A motor and a device including the motor

Abstract

The present invention provides a motor, which comprises: a stator, a mover, and a stator permanent magnet assembly and / or a mover permanent magnet assembly; the stator comprises N magnetically conductive stator units, and the mover comprises N magnetically conductive mover units; the N stator units comprise N stator yokes; the N mover units comprise N mover yokes; wherein N is an integer greater than or equal to 2; the N stator units and the N mover units are arranged in pairs along a first direction; and an air gap is formed between the N stator units and the N mover units; a magnetic field along a second direction is formed in the air gap; wherein the second direction direction perpendicular to the first direction; N‑1 stator unit gaps are formed between adjacent stator units among the N stator units; N‑1 mover unit gaps are formed between adjacent mover units among the N mover units; the stator permanent magnet assembly can be arranged in at least part of the N‑1 stator unit gaps and / or on the N stator units; and / or the mover permanent magnet assembly can be arranged in at least part of the N‑1 mover unit gaps and / or on the N mover units. By adopting the technical solution of the present invention, the electromagnetic torque / output can be increased, or the power density of power generation can be increased.

Description

Technical Field

[0001] The present invention relates to the field of electromagnetic technology, and in particular to a motor and a device comprising the motor. Background Art

[0002] In the past two years, with the rapid development of society and technology, people have an increasing demand for motors that can output large torque / output or large power generation.

[0003] However, so far, the performance of motors in this regard still cannot meet people's needs. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a motor and a device including the motor.

[0005] The present invention provides a motor, the motor comprising: a stator, a mover, and a stator permanent magnet assembly and / or a mover permanent magnet assembly; the stator comprises N magnetically conductive stator units, the mover comprises N magnetically conductive mover units; the N stator units comprise N stator yokes; the N mover units comprise N mover yokes; wherein N is an integer greater than or equal to 2;

[0006] The N stator units and the N mover units are arranged in pairs along a first direction; and an air gap is formed between the N stator units and the N mover units; a magnetic field along a second direction is formed in the air gap; wherein the second direction is perpendicular to the first direction;

[0007] N-1 stator unit gaps are formed between adjacent stator units among the N stator units; N-1 mover unit gaps are formed between adjacent mover units among the N mover units;

[0008] The stator permanent magnet assembly is arranged in at least part of the N-1 stator unit gaps and / or on the N stator units; and / or

[0009] The mover permanent magnet assembly is arranged in at least a portion of the N-1 mover unit gaps and / or on the N mover units.

[0010] Preferably, the N stator yokes are connected as one through a stator magnetic conductive material connection portion; and / or

[0011] The N mover yokes are connected as a whole via a mover magnetic conductive material connection portion.

[0012] Preferably, when the stator permanent magnet assembly is arranged on at least part of the N-1 stator unit gaps; the magnetic field polarization direction of the stator permanent magnet assembly corresponds to the first direction; and / or

[0013] When the stator permanent magnet assembly is arranged on at least part of the N stator units; the direction of the magnetic field generated by the stator permanent magnet assembly in the air gap corresponds to the second direction; and / or

[0014] When the mover permanent magnet assembly is arranged on at least part of the N-1 mover unit gaps; the magnetic field polarization direction of the mover permanent magnet assembly corresponds to the first direction; and / or

[0015] When the mover permanent magnet assembly is arranged on at least part of the N mover units; the direction of the magnetic field generated by the mover permanent magnet assembly in the air gap corresponds to the second direction.

[0016] Preferably, when the motor includes the stator permanent magnet assembly and the mover permanent magnet assembly, the magnetic fields formed by the stator permanent magnet assembly and the mover permanent magnet assembly on the paired stator unit and mover unit in the air gap have the same direction.

[0017] Preferably, the stator permanent magnet assembly may be arranged on the N stator yokes of at least some of the N stator units; and / or the mover permanent magnet assembly may be arranged on the N mover yokes of at least some of the N mover units.

[0018] Preferably, when the motor is a rotary motor, the stator permanent magnet assembly and / or the mover permanent magnet assembly arranged on the yoke are distributed in a circular ring shape; or

[0019] When the motor is a linear motor, the stator permanent magnet assembly and / or the mover permanent magnet assembly arranged on the yoke are distributed in a straight line.

[0020] Preferably, each of the N stator yokes extends toward the mover along the moving direction of the mover to form a plurality of large teeth; large slots are formed between adjacent large teeth; windings are arranged in at least some of the large slots;

[0021] The large teeth correspond to the surface of the mover to form a plurality of first small teeth along the moving direction of the mover, and first small grooves are formed between adjacent first small teeth; or

[0022] The surface of the large tooth corresponding to the mover is a smooth surface.

[0023] Preferably, when the motor forms the first small slots, first permanent magnets are arranged in at least some of the first small slots of at least some of the N stator units.

[0024] Preferably, a seventh permanent magnet is disposed in at least part of the large slot.

[0025] Preferably, a plurality of second small teeth are formed on the surfaces of the N mover yokes corresponding to the stator along the moving direction of the mover, and second small grooves are formed between adjacent second small teeth.

[0026] Preferably, second permanent magnets are arranged in at least some of the second small grooves in at least some of the N mover units.

[0027] Preferably, when adjacent stator permanent magnet assemblies are arranged in adjacent N-1 stator unit gaps, the magnetic fields generated by the adjacent stator permanent magnet assemblies in the air gaps are in opposite directions; and / or

[0028] When the adjacent N stator units are provided with adjacent stator permanent magnet assemblies, the magnetic fields generated by the adjacent stator permanent magnet assemblies in the air gap are in opposite directions; and / or

[0029] When adjacent N-1 mover unit gaps are provided with adjacent mover permanent magnet assemblies, the magnetic fields generated by the adjacent mover permanent magnet assemblies in the air gaps are in opposite directions; and / or

[0030] When the adjacent N mover units are provided with adjacent mover permanent magnet assemblies, the magnetic fields generated by the adjacent mover permanent magnet assemblies in the air gap are in opposite directions.

[0031] Preferably, the adjacent mover units are staggered by a certain distance along the moving direction of the mover; wherein,

[0032] The certain distance enables the magnetic fields generated by the adjacent stator permanent magnet assemblies and / or the adjacent mover permanent magnet assemblies in the air gaps corresponding to the first direction between the adjacent stator units and the adjacent mover units to have the same direction.

[0033] Preferably, a plurality of second small teeth are formed on the surfaces of the N mover yokes corresponding to the stator along the moving direction of the mover, and second small grooves are formed between adjacent second small teeth.

[0034] Preferably, the adjacent mover units are staggered by 0.5 of the pitch of the second small teeth along the moving direction of the mover.

[0035] Preferably, when the motor is a radial flux rotating motor, the first direction is axial; the second direction is radial; or

[0036] When the motor is a linear motor, the first direction is a direction perpendicular to the moving direction of the mover, and the second direction is a direction crossing the air gap between the stator and the mover.

[0037] The present invention provides a device, comprising at least one motor as described in any one of the above items.

[0038] By arranging a first permanent magnet assembly and / or a second permanent magnet assembly on a motor including N stator units and N mover units, when the motor is used as an electric motor, a greater electromagnetic torque / output can be generated; similarly, when the motor is used as a generator, the power density of power generation can be increased. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments and the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 A schematic diagram of the overall structure of a motor provided in an embodiment of the present invention.

[0041] Figure 2A A schematic diagram of two stator units of a motor provided in an embodiment of the present invention; Figure 2B A first schematic diagram of two stator units of a motor provided by an embodiment of the present invention cut apart along the axial direction; Figure 2C A second schematic diagram of two stator units of a motor provided by an embodiment of the present invention cut apart along the axial direction.

[0042] Figure 3 A schematic diagram of an axial section of two stator units of a motor provided by an embodiment of the present invention after a third permanent magnet and a fifth permanent magnet are arranged.

[0043] Figure 4 A schematic diagram of two mover units of a motor provided by an embodiment of the present invention cut apart along the axial direction.

[0044] Figure 5 A schematic diagram of an axial section of two mover units of a motor provided by an embodiment of the present invention after a fourth permanent magnet and a fifth permanent magnet are arranged.

[0045] Fig. 6A A partial plan view of the tooth slot surfaces of two adjacent mover units of the motor provided by an embodiment of the present invention; Figure 6B A partial plan view of the tooth slot surfaces of three adjacent mover units of the motor provided by an embodiment of the present invention; Figure 6C A partial schematic diagram of the tooth groove surfaces of two adjacent mover units of the motor provided in an embodiment of the present invention.

[0046] Fig. 7A A first plan view of one of the large teeth of the stator unit of the motor provided by an embodiment of the present invention;

[0047] Figure 7BA second plan view of one of the large teeth of the stator unit of the motor provided by an embodiment of the present invention; Figure 7C A third plan view of one of the large teeth of the stator unit of the motor provided in an embodiment of the present invention.

[0048] Fig. 8A A first partial schematic diagram of the tooth slot arrangement of the relative parts of the stator and the mover of the motor provided by the embodiment of the present invention; Figure 8B A second partial schematic diagram of the tooth slot arrangement of the relative parts of the stator and the mover of the motor provided in an embodiment of the present invention.

[0049] Fig. 9A A first schematic diagram of a fifth permanent magnet of a circular arrangement structure provided in a stator yoke of a motor provided in an embodiment of the present invention; Fig. 9B A second schematic diagram of a fifth permanent magnet of a circular arrangement structure provided in a stator yoke of a motor provided in an embodiment of the present invention; Fig. 9C A third schematic diagram of a fifth permanent magnet of a circular arrangement structure provided in a stator yoke of a motor provided in an embodiment of the present invention.

[0050] Fig. 10A A first schematic diagram of a fifth permanent magnet of a linear arrangement structure provided in a stator yoke of a motor provided in an embodiment of the present invention; Fig. 10B A second schematic diagram of a fifth permanent magnet in a linear arrangement structure provided in a stator yoke of a motor provided in an embodiment of the present invention; Fig. 10C A third schematic diagram of a fifth permanent magnet of a linear arrangement structure provided in a stator yoke of a motor provided in an embodiment of the present invention.

[0051] Fig.11A A schematic axial cross-sectional view of an axial flux rotating electrical machine provided by an embodiment of the present invention; Fig. 11B 11C is a schematic diagram of the stator surface of the mover of the axial flux rotating electrical machine provided in an embodiment of the present invention; 11C is a schematic diagram of the stator of the axial flux rotating electrical machine provided in an embodiment of the present invention.

[0052] Explanation of the symbols in the drawings: 10 motor; 11 stator; 12 mover; 111, 112 stator unit; 1113, 1123 stator yoke; 121, 122, 123 mover unit; 1213, 1223 mover yoke; 13 stator magnetic conductive material connecting part; 1111 first small tooth; 1112 first small slot; M1 first permanent magnet; M2 second permanent magnet; M3 third permanent magnet; M4 fourth permanent magnet; M5 fifth permanent magnet; M6 sixth permanent magnet; M7 seventh permanent magnet; T large tooth; L winding; N1 gap between adjacent stator units; Y axial direction. DETAILED DESCRIPTION

[0053] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment 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 the field without creative work should fall within the scope of protection of the present invention.

[0054] like Figure 1 As shown, an embodiment of the present invention provides a motor 10.

[0055] Specifically, the motor may be any type of motor that is currently available or will be developed in the future and has the following structure, for example: The motor may include a rotating motor (such as Figure 1 as shown) or a linear motor (as Fig. 8A Or 8B); Taking the magnetic flux direction of the rotating motor as an example, it can include an axial magnetic flux rotating motor (such as Figures 11A-11C As shown), radial flux rotating motor (such as Figure 1 as shown) or an axial-radial hybrid flux rotating motor (illustration omitted).

[0056] Specifically, the motor can be an electric motor that converts electrical energy into kinetic energy output; or a generator that converts kinetic energy into electrical energy output. In some cases, the two can be implemented using the same structure, and the same structure can be connected in different electrical and mechanical ways to achieve the functions of a generator or a motor respectively.

[0057] Continue as Figure 1 As shown, the motor 10 includes a stator 11, a mover 12, and a stator permanent magnet assembly and / or a mover permanent magnet assembly; the stator 11 includes N magnetically conductive stator units 111, 112; the mover 12 includes N magnetically conductive mover units 121, 122; the N stator units 111, 112 include N stator yokes 1113, 1123 (such as Figure 2A or 2B); N mover units 121, 122 include N mover yokes 1213, 1223 (as shown in Figure 4 Or as shown in 5); wherein N is an integer greater than or equal to 2. For ease of understanding, this specific embodiment is described in detail by taking N equal to 2 as an example.

[0058] Specifically, the N stator units and the N mover units can be made of various magnetically conductive materials that are currently available or will be developed in the future, such as commonly used silicon steel sheets, iron powder or pure iron, etc.

[0059] Specifically, the stator 11 and the mover 12 can be arranged opposite to each other on one side (such as Figure 1 ,8A In addition, the stator 11 may be in two parts, and each part is located on both sides of the mover 12 (the figure is omitted), or the mover may be in two parts (12, 12') and each part is located on both sides of the stator 11 (as shown in FIG. Figure 8B as shown), or as Fig. 11C As shown, the mover part is omitted in the figure, and movers can be correspondingly arranged on both sides of the axial direction Y of the stator.

[0060] Further, when the stator 11 and the mover 12 are arranged on one side opposite to each other, the stator 11 can be located on any side of the mover 12. For ease of understanding, this specific embodiment takes the motor as a radial flux rotating motor, and the stator 11 is located on the radial inner side of the mover 12 as an example for further explanation. Figure 1 shown.

[0061] The N stator units 111, 112 and the N mover units 121, 122 are arranged in pairs along a first direction; and an air gap is formed between the N stator units 111, 112 and the N mover units 121, 122, and a magnetic field along a second direction is formed in the air gap; wherein the second direction is perpendicular to the first direction.

[0062] Specifically, according to different motors, the first direction and the second direction represent different meanings.

[0063] For example: Figure 1 As shown, when the motor 10 is a radial flux rotating motor 10, the first direction is the axial direction Y; the second direction is the radial direction;

[0064] like Fig. 8A Or as shown in FIG8B, when the motor is a linear motor; the first direction is a direction perpendicular to the second direction; and the second direction is a direction crossing the air gap between the stator and the mover.

[0065] like Figures 11A-11C As shown, when the motor is an axial flux rotating motor, the first direction is radial; the second direction is axial Y, then the N stator units 111, 112 and the N mover units 121, 122 are arranged in pairs along the radial direction; and an air gap is formed between the N stator units 111, 112 and the N mover units 121, 122, and a magnetic field along the axial direction Y is formed in the air gap.

[0066] like Figure 2B As shown, a stator unit gap N1 is formed between adjacent stator units, and a total of N-1 stator unit gaps N1 are formed between adjacent stator units in the N stator units 111 and 112; and N-1 mover unit gaps are formed between adjacent mover units in the N mover units 121 and 122.

[0067] Here, adjacent means adjoining, for example: the first stator unit and the second stator unit are called adjacent, the second stator unit and the third stator unit are called adjacent..., and so on, the Nth stator unit and the N-1th stator unit can be called adjacent; similarly, the Nth mover unit and the N-1th mover unit are called adjacent.

[0068] In one embodiment, Figure 2C As shown, the N stator units 111 and 112 are connected by a stator gap N1 and / or the N mover units are connected by a mover gap (see Appendix Figure 2C The moving unit part is omitted) and they are completely independent of each other; then each stator unit and moving unit arranged in pairs form respective magnetic field line loops H', H";

[0069] In one embodiment, Figure 2B As shown, there is a gap N1 between the N stator units 111 and 112 and / or between the N mover units (see Figure 2B Except for the mover gap N1, the N stator yokes of the N stator units 111 and 112 are connected as a whole through the stator magnetic conductive material connecting part 13; and / or the N mover yokes of the N mover units are connected as a whole through the mover magnetic conductive material connecting part 14 (such as Figure 4 or 5) are connected as a whole; then the N stator units and the N mover units together form an integral magnetic line of force loop H, which can reduce the magnetic resistance of the magnetic circuit of the entire motor compared to the above embodiments in which each magnetic line of force loop is formed separately.

[0070] Specifically, the connection into one piece may be prefabricated into one piece, or may be achieved by splicing.

[0071] Specifically, each of the N stator yokes can be a prefabricated whole, spliced ​​together from multiple parts, or composed of multiple parts spaced a certain distance from each other; and / or, each of the N mover yokes can be a prefabricated whole, spliced ​​together from multiple parts, or composed of multiple parts spaced a certain distance from each other.

[0072] The stator permanent magnet assembly may be disposed in at least part (part or all) of the N-1 stator unit gaps and / or on the N stator units 111, 112; and / or

[0073] The mover permanent magnet assembly may be disposed in at least part of the N−1 mover unit gaps and / or on the N mover units 121 , 122 .

[0074] Specifically, the stator permanent magnet assembly and the mover permanent magnet assembly can be a single piece or multiple pieces, and the multiple pieces of permanent magnets can be designed in any way, wherein the Halbach structure or simplified Halbach structure is a special structure of the multiple pieces of permanent magnets.

[0075] Taking the motor as a rotating motor as an example, since the electromagnetic torque of the motor depends on the current size in the winding and the magnetic field generated by the permanent magnet. Under the condition of the same winding current, the larger the effective magnetic field generated by the permanent magnet, the larger the electromagnetic torque of the motor, and the increase of this electromagnetic torque will not increase the copper loss of the motor. By arranging a first permanent magnet assembly and / or a second permanent magnet assembly on a motor including N stator units and N mover units, the magnetic flux generated by the first permanent magnet assembly and / or the second permanent magnet assembly forms a loop through the stator, the air gap and the mover, and the magnetic field generated by each permanent magnet in the air gap overlaps, which greatly improves the magnetic field generated by the permanent magnet. Due to the clever arrangement of the permanent magnets, the magnetic field generated by the first permanent magnet assembly and / or the second permanent magnet assembly can interact with the magnetic field generated by the winding current on the motor to generate an effective torque. Therefore, when the motor is used as a motor, it can generate a larger electromagnetic torque / output; similarly, when the motor is used as a generator, the power density of power generation can be increased.

[0076] In addition, when the volume of the motor remains unchanged, when the motor is used as an electric motor, the torque / output of the motor under the same load current can be increased; when the motor is used as a generator, the power density of power generation can be increased; and when the output torque / force of the motor or the power density of power generation remains unchanged, the volume and weight of the motor can be reduced.

[0077] In addition, since the stator and / or mover permanent magnet assemblies are arranged on the stator unit, the mover unit, the stator unit gap and / or the mover unit gap, the processing and installation costs of the permanent magnets can be reduced, thereby reducing the manufacturing cost of the motor.

[0078] Specifically, for ease of understanding, the above-mentioned stator permanent magnet assembly can be arranged in at least part of the N-1 stator unit gaps and / or on the N stator units 111, 112; and / or the mover permanent magnet assembly can be arranged in at least part of the N-1 mover unit gaps and / or on the N mover units 121, 122, which is further described in detail:

[0079] In one embodiment, Figure 3 As shown, the stator permanent magnet assembly is a third permanent magnet M3 disposed in at least part of the N-1 stator unit gaps N1;

[0080] In one embodiment, Figure 3 As shown, the mover permanent magnet assembly is a fourth permanent magnet M4 disposed in at least part of the N-1 mover unit gaps N2.

[0081] In one embodiment, Figure 3 As shown, the stator permanent magnet assembly can be arranged on the N stator yokes of at least some of the N stator units; and / or the mover permanent magnet assembly can be arranged on the N mover yokes of at least some of the N mover units. In addition, the stator permanent magnet assembly and the mover permanent magnet assembly can also be arranged at any other position of the stator unit and the mover unit that meets any requirement for forming a superposition of magnetic fields in the air gap.

[0082] For ease of understanding, the following is further detailed description:

[0083] In one embodiment, Figure 3 As shown, the fifth permanent magnet M5 is disposed on the N stator yokes 113 .

[0084] Further, in one embodiment, when the motor is a rotating motor, the fifth permanent magnets are arranged in a circular ring shape.

[0085] Specifically, Fig. 9A , 9B As shown in FIG. 9C , the fifth annular permanent magnet M5 can be prefabricated as a whole or can be assembled from a plurality of separate parts to form an annular ground feature permanent magnet M5 (eg Fig. 9A or a plurality of permanent magnets are arranged at a certain distance from each other along the circumferential direction to form a circular ring-shaped fifth permanent magnet M5 '(as shown); Fig. 9B ); or a plurality of permanent magnets spaced a certain distance apart and at a certain angle are arranged along the circumferential direction to form a fifth permanent magnet M5" (such as Fig. 9C ).

[0086] Further, in one embodiment, when the motor is a linear motor, the fifth permanent magnets are arranged in a straight line.

[0087] Specifically, Fig. 9A , 9B As shown in FIG. 9C , the fifth permanent magnet M5 can be prefabricated as a whole or can be assembled from a plurality of separate parts into a straight line arrangement (eg, Fig. 10A ), or a plurality of fifth permanent magnets M5' (such as Fig. 10B ), or adjacent permanent magnets are spaced a certain distance apart and arranged at a certain angle to form a fifth permanent magnet M5" (such as Fig. 10C ).

[0088] like Figure 5 As shown, in one embodiment, the sixth permanent magnet M6 is disposed on the N mover yokes 123 .

[0089] Further, in one embodiment, when the motor is a rotating motor, the sixth permanent magnets M6 are arranged in a circular ring shape.

[0090] Specifically, the sixth permanent magnet may be prefabricated as one piece or may be formed by splicing a plurality of separate parts into a circular shape; or may be formed by arranging a plurality of permanent magnets at a certain distance from each other along the circumferential direction to form a circular shape; or may be formed by arranging a plurality of permanent magnets at a certain distance and at a certain angle along the circumferential direction to form the sixth permanent magnet.

[0091] Further, in one embodiment, when the motor is a linear motor, the sixth permanent magnets M6 are arranged in a straight line.

[0092] Specifically, the sixth permanent magnet can be prefabricated as a whole or composed of multiple separate parts spliced ​​together to be arranged in a straight line; or multiple permanent magnets can be arranged in a straight line at a certain distance; or adjacent permanent magnets can be arranged at a certain distance and at a certain angle.

[0093] Specifically, for other related descriptions about the sixth permanent magnet, please refer to the description of the fifth permanent magnet above, which will not be repeated here.

[0094] In one embodiment, when the stator permanent magnet assembly is disposed on at least part of the N-1 stator unit gaps, the magnetic field polarization direction of the stator permanent magnet assembly corresponds to the first direction; and / or

[0095] When the stator permanent magnet assembly is disposed on at least part of the N stator units, the direction of the magnetic field generated by the stator permanent magnet assembly in the air gap corresponds to the second direction; and / or

[0096] When the mover permanent magnet assembly is arranged on at least part of the N-1 mover unit gaps, the magnetic field polarization direction of the mover permanent magnet assembly corresponds to the first direction; and / or

[0097] When the mover permanent magnet assembly is arranged on at least part of the N mover units, the direction of the magnetic field generated by the mover permanent magnet assembly in the air gap corresponds to the second direction.

[0098] The above-mentioned correspondence refers to being the same or substantially the same.

[0099] By setting the polarization direction of the magnetic field, each permanent magnet can make full use of its material to generate the largest possible magnetic field in the air gap of the motor, so that when the motor is an electric motor, it can generate the largest possible electromagnetic torque / output. In addition, similarly, when the motor is a generator, the power density of power generation can be increased.

[0100] In one embodiment, when the paired stator unit and mover unit of the motor include a paired stator permanent magnet assembly and a paired mover permanent magnet assembly, the paired stator permanent magnet assembly and the paired mover permanent magnet assembly form the same magnetic field direction in the air gap. For example, the first permanent magnet and the second permanent magnet form the same magnetic field direction in the air gap.

[0101] The stator permanent magnet assembly and the mover permanent magnet assembly arranged in pairs can form a superposition of magnetic fields, thereby further increasing the magnetic flux density passing through the air gap.

[0102] like Figures 2A-2C As shown, in one embodiment, each of the N stator yokes of the N stator units 111, 112 extends toward the mover unit along the direction of movement of the mover (for example, it can be called the "circumferential direction" in a radial flux rotating motor) to form a plurality of large teeth T, and large slots are formed between adjacent large teeth T; the winding L is arranged in at least part of the large slots.

[0103] Specifically, the windings may be arranged in the large slots in a concentrated or distributed manner.

[0104] In one embodiment, a seventh permanent magnet M7 (such as Fig. 8A shown).

[0105] Furthermore, in one embodiment, the large slots corresponding to the positions of the N stator units along the first direction may share the same winding L (eg Figure 1 Alternatively, each of the large slots on the stator units 111 and 112 may be provided with independent windings L (illustration omitted).

[0106] Specifically, the large teeth can be various types of large teeth, such as: boot-shaped teeth (such as Figure 1 As shown), or straight teeth (illustration omitted), etc.

[0107] like Figure 7B As shown, in one embodiment, a plurality of large teeth T' of the stator unit correspond to the end surface of the mover to form a plurality of first small teeth 1111' along the moving direction of the mover, and a first small groove 1112' is formed between adjacent first small teeth 1111'. Specifically, the small groove 1112' can be an open groove (such as Figure 7C as shown), closed slot (illustration omitted) or semi-open slot (illustration omitted), etc.

[0108] like Fig. 7A As shown, further, in one embodiment, a first permanent magnet M1 is disposed in at least a portion of the first small groove 1112 ; in one embodiment, the direction of the magnetic field formed by the first permanent magnet M1 in the air gap corresponds to the second direction.

[0109] like Figure 7C As shown, in one embodiment, the surface of the corresponding mover of the plurality of large teeth T" is smooth, that is, the surface of the large teeth is not provided with the first small teeth and the second small grooves, and / or the first permanent magnet.

[0110] like Figure 1As shown in FIG. 4 , in one embodiment, a plurality of second small teeth are formed on the surface of the N mover yokes 121 and 122 corresponding to the stator along the movement direction, and a second small groove is formed between two adjacent second small teeth;

[0111] Further, in one embodiment, a second permanent magnet M2 is disposed in at least a portion of the second small groove; in one embodiment, the direction of the magnetic field formed by the second permanent magnet M2 in the air gap corresponds to the second direction.

[0112] Specifically, the first permanent magnet disposed in each first small groove and the second permanent magnet disposed in the second small groove can be a single piece or multiple pieces, and the multiple pieces of permanent magnets can be designed arbitrarily, wherein the Halbach structure or the simplified Halbach structure is one of the special structures of the multiple pieces of permanent magnets.

[0113] In one embodiment, Figure 4 As shown in Figure 5, according to the above embodiments, when the surfaces of the N mover yokes corresponding to the stator form a plurality of second small teeth 1211, 1221 along the moving direction of the mover, a second small groove 1212, 1222 is formed between two adjacent second small teeth.

[0114] In one embodiment, when adjacent stator permanent magnet assemblies are arranged in adjacent N-1 stator unit gaps, the directions of the magnetic fields generated by the adjacent stator permanent magnet assemblies in the air gaps may be opposite or the same; and / or

[0115] In one embodiment, Figure 3 As shown, when adjacent stator permanent magnet assemblies are arranged on adjacent N stator units, the directions of the magnetic fields generated by the adjacent stator permanent magnet assemblies in the air gap may be opposite or the same; and / or

[0116] In one embodiment, when adjacent mover permanent magnet assemblies are arranged in the gaps of adjacent N-1 mover units, the directions of the magnetic fields generated by the adjacent mover permanent magnet assemblies in the air gaps may be opposite or the same; and / or

[0117] In one embodiment, when adjacent N mover units are provided with adjacent mover permanent magnet assemblies, the directions of the magnetic fields generated by the adjacent mover permanent magnet assemblies in the air gap may be opposite or the same.

[0118] Among them, adjacent N-1 stator unit gaps refer to stator unit gaps adjacent to each other among the N-1 stator unit gaps; adjacent N-1 mover unit gaps refer to mover unit gaps adjacent to each other among the N-1 mover unit gaps; for the specific meaning, please refer to the description of adjacent stator units in the above embodiment, which will not be repeated here.

[0119] Among them, adjacent stator permanent magnet assemblies refer to the general term for two stator permanent magnet assemblies respectively arranged in adjacent N-1 stator unit gaps; adjacent mover permanent magnet assemblies refer to the general term for two mover permanent magnet assemblies respectively arranged in adjacent N-1 mover unit gaps.

[0120] Further, in one embodiment, according to the above embodiments, when adjacent N-1 stator unit gaps and / or adjacent N stator units are respectively provided with adjacent stator permanent magnet assemblies, and the magnetic fields generated by adjacent stator permanent magnet assemblies in the air gap are in opposite directions; and / or when adjacent N-1 mover unit gaps and / or adjacent N mover units are respectively provided with adjacent mover permanent magnet assemblies, and the magnetic fields generated by adjacent mover permanent magnet assemblies in the air gap are in opposite directions, two adjacent mover units 121, 122 of the N mover units 121, 122 are staggered by a certain distance along the movement direction of the motor, and the distance makes the magnetic fields generated by adjacent stator permanent magnet assemblies and / or mover permanent magnet assemblies in the air gaps corresponding to the positions along the first direction between adjacent mover units and adjacent stator units arranged in adjacent pairs have the same direction, thereby increasing the torque / output of the motor, or the power density of power generation.

[0121] In a motor using the above structure, when the magnetic fields generated in the air gap by adjacent stator permanent magnet assemblies and / or adjacent mover permanent magnet assemblies are in opposite directions, the corresponding two adjacent mover units are staggered by a certain distance along the mover movement direction. This distance makes the magnetic fields generated in the air gaps corresponding to the positions along the first direction by adjacent stator permanent magnet assemblies and / or mover permanent magnet assemblies have the same direction, thereby generating magnetic fields in the same direction in adjacent stator units arranged in pairs with adjacent mover units, thereby increasing the torque / output of the motor, or the power density of power generation.

[0122] Further, in one embodiment, Figure 4 , 5 Or as shown in 6A-6C, when the surface of the N mover yokes corresponding to the stator forms a plurality of second small teeth 1211, 1221 along the moving direction of the mover, and a second small groove 1212, 1222 is formed between two adjacent second small teeth; two adjacent mover units 121, 122 of the N mover units 121, 122 are staggered by a distance d of 0.5 second small teeth along the moving direction of the motor. Specifically, for example, Fig. 6A As shown, the first mover unit 121 and the second mover unit 122 are staggered by a distance of 0.5 of the second small tooth pitch d; for example, Figure 6BAs shown, the first mover unit 121 and the second mover unit 122 are staggered by a distance d of 0.5 second small teeth along the moving direction of the mover; and the second mover unit 122 and the third mover unit 125 are staggered by a distance d of 0.5 second small teeth along the moving direction of the mover opposite to the above direction.

[0123] According to the above structure, Figure 6C As shown, assuming that the magnetic field generated by the stator permanent magnet assembly and / or the mover permanent magnet assembly on the first stator unit and / or the second mover unit enters the mover from the stator in the second small tooth portion and enters the stator from the mover in the second small slot, since the direction of the magnetic field formed in the air gap by the stator and / or the mover permanent magnet assembly on the first stator and / or the mover unit is opposite to the magnetization direction of the stator and / or the mover permanent magnet assembly on the second stator and / or the mover unit, the stator and / or the mover permanent magnet assembly on the second stator and / or the mover unit generates a magnetic field in the air gap. The magnetic field enters the stator from the mover in the second small tooth portion, and enters the mover from the stator in the second small slot portion. When the adjacent second mover unit and the first mover unit are staggered by 0.5 mover tooth pitches along the mover movement direction, the magnetic fields generated by the stator and / or mover permanent magnet assembly in the air gaps at corresponding positions of the first mover unit and the second mover unit along the first direction have the same direction, then magnetic fields in the same direction can be generated on adjacent stator units arranged in pairs with adjacent mover units, thereby increasing the overall torque / output of the motor, or the power density of power generation.

[0124] An embodiment of the present invention further provides a device (with drawings omitted), which includes at least one motor as described in any one of the above items.

[0125] In some preferred embodiments, the device can be an automated device or a semi-automated device.

[0126] It should be noted that the automated or semi-automated equipment may be applied in various fields, such as industry, education, nursing, entertainment or medical treatment, etc.

[0127] In some preferred embodiments, robots (such as manipulators or humanoid robots) can be considered as advanced automation equipment.

[0128] In some embodiments, the device may also be a power generation device.

[0129] For the relevant description of the motor, please refer to the above embodiments and will not be repeated here.

[0130] When an element is described as being "disposed on" another element, it may be fixed to the other element or movably connected relative to the other element. When an element is described as being "fixed to" another element, it may be directly on the other element or one or more centered elements may be present therebetween. When an element is described as being "connected to" another element, it may be directly connected to the other element or one or more centered elements may be present therebetween. The terms "longitudinal", "lateral", "left", "right", "interior", "exterior" and similar expressions used in this specification are for illustrative purposes only.

[0131] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in this specification in the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0132] The term "and / or" in this article is just a way to describe the association relationship of related objects, indicating that there can be three relationships. For example, A and / or B can mean that A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the related objects before and after are in an "or" relationship.

[0133] The terms "first", "second", "third", etc. (if any) in the claims and specification of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including", "having" and any of their variations are intended to cover non-exclusive inclusions. For example: a product or device that includes a series of structures or modules, etc. is not necessarily limited to those structures or modules that are clearly listed, but includes other structures or modules that are not clearly listed or inherent to these products or devices.

[0134] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0135] It should be noted that those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the structures and modules involved are not necessarily required for the present invention.

[0136] The motor and the device including the motor provided in the embodiments of the present invention are described in detail above, but the description of the above embodiments is only used to help understand the method and the core idea of ​​the present invention and should not be understood as limiting the present invention. Those skilled in the art, based on the idea of ​​the present invention and within the technical scope disclosed by the present invention, can easily think of changes or replacements, which should be covered within the protection scope of the present invention.

Claims

1. A motor, characterized in that: The motor comprises: a stator, a mover, a stator permanent magnet assembly and a mover permanent magnet assembly; the stator comprises N magnetically conductive stator units, the mover comprises N magnetically conductive mover units; the N stator units comprise N stator yokes; the N mover units comprise N mover yokes; wherein N is an integer greater than or equal to 2; The N stator units and the N mover units are arranged in pairs along a first direction; and an air gap is formed between the N stator units and the N mover units; a magnetic field along a second direction is formed in the air gap; wherein the second direction is perpendicular to the first direction; N-1 stator unit gaps are formed between adjacent stator units among the N stator units; N-1 mover unit gaps are formed between adjacent mover units among the N mover units; The stator permanent magnet assembly is arranged in at least part of the N-1 stator unit gaps and on the N stator units; The mover permanent magnet assembly is arranged in at least part of the N-1 mover unit gaps and on the N mover units; When the stator permanent magnet assembly is arranged on at least part of the N-1 stator unit gaps, the magnetic field polarization direction of the stator permanent magnet assembly corresponds to the first direction; When the stator permanent magnet assembly is arranged on at least part of the N stator units, the direction of the magnetic field generated by the stator permanent magnet assembly in the air gap corresponds to the second direction; When the mover permanent magnet assembly is arranged on at least part of the N-1 mover unit gaps, the magnetic field polarization direction of the mover permanent magnet assembly corresponds to the first direction; When the mover permanent magnet assembly is arranged on at least part of the N mover units, the direction of the magnetic field generated by the mover permanent magnet assembly in the air gap corresponds to the second direction; The magnetic fields formed by the stator permanent magnet assembly and the mover permanent magnet assembly on the stator unit and the mover unit arranged in pairs in the air gap have the same direction; A plurality of second small teeth are formed on the surfaces of the N mover yokes corresponding to the stators along the moving direction of the mover, second small grooves are formed between adjacent second small teeth, and second permanent magnets are arranged in at least some of the second small grooves in at least some of the N mover units.

2. The motor according to claim 1, characterized in that The N stator yoke parts are connected as a whole through a stator magnetic conductive material connecting part; and / or The N mover yokes are connected as a whole via a mover magnetic conductive material connection portion.

3. The motor according to claim 1 or 2, characterized in that: The stator permanent magnet assembly is arranged on the N stator yokes of at least some of the N stator units; and / or the mover permanent magnet assembly is arranged on the N mover yokes of at least some of the N mover units.

4. The motor according to claim 1 or 2, characterized in that: When the motor is a rotary motor, the stator permanent magnet assembly and / or the mover permanent magnet assembly arranged on the yoke are distributed in a circular ring shape; or When the motor is a linear motor, the stator permanent magnet assembly and / or the mover permanent magnet assembly arranged on the yoke are distributed in a straight line.

5. The motor according to claim 1 or 2, characterized in that: Each of the N stator yokes extends toward the mover along the moving direction of the mover to form a plurality of large teeth; large slots are formed between adjacent large teeth; windings are arranged in at least some of the large slots; The large teeth correspond to the surface of the mover to form a plurality of first small teeth along the moving direction of the mover, and first small grooves are formed between adjacent first small teeth; or The surface of the large tooth corresponding to the mover is a smooth surface.

6. The motor according to claim 5, characterized in that When the motor forms the first small slots, first permanent magnets are arranged in at least some of the first small slots of at least some of the N stator units.

7. The motor according to claim 5, characterized in that A seventh permanent magnet is disposed in at least part of the large slot.

8. The motor according to claim 1 or 2, characterized in that: When adjacent stator permanent magnet assemblies are arranged in adjacent N-1 stator unit gaps, the magnetic fields generated by the adjacent stator permanent magnet assemblies in the air gaps are in opposite directions; When the adjacent N stator units are provided with adjacent stator permanent magnet assemblies, the magnetic fields generated by the adjacent stator permanent magnet assemblies in the air gap are in opposite directions; and / or When adjacent N-1 mover unit gaps are provided with adjacent mover permanent magnet assemblies, the magnetic fields generated by the adjacent mover permanent magnet assemblies in the air gaps are in opposite directions; and / or When the adjacent N mover units are provided with adjacent mover permanent magnet assemblies, the magnetic fields generated by the adjacent mover permanent magnet assemblies in the air gap are in opposite directions.

9. The motor according to claim 8, characterized in that The adjacent mover units are staggered by a certain distance along the moving direction of the mover; wherein, The certain distance enables the magnetic fields generated by the adjacent stator permanent magnet assemblies and / or the adjacent mover permanent magnet assemblies in the air gaps corresponding to the first direction between the adjacent stator units and the adjacent mover units to have the same direction.

10. The motor according to claim 8, characterized in that The adjacent mover units are staggered by 0.5 of the pitch of the second small teeth along the moving direction of the mover.

11. The motor according to claim 1 or 2, characterized in that: When the motor is a radial flux rotating motor, the first direction is axial; the second direction is radial; or When the motor is an axial flux rotating motor, the first direction is radial; the second direction is axial; or When the motor is a linear motor, the first direction is a direction perpendicular to the moving direction of the mover, and the second direction is a direction crossing the air gap between the stator and the mover.

12. A device, characterized in that: The device comprises at least one electric machine according to any one of claims 1-11.

Images