Three-dimensional decoupled flux electromagnetic drive with mutually embedded stators

Abstract

The invention discloses a three-dimensional decoupling magnetic flux electromagnetic drive with a mutually embedded stator, which forms air gap magnetic fields in the radial direction and the axial direction of the stator through a radial rotor, a first axial rotor and a second axial rotor respectively. The air-gap magnetic field interacts with symmetrical current in a C-shaped coil winding surrounding the mutually-embedded stator structure to generate output torque and synchronous rotating speed, so that the three-rotor design enables the winding at the end of the motor to be effectively utilized, the air-gap area of the motor for electromechanical energy conversion is effectively increased while the size of the system is not increased, and the efficiency of the motor is improved. The torque density of the motor is increased; meanwhile, the first axial magnetic pole array and the second axial magnetic pole array form symmetrical air-gap magnetic fields at the two axial ends of the stator, so that radial and axial magnetic fluxes are decoupled, the thickness of the stator yoke can be reduced, even the stator yoke is hollow, and the cost and the weight are reduced; the axial and radial tooth parts of the stator are mutually embedded, so that the winding length is further reduced, and the internal hollow area of the motor and the axial air gap area for generating torque are increased.

Description

Technical Field

[0001] The present invention belongs to the technical field of motors, and particularly relates to a three-dimensional decoupled flux electromagnetic drive with an interlocked stator. Background Art

[0002] Improving the torque density of motors is an eternal topic for direct-drive electromechanical systems (without speed reducers), such as motors for electric propulsion aircraft propellers and underwater thrusters. Currently, there are mainly three ways to improve torque density: one is to increase the current, but this will cause serious heating, so an additional cooling system is required; the second is to increase the air-gap magnetic flux density through a magnetic pole array, but it is limited by the saturation of silicon steel materials; the third is to use a high-speed motor with a speed reducer, but the system efficiency is low, and the higher the speed, the larger the reduction ratio and the greater the vibration and noise; the fourth is to improve the reluctance torque through an embedded motor such as a new energy vehicle motor (V-type and spoke-type motors); the fifth is that the currently very popular disc motor (also called axial flux motor) has a large rotor air-gap surface and no stator yoke, so the output torque density is large, but the single flux also results in the underutilization of the stator end windings.

[0003] Currently, permanent magnet synchronous motors can be mainly classified into radial flux motors and axial flux motors according to the magnetic flux. The disadvantages of such motors are summarized as follows:

[0004] 1. Single magnetic flux leads to low space utilization: In traditional single-magnetic-flux motors, only one or two rotors interact with the stator armature windings to generate output torque, resulting in low space utilization of the motors. For example, the axial space of an outer-rotor radial flux motor is wasted, and the radial space of an outer-rotor axial flux motor is wasted.

[0005] 2. The end windings of traditional stator coils are long, increasing the system weight: Whether it is a distributed winding or a toroidal winding, there are long end windings that do not interact with the permanent magnetic field to generate torque, and the system weight is increased. Summary of the Invention

[0006] The problem to be solved by the present invention is to provide a three-dimensional decoupled flux electromagnetic drive with an interlocked stator that can both improve the torque density and increase the space utilization.

[0007] To solve the above technical problems, the present invention provides a three-dimensional decoupled flux electromagnetic drive with an interlocked stator, which includes a stator and a rotor. The rotor includes a rotor housing, a central shaft, and a pole array. The rotor housing is provided with a rotating shell, a front cover plate and a rear cover plate fixedly connected to both axial ends of the rotating shell. The central shaft is coaxially disposed inside the rotating shell, and the front end of the central shaft is fixedly connected to the front cover plate. The pole array includes a radial pole array, a first axial pole array, and a second axial pole array. The radial pole array is fixedly arranged inside the rotating shell and forms a radial rotor with the rotating shell. The first axial pole array is fixedly arranged inside the front cover plate and forms a first axial rotor with the front cover plate. The second axial pole array is fixedly arranged inside the rear cover plate and forms a second axial rotor with the rear cover plate. The pole pitches of the radial pole array, the first axial pole array, and the second axial pole array are the same and all permanent magnets are aligned. The pole pitch: τ = 360° / 2P, where p is the number of pole pairs. The radial pole array, the first axial pole array, and the second axial pole array are all based on the center line of the permanent magnet corresponding to the same central angle and with the magnetization direction towards or away from the air gap. The magnetization direction of the permanent magnet changes alternately between away from the air gap and towards the air gap every pole pitch. The stator includes a stator bracket, a stator core, and a coil winding. The stator bracket, the stator core, and the coil winding are sequentially arranged between the central shaft and the rotating shell from the inside out. The stator bracket is installed on the central shaft through a bearing, and the stator core is fixedly connected to the stator bracket. The outer circumference of the stator core is provided with a plurality of radial teeth evenly distributed along its circumferential direction. The front end of the stator core is provided with a plurality of first axial teeth evenly distributed along its circumferential direction. The rear end of the stator core is provided with a plurality of second axial teeth evenly distributed along its circumferential direction. The coil winding is wound around the radial teeth, the first axial teeth, and the second axial teeth in a C shape. The radial teeth, the first axial teeth, and the second axial teeth are all provided with a tooth portion, a yoke portion connected to one end of the tooth portion, and a pole shoe connected to the other end of the tooth portion. The yoke portions of the radial teeth, the first axial teeth, and the second axial teeth are common yoke portions. The tooth portions of the first axial teeth and the second axial teeth respectively intersect with the tooth portion of the radial teeth to form interlocked teeth. The hollow part of the stator core is arranged as a heat dissipation flow channel.

[0008] As a preferred solution of the present invention, slots are respectively provided at both axial ends of the radial teeth, and the slots extend from the yoke portion of the radial teeth towards the tooth portion. The tooth portions of the first axial teeth and the second axial teeth are respectively provided with insertion plates that are cooperatively connected with the slots.

[0009] As a preferred solution of the present invention, the first axial teeth and the second axial teeth are connected into one body through the insertion plates.

[0010] As a preferred embodiment of the present invention, the tooth shape of the tooth portion of the radial tooth in the radial cross section is rectangular, and the tooth groove formed between two adjacent radial teeth is a trapezoidal groove; the tooth shape of the tooth portion of the first axial tooth in the radial cross section is trapezoidal, and the tooth groove formed between two adjacent first axial teeth is a parallel groove; the tooth shape of the tooth portion of the second axial tooth in the radial cross section is trapezoidal, and the tooth groove formed between two adjacent second axial teeth is a parallel groove.

[0011] As a preferred embodiment of the present invention, a first embedding groove for accommodating and fixing the radial magnetic pole array is provided on the inner side of the rotating shell, and a first back iron is provided on the bottom side of the radial magnetic pole array facing the first embedding groove; a second embedding groove for accommodating and fixing the first axial magnetic pole array is provided on the inner side of the front cover plate, and a second back iron is provided on the bottom side of the first axial magnetic pole array facing the second embedding groove; a third embedding groove for accommodating and fixing the second axial magnetic pole array is provided on the inner side of the rear cover plate, and a third back iron is provided on the bottom side of the second axial magnetic pole array facing the third embedding groove.

[0012] As a preferred embodiment of the present invention, the radial magnetic pole array, the first axial magnetic pole array and the second axial magnetic pole array are each provided with at least one transition permanent magnet in each pole pitch; the radial magnetic pole array, the first axial magnetic pole array and the second axial magnetic pole array are all based on the center line of the permanent magnet corresponding to the same central angle and having a magnetization direction facing the air gap or away from the air gap, and the magnetization direction of each of the transition permanent magnets in each pole pitch is gradually transformed in a clockwise direction or counterclockwise direction to away from the air gap or toward the air gap.

[0013] As a preferred solution of the present invention, the radial magnetic pole array, the first axial magnetic pole array and the second axial magnetic pole array are all Halbach magnetic pole arrays.

[0014] As a preferred solution of the present invention, the rear cover plate is rotationally matched with the rear end periphery of the stator bracket.

[0015] As a preferred solution of the present invention, an output shaft coaxially arranged with the central axis is installed on the outer side of the front cover plate.

[0016] As a preferred solution of the present invention, a mounting plate is fixedly connected to the rear end of the stator bracket.

[0017] Compared with the prior art, the three-dimensional decoupled flux electromagnetic drive with an interlocking stator according to the embodiment of the present invention has the following beneficial effects:

[0018] First, a radial rotor (radial magnetic pole array), a first axial rotor (first axial magnetic pole array), and a second axial rotor (second axial magnetic pole array) are used to form an air-gap magnetic field in the radial and axial directions of the stator respectively. When three-phase sinusoidal current excitations with a 120-degree electrical angle difference are applied to the C-shaped coil windings wound around the radial teeth, the first axial teeth, and the second axial teeth, the air-gap magnetic field formed by the rotor interacts with the symmetric currents in the C-shaped coil windings to generate a rotating magnetomotive force, driving the radial rotor, the first axial rotor, and the second axial rotor to rotate synchronously to output power and torque. This design of the three rotors enables the effective utilization of the end coil windings of the motor. Without increasing the system volume, it can effectively increase the air-gap area of the motor for electromechanical energy conversion (generating torque), thereby increasing the torque density of the motor, and without causing waste of axial or radial space, improving the space utilization rate of the motor.

[0019] Secondly, the magnetic field lines generated by the radial magnetic pole array pass through the coil windings wound around the radial teeth to form a radial magnetic flux. The magnetic field lines generated by the first axial magnetic pole array pass through the coil windings wound around the first axial teeth to form a first axial magnetic flux. The magnetic field lines generated by the second axial magnetic pole array pass through the coil windings wound around the second axial teeth to form a second axial magnetic flux. Thus, the radial magnetic flux, the first axial magnetic flux, and the second axial magnetic flux constitute a three-dimensional magnetic flux. At the same time, due to the symmetric air-gap magnetic fields formed at both axial ends of the stator by the first axial magnetic pole array and the second axial magnetic pole array magnetized alternately with N and S poles, this means that the radial magnetic flux and the axial magnetic flux do not pass through each other in the stator yoke, decoupling the radial magnetic flux and the axial magnetic flux, thereby realizing the decoupling of the three-dimensional magnetic flux, which can reduce the thickness of the stator yoke, or even make it hollow, reducing the use of materials, thus reducing costs and weights. In addition, the hollow part of the stator core also provides favorable conditions for setting up heat dissipation channels in the internal space of the motor to further improve the torque output ability of the motor.

[0020] Furthermore, the yokes of the radial teeth, the yokes of the first axial teeth, and the yokes of the second axial teeth are designed to share a common yoke, that is, the axial teeth are embedded in the yoke of the radial teeth. While the stator structure is more compact, the lever arms of the first axial rotor and the second axial rotor are also increased. At the same time, the tooth parts of the first axial teeth and the second axial teeth respectively intersect with the tooth parts of the radial teeth to form interlocking teeth, that is, the tooth parts of the axial teeth are inserted into the tooth parts of the radial teeth, forming an interlocking stator structure, which further increases the outer diameter of the axial rotor, reduces the winding length, increases the internal hollow area of the motor and the axial air-gap area for generating torque, improving the output performance of the motor, and also making the internal hollow space of the motor larger, reducing the system mass.

[0021] Finally, the coil winding is wound around the radial teeth, the first axial teeth and the second axial teeth in a C shape, without surrounding the inner side of the stator yoke, thus reducing the length of the end winding of the stator coil (i.e., the end winding that does not interact with the magnetic field of the permanent magnet to generate torque), reducing the stator weight and winding copper loss; and the end winding of the stator coil will not increase with the increase of the axial length of the motor, ensuring the utilization rate of the coil winding. Brief Description of the Drawings

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly introduced below.

[0023] Figure 1 is a schematic diagram of the external structure of a three-dimensional decoupled flux electromagnetic drive with an interlocking stator according to an embodiment of the present invention;

[0024] Figure 2 is an axonometric sectional view of a three-dimensional decoupled flux electromagnetic drive with an interlocking stator according to an embodiment of the present invention;

[0025] Figure 3 is an axonometric sectional view of another viewing direction of a three-dimensional decoupled flux electromagnetic drive with an interlocking stator according to an embodiment of the present invention;

[0026] Figure 4 is an assembly structure diagram of the magnetic pole array and the stator;

[0027] Figure 5 is a connection structure diagram of the stator core and the coil winding;

[0028] Figure 6 is a schematic diagram of the structure of the stator core;

[0029] Figure 7 is a schematic diagram of the decomposed structure of the radial teeth, the first axial teeth and the second axial teeth;

[0030] Figure 8 is a schematic diagram of the structure of the coil winding;

[0031] Figure 9 is a schematic diagram of the arrangement of the magnetization directions of the permanent magnets in the radial magnetic pole array, the first axial magnetic pole array or the second axial magnetic pole array;

[0032] Figure 10 is the three-dimensional decoupled flux path of a three-dimensional decoupled flux electromagnetic drive with an interlocking stator according to an embodiment of the present invention; wherein, Figure 10 (a) shows the magnetic flux density distribution; Figure 10 (b) shows the main magnetic flux circuit;

[0033] Figure 11It is a torque output comparison diagram between a three-dimensional decoupled flux electromagnetic drive with an interlocking stator according to an embodiment of the present invention and a traditional radial flux motor.

[0034] Markings in the figure:

[0035] Rotor 100; central axis 101; rotating housing 102; front cover plate 103; rear cover plate 104; radial magnetic pole array 105; first axial magnetic pole array 106; second axial magnetic pole array 107; first embedding groove 108; first back iron 109; second embedding groove 110; second back iron 111; third embedding groove 112; third back iron 113; output shaft 114;

[0036] Stator 200; stator bracket 201; stator iron core 202; coil winding 203; bearing 204; radial teeth 205; first axial teeth 206; second axial teeth 207; slot 208; insertion plate 209; mounting plate 210; tooth part a; yoke part b; pole shoe c. Detailed implementation manners

[0037] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0038] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. in the present invention is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0039] As Figures 1 to 9 shown, a preferred embodiment of the present invention.

[0040] A three-dimensional decoupled flux electromagnetic drive with an interlocking stator includes a rotor 100 and a stator 200.

[0041] The rotor 100 includes a rotor housing, a central shaft 101, and a magnetic pole array; the rotor housing is provided with a rotating housing 102, and a front cover plate 103 and a rear cover plate 104 fixedly connected to the axial two ends of the rotating housing 102. The central shaft 101 is coaxially disposed inside the rotating housing 102, and the front end of the central shaft 101 is fixedly connected to the front cover plate 103; the magnetic pole array includes a radial magnetic pole array 105, a first axial magnetic pole array 106, and a second axial magnetic pole array 107. The radial magnetic pole array 105 is fixedly disposed inside the rotating housing 102 and forms a radial rotor with the rotating housing 102; the first axial magnetic pole array 106 is fixedly disposed inside the front cover plate 103 and forms a first axial rotor with the front cover plate 103; the second axial magnetic pole array 107 is fixedly disposed inside the rear cover plate 104 and forms a second axial rotor with the rear cover plate 104; the pole pitches of the radial magnetic pole array 105, the first axial magnetic pole array 106, and the second axial magnetic pole array 107 are the same and each permanent magnet is aligned. Pole pitch: τ = 360° / 2P, where p is the number of pole pairs; the radial magnetic pole array 105, the first axial magnetic pole array 106, and the second axial magnetic pole array 107 are all based on the center line of the permanent magnet corresponding to the same central angle and with the magnetization direction towards or away from the air gap. For each permanent magnet passing through a pole pitch, the magnetization direction alternates between away from and towards the air gap (see Figure 9 ).

[0042] The stator 200 includes a stator bracket 201, a stator core 202, and a coil winding 203. The stator bracket 201, the stator core 202, and the coil winding 203 are sequentially arranged from the inside to the outside between the central shaft 101 and the rotating housing 102. The stator bracket 201 is mounted on the central shaft 101 through a bearing 204, and the stator core 202 is fixedly connected to the stator bracket 201. A plurality of radial teeth 205 evenly distributed in the circumferential direction are provided on the outer circumference of the stator core 202. A plurality of first axial teeth 206 evenly distributed in the circumferential direction are provided at the front end of the stator core 202. A plurality of second axial teeth 207 evenly distributed in the circumferential direction are provided at the rear end of the stator core 202. The coil winding 203 is wound in a C shape around the radial teeth 205, the first axial teeth 206, and the second axial teeth 207. The radial teeth 205, the first axial teeth 206, and the second axial teeth 207 are each provided with a tooth portion a, a yoke portion b connected to one end of the tooth portion a, and a pole shoe c connected to the other end of the tooth portion a. The yoke portions b of the radial teeth 205, the first axial teeth 206, and the second axial teeth 207 are common yoke portions. The tooth portions a of the first axial teeth 206 and the tooth portions a of the second axial teeth 207 respectively intersect with the tooth portions a of the radial teeth 205 to form interlocking teeth. The hollow part of the stator core 202 is provided as a heat dissipation flow channel.

[0043] Implementing the three-dimensional decoupled flux electromagnetic drive with an interlocking stator according to the embodiments of the present invention, an air-gap magnetic field is formed in the radial and axial directions of the stator by a radial rotor (radial magnetic pole array 105), a first axial rotor (first axial magnetic pole array 106), and a second axial rotor (second axial magnetic pole array 107) respectively. When three-phase sinusoidal current excitations with a 120-degree electrical angle difference from each other are applied to the C-shaped coil winding 203 wound around the radial teeth 205, the first axial teeth 206, and the second axial teeth 207, the air-gap magnetic field formed by the rotor interacts with the symmetric current in the C-shaped coil winding 203 to generate a rotating magnetomotive force, driving the radial rotor, the first axial rotor, and the second axial rotor to rotate synchronously to output torque. This design of the three rotors effectively utilizes the coil winding 203 at the end of the motor, can effectively increase the air-gap area of the motor for electromagnetic energy conversion (generating torque), thereby increasing the torque density of the motor, and will not cause waste of axial or radial space, improving the space utilization rate of the motor.

[0044] It should also be noted that the three-dimensional decoupled flux electromagnetic drive with an interlocking stator according to the embodiments of the present invention has achieved significant technical progress in the following aspects:

[0045] (1) As Figure 10As shown, the magnetic field lines generated by the radial magnetic pole array 105 pass through the coil winding 203 wound around the radial tooth 205 to form a radial magnetic flux. The magnetic field lines generated by the first axial magnetic pole array 106 pass through the coil winding 203 wound around the first axial tooth 206 to form a first axial magnetic flux. The magnetic field lines generated by the second axial magnetic pole array 107 pass through the coil winding 203 wound around the second axial tooth 207 to form a second axial magnetic flux. Thus, the radial magnetic flux, the first axial magnetic flux, and the second axial magnetic flux constitute a three-dimensional magnetic flux. At the same time, due to the first axial magnetic pole array 106 and the second axial magnetic pole array 107 magnetized alternately with N poles and S poles, a symmetric air-gap magnetic field is formed at both axial ends of the stator. This means that the radial magnetic flux and the axial magnetic flux do not cross each other in the stator yoke b, so that the radial magnetic flux and the axial magnetic flux are decoupled (see Figure 10 (b)), thus realizing the decoupling of the three-dimensional magnetic flux. That is to say, the magnetic density of the stator yoke b is very low (see Figure 10 (in (a), the closer to the blue area, the lower the magnetic density; the closer to the red area, the higher the magnetic density)), so the ferromagnetic material with high quality density in the stator yoke b can be removed, and thus the thickness of the stator yoke can be thinned, or even made hollow, reducing the use of materials, thereby reducing costs and weight. In addition, the hollow part of the stator core 202 (such as Figure 10 (the hollow area in (b))) also provides favorable conditions for setting up a heat dissipation flow channel in the internal space of the motor to further improve the torque output capacity of the motor.

[0046] (2) As shown in Figure 6 and Figure 7 , the yoke b of the radial tooth 205, the yoke b of the first axial tooth 206, and the yoke b of the second axial tooth 207 are designed to share a common yoke, that is, the axial teeth are embedded in the yoke b of the radial tooth. While the stator structure is more compact, the lever arms of the rotor parts corresponding to the first axial magnetic pole array 106 and the second axial magnetic pole array 107 (also called the axial rotor) are also increased. The decoupled three-dimensional magnetic flux enables the use of a hollow stator core 202, increasing the hollow area inside the stator, thereby reducing the mass of the motor. In order to further increase the outer diameter of the axial rotor to improve the motor output torque, the tooth part a of the first axial tooth 206 and the tooth part a of the second axial tooth 207 can be respectively intersected with the tooth part a of the radial tooth 205 to form interlocking teeth, that is, the tooth part a of the axial tooth is inserted into the tooth part a of the radial tooth 205 to form an interlocking stator structure (see Figure 6 and Figure 7 ), thereby further reducing the winding length, increasing the hollow area inside the motor and the axial air-gap area for generating torque, and improving the motor output performance.

[0047] (3) As shown in Figure 8As shown, the coil winding 203 is C-shaped and wound around the radial teeth 205, the first axial tooth 206, and the second axial tooth 207, without winding around the inner side of the stator yoke b. Therefore, the length of the end winding of the stator coil (i.e., the end winding that does not interact with the permanent magnet magnetic field to generate torque) is reduced, the stator weight and winding copper loss are reduced; and the end winding of the stator coil will not increase as the axial length of the motor increases, ensuring the utilization rate of the coil winding 203.

[0048] Next, the performance of the three-dimensional decoupled flux electromagnetic drive with an interlocking stator of the embodiment of the present invention is compared with that of a conventional radial flux motor having the same set and input current limit, with the same maximum geometric dimensions (see Table 1).

[0049] Table 1

[0050]

[0051]

[0052] Comparison of output torque (see Figure 11 ): Compared with the conventional radial flux motor, the average torque T avg of the three-dimensional decoupled flux electromagnetic drive with an interlocking stator proposed in the embodiment of the present invention is increased from about 74.6 Nm to about 80.9 Nm; while the torque ripple T rip is reduced from 9.4% to 3.5%.

[0053] Comparison of weight and torque density (see Table 2): Compared with the conventional radial flux motor, the effective torque density of the three-dimensional decoupled flux electromagnetic drive with an interlocking stator proposed in the embodiment of the present invention is increased by 19.9%.

[0054] Table 2

[0055]

[0056] Furthermore, as Figure 5 and Figure 6As shown in the figure, in the three-dimensional decoupled flux electromagnetic drive with an interlocking stator according to the embodiment of the present invention, the radial teeth 205 and the axial teeth 206 and 207 share a set of coil windings 203. Therefore, the radial cross-sectional area of the tooth grooves occupied by the coil windings is the same. When the tooth grooves formed by the radial teeth 205 are parallel grooves, the tooth part a of the radial teeth 205 is trapezoidal in the axial projection. However, since the radial magnetic flux does not change with the stator radius, the tooth shape of the tooth part a of the radial teeth 205 in the radial cross-section is designed as a rectangle, and the tooth grooves formed between two adjacent radial teeth 205 are trapezoidal grooves, which can avoid material waste caused by the large iron core area of the radial teeth 205. Since the axial magnetic flux increases with the increase of the radius, the tooth shape of the tooth part a of the first axial tooth 206 in the radial cross-section is designed as a trapezoid, and the tooth grooves formed between two adjacent first axial teeth 206 are parallel grooves. The tooth shape of the tooth part a of the second axial tooth 207 in the radial cross-section is designed as a trapezoid, and the tooth grooves formed between two adjacent second axial teeth 207 are parallel grooves, which can avoid magnetic saturation.

[0057] Exemplarily, as Figure 7 shown, for the convenience of manufacturing and assembling the stator core 202, slot holes 208 are respectively provided at both axial ends of the radial teeth 205, and the slot holes 208 extend from the yoke part b of the radial teeth 205 towards the tooth part a. Plug plates 209 that are cooperatively connected with the slot holes 208 are respectively provided at the tooth part a of the first axial tooth 206 and the tooth part a of the second axial tooth 207. In this embodiment, the first axial tooth 206 and the second axial tooth 207 are connected into one body through the plug plates 209, and the axial cross-sections of the plug plates 209 and the slot holes 208 are both U-shaped. Both the first axial tooth 206 and the second axial tooth 207 are made of solid composite soft magnetic material (SMC) or laminated silicon steel sheets, and the radial teeth 205 are formed by laminating silicon steel sheets.

[0058] Exemplarily, as Figure 2 and Figure 3 shown, a first embedding groove 108 for accommodating and fixing the radial magnetic pole array 105 is provided on the inner side of the rotating housing 102, and a first back iron 109 is provided on the bottom surface side of the radial magnetic pole array 105 facing the first embedding groove 108. A second embedding groove 110 for accommodating and fixing the first axial magnetic pole array 106 is provided on the inner side of the front cover plate 103, and a second back iron 111 is provided on the bottom surface side of the first axial magnetic pole array 106 facing the second embedding groove 110. A third embedding groove 112 for accommodating and fixing the second axial magnetic pole array 107 is provided on the inner side of the rear cover plate 104, and a third back iron 113 is provided on the bottom surface side of the second axial magnetic pole array 107 facing the third embedding groove 112.

[0059] Exemplarily, as Figure 9 shown, in each pole pitch of the radial magnetic pole array 105, the first axial magnetic pole array 106, and the second axial magnetic pole array 107, there is provided at least one transition permanent magnet or soft magnetic body; the radial magnetic pole array 105, the first axial magnetic pole array 106, and the second axial magnetic pole array 107 are all based on the center line of the permanent magnets corresponding to the same central angle and with the magnetization direction towards or away from the air gap. In each pole pitch, the magnetization directions of the respective transition permanent magnets gradually change to away from or towards the air gap in the clockwise or counterclockwise direction. In this embodiment, the radial magnetic pole array 105, the first axial magnetic pole array 106, and the second axial magnetic pole array 107 are all preferably Halbach magnetic pole arrays, which can achieve a strong magnetic field on one side while the magnetic field on the other side is extremely weak or almost zero, contributing to obtaining a more uniform magnetic field distribution in the radial or axial direction, reducing the dissipation of the magnetic field, and being able to reduce the usage amount of magnetic material while ensuring the magnetic field intensity.

[0060] Exemplarily, as Figure 2 and Figure 3 shown, the rear cover plate 104 is rotationally engaged with the outer periphery of the rear end of the stator bracket 201. Thus, the stator bracket 201 can support the rear cover plate 104 to rotate, enabling the rotor to rotate stably.

[0061] Exemplarily, as Figure 2 and Figure 3 shown, in order to facilitate the power output of the device, an output shaft 114 coaxial with the central shaft 101 is installed on the outer side of the front cover plate 103.

[0062] Exemplarily, as Figure 3 shown, in order to facilitate the installation and use of the device, an installation plate 210 for connecting an external fixing member is fixedly connected to the rear end of the stator bracket 201.

[0063] In the description of the present invention, it should be understood that unless otherwise clearly specified and limited, the terms "installed", "connected", and "coupled" used in the present invention 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 directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0064] The above-disclosed are only the preferred embodiments of the present invention, and of course, the scope of the rights of the present invention cannot be limited thereby. Therefore, the equivalent changes made according to the scope of the patent application of the present invention still fall within the scope covered by the present invention.

Claims

1. A three-dimensional decoupled flux electromagnetic drive with an interlocking stator, comprising a rotor and a stator, characterized in that: The rotor comprises a rotor housing, a central axis and a magnetic pole array; the rotor housing is provided with a rotating shell and a front cover plate and a rear cover plate fixedly connected to the axial ends of the rotating shell, the central axis is coaxially arranged inside the rotating shell, and the front end of the central axis is fixedly connected to the front cover plate; the magnetic pole array comprises a radial magnetic pole array, a first axial magnetic pole array and a second axial magnetic pole array, the radial magnetic pole array is fixedly arranged on the inner side of the rotating shell and forms a radial rotor with the rotating shell; the first axial magnetic pole array is fixedly arranged on the inner side of the front cover plate and forms a first axial magnetic pole array with the front cover plate The second axial magnetic pole array is fixedly arranged on the inner side of the rear cover plate and forms a second axial rotor with the rear cover plate; the radial magnetic pole array, the first axial magnetic pole array and the second axial magnetic pole array have the same pole pitch and the permanent magnets are aligned, the pole pitch: τ=360° / 2P, p is the number of pole pairs; the radial magnetic pole array, the first axial magnetic pole array and the second axial magnetic pole array are all based on the center line of the permanent magnet corresponding to the same central angle and the magnetization direction is toward the air gap or away from the air gap, and the magnetization direction of each permanent magnet passing through a pole pitch is alternately away from the air gap or toward the air gap; The stator comprises a stator support, a stator core and a coil winding; the stator support, the stator core and the coil winding are sequentially arranged between the central shaft and the rotating shell from the inside to the outside; the stator support is installed on the central shaft through a bearing, and the stator core is fixedly connected to the stator support; the outer periphery of the stator core is provided with a plurality of radial teeth evenly distributed along its circumferential direction; the front end of the stator core is provided with a plurality of first axial teeth evenly distributed along its circumferential direction; the rear end of the stator core is provided with a plurality of second axial teeth evenly distributed along its circumferential direction teeth; the coil winding is C-shaped and wrapped around the radial teeth, the first axial teeth and the second axial teeth; the radial teeth, the first axial teeth and the second axial teeth are all provided with a tooth portion, a yoke portion connected to one end of the tooth portion and a pole shoe connected to the other end of the tooth portion; the yoke portion of the radial teeth, the yoke portion of the first axial teeth and the yoke portion of the second axial teeth are a common yoke portion; the tooth portion of the first axial teeth and the tooth portion of the second axial teeth respectively intersect with the tooth portion of the radial teeth to form interlocking teeth; the hollow portion of the stator core is set as a heat dissipation channel.

2. The three-dimensional decoupled flux electromagnetic drive with an interlocking stator according to claim 1, characterized in that: The radial teeth are provided with slots at both axial ends, and the slots extend from the yoke of the radial teeth to the tooth portion; the tooth portion of the first axial teeth and the tooth portion of the second axial teeth are provided with plug plates that cooperate with the slots.

3. The three-dimensional decoupled flux electromagnetic drive with an interlocking stator according to claim 2, characterized in that: The first axial tooth and the second axial tooth are connected as a whole through the insert plate.

4. The three-dimensional decoupled flux electromagnetic drive with an interlocking stator according to claim 1, characterized in that: The tooth shape of the tooth portion of the radial tooth in the radial cross section is rectangular, and the tooth groove formed between two adjacent radial teeth is a trapezoidal groove; the tooth shape of the tooth portion of the first axial tooth in the radial cross section is trapezoidal, and the tooth groove formed between two adjacent first axial teeth is a parallel groove; the tooth shape of the tooth portion of the second axial tooth in the radial cross section is trapezoidal, and the tooth groove formed between two adjacent second axial teeth is a parallel groove.

5. The three-dimensional decoupled flux electromagnetic drive with an interlocking stator according to claim 1, characterized in that: A first embedding groove for accommodating and fixing the radial magnetic pole array is provided on the inner side of the rotating shell, and a first back iron is provided on the bottom side of the radial magnetic pole array facing the first embedding groove; a second embedding groove for accommodating and fixing the first axial magnetic pole array is provided on the inner side of the front cover plate, and a second back iron is provided on the bottom side of the first axial magnetic pole array facing the second embedding groove; a third embedding groove for accommodating and fixing the second axial magnetic pole array is provided on the inner side of the rear cover plate, and a third back iron is provided on the bottom side of the second axial magnetic pole array facing the third embedding groove.

6. The three-dimensional decoupled flux electromagnetic drive with an interlocking stator according to claim 1, characterized in that: The radial magnetic pole array, the first axial magnetic pole array and the second axial magnetic pole array are each provided with at least one transition permanent magnet in each pole pitch; the radial magnetic pole array, the first axial magnetic pole array and the second axial magnetic pole array are all based on the center line of the permanent magnet corresponding to the same central angle and with the magnetization direction facing the air gap or away from the air gap, and the magnetization direction of each transition permanent magnet in each pole pitch is gradually transformed in a clockwise direction or counterclockwise direction to away from the air gap or toward the air gap.

7. The three-dimensional decoupled flux electromagnetic drive with an interlocking stator according to claim 6, characterized in that: The radial magnetic pole array, the first axial magnetic pole array and the second axial magnetic pole array are all Halbach magnetic pole arrays.

8. The three-dimensional decoupled flux electromagnetic drive with an interlocking stator according to claim 1, characterized in that: The rear cover plate is rotationally matched with the rear end periphery of the stator bracket.

9. The three-dimensional decoupled flux electromagnetic drive with an interlocking stator according to claim 1, characterized in that: An output shaft coaxially arranged with the central axis is installed on the outer side of the front cover plate.

10. The three-dimensional decoupled flux electromagnetic drive with an interlocking stator according to claim 1, characterized in that: The rear end of the stator bracket is fixedly connected with a mounting plate.

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