Motor, suspension and vehicle

Abstract

The invention discloses a motor, a suspension and a vehicle, the motor comprises a first assembly, the first assembly comprises: a casing having an n-face cylindrical structure, n being a natural number greater than 2; the permanent magnets are arranged in each face of the machine shell, the permanent magnets on each face form a Halbach permanent magnet array in the axial direction of the machine shell, and the first ends of the permanent magnets on the adjacent faces are arranged in a staggered mode in the axial direction. According to the motor, the shell of the motor is designed to be of the n-face cylindrical structure, the first ends of the permanent magnets on the adjacent faces are arranged in the axial direction of the shell in a staggered mode to form the skewed pole structure, magnetic resistance can be greatly reduced, lower thrust fluctuation is obtained, and therefore the use performance of the motor is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of motors, and in particular to a motor, a suspension and a vehicle. Background Art

[0002] The electric motor is a recently developed direct-drive technology. Due to its outstanding advantages, such as zero transmission chain, contactless operation, zero backlash, high stiffness, and fast response, it is gradually replacing indirect servo mechanisms such as servo motors and ball screws, becoming a core functional component in high-speed, precision, and high-end equipment. Due to its unique structure, the magnetic circuit of the electric motor is no longer continuous and closed, unlike that of a permanent magnet synchronous motor. Instead, it exhibits end effects, whereby the core experiences a left-end force Fend1 and a right-end force Fend2, both of which act periodically. Because these end forces are no longer symmetrical and have a phase difference, the resultant force is not zero, generating drag during motor operation. Furthermore, the slotting of the core causes the magnetic circuit to become uneven, resulting in constant variations in the magnitude and direction of the resultant force between the primary and secondary coils at different locations. This is known as cogging, which manifests as thrust fluctuations or magnetic drag in the motor. This uneven thrust has a negative impact on motion systems requiring low-speed operation and rapid, precise positioning.

[0003] In the prior art, no corresponding optimization has been made for the magnetic resistance and thrust fluctuations existing in the motor, resulting in vibration and noise in the motor, especially when the motor is running at low speed, which seriously affects the performance of the motor servo system. Summary of the Invention

[0004] The present invention aims to address at least one of the technical problems existing in the prior art. To this end, the present invention proposes a motor with an n-hedron-shaped housing and staggered permanent magnets between adjacent faces. This significantly reduces magnetic drag, thereby achieving lower thrust fluctuations and effectively improving motor performance.

[0005] The present invention further provides a suspension.

[0006] The present invention further provides a vehicle.

[0007] According to an embodiment of the first aspect of the present invention, the motor includes a first component, which includes: a casing having an n-hedral cylindrical structure, where n is a natural number greater than 2; a plurality of permanent magnets, which are arranged in each side of the casing and the plurality of permanent magnets on each side form a Halbach permanent magnet array along the axial direction of the casing, and the first ends of the permanent magnets on adjacent sides are staggered in the axial direction.

[0008] According to the motor of an embodiment of the present invention, by designing the shape of the motor casing into an n-hedron cylindrical structure and staggering the permanent magnets between adjacent faces along the axial direction of the casing to form a skew pole structure, the magnetic resistance can be greatly reduced, thereby obtaining lower thrust fluctuations, thereby effectively improving the performance of the motor.

[0009] According to some embodiments of the present invention, the first ends of the permanent magnets on each first side to the i-th side of the casing are staggered in sequence along the axial direction to form a skewed pole group, and the motor includes n / i skewed pole groups, wherein n satisfies: n=ik, k is a positive integer, and i is any factor of n except 1.

[0010] According to some embodiments of the present invention, the first ends of the permanent magnets on each first surface and second surface of the housing are staggered along the axial direction to form a skewed pole group, and the motor includes n / 2 skewed pole groups.

[0011] According to some embodiments of the present invention, the oblique pole distance between the two adjacent surfaces of the permanent magnets in each oblique pole group is L1, the width dimension of the permanent magnet along the axial direction is W1, and the oblique pole distance L1 and the width dimension W1 satisfy the relationship: 20%W1≥L1>0.

[0012] According to some embodiments of the present invention, the slant pole distances of the plurality of slant pole groups are all the same.

[0013] According to some embodiments of the present invention, the first ends of the permanent magnets on each first to third surface of the housing are staggered in sequence along the axial direction to form a skewed pole group, and the motor includes n / 3 skewed pole groups.

[0014] According to some embodiments of the present invention, the oblique pole distance between adjacent surfaces of the permanent magnets in each oblique pole group is L2, the width dimension of the permanent magnet along the axial direction is W2, and the oblique pole distance L2 and the width dimension W2 satisfy the relationship: 25%W2≥L2>0.

[0015] According to some embodiments of the present invention, the slant pole distances of the plurality of slant pole groups are all the same.

[0016] According to some embodiments of the present invention, the motor further includes: a second component, which is arranged inside the casing, and the second component moves relative to the first component in the axial direction, and the second component includes: an iron core, the outer peripheral surface of the iron core is provided with a plurality of iron core teeth arranged at intervals along the axial direction, and iron core slots are between adjacent iron core teeth; and a plurality of coils, which are arranged in the plurality of the iron core slots to form an armature winding.

[0017] According to some embodiments of the present invention, a dimension of the iron core along the axial direction is H, and H satisfies the relationship: H=(k+ / -0.5)×pole pitch, where k is a positive integer.

[0018] The suspension according to the second embodiment of the present invention includes the motor.

[0019] A vehicle according to an embodiment of the third aspect of the present invention includes the suspension described above.

[0020] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments with reference to the following drawings, in which: Figure 1 is a cross-sectional schematic diagram of a motor according to an embodiment of the present invention that does not adopt a skewed pole structure; Figure 2 is a cross-sectional schematic diagram of a motor with a skewed pole structure according to an embodiment of the present invention; Figure 3 is an exploded schematic diagram of a motor with a skewed pole structure according to an embodiment of the present invention; Figure 4 is an assembly diagram of a motor with a skewed pole structure according to an embodiment of the present invention; Figure 5 is an assembly diagram of a first component adopting an oblique pole structure according to an embodiment of the present invention; Figure 6 1. A comparison diagram of motor thrust under load between a motor adopting a skewed pole structure and a motor without a skewed pole structure according to an embodiment of the present invention; Figure 7 1. A comparison diagram of the thrust harmonic content of a motor under load when the motor adopts a skewed pole structure and when the motor does not adopt a skewed pole structure according to an embodiment of the present invention; Figure 8 1. A comparison diagram of the magnetic resistance of a motor under load with a skewed pole structure and a motor without a skewed pole structure according to an embodiment of the present invention; Figure 9 is a schematic cross-sectional view of a hexahedral housing of a motor according to an embodiment of the present invention; Figure 10 2 is a schematic structural diagram of a motor according to an embodiment of the present invention using a skewed pole group with a factor of 2; Figure 11 is a magnetic reluctance diagram of the first surface permanent magnet and the second surface permanent magnet of the motor according to an embodiment of the present invention; Figure 123. This is a diagram showing the effect of a skewed pole group with a factor of 2 on magnetic reluctance in a motor according to an embodiment of the present invention; Figure 13 3. This is a graph showing the effect of a skewed pole group with a factor of 2 on thrust fluctuation in a motor according to an embodiment of the present invention; Figure 14 3. This is a graph showing the effect of a skewed pole group with a factor of 2 on thrust in a motor according to an embodiment of the present invention; Figure 15 2 is a schematic structural diagram of a motor according to an embodiment of the present invention using a skewed pole group with a factor of 3; Figure 16 3 is a graph showing the effect of a skewed pole group with a factor of 3 on magnetic reluctance in a motor according to an embodiment of the present invention; Figure 17 3 is a graph showing the effect of a skewed pole group with a factor of 3 on thrust fluctuation in a motor according to an embodiment of the present invention; Figure 18 3 is a graph showing the effect of a skewed pole group with a factor of 3 on thrust in a motor according to an embodiment of the present invention; Figure 19 is a schematic diagram of the forces acting on a motor having an end effect according to an embodiment of the present invention; Figure 20 Schematic diagram of the dimensions of the iron core structure of the motor according to an embodiment of the present invention.

[0022] Reference numerals: 100. Motor; 1. Casing; 2. Permanent magnet; 3. Iron core; 301. Iron core slot; 302. Iron core teeth; 4. Armature winding. DETAILED DESCRIPTION

[0023] The embodiments of the present invention will be described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present invention will be described in detail below.

[0024] Reference below Figures 1-20 A motor according to an embodiment of the present invention is described.

[0025] like Figure 1-Figure 5 As shown, the motor 100 includes a first component, which includes a housing 1 and a plurality of permanent magnets 2 .

[0026] The housing 1 has an n-hedron cylindrical structure, where n is a natural number greater than 2. For example, the housing 1 can have a trihedron, tetrahedron, pentahedron, hexahedron, octahedron or other cylindrical structure.

[0027] Multiple permanent magnets 2 are arranged in each side of the casing 1, and the multiple permanent magnets 2 on each side form a Halbach permanent magnet array along the axial direction of the casing 1. The first ends of the permanent magnets 2 on adjacent sides are staggered in the axial direction.

[0028] Specifically, the first component can be a mover component, which is configured to move axially relative to the stator component. The movement of the mover component can achieve linear motion of the motor 100 of the embodiment of the present invention. In this embodiment, the mover component is disposed inside the stator component, that is, the motor 100 is an external mover motor.

[0029] It is understood that multiple permanent magnets 2 are attached to the inner side of each side of the housing 1. These multiple permanent magnets 2 on each side form a Halbach permanent magnet array structure along the axial direction of the housing 1. This unique arrangement of permanent magnets 2 with different magnetization directions is used to arrange them in a regular pattern, so that the magnetic field generated by the permanent magnets 2 converges unilaterally toward one side of the permanent magnets 2. This allows the magnetic lines of force to converge on the side closest to the stator assembly while weakening them on the opposite side, thereby achieving a relatively ideal unilateral magnetic field. As the number of permanent magnets 2 increases, the converged magnetic field extends along the axial direction of the housing 1.

[0030] Specifically, every N adjacent permanent magnets 2 form a unilateral magnetic concentrator unit, and the magnetization directions of the permanent magnets 2 in each unit magnetic concentrator unit are different, and are suitable for converging the formed magnetic field toward the stator assembly. In this embodiment, each unilateral magnetic concentrator unit has four permanent magnets 2, and the magnetization directions of the two permanent magnets 2 adjacent to one of the permanent magnets 2 are opposite. Specifically, Figure 2 As shown, the magnetization directions of two non-adjacent permanent magnets 2 are arranged in opposite directions along the vertical direction, and the magnetization directions of another two non-adjacent permanent magnets 2 are arranged in opposite directions along the horizontal direction. The arrangement pattern of the Halbach permanent magnet arrays on the n faces of the housing 1 is the same.

[0031] By adopting the Halbach permanent magnet array structure, the magnetic field strength is greatly enhanced, thereby obtaining a greater magnetic flux density, increasing the thrust on the first component of the motor 100, and thus enhancing the performance of the motor 100.

[0032] Reference Figure 3-Figure 5 In the illustrated embodiment, the housing 1 is shaped like a hexahedron, the permanent magnets 2 are shaped like rectangles, and the plurality of permanent magnets 2 are mounted on the six faces of the housing 1 such that the length directions of the permanent magnets 2 are perpendicular to the axial direction of the housing 1. Of course, in other embodiments, the permanent magnets 2 may be shaped like a parallelogram or other shapes.

[0033] like Figure 2As shown, the first ends of the permanent magnets 2 on adjacent surfaces are staggered along the axial direction of the housing 1, so that the magnetization directions of the permanent magnets 2 on adjacent surfaces are staggered. This results in a certain phase difference in the magnetic drag forces generated by the permanent magnets 2 on adjacent surfaces. The magnitude of this phase difference determines the extent of harmonic cancellation of the permanent magnets 2 on adjacent surfaces, thereby affecting the overall magnetic drag reduction effect. This allows the magnetic drag forces on adjacent surfaces to cancel each other out, thereby achieving lower thrust fluctuations.

[0034] Reference Figure 11 In the illustrated embodiment, the first end of the permanent magnet 2 on the first side of the housing 1 is offset from the first end of the permanent magnet 2 on the second side. This creates a phase difference between the magnetic drag forces generated by the permanent magnet 2 on the first side and the second side, thereby canceling out the magnetic drag forces on the first and second sides. This cancels out the magnetic drag forces on each adjacent side of the n-hedron, ultimately reducing the overall magnetic drag force and achieving lower thrust fluctuations.

[0035] Indeed, the staggered arrangement of the first ends of the permanent magnets 2 on adjacent surfaces along the axial direction of the housing 1 includes but is not limited to the above-mentioned embodiments. By staggering the first ends of the permanent magnets 2 on adjacent surfaces, the magnetic resistance forces of every three adjacent surfaces in the n-hedron can be offset against each other, or the magnetic resistance forces of every four adjacent surfaces can be offset against each other, and so on.

[0036] The structure formed by staggering the first ends of the permanent magnets 2 on adjacent surfaces along the axial direction of the casing 1 is a skewed pole structure. The skewed pole structure refers to changing the magnetizing direction of the permanent magnet 2 so that it presents a certain tilt angle in the circumferential direction. This tilt angle causes the magnetic field generated by the permanent magnet 2 to form a non-sinusoidal distribution in the air gap, thereby changing the periodicity of the magnetic field and reducing thrust fluctuations and positioning force. Specifically, the skewed pole structure adjusts the magnetizing direction and tilt angle of the permanent magnet 2 so that the magnetic field produces a "sawtooth" distribution in the air gap. This distribution can effectively weaken the positioning force and improve the running smoothness of the motor 100.

[0037] In some embodiments, the permanent magnet 2 may be made of neodymium iron boron material, which has strong magnetic properties.

[0038] Reference Figure 1 The embodiment shown is that the motor 100 does not adopt a skewed pole structure, and Figure 2 The embodiment shown is a motor 100 that adopts a skewed pole structure. The present invention shifts the first ends of the permanent magnets 2 on adjacent surfaces along the axial direction of the housing 1, changing the magnetization direction of the permanent magnets 2 on adjacent surfaces. This causes a certain phase difference in the magnetic resistance generated by the permanent magnets 2 on adjacent surfaces, thereby changing the periodicity of the magnetic field. The above two embodiments were simulated and tested, and the results are shown in FIG. Figure 6-Figure 8 .

[0039] After analysis, from Figure 6 It can be seen from the figure that the motor 100 of the present invention adopts the oblique pole structure, and the thrust fluctuation of the motor 100 is reduced to 50% of that without the oblique pole structure; Figure 7 It can be seen from the figure that the motor 100 of the present invention adopts a skew pole structure, and the third and seventh harmonics in the thrust of the motor 100 are effectively reduced; Figure 8 It can be seen from the figure that the motor 100 of the present invention adopts a skew pole structure, and the magnetic resistance of the motor 100 is greatly reduced.

[0040] Therefore, according to the motor 100 of an embodiment of the present invention, by designing the shape of the motor casing 1 of the motor 100 into an n-hedron cylindrical structure, and staggering the first ends of the permanent magnets 2 between adjacent faces along the axial direction of the casing 1 to form a skew pole structure, the magnetic resistance can be greatly reduced, thereby obtaining lower thrust fluctuations, thereby effectively improving the performance of the motor 100.

[0041] According to some embodiments of the present invention, the first ends of the permanent magnets 2 from each first side to the i-th side of the casing 1 are staggered in sequence along the axial direction to form a skewed pole group, and the motor 100 includes n / i skewed pole groups, where n satisfies: n=ik, k is a positive integer, and i is any factor of n except 1.

[0042] It can be understood that the first surface, the second surface, the third surface... of the casing 1 and the first end of the permanent magnet 2 on the i-th surface are successively staggered along the axial direction to form an i-segment oblique pole group, the i+1-th surface, the i+2-th surface, the i+3-th surface... of the casing 1 and the first end of the permanent magnet 2 on the 2i-th surface are successively staggered along the axial direction to form an i-segment oblique pole group..., and so on, n / i i-segment oblique pole groups can be formed.

[0043] That is, according to the number of faces of the n-hedron of the motor 100 , a segmented skew pole structure with a multiple of the number of faces can be made.

[0044] For example, when n is 3, there is only one i, that is, i is 3. The first ends of the permanent magnets 2 on the first, second, and third surfaces of the housing 1 are sequentially staggered in the axial direction to form a skewed pole group. At this time, the magnetic drag forces generated by the permanent magnets 2 on the first, second, and third surfaces of the housing 1 have a certain phase difference. This causes the magnetic drag forces on the three surfaces of the housing 1 to cancel each other out, thereby reducing the overall magnetic drag force and, in turn, the thrust fluctuation.

[0045] For example, when n is 4, there are two i, including 2 and 4, which can include two implementation methods.

[0046] In the first embodiment, the first ends of the permanent magnets 2 on the first and second surfaces of the casing 1 are staggered in the axial direction to form an oblique pole group, and the first ends of the permanent magnets 2 on the third and fourth surfaces of the casing 1 are staggered in the axial direction to form an oblique pole group. At this time, the magnetic resistance forces generated by the permanent magnets 2 on the first and second surfaces of the casing 1 will cancel each other out, and the magnetic resistance forces generated by the permanent magnets 2 on the third and fourth surfaces of the casing 1 will cancel each other out, that is, the overall magnetic resistance force is reduced, thereby reducing thrust fluctuations.

[0047] In the second embodiment, the first ends of the permanent magnets 2 on the first, second, third and fourth surfaces of the casing 1 are staggered in sequence along the axial direction to form an oblique pole group. At this time, the magnetic resistance forces generated by the permanent magnets 2 on the first, second, third and fourth surfaces of the casing 1 have a certain phase difference, which makes the magnetic resistance forces of the four surfaces of the casing 1 cancel each other out, that is, the overall magnetic resistance force is reduced, thereby obtaining lower thrust fluctuations.

[0048] For example, when n is 5, there is only one i, that is, i is 5. The first ends of the permanent magnets 2 on the first, second, third, fourth, and fifth surfaces of the housing 1 are sequentially staggered along the axial direction to form a skewed pole group. This causes the magnetic drag forces on the five surfaces of the housing 1 to cancel each other out, thereby reducing the overall magnetic drag force and, in turn, the thrust fluctuation.

[0049] Therefore, according to the value of n and the factor of n, the motor 100 can form various skewed pole structures.

[0050] Specifically, according to one embodiment of the present invention, the first ends of the permanent magnets 2 on each first surface and second surface of the housing 1 are staggered in the axial direction to form a skewed pole group, and the motor 100 includes n / 2 skewed pole groups.

[0051] It is understood that when the factors of n include 2, n / 2 slanted pole groups can be formed. Taking the hexahedral structure of the housing 1 as an example, when n is 6, the factors include 2, 3, and 6, which can form three slanted pole groups with a factor of 2, two slanted pole groups with a factor of 3, and one slanted pole group with a factor of 6.

[0052] Reference Figure 9 and Figure 10 The hexahedron shown in the figure is made into an oblique pole group according to the factor 2, and the six faces of the hexahedron are marked as 1, 2, 3, 4, 5, and 6 respectively. The first end of the first permanent magnet 2 on the six faces is used as the initial 0 position, so that the permanent magnets 2 on the first and second faces can be staggered by a certain distance relative to the 0 position, as shown in FIG. Figure 11 As shown, there is a certain phase difference between the magnetic resistance generated by the permanent magnet 2 on the first side and the magnetic resistance generated by the permanent magnet 2 on the second side, which makes the magnetic resistance of each two adjacent sides of the hexahedron cancel each other out, and finally reduces the overall magnetic resistance.

[0053] Of course, the permanent magnets 2 on the first surface can be kept stationary, and the permanent magnets 2 on the second surface can be staggered by a certain distance relative to the zero position. The staggering method can satisfy the staggered arrangement of the permanent magnets 2 on adjacent surfaces.

[0054] Since the permanent magnets 2 on adjacent surfaces are staggered by a certain distance, a certain phase difference is generated between the permanent magnets 2 on adjacent surfaces. The magnitude of the phase difference determines the extent of the side harmonic cancellation of the adjacent permanent magnets 2, thereby affecting the overall magnetic resistance reduction effect.

[0055] Therefore, the reduction of magnetic drag force by the oblique pole structure of the present invention is closely related to the offset distance between the permanent magnets 2 on adjacent surfaces.

[0056] Furthermore, the oblique pole distance between two adjacent permanent magnets 2 in the plurality of oblique pole groups is L1, the width dimension of the permanent magnet 2 along the axial direction is W1, and the oblique pole distance L1 and the width dimension W1 satisfy the relationship: 20%W1≥L1>0.

[0057] It can be understood that the oblique pole distance refers to the distance between the radial projection contour line of the end of the first permanent magnet 2 away from the second permanent magnet 2 on one of the two adjacent surfaces and the radial projection contour line of the end of the first permanent magnet 2 away from the second permanent magnet 2 on the other surface, specifically see Figure 2 The dimension marked is L.

[0058] like Figure 10 The figure shows a skew pole group with a factor of 2, and the skew pole distance between the permanent magnets 2 on two adjacent sides in each skew pole group is L1.

[0059] Reference Figure 12-14 As shown in the figure, when the skew distance / the size of the permanent magnet 2 in the axial direction is in the range of 0% to 20%, the magnetic drag force is effectively reduced. When the skew distance / the size of the permanent magnet 2 in the axial direction is 18%, the magnetic drag force takes the minimum value, which is 45% of the non-skewed state. The corresponding thrust fluctuation is reduced to 55% of the non-skewed state, and the thrust is reduced to 96% of the non-skewed state. This shows that within the above skew distance range, the phase difference generated by the permanent magnets 2 on adjacent surfaces can offset most of the magnetic drag force harmonics. When the skew distance / the size of the permanent magnet 2 in the axial direction is greater than 20%, the magnetic drag force begins to increase, indicating that the phase difference generated in this range above 20% is not sufficient to offset most of the magnetic drag force harmonics.

[0060] According to some embodiments of the present invention, the slant pole distances of the plurality of slant pole groups are all the same, so that most of the magnetic drag forces of two adjacent faces of the n-hedron can cancel each other out, ultimately reducing the overall magnetic drag force.

[0061] According to some embodiments of the present invention, the first ends of the permanent magnets 2 on each first to third side of the housing 1 are staggered in sequence along the axial direction to form a skewed pole group, and the motor includes n / 3 skewed pole groups.

[0062] It can be understood that when the factor of n includes 3, n / 3 slanted pole groups can be formed.

[0063] Reference Figure 9 and Figure 15 The hexahedron shown has a three-segment oblique pole structure according to a factor of 3, with the six faces of the hexahedron being labeled 1, 2, 3, 4, 5, and 6, respectively. The first end of the first permanent magnet 2 on each of the six faces is positioned as the initial 0 position, so that the permanent magnet 2 on the second face is immobile relative to the 0 position. The permanent magnets 2 on the first and third faces are staggered a certain distance from each other at the initial 0 position. At this time, the magnetic resistance generated by the permanent magnets 2 on the first face, the permanent magnets 2 on the second face, and the permanent magnets 2 on the third face have a certain phase difference, which makes the magnetic resistance of each of the three adjacent faces of the hexahedron cancel each other out, ultimately reducing the overall magnetic resistance. Of course, the permanent magnet 2 on the first face can also be immobile, and the permanent magnets 2 on the second and third faces can be staggered a certain distance relative to the 0 position, so that the staggered arrangement of the permanent magnets 2 on adjacent faces is sufficient.

[0064] Furthermore, the oblique pole distance between adjacent permanent magnets 2 in the plurality of oblique pole groups is L2, the width dimension of the permanent magnet 2 along the axial direction is W2, and the oblique pole distance L2 and the width dimension W2 satisfy the relationship: 25%W2≥L2>0.

[0065] like Figure 15 The figure shows a skew pole group with a factor of 3, and the skew pole distance between the permanent magnets 2 on two adjacent sides in each skew pole group is L2.

[0066] Reference Figure 16-Figure 18 As shown in the figure, when the skew distance / the size of the permanent magnet 2 in the axial direction is in the range of 0% to 25%, the magnetic drag force is effectively reduced. When the skew distance / the size of the permanent magnet 2 in the axial direction is 23%, the magnetic drag force takes the minimum value, which is 38% of the value when the poles are not skewed. Correspondingly, the thrust fluctuation is reduced to 49% of the value when the poles are not skewed, and the thrust is reduced to 96% of the value when the poles are not skewed. This shows that within the above skew distance range, the phase difference generated by the permanent magnets 2 on adjacent surfaces can offset most of the magnetic drag force harmonics. When the skew distance / the size of the permanent magnet 2 in the axial direction is greater than 25%, the magnetic drag force begins to increase, indicating that the phase difference generated in this range above 25% is not sufficient to offset most of the magnetic drag force harmonics.

[0067] Therefore, comparing the aforementioned skewed pole group with a factor of 2 and a skewed pole group with a factor of 3, it can be seen that the skewed pole group with a factor of 3 can further reduce the magnetic drag and thrust fluctuation of the motor 100. Therefore, using a skewed pole group with a larger factor is more beneficial for reducing the magnetic drag and thrust fluctuation. Of course, it is necessary to ensure that the skewed pole distance / the axial dimension of the permanent magnet 2 is within a reasonable range.

[0068] Furthermore, the slant pole distances of the plurality of slant pole groups are all the same. This arrangement allows most of the magnetic drag forces of each of the three adjacent faces of the n-hedron to cancel each other out, ultimately reducing the overall magnetic drag force.

[0069] Of course, the above two-stage skew pole and three-stage skew pole are based on the fact that the motor 100 is a hexahedral structure. For regular octahedrons, regular decahedrons, etc., the segmented skew pole methods that can be made include but are not limited to skew pole groups with a factor of 2 and skew pole groups with a factor of 3. They can be skew pole groups with a factor of 4 and skew pole groups with a factor of 5, etc., and can be specifically designed according to n and factors of n.

[0070] According to some embodiments of the present invention, a factor-2 skewed pole group and a factor-3 skewed pole group can be simultaneously applied within the same housing 1. For example, if the housing 1 is a pentahedron, the permanent magnets 2 on the first and second faces can form a skewed pole group, and the permanent magnets 2 on the third, fourth, and fifth faces can form a skewed pole group. For another example, if the housing 1 is a decahedron, two factor-2 skewed pole groups and two factor-3 skewed pole groups can be formed, which can further improve the performance of the motor compared to forming five factor-2 skewed pole groups.

[0071] like Figure 2-Figure 4 As shown, the motor 100 further includes: a second component, which is disposed inside the housing 1 and moves relative to the first component in the axial direction. Specifically, the second component can be a stator component, that is, the mover component can move linearly in the axial direction relative to the stator component.

[0072] In some embodiments, the second component includes: an iron core 3 and multiple coils, the outer peripheral surface of the iron core 3 is provided with multiple iron core teeth 302 arranged at intervals along the axial direction, and there are iron core slots 301 between adjacent iron core teeth 302; multiple coils are arranged in multiple iron core slots 301 to form an armature winding 4.

[0073] In this arrangement, the outer peripheral surface of the iron core 3 is distributed with multiple annular iron core slots 301 along the axial direction, and multiple coils are evenly arranged in the iron core slots 301. The coils distributed in different iron core slots 301 in one phase are connected in series using connecting wires. After the series connection, one end of one phase is connected to the connecting wires of other phases, and the other end is led out from the outlet slot to connect to the controller. The coils in the iron core slots 301 are connected into multiple phases to form the armature winding 4.

[0074] Specifically, an air gap is defined between the second component and the first component. The air gap refers to the gap between the first component and the second component, and the size of the air gap can be selected based on the actual application of the motor 100. When the motor 100 is powered on, the first component can move linearly along the axial direction of the housing 1 under the influence of the magnetic field of the second component.

[0075] The number of the core slots 301 of the core 3 depends on the pole-slot combination selected for the motor 100 .

[0076] In some embodiments, the axial width of the core slot 301 = (total length of the core 3 / number of slots) × 0.3-0.7.

[0077] In some embodiments, the depth of the core slot 301 = (outer diameter of the core 3 - inner diameter of the core 3 ) × 0.65-0.85.

[0078] In some embodiments, the air gap between the second component and the first component is selected between 0.5 mm and 2 mm.

[0079] In some embodiments, the iron core 3 may be made of magnetic materials such as magnetic steel or silicon steel sheets.

[0080] In one embodiment of the present invention, 100 is a short stator and long structure. Alternatively, it can be a long stator and short structure, and the iron core 3 can be spliced in sections or processed as a whole.

[0081] According to some embodiments of the present invention, the dimension of the core 3 along the axial direction is H, and H satisfies the relationship: H=(k+ / -0.5)×pole pitch, where k is a positive integer.

[0082] It is understood that the pole pitch refers to the distance occupied by each magnetic pole along the circumferential surface of the air gap in the motor 100. For the motor 100 of the embodiment of the present invention, the pole pitch of the motor 100 refers to the distance between the center axes of adjacent magnetic poles, specifically the dimension of the permanent magnet 2 along the axial direction.

[0083] See Figure 19 As shown, due to the special structure of the motor 100, there will be an end effect, that is, the iron core 3 has a left end force Fend1 and a right end force Fend2, both of which are periodic forces. Since the two end forces are no longer symmetrical and there is a certain phase difference, the resultant force is no longer zero, resulting in resistance when the motor 100 is running.

[0084] By selecting the overall axial length of the iron core 3 to be (k+ / -0.5)×pole pitch, that is, the overall axial length of the iron core 3 is (k+ / -0.5) times the pole pitch, the end forces at both ends of the iron core 3 can offset each other, thereby effectively suppressing the end effect and further reducing the resistance during operation of the motor 100.

[0085] See also Figure 20 As shown, the dimension of the core 3 along the axial direction is H, the distance between one end of the first core slot 301 of the core 3 along the axial direction close to the first core tooth 302 and one end of the last core slot 301 close to the last core tooth 302 is h1, the distance from one end to the other end of the first core tooth 302 along the axial direction is h2, and the distance from one end to the other end of the last core tooth 302 along the axial direction is h3, H=h1+h2+h3.

[0086] In this way, by changing the dimensions between the two ends of the first core tooth 302 and / or the last core tooth 302 in the axial direction, the overall axial length of the core 3 can be made to be (k+ / -0.5) times the pole pitch, thereby allowing the end forces at both ends of the core 3 to offset each other.

[0087] The suspension according to the second embodiment of the present invention includes a motor 100 .

[0088] A vehicle according to a third embodiment of the present invention includes a suspension.

[0089] 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 to 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, 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 should not be understood as limiting the present invention.

[0090] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "example," "specific example," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0091] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. A motor comprising a first component, characterized in that: The first component includes: The casing has an n-hedron cylindrical structure, where n is a natural number greater than 2; A plurality of permanent magnets are arranged in each side of the housing and the plurality of permanent magnets on each side form a Halbach permanent magnet array along the axial direction of the housing. The first ends of the permanent magnets on adjacent sides are staggered in the axial direction.

2. The motor according to claim 1, characterized in that The first ends of the permanent magnets on each first side to the i-th side of the casing are staggered in sequence along the axial direction to form a skewed pole group, and the motor includes n / i skewed pole groups, wherein n satisfies: n=ik, k is a positive integer, and i is any factor of n except 1.

3. The motor according to claim 2, characterized in that The first ends of the permanent magnets on each first surface and second surface of the housing are staggered along the axial direction to form a skewed pole group, and the motor includes n / 2 skewed pole groups.

4. The motor according to claim 3, characterized in that The oblique pole distance between the two adjacent permanent magnets in each oblique pole group is L1, the width dimension of the permanent magnet along the axial direction is W1, and the oblique pole distance L1 and the width dimension W1 satisfy the relationship: 20%W1≥L1>0.

5. The motor according to claim 4, characterized in that The slant pole distances of the plurality of slant pole groups are all the same.

6. The motor according to claim 2, characterized in that The first ends of the permanent magnets on each first to third sides of the housing are staggered in sequence along the axial direction to form a skewed pole group, and the motor includes n / 3 skewed pole groups.

7. The motor according to claim 6, characterized in that The oblique pole distance between adjacent surfaces of the permanent magnets in each oblique pole group is L2, the width dimension of the permanent magnet along the axial direction is W2, and the oblique pole distance L2 and the width dimension W2 satisfy the relationship: 25%W2≥L2>0.

8. The motor according to claim 7, characterized in that The slant pole distances of the plurality of slant pole groups are all the same.

9. The motor according to claim 1, characterized in that Also includes: A second component is disposed inside the housing and moves relative to the first component in the axial direction. The second component includes: An iron core, wherein the outer peripheral surface of the iron core is provided with a plurality of iron core teeth arranged at intervals along the axial direction, and iron core slots are formed between adjacent iron core teeth; A plurality of coils are disposed in the plurality of core slots to form an armature winding.

10. The motor according to claim 9, characterized in that The dimension of the iron core along the axial direction is H, and H satisfies the relationship: H=(k+ / -0.5)×pole pitch, where k is a positive integer.

11. A suspension, characterized in that: The motor comprises the motor according to any one of claims 1 to 10.

12. A vehicle, characterized in that: Comprising the suspension according to claim 11.

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