CN113964975A - Rotor core, rotor, motor and robot - Google Patents
Rotor core, rotor, motor and robot Download PDFInfo
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- CN113964975A CN113964975A CN202111374605.3A CN202111374605A CN113964975A CN 113964975 A CN113964975 A CN 113964975A CN 202111374605 A CN202111374605 A CN 202111374605A CN 113964975 A CN113964975 A CN 113964975A
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- 230000005291 magnetic effect Effects 0.000 claims abstract description 233
- 238000004080 punching Methods 0.000 claims abstract description 147
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 9
- 238000003475 lamination Methods 0.000 claims description 6
- 230000004907 flux Effects 0.000 abstract description 8
- 230000000694 effects Effects 0.000 description 19
- 238000012545 processing Methods 0.000 description 10
- 238000013461 design Methods 0.000 description 8
- 239000000463 material Substances 0.000 description 8
- 238000000034 method Methods 0.000 description 8
- 230000009286 beneficial effect Effects 0.000 description 6
- 230000011218 segmentation Effects 0.000 description 6
- 230000004323 axial length Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
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- 238000004026 adhesive bonding Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 230000003313 weakening effect Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000010030 laminating Methods 0.000 description 2
- 239000000696 magnetic material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 229910000976 Electrical steel Inorganic materials 0.000 description 1
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- 238000009826 distribution Methods 0.000 description 1
- 239000003822 epoxy resin Substances 0.000 description 1
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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
- H02K1/22—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
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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
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/28—Means for mounting or fastening rotating magnetic parts on to, or to, the rotor structures
- H02K1/30—Means for mounting or fastening rotating magnetic parts on to, or to, the rotor structures using intermediate parts, e.g. spiders
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/003—Couplings; Details of shafts
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- 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
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Iron Core Of Rotating Electric Machines (AREA)
Abstract
The invention provides a rotor core, a rotor, a motor and a robot, wherein the rotor core comprises: the outer side wall of the first rotor punching sheet is provided with a groove structure; and the first rotor punching sheet and the second rotor punching sheet are overlapped in a staggered manner. The arrangement of the groove structure can reduce magnetic flux leakage between the magnetic poles. The cogging torque is reduced, the torque fluctuation rate is reduced, and the accurate control capability of the high-performance servo motor is improved. The rotor core provided by the invention comprises rotor punching sheets with two structures, namely a first rotor punching sheet and a second rotor punching sheet, wherein the first rotor punching sheet and the second rotor punching sheet are arranged in a staggered and laminated manner to form the rotor core; wherein, be provided with groove structure on the lateral wall of first rotor punching, groove structure's setting can reduce the magnetic leakage, and then reduces the tooth's socket torque, reduces the torque ripple rate, promotes the accurate control ability of motor.
Description
Technical Field
The invention relates to the technical field of motors, in particular to a rotor core, a rotor, a motor and a robot.
Background
In the related art, permanent magnet servo motors are increasingly widely used in high-performance speed and position systems. In order to ensure the control precision, how to reduce the cogging torque and the torque fluctuation rate is an urgent problem to be solved in the design of a high-performance permanent magnet servo motor.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art or the related art.
To this end, a first aspect of the invention proposes a rotor core.
A second aspect of the invention proposes a rotor.
A third aspect of the invention provides an electric machine.
A fourth aspect of the invention proposes a robot.
In view of this, a first aspect of the present invention proposes a rotor core including: the outer side wall of the first rotor punching sheet is provided with a groove structure; and the first rotor punching sheet and the second rotor punching sheet are overlapped in a staggered manner.
The rotor core provided by the invention comprises rotor punching sheets with two structures, namely a first rotor punching sheet and a second rotor punching sheet, wherein the first rotor punching sheet and the second rotor punching sheet are arranged in a staggered and laminated manner to form the rotor core; wherein, be provided with groove structure on the lateral wall of first rotor punching, groove structure's setting can reduce the magnetic leakage, and then reduces the tooth's socket torque, reduces the torque ripple rate, promotes the accurate control ability of motor.
In addition, the rotor core in the above embodiment provided by the present invention may further have the following additional technical features:
in above-mentioned technical scheme, the second rotor punching includes: the protruding structure is arranged on the outer side wall of the second rotor punching sheet.
In the technical scheme, the convex structures are arranged on the outer side wall of the second rotor punching sheet, on one hand, the axially adjacent continuous convex structures can play a role in circumferentially positioning the magnetic part, and the circumferential position of the magnetic part is accurately positioned. On the other hand, the outer side wall of the second rotor punching sheet is provided with the protruding structure, so that magnetic leakage among magnetic poles can be reduced, cogging torque is reduced, torque fluctuation rate is reduced, and accurate control capability of the motor is improved.
In any one of the above technical solutions, the groove structure is disposed between the poles of the first rotor sheet; the protruding structure is arranged at the interpolar position of the second rotor punching sheet.
In the technical scheme, the arrangement positions of the groove structure of the first rotor punching sheet and the projection structure of the second rotor punching sheet are further limited, and the groove structure of the first rotor punching sheet and the projection structure of the second rotor punching sheet are both positioned at the inter-pole position of the rotor punching sheets, wherein the inter-pole position refers to the position between two adjacent magnetic poles. The groove structure and the protruding structure are arranged between poles of the rotor punching sheet, on one hand, the groove structure is arranged between the poles, and the magnetic leakage between the poles is reduced. On the one hand, the salient structures are arranged at the interpolar positions, the effect of accurately positioning the circumferential direction of the magnetic piece is achieved, magnetic leakage between the magnetic poles can be reduced, tooth space torque is reduced, torque fluctuation rate is reduced, and the accurate control capacity of the motor is improved.
In any one of the above technical solutions, the number of the first rotor punching sheets is multiple, the number of the second rotor punching sheets is multiple, and the multiple second rotor punching sheets and the multiple first rotor punching sheets are stacked in a staggered manner.
In the technical scheme, the rotor punching sheet comprises a plurality of first rotor punching sheets and a plurality of second rotor punching sheets, and the plurality of first rotor punching sheets and the plurality of second rotor punching sheets are arranged in a staggered and laminated mode; the outer side walls of the first rotor punching sheets are provided with groove structures, and continuous grooves can be formed after the first rotor punching sheets are aligned and stacked, so that the effect of reducing magnetic leakage among magnetic poles can be better exerted; a plurality of second rotor punching align to form continuous protruding structure after the superpose, promote the location effect, reduce the magnetic leakage between the magnetic pole, reduce the tooth's socket torque simultaneously, reduce the torque ripple rate, promote the accurate control ability of motor.
In any one of the above technical solutions, the number of the first rotor sheets is greater than the number of the second rotor sheets.
In the technical scheme, the number of the first rotor punching sheets is set to be more than that of the second rotor punching sheets, so that the functions of the first rotor punching sheets and the second rotor punching sheets are separated, and a relatively small number of second rotor punching sheets are mainly responsible for positioning magnetic parts; the first rotor punching sheet with a large number of relative magnetic poles can better play the role of reducing magnetic leakage among the magnetic poles while separating the magnetic poles, better reduce the cogging torque, reduce the torque fluctuation rate and improve the accurate control capability of the motor.
In any of the above technical solutions, the stacking order and the corresponding number of the first rotor punching sheet and the second rotor punching sheet are sequentially: the rotor punching sheet comprises x first rotor punching sheets, y second rotor punching sheets, z first rotor punching sheets, y second rotor punching sheets and x first rotor punching sheets; wherein, the values of x, y and z satisfy the following conditions: z is more than y and more than x, y and z are all positive integers which are more than zero.
In the technical scheme, the first rotor punching sheet (x sheets), the second rotor punching sheet (y sheets), the first rotor punching sheet (z sheets), the second rotor punching sheet (y sheets) and the first rotor punching sheet (x sheets), wherein the total amount of the first rotor punching sheet is greater than that of the second rotor punching sheet, and a better effect of reducing magnetic leakage can be achieved by arranging more first rotor punching sheets. Through superpose first rotor punching and second rotor punching according to the superpose order, through the design of the groove structure of interelectrode of first rotor punching, reduced interelectrode magnetic leakage, a small amount of second rotor punching has played the effect to the circumference accurate positioning of magnetic part in rotor core, also reduces interelectrode magnetic leakage simultaneously.
A second aspect of the present invention provides a rotor, including at least two segments of rotor cores according to any one of the above technical solutions, where the at least two segments of rotor cores are stacked; and the adjacent two sections of rotor iron cores in the at least two sections of rotor iron cores are partially overlapped along the axial direction of the rotor.
The rotor provided by the application comprises at least two sections of rotor cores according to any one of the technical schemes, wherein the at least two sections of rotor cores are overlapped, and the two sections of rotor cores adjacent to each other in the axial direction of the rotor are partially overlapped. Through setting up multistage rotor core, and every section rotor core all includes first rotor towards piece and the second rotor towards piece of crisscross superpose, wherein, is provided with groove structure on the lateral wall towards the piece, and groove structure's setting can reduce the magnetic leakage between the magnetic poles, and then reduces the tooth's socket torque, reduces the torque ripple rate, promotes the accurate controllability of motor. Furthermore, the adjacent two sections of rotor cores are partially overlapped to obtain the rotor with the segmented oblique poles, so that the phases of the tooth harmonic waves and the tooth space force waves of the rotor cores of all the sections are different and are mutually offset when being overlapped, and the weakening effect is achieved.
In the above technical solution, the method further comprises: the magnetic part is arranged on the rotor core and positioned between the two adjacent protruding structures; and two magnetic pieces with the same polarity corresponding to two adjacent sections of rotor cores are partially overlapped along the axial direction of the rotor.
In the technical scheme, the magnetic pieces are further arranged on the rotor core, magnetic poles can be formed between the adjacent magnetic pieces, the groove structures of the first rotor punching pieces and the protruding structures of the second rotor punching pieces are arranged between the magnetic poles, the effect of reducing magnetic leakage between the magnetic poles is achieved, the cogging torque is better reduced, the torque fluctuation rate is reduced, and the accurate control capacity of the motor is improved.
In any of the above technical solutions, the method further includes: the two opposite side surfaces of the magnetic part are connected with the protruding structures positioned on the two sides of the magnetic part; and the length of the magnetic part is the same as that of the rotor iron core along the axial direction of the rotor.
In this technical scheme, two relative sides of magnetic part are connected with the protruding structure of second rotor punching, and its main effect of the protruding structure of second rotor punching is just for the magnetic part fixes a position, has guaranteed that the magnetic part can laminate with rotor core in the position that predetermines, sets up the axial length of magnetic part and rotor core's axial length simultaneously to the same to realize the matching of magnetic part and rotor core, and then reach best magnetic effect.
In any of the above technical solutions, the two opposite side surfaces of the magnetic member are arranged in parallel with each other.
In the technical scheme, the two opposite side surfaces of the magnetic part are arranged in parallel, the structure with the parallel side surfaces is regular and attractive, the magnetic part is easy to assemble with other parts, and the magnetic field formed by the magnetic part is very stable due to the simple processing.
In any of the above technical solutions, on the cross section of the rotor, a bisector of the magnetic member in the length direction is parallel to both side edges of the magnetic member.
In the technical scheme, the rotor is sectioned along the direction vertical to the axis of the rotor, on the cross section of the obtained rotor, the middle dividing line in the length direction of the magnetic part is parallel to the two side edges of the magnetic part, and the two side surfaces of the magnetic part connected with the protruding structures are arranged into structures which are parallel to the middle dividing line of the magnetic part, so that the magnetic part is convenient to process and assemble; on one hand, the magnetic part is arranged in a parallel structure, so that materials required for processing the magnetic part can be saved, and the production cost is reduced.
In any of the above aspects, the magnetic member includes: the first surface is connected with the rotor iron core; a second surface disposed opposite the first surface; the first surface and the second surface are cambered surfaces with the same circle center.
In the technical scheme, the position and the structure of the magnetic part are further limited; the magnetic part comprises a first surface and a second surface, and the first surface and the second surface are arranged into concentric cambered surfaces; wherein, first surface and rotor core are connected, and first surface adopts the setting of arcwall face can be fine assurance first surface and rotor core laminate mutually, and the resistance when the second surface arcwall face sets up can reduce the rotation. Furthermore, through carrying out the uniform thickness design on the magnetic part, the inner diameter and the outer diameter are set to be concentric arc surfaces, so that the material waste is reduced, and the processing cost is reduced.
In any of the above technical solutions, at least two sections of rotor cores have the same structure; and/or the number of rotor cores is odd.
In this solution, the rotor arrangement can be in three cases: the magnetic part comprises at least two sections of rotor cores with the same structure, and the rotor cores with the same structure can be adopted to accurately position the circumferential position of the magnetic part and reduce interpolar magnetic flux leakage; secondly, the number of the rotor iron cores is odd number sections; and thirdly, at least two sections of rotor cores with the same structure are provided, and the number of the rotor cores is odd number sections, namely, the number of the rotor cores with the same structure can be 3, 5, 7 and the like, and a better pole-slanting effect is achieved by carrying out segmented pole-slanting according to the odd number sections.
In any one of the above technical solutions, two adjacent segments of the rotor core include: the first rotor core is correspondingly provided with a first magnetic piece; the first rotor core is correspondingly provided with a second magnetic part, the polarities of the first magnetic part and the second magnetic part are the same, and the first magnetic part and the second magnetic part are partially overlapped along the axial direction of the rotor; the connecting line of the middle point of the length of the first magnetic part and the circle center of the corresponding first rotor punching sheet is a first connecting line along the circumferential direction of the rotor; a connecting line between the middle point of the length of the second magnetic piece and the circle center of the corresponding first rotor punching sheet is a second connecting line; along the axial projection of the rotor, a first angle is formed between the first connecting line and the second connecting line in the projection plane.
In this technical scheme, set for first rotor core and second rotor core respectively with two sections adjacent rotor cores, correspond on the first rotor core and be provided with first magnetic part, correspond on the second rotor core and be provided with second magnetic part, the polarity of first magnetic part and second magnetic part is the same, and along the axial of rotor, first magnetic part and second magnetic part overlap, promptly, along the circumference of rotor, stagger first angle between first magnetic part and the second magnetic part. Specifically, a connecting line of a midpoint of a corresponding length of the first magnetic part along the circumferential direction of the rotor and a circle center of the corresponding first rotor sheet is a first connecting line, and a connecting line of a midpoint of a corresponding length of the second magnetic part along the circumferential direction of the rotor and a circle center of the corresponding first rotor sheet is a second connecting line; and projecting the first connecting line and the second connecting line along the axial direction of the rotor, wherein an angle formed between the first connecting line and the second connecting line on the projection surface is a first angle.
The two adjacent rotor cores are completely aligned in the axial direction, the axial projections of the two adjacent rotor cores are overlapped, then one of the two adjacent rotor cores rotates by a first angle by taking the mounting shaft as the center, the first angle is set as the first angle, and the first magnetic part on the first rotor core and the second magnetic part on the second rotor core are staggered by the first angle after the rotor cores rotate.
Through carrying out the oblique utmost point setting of segmentation with first rotor core and second rotor core, and then make the magnetic pole skew in whole rotor axial, can effectually reduce the tooth's socket torque, reduce the torque fluctuation rate, promote high performance servo motor's accurate control ability.
In any of the above technical solutions, two magnetic members corresponding to two adjacent sections of the at least two sections of rotor cores are sequentially staggered by a first angle along the same direction; wherein the same direction includes a clockwise direction or a counterclockwise direction in the circumferential direction of the rotor.
In the technical scheme, two magnetic pieces corresponding to two adjacent sections of rotor cores in at least two sections of rotor cores are sequentially staggered by a first angle along the same direction; the same direction may be clockwise or counterclockwise, but the same direction must be ensured. And then at least two sections of rotor cores are sequentially arranged in a staggered manner to obtain the rotor with the segmented oblique poles.
Specifically, when there is three sections rotor core, the second section is in the middle, and rotor core that corresponds as first section is motionless, and when the rotor core of second section staggers first angle along clockwise, the rotor core of third end then need stagger first angle along clockwise again for the rotor core of second section, forms the rotor structure of the segmentation oblique utmost point that this application was injectd. The cogging torque can be effectively reduced, the torque fluctuation rate is reduced, and the accurate control capability of the high-performance servo motor is improved.
In any of the above solutions, the skew angle of the rotor
Wherein d is the denominator of the true fraction of the number of slots of each phase of each pole of the motor, and Z is the number of slots of the motor; the number of rotor cores is Nr segments, and the first angle is equal to the ratio of the skew angle to Nr.
In this solution, a first angle is defined, wherein the first angle is equal to the ratio of the skew angle to Nr. Nr is the number of the rotor cores, namely the rotor comprises the rotor cores with Nr sections; skew angle of rotor
Wherein d is the denominator of the true fraction of the number of slots of each phase of each pole of the motor, and Z is the number of slots of the motor. Confirm the staggered angle of adjacent two sections rotor cores in this application through turning round the oblique angle, and then produce the processing according to the first angle that staggers in order to obtain the rotor limited in this application.
In any of the above technical solutions, the method further includes: the rotating shaft, at least two sections of rotor cores set up in proper order in the rotating shaft, be interference fit between at least two sections of rotor cores and the rotating shaft.
In the technical scheme, the rotor comprises a rotating shaft, at least two sections of adjacent rotor cores are sequentially arranged on the rotating shaft, and the rotor cores and the rotating shaft are in interference fit.
Through the structural design of interference, can guarantee that rotor core and pivot assembly back structure is very stable, guarantees that the connection of pivot and rotor core is in the state of fastening, reduces the relative rotation after pivot and rotor core assembly as far as, makes the structural design of segmentation oblique utmost point keep for a long time, can effectually reduce the tooth's socket torque, reduces the torque fluctuation rate, promotes high performance servo motor's accurate control ability.
A third aspect of the invention proposes an electric machine comprising: the rotor core of any one of the above technical solutions; or a rotor according to any of the above-mentioned technical solutions.
The motor provided by the invention comprises the rotor core or the rotor, and the rotor core provided by the first aspect of the invention or the rotor provided by the second aspect of the invention is included, so that the motor has all the beneficial effects of the rotor core or the rotor, can effectively reduce the cogging torque, reduce the torque fluctuation rate and improve the accurate control capability of the high-performance servo motor.
A fourth aspect of the invention provides a robot comprising a motor according to any of the above aspects.
The robot provided by the invention comprises the motor provided by the third aspect of the invention, so that the robot has all the beneficial effects of the motor, can effectively reduce the cogging torque, reduce the torque fluctuation rate and improve the accurate control capability of the high-performance servo motor.
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 above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 shows a schematic structural view of a rotor core of one embodiment of the present invention;
fig. 2 shows a schematic structural diagram of the first rotor sheet in the embodiment shown in fig. 1;
FIG. 3 is a schematic structural diagram of a second rotor sheet in the embodiment of FIG. 1;
FIG. 4 shows a schematic structural view of a rotor of one embodiment of the present invention;
FIG. 5 shows a schematic structural view of the magnetic member in the embodiment of FIG. 4;
FIG. 6 shows a front view of the magnetic member of the embodiment of FIG. 5;
fig. 7 is a schematic diagram showing the distribution structure of two magnetic members corresponding to two adjacent rotor cores in the embodiment shown in fig. 4;
FIG. 8 is a schematic structural view of the rotating shaft in the embodiment shown in FIG. 4;
FIG. 9 is a graph illustrating test results of cogging torque for a motor in accordance with an embodiment of the present invention;
FIG. 10 is a schematic illustrating torque ripple rates corresponding to an electric machine according to an embodiment of the present invention;
wherein, the correspondence between the reference numbers and the component names in fig. 1 to 10 is:
the rotor comprises a 10-rotor iron core, 100 first rotor punching sheets, 102 groove structures, 104 second rotor punching sheets and 106 protruding structures; 20 rotor, 200 magnetic element, 202 first surface, 204 second surface; 12 a first rotor core, 122 a first magnetic member, 14 a second rotor core, 142 a second magnetic member; 30 rotating shaft.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
A rotor core 10, a rotor 20, a motor, and a robot according to some embodiments of the present invention are described below with reference to fig. 1 to 10.
Example 1:
as shown in fig. 1, fig. 2 and fig. 3, an embodiment of the first aspect of the present invention provides a rotor core 10 including first and second rotor sheets 100 and 104, where the first and second rotor sheets 100 and 104 are stacked in an interleaving manner.
Further, as shown in fig. 1 and 2, an outer side wall of the first rotor sheet 100 is provided with a groove structure 102.
The rotor core 10 provided by the invention comprises rotor punching sheets with two structures, namely a first rotor punching sheet 100 and a second rotor punching sheet 104, wherein the first rotor punching sheet 100 and the second rotor punching sheet 104 are arranged in a staggered and laminated mode to form the rotor core 10; the groove structure 102 is arranged on the outer side wall of the first rotor punching sheet 100, and the arrangement of the groove structure 102 can reduce magnetic leakage, so that the cogging torque is reduced, the torque fluctuation rate is reduced, and the accurate control capability of the high-performance servo motor is improved.
Specifically, the material and structure of the multi-rotor punching directly affect the performance of the rotor of the motor, wherein the rotor punching can be made of silicon steel, and has the characteristics of high magnetic permeability, low coercive force, large resistance coefficient and the like, so that the hysteresis loss and the eddy current loss are small.
Example 2:
the present invention provides a rotor core 10 in one embodiment, as shown in fig. 1, the rotor core 10 includes a first rotor punching sheet 100 and a second rotor punching sheet 104, and the first rotor punching sheet 100 and the second rotor punching sheet 104 are stacked in an interleaving manner.
Further, as shown in fig. 2, an outer side wall of the first rotor sheet 100 is provided with a groove structure 102. As shown in fig. 3, an outer side wall of the second rotor sheet 104 is provided with a convex structure 106.
The rotor core 10 provided in this embodiment includes two rotor sheets with different structures, which are distributed as a first rotor sheet 100 and a second rotor sheet 104. Specifically, a groove structure 102 is disposed on an outer side wall of the first rotor sheet 100, and a protrusion structure 106 is disposed on an outer side wall of the second rotor sheet 104. The groove structures 102 and the projection structures 106 are located on the same line along the axis of the rotor core 10. This application is through setting up the rotor punching that two kinds of structures are different in order to realize better reduction magnetic leakage, and then reaches the purpose that reduces the torque ripple rate.
Further, the axially adjacent protruding structures 106 may play a role in positioning the magnetic members 200 of the rotor in the circumferential direction, so as to accurately position the positions of the magnetic members 200 in the circumferential direction of the rotor core 10.
Further, the groove structure 102 is disposed between the poles of the first rotor sheet 100; the protruding structures 106 are disposed between the poles of the second rotor sheet 104. The inter-pole position refers to a position between two adjacent magnetic poles. On one hand, the groove structure 102 is arranged between the poles of the outer side wall of the first rotor sheet 100, and the arrangement of the groove structure 102 can reduce magnetic flux leakage between the poles, so that the cogging torque is reduced, and the torque fluctuation rate is reduced. On one hand, the protrusion structures 106 are arranged between poles on the outer side wall of the second rotor sheet 104, so that magnetic leakage between poles can be reduced, cogging torque can be reduced, and torque fluctuation rate can be reduced. In addition, the protruding structures 106 are arranged at the inter-pole positions of the second rotor sheet 104 in the circumferential direction, the magnetic member 200 is arranged between two adjacent protruding structures 106, and the two sides of the magnetic member 200 are fixed through the two adjacent protruding structures 106, so that the effect of accurately positioning the magnetic member 200 in the circumferential direction is achieved.
Further, in the circumferential direction of the second rotor sheet 104, the distance between two adjacent protruding structures 106 is equal to the width of the magnetic member 200, that is, the width of each pole of the motor is the same as the width of the magnetic member 200. The reasonable selection of the width of the magnetic pole not only meets the requirement of force performance indexes, but also can reduce the torque fluctuation and reduce the magnetic leakage.
Example 3:
the present invention provides a rotor core 10 in one embodiment, and on the basis of any one of the above embodiments, as further shown in fig. 1, the number of the first rotor punching sheets 100 is multiple, the number of the second rotor punching sheets 104 is multiple, and the multiple second rotor punching sheets 104 are stacked in a staggered manner with the multiple first rotor punching sheets 100.
In this embodiment, as shown in fig. 1, the rotor core 10 includes a plurality of first rotor sheets 100 and a plurality of second rotor sheets 104, and the plurality of first rotor sheets 100 and the plurality of second rotor sheets 104 are stacked in a staggered manner; the outer side walls of the first rotor punching sheets 100 are provided with groove structures 102, and continuous grooves can be formed after the groove structures are aligned and stacked, so that magnetic flux leakage between magnetic poles is reduced better; the plurality of second rotor sheets 104 are aligned and stacked to form a continuous protruding structure 106, the continuous protruding structure 106 increases the contact area with the magnetic member 200, so that the fixing effect and the positioning effect on the magnetic member 200 are improved, and the magnetic leakage between magnetic poles can be reduced. Through the multiple first rotor punching sheets 100 and the multiple second rotor punching sheets 104, magnetic leakage between magnetic poles is better reduced, tooth space torque is reduced, torque fluctuation rate is reduced, and accurate control capability of the motor is improved.
Further, in any of the above embodiments, as shown in fig. 1, the number of the first rotor sheets 100 is greater than the number of the second rotor sheets 104.
In this embodiment, as shown in fig. 1, the number of the first rotor sheets 100 is set to be greater than the number of the second rotor sheets 104, which in turn divides the functions of the first rotor sheets 100 and the second rotor sheets 104 into time division, and a relatively small number of the second rotor sheets 104 are mainly responsible for fixing and positioning the magnetic member 200; the first rotor punching plates 100 with a relatively large number can better play a role of reducing magnetic leakage among the magnetic poles while separating the magnetic poles, better reduce cogging torque, reduce torque fluctuation rate and improve the accurate control capability of the motor.
Further, the first rotor punching sheet 100 and the second rotor punching sheet 104 can be manufactured by stamping with a die.
Further, as shown in fig. 2, the inner diameter of the first rotor sheet 100 is R, the outer radius of the first rotor sheet 100 is R, the number of poles of the motor is 8, so that the entire circumference is 8 equal parts, a groove structure 102 is formed at each pole, the width of the groove structure 102 is D, the radius of the groove structure 102 is smaller than the outer radius R of the first rotor sheet 100, the difference between the outer radius R of the first rotor sheet 100 and the radius of the groove structure 102 is t, and the width of the groove structure 102 is D and the difference t are specifically set according to the model and the performance of the motor.
Further, as shown in fig. 3, the second rotor sheet 104 is provided with raised structures 106 at the inter-poles, and the distance between the raised structures 106 between adjacent inter-poles is bp.
Further, the rotor core 10 in an embodiment of the present application is formed by laminating and riveting two kinds of rotor sheets, namely, the first rotor sheet 100 and the second rotor sheet 104, specifically, the stacking sequence of the first rotor sheet 100 and the second rotor sheet 104 sequentially includes: the rotor punching sheet comprises a first rotor punching sheet 100, a second rotor punching sheet 104, a first rotor punching sheet 100, a second rotor punching sheet 104 and a first rotor punching sheet 100.
Further, the stacking sequence and the corresponding number of the first rotor punching sheet 100 and the second rotor punching sheet 104 are as follows: the rotor punching sheet comprises x first rotor punching sheets 100, y second rotor punching sheets 104, z first rotor punching sheets 100, y second rotor punching sheets 104 and x first rotor punching sheets 100; wherein, the values of x, y and z satisfy the following conditions: z is more than y and more than x, y and z are all positive integers which are more than zero.
In this embodiment, the stacking order and the corresponding number of the first rotor punching sheet 100 and the second rotor punching sheet 104 are as follows: the magnetic flux leakage reduction structure comprises first rotor punching sheets 100(x sheets), second rotor punching sheets 104(y sheets), first rotor punching sheets 100(z sheets), second rotor punching sheets 104(y sheets) and first rotor punching sheets 100(x sheets), wherein the total amount of the first rotor punching sheets 100 is larger than that of the second rotor punching sheets 104, and a better magnetic flux leakage reduction effect can be achieved by arranging more first rotor punching sheets 100.
Further, the values of x, y and z satisfy the following conditions: z > y > x. Further, by designing the interpolar groove structure 102 of the first rotor sheet 100, interpolar magnetic leakage is reduced, and a small number of second rotor sheets 104 play a role in accurately positioning the magnetic members 200 in the circumferential direction in the rotor core 10, and also reduce interpolar magnetic leakage.
Specifically, taking the example that each rotor core 10 includes 59 rotor sheets, the stacking order and the corresponding number of the first rotor sheets 100 and the second rotor sheets 104 are as follows: the rotor core comprises 100 (5) first rotor laminations, 104 (6) second rotor laminations, 100 (37) first rotor laminations, 104 (6) second rotor laminations and 100 (5) first rotor laminations.
Example 4:
an embodiment of the second aspect of the present invention proposes a rotor 20, as shown in fig. 4, the rotor 20 including: at least two segments of rotor cores 10 as in any of the above embodiments, at least two segments of rotor cores 10 being stacked; wherein, along the axial direction of the rotor 20, two adjacent sections of the rotor cores 10 of the at least two sections of the rotor cores 10 are partially overlapped.
The present application provides a rotor 20 including at least two segments of rotor cores 10 as in any of the above embodiments, and at least two segments of rotor cores 10 are stacked, and two adjacent segments of rotor cores 10 partially overlap each other in the axial direction of the rotor 20. Through setting up multistage rotor core 10, and every section rotor core 10 all includes first rotor punching 100 and the second rotor punching 104 of crisscross superpose, wherein, is provided with groove structure 102 on the lateral wall of first rotor punching 100, and groove structure 102's setting can reduce the magnetic leakage between the magnetic poles, and then reduces the tooth's socket torque, reduces the torque ripple rate, promotes the accurate controllability of motor. Further, the rotor 20 with the segmented skewed poles is obtained by partially overlapping two adjacent sections of the rotor cores 10, so that the phases of the tooth harmonic waves and the tooth space force waves of the rotor cores 10 of the sections are different, and the tooth harmonic waves and the tooth space force waves are mutually offset when being overlapped, thereby achieving the weakening effect.
Further, as shown in fig. 4, 5, 6 and 7, the rotor 20 further includes a magnetic member 200. The convex structures are positioned between two adjacent convex structures; and two magnetic pieces with the same polarity corresponding to two adjacent sections of rotor cores are partially overlapped along the axial direction of the rotor.
In this embodiment, the magnetic members 200 are further disposed on the rotor core 10, magnetic poles can be formed between adjacent magnetic members 200, and the groove structures 102 of the first rotor sheet 100 and the protrusion structures 106 of the second rotor sheet 104 are disposed between the magnetic poles, so that the effect of reducing magnetic flux leakage between the magnetic poles is achieved, the cogging torque is reduced better, the torque fluctuation rate is reduced, and the accurate control capability of the motor is improved.
Furthermore, two opposite side surfaces of the magnetic member 200 are connected to the protruding structures 106 located at two sides of the magnetic member 200; wherein the length of the magnetic member 200 is the same as the length of the rotor core 10 in the axial direction of the rotor 20.
In this embodiment, two opposite side surfaces of the magnetic member 200 are connected to the protruding structures 106 of the second rotor sheet 104, and the protruding structures 106 of the second rotor sheet 104 are mainly used for positioning the magnetic member 200, so that the magnetic member 200 can be attached to the rotor core 10 at a preset position, and meanwhile, the axial length of the magnetic member 200 and the axial length of the rotor core 10 are set to be the same, so that matching between the magnetic member 200 and the rotor core 10 is realized, and an optimal magnetic conduction effect is achieved.
Specifically, the magnetic member 200 may be a permanent magnet, or a magnetic steel.
Specifically, the magnetic member 200 is attached to the rotor core 10 by gluing. For example, magnetic steel may be bonded to the surface of rotor core 10 with epoxy resin. Through the positioning of the protruding structures 106 of the second rotor punching sheet 104 and the gluing, the gluing and fixing effects of the magnetic member 200 and the rotor core 10 can be well guaranteed.
Further, as shown in fig. 5, 6 and 7, opposite side surfaces of the magnetic member 200 are disposed in parallel with each other.
In this embodiment, two opposite side surfaces of the magnetic member 200 are arranged in parallel, the parallel structure of the two side surfaces is neat and beautiful, the magnetic member is easy to assemble with other parts, the processing is simple, and the magnetic field formed by the magnetic member 200 can be ensured to be very stable.
Further, as shown in fig. 6, in the cross section of the rotor 20, a bisector L in the longitudinal direction of the magnetic member 200 is parallel to both side edges of the magnetic member 200. By sectioning the rotor 20 in a direction perpendicular to the axis of the rotor 20, on the cross section of the obtained rotor 20, the median line in the length direction of the magnetic member 200 is parallel to the two side edges of the magnetic member 200, and by arranging the two side surfaces of the magnetic member 200 connected with the protrusion structures 106 into a structure in which the two side surfaces are both parallel to the median line of the magnetic member 200, on the one hand, the processing and the assembly of the magnetic member 200 are facilitated; on one hand, by arranging the magnetic member 200 in a parallel structure, the material required for processing the magnetic member can be saved, and the production cost can be reduced.
Further, the two opposite side surfaces of the protruding structure 106, which are connected to the two side surfaces disposed in parallel, are also disposed in parallel, and the two opposite side surfaces of the protruding structure 106 are configured to match with the magnetic member 200, thereby facilitating the installation and fixation of the magnetic member 200. In any of the above embodiments, the magnetic member 200 includes a first surface 202 and a second surface 204 disposed opposite the first surface 202.
Specifically, the first surface 202 is connected with the rotor core 10; the second surface 204 is located away from the first surface 202 on the side opposite the first surface 202; the first surface 202 and the second surface 204 are arcs with the same center.
In this embodiment, as shown in fig. 6 and 7, the magnetic member 200 includes a first surface 202 and a second surface 204, the first surface 202 and the second surface 204 being provided as concentric arcs; wherein, first surface 202 is connected with rotor core 10, and first surface 202 adopts the setting of arcwall face can be fine assurance first surface 202 and rotor core 10 laminating mutually, and the setting of second surface 204 arcwall face can reduce the resistance when rotatory. Further, by designing the magnetic member 200 to have the same thickness, the inner diameter and the outer diameter are set to be concentric arc surfaces, so that material waste is reduced, and the processing cost is reduced.
Further, as shown in fig. 6, the magnetic element 200 has a radius R corresponding to the first surface 202 of the magnetic element 200, a radius R1 corresponding to the second surface 204 of the magnetic element 200, and a width bp of the magnetic element 200.
Further, along the circumference of the second rotor sheet 104, the distance between two adjacent protruding structures 106 is equal to the width of the magnetic part 200, that is, the width of each pole of the motor is the same as the width of the magnetic part 200, so that the material waste in the processing process of the magnetic part 200 is reduced, and the processing is relatively simple and easy to operate. Further, the magnetic member 200 has a fan-shaped structure, so that the magnetic member is easy to process, and waste of raw materials is reduced.
Further, at least two sections of the rotor cores 10 have the same structure.
As shown in fig. 4, the rotor 20 includes a plurality of rotor cores 10 having the same structure, and the plurality of rotor cores 10 having the same structure are sequentially sleeved on the rotating shaft 30. By providing a plurality of rotor cores 10 having the same structure, it is possible to accurately position the magnetic member 200 in the circumferential direction of the rotor core 10, and it is beneficial to reduce interpolar leakage flux, thereby reducing the torque ripple rate.
Further, in one embodiment of the present application, the number of the rotor cores 10 is an odd number.
In this embodiment, the number of the rotor cores 10 is odd, the odd rotor cores 10 are sequentially sleeved on the rotating shaft 30, and the optimal pole-tilting effect is achieved by performing segmented pole-tilting according to odd segments.
Further, the number of the rotor cores 10 may be 3, 5, 7, etc., and the specific number is selected and set according to the specific use condition, which is not described herein again.
Further, in an embodiment of the present application, an odd number of rotor cores 10 with the same structure may be provided, and the obtained segmented skewed-pole rotor 20 can achieve a better technical effect of reducing cogging torque and torque ripple.
In any of the above embodiments, as shown in fig. 4, two adjacent rotor cores of the at least two rotor cores include: a first rotor core 12, wherein a first magnetic member 122 is correspondingly arranged on the first rotor core 12; a second rotor core 14, on which a second magnetic member 142 is correspondingly disposed, the polarities of the first magnetic member 122 and the second magnetic member 142 are the same, and along the axial direction of the rotor 20, the first magnetic member 122 and the second magnetic member 142 are partially overlapped; as shown in fig. 7, in the circumferential direction of the rotor 20, a connection line between a midpoint of the length of the first magnetic member 122 and the center of the corresponding first rotor sheet 100 is a first connection line L1; a connecting line between the middle point of the length of the second magnetic element 142 and the center of the corresponding first rotor sheet 100 is a second connecting line L2; along the axial projection of the rotor, a first angle is formed between the first connecting line and the second connecting line in the projection plane.
In this embodiment, two adjacent rotor cores are respectively set as a first rotor core 12 and a second rotor core 14, a first magnetic member 122 is correspondingly disposed on the first rotor core 12, a second magnetic member 142 is correspondingly disposed on the second rotor core 14, the polarities of the first magnetic member 122 and the second magnetic member 142 are the same, and the first magnetic member 122 and the second magnetic member 142 are partially overlapped along the axial direction of the rotor, that is, the first magnetic member 122 and the second magnetic member 142 are staggered by a first angle along the circumferential direction of the rotor.
Specifically, as shown in fig. 7, a connection line between a midpoint of a corresponding length of the first magnetic member 122 in the circumferential direction of the rotor and a center of the corresponding first rotor sheet 100 is a first connection line L1, and a connection line between a midpoint of a corresponding length of the second magnetic member 142 in the circumferential direction of the rotor and a center of the corresponding first rotor sheet 100 is a second connection line L2; the first line L1 and the second line L2 are projected in the axial direction of the rotor, and an angle formed between the first line L1 and the second line L2 on the projection plane is the first angle θ.
In brief, two adjacent rotor cores are completely aligned in the axial direction, the axial projections of the two adjacent rotor cores are overlapped, and then one of the two rotor cores is rotated by a first angle θ around the mounting shaft, which is the first angle θ set above, and the first magnetic member 122 on the first rotor core 12 and the second magnetic member 142 on the second rotor core 14 after the rotation are staggered by the first angle θ.
Through carrying out the oblique utmost point setting of segmentation with first rotor core 12 and second rotor core 14, and then make the magnetic pole skew in whole rotor shaft is to the upper, can effectually reduce the tooth's socket torque, reduce the torque ripple rate, promote high performance servo motor's accurate control ability.
In any of the above embodiments, two magnetic members corresponding to two adjacent sections of rotor cores 10 in at least two sections of rotor cores 10 are sequentially staggered by a first angle along the same direction; wherein the same direction includes a clockwise direction or a counterclockwise direction in the circumferential direction of the rotor 20.
In this embodiment, as shown in fig. 4, two magnetic members corresponding to two adjacent segments 10 of the at least two segments 10 of rotor cores are sequentially staggered by a first angle along the same direction; the same direction may be clockwise or counterclockwise, but the same direction must be ensured. So that at least two sections of the rotor cores 10 are sequentially arranged in a staggered manner to obtain the rotor 20 with segmented oblique poles.
Specifically, when there are three sections of rotor cores 10, the rotor core 10 of the second section is in the middle, and when the rotor core 10 of the first section is stationary and the rotor core 10 of the second section staggers the first angle in the clockwise direction, the rotor core 10 of the third section needs to stagger the first angle in the clockwise direction again relative to the rotor core 10 of the second section, so as to form the segmented oblique-pole rotor 20 structure defined in the present application. The cogging torque can be effectively reduced, the torque fluctuation rate is reduced, and the accurate control capability of the high-performance servo motor is improved.
Further, as shown in fig. 7, magnetic material 200 corresponding to first rotor core 12 and magnetic material 200 corresponding to second rotor core 14 are provided to be shifted in the axial direction of rotor 20. A first included angle θ is formed between a bisector in the width direction of magnetic member 200 corresponding to first rotor core 12 and a bisector in the width direction of magnetic member 200 corresponding to second rotor core 14. Further, when the rotor 20 includes a plurality of rotor cores 10, the plurality of rotor cores 10 stagger the first included angle θ in sequence along the same direction, so as to reduce the cogging torque, further reduce the torque ripple rate, and improve the performance index of the motor.
In any of the above embodiments, the skew angle of the rotor 20
Wherein d is the denominator of the true fraction of the number of slots of each phase of each pole of the motor, and Z is the number of slots of the motor; if the number of the rotor cores 10 is Nr segments, the first included angle θ is equal to the ratio of the skew angle to Nr.
In this embodiment, as shown in fig. 7, a first included angle θ is calculated, where the first included angle θ is equal to the ratio of the skew angle to Nr. Nr is the number of rotor cores 10, that is, the rotor 20 includes the rotor cores 10 having Nr sections; skew angle of rotor 20
Wherein d is the denominator of the true fraction of the number of slots of each phase of each pole of the motor, and Z is the number of slots of the motor.
In any of the above embodiments, further comprising: the rotor comprises a rotating shaft 30, at least two sections of rotor cores 10 are sequentially arranged on the rotating shaft 30, and the at least two sections of rotor cores 10 are in interference fit with the rotating shaft 30.
In this embodiment, as shown in fig. 4 and 8, the rotor 20 includes a rotating shaft 30, at least two adjacent segments of the rotor core 10 are sequentially disposed on the rotating shaft 30, and the rotor core 10 and the rotating shaft 30 are designed to be in an interference fit.
Through the structural design of interference, can guarantee that rotor core 10 and rotor core 30 assemble after the structure very stable, guarantee that the connection of rotor core 30 and rotor core 10 is in the state of fastening, reduce the relative rotation after rotor core 10 and rotor core 30 assemble as far as, make the structural design of segmentation oblique utmost point can keep for a long time, can effectually reduce the tooth's socket torque, reduce the torque fluctuation rate, promote high performance servo motor's accurate control ability.
Specifically, the interference fit structural design has the advantages of simple structure, good centering property, large bearing capacity and the like, and has small strength weakening and good impact resistance effect on the rotating shaft 30 and the rotor core 10.
Specifically, the mounting process of the rotor 20 is: the plurality of rotor cores 10 are pressed into the rotating shaft 30 in sequence, after the rotor cores 10 are pressed into the rotating shaft 30 in sequence, the plurality of rotor cores 10 are rotated by the first angle theta staggered in sequence from one end of the rotating shaft 30 to the other end of the rotating shaft 30 in the same direction, the obtained rotor cores 10 corresponding to the whole rotor 20 are further enabled to be wholly skewed by the angle theta sk, and the magnetic part 200 bonded on the surface of the rotor cores 10 is also wholly skewed by the angle theta sk. That is, the bisectors of two adjacent magnetic members 200 of the same polarity are also shifted by the first angle θ.
The application provides a rotor 20, through adopting the segmentation oblique utmost point, and every section rotor core 10 all includes the rotor 20 towards the piece of two kinds of isostructures, and then realizes through the groove structure 102 that first rotor towards piece 100 set up in interelectrode department, has reduced interelectrode magnetic leakage, and a small amount of second rotor towards piece 104 has played the effect to the circumference accurate positioning of magnetic part 200 in rotor core 10, also reduces interelectrode magnetic leakage simultaneously. In addition, the distance bp between two adjacent protruding structures 106 is also the width of the magnetic member 200, that is, the width of the magnetic pole of each pole of the motor, and the width of the magnetic pole is reasonably selected, so that the requirement of force performance index is met, the torque fluctuation is reduced, and the magnetic leakage is reduced. The following requirements should be met:
coefficient of polar arc
Wherein, α p is a polar arc coefficient, τ r is a polar distance, and bp is the width of the magnetic member 200;
polar distance
P is the pole pair number, and R is the outer radius of the first rotor sheet 100;
the polar arc coefficients should be in accordance with:
wherein gamma is the least common multiple of the slot number Z and the pole number 2P of the motor; k1 is a correction value;
wherein k1 is used for balancing pole arc coefficients, and the value of k1 selects specific values according to performance parameters such as rotation fluctuation rate and the like.
Example 5:
an embodiment of a third aspect of the invention proposes an electrical machine comprising: the rotor core 10 of any of the above embodiments; or the rotor 20 of any of the embodiments described above.
The motor provided by the invention comprises the rotor core 10 or the rotor 20, and the rotor core 10 provided by the first aspect of the invention or the rotor 20 provided by the second aspect of the invention is included, so that the full beneficial effects of the rotor core 10 or the rotor 20 are achieved, the cogging torque can be effectively reduced, the torque fluctuation rate is reduced, and the accurate control capability of the motor is improved.
As shown in fig. 9, according to the servo motor with a torque of 27Nm provided by the present application, through experimental tests, a cogging torque Tcog is 0.23Nm, and a ratio Tcog/M0 of the cogging torque to a rated torque is 0.23/27 is 0.85%.
As shown in fig. 10, the actual measured value of the torque fluctuation rate at the rated torque of 27Nm is 1.74%.
The test shows that the motor provided by the application has small cogging torque and excellent torque fluctuation rate which is far lower than the national standard of 3%, meets the requirement of high-performance servo drive, has a simple implementation method of the segmented oblique pole, is suitable for engineering, is beneficial to large-batch automatic production, and thus reduces the manufacturing cost.
Example 6:
an embodiment of a fourth aspect of the invention proposes a robot comprising: the motor of any of the embodiments described above. The robot provided by the invention comprises the motor provided by the third aspect of the invention, so that the robot has all the beneficial effects of the motor, can effectively reduce the cogging torque, reduce the torque fluctuation rate and improve the accurate control capability of the robot.
In the present invention, the term "plurality" means two or more unless explicitly defined otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (18)
1. A rotor core, comprising:
the outer side wall of the first rotor punching sheet is provided with a groove structure;
and the first rotor punching sheet and the second rotor punching sheet are overlapped in a staggered manner.
2. The rotor core of claim 1, wherein the second rotor lamination comprises: and the protruding structure is arranged on the outer side wall of the second rotor punching sheet.
3. The rotor core of claim 2,
the groove structure is arranged between the poles of the first rotor punching sheet;
the protruding structures are arranged at the interpolar positions of the second rotor punching sheets.
4. The rotor core of claim 2,
the number of the first rotor punching sheets is multiple,
the number of the second rotor punching sheets is multiple, and the second rotor punching sheets and the first rotor punching sheets are overlapped in a staggered mode.
5. The rotor core according to any one of claims 1 to 4,
the number of the first rotor punching sheets is larger than that of the second rotor punching sheets.
6. The rotor core of claim 5,
the overlapping sequence and the corresponding quantity of the first rotor punching sheet and the second rotor punching sheet are as follows: x pieces of the first rotor punching sheets, y pieces of the second rotor punching sheets, z pieces of the first rotor punching sheets, y pieces of the second rotor punching sheets and x pieces of the first rotor punching sheets;
wherein, the values of x, y and z satisfy the following conditions: z is more than y and more than x, y and z are all positive integers which are more than zero.
7. A rotor, comprising:
at least two segments of the rotor core of any one of claims 1 to 6, at least two segments of the rotor core being stacked;
and the adjacent two sections of the rotor cores in at least two sections of the rotor cores are partially overlapped along the axial direction of the rotor.
8. The rotor of claim 7, further comprising:
the magnetic part is arranged on the rotor core and positioned between two adjacent protruding structures;
and two magnetic pieces with the same polarity corresponding to two adjacent sections of the rotor iron cores are partially overlapped along the axial direction of the rotor.
9. The rotor of claim 8,
the two opposite side surfaces of the magnetic part are connected with the protruding structures positioned on the two sides of the magnetic part;
wherein, along the axial of rotor, the length of magnetic part is the same with the length of rotor core.
10. The rotor of claim 8,
the two opposite side surfaces of the magnetic part are arranged in parallel; and/or
On the cross section of the rotor, a bisector of the magnetic member in the length direction is parallel to two side edges of the magnetic member.
11. The rotor of claim 8, wherein the magnetic member comprises:
a first surface connected with the rotor core;
a second surface disposed opposite the first surface;
the first surface and the second surface are cambered surfaces with the same circle center.
12. The rotor of any one of claims 7 to 11,
the at least two sections of the rotor iron cores have the same structure; and/or
The number of the rotor cores is odd.
13. The rotor according to any one of claims 8 to 11, wherein adjacent two segments of the rotor core comprise:
the first rotor iron core is correspondingly provided with a first magnetic piece;
the first rotor core is correspondingly provided with a second magnetic part, the polarities of the first magnetic part and the second magnetic part are the same, and the first magnetic part and the second magnetic part are partially overlapped along the axial direction of the rotor;
the connecting line between the midpoint of the length of the first magnetic part and the circle center of the corresponding first rotor punching sheet along the circumferential direction of the rotor is a first connecting line;
a connecting line between the middle point of the length of the second magnetic piece and the circle center of the corresponding first rotor punching sheet is a second connecting line;
along the axial projection of the rotor, a first angle is formed between the first connecting line and the second connecting line in a projection plane.
14. The rotor of claim 13,
two magnetic pieces corresponding to two adjacent sections of the rotor cores in the at least two sections of the rotor cores are sequentially arranged in a staggered mode at the first angle along the same direction;
wherein the same direction includes a clockwise direction or a counterclockwise direction in a circumferential direction of the rotor.
15. The rotor of claim 13,
skew angle of the rotor
Wherein d is the denominator of the true fraction of the number of slots of each phase of each pole of the motor, and Z is the number of slots of the motor;
the number of the rotor cores is Nr segments, and the first angle is equal to a ratio of the skew angle to Nr.
16. The rotor of any one of claims 7 to 11, further comprising:
the rotating shaft is provided with at least two sections of rotor cores which are sequentially arranged on the rotating shaft, and the rotor cores are in interference fit with the rotating shaft.
17. An electric machine, comprising:
a rotor core according to any one of claims 1 to 6; or
A rotor according to any one of claims 7 to 16.
18. A robot, comprising:
the electric machine of claim 17.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114400805A (en) * | 2022-01-24 | 2022-04-26 | 浙江大学 | Rotor structure of permanent magnet synchronous motor |
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| CN110620452A (en) * | 2018-06-20 | 2019-12-27 | 广东美芝制冷设备有限公司 | Rotor, motor and compressor |
| JP2020054211A (en) * | 2018-09-28 | 2020-04-02 | 日本電産株式会社 | motor |
| CN210167871U (en) * | 2019-08-22 | 2020-03-20 | 大陆汽车电子(芜湖)有限公司 | Rotor, rotor core and brushless motor |
| CN212258580U (en) * | 2020-07-16 | 2020-12-29 | 安徽威灵汽车部件有限公司 | Rotor assembly, motor, electric power steering device and vehicle |
| CN112510871A (en) * | 2020-11-12 | 2021-03-16 | 珠海格力节能环保制冷技术研究中心有限公司 | Rotor core, rotor structure, motor, compressor and electric appliance with same |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114400805A (en) * | 2022-01-24 | 2022-04-26 | 浙江大学 | Rotor structure of permanent magnet synchronous motor |
| CN114400805B (en) * | 2022-01-24 | 2023-11-14 | 浙江大学 | Rotor structure of permanent magnet synchronous motor |
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