Rotor claw pole shaft radial hybrid excitation torque motor

Abstract

The invention belongs to the technical field of motors, and discloses a rotor claw pole shaft radial hybrid excitation torque motor which comprises a radial magnetic field armature stator and a shaft radial magnetic field rotor. And a radial air gap is formed between the radial magnetic field armature stator and the radial magnetic field rotor. Wherein the axial-radial magnetic field rotor comprises two claw pole type rotor iron cores, a plurality of radial magnetic flux permanent magnets and axial magnetic flux permanent magnets. The two claw-pole type rotor iron cores are arranged in opposite directions, so that the claw-pole type rotor tooth parts are staggered with each other. The radial magnetic flux permanent magnets are sequentially inserted between the claw pole type rotor tooth parts, the magnetizing directions of the radial magnetic flux permanent magnets repel each other, and the axial magnetic flux permanent magnets are arranged between the two claw pole type rotor yoke parts. Through the action of the tangential permanent magnets and the axial permanent magnets on the claw pole rotor, cross coupling of magnetic circuits is realized, the air gap flux density is enhanced, the torque density and efficiency are improved, and the integration level and the space utilization rate of the motor are improved.

Description

Technical Field

[0001] This invention belongs to the field of motor technology and relates to a rotor claw pole axis radial hybrid excitation torque motor. Background Technology

[0002] Currently, electric vehicles, as the mainstream form of new energy vehicles, are facing increasingly stringent performance requirements for their core technology—the drive system. In particular, in recent years, permanent magnet synchronous torque motors, as a core component of electric vehicle drive systems, have faced multiple design challenges: how to improve power and torque density within limited space, ensure reliability, and save space. These issues have become the core research directions for torque motors.

[0003] Existing permanent magnet torque motors, such as radially excited permanent magnet synchronous motors, generate permanent magnet torque by embedding or labeling radially magnetized permanent magnets onto the rotor and passing a sinusoidal current through the radial stator armature windings. (See "W. Zhang, Z. Yu, X. Chen and Q. Huang, 'The Magneto-Thermal Analysis of a High Torque Density Joint Motor for Humanoid Robots,' 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), Beijing, China, 2018, pp."). Article 112-117 mentions a high torque density joint motor for robots, in which radially magnetized permanent magnets are attached to the rotor; or, as in axially excited permanent magnet synchronous motors, axially magnetized permanent magnets are placed on the rotor and torque is generated by axial stator armature windings. For example, patent CN120498182A proposes a high torque density axial permanent magnet servo motor, in which axially magnetized permanent magnets are attached to the right and left rotors to increase the motor's torque density. These conventional permanent magnet servo motors can provide higher torque density than reluctance motors, and are therefore commonly used as joint torque motors for robots.

[0004] However, current rotor permanent magnet torque motor technology still has the following drawbacks: the rotor structure is not reused, the rotor core magnetic circuit is simple, resulting in low torque density and wasted core material; radially excited torque motors are generally small in size, but the arrangement of permanent magnets in the rotor is simple, the magnetic flux density in the rotor is small, resulting in low average air gap magnetic flux density and low permanent magnet torque; although axially excited torque motors are easier to improve torque density, they require a larger motor size, and the motor integration and space utilization need to be further improved.

[0005] In summary, although existing rotor permanent magnet torque motors have an advantage in improving torque density, due to the special application scenarios of joint motors, their torque density improvement is not significant, and their overall performance still has significant shortcomings. Summary of the Invention

[0006] The purpose of this invention is to solve the above-mentioned problems of existing rotor permanent magnet torque motors, and to provide a rotor claw pole axis radial hybrid excitation torque motor. In this motor, the innovative arrangement of claw pole rotor core, tangential magnetized permanent magnet and axial magnetized permanent magnet achieves a high magnetic flux density radial magnetic flux air gap, obtains a greater torque density, and improves the motor integration and space and material utilization.

[0007] The technical solution of this invention:

[0008] A rotor claw pole axis radial hybrid excitation torque motor includes a radial magnetic field rotor 1 and a radial magnetic field armature stator 2; the radial magnetic field armature stator 2 is sleeved outside the radial magnetic field rotor 1, and there is a radial air gap between the two.

[0009] The radial magnetic field armature stator 2 includes a radial magnetic field armature stator core 21 and a radial magnetic field armature winding 22; the radial magnetic field armature stator core 21 includes a radial magnetic field armature stator tooth portion 211 and a radial magnetic field armature stator yoke portion 212, the radial magnetic field armature stator tooth portion 211 is evenly distributed along the circumference on the inner side of the radial magnetic field armature stator yoke portion 212; the radial magnetic field armature winding 22 is wound around the tooth root of the radial magnetic field armature stator tooth portion 211;

[0010] The axial-radial magnetic field rotor 1 includes two claw-pole rotor cores 11, a tangential flux permanent magnet 12, and an axial flux permanent magnet 13. The axial length of the axial-radial magnetic field rotor 1 is the same as that of the radial magnetic field armature stator core 21. The claw-pole rotor core 11 includes claw-pole rotor teeth 111 and claw-pole rotor yoke 112. The claw-pole rotor teeth 111 are evenly distributed around the outside of the claw-pole rotor yoke 112. The two claw-pole rotor cores 11 are oriented in opposite directions. The two claw-pole rotor cores 11 are aligned so that their respective claw-pole rotor teeth 111 are arranged in an alternating pattern. A tangential flux permanent magnet 12 is located between the alternating claw-pole rotor teeth 111, and the axial length of the tangential flux permanent magnet 12 is the same as the axial length of the claw-pole rotor teeth 111. The magnetization direction of the tangential flux permanent magnet 12 is either tangential counterclockwise or tangential clockwise, and the magnetization directions of adjacent tangential flux permanent magnets 12 are opposite. The N poles of all tangential flux permanent magnets 12 are close to all the claw-pole rotor teeth 111 of one of the claw-pole rotor cores 11, which has the N pole polarity. Magnetic flux flows from the claw-pole rotor core 11 out of the radial magnetic field armature stator core 21. The other claw-pole rotor core 11 has the S pole polarity, and magnetic flux flows from the radial magnetic field armature stator core 21 into the claw-pole rotor core 11. Axial flux permanent magnets 13 are disposed on both claw-pole rotor cores 12. The rotor yoke 112 is axially magnetized, with the N pole close to the claw-type rotor core 11 which has the N polarity. The number of claw-type rotor teeth 111 is 19n, and the number of tangential flux permanent magnets 12 is 38n. The sum of twice the axial thickness of the claw-type rotor yoke 112 and the axial thickness of the axial flux permanent magnets 13 is equal to the axial thickness of the claw-type rotor teeth 111. The radial length of the tangential flux permanent magnets 12 is less than the radial length of the claw-type rotor teeth 111.

[0011] Furthermore, the material of the radial magnetic field armature stator core 21 is a high-saturation flux silicon steel sheet.

[0012] Furthermore, the claw-pole rotor core 11 is made of wire-cut high-saturation flux silicon steel.

[0013] Furthermore, the tangential flux permanent magnet 12 and the axial flux permanent magnet 13 are made of high-temperature sintered neodymium iron boron, and both are connected to the claw pole rotor core 11 by high-temperature resistant magnetic steel glue.

[0014] The beneficial effects of this invention are:

[0015] 1. In the rotor claw pole axis radial hybrid excitation torque motor proposed in this invention, the stator adopts a radial magnetic field structure, and the motor as a whole is a frameless motor structure. Except for the motor shaft, bearings and necessary fixation, no additional motor housing is set. Only epoxy resin is used to fix the stator end windings, which improves the motor integration and space utilization, reduces the material cost of the motor, and makes it easy to improve the torque density of the motor.

[0016] 2. This invention employs two claw-pole rotor cores, with tangentially magnetized permanent magnets and axially magnetized permanent magnets arranged at specific positions, achieving cross-coupling of the magnetic circuit. This transforms the direction of magnetic flux transmitted from the rotor to the stator into a tangential direction, allowing it to be utilized by the radial magnetic field of the stator armature. This method utilizes two different types of magnets to enhance the air gap magnetic flux density, generating almost no leakage flux and producing greater permanent magnet torque, while occupying almost the same volume and magnet material, thereby increasing torque density.

[0017] 3. In this invention, the tangentially magnetized permanent magnet and the axially magnetized permanent magnet are connected and fixed to the claw pole rotor core by heat-resistant magnetic steel glue, instead of the traditional magnetic steel sleeve or carbon fiber wrapping. This method takes into account the low speed and high burst torque of the motor, and can further reduce the air gap length and increase the air gap magnetic density while ensuring the integrity of the structure, thereby generating greater torque and improving efficiency. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structural assembly of the rotor claw pole axis radial hybrid excitation torque motor of the present invention;

[0019] Figure 2 This is an exploded view of the rotor claw pole shaft radial hybrid excitation torque motor of the present invention; wherein, (a) is a schematic diagram of the shaft radial magnetic field rotor, and (b) is a schematic diagram of the radial magnetic field armature stator;

[0020] Figure 3 This is an exploded view of the axial radial magnetic field rotor structure in this invention; wherein, (a) is a schematic diagram of the claw-pole rotor core, (b) is a schematic diagram of the tangential flux permanent magnet, (c) is a schematic diagram of the axial flux permanent magnet, and (d) is a schematic diagram of the claw-pole rotor core from another perspective.

[0021] Figure 4 This is an exploded view of the radial magnetic field armature stator structure in this invention; wherein, (a) is a schematic diagram of the radial magnetic field armature winding, and (b) is a schematic diagram of the radial magnetic field armature stator core;

[0022] Figure 5 This is a schematic diagram of the permanent magnet flux path generated by the tangential flux permanent magnet in the radial magnetic field rotor of the present invention.

[0023] Figure 6 This is a schematic diagram of the permanent magnet flux path generated by the axial flux permanent magnet in the radial magnetic field rotor of the present invention.

[0024] In the figure: 1-Radial magnetic field rotor, 11-Claw pole rotor core, 111-Claw pole rotor teeth, 112-Claw pole rotor yoke, 12-Tangential flux permanent magnet, 13-Axial flux permanent magnet; 2-Radial magnetic field armature stator, 21-Radial magnetic field armature stator core, 22-Radial magnetic field armature winding, 211-Radial magnetic field armature stator teeth, 212-Radial magnetic field armature stator yoke. Detailed Implementation

[0025] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings and technical solutions.

[0026] This invention provides a rotor claw pole axis radial hybrid excitation torque motor, which can maximize the air gap magnetic flux density, improve torque density and efficiency, and improve motor integration and space utilization.

[0027] First, the overall reference Figure 2 The 36-slot, 38-pole rotor claw pole shaft radial hybrid excitation torque motor provided by the present invention includes a radial magnetic field armature stator 2 and a shaft radial magnetic field rotor 1; the radial magnetic field armature stator 2 is sleeved outside the shaft radial magnetic field rotor 1, and there is a radial air gap between the two.

[0028] Combination Figure 4 The radial magnetic field armature stator 2 includes a radial magnetic field armature stator core 21 and a radial magnetic field armature winding 22; the radial magnetic field armature stator core 21 includes a radial magnetic field armature stator tooth portion 211 and a radial magnetic field armature stator yoke portion 212, the radial magnetic field armature stator tooth portion 211 is evenly distributed along the circumference inside the radial magnetic field armature stator yoke portion 212; the radial magnetic field armature winding 22 is wound around the tooth root of the radial magnetic field armature stator tooth portion 211;

[0029] Combination Figure 3The axial-radial magnetic field rotor 1 includes two claw-pole rotor cores 11, a tangential flux permanent magnet 12, and an axial flux permanent magnet 13. The axial length of the axial-radial magnetic field rotor 1 is the same as that of the radial magnetic field armature stator core 21. The claw-pole rotor core 11 includes claw-pole rotor teeth 111 and claw-pole rotor yoke 112. The claw-pole rotor teeth 111 are evenly distributed around the outside of the claw-pole rotor yoke 112. The two claw-pole rotor cores 11 are oriented in opposite directions. The two claw-pole rotor cores 11 are combined such that the claw-pole rotor teeth 111 on each core are arranged in an alternating pattern. A tangential flux permanent magnet 12 is located between the alternating claw-pole rotor teeth 111, and the axial length of the tangential flux permanent magnet 12 is the same as the axial length of the claw-pole rotor teeth 111. The magnetization directions of the tangential flux permanent magnet 12 are either counterclockwise or clockwise, and the magnetization directions of adjacent tangential flux permanent magnets 12 are opposite. At this time, the N poles of all tangential flux permanent magnets 12 are close to all the claw-pole rotor teeth 111 of one of the claw-pole rotor cores 11, which has the N pole polarity. Magnetic flux flows from the claw-pole rotor core 11 out of the radial magnetic field armature stator core 21. The other claw-pole rotor core 11 has the S pole polarity, and magnetic flux flows from the radial magnetic field armature stator core 21 into the claw-pole rotor core 11. Axial flux permanent magnets 13 are disposed on both claw-pole rotor cores 12. The rotor yoke 112 is axially magnetized, with the N pole close to the claw-type rotor core 11 which has the N polarity. The number of claw-type rotor teeth 111 is 19n, and the number of tangential flux permanent magnets 12 is 38n. The sum of twice the axial thickness of the claw-type rotor yoke 112 and the axial thickness of the axial flux permanent magnets 13 is equal to the axial thickness of the claw-type rotor teeth 111. The radial length of the tangential flux permanent magnets 12 is less than the radial length of the claw-type rotor teeth 111.

[0030] The radial magnetic field armature stator core 21 is made of high-saturation flux silicon steel sheets, with the stacking direction being axial; the claw pole rotor core 11 is made of wire-cut high-saturation flux silicon steel; the tangential flux permanent magnet 12 and the axial flux permanent magnet 13 are made of high-temperature sintered neodymium iron boron, and the two are connected to the claw pole rotor core 11 by high-temperature resistant magnetic steel adhesive.

[0031] The working principle of the rotor claw pole axial radial hybrid excitation torque motor with enhanced air gap magnetic flux density proposed in this invention will now be described. Since the magnetic circuits of the two claw pole rotor cores 11, which are respectively N-pole and S-pole, are symmetrical, only their magnetic flux directions are opposite, the following will explain... Figure 5 and Figure 6 The working principle of the motor is described using only the magnetic circuit formed by the claw-type rotor core 11 with N poles and the radial magnetic field armature stator core 21.

[0032] like Figure 5As shown, the left side represents a portion of the radial magnetic field armature stator core 21, and the dark rectangle on the right represents the tangential flux permanent magnet 12, where N indicates the counterclockwise magnetization direction and S indicates the clockwise magnetization direction. The tangential flux permanent magnet 12 includes A-pole claw-type rotor teeth 111 and B-pole claw-type rotor teeth 111 (where the A-pole claw-type rotor teeth 111 belong to the N-pole claw-type rotor core 11, and the magnetic flux direction is fixed as radially outward from the claw-type rotor teeth 111 through the motor air gap into the radial magnetic field armature stator teeth 211; the B-pole claw-type rotor teeth 111 belong to the S-pole claw-type rotor core 11, and the magnetic flux direction is fixed as radially inward from the radial magnetic field armature stator teeth 211 through the motor air gap into the claw-type rotor teeth 111). At this time, the magnetic flux path of this phase of the rotor claw-pole axis radial mixed excitation torque motor is the tangential flux permanent magnet 12- A-pole claw rotor teeth 111 - air gap - radial magnetic field armature stator core 21 - air gap - B-pole claw rotor teeth 111;

[0033] like Figure 6 As shown, the left side represents a portion of the radial magnetic field armature stator core 21, and the dark rectangle on the right represents the axial flux permanent magnet 13, where N indicates the axial magnetization direction pointing towards the A-pole claw rotor core 11; the white trapezoid and white rectangle on the right represent the A-pole claw rotor teeth 111 and the A-pole claw rotor yoke 112, respectively. At this time, the magnetic flux path of this phase of the rotor claw pole axis-radial hybrid excitation torque motor is: axial flux permanent magnet 13 - A-pole claw rotor yoke 112 - A-pole claw rotor teeth 111 - air gap - radial magnetic field armature stator core 21 - air gap - B-pole claw rotor teeth 111 - claw rotor yoke 112 (the magnetic flux path from the radial magnetic field armature stator core 21 to the B-pole claw rotor core 11). Figure 6 The air gap of the motor is not shown in the diagram, and for ease of display, it has been enlarged; the actual air gap length is 0.5mm.

[0034] Therefore, as described above, in this invention, the axial and radial magnetic flux paths are used together for the rotor. This structure guides the axial and radial magnetic circuits together, significantly enhancing the air gap magnetic flux density of the motor. The structure of this invention ensures that the mass of electromagnetic materials consumed by the motor (stator and rotor cores, permanent magnets, windings) remains almost constant, but the output electromagnetic torque increases with the increase of air gap magnetic flux density, thereby improving torque density.

[0035] Finally, it should be noted that the features mentioned and / or shown in the above description of exemplary embodiments of the present invention can be combined in the same or similar manner with one or more other embodiments, combined with features in other embodiments, or substituted for corresponding features in other embodiments. These combined or substituted technical solutions should also be considered to be included within the scope of protection of the present invention.

Claims

1. A rotor claw pole shaft radial hybrid excitation torque motor, characterized in that, The rotor claw pole shaft radial hybrid excitation torque motor includes a radial magnetic field rotor (1) and a radial magnetic field armature stator (2); the radial magnetic field armature stator (2) is sleeved outside the radial magnetic field rotor (1), and there is a radial air gap between the two; The radial magnetic field armature stator (2) includes a radial magnetic field armature stator core (21) and a radial magnetic field armature winding (22); the radial magnetic field armature stator core (21) includes a radial magnetic field armature stator tooth (211) and a radial magnetic field armature stator yoke (212), the radial magnetic field armature stator tooth (211) is evenly distributed along the circumference on the inner side of the radial magnetic field armature stator yoke (212); the radial magnetic field armature winding (22) is wound around the tooth root of the radial magnetic field armature stator tooth (211); The axial-radial magnetic field rotor (1) includes two claw-pole rotor cores (11), a tangential flux permanent magnet (12), and an axial flux permanent magnet (13). The axial length of the axial-radial magnetic field rotor (1) is the same as that of the radial magnetic field armature stator core (21). The claw-pole rotor core (11) includes claw-pole rotor teeth (111) and claw-pole rotor yoke (112). The claw-pole rotor teeth (111) are evenly distributed around the outside of the claw-pole rotor yoke (112). The two claw-pole rotor cores (11) are arranged in opposite directions, so that the claw-pole rotor teeth (111) on the two claw-pole rotor cores (11) are staggered. The tangential flux permanent magnet (12) is located between the staggered claw-pole rotor teeth (111), and the axial length of the tangential flux permanent magnet (12) is the same as that of the claw-pole rotor teeth (111). The axial lengths are the same; the magnetization directions of the tangential flux permanent magnets (12) are divided into tangential counterclockwise and tangential clockwise directions, and the magnetization directions of two adjacent tangential flux permanent magnets (12) are opposite; at this time, the N poles of all tangential flux permanent magnets (12) are close to all the claw-type rotor teeth (111) of one of the claw-type rotor cores (11), the polarity of the claw-type rotor core (11) is N pole, and the magnetic flux flows out of the radial magnetic field armature stator core (21) from the claw-type rotor core (11); the polarity of the other claw-type rotor core (11) is S pole, and the magnetic flux flows into the claw-type rotor core (11) from the radial magnetic field armature stator core (21); the axial flux permanent magnet (13) is set between the two claw-type rotor yokes (112) and axially magnetized, with the N pole close to the claw-type rotor core (11) with the N pole polarity.

2. The rotor claw pole shaft radial hybrid excitation torque motor according to claim 1, characterized in that, The number of claw-pole rotor teeth (111) is 19n, the number of tangential flux permanent magnets (12) is 38n, the sum of twice the axial thickness of the claw-pole rotor yoke (112) and the axial thickness of the axial flux permanent magnet (13) is equal to the axial thickness of the claw-pole rotor teeth (111), and the radial length of the tangential flux permanent magnet (12) is less than the radial length of the claw-pole rotor teeth (111).

3. The rotor claw pole shaft radial hybrid excitation torque motor according to claim 1, characterized in that, The radial magnetic field armature stator core (21) is made of high-saturation flux silicon steel sheet.

4. The rotor claw pole shaft radial hybrid excitation torque motor according to claim 1, characterized in that, The claw-pole rotor core (11) is made of wire-cut high-saturation flux silicon steel.

5. The rotor claw pole shaft radial hybrid excitation torque motor according to claim 1, characterized in that, The tangential flux permanent magnet (12) and the axial flux permanent magnet (13) are made of high-temperature sintered neodymium iron boron, and the two are connected to the claw pole rotor core (11) by high-temperature resistant magnetic steel glue.

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