Eccentric magnetic force self-counteracting type symmetrical double-eccentric cycloid magnetic gear and automobile hub motor

Abstract

The invention provides an eccentric magnetic force self-counteracting type symmetrical double-eccentric cycloid magnetic gear and an automobile hub motor. The cycloid magnetic gear comprises a high-speed rotor, a middle rotor, a T-shaped adjustable magnetic ring stator and a low-speed rotor. The high-speed rotor, the T-shaped adjustable magnetic ring stator, the middle rotor and the low-speed rotor are nested in sequence to form an axially modulated coaxial magnetic gear structure; the axis of the high-speed rotor is leftwards eccentric relative to the axis of the middle rotor, the axis of the low-speed rotor is rightwards eccentric relative to the axis of the middle rotor, a symmetrical double-eccentric structure is formed, the permanent magnets on the high-speed rotor and the permanent magnets on the middle rotor are magnetized in a Halbach arrangement mode, and the permanent magnets on the low-speed rotor are magnetized in a radial direction; the T-shaped magnetic field adjusting ring stator has double modulation performance and can modulate a radial magnetic field and an axial magnetic field. The problems that in the prior art, under the low-speed and large-torque working condition, transmission efficiency is insufficient, and load distribution is uneven can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of new energy vehicles, and in particular to an eccentric magnetic self-offsetting symmetrical double-eccentric cycloid magnetic gear and an automobile hub motor. Background Art

[0002] With the increasing global emphasis on energy efficiency and environmental protection, new energy vehicles have become a key area of ​​research and application. In the electric drive systems of new energy vehicles, in-wheel motors (IWMs) have attracted significant attention due to their high integration, compact footprint, and high efficiency. With their superior efficiency, high torque output, and compact design, IWMs have become a key powertrain option in new energy vehicles. However, IWMs are typically installed inside the wheel, creating a confined space. Therefore, achieving higher torque density and enhancing low-speed, high-torque capabilities within this limited space presents a significant challenge in IWM design.

[0003] Magnetic gears utilize magnetic field modulation technology to effectively achieve bidirectional modulation of low-speed and high-speed magnetic fields, thereby improving the efficiency of electromechanical energy conversion through harmonic magnetic field coupling. Because the inner and outer rotors in magnetic gears transmit power through modulated magnetic fields without contact during transmission, they offer significant advantages over traditional mechanical gears, including zero friction, zero vibration, no lubrication, low noise, and a compact structure. This makes magnetic gears promising for application in the field of in-wheel motors for new energy vehicles.

[0004] Existing magnetic gears still suffer from poor magnetic field modulation, bulky devices, low torque density, and small transmission ratios. Eccentric magnetic gears, with their simplified modulation mechanism and excellent transmission penetration, are a key approach to breaking through the bottlenecks of traditional magnetic gear technology. However, traditional eccentric magnetic gears still suffer from insufficient transmission efficiency under low-speed, high-torque conditions and uneven load distribution. Summary of the Invention

[0005] The purpose of the present invention is to provide an eccentric magnetic self-compensating symmetrical double-eccentric cycloid magnetic gear and an automobile hub motor to solve the problems of insufficient transmission efficiency and uneven load distribution under low-speed and high-torque working conditions in the prior art.

[0006] One aspect of the present invention provides an eccentric magnetic self-offsetting symmetrical double-eccentric cycloid magnetic gear, comprising a high-speed rotor, an intermediate rotor, a T-shaped magnetic ring stator, and a low-speed rotor; The high-speed rotor, T-type magnetic ring stator, intermediate rotor and low-speed rotor are nested in sequence to form an axially modulated coaxial magnetic gear structure; The axis of the high-speed rotor is eccentric to the left relative to the axis of the intermediate rotor, and the axis of the low-speed rotor is eccentric to the right relative to the axis of the intermediate rotor, forming a symmetrical double-eccentric structure. The eccentricity of the axis of the high-speed rotor relative to the axis of the intermediate rotor is The eccentricity of the low-speed rotor axis relative to the intermediate rotor axis is , and satisfy: ; The permanent magnets on the high-speed rotor and the intermediate rotor are magnetized using the Halbach arrangement method, while the permanent magnets on the low-speed rotor are magnetized radially. The T-type magnetic ring stator has dual modulation performance, which can modulate both radial magnetic field and axial magnetic field; A first axial air gap is provided between the high-speed rotor and the intermediate rotor, a first radial air gap is provided between the intermediate rotor and the T-shaped magnetic tuning ring stator, a second radial air gap is provided between the high-speed rotor and the T-shaped magnetic tuning ring stator, and a second axial air gap is provided between the intermediate rotor and the low-speed rotor; The magnetic field between the intermediate rotor and the high-speed rotor is modulated by the T-type magnetic ring stator, forming a high-order harmonic dual-channel flux modulation coupling, and the intermediate rotor and the low-speed rotor are directly modulated through the second axial air gap; The transmission mode of the magnetic gear is: taking the low-speed rotor as the input end, transmitting through the intermediate rotor, and driving the high-speed rotor to output; or taking the intermediate rotor as the input end, driving the high-speed rotor and the low-speed rotor to output at the same time; or taking the high-speed rotor as the input end, transmitting through the intermediate rotor, and driving the low-speed rotor to output.

[0007] Another aspect of the present invention provides an automotive hub motor, which includes the cycloid magnetic gear.

[0008] The eccentric magnetic force self-offsetting symmetrical double-eccentric cycloid magnetic gear and automobile hub motor provided by the present invention have the following beneficial effects: (1) The cycloid magnetic gear of the present invention realizes a three-rotor structure by using a high-speed rotor, an intermediate rotor, and a low-speed rotor. The low-speed rotor is used as the input rotor to drive the intermediate rotor and the low-speed rotor to rotate, achieving the effect of low speed and high torque, and having a large transmission ratio and stability; (2) Compared with the traditional single-eccentric cycloidal magnetic gear, the cycloidal magnetic gear of the present invention adopts a symmetrical double-eccentric arrangement. When the rotor moves, the eccentric component of the magnetic pull on the rotor is mostly offset, effectively avoiding the problems of load concentration caused by eccentric asymmetry in the traditional structure, the total load borne by the swing arm bearing is too large, resulting in a reduced life, etc., and significantly improving the stability of torque transmission and the load uniformity of the overall system.

[0009] (3) The cycloid magnetic gear of the present invention causes the relative area of ​​the air gap between the intermediate rotor and the low-speed rotor to change by the revolution and rotation of the eccentric low-speed rotor, thereby realizing eccentric disturbance modulation. This design can generate multiple high-frequency harmonics in the magnetic field, which can not only realize axial and radial bidirectional magnetic field modulation, but also effectively suppress magnetic saturation, improve the effect of magnetic flux modulation, make the eccentric disturbance air gap periodically modulated, improve the modulation effect, and realize the improvement of transmission efficiency under low-speed and high-torque working conditions; (4) The high-speed rotor and the intermediate rotor are magnetized using the Halbach arrangement, while the low-speed rotor is magnetized radially. The Halbach arrangement focuses the magnetic flux on the air gap side and reduces the back leakage flux. The radial magnetization is conducive to manufacturing and demagnetization margin. This design can increase the effective magnetic flux density of the air gap, reduce the loss and torque pulsation, and thus improve the torque density and transmission efficiency of the magnetic gear. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 Schematic diagram of the overall structure of the eccentric magnetic self-cancelling symmetrical double-eccentric cycloid magnetic gear in an embodiment of the present invention; Figure 2 Schematic diagram of the side structure of the eccentric magnetic self-cancelling symmetrical double-eccentric cycloid magnetic gear in an embodiment of the present invention; Figure 3 1. An exploded view of an eccentric magnetic self-cancelling symmetrical double-eccentric cycloid magnetic gear in an embodiment of the present invention; Figure 4 A three-dimensional cross-sectional view of an eccentric magnetic self-cancelling symmetrical double-eccentric cycloid magnetic gear in an embodiment of the present invention; Figure 5 It is a structural diagram of the T-type magnetic ring stator; Figure 6 Schematic diagram of the front structure of the eccentric magnetic self-cancelling symmetrical double-eccentric cycloid magnetic gear in an embodiment of the present invention; Figure 7 Schematic diagram of the back structure of the eccentric magnetic self-cancelling symmetrical double-eccentric cycloid magnetic gear in an embodiment of the present invention; Figure 8 It is a structural diagram of the high-speed rotor; Figure 9 It is the structural diagram of the intermediate rotor; Figure 10 A comparison diagram of the magnetic field intensity in the air gap between the cycloid magnetic gear of the present invention and the traditional cycloid magnetic gear; Figure 11 This is a comparison diagram of the spatial harmonic spectrum of the magnetic induction intensity in the air gap of the cycloid magnetic gear of the present invention and the traditional cycloid magnetic gear. DETAILED DESCRIPTION

[0011] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0012] See also Figures 1 to 9 The eccentric magnetic self-offsetting symmetrical double-eccentric cycloid magnetic gear provided in an embodiment of the present invention includes a high-speed rotor 1, an intermediate rotor 2, a T-type magnetic regulating ring stator 3, and a low-speed rotor 4.

[0013] The high-speed rotor 1, the T-type magnetic-tuning ring stator 3, the intermediate rotor 2 and the low-speed rotor 4 are nested in sequence to form an axially modulated coaxial magnetic gear structure.

[0014] The axis of the high-speed rotor 1 is eccentric to the left relative to the axis of the intermediate rotor 2, and the axis of the low-speed rotor 4 is eccentric to the right relative to the axis of the intermediate rotor 2, forming a symmetrical double-eccentric structure. The eccentricity of the axis of the high-speed rotor 1 relative to the axis of the intermediate rotor 2 is The eccentricity of the axis of the low-speed rotor 4 relative to the axis of the intermediate rotor 2 is , and satisfy: . Eccentricity and The settings can be optimized according to the target load and torque distribution. When the rotor moves, the eccentric component of the magnetic pull on the rotor is mostly offset, achieving a more uniform distribution, thereby significantly reducing the load concentration in the cycloid magnetic gear, reducing the total load on the arm bearing, and improving the stability of torque transmission.

[0015] Specifically in this embodiment, .

[0016] In addition, by introducing phase modulation in the symmetrical double-eccentric structure, the cancellation effect between the eccentric components of the magnetic pull at different frequencies can be achieved, thereby reducing the peak value of the main frequency load and achieving torque pulsation suppression.

[0017] The permanent magnets on the high-speed rotor 1 and the permanent magnets on the intermediate rotor 2 are magnetized using the Halbach arrangement method, and the permanent magnets on the low-speed rotor 4 are magnetized in a radial direction.

[0018] For details, please refer to Figure 8 , Figure 8 The arrows in the figure indicate the magnetization direction. The high-speed rotor 1 includes 16 high-speed rotor permanent magnets, which are magnetized using a 45° Halbach array, which effectively improves torque and torque ripple. In this embodiment, the high-speed rotor permanent magnets have four pole pairs.

[0019] The intermediate rotor 2 includes an outer concentrating core 11, a first outer permanent magnet 12 and a second outer permanent magnet 13. The volume of the second outer permanent magnet 13 is larger than that of the first outer permanent magnet 12. The first outer permanent magnet 12 is radially magnetized and is arranged on the inner ring of the intermediate rotor 2. The second outer permanent magnet 13 is tangentially magnetized and is arranged on the outer ring of the intermediate rotor 2. The intermediate rotor 2 adopts a non-full permanent magnet Halbach structure, which effectively reduces the leakage flux at the rotor end and increases the high-order harmonic components in the air gap, which is beneficial to increasing the transmission torque and improving the modulation efficiency.

[0020] In this embodiment, the intermediate rotor permanent magnets have 15 pole pairs, and the low-speed rotor permanent magnets have 16 pole pairs.

[0021] A first axial air gap 14 is provided between the high-speed rotor 1 and the intermediate rotor 2, a first radial air gap 15 is provided between the intermediate rotor 2 and the T-type magnetic tuning ring stator 3, a second radial air gap 16 is provided between the high-speed rotor 1 and the T-type magnetic tuning ring stator 3, and a second axial air gap 17 is provided between the intermediate rotor 2 and the low-speed rotor 4.

[0022] The magnetic field between the intermediate rotor 2 and the high-speed rotor 1 is modulated through the T-type magnetic ring stator 3 to form high-order harmonic dual-channel flux modulation coupling, and direct modulation is performed between the intermediate rotor 2 and the low-speed rotor 4 through the second axial air gap 17.

[0023] Since the axis of the low-speed rotor 4 is eccentric to the right relative to the axis of the intermediate rotor 2, the revolution and rotation of the eccentric low-speed rotor 4 cause the relative area of ​​the air gap between the intermediate rotor 2 and the low-speed rotor 4 to change, thereby realizing eccentric disturbance modulation.

[0024] In addition, the intermediate rotor 2 and the low-speed rotor 4 are directly modulated via the second axial air gap 17, which can achieve a large transmission ratio of the cycloid magnetic gear and further optimize the magnetic flux transmission efficiency and torque distribution.

[0025] The T-shaped magnetic ring stator 3 has dual modulation performance, which can modulate both the radial magnetic field and the axial magnetic field, effectively enhancing the high-order harmonic modulation effect of the magnetic field, reducing permanent magnet leakage and suppressing magnetic saturation effect.

[0026] In this embodiment, the T-shaped magnetic-adjusting ring stator 3 is composed of a plurality of magnetic-adjusting cores, and each magnetic-adjusting core is formed by stacking a plurality of silicon steel sheets.

[0027] Specifically, the magnetic tuning core includes a first radial magnetic tuning portion 18, an axial magnetic tuning portion 19 and a second radial magnetic tuning portion 20. The axial magnetic tuning portion 19 is located between the first radial magnetic tuning portion 18 and the second radial magnetic tuning portion 20. The axial magnetic tuning portion 19 is connected to the high-speed rotor 1 and the intermediate rotor 2, respectively, for realizing an axial modulation effect on the intermediate rotor 2 and the high-speed rotor 1. The first radial magnetic tuning portion 18 and the second radial magnetic tuning portion 20 are used to realize a radial modulation effect on the intermediate rotor 2 and the high-speed rotor 1, and at the same time can suppress rotor leakage.

[0028] In this embodiment, the interval between two adjacent magnetizing cores is 6.67°.

[0029] Furthermore, in this embodiment, the volume of the high-speed rotor 1 is identical to that of the low-speed rotor 4, achieving torque balance. The volume of the intermediate rotor 2 is slightly larger than that of the high-speed rotor 1. This design reduces magnetic flux leakage at the ends of the high-speed rotor 1 and the low-speed rotor 4 due to eccentricity.

[0030] In this embodiment, the magnetic gear satisfies the following formula: ; ; in, Adjust the number of magnetic cores on the T-type magnetic ring stator 3. is the number of pole pairs of the permanent magnets on the high-speed rotor 1, is the number of pole pairs of the permanent magnets on the intermediate rotor 2, is the number of pole pairs of the permanent magnets on the low-speed rotor 4.

[0031] Satisfy the conditions: , so that the high-speed rotor 1, the intermediate rotor 2 and the T-type magnetic-tuning ring stator 3 constitute an eccentric cycloid magnetic gear structure with axial + radial high-order harmonic modulation.

[0032] Satisfy the conditions: , so that the intermediate rotor 2 and the low-speed rotor 4 constitute an axially modulated eccentric magnetic gear structure.

[0033] In this embodiment, the magnetic gear also satisfies the following formula:

[0034]

[0035] in, is the transmission ratio between high-speed rotor 1 and intermediate rotor 2, is the transmission ratio between the intermediate rotor 2 and the low-speed rotor 4, is the speed of high-speed rotor 1, is the speed of the intermediate rotor 2, is the rotational speed of the low-speed rotor 4.

[0036] The magnetic gear has multiple working modes and can flexibly switch the input mode according to different load conditions. Specifically, the transmission mode of the magnetic gear is: using the low-speed rotor 4 as the input end, transmitting through the intermediate rotor 2, driving the high-speed rotor 1 to output; or using the intermediate rotor 2 as the input end, driving the high-speed rotor 1 and the low-speed rotor 4 to output at the same time; or using the high-speed rotor 1 as the input end, transmitting through the intermediate rotor 2, driving the low-speed rotor 4 to output.

[0037] The cycloid magnetic gear of the present invention is compared with the traditional cycloid magnetic gear. Figure 10 It can be seen that the magnetic field intensity in the air gap of the cycloid magnetic gear of the present invention is significantly higher than that of the traditional cycloid magnetic gear, and the magnetic field modulation effect of the cycloid magnetic gear of the present invention is significantly enhanced. Figure 11 It can be seen that compared with the traditional cycloid magnetic gear, the peak value of the effective harmonic component in the air gap of the magnetic gear of the present invention is significantly improved, and there is a high-order harmonic of 45 times, which is beneficial to improving the torque density of the magnetic gear.

[0038] An embodiment of the present invention further provides an automobile hub motor, which includes the cycloid magnetic gear described above.

[0039] In summary, the eccentric magnetic self-compensating symmetrical double-eccentric cycloid magnetic gear and automobile hub motor provided by the present invention have the following beneficial effects: (1) The cycloid magnetic gear of the present invention realizes a three-rotor structure by using a high-speed rotor, an intermediate rotor, and a low-speed rotor. The low-speed rotor is used as the input rotor to drive the intermediate rotor and the low-speed rotor to rotate, achieving the effect of low speed and high torque, and having a large transmission ratio and stability; (2) Compared with the traditional single-eccentric cycloidal magnetic gear, the cycloidal magnetic gear of the present invention adopts a symmetrical double-eccentric arrangement. When the rotor moves, the eccentric component of the magnetic pull on the rotor is mostly offset, effectively avoiding the problems of load concentration caused by eccentric asymmetry in the traditional structure, the total load borne by the swing arm bearing is too large, resulting in a reduced life, etc., and significantly improving the stability of torque transmission and the load uniformity of the overall system.

[0040] (3) The cycloid magnetic gear of the present invention causes the relative area of ​​the air gap between the intermediate rotor and the low-speed rotor to change by the revolution and rotation of the eccentric low-speed rotor, thereby realizing eccentric disturbance modulation. This design can generate multiple high-frequency harmonics in the magnetic field, which can not only realize axial and radial bidirectional magnetic field modulation, but also effectively suppress magnetic saturation, improve the effect of magnetic flux modulation, make the eccentric disturbance air gap periodically modulated, improve the modulation effect, and realize the improvement of transmission efficiency under low-speed and high-torque working conditions; (4) The high-speed rotor and the intermediate rotor are magnetized using the Halbach arrangement, while the low-speed rotor is magnetized radially. The Halbach arrangement focuses the magnetic flux on the air gap side and reduces the back leakage flux. The radial magnetization is conducive to manufacturing and demagnetization margin. This design can increase the effective magnetic flux density of the air gap, reduce the loss and torque pulsation, and thus improve the torque density and transmission efficiency of the magnetic gear.

[0041] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0042] 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. An eccentric magnetic self-cancelling symmetrical double-eccentric cycloid magnetic gear, characterized in that: Including high-speed rotor, intermediate rotor, T-type magnetic ring stator and low-speed rotor; The high-speed rotor, T-type magnetic ring stator, intermediate rotor and low-speed rotor are nested in sequence to form an axially modulated coaxial magnetic gear structure; The axis of the high-speed rotor is eccentric to the left relative to the axis of the intermediate rotor, and the axis of the low-speed rotor is eccentric to the right relative to the axis of the intermediate rotor, forming a symmetrical double-eccentric structure. The eccentricity of the axis of the high-speed rotor relative to the axis of the intermediate rotor is The eccentricity of the low-speed rotor axis relative to the intermediate rotor axis is , and satisfy: ; The permanent magnets on the high-speed rotor and the intermediate rotor are magnetized using the Halbach arrangement method, while the permanent magnets on the low-speed rotor are magnetized radially. The T-type magnetic ring stator has dual modulation performance, which can modulate both radial magnetic field and axial magnetic field; A first axial air gap is provided between the high-speed rotor and the intermediate rotor, a first radial air gap is provided between the intermediate rotor and the T-shaped magnetic tuning ring stator, a second radial air gap is provided between the high-speed rotor and the T-shaped magnetic tuning ring stator, and a second axial air gap is provided between the intermediate rotor and the low-speed rotor; The magnetic field between the intermediate rotor and the high-speed rotor is modulated by the T-type magnetic ring stator, forming a high-order harmonic dual-channel flux modulation coupling, and the intermediate rotor and the low-speed rotor are directly modulated through the second axial air gap; The transmission mode of the magnetic gear is: taking the low-speed rotor as the input end, transmitting through the intermediate rotor, and driving the high-speed rotor to output; or taking the intermediate rotor as the input end, driving the high-speed rotor and the low-speed rotor to output at the same time; or taking the high-speed rotor as the input end, transmitting through the intermediate rotor, and driving the low-speed rotor to output.

2. The eccentric magnetic force self-cancelling symmetrical double-eccentric cycloid magnetic gear according to claim 1, characterized in that: The T-type magnetic ring stator is composed of multiple magnetic cores, each of which is made of multiple silicon steel sheets stacked together.

3. The eccentric magnetic force self-cancelling symmetrical double-eccentric cycloid magnetic gear according to claim 2, characterized in that: The magnetic tuning core includes a first radial magnetic tuning part, an axial magnetic tuning part and a second radial magnetic tuning part. The axial magnetic tuning part is located between the first radial magnetic tuning part and the second radial magnetic tuning part. The axial magnetic tuning part is respectively connected to the high-speed rotor and the intermediate rotor to realize axial modulation of the intermediate rotor and the high-speed rotor. The first radial magnetic tuning part and the second radial magnetic tuning part are used to realize radial modulation of the intermediate rotor and the high-speed rotor.

4. The eccentric magnetic force self-cancelling symmetrical double-eccentric cycloid magnetic gear according to claim 2, characterized in that: The interval between two adjacent magnetic tuning cores is 6.67°.

5. The eccentric magnetic force self-cancelling symmetrical double-eccentric cycloid magnetic gear according to claim 2, characterized in that: The magnetic gear satisfies the following formula: ； ； in, Adjust the number of magnetic cores on the T-type magnetic ring stator. is the number of pole pairs of the permanent magnets on the high-speed rotor, is the number of pole pairs of the permanent magnets on the intermediate rotor, is the number of pole pairs of the permanent magnets on the low-speed rotor.

6. The eccentric magnetic force self-cancelling symmetrical double-eccentric cycloid magnetic gear according to claim 5, characterized in that: The magnetic gear satisfies the following formula: in, is the transmission ratio between the high-speed rotor and the intermediate rotor, is the transmission ratio between the intermediate rotor and the low-speed rotor, is the speed of the high-speed rotor, is the speed of the intermediate rotor, is the speed of the low-speed rotor.

7. The eccentric magnetic force self-cancelling symmetrical double-eccentric cycloid magnetic gear according to claim 1, characterized in that: The high-speed rotor includes 16 high-speed rotor permanent magnet blocks, which adopt a 45° Halbach array magnetization method.

8. The eccentric magnetic force self-cancelling symmetrical double-eccentric cycloid magnetic gear according to claim 1, characterized in that: The intermediate rotor includes an outer concentrating core, a first outer permanent magnet and a second outer permanent magnet. The volume of the second outer permanent magnet is larger than that of the first outer permanent magnet. The first outer permanent magnet is radially magnetized and is arranged on the inner ring of the intermediate rotor. The second outer permanent magnet is tangentially magnetized and is arranged on the outer ring of the intermediate rotor. The intermediate rotor adopts a non-full permanent magnet Halbach structure.

9. The eccentric magnetic force self-cancelling symmetrical double-eccentric cycloid magnetic gear according to claim 1, characterized in that: The high-speed rotor permanent magnets have 4 pole pairs, the intermediate rotor permanent magnets have 15 pole pairs, and the low-speed rotor permanent magnets have 16 pole pairs.

10. An automobile hub motor, characterized in that: It includes the eccentric magnetic self-offsetting symmetrical double-eccentric cycloid magnetic gear as described in any one of claims 1 to 9.

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