Motor and actuator

Abstract

The invention provides a motor, which comprises a rotor part, the rotor part comprises a plurality of rotor punching sheets and a plurality of magnetic steels, and the plurality of rotor punching sheets are laminated and arranged along the axial direction of the rotor part; the rotor punching sheets comprise clamping parts, the magnetic steel is clamped with the clamping parts, and the number of the clamping parts in each rotor punching sheet is smaller than the number of poles of the rotor part; and in the circumferential direction of the rotor part, the clamping parts of at least two adjacent rotor punching sheets are arranged in a staggered manner. The invention also provides an actuator, the actuator comprises a motor and a speed reducer, the motor is connected with the speed reducer, the motor comprises a rotor part, the rotor part comprises a plurality of rotor punching sheets and a plurality of magnetic steels, and the plurality of rotor punching sheets are stacked and arranged along the axial direction of the rotor part; the rotor punching sheet has the same structure. The clamping parts of the adjacent rotor punching sheets are arranged in a staggered manner, so that the number of the clamping parts distributed on the two sides of the magnetic steel can be reduced, the phenomenon of magnetic leakage is reduced, and the performance of the actuator is improved.

Description

Technical Field

[0001] This application relates to the field of actuators, and more particularly to the motor rotor of actuators. Background Technology

[0002] In related technologies, an electric motor includes a rotor, a stator, and a shaft. The stator and rotor work together to drive the shaft to rotate and output power. However, the leakage flux phenomenon in these motors is quite significant, which affects their performance. Summary of the Invention

[0003] During the research and development process, some design modifications were made to the rotor structure. The rotor consists of layers of stacked rotor laminations, each with a limiting structure. The magnets are located within these limiting structures, and the limiting structures in adjacent rotor laminations overlap and correspond to each other. These limiting structures can restrict the magnets in both the circumferential and radial directions. However, the researchers discovered that the limiting structures on both sides of the magnets in the circumferential direction exacerbated magnetic leakage.

[0004] This application provides a motor that reduces magnetic leakage.

[0005] This application provides an electric motor, including a rotor portion, the rotor portion including a plurality of rotor laminations and a plurality of magnets, the plurality of rotor laminations being stacked and arranged along the axial direction of the rotor portion;

[0006] The rotor lamination includes a snap-fit ​​portion that snaps into the magnet. The number of snap-fit ​​portions in each rotor lamination is less than the number of poles in the rotor portion. In the circumferential direction of the rotor portion, the snap-fit ​​portions of at least two adjacent rotor laminations are staggered.

[0007] In this application, the magnet is engaged with the snap-fit ​​part, and the number of snap-fit ​​parts is less than the number of poles in the rotor part. In the circumferential direction of the rotor part, the snap-fit ​​parts of adjacent rotor laminations are staggered. While the snap-fit ​​parts limit the magnet, the staggered arrangement of the snap-fit ​​parts of adjacent rotor laminations can reduce the number of snap-fit ​​parts distributed on both sides of the magnet, thereby reducing the phenomenon of magnetic leakage.

[0008] This application also provides an actuator, including a motor and a reducer, wherein the motor is connected to the reducer, the motor includes a rotor portion, the rotor portion includes a plurality of rotor laminations and a plurality of magnets, and the plurality of rotor laminations are stacked and arranged along the axial direction of the rotor portion;

[0009] The rotor lamination includes a snap-fit ​​portion, and the magnet snaps into the snap-fit ​​portion. The number of snap-fit ​​portions of each rotor lamination is less than the number of poles of the rotor portion. In the circumferential direction of the rotor portion, the snap-fit ​​portions of at least two adjacent rotor laminations are staggered.

[0010] Similarly, in this application, the staggered arrangement of the snap-fit ​​parts of adjacent rotor laminations can reduce the number of snap-fit ​​parts distributed on both sides of the magnet, thereby reducing magnetic leakage and improving the performance of the actuator. Attached Figure Description

[0011] Figure 1 This is a three-dimensional schematic diagram of the actuator in this application;

[0012] Figure 2 This is a cross-sectional view of the actuator in this application;

[0013] Figure 3 This is a three-dimensional schematic diagram of the connection between the rotor portion and the shaft portion in this application;

[0014] Figure 4 This is an exploded view of the rotor and shaft parts in this application;

[0015] Figure 5 for Figure 4 Enlarged view of circle A in the middle;

[0016] Figure 6 This is a top view of the rotor section structure in this application;

[0017] Figure 7 This is an exploded view of the rotor section structure in this application;

[0018] Figure 8 for Figure 7 Enlarged view of area B in the middle circle;

[0019] Figure 9 This is a three-dimensional schematic diagram of the rotor lamination structure in this application. Detailed Implementation

[0020] To better understand the technical solution of this application, the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0021] It should be understood that the described embodiments are merely some, not all, of the embodiments in this application. All other technical solutions obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0022] For ease of understanding, the features described in the related technologies will be given the same or similar names as the technical features in this application, so as to facilitate understanding of the difference between this application and related technologies. Similarly, to facilitate the distinction between the technical features of this application and the technical features of related technologies, the technical features in related technologies are not marked with reference numerals.

[0023] In related technologies, an electric motor includes a rotor, a stator, and a shaft. The stator and rotor work together to drive the shaft to rotate and output power. The rotor consists of layers of stacked rotor laminations and magnets. To fix and limit the magnets, each layer of rotor laminations has a limiting structure, and these limiting structures overlap and correspond. The magnets are located within the limiting structures, which limit the magnets in both the circumferential and radial directions. However, the leakage flux phenomenon in these motors is quite significant, which affects the motor's performance. The leakage flux phenomenon may be caused by uneven magnet distribution, unreasonable magnetic declination design, or defects such as protruding structures in the magnets. The design approach often focuses on the design of the magnets themselves.

[0024] During the continuous design and development process, the researchers discovered that the limiting structures on both sides of the magnet in the circumferential direction also affect the magnetic leakage phenomenon. Since both sides of the magnet are in contact with the limiting structure, magnetic leakage is more likely to occur at the contact points, which will affect the overall performance of the motor.

[0025] This application provides a motor, such as Figures 3 to 9 As shown, its specific structure includes a rotor section 10, which includes multiple rotor laminations 101 and multiple magnets 102. The multiple rotor laminations 101 are stacked and arranged along the axial direction of the rotor section 10. The rotor laminations 101 include a snap-fit ​​portion 1011, and the magnets 102 snap-fit ​​with the snap-fit ​​portion 1011. The number of snap-fit ​​portions 1011 in each rotor lamination 101 is less than the number of poles in the rotor section 10. In the circumferential direction of the rotor section 10, the snap-fit ​​portions 1011 of at least two adjacent rotor laminations 101 are staggered.

[0026] The snap-fit ​​part 1011 snaps and fixes the magnet 102. When the rotor laminations 101 are stacked in layers, the adjacent rotor laminations 101 are all offset by a certain angle in the circumferential direction, so that the snap-fit ​​parts 1011 of the adjacent rotor laminations 101 snap onto different magnets 102.

[0027] The number of magnets 102 corresponds to the number of poles in the rotor section 10, and the magnets 102 are evenly arranged along the circumferential direction. In one embodiment, the snap-fit ​​portion 1011 on one of the stacked rotor laminations 101 snaps into the first magnet 102. When adjacent rotor laminations 101 rotate a certain angle in the circumferential direction, the snap-fit ​​portion 1011 of the adjacent rotor laminations 101 also rotates a certain angle accordingly, so that the snap-fit ​​portion 1011 of the adjacent rotor laminations 101 can snap into the adjacent second magnet 102, or snap into the magnet 102 that is far away from the first magnet 102. Which one snaps into can be set according to the specific angle. For example, if the number of poles of the rotor section 10 is 12, the rotational misalignment angle of adjacent rotor laminations 101 can be set to 30 degrees, or the misalignment angle can be set to 60 degrees, etc. When the rotational misalignment angle is set to 30 degrees, the first layer of rotor laminations 101 and the second layer of rotor laminations 101 differ by 30 degrees in the circumferential direction. The snap-fit ​​parts 1011 of adjacent rotor laminations 101 also differ by 30 degrees accordingly. The snap-fit ​​part 1011 of the first layer of rotor laminations 101 snaps onto the first magnet 102, and the snap-fit ​​part 1011 of the second layer of rotor laminations 101 snaps onto the second magnet 102 adjacent to the first magnet 102. The rotor laminations 101 that continue to be stacked are like this. When the subsequent stacked rotor laminations 101 rotate 360 ​​degrees relative to the first layer of rotor laminations 101, the rotor laminations 101 overlap with the first layer of rotor laminations 101 in the axial direction. The snap-fit ​​portion 1011 of the rotor laminations 101 can snap the first magnet 102 together with the snap-fit ​​portion 1011 of the first layer of rotor laminations 101. Similarly, the snap-fit ​​portion 1011 of the next stacked rotor laminations 101 snaps the second magnet 102 together with the snap-fit ​​portion 1011 of the second layer of rotor laminations 101.

[0028] At this point, there are no extra engaging portions 1011 between the first layer of rotor laminations 101 and the magnet 102, so that most of the magnet 102 is exposed on both sides in the circumferential direction and does not contact the engaging portions 1011, thereby reducing magnetic leakage. Simultaneously, the magnet 102 can be effectively positioned. Furthermore, this method reduces the number of engaging portions 1011 on the rotor laminations 101, thus reducing the weight of a single rotor lamination 101 and consequently reducing the overall weight of the rotor section 10.

[0029] When the set misalignment angle is 60 degrees or greater, the snap-fit ​​portion 1011 of the first rotor lamination 101 and the snap-fit ​​portion 1011 of the second rotor lamination 101 can each snap-fit ​​two different magnets 102, although the two magnets 102 are far apart. However, the principle is the same as described above, and will not be repeated here.

[0030] In another embodiment, the rotor lamination 101 has two locking portions 1011, which are symmetrically arranged along the circumferential direction of the rotor portion 10; in the axial direction of the rotor portion 10, the locking portions 1011 of adjacent rotor laminations 101 partially overlap.

[0031] like Figures 7 to 9 As shown, the number of snap-fit ​​parts 1011 is set to two, which makes the spacing between the first layer of rotor lamination 101 and the layer of rotor lamination 101 that overlaps with it in the axial direction smaller than that of a single snap-fit ​​part 1011, thereby enabling better positioning of the magnet 102.

[0032] For example, if the misalignment angle of each layer of rotor laminations 101 is set to 30 degrees, for a rotor lamination 101 with a single snap-fit ​​part 1011, the first layer of rotor laminations 101 and the layer of rotor laminations 101 overlapping it in the axial direction need to be misaligned 12 times, which is the interval between the first to the twelfth layers of rotor laminations 101. However, for a rotor lamination 101 with two snap-fit ​​parts 1011, the first layer of rotor laminations 101 and the layer of rotor laminations 101 overlapping it in the axial direction need to be misaligned 6 times, which is the interval between the first to the sixth layers of rotor laminations 101. The contact and fixing points for the same magnet 102 differ; the second method requires more contact and fixing points than the first. More specifically, the design can be tailored to the parameters of the actual motor. For example, for high-speed, high-power motors where magnets are prone to detachment, the second method can be used; for low-speed, low-power motors where magnets are less likely to detach, the first method can be used.

[0033] Of course, the number of snap-fit ​​parts 1011 of the rotor lamination 101 can be set to 3, 4 or more, but the number should be less than the number of poles of the rotor section 10. The specific design and manufacturing can be based on actual needs. Its function and principle are the same as those in the examples above, and will not be repeated here. The more snap-fit ​​parts 1011 there are of the rotor lamination 101, the more points there are to fix the magnet 102, and the better the limiting effect; while the fewer snap-fit ​​parts 1011 there are, the less magnetic leakage.

[0034] like Figure 9 As shown, the rotor lamination 101 includes a ring portion 1012, and a snap-fit ​​portion 1011 is integral with the ring portion 1012. The snap-fit ​​portion 1011 is located on the outer circumference of the ring portion 1012. In the radial direction of the ring portion 1012, the snap-fit ​​portion 1011 extends outward from the ring portion 1012.

[0035] The ring portion 1012 serves as a carrier for connecting and fixing the snap-fit ​​portion 1011. After the rotor laminations 101 are stacked layer by layer, the ring portion 1012 is roughly cylindrical. After the magnet 102 is snapped into the snap-fit ​​portion 1011, the entire ring portion 1012 can be fitted onto the rotating shaft portion 20. The stator portion 30 and the rotor portion 10 cooperate to drive the rotating shaft portion 20 to rotate. The snap-fit ​​portion 1011 is located on the outer side of the ring portion 1012, which facilitates the assembly of the magnet 102. If the snap-fit ​​portion 1011 is located on the inner side of the ring portion 1012, the magnet 102 may interfere with or come into contact with the rotating shaft portion 20 after assembly, resulting in damage to the magnet 102. On the other hand, the air gap between the magnet 102 and the stator portion 30 will increase, which will also affect the performance of the motor.

[0036] The snap-fit ​​portion 1011 includes a first extension portion 1013 and a second extension portion 1014, which are arranged at intervals along the circumferential direction of the rotor portion 10, and the magnet 102 portion is located between the first extension portion 1013 and the second extension portion 1014.

[0037] The first extension 1013 and the second extension 1014 respectively limit the two sides of the magnet 102 in the circumferential direction to prevent it from swaying during operation. Simultaneously, the first extension 1013 and the second extension 1014 can also be used as tooling for positioning the magnet 102 during assembly. The first extension 1013 and the second extension 1014 are integral parts with the ring 1012, and can be formed by integral casting or machining, etc., the integral forming method is not limited here. As integrally formed, the positional accuracy of the first extension 1013 and the second extension 1014 is easier to control. Therefore, during the assembly of the magnet 102, compared with positioning the magnet 102 using additional tooling, the former obviously has better effect and positioning accuracy, and also facilitates the assembly of the magnet 102.

[0038] In one embodiment, in the axial direction of the rotor portion 10, the second extension 1014 of the snap-fit ​​portion 1011 at least partially overlaps with the first extension 1013 of the adjacent snap-fit ​​portion 1011.

[0039] When adjacent rotor laminations 101 are arranged in a staggered stack, the snap-fit ​​portion 1011 of the next layer of rotor laminations 101 can be based on the snap-fit ​​portion 1011 of the previous layer of rotor laminations 101, thereby facilitating the stacking and stamping of the rotor laminations 101. Specifically, the first extension portion 1013 and the second extension portion 1014 have the same dimensions in the circumferential and radial directions. When the rotor laminations 101 are stacked one by one, the second extension portion 1014 of the second layer of rotor laminations 101 can be based on the first extension portion 1013 of the first layer of rotor laminations 101, and the two overlap and correspond in the axial direction. Then, the second extension portion 1014 of the next layer of rotor laminations 101 again overlaps and corresponds in the axial direction based on the first extension portion 1013 of the second layer of rotor laminations 101.

[0040] Alternatively, when stacking the rotor laminations 101 one by one, the first extension 1013 of the second layer of rotor laminations 101 can be based on the second extension 1014 of the first layer of rotor laminations 101, and the two overlap and correspond in the axial direction, and then the next layer of rotor laminations 101 are also stacked in sequence.

[0041] The magnet 102 is located between the first extension 1013 and the second extension 1014. The magnets 102 are evenly arranged in the circumferential direction. The first extension 1013 or the second extension 1014 is located between adjacent magnets 102. When adjacent rotor laminations 101 are misaligned, whether the first extension 1013 of the upper layer rotor lamination 101 overlaps with the second extension 1014 of the lower layer, or vice versa, it will not affect the assembly of the magnets 102. Furthermore, this arrangement makes the misalignment of the rotor laminations 101 more convenient and improves the positioning accuracy of the rotor laminations 101.

[0042] The engaging portion 1011 includes a first limiting protrusion 1015 and a second limiting protrusion 1016. The first limiting protrusion 1015 is integral with the first extension portion 1013, and the second limiting protrusion 1016 is integral with the second extension portion 1014. In the circumferential direction of the rotor portion 10, the first limiting protrusion 1015 extends from the first extension portion 1013 to the second extension portion 1014, and the second limiting protrusion 1015 extends from the second extension portion 1014 to the first extension portion 1013. The first limiting protrusion 1015 and the second limiting protrusion 1016 are in contact with the magnet 102.

[0043] The first limiting protrusion 1015 and the second limiting protrusion 1016 limit the magnet 102 in the radial direction, preventing it from loosening. When assembling the rotor portion 10, the rotor laminations 101 are first stacked layer by layer, with adjacent rotor laminations 101 staggered according to one of the methods described above. Then, they are stamped into a whole. The magnet 102 is then assembled between the first extension 1013 and the second extension 1014, wherein the side of the magnet 102 that contacts the ring portion 1012 can be connected by adhesive. In actual use, the first extension 1013 and the second extension 1014 restrict the magnet 102 from loosening in the circumferential direction, while the first limiting protrusion 1015 and the second limiting protrusion 1016 restrict the magnet 102 from loosening in the radial direction.

[0044] More specifically, the rotor portion 10 is defined to have a central axis L. In the radial direction of the rotor portion 10, a first limiting protrusion 1015 is located at the end of the first extension 1013 away from the central axis L, and a first chamfer 1017 is formed between the first limiting protrusion 1015 and the first extension 1013; a second limiting protrusion 1015 is located at the end of the second extension 1014 away from the central axis L, and a second chamfer 1018 is formed between the second limiting protrusion 1015 and the second extension 1014.

[0045] like Figures 6 to 9 As shown, the first limiting protrusion 1015 and the second limiting protrusion 1016 are located at the ends of the first extension 1013 and the second extension 1014, respectively. On the one hand, they can reduce the radial extension length of the first extension 1013 and the second extension 1014, reduce the overall weight of the rotor part 10, and at the same time reduce the air gap between the rotor part 10 and the stator part 30, thereby improving the performance of the motor.

[0046] If the first limiting protrusion 1015 is located near the ring portion 1012 in the first extension portion 1013, and the second limiting protrusion 1016 is located near the ring portion 1012 in the second extension portion 1014, although the magnet 102 can still be limited and fixed, the length of the first extension portion 1013 and the second extension portion 1014 in the radial direction will be greater than the length of the first extension portion 1013 and the second extension portion 1014 in the above-described embodiment if the radial dimension of the magnet 102 remains unchanged. The extra length will not only increase the overall weight of the rotor portion 10, but also increase the distance between the magnet 102 and the stator portion 30, that is, increase the air gap, which will affect the performance of the motor and the utilization of the overall internal space of the motor.

[0047] The first chamfer 1017 and the second chamfer 1018 serve two purposes. First, they protect the magnet 102 during assembly. In actual assembly, the magnet 102 engages with the snap-fit ​​part 1011 after the rotor laminations 101 are stacked and stamped. This means the magnet 102 is inserted axially into the corresponding snap-fit ​​part 1011 to form a snap-fit, providing a certain degree of protection for the magnet 102. Furthermore, the edges of the first limiting protrusion 1015, the second limiting protrusion 1016, the first extension 1013, and the second extension 1014 can also be rounded to further protect the magnet 102 during assembly. Second, the edges of the magnet 102 itself are also rounded. The first chamfer 1017 and the second chamfer 1018 better fit the surface of the magnet 102, thus providing better positioning for the magnet 102.

[0048] This application also provides an actuator, such as Figures 1 to 9 As shown, the device includes a motor 1 and a reducer 2. The motor 1 is connected to the reducer 2. The motor 1 includes a rotor part 10. The rotor part 10 includes multiple rotor laminations 101 and magnets 102. The multiple rotor laminations 101 are stacked and arranged along the axial direction of the rotor part 10. The rotor laminations 101 include snap-fit ​​parts 1011. The magnets 102 snap-fit ​​with the snap-fit ​​parts 1011. The number of snap-fit ​​parts 1011 is less than the number of poles of the rotor part 10. In the circumferential direction of the rotor part 10, the snap-fit ​​parts 1011 of adjacent rotor laminations 101 are staggered.

[0049] The rotor section 10 also adopts one of the various embodiments described above, and the specific design can be tailored to the actual application. The rotor laminations 101 are also arranged in a staggered manner, with the number of engaging portions 1011 of each rotor lamination 101 being less than the number of poles in the rotor section 10, thus allowing for staggered arrangement of the rotor laminations 101. If the number of engaging portions 1011 of the rotor laminations 101 is equal to the number of poles in the rotor section 10, and each engaging portion 1011 corresponds to engaging a magnet 102, even if each layer of rotor laminations 101 is staggered, it would be the same as the layer-by-layer stacking scheme in related technologies. Having engaging portions 1011 on both sides of the circumference of each magnet 102 in each layer of rotor laminations 101 would increase the occurrence of magnetic leakage.

[0050] The reducer 2 includes an input section 201 and an output section 202. The actuator includes an output flange 3. The motor 1 includes a shaft section 20, a stator section 30, and a motor housing 40. The stator section 30 is located inside the motor housing 40. The rotor section 10 is connected to the shaft section 20. The shaft section 20 is connected to the input section 201, and the output section 202 is connected to the output flange 3.

[0051] When the actuator is in actual operation, the motor 1 drives the reducer 2 to operate. The stator part 30 and the rotor part 10 work together to drive the shaft part 20 to rotate. The shaft part 20 is connected to the input part 201 of the reducer 2. Power enters from the input part 201 and is then transmitted to the output flange 3 through the output part 202. The output flange 3 is connected to the external carrier and then performs work on the outside.

[0052] The input section 201 includes a cam 2011 and a flexible bearing 2012, the output section 202 includes a flexible wheel 203 and a rigid wheel 204, and the reducer 2 includes a reducer housing 203; the rotating shaft section 20 is connected to the cam 2011, the cam 2011 is connected to the inner ring of the flexible bearing 2012, the outer ring of the flexible bearing 2012 is connected to the flexible wheel 203, the flexible wheel 203 meshes with the rigid wheel 204, the rigid wheel 204 is fixedly fitted to the reducer housing 203, and the flexible wheel 203 is connected to the output flange 3.

[0053] Specifically, the rotating shaft 20 drives the cam 2011 to rotate. During the rotation, the cam 2011 can push the flexible wheel 203 to rotate through the flexible bearing 2012. During the rotation, the flexible wheel 203 also meshes with the rigid wheel 204. The flexible wheel 203 is connected to the output flange 3 for external transmission. The specific principle can be referred to the principle of harmonic reducer in related technologies, which will not be elaborated here.

[0054] The rotating shaft portion 20 includes a shaft body 2001, an outer cylinder 2002, and an inner support plate 2003. The shaft body 2001 passes through the outer cylinder 2002, and the inner support plate 2003 is located between the shaft body 2001 and the outer cylinder 2002, connecting the shaft body 2001 and the outer cylinder 2002 respectively. During assembly, the rotor portion 10 is connected to the outer cylinder 2002, the ring portion 1012 is fitted onto the outer wall of the outer cylinder 2002, and the shaft body 2001 is connected to the cam 2011.

[0055] Since the actuator as a whole needs to integrate the motor 1 and the reducer 2, their radial dimensions are roughly the same, which improves the overall aesthetics and ease of assembly. The outer cylinder 2002 and the inner support plate 2003 allow the rotor part 10 to be smaller in the radial direction compared to the stator part 30 after assembly, thus reducing the air gap and improving motor performance. The outer cylinder 2002 and the inner support plate 2003 also make the overall structure more stable.

[0056] In some embodiments, the shaft portion 20 does not have an outer cylinder 2002 and an inner support plate 2003, and the rotor portion 10 can be directly connected to the shaft body 2001. The specific design can be made according to the overall size requirements of the actuator.

[0057] The outer cylinder 2002 includes a limiting platform 2004, which is located at one end of the outer wall of the outer cylinder 2002 in the axial direction. The setting of the limiting platform 2004 can facilitate the overall assembly of the rotor part 10 and can serve as a tooling fixture, making assembly easier.

[0058] The above embodiments are only used to illustrate this application and are not intended to limit the technical solutions described in this application. The understanding of this specification should be based on those skilled in the art. For example, directional descriptions such as "front", "back", "left", "right", "up", and "down" are only used to describe the relationship between objects and are not substantial limitations. "Multiple" means at least two or more.

[0059] Although this specification has described the present application in detail with reference to the above embodiments, those skilled in the art should understand that they can still make modifications or equivalent substitutions to the present application, and all technical solutions and improvements that do not depart from the spirit and scope of the present application should be covered within the scope of the claims of the present application.

Claims

1. An electric motor, characterized in that, The rotor portion (10) includes a plurality of rotor laminations (101) and a plurality of magnets (102), wherein the plurality of rotor laminations (101) are stacked and arranged along the axial direction of the rotor portion (10); The rotor lamination (101) includes a snap-fit ​​portion (1011) that snaps into the magnet (102). The number of snap-fit ​​portions (1011) in each rotor lamination (101) is less than the number of poles in the rotor portion (10). In the circumferential direction of the rotor portion (10), the snap-fit ​​portions (1011) of at least two adjacent rotor laminations (101) are staggered.

2. The motor according to claim 1, characterized in that, The rotor lamination (101) has two snap-fit ​​parts (1011), and the two snap-fit ​​parts (1011) are symmetrically arranged along the circumferential direction of the rotor portion (10). In the axial direction of the rotor portion (10), the snap-fit ​​portion (1011) of the adjacent rotor laminations (101) partially overlaps.

3. The motor according to claim 1 or 2, characterized in that, The rotor lamination (101) includes a ring portion (1012), and the snap-fit ​​portion (1011) is integral with the ring portion (1012). The snap-fit ​​portion (1011) is located on the outer circumference of the ring portion (1012). In the radial direction of the ring portion (1012), the snap-fit ​​portion (1011) extends outward from the ring portion (1012).

4. The motor according to claim 1 or 2, characterized in that, The snap-fit ​​portion (1011) includes a first extension portion (1013) and a second extension portion (1014), the first extension portion (1013) and the second extension portion (1014) are arranged at intervals along the circumferential direction of the rotor portion (10), and the magnet (102) portion is located between the first extension portion (1013) and the second extension portion (1014).

5. The motor according to claim 4, characterized in that, In the axial direction of the rotor portion (10), the second extension (1014) of the snap-fit ​​portion (1011) at least partially overlaps with the first extension (1013) of the adjacent snap-fit ​​portion (1011).

6. The motor according to claim 4, characterized in that, The snap-fit ​​portion (1011) includes a first limiting protrusion (1015) and a second limiting protrusion (1016), wherein the first limiting protrusion (1015) and the first extension portion (1013) are integral parts, and the second limiting protrusion (1016) and the second extension portion (1014) are integral parts; In the circumferential direction of the rotor portion (10), the first limiting protrusion (1015) extends from the first extension (1013) to the second extension (1014), and the second limiting protrusion (1015) extends from the second extension (1014) to the first extension (1013); the first limiting protrusion (1015) and the second limiting protrusion (1016) are in contact with the magnet (102).

7. The motor according to claim 6, characterized in that, The rotor portion (10) is defined to have a central axis (L). In the radial direction of the rotor portion (10), the first limiting protrusion (1015) is located at the end of the first extension (1013) away from the central axis (L), and the first limiting protrusion (1015) and the first extension (1013) have a first chamfer (1017); the second limiting protrusion (1015) is located at the end of the second extension (1014) away from the central axis (L), and the second limiting protrusion (1015) and the second extension (1014) have a second chamfer (1018).

8. An actuator, characterized in that, It includes a motor (1) and a reducer (2), the motor (1) is connected to the reducer (2), the motor (1) includes a rotor part (10), the rotor part (10) includes a plurality of rotor laminations (101) and a plurality of magnets (102), the plurality of rotor laminations (101) are stacked and arranged along the axial direction of the rotor part (10); The rotor lamination (101) includes a snap-fit ​​portion (1011), and the magnet (102) snaps into the snap-fit ​​portion (1011). The number of snap-fit ​​portions (1011) of each rotor lamination (101) is less than the number of poles of the rotor portion (10). In the circumferential direction of the rotor portion (10), the snap-fit ​​portions (1011) of adjacent rotor laminations (101) are staggered.

9. The actuator according to claim 8, characterized in that, The reducer (2) includes an input section (201) and an output section (202). The actuator includes an output flange (3). The motor (1) includes a shaft section (20), a stator section (30), and a motor housing (40). The stator section (30) is located inside the motor housing (40). The rotor section (10) is connected to the shaft section (20). The shaft section (20) is connected to the input section (201), and the output section (202) is connected to the output flange (3).

10. The motor according to claim 9, characterized in that, The input section (201) includes a cam (2011) and a flexible bearing (2012), the output section (202) includes a flexible wheel (203) and a rigid wheel (204), and the reducer (2) includes a reducer housing (203); The rotating shaft (20) is connected to the cam (2011), the cam (2011) is connected to the inner ring of the flexible bearing (2012), the outer ring of the flexible bearing (2012) is connected to the flexure wheel (203), the flexure wheel (203) meshes with the rigid wheel (204), the rigid wheel (204) is fixedly fitted with the reducer housing (203), and the flexure wheel (203) is connected to the output flange (3).

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