Multi-magnetic-circuit single-magnet-ring dual-modulation three-rotor coaxial magnetic gear and automobile hub motor

Abstract

The invention provides a multi-magnetic-circuit single-magnetic-ring dual-modulation three-rotor coaxial magnetic gear and an automobile hub motor, the magnetic gear comprises an inner rotor, a T-shaped dual-modulation magnetic ring, an intermediate rotor and an outer rotor, the inner rotor, the T-shaped dual-modulation magnetic ring and the intermediate rotor are nested in sequence and are coaxially configured to form a radial and modulation coaxial magnetic gear structure; the middle rotor, the T-shaped dual-modulation magnetic modulation ring and the outer rotor are sequentially nested and coaxially arranged to form an axial and modulation coaxial magnetic gear structure; and sum modulation is adopted between the inner rotor and the intermediate rotor, sum modulation is adopted between the intermediate rotor and the outer rotor, and the two sum modulation and sum modulation share one T-shaped dual-modulation magnetic modulation ring, so that the monotonic magnetic ring dual-modulation effect is realized. The size of the magnetic gear can be reduced, the torque transmission capacity of the magnetic gear is improved, the magnetic saturation phenomenon is restrained, the magnetic field modulation effect is enhanced, and the torque density of the magnetic gear is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of new energy vehicles, and in particular to a multi-magnetic circuit monotone magnetic ring double-modulation three-rotor coaxial magnetic gear and an automobile hub motor. Background Art

[0002] New energy vehicles (NEVs) have garnered widespread attention from R&D professionals due to their zero-emission and high-energy efficiency. Among these, those with distributed drive systems are a trend in the development of NEVs, offering advantages such as a simple transmission structure, high transmission efficiency, and flexible vehicle control. Direct-drive in-wheel motors, as the core power component of distributed drive systems, are typically connected directly to the wheels. They not only face the output torque performance requirements of the vehicle's powertrain under conditions such as acceleration, deceleration, and climbing, but also must meet the drive requirements for stable operation under complex road conditions such as rugged mountain roads and muddy roads. Therefore, achieving excellent low-speed, high-torque capabilities is a key concern in the field of in-wheel motor research. Furthermore, given the limited space inside a vehicle's wheel hub, achieving higher torque density presents a challenging problem that must be addressed in the design of in-wheel motors.

[0003] Under the influence of the modulating core, magnetic gears can achieve bidirectional modulation of low-speed and high-speed magnetic fields, thereby achieving electromechanical energy conversion through harmonic magnetic field coupling. Because the inner and outer rotors are driven by modulated magnetic field coupling and do not contact each other during transmission, magnetic gears have advantages over mechanical gears, such as no frictional vibration, no need for lubrication and maintenance, no noise, and a compact structure. They have broad application prospects in the field of field-modulated hub motors for new energy vehicles.

[0004] However, how to reduce the volume of the magnetic gear, improve the torque transmission capability of the magnetic gear, suppress the magnetic saturation phenomenon, enhance the magnetic field modulation effect, and increase the torque density of the magnetic gear are technical problems that need to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of the present invention is to provide a multi-magnetic circuit monotonic magnetic ring double modulation three-rotor coaxial magnetic gear and an automobile hub motor, so as to reduce the volume of the magnetic gear, improve the torque transmission capacity of the magnetic gear, suppress magnetic saturation, enhance the magnetic field modulation effect, and improve the torque density of the magnetic gear.

[0006] One aspect of the present invention provides a multi-magnetic circuit single-tone magnetic ring double-modulation three-rotor coaxial magnetic gear, comprising an inner rotor, a T-shaped double-modulation magnetic ring, an intermediate rotor and an outer rotor. The inner rotor, T-shaped double-modulation magnetic regulating ring and intermediate rotor are nested in sequence and coaxially arranged to form a radial and modulated coaxial magnetic gear structure; the intermediate rotor, T-shaped double-modulation magnetic regulating ring and outer rotor are nested in sequence and coaxially arranged to form an axial and modulated coaxial magnetic gear structure; Sum modulation is adopted between the inner rotor and the middle rotor, and sum modulation is adopted between the middle rotor and the outer rotor, and the two sum modulations share a T-shaped double-modulation magnetic ring to achieve a double-modulation effect of a single-modulation magnetic ring; The magnetization method of the inner rotor, intermediate rotor and outer rotor is tangential magnetization, and the magnetization directions of two adjacent permanent magnets in the inner rotor are opposite, the magnetization directions of two adjacent permanent magnets in the intermediate rotor are opposite, and the magnetization directions of two adjacent permanent magnets in the outer rotor are opposite; There is a radial magnetic circuit between the inner rotor and the intermediate rotor, and an axial magnetic circuit and a transverse magnetic circuit between the intermediate rotor and the outer rotor; When the magnetic gear is working, the T-shaped double-modulation magnetic ring is fixed, and the middle rotor serves as the input rotor. Through the modulation of the T-shaped double-modulation magnetic ring, the inner rotor and the outer rotor are driven to rotate respectively.

[0007] Another aspect of the present invention provides an automotive hub motor, which includes the magnetic gear described above.

[0008] The multi-magnetic circuit monotonic magnetic ring double-modulation three-rotor coaxial magnetic gear and automobile hub motor provided by the present invention have the following beneficial effects: (1) The magnetic gear of the present invention uses a T-shaped double-modulation magnetic ring for radial and axial modulation, which reduces the number of magnetic modulation magnets. Compared with the traditional double-modulation magnetic ring double-modulation magnetic gear topology, the structure of the present invention is more compact and smaller in size, and has more advantages in relatively narrow space usage scenarios such as automobile hub motors.

[0009] (2) The magnetic gear of the present invention adopts modulation in both radial and axial directions and has two power output ports. Compared with the traditional topological structure, the magnetic gear of the present invention has a stronger field modulation effect and higher torque transmission capability, and the torque density is significantly improved.

[0010] (3) The magnetic gear provided by the present invention adopts tangential magnetization for the permanent magnets on the high-speed rotor and the low-speed rotor, and pole shoes are embedded in the two adjacent permanent magnets for auxiliary modulation, so that the air gap magnetic flux density is larger, the waveform is close to the sine waveform, the torque transmission capacity is improved, and the transmission is more stable.

[0011] (4) Since the magnetic gear of the present invention adopts a structure in which three rotors are arranged coaxially and a transmission form in which the intermediate rotor drives the inner rotor and the outer rotor to rotate respectively, compared with the traditional dual-rotor coaxial magnetic gear, the magnetic gear of the present invention can achieve a transmission effect in which the intermediate rotor inputs and the inner rotor and the outer rotor output simultaneously.

[0012] (5) The magnetic gear provided by the present invention has a radial magnetic circuit between the inner rotor and the intermediate rotor, and an axial magnetic circuit and a transverse magnetic circuit between the intermediate rotor and the outer rotor, forming a hybrid multi-magnetic circuit. Compared with the traditional topological structure, the magnetic gear provided by the present invention is less likely to cause magnetic leakage and has a higher efficiency in utilizing the magnetic field generated by the permanent magnet.

[0013] (6) The magnetic gear provided by the present invention has a mixed multi-magnetic circuit, which enables it to have three magnetic flux paths: axial, radial and transverse. It can reduce the influence of the magnetic saturation effect without reducing the total flux generated by the permanent magnet, thereby achieving the effect of anti-magnetic saturation effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 Schematic diagram of the structure of the multi-magnetic circuit monotonic magnetic ring double modulation three-rotor coaxial magnetic gear in the embodiment of the present invention from a first perspective; Figure 2 2. It is a schematic structural diagram of a multi-magnetic circuit monotonic magnetic ring double-modulation three-rotor coaxial magnetic gear in an embodiment of the present invention from a second viewing angle; Figure 3 1. An exploded view of a multi-magnetic circuit monotonic magnetic ring double-modulation three-rotor coaxial magnetic gear according to an embodiment of the present invention; Figure 4 It is a cross-sectional structural diagram of the inner rotor and the intermediate rotor; Figure 5 It is a cross-sectional structural diagram of the inner rotor and the outer rotor; Figure 6 It is a structural diagram of a T-shaped double-modulation magnetic tuning ring; Figure 7 This is a schematic diagram of the structure of the T-shaped double-modulation magnetic ring and epoxy resin jacket; Figure 8 Schematic diagram of the magnetic circuit structure of a multi-magnetic circuit monotonic magnetic ring double-modulation three-rotor coaxial magnetic gear in an embodiment of the present invention; Figure 9 Schematic diagram of the modulation principle of the multi-magnetic circuit monotonic magnetic ring double modulation three-rotor coaxial magnetic gear in an embodiment of the present invention; Figure 10 A comparison diagram of the magnetic field strength in the air gap between the magnetic gear of the present invention and the traditional magnetic concentrating magnetic gear; Figure 11 A comparison diagram of the spatial harmonic spectrum of magnetic induction intensity in the air gap of the magnetic gear of the present invention and the traditional magnetic concentrating magnetic gear; Figure 12 The figure is a comparison diagram of the steady-state torque output characteristics of the magnetic gear of the present invention and the traditional magnetic concentrating magnetic gear. DETAILED DESCRIPTION

[0015] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0016] See also Figures 1 to 9 The embodiment of the present invention provides a multi-magnetic circuit single-tone magnetic ring double-modulation three-rotor coaxial magnetic gear, which includes an inner rotor 1, a T-type double-modulation magnetic ring 2, an intermediate speed rotor 3 and an outer rotor 4.

[0017] The inner rotor 1, the T-shaped double-modulation magnetic tuning ring 2 and the intermediate rotor 3 are nested in sequence from the inside to the outside and coaxially arranged to form a radial and modulated coaxial magnetic gear structure; the intermediate rotor 3, the T-shaped double-modulation magnetic tuning ring 2 and the outer rotor 4 are nested in sequence from left to right and coaxially arranged to form an axial and modulated coaxial magnetic gear structure.

[0018] Specifically, the axial inner end faces of the inner rotor 1 and the intermediate rotor 3 are flush with the left end face of the T-shaped double-modulation magnetic tuning ring 2. The axial outer end face of the outer rotor 4 is flush with the right end face of the T-shaped double-modulation magnetic tuning ring 2.

[0019] The T-shaped double-modulation magnetic tuning ring 2 includes a plurality of magnetic tuning cores 5 . Each magnetic tuning core 5 is made of a plurality of silicon steel sheets stacked together to reduce eddy current loss. Two adjacent magnetic tuning cores are separated by an epoxy resin jacket 6 .

[0020] An inner rotor-side radial air gap 7 is provided between the radial outer side of the inner rotor 1 and the radial inner side of the T-shaped double-modulation magnetic tuning ring 2. An intermediate rotor-side radial air gap 8 is provided between the radial inner side of the intermediate rotor 3 and the radial outer side of the T-shaped double-modulation magnetic tuning ring 2. An intermediate rotor-side axial air gap 9 is provided between the axial outer side of the intermediate rotor 3 and the axial inner side of the T-shaped double-modulation magnetic tuning ring 2. An outer rotor-side radial air gap 10 is provided between the radial inner side of the outer rotor 4 and the radial outer side of the T-shaped double-modulation magnetic tuning ring 2. An outer rotor-side axial air gap 11 is provided between the axial inner side of the outer rotor 4 and the axial outer side of the T-shaped double-modulation magnetic tuning ring 2.

[0021] The thickness of the intermediate rotor-side radial air gap 8 is equal to the thickness of the outer rotor-side radial air gap 10. The axial thickness of the inner rotor 1 is equal to the axial thickness of the intermediate rotor 3. The radial thickness of the intermediate rotor 3 is equal to the radial thickness of the outer rotor 4.

[0022] The magnetic gear satisfies the following formula: ; in, is the radial length of the T-type double-modulation magnetic ring, is the radial thickness of the T-type double-modulation magnetic ring, is the thickness of the radial air gap on the intermediate rotor side, is the radial thickness of the intermediate rotor.

[0023] The magnetic gear also satisfies the following formula: ; in, is the axial length of the T-type double modulation magnetic ring, is the axial thickness of the T-type double modulation magnetic ring, is the axial thickness of the inner rotor, is the axial thickness of the outer rotor, is the thickness of the axial air gap on the intermediate rotor side, is the thickness of the axial air gap on the outer rotor side.

[0024] The inner rotor 1, the intermediate rotor 3 and the outer rotor 4 adopt a spoke structure.

[0025] Specifically, the inner rotor 1 includes an inner rotor permanent magnet 12 and an inner rotor pole shoe 13. The inner rotor pole shoe 13 is embedded between two adjacent inner rotor permanent magnets 12. The inner rotor pole shoe 13 and the inner rotor permanent magnet 12 support each other and perform magnetic field modulation together with the T-shaped double-modulation magnetic tuning ring 2.

[0026] The intermediate rotor 3 includes an intermediate rotor permanent magnet 14 and an intermediate rotor pole shoe 15. The intermediate rotor pole shoe 15 is embedded between two adjacent intermediate rotor permanent magnets 14. The intermediate rotor pole shoe 15 and the intermediate rotor permanent magnet 14 support each other and perform magnetic field modulation together with the T-type double modulation magnetic tuning ring 2.

[0027] The outer rotor 4 includes an outer rotor permanent magnet 16 and an outer rotor pole shoe 17. The outer rotor pole shoe 17 is embedded between two adjacent outer rotor permanent magnets 16. The outer rotor pole shoe 17 and the outer rotor permanent magnet 16 support each other and perform magnetic field modulation together with the T-type double modulation magnetic tuning ring 2.

[0028] The permanent magnets on the inner rotor 1, the intermediate rotor 3 and the outer rotor 4 are all tangentially magnetized. The magnetization directions of two adjacent permanent magnets in the inner rotor 1 are opposite, the magnetization directions of two adjacent permanent magnets in the intermediate rotor 3 are opposite, and the magnetization directions of two adjacent permanent magnets in the outer rotor 4 are opposite. Figure 4 and Figure 5 The arrow in the figure indicates the magnetization direction of the permanent magnet.

[0029] The inner rotor 1 and the intermediate rotor 3 adopt sum modulation, and the intermediate rotor 3 and the outer rotor 4 also adopt sum modulation. The two sum modulations share a T-shaped double modulation magnetic ring 2 to achieve the double modulation effect of the single modulation magnetic ring. The field modulation principle is as follows: Figure 9 shown.

[0030] There is a radial magnetic circuit between the inner rotor 1 and the intermediate rotor 3, and an axial magnetic circuit and a transverse magnetic circuit between the intermediate rotor 3 and the outer rotor 4. The above magnetic circuits together constitute a hybrid multi-magnetic circuit. The magnetic circuit structure is as follows: Figure 8 The hybrid multi-magnetic circuit effectively reduces the occurrence of magnetic leakage, enhances the magnetic field modulation effect, and improves the torque density of the magnetic gear.

[0031] The magnetic gear also satisfies the following formula:

[0032]

[0033] in, is the number of magnetic tuning cores in the T-type double modulation magnetic tuning ring, is the number of magnetic pole pairs of the permanent magnet on the inner rotor, is the number of magnetic pole pairs of the permanent magnets on the intermediate rotor, is the number of magnetic pole pairs of the permanent magnets on the outer rotor.

[0034] In this embodiment, the number of magnetic pole pairs of the permanent magnets on the inner rotor 1 is equal to the number of magnetic pole pairs of the permanent magnets on the outer rotor 4. The total number of magnetic pole pairs of the permanent magnets on the inner rotor 1 and outer rotor 4 is 17, and the interval between adjacent permanent magnets is 5.29°. The number of magnetic pole pairs of the permanent magnets on the intermediate rotor 3 is 4, and the interval between adjacent permanent magnets is 22.5°.

[0035] The magnetic gear also satisfies the following formula:

[0036]

[0037] in, It is the transmission between the middle rotor and the inner rotor. is the transmission ratio between the intermediate rotor and the outer rotor, is the inner rotor speed, is the intermediate rotor speed, is the outer rotor speed.

[0038] When the magnetic gear is working, the T-shaped double-modulation magnetic ring 2 is fixed, and the intermediate rotor 3 serves as the input rotor. Through the modulation of the T-shaped double-modulation magnetic ring 2, the inner rotor 1 and the outer rotor 4 are driven to rotate respectively; and the speed of the inner rotor 1 and the outer rotor 4 are equal.

[0039] The magnetic gear of the present invention is compared with the traditional magnetic gear. Figure 10It can be seen that the magnetic field intensity in the air gap of the magnetic gear of the present invention is significantly higher than that of the conventional magnetic concentrating magnetic gear of the same size, and the magnetic field modulation effect of the magnetic gear of the present invention is significantly enhanced. Figure 11 It can be seen that compared with the conventional magnetic gear of the same size, the peak value of the effective harmonic component in the air gap of the magnetic gear of the present invention is significantly improved, which is conducive to improving the torque density of the magnetic gear. Figure 12 It can be seen that the output torque of the magnetic gear of the present invention is significantly greater than that of a conventional magnetic gear of the same size.

[0040] An embodiment of the present invention further provides an automobile hub motor, which includes the magnetic gear described above.

[0041] In summary, the multi-magnetic circuit monotonic magnetic ring double-modulation three-rotor coaxial magnetic gear and automobile hub motor provided by the present invention have the following beneficial effects: (1) The magnetic gear of the present invention uses a T-shaped double-modulation magnetic ring for radial and axial modulation, which reduces the number of magnetic modulation magnets. Compared with the traditional double-modulation magnetic ring double-modulation magnetic gear topology, the structure of the present invention is more compact and smaller in size, and has more advantages in relatively narrow space usage scenarios such as automobile hub motors.

[0042] (2) The magnetic gear of the present invention adopts modulation in both radial and axial directions and has two power output ports. Compared with the traditional topological structure, the magnetic gear of the present invention has a stronger field modulation effect and higher torque transmission capability, and the torque density is significantly improved.

[0043] (3) The magnetic gear provided by the present invention adopts tangential magnetization for the permanent magnets on the high-speed rotor and the low-speed rotor, and pole shoes are embedded in the two adjacent permanent magnets for auxiliary modulation, so that the air gap magnetic flux density is larger, the waveform is close to the sine waveform, the torque transmission capacity is improved, and the transmission is more stable.

[0044] (4) Since the magnetic gear of the present invention adopts a structure in which three rotors are arranged coaxially and a transmission form in which the intermediate rotor drives the inner rotor and the outer rotor to rotate respectively, compared with the traditional dual-rotor coaxial magnetic gear, the magnetic gear of the present invention can achieve a transmission effect in which the intermediate rotor inputs and the inner rotor and the outer rotor output simultaneously.

[0045] (5) The magnetic gear provided by the present invention has a radial magnetic circuit between the inner rotor and the intermediate rotor, and an axial magnetic circuit and a transverse magnetic circuit between the intermediate rotor and the outer rotor, forming a hybrid multi-magnetic circuit. Compared with the traditional topological structure, the magnetic gear provided by the present invention is less likely to cause magnetic leakage and has a higher efficiency in utilizing the magnetic field generated by the permanent magnet.

[0046] (6) The magnetic gear provided by the present invention has a mixed multi-magnetic circuit, which enables it to have three magnetic flux paths: axial, radial and transverse. It can reduce the influence of the magnetic saturation effect without reducing the total flux generated by the permanent magnet, thereby achieving the effect of anti-magnetic saturation effect.

[0047] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0048] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. A multi-magnetic circuit monotone magnetic ring double modulation three-rotor coaxial magnetic gear, characterized in that: It includes inner rotor, T-type double modulation magnetic ring, intermediate rotor and outer rotor. The inner rotor, T-shaped double-modulation magnetic regulating ring and intermediate rotor are nested in sequence and coaxially arranged to form a radial and modulated coaxial magnetic gear structure; the intermediate rotor, T-shaped double-modulation magnetic regulating ring and outer rotor are nested in sequence and coaxially arranged to form an axial and modulated coaxial magnetic gear structure; Sum modulation is adopted between the inner rotor and the middle rotor, and sum modulation is adopted between the middle rotor and the outer rotor, and the two sum modulations share a T-shaped double-modulation magnetic ring to achieve a double-modulation effect of a single-modulation magnetic ring; The magnetization method of the inner rotor, intermediate rotor and outer rotor is tangential magnetization, and the magnetization directions of two adjacent permanent magnets in the inner rotor are opposite, the magnetization directions of two adjacent permanent magnets in the intermediate rotor are opposite, and the magnetization directions of two adjacent permanent magnets in the outer rotor are opposite; There is a radial magnetic circuit between the inner rotor and the intermediate rotor, and an axial magnetic circuit and a transverse magnetic circuit between the intermediate rotor and the outer rotor; When the magnetic gear is working, the T-shaped double-modulation magnetic ring is fixed, and the middle rotor serves as the input rotor. Through the modulation of the T-shaped double-modulation magnetic ring, the inner rotor and the outer rotor are driven to rotate respectively.

2. The multi-magnetic circuit monotone magnetic ring double modulation three-rotor coaxial magnetic gear according to claim 1 is characterized in that: An inner rotor side radial air gap is provided between the radial outer side of the inner rotor and the radial inner side of the T-type double modulation magnetic tuning ring; an intermediate rotor side radial air gap is provided between the radial inner side of the intermediate rotor and the radial outer side of the T-type double modulation magnetic tuning ring; an intermediate rotor side axial air gap is provided between the axial outer side of the intermediate rotor and the axial inner side of the T-type double modulation magnetic tuning ring; an outer rotor side radial air gap is provided between the radial inner side of the outer rotor and the radial outer side of the T-type double modulation magnetic tuning ring; an outer rotor side axial air gap is provided between the axial inner side of the outer rotor and the axial outer side of the T-type double modulation magnetic tuning ring.

3. The multi-magnetic circuit monotone magnetic ring double modulation three-rotor coaxial magnetic gear according to claim 1, characterized in that: The T-shaped double-modulation magnetic ring includes several magnetic adjustment cores, each of which is made of multiple silicon steel sheets, and two adjacent magnetic adjustment cores are separated by an epoxy resin jacket.

4. The multi-magnetic circuit monotone magnetic ring double modulation three-rotor coaxial magnetic gear according to claim 1, characterized in that: The inner rotor, middle rotor and outer rotor all adopt spoke structure; The inner rotor includes inner rotor permanent magnets and inner rotor pole shoes. The inner rotor pole shoes are embedded between two adjacent inner rotor permanent magnets. The inner rotor pole shoes and the inner rotor permanent magnets support each other and perform magnetic field modulation together with the T-shaped double modulation magnetic ring. The intermediate rotor includes an intermediate rotor permanent magnet and an intermediate rotor pole shoe. The intermediate rotor pole shoe is embedded between two adjacent intermediate rotor permanent magnets. The intermediate rotor pole shoe and the intermediate rotor permanent magnet support each other and perform magnetic field modulation together with the T-type double modulation magnetic ring. The outer rotor includes an outer rotor permanent magnet and an outer rotor pole shoe. The outer rotor pole shoe is embedded between two adjacent outer rotor permanent magnets. The outer rotor pole shoe and the outer rotor permanent magnet support each other and perform magnetic field modulation together with the T-type double modulation magnetic tuning ring.

5. The multi-magnetic circuit monotone magnetic ring double modulation three-rotor coaxial magnetic gear according to claim 2, characterized in that: The thickness of the radial air gap on the intermediate rotor side is equal to the thickness of the radial air gap on the outer rotor side; the axial thickness of the inner rotor is equal to the axial thickness of the intermediate rotor; and the radial thickness of the intermediate rotor is equal to the radial thickness of the outer rotor.

6. The multi-magnetic circuit monotone magnetic ring double modulation three-rotor coaxial magnetic gear according to claim 5, characterized in that: The magnetic gear satisfies the following formula: ； in, is the radial length of the T-type double-modulation magnetic ring, is the radial thickness of the T-type double-modulation magnetic ring, is the thickness of the radial air gap on the intermediate rotor side, is the radial thickness of the intermediate rotor.

7. The multi-magnetic circuit monotone magnetic ring double modulation three-rotor coaxial magnetic gear according to claim 5, characterized in that: The magnetic gear satisfies the following formula: ； in, is the axial length of the T-type double modulation magnetic ring, is the axial thickness of the T-type double modulation magnetic ring, is the axial thickness of the inner rotor, is the axial thickness of the outer rotor, is the thickness of the axial air gap on the intermediate rotor side, is the thickness of the axial air gap on the outer rotor side.

8. The multi-magnetic circuit monotone magnetic ring double modulation three-rotor coaxial magnetic gear according to claim 1, characterized in that: The magnetic gear satisfies the following formula: in, is the number of magnetic tuning cores in the T-type double modulation magnetic tuning ring, is the number of magnetic pole pairs of the permanent magnet on the inner rotor, is the number of magnetic pole pairs of the permanent magnets on the intermediate rotor, is the number of magnetic pole pairs of the permanent magnets on the outer rotor.

9. The multi-magnetic circuit monotone magnetic ring double modulation three-rotor coaxial magnetic gear according to claim 8, characterized in that: The magnetic gear satisfies the following formula: in, It is the transmission between the middle rotor and the inner rotor. is the transmission ratio between the intermediate rotor and the outer rotor, is the inner rotor speed, is the intermediate rotor speed, is the outer rotor speed.

10. An automobile hub motor, characterized in that: It includes the multi-magnetic circuit monotone magnetic ring double modulation three-rotor coaxial magnetic gear according to any one of claims 1 to 9.

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