。
如图5、6所示，在一些实施例中，当马达包括由定子的轭部的一侧形成第 一凸极112和第二凸极113时，则动子包括只在定子单侧对应多个第一凸极112和多个第二凸极113设置的第一动子20，定子10和第一动子20之间存在间隙以形成磁隙。
如图7所示，在另一些实施例中，当定子的轭部向两侧分别形成多个第一凸极112、112’和多个第二凸极113、113’时，则动子包括分别与两侧第一凸极和第二凸极对应的第一动子20和第二动子20’，则第一动子20与对应的多个第一凸极112和多个第二凸极113构成磁力线T回路；第二动子20’与对应的多个第一凸极112’和多个第二凸极113’构成磁力线T’回路。
有关定子的结构参见上面实施例中的描述，在此不再重复赘述。
因此采用本发明实施例的马达，定子在基于形成多个独立的磁力线回路单元的原理下，形成隔绝绕组的方案，使得马达在磁路解耦的情况下，又使得定子铁芯能连接成一整体；因此，即提高了马达的容错性能,又保证了良好的机械性能以及易加工性。
另一方面，由于将第一凸极流出的主磁通分别分流到两侧对应设置的两个第二凸极，可以分别减小定子铁芯和动子铁芯的轭部的厚度，从而即降低马达整体的重量和体积，又同时减小铁耗。
在一些实施例中，如图5、6所示，所述第一动子20对应所述定子10的端面形成至少两个第三小齿21，相邻两个所述第三小齿21之间形成第三虚槽22。通过设置第三虚槽，起到调磁作用，从而提高马达的出力/扭矩。
该第三虚槽22可以为开口槽(如图7所示)、闭口槽或半闭口槽。
进一步，在一些实施例中，多个第三虚槽中可以部分第三虚槽内设置永磁体，也可以每个第三虚槽内设置永磁体；每个第三虚槽内可以设置一个永磁体，也可以设置多个永磁体，比如，Halbach阵列永磁体。
第三虚槽优选与第一虚槽和第二虚槽的大小相对应，但也可以不一致。采用上面所述的动子的马达，可以提高磁路的磁铁密度，减小齿端漏磁，同时可以组合游标电机的调磁特性，从而提高了马达的出力/扭矩。
如图7所示，同理所述第一动子20和第二动子20’对应所述定子10的端面形成至少两个第三小齿21、22’，相邻两个所述第三小齿21、21’之间形成第 三虚槽22、22’。在一些实施例中，至少部分第三虚槽22、22’内设置永磁体。
如图5、6所示，在一些优选实施例中，同时使得定子的第一凸极112包括第一虚槽1124，第二凸极113包括第二虚槽1134，并且动子包括第三虚槽22和/或22’；在至少部分多个第一虚槽1124、第二虚槽1134和第三虚槽22和/或22’内都设置永磁体，采用这样的定子和动子的马达可以进一步提高磁路的磁铁密度减小齿端漏磁，同时可以组合游标电机的调磁特性，从而提高了马达的扭矩或出力。
在一些实施例中，本发明还提供一种自动化设备(图未示意出)，所述自动化设备包括至少一个上面实施例所述的马达。
所述自动化设备可以包括应用在工业、医疗、生活、交通等等各种领域；其中，机器人可以看作是一种高端的自动化设备。
有关马达的相关描述参见上面实施例，在此不再重复赘述。
当一个元件被表述“固定于”、“固定在”另一个元件，它可以直接在另一个元件上、或者其间可以存在一个或多个居中的元件。当一个元件被表述“连接”另一个元件，它可以是直接连接到另一个元件、或者其间可以存在一个或多个居中的元件。本说明书使用的术语“垂直的”、“水平的”、“左”、“右”、“内”、“外”以及类似的表述只是为了说明的目的。
除非另有定义，本说明书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。本说明书中在本发明的说明书中所使用的属于只是为了描述具体的实施方式的目的，不是用于限制本发明。
本文术语中“和/或”，仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如：A和/或B,可以表示单独存在A,同时存在A和B,单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。
本发明的权利要求书和说明书及上述附图中的术语“第一”、“第二”、“第三”等等(如果存在)是用来区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的实施例能够以除了在这里图示或描述的内容以外的顺序实施。此外，术语“包括”“具有”以及他们的任何变形，意图在于覆盖不排他的包含。例如：包括了一系列步骤或者模块的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或者模块，而是包括没有清楚地列出的或对于这些过程、方法、系统、产品或设备固有的其它步骤或模块。
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详细描述的部分，可以参见其它实施例的相关描述。
需要说明的是，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的结构和模块并不一定是本发明所必须的。
以上对本发明实施例所提供的定子、马达及自动化设备进行了详细介绍，但以上实施例的说明只是用于帮助理解本发明的方法及其核心思想，不应理解为对本发明的限制。本技术领域的技术人员，依据本发明的思想，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。

Claims (13)

  1. 一种定子，其特征在于，所述定子包括定子铁芯和绕组；所述定子铁芯包括轭部和由所述轭部向至少一侧延伸的多个第一凸极和多个第二凸极；所述绕组包括第一绕组和第二绕组；
    所述第一凸极上缠绕所述第一绕组；所述第二凸极上缠绕所述第二绕组；
    所述第一绕组和所述第二绕组通过电流的相位差为180度；
    所述多个第一凸极中的每个第一凸极的两侧分别设置所述多个第二凸极中的对应第二凸极，使得所述第一凸极流出的磁通分流到所述对应第二凸极。
  2. 根据权利要求1所述的定子，其特征在于，所述第一凸极的宽度大于所述第二凸极的宽度。
  3. 根据权利要求2所述的定子，其特征在于，所述第一凸极的宽度和所述第二凸极的宽度比例关系为：
    1.5≤D/d≤2.5；
    其中，D为第一凸极的宽度，d为第二凸极的宽度。
  4. 根据权利要求1或2或3所示，其特征在于，所述马达包括旋转马达或直线马达；或
    所述马达包括径向磁通马达或轴向磁通马达。
  5. 根据权利要求1或2或3所述的定子，其特征在于，所述第一凸极包括第一极柱和位于所述第一极柱的端部的第一端部，所述第一端部远离所述第一极柱的端面形成至少两个第一小齿，相邻两个所述第一小齿之间形成第一虚槽；所述第二凸极包括第二极柱和位于所述第二极柱的端部的第二端部，所述第二端部远离所述第二极柱的端面形成至少两个第二小齿，相邻两个所述第二小齿之间形成第二虚槽；或
    所述第一凸极包括第一极柱和位于所述第一极柱的端部的第一端部；所述第二凸极包括第二极柱和位于所述第二极柱的端部的第二端部；或
    所述第一凸极包括第一极柱，所述第二凸极包括第二极柱；或
    所述第一凸极包括第一极柱，所述第一极柱的端面形成至少两个第一小齿，相邻两个所述第一小齿之间形成第一虚槽；所述第二凸极包括第二极柱， 所述第二极柱的端面形成至少两个第二小齿，相邻两个所述第二小齿之间形成第二虚槽。
  6. 根据权利要求5所述的马达，其特征在于，当所述第一凸极包括所述第一虚槽，至少部分所述第一虚槽内设置第一永磁体。
  7. 根据权利要求1所述的定子，其特征在于，所述第二凸极包括第二极柱和位于所述第二极柱的端部的第二端部，所述第二端部远离所述第二极柱的端面形成至少两个第二小齿，相邻两个所述第二小齿之间形成第二虚槽；或
    所述第二凸极包括第二极柱和位于所述第二极柱的端部的第二端部；或
    所述第二凸极包括第二极柱；或
    所述第二凸极包括第二极柱，所述第二极柱的端面形成至少两个第二小齿，相邻两个所述第二小齿之间形成第二虚槽。
  8. 根据权利要求7所述的马达，其特征在于，当所述第二凸极包括所述第二虚槽，至少部分所述第二虚槽内设置第二永磁体。
  9. 一种马达，其特征在于，所述马达包括权利要求1-8任意一项所述的定子，所述马达还包括动子，所述动子和所述定子之间存在间隙以形成磁隙；
    所述动子与所述多个第一凸极和所述多个第二凸极对应设置。
  10. 根据权利要求9所述的马达，其特征在于，当所述定子包括由所述轭部向一侧延伸的所述多个第一凸极和所述多个第二凸极时，所述动子包括第一动子；或
    当所述定子包括由所述轭部向两侧延伸的所述多个第一凸极和所述多个第二凸极时，所述动子包括第一动子和第二动子。
  11. 根据权利要求9或10所述的马达，其特征在于，所述动子对应所述定子的端面形成至少两个第三小齿，相邻两个所述第三小齿之间形成第三虚槽。
  12. 根据权利要求10所述的马达，其特征在于，至少部分所述第三虚槽内设置第三永磁体。
  13. 一种自动化设备，所述自动化设备包括权利要求9-12任意一项所述的马达。
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