CN118199296B - Motor rotor, servo motor and industrial robot - Google Patents
Motor rotor, servo motor and industrial robot Download PDFInfo
- Publication number
- CN118199296B CN118199296B CN202410601789.XA CN202410601789A CN118199296B CN 118199296 B CN118199296 B CN 118199296B CN 202410601789 A CN202410601789 A CN 202410601789A CN 118199296 B CN118199296 B CN 118199296B
- Authority
- CN
- China
- Prior art keywords
- magnetic steel
- sub
- tangential
- radial
- included angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 304
- 239000010959 steel Substances 0.000 claims abstract description 304
- 230000001154 acute effect Effects 0.000 claims abstract description 22
- 238000004804 winding Methods 0.000 claims description 8
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 2
- 230000004907 flux Effects 0.000 abstract description 7
- 230000000694 effects Effects 0.000 description 16
- 238000009826 distribution Methods 0.000 description 10
- 230000005389 magnetism Effects 0.000 description 10
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000009966 trimming Methods 0.000 description 4
- 229910000976 Electrical steel Inorganic materials 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000010030 laminating Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 241001391944 Commicarpus scandens Species 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003475 lamination Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000002356 single layer Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
- H02K1/2706—Inner rotors
- H02K1/272—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis
- H02K1/274—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets
- H02K1/2753—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets the rotor consisting of magnets or groups of magnets arranged with alternating polarity
- H02K1/278—Surface mounted magnets; Inset magnets
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/28—Means for mounting or fastening rotating magnetic parts on to, or to, the rotor structures
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
- H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
- H02K21/14—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures
- H02K21/16—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures having annular armature cores with salient poles
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2201/00—Specific aspects not provided for in the other groups of this subclass relating to the magnetic circuits
- H02K2201/03—Machines characterised by aspects of the air-gap between rotor and stator
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Iron Core Of Rotating Electric Machines (AREA)
Abstract
The invention discloses a motor rotor, a servo motor and an industrial robot, relating to the technical field of motors, wherein the motor rotor comprises a rotor core, radial magnetic steel and tangential magnetic steel, the rotor core is provided with a main shaft hole, the rotor core is provided with a plurality of radial magnetic steel grooves along the circumferential direction at intervals, the radial magnetic steel grooves extend along the radial direction, a tangential magnetic steel groove is arranged between every two adjacent radial magnetic steel grooves, and the tangential magnetic steel groove is arranged on one side of the radial magnetic steel groove close to the main shaft hole. Each tangential magnetic steel groove comprises at least two spaced first sub-grooves, each tangential magnetic steel comprises at least two first sub-magnetic steel, the first sub-magnetic steel is arranged in each first sub-groove, and an included angle between magnetizing directions of every two adjacent first sub-magnetic steel is an acute angle. The invention forms the tangential magnetic steel into the first sub-magnetic steel of a plurality of sections, the first sub-magnetic steel are separated from each other to form a magnetic field, and the magnetizing direction between every two adjacent first sub-magnetic steel presents an acute angle to form magnetic flux concentration, thereby improving the air gap flux density and the power density of the servo motor.
Description
Technical Field
The invention relates to the technical field of motors, in particular to a motor rotor, a servo motor and an industrial robot.
Background
With the development of industrial automation in recent years, more and more production lines adopt industrial robots to complete operations. The driving motor of the industrial robot needs to have the characteristics of high power density, high precision, quick response and the like, in the related technology, the servo motor adopted by the industrial robot generally needs to have higher power density due to the limitation of volume and size, and the key for determining the power density of the motor is the improvement of air gap magnetic density.
In the traditional servo motor, the utilization rate of the magnetic steel is low, the magnetic concentration effect is poor, and the problems of high magnetic steel magnetic leakage and low motor power density exist.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides the motor rotor which can improve the magnetic gathering effect of the magnetic steel and reduce the magnetic leakage, thereby improving the power density of the motor.
The invention also provides a servo motor with the motor rotor.
The invention also provides an industrial robot with the servo motor.
An electric motor rotor according to an embodiment of the first aspect of the present invention includes:
the rotor iron core is provided with a main shaft hole;
The rotor core is provided with a plurality of radial magnetic steel grooves at intervals along the circumferential direction, each radial magnetic steel groove extends along the radial direction of the rotor core, a tangential magnetic steel groove is arranged between every two adjacent radial magnetic steel grooves, and the tangential magnetic steel grooves are arranged on one side, close to the spindle hole, of each radial magnetic steel groove;
The radial magnetic steel is arranged in the radial magnetic steel groove, and the tangential magnetic steel is arranged in the tangential magnetic steel groove;
Each tangential magnetic steel groove comprises at least two first sub-grooves which are spaced apart, each tangential magnetic steel comprises at least two first sub-magnetic steels, one first sub-magnetic steel is arranged in each first sub-groove, and an included angle between magnetizing directions of every two adjacent first sub-magnetic steels is an acute angle.
The motor rotor provided by the embodiment of the invention has at least the following beneficial effects:
The tangential magnetic steel is formed into a plurality of sections of first sub-magnetic steel, the first sub-magnetic steel are mutually separated to form a magnetic field, and the magnetizing direction between every two adjacent first sub-magnetic steel presents an acute angle to form magnetism gathering, so that magnetism leakage is reduced, the utilization rate of the tangential magnetic steel is improved, and the air gap density and the power density of the motor are improved.
According to some embodiments of the present invention, the first sub-slots include three, each of the tangential magnetic steels includes three first sub-magnetic steels, which are respectively a first auxiliary tangential magnetic steel, a main tangential magnetic steel, and a second auxiliary tangential magnetic steel that are sequentially disposed along a circumferential direction, and the first auxiliary tangential magnetic steel, the main tangential magnetic steel, and the second auxiliary tangential magnetic steel are respectively disposed in the corresponding first sub-slots;
The magnetizing direction of the first auxiliary tangential magnetic steel and the magnetizing direction of the main tangential magnetic steel form a first included angle, the magnetizing direction of the second auxiliary tangential magnetic steel and the magnetizing direction of the main tangential magnetic steel form a second included angle, and the first included angle and the second included angle are acute angles.
According to some embodiments of the invention, the first included angle is greater than or equal to 30 degrees and less than or equal to 60 degrees, and/or the second included angle is greater than or equal to 30 degrees and less than or equal to 60 degrees.
According to some embodiments of the invention, each radial magnetic steel comprises at least two second sub-magnetic steels, each radial magnetic steel groove comprises at least two second sub-grooves which are spaced apart, one second sub-magnetic steel is arranged in each second sub-groove, and an included angle formed between magnetizing directions of every two adjacent second sub-magnetic steels is an acute angle.
According to some embodiments of the present invention, the second sub-slots include three, each of the radial magnetic steels includes three second sub-magnetic steels, which are respectively a first auxiliary radial magnetic steel, a main radial magnetic steel, and a second auxiliary radial magnetic steel that are sequentially arranged along a circumferential direction, and the first auxiliary radial magnetic steel, the main radial magnetic steel, and the second auxiliary radial magnetic steel are respectively arranged in the corresponding second sub-slots;
The magnetizing direction of the first auxiliary radial magnetic steel and the magnetizing direction of the main radial magnetic steel form a third included angle, the magnetizing direction of the second auxiliary radial magnetic steel and the magnetizing direction of the main radial magnetic steel form a fourth included angle, and the third included angle and the fourth included angle are acute angles.
According to some embodiments of the invention, the third included angle is greater than or equal to 30 degrees and less than or equal to 60 degrees, and/or the fourth included angle is greater than or equal to 30 degrees and less than or equal to 60 degrees.
According to some embodiments of the invention, the spindle hole includes a spindle mounting hole portion and a stress relief hole portion in communication with the spindle mounting hole portion, the stress relief hole portion being provided at an outer periphery of the spindle mounting hole portion and extending in a radial direction to a side remote from the spindle mounting hole portion.
The servo motor according to the second aspect of the embodiment of the invention comprises a motor stator, a rotating main shaft and the motor rotor described in the above embodiment;
The motor rotor is rotatably arranged in the motor stator, and the rotary main shaft penetrates through the main shaft hole.
The servo motor provided by the embodiment of the invention has at least the following beneficial effects:
The tangential magnetic steel is formed into a plurality of sections of first sub-magnetic steel, the first sub-magnetic steel are mutually separated to form a magnetic field independently, the radial magnetic steel is also formed into a plurality of sections of second sub-magnetic steel, and the magnetizing direction between every two adjacent first sub-magnetic steel presents an acute angle to form magnetism gathering;
The radial magnetic steel also forms a plurality of sections of second sub-magnetic steel, the second sub-magnetic steel are mutually separated to form magnetic fields, and the magnetizing direction between every two adjacent second sub-magnetic steel presents an acute angle, so that the tangential magnetic steel and the radial magnetic steel jointly act, the magnetizing effect of each magnetic pole is improved, the air gap density of the motor is improved, and the power density of the motor is effectively improved;
the stator core is subjected to linear modification while the motor rotor is subjected to magnetic focusing, so that the motor rotor forms a magnetic focusing effect and is combined with linear modification, uneven air gap distribution is formed between the motor stator and the motor rotor, the air gap reluctance is sinusoidal, the counter potential of the servo motor is sinusoidal, and counter potential harmonic waves are reduced.
According to some embodiments of the invention, the motor stator comprises a stator core comprising a plurality of stator internal teeth arranged at intervals along the circumferential direction, the servo motor further comprises windings wound around the stator internal teeth;
all the stator internal teeth are arranged in a surrounding manner to form a stator cavity, the motor rotor is arranged in the stator cavity and along the circumferential direction of the motor rotor, and an uneven air gap is formed between the motor rotor and the stator core;
A plane perpendicular to the axial direction of the rotation main shaft is defined as a reference plane, and orthographic projection of the inner surface of each stator inner tooth facing the stator cavity toward the reference plane is a line segment.
An industrial robot according to an embodiment of the third aspect of the invention comprises a servo motor as described in any of the embodiments above.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The invention is further described with reference to the accompanying drawings and examples, in which:
fig. 1 is a schematic structural view of a motor rotor according to an embodiment of the present invention;
FIG. 2 is a schematic plan view of a motor rotor;
FIG. 3 is a schematic diagram of a process of assembling radial magnetic steel and tangential magnetic steel on a motor rotor;
FIG. 4 is a schematic perspective view of a set of adjacent radial magnetic steels and tangential magnetic steels therebetween in a motor rotor;
FIG. 5 is a schematic view of magnetizing direction structures of partial radial magnetic steel and tangential magnetic steel in a motor rotor;
FIG. 6 is a graph of the local magnetic wire distribution of the motor rotor;
FIG. 7 is a schematic diagram of a servo motor according to an embodiment of the present invention;
FIG. 8 is a schematic perspective view of a motor stator of a servo motor;
Fig. 9 is a schematic plan view of a motor stator of the servo motor.
Reference numerals:
10. A servo motor;
100. a motor rotor;
110. a rotor core; 111. a spindle hole; 1111. a spindle mounting hole portion; 1112. a stress release hole portion; 112. tangential magnetic steel grooves; 1121. a first subslot; 113. radial magnetic steel grooves; 1131. a second subslot;
120. tangential magnetic steel; 121. a first sub-magnetic steel; 1211. a first auxiliary tangential magnetic steel; 1212. a main tangential magnetic steel; 1213. the second auxiliary tangential magnetic steel;
130. Radial magnetic steel; 131. a second sub-magnetic steel; 1311. a first auxiliary radial magnetic steel; 1312. main radial magnetic steel; 1313. the second auxiliary radial magnetic steel;
200. a motor stator; 200a, a stator core; 210. stator internal teeth; 211. a stator cavity;
l, magnetizing direction of the first sub-magnetic steel; o, magnetizing direction of the second sub-magnetic steel;
L 1, magnetizing direction of the first auxiliary tangential magnetic steel; l 2, magnetizing direction of main tangential magnetic steel; l 3, magnetizing direction of the second auxiliary tangential magnetic steel; l 4, magnetizing direction of the first auxiliary radial magnetic steel; l 5, magnetizing direction of main radial magnetic steel; l 6, magnetizing direction of the second auxiliary radial magnetic steel; m 1, axial direction; m 2, circumferential direction; m 3, radial direction;
X, orthographic projection of the outer surface of the motor rotor facing the stator core towards a reference surface; y, orthographic projection of the surface of the inner tooth of the stator facing the stator cavity towards the reference surface;
a. A first included angle; b. a second included angle; c. a third included angle; d. and a fourth included angle.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
In the description of the present invention, it should be understood that the direction or positional relationship indicated with respect to the description of the orientation, such as up, down, etc., is based on the direction or positional relationship shown in the drawings, is merely for convenience of describing the present invention and simplifying the description, and does not indicate or imply that the apparatus or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, plural means two or more. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present invention can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.
In the related technology, with the gradual progress and perfection of the industrial robot technology and the development of industrial automation, the industrial robot is widely applied to various fields such as automobile parts, metal processing, medical instruments, consumption catering, scientific research education and the like by virtue of the man-machine safety of the industrial robot, the labor operation efficiency is improved, and with the adoption of the industrial robot for completing the operation in more and more production lines, the driving motor of the industrial robot needs to have the characteristics of high power density, high precision response speed and the like.
As shown in the background art, the servo motor adopted by the general industrial robot needs to have higher power density due to the limitation of volume and size, and the key for determining the power density of the motor is the improvement of the air gap magnetic density.
Based on this, the application provides a motor rotor 100, which can reduce magnetic steel magnetic leakage and improve the magnetic focusing effect, thereby improving the power density of the motor.
Specifically, referring to fig. 1 to 4, the motor rotor 100 includes a rotor core 110, radial magnetic steels 130 and tangential magnetic steels 120, the rotor core 110 is provided with a main shaft hole 111, the rotor core 110 is provided with a plurality of radial magnetic steel grooves 113 along a circumferential direction M 2 at intervals, each radial magnetic steel groove 113 extends along a radial direction M 3, a tangential magnetic steel groove 112 is provided between every two adjacent radial magnetic steel grooves 113, the tangential magnetic steel groove 112 is provided on one side of the radial magnetic steel groove 113 close to the main shaft hole 111, the radial magnetic steels 130 are provided in the radial magnetic steel grooves 113, and the tangential magnetic steels 120 are provided in the tangential magnetic steel grooves 112.
The rotor core 110 may be formed by laminating a plurality of disc-shaped high-permeability silicon steel sheets, wherein the lamination direction of the plurality of silicon steel sheets is the axial direction M 1 of the rotor core 110, and along the axial direction M 1, a spindle hole 111 is formed in the center of the rotor core 110, so that a rotating spindle of the motor is inserted into the spindle hole 111 and connected with the rotor core 110.
And, on rotor core 110, there is also embedded magnet steel structure (including tangential magnet steel 120 and radial magnet steel 130 in the context), through magnet steel structure production magnetic field for the motor can realize functions such as rotation, production power or electricity generation.
Specifically, the radial magnetic steel grooves 113 are, as the name implies, groove-like structures for loading the magnetic steel structures extending along the radial direction M 3 of the rotor core 110, and the radial magnetic steels 130 are embedded in the radial magnetic steel grooves 113, so that radial magnetic fluxes are formed by embedding a plurality of radial magnetic steel grooves 113 arranged at intervals along the circumferential direction M 2 of the rotor core 110.
Similarly, the tangential magnetic steel grooves 112 are, as the name implies, groove-like structures extending in the tangential direction of the rotor core 110 and provided on the side of the radial magnetic steel grooves 113 close to the spindle hole 111, and the tangential magnetic steels 120 are embedded in the tangential magnetic steel grooves 112, so that the tangential magnetic fluxes are formed by embedding the plurality of tangential magnetic steel grooves 112 provided at intervals along the circumferential direction M 2 of the rotor core 110.
The tangential magnetic steel 120 and the radial magnetic steel 130 are generally made of permanent magnets, and the magnetism of the permanent magnets mainly comes from crystal structures which are easy to magnetize, so that a process of magnetizing a magnetic substance or increasing magnetism of a permanent magnet or an electromagnet with insufficient magnetism is a magnetizing process, and when the tangential magnetic steel 120 and the radial magnetic steel 130 are magnetized, the magnetic steel structures at different positions can be magnetized in different directions according to the magnetic poles.
For example, along the circumferential direction M 2 of the rotor core 110, each adjacent one of the radial magnetic steels 130 and one of the tangential magnetic steels 120 form one magnetic pole, and the adjacent magnetic poles are alternately arranged with two polarities, i.e., N-pole and S-pole.
And, referring to fig. 2 to 5, each tangential magnetic steel groove 112 includes at least two spaced apart first sub-grooves 1121, each tangential magnetic steel 120 includes the same number of first sub-magnetic steels 121 as the first sub-grooves 1121 of the corresponding tangential magnetic steel groove 112, each first sub-groove 1121 is internally provided with one first sub-magnetic steel 121, and an included angle between magnetizing directions L of every two adjacent first sub-magnetic steels 121 is an acute angle.
Specifically, the tangential magnetic steel groove 112 includes at least two first sub-grooves 1121 spaced apart means that, in the tangential direction, one complete tangential magnetic steel groove 112 is divided to form a plurality of first sub-grooves 1121 extending tangentially, and each of the two first sub-grooves 1121 has a portion of the rotor core 110 therebetween as a spacing structure, that is, the first sub-magnetic steel 121 in each first sub-groove 1121 cannot contact with the first sub-magnetic steel 121 in the other first sub-grooves 1121, and the plurality of first sub-magnetic steels 121 are spaced apart, so that each first sub-magnetic steel 121 individually generates a magnetic field.
In addition, at this time, the magnetizing direction L of each first sub-magnetic steel 121 forms an acute angle with the magnetizing direction L of the adjacent first sub-magnetic steel 121, so that the plurality of first sub-magnetic steels 121 act together to generate a magnetic focusing effect, for example, the plurality of first sub-magnetic steels 121 are magnetized along a plurality of radial directions of the rotor core 110, and the plurality of radial directions are all directed to one end far from the spindle hole 111 and intersect two by two to form an acute angle, at this time, the plurality of first sub-magnetic steels 121 act together to generate a magnetic focusing effect.
In this way, the tangential magnetic steel 120 is formed into the first sub-magnetic steel 121 with multiple sections, the first sub-magnetic steels 121 are separated from each other to form a magnetic field, and the magnetizing direction L between every two adjacent first sub-magnetic steels 121 presents an acute angle, so that the magnetic leakage is reduced, the utilization rate of the tangential magnetic steel 120 is improved, and the air gap density and the power density of the motor are improved.
The shape of the first sub-magnetic steel 121 may be a cuboid, a cube, etc., and the sizes of the plurality of first sub-magnetic steels 121 may be the same or different, which will not affect the magnetic focusing effect. As can be appreciated, in the circumferential direction M 2 of the rotor core 110, the distance between every two adjacent tangential magnetic steel grooves 112 is greater than the distance between every two first sub-grooves 1121 in each tangential magnetic steel groove 112, so as to ensure the overall magnetic focusing effect of the tangential magnetic steel 120 formed by the plurality of first sub-magnetic steels 121.
In one embodiment, referring to fig. 4 to 5, the first sub-slots 1121 include three, each tangential magnetic steel 120 includes three first sub-magnetic steels 121, which are respectively a first auxiliary tangential magnetic steel 1211, a main tangential magnetic steel 1212, and a second auxiliary tangential magnetic steel 1213 sequentially disposed along the circumferential direction M 2, and the first auxiliary tangential magnetic steel 1211, the main tangential magnetic steel 1212, and the second auxiliary tangential magnetic steel 1213 are respectively disposed in the corresponding first sub-slots 1121.
The magnetizing direction of the first auxiliary tangential magnetic steel 1211 and the magnetizing direction of the main tangential magnetic steel 1212 form a first included angle, the magnetizing direction of the second auxiliary tangential magnetic steel 1213 and the magnetizing direction of the main tangential magnetic steel 1212 form a second included angle, and the first included angle and the second included angle are acute angles.
Referring to fig. 5, the magnetizing direction of the first auxiliary tangential magnetic steel 1211 is L 1, the magnetizing direction of the main tangential magnetic steel 1212 is L 2, a first included angle a is formed between L 3,L1 and L 2, a second included angle b is formed between L 2 and L 3, the included angle a is greater than 0 and less than 90 degrees, and b is greater than 0 and less than 90 degrees.
In a specific embodiment, L 2 may be the width direction of the primary tangential magnetic steel 1212, so that the primary tangential magnetic steel 1212 is magnetized along the width direction thereof and the primary tangential magnetic steel 1212 plays a role of primary tangential magnetic flux, at this time, the magnetizing directions L 1 of the first auxiliary tangential magnetic steel 1211 and the magnetizing directions L 3 of the second auxiliary tangential magnetic steel 1213 located at two sides thereof are close to each other in the direction L 2, and the primary tangential magnetic steel 1212 is assisted by the first auxiliary tangential magnetic steel 1211 and the second auxiliary tangential magnetic steel 1213, which interact to form a high-concentration magnetic structure.
Specifically, the first included angle a is greater than or equal to 30 degrees and less than or equal to 60 degrees, and/or the second included angle b is greater than or equal to 30 degrees and less than or equal to 60 degrees, as shown in fig. 6, the distribution of magnetic lines of force of the tangential magnetic steel 120 in an embodiment of the present application is provided, and the distribution of magnetic lines of force is relatively uniform and has a large density, so that magnetic leakage is less, and the air gap density of the motor is improved.
In actual operation, the magnetizing directions L 2 of the main tangential magnetic steel 1212 may be first contracted, then the first included angle a and the second included angle b are determined, and then the magnetizing directions L 1 of the first auxiliary tangential magnetic steel 1211 and the magnetizing directions L 3 of the second auxiliary tangential magnetic steel 1213 are determined.
In one embodiment, referring to fig. 4 to 5, each radial magnetic steel 130 includes at least two second sub-magnetic steels 131, each radial magnetic steel groove 113 includes at least two spaced second sub-grooves 1131, each second sub-groove 1131 is provided with one second sub-magnetic steel 131, and an included angle formed between magnetizing directions O of every two adjacent second sub-magnetic steels 131 is an acute angle.
Similarly, each radial magnetic steel groove 113 includes at least two spaced apart second sub-grooves 1131, that is, one complete radial magnetic steel groove 113 is divided into a plurality of second sub-grooves 1131 extending along the radial direction M 3 along the radial direction M 3, and each of the two second sub-grooves 1131 has a part of the rotor core 110 as a spacing structure, that is, the second sub-magnetic steel 131 in each second sub-groove 1131 cannot contact with the second sub-magnetic steel 131 in the other second sub-grooves 1131, and the plurality of second sub-magnetic steels 131 are spaced apart, so that each second sub-magnetic steel 131 individually generates a magnetic field.
In addition, at this time, the magnetizing direction O of each second sub-magnetic steel 131 forms an acute angle with the magnetizing direction O of the adjacent second sub-magnetic steel 131, so that the plurality of second sub-magnetic steels 131 jointly act to generate a magnetic focusing effect, for example, the plurality of second sub-magnetic steels 131 are magnetized along a plurality of tangential directions of the rotor core 110, and the plurality of tangential directions converge two by two to form an acute angle, at this time, the plurality of second sub-magnetic steels 131 jointly act to generate the magnetic focusing effect.
In this way, the tangential magnetic steel 120 is formed into the first sub-magnetic steel 121 with multiple sections, the first sub-magnetic steel 121 are separated from each other to form a magnetic field, the radial magnetic steel 130 is also formed into the second sub-magnetic steel 131 with multiple sections, the second sub-magnetic steels 131 are separated from each other to form a magnetic field, and the magnetizing direction O between every two adjacent second sub-magnetic steels 131 presents an acute angle, so that the tangential magnetic steel 120 and the radial magnetic steel 130 jointly act, the magnetic focusing effect and the air gap density of the motor rotor 100 are improved, and the power density of the motor is improved more effectively.
The shape of the second sub-magnetic steel 131 may be cuboid, cube, etc., and the sizes of the plurality of second sub-magnetic steels 131 may be the same or different, and the sizes of the first sub-magnetic steel 121 and the second sub-magnetic steel 131 may be the same or different, which may not affect the magnetic focusing effect. As can be appreciated, in the circumferential direction M 2 of the rotor core 110, the spacing between every two adjacent first radial magnetic steel grooves 113 is greater than the spacing between every two second sub-grooves 1131 of each radial magnetic steel groove 113 in the radial direction M 3, so as to ensure the magnetism collecting effect of each radial magnetic steel 130 formed by the second sub-magnetic steel 131.
In one embodiment, the second sub-slots 1131 include three, each radial magnet steel 130 includes three second sub-magnet steels 131, which are respectively a first auxiliary radial magnet steel 1311, a main radial magnet steel 1312, and a second auxiliary radial magnet steel 1313 sequentially disposed along the circumferential direction M 2, and the first auxiliary radial magnet steel 1311, the main radial magnet steel 1312, and the second auxiliary radial magnet steel 1313 are respectively disposed in the corresponding second sub-slots 1131.
The magnetizing direction of the first auxiliary radial magnetic steel 1311 and the magnetizing direction of the main radial magnetic steel 1312 form a third included angle, the magnetizing direction of the second auxiliary radial magnetic steel 1313 and the magnetizing direction of the main radial magnetic steel 1312 form a fourth included angle, and the third included angle and the fourth included angle are acute angles.
Referring to fig. 5, the magnetizing direction of the first auxiliary radial magnetic steel 1311 is L 4, the magnetizing direction of the main radial magnetic steel 1312 is L 5, a third included angle c is formed between L 6,L4 and L 5, a fourth included angle d is formed between L 5 and L 6, and the included angle c is greater than 0 and less than 90 degrees, and d is greater than 0 and less than 90 degrees.
In a specific embodiment, L 5 may be the width direction of the main radial magnetic steel 1312, so that the main radial magnetic steel 1312 magnetizes along the width direction thereof and the main radial magnetic steel 1312 plays a role of magnetic flux of the main radial M 3, at this time, the magnetizing directions L 4 of the first auxiliary radial magnetic steel 1311 and the magnetizing directions L 6 of the second auxiliary radial magnetic steel 1313 located at two sides thereof are close to each other in the direction L 5, and the first auxiliary radial magnetic steel 1311 and the second auxiliary radial magnetic steel 1313 assist the main radial magnetic steel 1312 to interact to form a high-concentration magnetic structure.
Specifically, the third included angle c is greater than or equal to 30 degrees and less than or equal to 60 degrees, and/or the fourth included angle d is greater than or equal to 30 degrees and less than or equal to 60 degrees, as shown in fig. 6, the distribution of magnetic lines of force of the radial magnetic steel 130 in an embodiment of the present application is provided, and the distribution of magnetic lines of force is relatively uniform and has a high density, so that magnetic flux leakage is reduced, and air gap density of the motor is improved.
In this way, the radial magnetic steel 130 is segmented to form the second mutually-spaced sub-magnetic steel 131, the tangential magnetic steel 120 is segmented to form the first mutually-spaced sub-magnetic steel 121, the magnetizing directions of the first sub-magnetic steel 121 and the second sub-magnetic steel 131 are limited, the magnetic steel utilization rate is improved, the magnetism gathering effect is good, and the motor power density is high.
In some embodiments, the tangential magnetic steel 120 and the radial magnetic steel 130 in this approach are not limited to a single layer, for example, the first auxiliary tangential magnetic steel 1211 may be stacked in multiple layers along the radial direction M 3, and/or the main tangential magnetic steel 1212 may be stacked in multiple layers along the radial direction M 3, and/or the second auxiliary tangential magnetic steel 1213 may be stacked in multiple layers along the radial direction M 3.
In one embodiment, referring to fig. 2, the spindle hole 111 includes a spindle mounting hole portion 1111 and a stress relief hole portion 1112 in communication with the spindle mounting hole portion 1111, the stress relief hole portion 1112 being provided on an outer periphery of the spindle mounting hole portion 1111 and extending in a radial direction M 3 to a side away from the spindle mounting hole portion 1111.
Specifically, when the rotating spindle is pressed into the spindle hole 111 along the axial direction M 1, if the shape and size of the spindle hole 111 and the rotating spindle are completely adapted, the inner wall of the spindle hole 111 will be completely attached to the outer periphery of the rotating spindle, so that a large friction stress will be generated when the rotating spindle enters the spindle hole 111, the assembly is difficult and laborious, and if a force is imposed at this time, the rotating spindle is easy to break.
Therefore, the main shaft mounting hole 1111 is provided with the stress release hole 1112 which is completely adapted to the shape and size of the rotating main shaft and which communicates with the main shaft mounting hole 1111, so that not only the bonding area between the main shaft mounting hole 1111 and the rotating main shaft can be reduced, but also the stress release hole 1112 can reduce or eliminate part of the stress when the rotating main shaft is pressed into the main shaft hole 111, thereby simplifying and saving labor in assembling the rotating main shaft and the rotor core 110.
In one embodiment, the stress relief hole portion 1112 includes a plurality of stress relief hole portions 1112, and the plurality of stress relief hole portions 1112 are arranged at regular intervals along the circumferential direction M 2 of the spindle mounting hole portion 1111 such that the projection of the boundary line of the spindle hole 111 on the reference plane takes a petal shape.
According to another aspect of the present application, referring to fig. 7 to 9, there is further provided a servo motor 10, including a motor stator 200, a rotating spindle, and the motor rotor 100 in any of the foregoing embodiments, where the motor rotor 100 is rotatably disposed in the motor stator 200, the rotating spindle is disposed through the spindle hole 111, and the servo motor 10 may be a permanent magnet synchronous servo motor or a permanent magnet asynchronous servo motor.
In one embodiment, referring to fig. 8 to 9, the motor stator 200 includes a stator core 200a, the stator core 200a includes a plurality of stator inner teeth 210 disposed at intervals along a circumferential direction M 2, the servo motor 10 further includes windings wound around the stator inner teeth 210, all of the stator inner teeth 210 are surrounded to form a stator cavity 211, the motor rotor 100 is disposed in the stator cavity 211, a reference plane perpendicular to an axial direction M 1 of the rotating main shaft is defined, and an orthographic projection of an inner surface of each stator inner tooth 210 facing the stator cavity 211 toward the reference plane is a line segment (see Y in fig. 9).
The stator internal teeth 210 are formed by cutting grooves in the stator core 200a, and a plurality of windings are wound on the stator internal teeth 210 and positioned in the grooves, and the windings of the motor stator 200 can be distributed windings or centralized windings. If concentrated windings are used, the stator core 200a may be formed as a full-circle punched sheet or a segmented stator core, and the stator core 200a is formed by laminating high-permeability silicon steel sheets.
In addition, the motor rotor 100 is arranged to gather magnetism, and an uneven air gap distribution is formed between the stator core 200a and the motor rotor 100, and the uneven air gap is formed by trimming the stator core 200a in a straight line.
Specifically, the orthographic projection of the outer surface of the motor rotor 100 facing the stator core 200a toward the reference surface may be a circular shape or an arc line (see X in fig. 2) with a center of a plurality of segments approaching, and the surface of each stator inner tooth 210 facing the stator cavity is a flat surface, and the orthographic projection of the surface facing the reference surface is a line segment Y (see fig. 9), so that an uneven air gap distribution is formed between the motor stator 200 and the motor rotor 100, and the air gap is periodically arranged in a gradually increasing, gradually decreasing, gradually increasing, and gradually decreasing manner in the circumferential direction M 2 of the motor rotor 100.
In this way, the motor rotor 100 of the present application forms a magnetism gathering effect, and combines with the straight line trimming through the inner teeth 210 of the stator to form uneven air gap distribution between the motor stator 200 and the motor rotor 100, thereby realizing the sine of air gap magnetic resistance, further realizing the sine of counter potential of the servo motor 10, and reducing counter potential harmonic waves.
It can be appreciated that the uneven air gap distribution of the present application is formed by trimming the stator inner teeth 210 of the stator core 200a, mainly because the motor rotor 100 of the servo motor 10 needs to rotate at a high speed, if the motor rotor 100 is linearly trimmed, the motor rotor 100 is eccentric or the outer circle of the motor rotor 100 is linearly trimmed, which results in unbalanced stress of the motor rotor 100 and affects the smooth operation of the servo motor 10.
In some embodiments, the servo motor 10 of the present application is not limited to the inner rotor motor in the above embodiments, but may be applied to an outer rotor motor, and the present application is not limited herein, so that the stator 200 of the stationary component of the servo motor 10 is subjected to linear trimming to achieve the sine of the air gap reluctance.
According to a third aspect of the present application, there is further provided an industrial robot, including the servo motor 10 in any of the above embodiments, where the servo motor 10 controls a joint of the industrial robot, which needs to perform fine displacement control and speed control, through advantages of good stability, fast response speed, and the like, and the servo motor 10 may also be used as a force control component in the industrial robot to implement control of contact force control, friction force control, and the like of the industrial robot.
Thus, the industrial robot provided by the application has the advantages that the servo motor 10 can realize small volume and high power density, the operation accuracy of the industrial robot is effectively improved, and the industrial robot is miniaturized.
The present invention is not limited to the above-described embodiments, and various changes may be made without departing from the spirit of the invention within the knowledge of one of ordinary skill in the art.
Claims (7)
1. An electric motor rotor, comprising:
the rotor iron core is provided with a main shaft hole;
The rotor core is provided with a plurality of radial magnetic steel grooves at intervals along the circumferential direction, each radial magnetic steel groove extends along the radial direction of the rotor core, a tangential magnetic steel groove is arranged between every two adjacent radial magnetic steel grooves, and the tangential magnetic steel grooves are arranged on one side, close to the spindle hole, of each radial magnetic steel groove;
The radial magnetic steel is arranged in the radial magnetic steel groove, and the tangential magnetic steel is arranged in the tangential magnetic steel groove;
Each tangential magnetic steel groove comprises at least two first sub-grooves which are spaced apart, each tangential magnetic steel comprises first sub-magnetic steel which is the same as the first sub-grooves of the corresponding tangential magnetic steel grooves in number, one first sub-magnetic steel is arranged in each first sub-groove, and an included angle between magnetizing directions of every two adjacent first sub-magnetic steel is an acute angle;
Each radial magnetic steel comprises at least three second sub-magnetic steels, namely a first auxiliary radial magnetic steel, a main radial magnetic steel and a second auxiliary radial magnetic steel which are sequentially arranged along the circumferential direction, each radial magnetic steel groove comprises at least three second sub-grooves which are spaced apart, the first auxiliary radial magnetic steel, the main radial magnetic steel and the second auxiliary radial magnetic steel are respectively arranged in the corresponding second sub-grooves, the magnetizing direction of the first auxiliary radial magnetic steel and the magnetizing direction of the main radial magnetic steel form a third included angle, the magnetizing direction of the second auxiliary radial magnetic steel and the magnetizing direction of the main radial magnetic steel form a fourth included angle, the third included angle and the fourth included angle are acute angles, and the third included angle is more than or equal to 30 degrees and less than or equal to 60 degrees, and/or the fourth included angle is more than or equal to 30 degrees and less than or equal to 60 degrees.
2. The motor rotor according to claim 1, wherein the first sub-slots include three, each of the tangential magnetic steels includes three first sub-magnetic steels, which are respectively a first auxiliary tangential magnetic steel, a main tangential magnetic steel and a second auxiliary tangential magnetic steel that are sequentially arranged along a circumferential direction, and the first auxiliary tangential magnetic steel, the main tangential magnetic steel and the second auxiliary tangential magnetic steel are respectively arranged in the corresponding first sub-slots;
The magnetizing direction of the first auxiliary tangential magnetic steel and the magnetizing direction of the main tangential magnetic steel form a first included angle, the magnetizing direction of the second auxiliary tangential magnetic steel and the magnetizing direction of the main tangential magnetic steel form a second included angle, and the first included angle and the second included angle are acute angles.
3. The electric machine rotor according to claim 2, characterized in that the first included angle satisfies 30 degrees or more and 60 degrees or less, and/or the second included angle satisfies 30 degrees or more and 60 degrees or less.
4. The motor rotor according to claim 1, wherein the spindle hole includes a spindle mounting hole portion and a stress relief hole portion communicating with the spindle mounting hole portion, the stress relief hole portion being provided at an outer periphery of the spindle mounting hole portion and extending in a radial direction to a side away from the spindle mounting hole portion.
5. A servo motor comprising a motor stator, a rotating main shaft and the motor rotor according to any one of claims 1 to 4;
The motor rotor is rotatably arranged in the motor stator, and the rotary main shaft penetrates through the main shaft hole.
6. The servo motor of claim 5 wherein the motor stator comprises a stator core including a plurality of circumferentially spaced stator teeth, the servo motor further comprising windings wound around the stator teeth;
all the stator internal teeth are arranged in a surrounding manner to form a stator cavity, the motor rotor is arranged in the stator cavity and along the circumferential direction of the motor rotor, and an uneven air gap is formed between the motor rotor and the stator core;
A plane perpendicular to the axial direction of the rotation main shaft is defined as a reference plane, and orthographic projection of the inner surface of each stator inner tooth facing the stator cavity toward the reference plane is a line segment.
7. An industrial robot comprising a servomotor according to claim 5 or 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410601789.XA CN118199296B (en) | 2024-05-15 | 2024-05-15 | Motor rotor, servo motor and industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410601789.XA CN118199296B (en) | 2024-05-15 | 2024-05-15 | Motor rotor, servo motor and industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN118199296A CN118199296A (en) | 2024-06-14 |
| CN118199296B true CN118199296B (en) | 2024-08-06 |
Family
ID=91412567
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410601789.XA Active CN118199296B (en) | 2024-05-15 | 2024-05-15 | Motor rotor, servo motor and industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118199296B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103703523A (en) * | 2011-04-13 | 2014-04-02 | 巨石风力股份有限公司 | Flux concentrating structure for permanent magnets, method of manufacturing such a structure and machine comprising such a structure |
| CN104485762A (en) * | 2014-11-18 | 2015-04-01 | 珠海格力节能环保制冷技术研究中心有限公司 | Rotor of permanent magnet synchronous motor and permanent magnet synchronous motor provided with same |
| CN112119572A (en) * | 2018-03-09 | 2020-12-22 | 日产自动车株式会社 | Rotor of rotating electrical machine and rotor core support structure of rotating electrical machine |
| CN116827015A (en) * | 2023-06-30 | 2023-09-29 | 苏州汇川技术有限公司 | Motor rotor and motor |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020196609A1 (en) * | 2019-03-28 | 2020-10-01 | ダイキン工業株式会社 | Rotor, and rotary electric machine |
-
2024
- 2024-05-15 CN CN202410601789.XA patent/CN118199296B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103703523A (en) * | 2011-04-13 | 2014-04-02 | 巨石风力股份有限公司 | Flux concentrating structure for permanent magnets, method of manufacturing such a structure and machine comprising such a structure |
| CN104485762A (en) * | 2014-11-18 | 2015-04-01 | 珠海格力节能环保制冷技术研究中心有限公司 | Rotor of permanent magnet synchronous motor and permanent magnet synchronous motor provided with same |
| CN112119572A (en) * | 2018-03-09 | 2020-12-22 | 日产自动车株式会社 | Rotor of rotating electrical machine and rotor core support structure of rotating electrical machine |
| CN116827015A (en) * | 2023-06-30 | 2023-09-29 | 苏州汇川技术有限公司 | Motor rotor and motor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN118199296A (en) | 2024-06-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10554082B2 (en) | Axial gap type rotating machine | |
| US20090152959A1 (en) | Secondary part of a linear drive | |
| WO2015104956A1 (en) | Rotary electric machine | |
| EP0230605A1 (en) | Stepping motor | |
| CN101478210A (en) | Asymmetric groove shaped permanent synchronizing motor | |
| CN205070637U (en) | Electric motor rotor reaches motor including this electric motor rotor | |
| CN118199296B (en) | Motor rotor, servo motor and industrial robot | |
| CN110266124A (en) | Stator core and motor | |
| CN103222166B (en) | A kind of three-phase permanent-magnetic servo | |
| CN210093089U (en) | A permanent magnet joint direct drive motor with hall plate assembly | |
| CN107834732A (en) | A kind of highly effective permanent-magnet motor rotor core | |
| CN213521423U (en) | Motors, machine tools | |
| CN110266123A (en) | Stator and motor | |
| CN110266125A (en) | Stator core and motor | |
| CN112953063B (en) | Five-phase motor for servo system | |
| CN116094214A (en) | Rotor structure and motor | |
| CN114709948A (en) | High-power-density permanent magnet torque motor and design method thereof | |
| CN103187843A (en) | Halbach permanent magnet synchronous servo motor | |
| CN114977705A (en) | Primary and secondary dual permanent magnet type two degrees of freedom flux reversal motor | |
| CN202586687U (en) | A Halbach permanent magnetic synchronous servo motor | |
| JP2023042025A (en) | rotor | |
| CN202503416U (en) | Concentration winding Permanent Magnet Synchronous Motor | |
| CN207719912U (en) | A kind of servo motor rotor | |
| CN102124627B (en) | Large-diameter square-wave three-phase brushless DC motor and its assembly method | |
| CN118199297B (en) | Motor rotor, servo motor and industrial robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |