Rotor, motor and robot joint

Abstract

The invention relates to a rotor, a motor and a robot joint, the rotor is applied to the motor in the robot joint, the rotor comprises a magnet yoke, a first magnet, a second magnet and a pressing ring which are arranged from inside to outside in the radial direction of the rotor, and the magnet yoke is constructed to be of an annular structure; the multiple first magnets are arranged at intervals in the circumferential direction of the magnet yoke, a slot is formed between every two adjacent first magnets, and the multiple slots are arranged at intervals in the circumferential direction of the magnet yoke; the number of the second magnets is in one-to-one correspondence with the number of the slots, and the second magnets are inserted into the slots; and the pressing ring is pressed on the peripheral surfaces of the first magnet and the second magnet. The pressing rings are pressed on the outer surfaces of the first magnet and the second magnet, so that the first magnet and the second magnet are fixed through extrusion force between the pressing rings and the magnet yoke. The magnets forming the rotor are arranged in a mode that the first magnets and the second magnets are arranged in a staggered mode, on one hand, the power density of the magnets is improved, the iron loss and eddy current loss of the magnets are reduced through partitioning, and meanwhile the assembling difficulty is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of robot joints, and in particular to a rotor, a motor and a robot joint. Background Art

[0002] The main structure of a frameless motor is a stator consisting of an iron core and windings, and a rotor consisting of a magnet and a yoke. It has the advantages of compact structure, high efficiency, and high power density. However, with the continuous development of artificial intelligence, emerging humanoid robots, collaborative robots, robot dogs and other applications have an increasing demand for frameless motors. For conventional frameless motors, due to motor design and process reasons, it is difficult to break through the motor power density within a certain volume.

[0003] At present, there are two technical means to improve the power density of motors: one is to improve the brand or temperature resistance of the rotor permanent magnet to increase the rated torque and peak torque of the motor; the other is to use Halbach array magnets to increase the magnetic field strength. Due to the difficulty of material processing technology, the former has limited improvement in motor power density, and the latter has always been difficult to mass produce and use in actual production applications due to the difficulty of assembly technology. Even with the improvement of current magnetizing technology, integrated magnetizing rings are also used in a large number of small motors, but for robots, due to the large torque and high speed requirements, the iron loss of the integrated magnetizing ring is higher than the copper loss, which greatly reduces the application scenarios of integrated magnetizing rings in high-speed and high-torque robots and is widely used. Summary of the invention

[0004] Based on this, it is necessary to provide a rotor, a motor and a robot joint to address the technical problem of high magnetic loss in the integrated magnet in the prior art.

[0005] A rotor is used in a motor in a robot joint, and the rotor includes:

[0006] A yoke is constructed as a ring-shaped structure;

[0007] A first magnet, wherein a plurality of the first magnets are arranged at intervals along the circumference of the magnetic yoke, a slot is formed between two adjacent first magnets, and a plurality of the slots are arranged at intervals along the circumference of the magnetic yoke;

[0008] second magnets, the number of which corresponds to the number of the slots, and the second magnets are inserted into the slots;

[0009] The pressing ring is pressed on the outer peripheral surfaces of the first magnet and the second magnet.

[0010] In one embodiment, the yoke comprises:

[0011] A yoke body, wherein the yoke body is configured in a ring shape;

[0012] A plurality of limiting protrusions are arranged at intervals along the circumference of the yoke body, and the limiting protrusions extend along the axial direction of the yoke body;

[0013] Wherein, limiting grooves are arranged on the side surfaces of the first magnet and the second magnet facing the yoke body, and the limiting protrusions are embedded in the limiting grooves.

[0014] In one of the embodiments, the limiting protrusion is constructed in an arc shape; the surface of the limiting protrusion fits with the groove wall of the limiting groove.

[0015] In one embodiment, the first magnet and the second magnet each include a first surface and a second surface that are oppositely disposed, the first surface faces the yoke, the second surface faces the pressure ring, and the first surface and the second surface are both configured as curved surfaces.

[0016] In one embodiment, the radius of curvature of the first surface is greater than the radius of curvature of the second surface.

[0017] In one embodiment, the first magnet and the second magnet each include a third surface and a fourth surface that are oppositely disposed along the circumferential direction of the rotor, the third surface and the fourth surface are both constructed as planes, and the third surface and the fourth surface are disposed at an angle.

[0018] In one embodiment, the third surface of the first magnet and the fourth surface of the second magnet are in contact with each other.

[0019] In one of the embodiments, a plurality of positioning grooves are provided on the side of the pressure ring facing the magnetic yoke, and the plurality of positioning grooves are sequentially arranged along the circumference of the pressure ring, and the ends of the groove walls of adjacent positioning grooves are connected to each other;

[0020] Wherein, the second surfaces of the first magnet and the second magnet are disposed in the positioning groove.

[0021] A motor, comprising the rotor as described above, and further comprising a stator, wherein the stator comprises:

[0022] Windings, a plurality of windings are arranged at intervals along the circumference of the pressure ring;

[0023] An iron core, arranged on the outer peripheral surface of the winding;

[0024] The rotor is rotatable relative to the winding and the iron core.

[0025] A robot joint comprises the motor as described above.

[0026] Beneficial effects of the present invention:

[0027] The present invention provides a rotor, wherein the rotor includes a yoke, a first magnet, a second magnet and a pressure ring arranged along the radial direction of the rotor, wherein the yoke is arranged on the inner ring, the first magnet and the second magnet are arranged alternately along the circumferential direction of the yoke, and the pressure ring is arranged on the outermost side. The main function of the yoke is to form a part of the magnetic circuit and fix the magnetic poles, that is, the first magnetic pole and the second magnetic pole in the present application. As an important component in the rotor, the yoke is usually made of laminated silicon steel sheets and has good magnetic conductivity. Another important function of the yoke is to generate rotational inertia, which is crucial for the stable operation of the motor. During operation, the yoke will be affected by torque, centrifugal force and other forces. A plurality of first magnets and second magnets are staggered along the circumference of the yoke to form a complete ring. The first magnet and the second magnet can generate a stable and strong magnetic field. When the motor is running, the current passes through the stator winding to generate a rotating magnetic field. This rotating magnetic field interacts with the magnets on the rotor to form a torque, causing the rotor to start rotating. A pressing ring is pressed on the outer surface of the first magnet and the second magnet to fix the first magnet and the second magnet by the extrusion force between the pressing ring and the yoke. In the present application, by arranging the magnets constituting the rotor in a form of a plurality of first magnets and second magnets arranged alternately, it is beneficial to improve the power density of the magnet, reduce the iron loss and eddy current loss of the magnet by dividing it into blocks, and reduce the difficulty of assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A schematic diagram of the structure of a rotor and a stator after assembly according to an embodiment of the present invention;

[0029] Figure 2 A schematic diagram of the structure of a rotor provided in one embodiment of the present invention;

[0030] Figure 3 A schematic structural diagram of a first magnet and a second magnet in a rotor provided in one embodiment of the present invention;

[0031] Figure 4 A schematic diagram of the structure after the yoke and part of the first magnet and the second magnet are removed from the rotor provided in one embodiment of the present invention;

[0032] Figure 5 A schematic diagram of the structure of a magnetic yoke in a rotor provided in one embodiment of the present invention;

[0033] Figure 6 A schematic diagram of the structure of a rotor after the first magnet is assembled to the yoke provided in one embodiment of the present invention;

[0034] Figure 7 This is a schematic structural diagram of a rotor provided in an embodiment of the present invention in which a first magnet is assembled to a yoke and a pressure ring is sleeved outside the first magnet.

[0035] Reference numerals:

[0036] Magnetic yoke 100; yoke body 110; limiting protrusion 120; first magnet 200; first surface 210; second surface 220; third surface 230; fourth surface 240; limiting groove 250; second magnet 300; pressure ring 400; positioning groove 410; stator 500; winding 510; core 520; slot 600. DETAILED DESCRIPTION

[0037] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0038] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0039] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0040] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0041] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0042] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0043] See also Figures 1 to 7 An embodiment of the present invention provides a rotor for use in a motor in a robot joint. The rotor includes a yoke 100, a first magnet 200, a second magnet 300 and a pressure ring 400 arranged from the inside to the outside along the radial direction of the rotor. The yoke 100 is constructed as an annular structure; a plurality of first magnets 200 are arranged at intervals along the circumference of the yoke 100, and a slot 600 is formed between two adjacent first magnets 200. A plurality of slots 600 are arranged at intervals along the circumference of the yoke 100; the number of the second magnets 300 corresponds to the number of the slots 600, and the second magnets 300 are inserted into the slots 600; the pressure ring 400 is pressed on the outer circumferential surfaces of the first magnets 200 and the second magnets 300.

[0044] The present technical solution provides a rotor, wherein the rotor includes a yoke 100, a first magnet 200, a second magnet 300 and a pressure ring 400 arranged along the radial direction of the rotor, wherein the yoke 100 is arranged in the inner ring, the first magnet 200 and the second magnet 300 are arranged alternately along the circumferential direction of the yoke 100, and the pressure ring 400 is arranged at the outermost side. The main function of the yoke 100 is to form a part of the magnetic circuit and fix the magnetic poles, that is, the first magnetic pole and the second magnetic pole in the present application. As an important component in the rotor, the yoke 100 is usually formed by laminating silicon steel sheets and has good magnetic conductivity. Another important function of the yoke 100 is to generate rotational inertia, which is crucial for the stable operation of the motor. During operation, the yoke 100 will be affected by forces such as torque and centrifugal force. A plurality of first magnets 200 and second magnets 300 are staggered along the circumference of the yoke 100 to form a complete circular ring. The first magnet 200 and the second magnet 300 can generate a stable and powerful magnetic field. When the motor is running, the current passes through the stator 500 winding 510 to generate a rotating magnetic field. This rotating magnetic field interacts with the magnets on the rotor to form a torque, causing the rotor to start rotating. A pressure ring 400 is pressed on the outer surface of the first magnet 200 and the second magnet 300 to fix the first magnet 200 and the second magnet 300 through the extrusion force between the pressure ring 400 and the yoke 100. In the present application, by arranging the magnets constituting the rotor in the form of a plurality of first magnets 200 and second magnets 300 staggered, it is beneficial to improve the power density of the magnet on the one hand, reduce the iron loss and eddy current loss of the magnet by dividing it into blocks, and reduce the difficulty of assembly at the same time.

[0045] In this embodiment, the yoke 100 can be made of silicon steel sheet, No. 10 steel, No. 45 steel, etc. The yoke 100 is generally set as an annular structure, the inner ring of which is used to be fixedly connected to the rotor shaft, and the outer ring of which is used to fix the first magnet 200 and the second magnet 300. The first magnet 200 and the second magnet 300 are made of permanent magnetic materials, such as neodymium iron boron materials, ferrite materials, etc. Specifically, there is no restriction on the specific structure of the first magnet 200 and the second magnet 300. The first magnet 200 and the second magnet 300 can be made of the same material, and the structures of the two can be the same; of course, in other embodiments, the first magnet 200 and the second magnet 300 can also be set to different materials, and the structures of the two can be different. A slot 600 is formed between two adjacent first magnets 200 to insert the second magnet 300 into the slot 600, so as to limit the position in the circumferential direction through the mutual extrusion force between the first magnet 200 and the second magnet 300. The first magnet 200 and the second magnet 300 are compressed in the radial direction by the yoke 100 and the pressing block to limit the first magnet 200 and the second magnet 300 in the radial direction, thereby fixing the first magnet 200 and the second magnet 300 .

[0046] In this embodiment, the pressure ring 400 is a ring-shaped structure, and the inner surface of the pressure ring 400 can press against the first magnet 200 and the second magnet 300 .

[0047] It is understandable that in order to achieve circumferential mutual limitation of the first magnet 200 and the second magnet 300, after the second magnet 300 is inserted into the slot 600 formed between the first magnets 200, the second magnet 300 can abut against the first magnet 200 to limit each other.

[0048] like Figure 2 , Figure 5 and Figure 6 As shown, in one embodiment, the yoke 100 includes a yoke body 110 and a limiting protrusion 120, and the yoke body 110 is constructed in an annular shape; a plurality of limiting protrusions 120 are arranged at intervals along the circumference of the yoke body 110, and the limiting protrusions 120 extend axially along the yoke body 110; wherein a limiting groove 250 is provided on the side of the first magnet 200 and the second magnet 300 facing the yoke body 110, and the limiting protrusion 120 is embedded in the limiting groove 250.

[0049] Specifically, the yoke body 110 is constructed as an annular structure, and the inner ring of the yoke body 110 is used to be fixedly connected to the rotor shaft of the rotor. A limiting protrusion 120 is provided on the yoke body 110, and the limiting protrusion 120 extends along the axial direction of the yoke body 110; a limiting groove 250 is provided on the side of the first magnet 200 and the second magnet 300 facing the yoke body 110, and the limiting groove 250 is extended along the axial direction of the yoke body 110, so that the limiting protrusion 120 is embedded in the limiting groove 250 to limit the first magnet 200 and the second magnet 300 along the circumferential direction of the yoke body 110, so that when the yoke body 110 rotates, the first magnet 200 and the second magnet 300 will not rotate relative to the yoke body 110. By extending the limiting protrusion 120 and the limiting groove 250 along the axial direction of the yoke body 110 , the second magnet 300 can be inserted into the slot 600 formed between the first magnets 200 along the axial direction of the yoke body 110 .

[0050] like Figure 5 and Figure 6 As shown, in one embodiment, the limiting protrusion 120 is constructed in an arc shape; the surface of the limiting protrusion 120 fits with the groove wall of the limiting groove 250.

[0051] The limiting protrusion 120 is set to an arc shape, and the surface of the limiting protrusion 120 is fitted with the groove wall of the limiting groove 250 to increase the contact area between the limiting protrusion 120 and the limiting groove 250, thereby improving the reliability of the mutual limiting between the two. The limiting protrusion 120 is set to an arc shape. On the one hand, the structure is simple and easy to process. On the other hand, when the first magnet 200 and the second magnet 300 are installed, it can prevent bumps and thus damage to the first magnet 200 and the second magnet 300. In addition, the limiting protrusion 120 is set to a circle, which is conducive to reducing the torque of the rotor.

[0052] Furthermore, the limiting protrusion 120 is a semicircular protrusion, and a single magnet can be inserted through the limiting protrusion 120 to provide positioning for the magnet, thereby reducing the tolerance requirements of the magnet. In addition, the yoke 100 is configured in the form of a yoke body 110 combined with the limiting protrusion 120, which is conducive to increasing the air gap magnetic density to achieve the purpose of increasing the motor power density in a limited space; reducing the magnetic energy product loss and enhancing the advantages of the magnetic field air gap magnetic density.

[0053] Combination Figure 2 and Figure 3 It is understood that in one embodiment, the first magnet 200 and the second magnet 300 both include a first surface 210 and a second surface 220 that are arranged opposite to each other, the first surface 210 faces the yoke 100, and the second surface 220 faces the pressure ring 400, and the first surface 210 and the second surface 220 are both constructed as curved surfaces. By setting the first surface 210 and the second surface 220 as curved surfaces, specifically, setting the first surface 210 and the second surface 220 as arc surfaces, the structure is simple and easy to process, and it is also beneficial to increase the edge air gap, change the air gap between the pressure ring 400 and the magnet, reduce the leakage magnetic field between the pressure ring 400 and the magnet, and effectively improve the harmonic component of the air gap magnetic field, thereby effectively suppressing the cogging force on the pressure ring 400.

[0054] In one embodiment, the radius of curvature of the first surface 210 is greater than the radius of curvature of the second surface 220. By setting the radius of curvature of the first surface 210 and the second surface 220 to different sizes, and further setting the radius of curvature of the first surface 210 to be greater than the radius of curvature of the second surface 220, the different curvature radii of the first surface 210 and the second surface 220 of the first magnet 200 and the second magnet 300 are combined to reduce the torque of the tooth groove on the pressing ring 400, thereby improving the service life of the pressing ring 400.

[0055] Combination Figure 2 and Figure 3It is understood that in one embodiment, the first magnet 200 and the second magnet 300 both include a third surface 230 and a fourth surface 240 that are relatively arranged along the circumference of the rotor, and the third surface 230 and the fourth surface 240 are both constructed as planes, and the third surface 230 and the fourth surface 240 are arranged at an angle.

[0056] By setting the two surfaces of the first magnet 200 and the second magnet 300 that are arranged opposite to each other along the circumferential direction of the rotor as planes, the structure of the entire first magnet 200 and the second magnet 300 is simpler, thereby facilitating processing. The third surface 230 and the fourth surface 240 are arranged at an angle, so that by controlling the angle between the third surface 230 and the fourth surface 240, the consistency of the first magnet 200 and the second magnet 300 can be controlled, so that when the first magnet 200 and the second magnet 300 are installed between the yoke body 110 and the pressure ring 400, there is no interference between the first magnet 200 and the second magnet 300, thereby facilitating installation.

[0057] Combination Figure 2 and Figure 3 It is understood that in one embodiment, the third surface 230 of the first magnet 200 and the fourth surface 240 of the second magnet 300 are fitted. By setting the adjacent surfaces of the first magnet 200 and the second magnet 300 to fit together, the leakage magnetic field between the first magnet 200 and the second magnet 300 is reduced, and the harmonic component of the air gap magnetic field can be ensured, thereby effectively suppressing the cogging force. In addition, the adjacent surfaces of the first magnet 200 and the second magnet 300 are fitted together to increase the contact area between the two, so that the extrusion strength between the first magnet 200 and the second magnet 300 is greater, thereby ensuring the reliability of the mutual limitation of the first magnet 200 and the second magnet 300, thereby reducing the torque of the cogging force of the first magnet 200 and the second magnet 300 on the pressure ring 400 when the rotor rotates.

[0058] like Figure 4 As shown, in one embodiment, a plurality of positioning grooves 410 are provided on the side of the pressure ring 400 facing the yoke 100, and the plurality of positioning grooves 410 are arranged in sequence along the circumference of the pressure ring 400, and the ends of the groove walls of adjacent positioning grooves 410 are connected to each other; wherein, the second surface 220 of the first magnet 200 and the second magnet 300 are accommodated in the positioning grooves 410.

[0059] By providing a plurality of positioning grooves 410 on the side of the pressure ring 400 facing the yoke 100, the first magnet 200 or the second magnet 300 is accommodated in the positioning grooves 410 on the pressure ring 400, so that the first magnet 200 or the second magnet 300 is limited in the circumferential direction of the pressure ring 400 by the positioning grooves 410, thereby preventing the first magnet 200 and the second magnet 300 from rotating relative to the pressure ring 400 and the yoke body 110, thereby reducing the torque on the tooth grooves of the pressure ring 400.

[0060] In this embodiment, the positioning groove 410 is an arc surface that matches the second surface 220 of the first magnet 200 and the second magnet 300. A plurality of positioning grooves 410 are arranged in sequence along the circumference of the pressing ring 400, and the ends of the groove walls of adjacent positioning grooves 410 are connected to each other, which can effectively press-fit the magnets, provide fixation and support for the magnet positioning, and provide structural strength for the cold-pressed outer ring.

[0061] An embodiment of the present invention also provides a motor, which includes the rotor as described above, and also includes a stator 500, the stator 500 includes a winding 510 and an iron core 520, a plurality of windings 510 are arranged at intervals along the circumference of the pressure ring 400; the iron core 520 is arranged on the outer circumferential surface of the winding 510; wherein the rotor can rotate relative to the winding 510 and the iron core 520.

[0062] By arranging the winding 510 outside the rotor, a magnetic field is formed by the rotor and the winding 510, and the rotor interacts with the stator 500 to generate torque, thereby realizing the operation of the motor.

[0063] By applying the above rotor to the motor, the air gap magnetic density is increased to increase the motor power density in a limited space; the magnetic energy product loss is reduced, and the magnetic field air gap magnetic density is enhanced, which is about 1.5 times the conventional air gap magnetic density, effectively improving the magnet utilization rate. In addition, the use of the above rotor reduces the precision of the magnet, that is, the magnet. At the same time, through the reasonable design of the annular pressure ring 400, the magnetic circuit can be effectively changed to reduce the cogging force. In addition, the complex and precise magnet attachment tooling is reduced, the process steps are simplified, the installation efficiency is improved, and the cost and installation difficulty are reduced. By dividing the magnet into blocks, the iron loss of the magnet at high speed is greatly reduced, and the motor efficiency is improved.

[0064] An embodiment of the present invention further provides a robot joint, which includes the above motor. By applying the above motor to the robot joint, it is beneficial to improve the working efficiency of the robot joint.

[0065] The rotor assembly method provided by the present invention is as follows:

[0066] Fix the yoke 100, and then insert the first magnet 200 into the yoke 100 in sequence through the concave-convex fit, that is, the limiting groove 250 of the first magnet 200 is nested on the limiting protrusion 120 along the axial direction. Then, after the pressure ring 400 is matched with the outer diameter arc of the first magnet 200, it is pressed into the outside of the first magnet 200 to constrain the first magnet 200 through the pressure ring 400, and at the same time form a slot 600 for the second magnet 300 to be inserted. The second magnet 300 is inserted into the slot 600 formed by the two first magnets 200 in sequence to complete the rotor assembly. Due to the constraint of the pressure ring 400, the repulsive force of the first magnet 200 on the second magnet 300 can be eliminated, reducing the difficulty of rotor assembly. At the same time, through the convex-concave cooperation between the limiting protrusion 120 of the yoke 100 and the limiting grooves 250 of the first magnet 200 and the second magnet 300, automatic assembly can be directly used to get rid of the low efficiency of manual assembly using clamps in the prior art.

[0067] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0068] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A rotor used in a motor in a robot joint, characterized in that: The rotor includes: A yoke is constructed as a ring-shaped structure; A first magnet, wherein a plurality of the first magnets are arranged at intervals along the circumference of the magnetic yoke, a slot is formed between two adjacent first magnets, and a plurality of the slots are arranged at intervals along the circumference of the magnetic yoke; second magnets, the number of which corresponds to the number of the slots, and the second magnets are inserted into the slots; The pressing ring is pressed on the outer peripheral surfaces of the first magnet and the second magnet.

2. The rotor according to claim 1, characterized in that The magnetic yoke comprises: A yoke body, wherein the yoke body is configured in a ring shape; A plurality of limiting protrusions are arranged at intervals along the circumference of the yoke body, and the limiting protrusions extend along the axial direction of the yoke body; Wherein, limiting grooves are arranged on the side surfaces of the first magnet and the second magnet facing the yoke body, and the limiting protrusion is embedded in the limiting grooves.

3. The rotor according to claim 2, characterized in that The limiting protrusion is constructed in an arc shape; the surface of the limiting protrusion is in contact with the groove wall of the limiting groove.

4. The rotor according to claim 1, characterized in that The first magnet and the second magnet each include a first surface and a second surface that are oppositely disposed, the first surface faces the yoke, the second surface faces the pressure ring, and the first surface and the second surface are both configured as curved surfaces.

5. The rotor according to claim 4, characterized in that The radius of curvature of the first surface is greater than the radius of curvature of the second surface.

6. The rotor according to claim 4, characterized in that The first magnet and the second magnet each include a third surface and a fourth surface that are oppositely disposed along the circumferential direction of the rotor. The third surface and the fourth surface are both constructed as planes, and the third surface and the fourth surface are disposed at an angle.

7. The rotor according to claim 6, characterized in that The third surface of the first magnet and the fourth surface of the second magnet are in contact with each other.

8. The rotor according to claim 4, characterized in that The side of the pressure ring facing the magnetic yoke is provided with a plurality of positioning grooves, the plurality of positioning grooves are sequentially arranged along the circumference of the pressure ring, and the ends of the groove walls of adjacent positioning grooves are connected to each other; Wherein, the second surfaces of the first magnet and the second magnet are disposed in the positioning groove.

9. A motor, characterized in that: The motor comprises a rotor as claimed in any one of claims 1 to 8, and the motor further comprises a stator, wherein the stator comprises: Windings, a plurality of windings are arranged at intervals along the circumference of the pressure ring; An iron core, arranged on the outer peripheral surface of the winding; The rotor is rotatable relative to the winding and the iron core.

10. A robot joint, characterized in that: The robot joint comprises the motor as claimed in claim 9.

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