Motor rotor assembly, motor and industrial robot

Abstract

The invention provides a motor rotor assembly, a motor and an industrial robot, the motor rotor assembly comprises a rotating shaft and a first rotor iron core, the first rotor iron core is provided with first magnetic steel, the rotating shaft is internally provided with an accommodating cavity, and the motor rotor assembly further comprises a magnetic flux adjusting device, the magnetic flux adjusting device comprises a connecting sliding block connected with the first rotor iron core and an adjusting assembly located in the containing cavity, and the adjusting assembly can drive the connecting sliding block to move so as to drive the first rotor iron core to do linear reciprocating motion in the axial direction of the rotating shaft. The adjusting assembly of the magnetic flux adjusting device is arranged in the accommodating cavity in the rotating shaft, so that the magnetic flux adjusting device can occupy the space of the motor as little as possible, the structure of the motor is more compact, the overall size of the motor can be smaller, and the magnetic flux adjusting device is particularly suitable for the working condition that the installation space of the motor is limited.

Description

Technical Field

[0001] The invention belongs to the technical field of motor design, and in particular relates to a motor rotor assembly, a motor, and an industrial robot. Background Art

[0002] Servo motors are high-precision motors that are widely used in industrial automation, robotics, precision positioning and other fields. Traditional servo motors have limited speed range at high speeds due to magnetic flux saturation and voltage limitations. The weak magnetic field speed regulation of servo motors is mainly achieved by controlling the magnetic field strength of the motor. Through the weak magnetic field control of the driver, the speed regulation range of the motor can be effectively widened, especially in the high-speed area, so that the motor can run stably in a wider speed range.

[0003] At present, the magnetic field strength of traditional servo motors is usually fixed. When weak magnetic field is required, the servo drive usually applies a continuous weak magnetic current to weaken the air gap magnetic field. At this time, the permanent magnet is prone to irreversible demagnetization.

[0004] The patent with publication number CN115459476A provides a permanent magnet synchronous motor and a weak magnetic speed control method, which drives the stator core to move toward the center of the shaft hole through the moving blocks of four moving parts, so that the air gap between the stator core and the permanent magnet changes, thereby achieving the purpose of speed regulation; the patent with publication number CN 104811014A provides a permanent magnet asynchronous speed regulation device, which can make the inner rotor move axially relative to the permanent magnet in the outer rotor assembly by setting a linear motion platform, and adjust the speed by changing the axial magnetic flux area, or make the permanent magnets in the inner rotor and outer rotor assembly in a fully coupled state, thereby realizing the speed control of the motor, but the weak magnetic speed regulation implementation structure in these prior arts is relatively complex and occupies a large volume, and is particularly not suitable for servo motors with smaller volumes. Summary of the invention

[0005] Therefore, the present invention provides a motor rotor assembly, a motor, and an industrial robot, which can overcome the technical problems in the related art that the weak magnetic speed regulation structure of the motor is complex and occupies a large volume, which is not conducive to the compact structural design of the motor.

[0006] In order to solve the above problems, the present invention provides a motor rotor assembly, including a rotating shaft and a first rotor core, the first rotor core has a first magnetic steel, the rotating shaft has a containing cavity, the motor rotor assembly also includes a flux regulating device, the flux regulating device includes a connecting slider connected to the first rotor core and an adjusting component in the containing cavity, the adjusting component can drive the connecting slider to move to drive the first rotor core to reciprocate along the axial straight line of the rotating shaft.

[0007] In some embodiments, the first rotor core includes an inner core and an outer core mounted radially outside the inner core, the first magnetic steel is arranged on the outer peripheral wall of the outer core, the inner core is fixedly mounted on the rotating shaft, and the connecting slider is connected to the outer core so as to drive the outer core to move back and forth in an axial straight line along the rotating shaft.

[0008] In some embodiments, the accommodating cavity is a blind hole extending from the axial extension end face of the rotating shaft to the non-axial extension end face of the rotating shaft, and the adjusting assembly includes a threaded connecting rod and a slider mounting seat, the threaded connecting rod has a screw head, a threaded shaft section and a mating shaft section between the screw head and the threaded shaft section, the slider mounting seat is gap-mounted on the mating shaft section, the threaded shaft section is threadedly connected to the bottom wall of the blind hole and the thread mating length is adjustable, the side wall of the blind hole has a through hole that passes through to the radial outside of the rotating shaft, the connecting slider is fixedly connected to the slider mounting seat via the through hole, and the axial length of the through hole is greater than the axial length of the connecting slider.

[0009] In some embodiments, a connecting groove is formed on the outer circumferential wall of the slider mounting seat, and the connecting slider is embedded in the connecting groove; and / or the diameter of the mating shaft segment is smaller than the diameter of the threaded shaft segment so that the slider mounting seat can be axially limited and mounted on the mating shaft segment.

[0010] In some embodiments, the inner core and the outer core respectively have an outer cylindrical surface and an inner cylindrical surface arranged opposite to each other, an axial convex strip is arranged on one of the outer cylindrical surface and the inner cylindrical surface, and an axial groove is arranged on the other, and the axial convex strip is axially slidably matched with the axial groove.

[0011] In some embodiments, the axial ridges are located on the inner cylindrical surface of the outer core; and / or the axial ridges and the axial grooves are correspondingly arranged in a plurality of groups that are evenly spaced around the circumference of the rotating shaft.

[0012] In some embodiments, the axial groove includes a first axial groove, one axial end of the first axial groove has a radial through hole, the radial through hole penetrates along the radial direction of the inner iron core to the area where the through hole is located, the axial protrusion that is slidably connected to the first axial groove is a first axial protrusion, and the first axial protrusion is fixedly connected to the connecting slider.

[0013] In some embodiments, the area where the first axial convex strip corresponds to the position of the through hole has an axial limiting boss, the axial limiting boss is located in the radial through hole, and the first axial convex strip is connected to the connecting slider via the axial limiting boss.

[0014] In some embodiments, the stack height of the inner core is greater than the stack height of the outer core.

[0015] In some embodiments, the motor rotor assembly also includes a second rotor core, which is mounted on the rotating shaft. A second magnetic steel is provided on the outer peripheral wall of the second rotor core, and the second magnetic steel and the first magnetic steel form an oblique pole on the axial projection of the rotating shaft.

[0016] In some embodiments, the skew angle formed by the second magnetic steel and the first magnetic steel on the axial projection of the rotating shaft is 3°±0.2°; or, the first end surface of the second rotor core is in contact with the first end surface of the inner core of the first rotor core, and the total stacking height of the second rotor core and the inner core is greater than the total stacking height of the stator core of the motor stator matching the motor rotor.

[0017] The present invention also provides a motor, comprising the motor rotor assembly described above.

[0018] The present invention also provides an industrial robot, comprising a servo motor, wherein the servo motor is the above-mentioned motor.

[0019] The motor rotor assembly, motor, and industrial robot provided by the present invention have the following beneficial effects:

[0020] The adjustment component of the flux regulating device is arranged in a receiving cavity within the rotating shaft, so that the flux regulating device can occupy as little motor space as possible, making the motor structure more compact and the overall size of the motor smaller, which is particularly suitable for working conditions where the motor installation space is relatively limited. It can be understood that the flux regulating device of the present invention drives the connecting slider to move through its adjustment component and then drives the first rotor core to reciprocate along the axial straight line of the rotating shaft, and can adjust the axial relative position of the first magnetic steel and the stator core, thereby adjusting the magnetic field strength of the motor, which can effectively widen the speed regulation range of the motor, achieve the purpose of weak magnetic speed regulation, reduce the back electromotive force, and enable the motor to still operate stably at high speeds, thereby widening the speed regulation range of the motor to cope with more complex use environments. It can be understood that through weak magnetic control, the motor can achieve more efficient operation under different working conditions, especially under high speed and high load conditions. It should be emphasized that the axial position of the first magnetic steel on the first rotor core in the present application can be adjusted, which can broaden the maximum speed of the corresponding motor from the physical structure. Compared with the electric weak magnetic speed regulation method through the controller in the prior art, the mechanical weak magnetic speed regulation in the present application can increase the maximum speed of the corresponding motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. The drawings described below are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0022] Figure 1 is a schematic structural diagram of a motor rotor assembly in an embodiment of the present invention;

[0023] Figure 2 yes Figure 1 A schematic diagram of the three-dimensional structure of the first rotor core;

[0024] Figure 3 yes Figure 1 A schematic diagram of a three-dimensional structure of the first rotor core in another viewing angle;

[0025] Figure 4 yes Figure 2 A schematic diagram of the three-dimensional structure of the inner iron core;

[0026] Figure 5 yes Figure 2 A schematic diagram of the three-dimensional structure of the outer iron core;

[0027] Figure 6 yes Figure 1 A schematic diagram of a three-dimensional structure after the rotating shaft and the magnetic flux regulating device are assembled;

[0028] Figure 7 It is a schematic diagram of the three-dimensional structure after the first rotor core and the rotating shaft are assembled in the present invention;

[0029] Figure 8 It is a schematic diagram of the state in which the outer iron core and the connecting slider are connected in the present invention;

[0030] Fig. 9 yes Figure 8 The schematic diagram of the structure after the shaft is hidden in the middle;

[0031] Fig.10 yes Figure 6 A front view of the magnetic flux regulating device in FIG.

[0032] Fig.11 yes Fig.10 Left view of

[0033] Fig.12 yes Fig.10 A longitudinal section of the slider connector in FIG.

[0034] Fig.13 yes Fig.10 A side view of a threaded connecting rod in FIG.

[0035] Fig.14 yes Figure 1 An axial projection of the motor rotor assembly in FIG.

[0036] Fig.15 yes Figure 1 A schematic structural diagram of a punching sheet in the second rotor core;

[0037] Fig.16 yes Figure 1 A schematic structural diagram of another punching sheet in the second rotor core;

[0038] Fig.17 Schematic diagram of the internal structure of a motor according to an embodiment of the present invention.

[0039] The accompanying drawings are marked as follows:

[0040] 1. Rotating shaft; 11. Through hole; 2. First rotor core; 21. Inner core; 211. Axial groove; 2111. Radial through hole; 22. Outer core; 221. Axial convex strip; 2211. Axial limit boss; 23. First magnetic steel; 3. Magnetic flux regulating device; 31. Connecting slider; 32. Threaded connecting rod; 321. Matching shaft section; 322. Threaded shaft section; 323. Screw head; 33. Slider mounting seat; 331. Connecting groove; 4. Second rotor core; 41. Second magnetic steel; 42. Balancing hole; 43. Balancing glue; 5. Radial convex strip; 6. Magnetic circuit optimization hole; 100. Stator core; 101. Encoder. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0043] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90° or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0044] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0045] See also Figures 1 to 17 As shown, according to an embodiment of the present invention, a motor rotor assembly is provided, including a rotating shaft 1 and a first rotor core 2 (specifically formed by stacking silicon steel sheets), the first rotor core 2 has a first magnetic steel 23 (specifically, it can be a permanent magnet), the rotating shaft 1 has a containing cavity (not shown in the figure, for reference), the motor rotor assembly also includes a flux regulating device 3, the flux regulating device 3 includes a connecting slider 31 connected to the first rotor core 2 and an adjusting component (not referenced in the figure) in the containing cavity, the adjusting component can drive the connecting slider 31 to move to drive the first rotor core 2 to reciprocate along the axial straight line of the rotating shaft 1.

[0046] In this technical solution, the adjustment component of the magnetic flux regulating device 3 is arranged in the accommodating cavity within the rotating shaft 1, so that the magnetic flux regulating device 3 can occupy as little motor space as possible, making the motor structure more compact and the overall size of the motor smaller, which is particularly suitable for working conditions where the motor installation space is relatively limited. It can be understood that the magnetic flux regulating device 3 of the present invention drives the connecting slider 31 to move through its adjustment component, thereby driving the first rotor core 2 to reciprocate along the axial straight line of the rotating shaft 1, and can adjust the axial relative position of the first magnetic steel 23 and the stator core 100, thereby adjusting the magnetic field strength of the motor, which can effectively widen the speed regulation range of the motor, achieve the purpose of weak magnetic speed regulation, reduce the back electromotive force, and enable the motor to still operate stably at high speed, thereby widening the speed regulation range of the motor to cope with more complex use environments. It can be understood that through weak magnetic control, the motor can achieve more efficient operation under different working conditions, especially under high speed and high load conditions. It should be emphasized that the axial position of the first magnetic steel 23 on the first rotor core 2 in the present application can be adjusted, which can broaden the maximum speed of the corresponding motor from the physical structure. Compared with the electric weak magnetic speed regulation method through the controller in the prior art, the mechanical weak magnetic speed regulation in the present application can increase the maximum speed of the corresponding motor.

[0047] In some embodiments, the first rotor core 2 includes an inner core 21 and an outer core 22 mounted radially outside the inner core 21, the first magnetic steel 23 is arranged on the outer peripheral wall of the outer core 22, the inner core 21 is fixedly mounted (for example, interference fit) on the rotating shaft 1, and the connecting slider 31 is connected to the outer core 22 to be able to drive the outer core 22 to reciprocate along the axial straight line of the rotating shaft 1. It can be understood that the outer core 22 and the inner core 21 should remain relatively stationary in their circumferential direction, that is, the two rotate synchronously.

[0048] In this technical solution, the first rotor core 2 is designed to be a combined structure of an inner core 21 and an outer core 22 which are nested inside and outside. The relative axial position of the first magnetic steel 23 and the stator core 100 can be adjusted simply by controlling the axial reciprocating linear motion of the outer core 22 assembled with the first magnetic steel 23 relative to the inner core 21. The mass change is smaller than the overall axial movement of the first rotor core 2, and is easy to adjust and control. At the same time, the load on the rotating shaft 1 does not need to change too much due to the adjustment of the axial position of the outer core 22.

[0049] In some embodiments, the accommodating cavity is a blind hole (not shown in the figure) extending from the axial extension end surface of the rotating shaft 1 to the non-axial extension end surface of the rotating shaft 1, and the bottom position of the blind hole (that is, the hole depth of the blind hole) should meet the adjustment requirements of the axial position of the first magnetic steel 23. The adjusting component includes a threaded connecting rod 32 and a slider mounting seat 33, and the threaded connecting rod 32 has a screw head 323, a threaded shaft segment 322, and a matching shaft segment 321 between the screw head 323 and the threaded shaft segment 322. The slider mounting seat 33 is gap-mounted on the matching shaft segment 321, that is, the slider mounting seat 33 is between the bottom wall of the blind hole and the screw head 323, and the threaded shaft segment 322 is threadedly connected to the bottom wall of the blind hole and the thread The mating length is adjustable, that is, the length of the threaded hole on the bottom wall of the aforementioned blind hole should be large enough to ensure that the threaded mating length of the threaded shaft section 322 and the thread can be adjusted within a required range. The side wall of the blind hole has a through hole 11 that penetrates to the radial outer side of the rotating shaft 1. The connecting slider 31 is fixedly connected to the slider mounting seat 33 via the through hole 11, and the axial length of the through hole 11 (that is, the length of the through hole 11 in the axial direction of the rotating shaft 1) is greater than the axial length of the connecting slider 31. It can be understood that the difference between the axial length of the aforementioned through hole 11 and the axial length of the connecting slider 31 is also the axial movement range of the connecting slider 31, and also the linear movement range of the outer iron core 22 along the axial direction of the rotating shaft 1.

[0050] In this technical solution, the adjustment component includes a threaded connecting rod 32 and a slider mounting seat 33 with a gap thereon. The axial position of the slider mounting seat 33 is adjusted by adjusting the threaded fitting length between the threaded connecting rod 32 and the bottom wall of the blind hole, thereby adjusting the axial position of the connecting slider 31 and the outer iron core 22. The structure is very simple and does not occupy the external space of the motor at all. The structure is particularly compact. When mechanical weak magnetic speed regulation is required, it is only necessary to screw the aforementioned screw head 323 to change the threaded fitting length between the threaded connecting rod 32 and the rotating shaft 1. The operation is simple and convenient.

[0051] In order to ensure the reliability of the connection between the connecting slider 31 and the slider mounting seat 33, in some embodiments, a connecting groove 331 is formed on the outer circumferential wall of the slider mounting seat 33, and the connecting slider 31 is embedded in the connecting groove 331. Specifically, the connection between the two can be achieved by interference fit and / or bonding.

[0052] The diameter of the mating shaft section 321 is smaller than the diameter of the threaded shaft section 233 so that the slider mounting seat 33 can be axially limited and mounted on the mating shaft section 321 to ensure the accuracy of the axial position adjustment of the connecting slider 31. At this time, the slider mounting seat 33 can be arranged on the mating shaft section 321 in a split structure to meet the assembly process requirements under the condition of the diameter difference between the two. Specifically, the slider mounting seat 33 is formed by assembling two semicircular structures, and the two semicircular structures can be reliably connected by bonding, welding, bolting, etc.

[0053] In some embodiments, the inner core 21 and the outer core 22 respectively have an outer cylindrical surface (not labeled in the figure) and an inner cylindrical surface (not labeled in the figure) arranged opposite to each other, an axial ridge 221 is arranged on one of the outer cylindrical surface and the inner cylindrical surface, and an axial groove 211 is arranged on the other, and the axial ridge 221 is axially slidably matched with the axial groove 211. In some embodiments, the axial ridge 221 and the axial groove 211 are correspondingly arranged in a plurality of groups uniformly spaced circumferentially around the rotating shaft 1, for example Figure 2 As shown in FIG. 1 , the aforementioned axial protrusions 221 and axial grooves 211 are respectively provided in four groups.

[0054] In this technical solution, the axial protrusion 221 and the axial groove 211 can not only slide in cooperation with each other in the axial direction, but also limit the circumferential position of the inner core 21 and the outer core 22 to prevent the circumferential relative rotation between the two.

[0055] In a specific embodiment, the axial protrusion 221 is located on the inner cylindrical surface of the outer core 22 .

[0056] In some embodiments, the axial groove 211 includes a first axial groove (not marked in the figure), and one axial end of the first axial groove has a radial through hole 2111, and the radial through hole 2111 penetrates radially along the inner iron core 21 to the area where the through hole 11 is located, and the axial ridge 221 that is slidably connected to the first axial groove is a first axial ridge, and the first axial ridge is fixedly connected to the connecting slider 31, for example, the first axial ridge is interference fit on or bonded to the radial outer end surface of the connecting slider 31.

[0057] In this technical solution, a radial through hole 2111 is provided at one axial end of the first axial groove and passes through the area where the through hole 11 is located, so that the first axial protrusion can form a fixed connection with the connecting slider 31 via the through hole, thereby reducing the axial length of the first rotor core 2 and facilitating increasing the rotation speed of the rotating shaft 1.

[0058] See also Figure 4 and Figure 5As shown, the area corresponding to the position of the first axial convex strip and the through hole 11 has an axial limiting boss 2211, the axial limiting boss 2211 is located in the radial through hole 2111, and the first axial convex strip is connected to the connecting slider 31 via the axial limiting boss 2211, as shown in FIG. Figure 5 As shown, the aforementioned axial limiting boss 2211 protrudes inwardly along the radial direction of the outer core 22. In a specific embodiment, there are two aforementioned axial limiting bosses 2211, which are mirror-imaged about the center line of the rotating shaft 1, and two corresponding aforementioned radial through holes 2111 are also provided. It can be understood that in order to ensure the relative displacement of the outer core 22 and the inner core 21 in the axial direction, the axial hole depth of the aforementioned radial through hole 2111 should match the axial displacement range of the outer core 22. The aforementioned connecting slider 31 should be made of non-magnetic material (such as copper or aluminum).

[0059] In some embodiments, the stacking height of the inner core 21 is greater than the stacking height of the outer core 22 so as to reduce the eddy current loss of the first rotor core 2. It can be understood that the portion where the stacking height of the inner core 21 is greater than the outer core 22 is also the interval portion where the outer core 2 can move axially.

[0060] See Fig.14 As shown, in some embodiments, the motor rotor assembly also includes a second rotor core 4, which is mounted on the rotating shaft 1. A second magnetic steel 41 is provided on the outer peripheral wall of the second rotor core 4. The second magnetic steel 41 and the first magnetic steel 23 form an oblique pole on the axial projection of the rotating shaft 1. In a specific embodiment, the oblique pole angle formed by the second magnetic steel 41 and the first magnetic steel 23 on the axial projection of the rotating shaft 1 is 3°±0.2°, so as to reduce the cogging torque of the servo motor.

[0061] The first magnetic steel 23 and the second magnetic steel 41 are attached to the corresponding outer circumferential wall of the core by bonding. In some specific embodiments, in order to ensure the connection reliability of the magnetic steel, corresponding magnetic steel grooves are provided on the outer circumferential wall of the corresponding core. For example, the second magnetic steel 41 is attached to the outer circumferential wall of the second rotor core 4. Fig.15 , a plurality of radial ridges 5 protruding in the radial direction are arranged on the outer circumferential wall of the second rotor core 4, and the plurality of radial ridges 5 are evenly spaced around the shaft 1 and extend to both ends of the second rotor core 4 along the axial direction of the shaft 1, and the aforementioned magnetic steel grooves are formed between two adjacent radial ridges 5, and the second magnetic steel 41 is glued into each magnetic steel groove. The connection relationship and connection structure between the first magnetic steel 23 and the outer core 22 are similar to the connection relationship and connection structure between the second rotor core 4 and the second magnetic steel 41, and are not described in detail here.

[0062] See also Fig.15 and Fig.16 As shown, the second rotor core 4 is composed of multiple Fig.15 The first punch and the plurality of Fig.16 The second punching sheet shown is stacked, and a plurality of magnetic circuit optimization holes 6 are respectively provided on the first punching sheet and the second punching sheet. The second punching sheet is different from the first punching sheet in that a plurality of balancing holes 42 are also constructed thereon. The dynamic balance of the rotor assembly can be adjusted by filling the required balancing holes 42 (such as the pentagon shown in the figure) with balancing glue 43 of appropriate mass.

[0063] The first end face of the second rotor core 4 is fitted with the first end face of the inner core 21 of the first rotor core 2, and the total stacking height of the second rotor core 4 and the inner core 21 is greater than the total stacking height of the stator core 100 of the motor stator matched with the motor rotor. In order to increase the motor inertia, the traditional servo motor adds inertia disks before and after the rotor core. The total stacking height of the second rotor core 4 and the inner core 21 in the present invention is greater than the total stacking height of the stator core 100, which can achieve the purpose of increasing the motor inertia, eliminate the more expensive inertia disk, improve the power density, and reduce the material consumption.

[0064] In a preferred embodiment, the stacking height of the outer core 22 is slightly greater than the axial length of the first magnetic steel 23. For example, in a specific embodiment, the stacking height of the outer core 22 is slightly greater than the axial length of the first magnetic steel 23 by 0.4 mm, so as to prevent the glue from overflowing onto the surface of the outer core 22 when the first magnetic steel 23 is bonded in the corresponding magnetic steel groove.

[0065] According to an embodiment of the present invention, there is also provided a motor, comprising the motor rotor assembly described above.

[0066] According to an embodiment of the present invention, there is further provided an industrial robot, comprising a servo motor, wherein the servo motor is the above-mentioned motor.

[0067] It is easy for those skilled in the art to understand that, without conflict, the advantageous technical features of the above-mentioned methods can be freely combined and superimposed.

[0068] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention. The above description is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and variations can be made without departing from the technical principles of the present invention. These improvements and variations should also be regarded as the protection scope of the present invention.

Claims

1. A motor rotor assembly, characterized in that: The motor comprises a rotating shaft (1) and a first rotor core (2), wherein the first rotor core (2) has a first magnetic steel (23), the rotating shaft (1) has a receiving cavity, and the motor rotor assembly further comprises a magnetic flux regulating device (3), wherein the magnetic flux regulating device (3) comprises a connecting slider (31) connected to the first rotor core (2) and an regulating component in the receiving cavity, wherein the regulating component can drive the connecting slider (31) to move so as to drive the first rotor core (2) to reciprocate along the axial straight line of the rotating shaft (1).

2. The motor rotor assembly according to claim 1, characterized in that: The first rotor core (2) comprises an inner core (21) and an outer core (22) mounted radially outside the inner core (21); a first magnetic steel (23) is arranged on the outer peripheral wall of the outer core (22); the inner core (21) is fixedly mounted on the rotating shaft (1); and the connecting slider (31) is connected to the outer core (22) so as to drive the outer core (22) to move back and forth in an axial straight line along the rotating shaft (1).

3. The motor rotor assembly according to claim 2, characterized in that: The accommodating cavity is a blind hole extending from the axial extension end face of the rotating shaft (1) to the non-axial extension end face of the rotating shaft (1); the adjusting component comprises a threaded connecting rod (32) and a slider mounting seat (33); the threaded connecting rod (32) comprises a screw head (323), a threaded shaft section (322) and a matching shaft section (321) between the screw head (323) and the threaded shaft section (322); the slider mounting seat (33) is loosely sleeved on the matching shaft section (321); the threaded shaft section (322) is threadedly connected to the bottom wall of the blind hole and the thread matching length is adjustable; the side wall of the blind hole comprises a through hole (11) penetrating to the radial outer side of the rotating shaft (1); the connecting slider (31) is fixedly connected to the slider mounting seat (33) via the through hole (11); and the axial length of the through hole (11) is greater than the axial length of the connecting slider (31).

4. The motor rotor assembly according to claim 3, characterized in that: A connecting groove (331) is formed on the outer circumferential wall of the slider mounting seat (33), and the connecting slider (31) is embedded in the connecting groove (331); and / or the diameter of the matching shaft section (321) is smaller than the diameter of the threaded shaft section (233) so that the slider mounting seat (33) can be axially limited and mounted on the matching shaft section (321).

5. The motor rotor assembly according to claim 3, characterized in that: The inner iron core (21) and the outer iron core (22) respectively have an outer cylindrical surface and an inner cylindrical surface arranged opposite to each other, an axial convex strip (221) is arranged on one of the outer cylindrical surface and the inner cylindrical surface, and an axial groove (211) is arranged on the other, and the axial convex strip (221) and the axial groove (211) are axially slidably matched.

6. The motor rotor assembly according to claim 5, characterized in that: The axial convex strips (221) are located on the inner cylindrical surface of the outer iron core (22); and / or the axial convex strips (221) and the axial grooves (211) are correspondingly arranged in a plurality of groups that are evenly spaced in the circumferential direction around the rotating shaft (1).

7. The motor rotor assembly according to claim 6, characterized in that: The axial groove (211) comprises a first axial groove, one axial end of the first axial groove has a radial through hole (2111), the radial through hole (2111) penetrates along the radial direction of the inner iron core (21) to the area where the through hole (11) is located, the axial convex strip (221) slidably connected to the first axial groove is a first axial convex strip, and the first axial convex strip is fixedly connected to the connecting slider (31).

8. The motor rotor assembly according to claim 7, characterized in that: An area where the first axial convex strip corresponds to the position of the through hole (11) has an axial limiting boss (2211), the axial limiting boss (2211) is located in the radial through hole (2111), and the first axial convex strip is connected to the connecting slider (31) via the axial limiting boss (2211).

9. The motor rotor assembly according to claim 2, characterized in that: The stacking height of the inner iron core (21) is greater than the stacking height of the outer iron core (22).

10. The motor rotor assembly according to claim 2, characterized in that: It also includes a second rotor core (4), the second rotor core (4) is mounted on the rotating shaft (1), a second magnetic steel (41) is provided on the outer peripheral wall of the second rotor core (4), and the second magnetic steel (41) and the first magnetic steel (23) form an oblique pole on the axial projection of the rotating shaft (1).

11. The motor rotor assembly according to claim 10, characterized in that: The oblique polar angle formed by the second magnetic steel (41) and the first magnetic steel (23) on the axial projection of the rotating shaft (1) is 3°±0.2°; or, the first end face of the second rotor core (4) is in contact with the first end face of the inner core (21) of the first rotor core (2), and the total stacking height of the second rotor core (4) and the inner core (21) is greater than the total stacking height of the stator core (100) of the motor stator matching the motor rotor.

12. A motor, characterized in that: A motor rotor assembly comprising any one of claims 1 to 11.

13. An industrial robot comprising a servo motor, characterized in that: The servo motor is the motor according to claim 12.

Images