Dual field co-driven electric machine

Abstract

The application discloses a bipolar co-driving motor, and relates to the technical field of motors, which comprises an output shaft with an output shaft axis, a rotor rotating around the output shaft axis, a plurality of permanent magnets being arranged on the rotor at intervals in the rotating direction, the magnetic pole axis of each permanent magnet extending along the rotating direction, the magnetic pole axis being substantially tangent to the rotating circle of the rotor, and the directions of the magnetic pole axes of the adjacent two permanent magnets being opposite, and a plurality of stators; wherein, along the rotating direction, the permanent magnet generates electromagnetic force on the two stators on its adjacent two sides, generates suction force on the stator in front of the rotating direction, and generates thrust on the stator in the rear of the rotating direction. The application can improve the motor torque density, reduce the material consumption and improve the torque output stability under the premise of compact structure.

Description

Technical Field

[0001] This invention relates to the field of motor technology, and in particular to a bipolar common drive motor. Background Technology

[0002] As a key component for converting electrical energy into mechanical energy, electric motors are widely used in household appliances, industrial automation equipment, and transportation equipment. Common motor types in existing technologies include radial flux motors, axial flux motors, and transverse flux motors, with radial flux permanent magnet motors being the most widely used. Radial flux permanent magnet motors typically employ a structure where permanent magnets are magnetized radially and the stator is arranged circumferentially. While their design and manufacturing processes are relatively mature, in actual operation, the magnetic flux generated by the permanent magnets is relatively dispersed in the space between the stator and rotor, with some magnetic field lines failing to effectively pass through the stator, resulting in limited flux utilization. To obtain the desired output torque, it is often necessary to increase the amount of permanent magnets and copper losses, thereby increasing material costs and size / weight.

[0003] To improve output torque per unit volume or unit mass, existing technologies have proposed structures such as axial flux motors and transverse flux motors. Axial flux motors generally employ a disc rotor and disc stator, forming a flux loop in the axial direction. While this improves torque density to some extent, it suffers from long end windings, long heat dissipation paths, high manufacturing precision requirements, and complex assembly processes, hindering large-scale production and cost control. Transverse flux motors increase torque density by reducing the distance of the flux closure, but their magnetic circuit structure is even more complex, placing higher demands on core structure, winding arrangement, and machining and assembly. They are prone to local magnetic saturation and increased eddy current losses, resulting in less than ideal overall efficiency and limiting their widespread adoption in general applications.

[0004] On the other hand, in applications such as cleaning equipment, household appliances, or small industrial transmission devices, motors often need to be integrated with reduction gears or gear transmission mechanisms to achieve torque amplification and speed matching. In existing technologies, a common approach is to coaxially connect the rotor to a gear ring or gear, with the gear mechanism transmitting the motor's output torque to the output shaft. While this structure can shorten the transmission link to some extent, it often employs a traditional radial flux motor topology. The magnetic flux path between the permanent magnet and the stator is still predominantly radial, and the magnetic field coupling area between the stator and the permanent magnet in the circumferential direction is limited, resulting in insufficient utilization of magnetic field lines. Furthermore, to meet output performance requirements, it is necessary to increase the motor size or the number of pole pairs and phases, leading to structural complexity and higher costs, which is detrimental to further improving the system's power density and integration. Summary of the Invention

[0005] The purpose of this invention is to overcome the problems of low magnetic flux utilization between permanent magnets and stator in existing motor structures, difficulty in further increasing torque density within limited installation space, and limited integration with transmission mechanisms. The invention provides a bipolar common drive motor that can make fuller use of the magnetic flux generated by permanent magnets under the premise of compact structure and is conducive to integration with output shaft and transmission components.

[0006] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be apparent from the description, or may be learned by practice of the invention.

[0007] According to one aspect of the present invention, a bipolar common drive motor is provided, the bipolar common drive motor comprising: Output shaft, with an output shaft axis; The rotor rotates circumferentially around the output shaft axis. In the direction of rotation, a plurality of permanent magnets are spaced apart on the rotor. The magnetic pole axis of each permanent magnet extends along the direction of rotation, such that the magnetic pole axis is substantially tangent to the rotation circumference of the rotor, and the magnetic pole axes of two adjacent permanent magnets point in opposite directions. Multiple stators; Along the rotation direction, the permanent magnet generates an electromagnetic force on the two stators on its adjacent sides, an attractive force on the stator on the front side of the rotation, and a pushing force on the stator on the rear side of the rotation.

[0008] In some exemplary embodiments of the present invention, based on the foregoing scheme, the rotor includes a rotating member that rotates about the axis of the output shaft, the stator is at least partially circumferentially disposed around the outside of the rotating member, and the permanent magnet is at least partially embedded in the rotating member; the rotating member is connected to the output shaft via a transmission member to transmit the driving torque acting on the rotating member to the output shaft.

[0009] In some exemplary embodiments of the present invention, based on the foregoing scheme, the rotating component is an annular gear ring, and the transmission component is a transmission gear; The annular gear ring is an internal gear ring, and the transmission gear is disposed radially inside the internal gear ring. The transmission gear is connected to the output shaft via a gear component that meshes with the transmission gear; or The ring gear is an external gear ring, and the transmission gear includes a plurality of planetary gears arranged around the external gear ring. Each planetary gear meshes with a gear component surrounding its outer side, and the gear component is fixedly connected to the output shaft.

[0010] In some exemplary embodiments of the present invention, based on the foregoing scheme, the tooth surface of the annular gear ring is made of a first material, and the remaining portion other than the tooth surface is made of a second material.

[0011] In some exemplary embodiments of the present invention, based on the foregoing scheme, the bipolar common drive motor further includes a stator support body, which is arranged around the rotor and coaxially with the axis of the output shaft. There are multiple stator supports, and a set of stators is wound around each stator support body.

[0012] In some exemplary embodiments of the present invention, based on the foregoing scheme, the bipolar common drive motor includes: case; A limiting member, located between the housing and the rotor, and opposite to the permanent magnet in the direction of the output shaft axis, is used to limit the displacement of the rotor in the direction of the output shaft axis.

[0013] In some exemplary embodiments of the present invention, based on the foregoing scheme, the stator includes coils, and the coil currents in two adjacent stators are in opposite directions.

[0014] In some exemplary embodiments of the present invention, based on the foregoing scheme, the stator is in multiple groups, each stator includes a coil, the coil includes a multi-phase coil, the multi-phase coils are not electrically connected to each other and are wound sequentially and at intervals on the stator support along the rotation direction, and the current direction of the same phase coil in two adjacent stators is opposite.

[0015] In some exemplary embodiments of the present invention, based on the foregoing scheme, the coil includes a winding section and a advancing section, the advancing section extending along the rotation direction to connect the winding sections in two adjacent stators, the winding section at least partially winding the stator support.

[0016] In some exemplary embodiments of the present invention, based on the foregoing scheme, the winding segment has a C-shaped structure in a cross section perpendicular to the axis of the output shaft, and the opening of the C-shaped structure faces the output shaft.

[0017] In some exemplary embodiments of the present invention, based on the aforementioned scheme, the advancing sections of the coil in the same phase are divided into two parallel groups, located at the two ends of the opening of the C-shaped structure, respectively.

[0018] As can be seen from the above technical solution, the present invention has the following advantages and positive effects: By tangentially magnetizing permanent magnets along the rotation direction and forming a magnetic circuit with the stator, and by making each set of stators simultaneously form an electromagnetic force with the two permanent magnets adjacent to it in the circumferential direction, this invention can make full use of the magnetic flux generated by the permanent magnets, so that both the stator and the magnetic poles on both sides of the permanent magnets participate in doing work, thereby improving the torque density of the motor, reducing the amount of material used, and improving the smoothness of torque output under the premise of compact structure. Attached Figure Description

[0019] The above and other features and advantages of the present invention will become more apparent from a detailed description of exemplary embodiments thereof with reference to the accompanying drawings.

[0020] Figure 1 This is a three-dimensional structural schematic diagram of one embodiment of the bipolar common drive motor of the present invention; Figure 2 This is a left view of one embodiment of the bipolar common drive motor of the present invention; Figure 3 yes Figure 2 A cross-sectional view of one embodiment of part AA; Figure 4 This is a schematic diagram of one embodiment of the bipolar common drive motor of the present invention; Figure 5 This is a schematic diagram of another embodiment of the bipolar common drive motor of the present invention; Figure 6 This is a schematic diagram of another embodiment of the bipolar common drive motor of the present invention; Figure 7 yes Figure 6 A cross-sectional view of one embodiment of a bipolar common drive motor; Figure 8 This is a front view of one embodiment of the bipolar common drive motor of the present invention; Figure 9 yes Figure 8 A sectional view of section BB.

[0021] Explanation of reference numerals in the attached figures 1. Output shaft; 2. Rotor; 21. Rotating component; 211. Ring gear; 211a. Tooth surface; 211b. Gear base; 22. Transmission component; 221. Receiving part; 222. Connecting part; 2221. Through hole; 23. Intermediate gear component; 3. Permanent magnet; 4. Stator support; 4a. Unit; 5. Stator; 51. First phase coil; 52. Second phase coil; 53. Third phase coil; 54. Winding section; 55. Advancing section; 6. Housing; 7. Limiting component; 8. Bearing. Detailed Implementation

[0022] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that the invention will be thorough and complete, and the concept of the exemplary embodiments will be fully conveyed to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed description will be omitted.

[0023] The features, structures, or characteristics described above can be combined in any suitable manner in one or more embodiments, and the features discussed in the various embodiments are interchangeable where possible. In the above description, numerous specific details are provided to give a full understanding of embodiments of the invention. However, those skilled in the art will recognize that the technical solutions of the invention can be practiced without one or more of the specific details described, or other methods, components, materials, etc., can be employed. In other instances, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring various aspects of the invention.

[0024] Although relative terms such as "up" and "down" are used in this invention to describe the relative relationship of one component of an icon to another, these terms are used only for convenience, such as according to the orientation of the examples shown in the accompanying drawings. It is understood that if the icon's arrangement is flipped so that it is upside down, the component described as "up" will become the component described as "down". Other relative terms such as "high", "low", "top", "bottom", "front", "back", "left", and "right" also have similar meanings. When a structure is "up" of another structure, it may mean that the structure is integrally formed on the other structure, or that the structure is "directly" mounted on the other structure, or that the structure is "indirectly" mounted on the other structure through another structure.

[0025] In this invention, the terms “a,” “an,” “the,” “the,” and “at least one” are used to indicate the presence of one or more elements / components / etc.; the terms “comprising,” “including,” and “having” are used to indicate an open-ended inclusion meaning and to mean that there may be other elements / components / etc. in addition to the listed elements / components / etc. Example 1

[0026] According to one aspect of the present invention, a bipolar common drive motor is provided, with reference to... Figures 1 to 4 As shown, a bipolar common-drive motor includes at least an output shaft 1, a rotor 2, and a stator 5. (Reference) Figure 1 and Figure 2 As shown, the output shaft 1 has an output shaft axis X. The output shaft 1 is supported in the housing 6 by the bearing 8 and can be connected to an external load through a coupling or the like to output the torque generated by the motor to the load side.

[0027] The rotor 2 can have a circular, square, or any common planar shape. Multiple permanent magnets 3 are arranged circumferentially along the output shaft axis X of the rotor 2. This invention does not limit the specific number of permanent magnets 3; those skilled in the art can set the number according to actual conditions. For example, in some embodiments, the number of permanent magnets 3 is 3, 5, 8, 10, 12, etc.

[0028] In one implementation, such as Figure 3 and Figure 4 As shown, the rotor 2 includes a rotating component 21 that rotates about the axis of the output shaft 1. The rotating component 21 can be a disc structure or a ring structure. The present invention does not make a specific limitation. However, regardless of the structure of the rotating component 21, the rotating component 21 is arranged coaxially with the output shaft 1 and supported on the housing 6 by the bearing 8, and can rotate freely about the axis of the output shaft 1.

[0029] In some embodiments, the bipolar common drive motor may also include a stator support 4, with the stator wound around it. The stator support 4 may have a C-shaped cross-section, a square cross-section, or a circular cross-section, and is at least partially arranged around the outside of the rotor 2. Specifically, it is at least partially arranged around the outside of the rotating member 21, that is, on a cross-section perpendicular to the axis of the output shaft 1, the rotating member 21 is located on the inside, and the stator support 4 is located on the outside, with an annular gap between them to form an air gap. The stator 5 is wound around the stator support 4, so that the stator 5 is distributed in a ring around the rotating member 21.

[0030] Based on this, each permanent magnet 3 can be an arc-shaped magnet or a regular block magnet. Multiple mounting slots for accommodating the permanent magnets 3 are formed on the circumferential outer wall of the rotating component 21 along the rotation direction Y. The shape of the mounting slots can be rectangular, arc-shaped, or other slot shapes that match the shape of the permanent magnets 3. Each permanent magnet 3 is at least partially embedded in the rotating component 21, meaning a portion of the volume of the permanent magnet 3 is embedded in the mounting slot, while the side facing the stator support 4 is exposed on the outer circumferential surface of the rotating component 21. The permanent magnets 3 are fixed to the rotating component 21 by means of adhesive, interference fit, or mechanical pressure plates to ensure that the permanent magnets 3 will not loosen or be thrown out under high-speed rotation conditions.

[0031] The magnetic pole axis Lm of each permanent magnet 3 extends along the rotation direction Y of the rotor 2, making the magnetic pole axis Lm substantially tangent to the rotation circumference of the rotor 2. In other words, the magnetic pole axis Lm of each permanent magnet 3 is substantially tangent to the rotation circumference of the rotating component 21. (Reference) Figure 3 As shown, along the circumference of the output shaft axis X, the magnetic pole axes Lm of two adjacent permanent magnets 3 point in opposite directions. That is, the magnetic pole axis Lm of one permanent magnet 3 points in a clockwise direction, and the magnetic pole axis Lm of the adjacent permanent magnet 3 points in a counterclockwise direction, thus forming a pair of magnetic poles with alternating magnetization directions on the rotor circumference.

[0032] To reliably transmit the driving torque acting on the rotor 2 to the output shaft 1, the rotating member 21 is connected to the output shaft 1 via a transmission member 22 and an intermediate gear member 23. In some embodiments, a transmission structure that meshes with or cooperates with the transmission member 22 is provided on one side of the rotating member 21, such as forming teeth, flanges, or connecting holes on the inner or outer side of the rotating member 21. In some embodiments, refer to... Figure 3As shown, the rotating component 21 is a ring gear 211, and the transmission component 22 is a transmission gear. The ring gear 211 can be an internal gear ring structure, with internal teeth arranged circumferentially on its inner circumferential surface. The transmission gear is located radially inside the internal gear ring, and its tooth profile matches the internal teeth of the ring gear 211. When the rotor 2 drives the internal gear ring to rotate under the action of electromagnetic torque, the transmission gear meshes with the ring gear 211, thereby converting the rotation of the ring gear 211 into the rotation of the transmission gear.

[0033] Rotating component 21 meshes with transmission component 22, which in turn meshes with intermediate gear component 23. This arrangement allows for flexible adjustment of the transmission ratio and modification of the axial position or direction of the output shaft 1 to suit different overall machine structures, based on actual needs.

[0034] With the above structural arrangement, the permanent magnets 3 are concentrated on the rotating component 21, and the rotating component 21 completes the mechanical transmission connection with the output shaft 1. This not only facilitates the optimization of the magnetic circuit and rotational inertia distribution of the rotor part, but also benefits the integrated design of the output shaft 1 and the external transmission system.

[0035] With the above-mentioned internal gear ring scheme, the annular gear ring 211 corresponding to the rotor 2 rotates under the action of electromagnetic torque. It transmits torque to the output shaft 1 by meshing with the inner transmission gear. On the one hand, it realizes the compact integration of the motor and the gear reduction mechanism. On the other hand, it can achieve the matching of speed and torque by reasonably selecting the gear ratio.

[0036] In other embodiments, reference is made to Figure 5 As shown, the ring gear 211 has an external gear structure, and the intermediate gear component 23 includes multiple planetary gears arranged around the ring gear 211. Each planetary gear is rotatably mounted on the housing or a special support component via a planet carrier or support shaft, and one side of each planetary gear meshes with the external teeth of the ring gear 211. When the ring gear 211 rotates, it drives the multiple planetary gears to rotate around its axis.

[0037] Each planetary gear also meshes with an intermediate gear 23 surrounding its outer side. The transmission component 22 is preferably an internal gear ring structure, with internal teeth on its inner circumferential surface for meshing with the planetary gears. The transmission component 22 is connected to the output shaft 1 through the intermediate gear 23, for example, by key connection, spline connection, or integral machining. The intermediate gear 23 is coaxial with the output shaft 1 and rotates together with the output shaft 1.

[0038] When the motor is working, the rotor 2 drives the ring gear 211 to rotate. The ring gear 211 distributes the electromagnetic torque to each planetary gear through meshing with multiple planetary gears. The planetary gears then mesh with the intermediate gear 23, transmitting the combined torque to the intermediate gear 23, and finally to the output shaft 1 for external output. By appropriately selecting the number of teeth of the ring gear 211, the intermediate gear 23, and the transmission component 22, different transmission ratios can be achieved, balancing high torque output with structural compactness.

[0039] Since multiple planetary gears are evenly distributed around the ring gear 211, they can share the transmitted torque in the circumferential direction, which helps to reduce the force on a single gear and improve the load-bearing capacity and life of the transmission system. At the same time, the planetary transmission structure is arranged coaxially as a whole, which facilitates the integrated design of the rotor and stator structure of the bipolar common drive motor in the radial and axial directions, further improving the power density and integration of the whole machine.

[0040] In one embodiment, the annular gear ring 211 adopts a split or composite structure, with its tooth surface made of a first material and the remaining portion made of a second material. Specifically, refer to... Figure 4 As shown, the toothed region of the annular toothed ring 211 forms a toothed surface 211a, which is made of a first material with good wear resistance and excellent friction performance, such as engineering plastics or other polymer materials. The inner or outer radial side of the toothed surface 211a forms a toothed ring substrate 211b, which is made of a second material, such as steel, iron-based alloy or other magnetically conductive material, to support the toothed surface 211a and the permanent magnet 3, and to participate in magnetic flux guidance as part of the magnetic circuit.

[0041] In a preferred embodiment, the gear ring base 211b is first integrally machined or stamped into a ring shape from a second material, and then a tooth surface 211a made of a first material is formed on the outer ring of its toothed area by injection molding, overmolding, or insert molding, so that the tooth surface 211a is reliably connected to the gear ring base 211b. Through this method, the magnetically conductive portion of the gear ring base 211b can form a magnetic circuit together with the permanent magnet 3 and the stator support 4, while the tooth surface 211a meshes with the transmission gear. This improves the friction and wear characteristics during tooth meshing while ensuring the performance of the magnetic circuit and reducing operating noise.

[0042] In another embodiment, the first material can be first processed into a ring-shaped gear blank, and then fixed to a support ring made of a second material by means of encapsulation, riveting, or bonding, so that the tooth surface 211a is entirely composed of the first material, while the support ring provides the necessary mechanical strength and magnetic conductivity. Through the above structural design, the requirements for tooth surface wear resistance and low noise can be met, while making reasonable use of the magnetic conductivity and strength characteristics of the second material, thereby improving the overall performance and service life of the ring-shaped gear 211 without significantly increasing costs.

[0043] In one implementation, such as Figure 4 As shown, there are multiple stator support bodies 4, which are arranged sequentially at intervals along the circumference of the rotor 2. Specifically, the stator support body 4 includes several independent units 4a. Each unit 4a has a fan-shaped, square, circular, or polygonal structure on a cross section perpendicular to the output shaft axis X. Each unit 4a is fixed in a predetermined position by a housing or mounting base.

[0044] like Figure 3 As shown, in some embodiments, there is a set of stators 5 between every two permanent magnets 3, and the two permanent magnets 3 located on both sides of the stator 5 have the same polarity facing the stator 5. That is, along the rotation direction Y, two adjacent permanent magnets 3a and 3b are randomly selected, and a unit 4a is arranged in the stator support 4 and the corresponding area therein. A set of stators 5 is wound on the unit 4a, so that a set of stators 5 is provided within the circumferential interval corresponding to every two permanent magnets 3a and 3b.

[0045] When designing the magnetization direction of permanent magnet 3, the two permanent magnets 3a and 3b located on opposite sides of the same set of stators 5 are made to have the same polarity facing the stator 5, that is, the magnetic pole axes of permanent magnets 3a and 3b point in opposite directions. For example, as Figure 3 As shown, on a cross section perpendicular to the output shaft axis X, permanent magnets 3a and 3b face the stator support 4, that is, the side facing the stator 5 is the N pole, while the side away from the stator 5 is the S pole; or conversely, the side facing the stator 5 is the S pole, and the side away from the stator 5 is the N pole.

[0046] Since the magnetic pole axes of permanent magnets 3a and 3b point in opposite directions, the magnetic fields formed on permanent magnets 3a and 3b act in opposite directions, thus generating electromagnetic torques acting in the same direction on permanent magnets 3a and 3b respectively. The superposition of these two electromagnetic torques acting in the same direction is the effective torque that drives rotor 2 to rotate around the output shaft axis X.

[0047] Based on this, such as Figure 1 and 2 As shown, the bipolar common drive motor also includes a housing 6. The housing 6 has an internal mounting cavity for accommodating the rotor 2, the stator support 4, and the stator 5.

[0048] To prevent rotor 2 from shifting in the axial direction, in this embodiment, reference is made to... Figure 4 As shown, a limiting member 7 is provided between the housing 6 and the rotor 2. Specifically, the limiting member 7 is fixed to the inner side of the housing 6, for example, by means of screws, clips, or interference fit, and is installed on the inner wall or end cover of the housing 6, so that the limiting member 7 is located at an axial position corresponding to the rotor 2. The limiting member 7 can be an annular retaining ring, a limiting washer, a thrust washer, or a support member with an annular limiting surface, and its inner circumference provides a rotational clearance for the rotor 2 to avoid radial interference between the rotor 2 and the limiting member 7 when the rotor 2 rotates.

[0049] The limiting surface of the limiting member 7 faces the rotor 2, and a preset axial clearance can be provided between the limiting member 7 and the rotor 2. When the rotor 2 tends to move axially due to assembly tolerances, vibration, or electromagnetic force, the end face of the rotor 2 or the limiting part that follows the rotor 2 will contact the limiting surface of the limiting member 7, thereby restricting the rotor 2 from continuing to move axially and suppressing the axial movement of the rotor 2. Optionally, the limiting surface of the limiting member 7 can be provided with a wear-resistant layer or a low-friction material to reduce contact wear and improve operating noise and reliability. In some preferred embodiments, refer to Figure 1 As shown, the housing 6 may include an upper housing 6a and a lower housing 6b. The upper housing 6a and the lower housing 6b are arranged opposite to each other along the output shaft axis and are detachably connected to form a cavity for accommodating the rotor 2 and related components. The connection between the upper housing 6a and the lower housing 6b can be a screw connection, a snap-fit ​​connection, a snap ring connection, or other detachable connection methods, and the present invention is not limited to this.

[0050] Optionally, the upper housing 6a and / or the lower housing 6b are provided with positioning structures for positioning and mating, such as positioning bosses and positioning holes, positioning shoulders and positioning grooves, to ensure the coaxiality and sealing reliability of the upper housing 6a and the lower housing 6b after assembly. Further optionally, the upper housing 6a and / or the lower housing 6b may integrate end cap structures or form end walls to provide an assembly reference for the rotor 2 in the axial direction and to provide a mounting surface or mounting position for the installation of the limiting member 7.

[0051] When the motor is working, the stator phases are switched on and off and commutated according to a predetermined current waveform, causing the stator 5 to generate a rotating magnetic field distributed circumferentially on the stator support 4. This rotating magnetic field interacts with the magnetic field generated by multiple permanent magnets 3 on the rotor 2, generating electromagnetic forces along the same circumferential direction on two circumferentially adjacent permanent magnets 3 at corresponding positions on each set of stators.

[0052] Taking a certain moment as an example, the magnetic path of the permanent magnet 3a on the front side of the rotation direction of a certain group of stators 5 is clockwise, and the magnetic path of the permanent magnet 3b on the rear side of the rotation direction is counterclockwise. However, since the magnetic poles of permanent magnets 3a and 3b are opposite, the direction of their action on rotor 2 is the same rotation direction, thus combining to create a driving torque on rotor 2. As the stator current changes sequentially, the stator groups participating in commutation "move" circumferentially over time, driving rotor 2 to rotate continuously, and the output shaft 1 transmits this torque to the external load.

[0053] In this embodiment, the rotor 2 and the stator support 4 are arranged coaxially, and the relative positional relationship between the permanent magnet 3 and the stator 5 is guaranteed by machining and assembly precision. The entire motor structure is compact and has high space utilization, making it suitable for applications requiring high torque density, miniaturization, and integration with gear mechanisms.

[0054] By extending the magnetic pole axes of multiple permanent magnets 3 along the rotation direction Y of the rotor 2 and making them basically tangent to the circumference of the rotation, and with the magnetic pole axes of two adjacent permanent magnets 3 pointing in opposite directions, the magnetic flux generated by the permanent magnets is mainly concentrated in the annular space between the rotor 2 and the stator support 4, and is distributed alternately along the circumference. The stator support 4 is arranged around the outside of the rotor 2, and the stator 5 is set on the stator support 4. The three are arranged around the same center on a section perpendicular to the output shaft axis X. Most of the effective magnetic field lines generated by the permanent magnets 3 are closed through the stator 5.

[0055] Compared to traditional radial flux motors with a more dispersed magnetic flux distribution, the magnetic flux coupling between the permanent magnet 3 and the stator 5 in this embodiment is more compact, improving magnetic flux utilization and achieving a higher output torque density with the same volume and material usage. This allows both sides of the stator 5 and the permanent magnet 3 to fully participate in the work, reducing material usage. Along the rotation direction Y, each set of stators 5 simultaneously forms an electromagnetic force with the two permanent magnets 3 on its adjacent sides, generating electromagnetic forces acting in the same direction on these two permanent magnets 3 when energized. Thus, the conductors on both sides of the same set of stators 5 participate in driving the rotor 2, and the magnetic poles on both sides of the same permanent magnet 3 are also fully utilized.

[0056] Each set of stators simultaneously generates electromagnetic torques in the same direction on two circumferentially adjacent permanent magnets 3, but with the same direction of rotation of the rotor 2. This is equivalent to acting on the same local area of ​​the rotor in a "pull-pull-pull" manner on the rotor circumference. Different winding groups alternately participate in energizing in the circumferential direction, making the driving torque more evenly distributed in space. This symmetrical electromagnetic force action helps to reduce electromagnetic torque pulsation, reduce mechanical vibration and noise caused by uneven force, thereby improving the running stability of the motor and the service life of mechanical components such as bearings.

[0057] The output shaft 1, rotor 2, stator support 4, and stator 5 are all coaxially arranged around the same output shaft axis X, and the overall structure is relatively compact in both the axial and radial directions. Therefore, the bipolar common drive motor of this embodiment is particularly suitable for application scenarios with high requirements for size, weight, and integration. Example 2

[0058] According to one aspect of the present invention, a bipolar common drive motor is provided, with reference to... Figures 1 to 9 As shown, the bipolar common drive motor includes at least an output shaft 1, a rotor 2, a stator support 4, and a stator 5. The output shaft 1 has an output shaft axis X. The output shaft 1 is supported in the housing 6 by bearings 8 and can be connected to an external load through a coupling or the like to output the torque generated by the motor to the load side.

[0059] The cross-section of rotor 2 can be circular, square, or any common planar shape. (Reference) Figure 6 As shown, the rotor 2 is circumferentially arranged with multiple permanent magnets 3 along the output shaft axis X. The present invention does not limit the specific number of permanent magnets 3, and those skilled in the art can set it according to the actual situation. For example, in some embodiments, the number of permanent magnets 3 is 3, 5, 8, 10, 12, etc.

[0060] In one implementation, such as Figures 6 to 9 As shown, the rotor 2 includes a rotating component 21 that rotates about the axis of the output shaft 1. The rotating component 21 can be a disc structure or a ring structure. The present invention does not make a specific limitation. However, regardless of the structure of the rotating component 21, the rotating component 21 is arranged coaxially with the output shaft 1 and supported on the housing 6 by the bearing 8, and can rotate freely about the axis of the output shaft 1.

[0061] In some embodiments, the bipolar common drive motor may also include a stator support 4, with the stator wound around it. The stator support 4 may have a C-shaped cross-section, a notched square cross-section, or a notched circular cross-section, and is at least partially arranged around the outside of the rotor 2. Specifically, it is at least partially arranged around the outside of the rotating member 21, that is, on a cross-section perpendicular to the axis of the output shaft 1, the rotating member 21 is located on the inside, and the stator support 4 is located on the outside, with an annular gap between them to form an air gap. The stator 5 is wound around the stator support 4, so that the stator 5 is distributed in a ring around the rotating member 21.

[0062] Based on this, each permanent magnet 3 can be an arc-shaped magnet or a regular block magnet. Multiple mounting slots for accommodating the permanent magnets 3 are formed on the circumferential outer wall of the rotating component 21 along the rotation direction Y. The shape of the mounting slots can be rectangular, arc-shaped, or other slot shapes that match the shape of the permanent magnets 3. Each permanent magnet 3 is at least partially embedded in the rotating component 21, meaning a portion of the volume of the permanent magnet 3 is embedded in the mounting slot, while the side facing the stator support 4 is exposed on the outer circumferential surface of the rotating component 21. The permanent magnets 3 are fixed to the rotating component 21 by means of adhesive, interference fit, or mechanical pressure plates to ensure that the permanent magnets 3 will not loosen or be thrown out under high-speed rotation conditions.

[0063] The magnetic pole axis Lm of each permanent magnet 3 extends along the rotation direction Y of the rotor 2, making the magnetic pole axis Lm substantially tangent to the rotation circumference of the rotor 2. That is, the magnetic pole axis Lm of each permanent magnet 3 is substantially tangent to the rotation circumference of the rotating component 21. Along the circumferential direction of the output shaft axis X, the magnetic pole axes Lm of two adjacent permanent magnets 3 point in opposite directions, that is, the magnetic pole axis Lm of one permanent magnet 3 points in a clockwise direction, and the magnetic pole axis Lm of the adjacent permanent magnet 3 points in a counterclockwise direction, thus forming a pair of magnetic poles with alternating magnetization directions on the rotor circumference.

[0064] In some implementations, the transmission component 22 can be a custom-made component, for example... Figure 8 As shown, the transmission component has a receiving portion 221 and a connecting portion 222. The receiving portion 221 is hollow and preferably has a cylindrical or annular structure. It is used to receive and support the rotating component 21, allowing the rotating component 21 to be coaxially mounted relative to the transmission component 22 at a predetermined position and to be limited in the radial and / or axial directions. The receiving portion 221 can be fixedly connected to the rotating component 21 by means of interference fit, key connection, fasteners, or bonding, thereby reliably transmitting the driving torque acting on the rotating component 21 to the transmission component 22.

[0065] One end of the connecting portion 222 is connected to the outer wall of the receiving portion 221, preferably as an integral connection structure, such as integrally machined or welded, while the other end is connected to the output shaft 1. The connecting portion 222 may have a cylindrical section, a splined section, or a keyway structure, and is fixed to the output shaft 1 by means of interference fit, key connection, spline connection, etc., so that the transmission component 22 and the output shaft 1 maintain a reliable connection in both the axial and circumferential directions. With the above structural arrangement, when the rotating component 21 rotates under the action of electromagnetic torque, the driving torque it generates is transmitted to the connecting portion 222 via the receiving portion 221, and then transmitted to the output shaft 1 by the connecting portion 222, realizing the output of mechanical energy by the bipolar common drive motor.

[0066] To reduce the weight of the connection portion 222, in some embodiments, reference is made to... Figures 5 to 7As shown, multiple through holes 2221 can also be formed on the connecting part 222. The through holes 2221 can be circular holes, oblong holes or other regular shapes. Multiple through holes 2221 are distributed at intervals to reduce the weight of the connecting part 222 while ensuring the overall strength and rigidity of the connecting part 222.

[0067] Preferably, the size and distribution of the through holes 2221 can be optimized according to the torque and bending moment borne by the connecting part 222. For example, multiple through holes 2221 can be arranged in a ring or symmetrically with respect to the axis of the output shaft 1 to avoid stress concentration and imbalance caused by local weakening. With the above structural design, the mass of the connecting part 222 is effectively reduced without affecting the connection reliability and torque transmission capability between the transmission component 22 and the output shaft 1, thereby reducing the rotational inertia of the rotating component 21 and the transmission component 22 assembly, which is beneficial to improving the dynamic response performance of the motor and reducing energy loss.

[0068] In this embodiment, the stator support 4 is an integral annular structure, and only one stator support 4 is provided. Preferably, the inner contour of the stator support 4 is coaxial and substantially concentric with the outer contour of the receiving portion 221, and its inner diameter matches the outer diameter of the receiving portion 221 to form a predetermined air gap between them. There are multiple stators 5, each formed by a coil wound on the stator support 4, and the coil current in two adjacent stators is in opposite directions.

[0069] In other words, when the winding is wired, by adjusting the connection method of the incoming and outgoing lines of the adjacent stators 5, the current in the coils of the two sets of stators 5 arranged circumferentially are energized in opposite directions, thereby forming electromagnetic poles with opposite polarities on the stator support 4. This, together with the permanent magnets 3 arranged alternately along the circumferential magnetization direction, forms an alternately distributed magnetic field in the circumference of the rotor 2, thereby achieving continuous drive of the rotor.

[0070] In a preferred embodiment, each stator 5 includes coils of different phases. Specifically, refer to... Figure 6 As shown, the coil includes at least a first-phase coil 51, a second-phase coil 52, and a third-phase coil 53. These three coils constitute the three phase windings of the motor, for example, corresponding to phases A, B, and C. The first-phase coil 51, second-phase coil 52, and third-phase coil 53 are not electrically connected to each other, but are connected to an external drive circuit through their respective leads, thus forming independent three-phase circuits. Of course, the multi-phase coil may also include a fourth to an nth phase coil; this invention does not impose specific limitations.

[0071] like Figure 6As shown, each phase coil is wound sequentially and alternately on the stator support 4 according to a predetermined phase sequence. Preferably, the first phase coil 51, the second phase coil 52, and the third phase coil 53 are alternately distributed along the rotation direction Y, for example, wound sequentially and alternately on adjacent stator teeth 41 in the order of first phase coil 51—second phase coil 52—third phase coil 53—first phase coil 51…, thereby forming a spatially staggered multi-phase winding structure in the circumferential direction.

[0072] When connecting the windings, the current direction of the same phase coil in two adjacent stators 5 is designed to be opposite. Specifically, for two sets of stators 5 arranged adjacently along the rotation direction Y, the current in the two adjacent first phase coils 5 is designed to be opposite when the phase is turned on by adjusting the connection method of their input and output terminals; the second phase coil 52 and the third phase coil 53 can be connected in the same way as the first phase coil 51.

[0073] Through the above arrangement, on the one hand, it is ensured that the first phase coil 51, the second phase coil 52 and the third phase coil 53 are not electrically connected to each other and form independent phase windings respectively. On the other hand, it makes the current direction of the same phase coil in the stator 5 adjacent along the rotation direction Y opposite. When combined with the permanent magnet 3 on the rotor 2 whose magnetic pole axis points alternately in the circumferential direction, it is beneficial to form an air gap magnetic field distribution with alternating polarity and reasonable phase sequence in the circumferential direction of the stator support body 4, thereby improving the electromagnetic potential waveform and torque output characteristics of the motor.

[0074] In one embodiment, the coil constituting the stator 5 is one or more continuous conductors, which can be spatially divided into a winding section and a advancing section. For example... Figure 8 As shown, the winding segment 54 is at least partially wound around the stator support 4.

[0075] The winding segments 54 in two adjacent stators 5 are electrically connected by an advancing segment 55. Specifically, the advancing segment 55 extends along the rotation direction Y of the motor, spanning the slot area between two adjacent stator teeth 41, connecting the end of the winding segment 54 of the previous stator 5 to the beginning of the winding segment 54 of the next stator 5, thus allowing multiple sets of stators 5 to be formed sequentially from the same conductor. The radial and axial dimensions of the advancing segment 55 can be designed according to the insulation distance and wiring space. Its main function is to achieve conductive connection between different winding segments along the rotation direction Y, while the winding segments 54 are used to at least partially wind the stator support 4 to form an effective number of electromagnetic turns. Through the above structural arrangement, while ensuring the electrical continuity of the stator 5, it is easy to optimize the orientation of the winding segments 54 and the advancing segment 55, thereby taking into account both the electromagnetic performance of the motor and the winding processability.

[0076] refer to Figure 9As shown, the winding section 54 has a C-shaped structure on a cross section perpendicular to the output shaft axis X. Specifically, when the conductor constituting the winding section 54 is wound around the stator support 4 in the circumferential direction, its projection on the cross section forms an open arc-shaped path, which is enclosed by two interconnected approximately radial conductor segments and a conductor segment extending in the circumferential direction. From the overall shape, it is approximately the letter "C".

[0077] In this design, the opening of the C-shaped structure faces the output shaft 1. Specifically, in cross-section, the opening of the C-shaped structure faces the center of the motor, ensuring that one side of the winding section covers the stator support 4, while the opening side faces the axis of the output shaft 1. This C-shaped arrangement ensures that the winding section effectively winds around the stator support 4 to form the required number of electromagnetic turns, while also reserving space for wiring on the radially inner or outer side of the advancing section. This facilitates optimization of the overall coil routing, reduces coil end stacking and crossing, and improves winding processability and insulation reliability.

[0078] In this embodiment, the advancing section 54 of the coil in the same phase is further divided into two parallel groups, each group of coil advancing sections located at both ends of the opening of the C-shaped structure. Specifically, the two groups of advancing sections 54 are respectively arranged on both sides of the opening of the C-shaped structure, ensuring that they extend circumferentially along the stator support 4, and each group of advancing sections is relatively parallel to the circumferential direction. This arrangement not only ensures that the advancing sections are evenly distributed circumferentially in the stator support 4, avoiding excessive crossing or stacking of coils, but also improves the structural stability of the stator coil and the operability of the winding process.

[0079] Because each set of advancing sections is distributed at both ends of the opening in the C-shaped structure, the two sets of advancing sections are relatively separated in their respective positions, further optimizing the coil routing on the stator. This arrangement effectively reduces interference between coils during winding, improves winding efficiency, and provides sufficient space for the arrangement of insulation material and the reliability of coil insulation. This structure not only meets the electromagnetic performance requirements of the motor but also optimizes the overall coil layout, improving the manufacturability of motor manufacturing and product reliability. Figure 7 As shown, in some embodiments, there is a set of stators 5 between every two permanent magnets 3, and the two permanent magnets 3 located on both sides of the stator 5 have the same polarity facing the stator 5. That is, along the rotation direction Y, two adjacent permanent magnets 3a and 3b are randomly selected, and a unit 4a is arranged in the stator support 4 and the corresponding area therein. A set of stators 5 is wound on the unit 4a, so that a set of stators 5 is provided within the circumferential interval corresponding to every two permanent magnets 3a and 3b.

[0080] When designing the magnetization direction of permanent magnet 3, the two permanent magnets 3a and 3b located on opposite sides of the same set of stators 5 are made to have the same polarity facing the stator 5, that is, the magnetic pole axes of permanent magnets 3a and 3b point in opposite directions. For example, as Figure 7 As shown, in a cross section perpendicular to the output shaft axis X, the side of permanent magnet 3a and permanent magnet 3b facing stator 5 is N pole, while the side away from stator 5 is S pole; or conversely, the side facing stator 5c is S pole, and the side away from stator 5c is N pole.

[0081] Since the magnetic pole axes of permanent magnets 3a and 3b point in opposite directions, and the current direction of stator 5 is fixed, the magnetic fields formed on permanent magnets 3a and 3b act in opposite directions, thus generating electromagnetic torques acting in the same direction on permanent magnets 3a and 3b respectively. The superposition of these two electromagnetic torques acting in the same direction is the effective torque that drives rotor 2 to rotate around the output shaft axis X.

[0082] It should be understood that the application of this invention is not limited to the detailed structure and arrangement of the components proposed herein. This invention can have other embodiments and can be implemented and performed in various ways. The foregoing variations and modifications fall within the scope of this invention. It should be understood that the invention disclosed and defined herein extends to all alternative combinations of two or more individual features mentioned or apparent in the text and / or drawings. All these different combinations constitute multiple alternative aspects of the invention. The embodiments described herein illustrate the best known mode for carrying out the invention and will enable those skilled in the art to utilize the invention.

Claims

1. A bipolar common drive motor, characterized in that, include: Output shaft, with an output shaft axis; The rotor rotates circumferentially around the output shaft axis. In the direction of rotation, a plurality of permanent magnets are spaced apart on the rotor. The magnetic pole axis of each permanent magnet extends along the direction of rotation, such that the magnetic pole axis is substantially tangent to the rotation circumference of the rotor, and the magnetic pole axes of two adjacent permanent magnets point in opposite directions. Multiple stators; Along the rotation direction, the permanent magnet generates an electromagnetic force on the two stators on its adjacent sides, an attractive force on the stator on the front side of the rotation, and a pushing force on the stator on the rear side of the rotation.

2. The bipolar common drive motor according to claim 1, characterized in that, The rotor includes a rotating component that rotates about the axis of the output shaft, the stator is at least partially arranged around the outside of the rotating component, and the permanent magnet is at least partially embedded in the rotating component; the rotating component is connected to the output shaft via a transmission component to transmit the driving torque acting on the rotating component to the output shaft.

3. The bipolar common drive motor according to claim 2, characterized in that, The rotating component is a ring gear, and the transmission component is a transmission gear; The annular gear ring is an internal gear ring, and the transmission gear is located on the radial inner side of the internal gear ring. The transmission gear is connected to the output shaft via an intermediate gear component that meshes with the transmission gear. or The ring gear is an external gear ring, and the transmission gear includes a plurality of planetary gears arranged around the external gear ring. Each planetary gear meshes with an intermediate gear component surrounding its outer side, and the gear component is fixedly connected to the output shaft.

4. The bipolar common drive motor according to claim 2, characterized in that, The bipolar common drive motor also includes a stator support body, which is arranged around the rotor and coaxial with the axis of the output shaft. There are multiple stator supports, and a set of stators is wound around each stator support body.

5. The bipolar common drive motor according to any one of claims 2-4, characterized in that, The bipolar common drive motor includes: case; A limiting member, located between the housing and the rotor, and opposite to the permanent magnet in the direction of the output shaft axis, is used to limit the displacement of the rotor in the direction of the output shaft axis.

6. The bipolar common drive motor according to claim 1, characterized in that, The stator includes coils, and the current in the coils of two adjacent stators is in opposite directions.

7. The bipolar common drive motor according to claim 1, characterized in that, The stator includes coils, the coils include multi-phase coils, the multi-phase coils are wound sequentially and at intervals on the stator support along the rotation direction, and the current directions of the same phase coils in two adjacent stators are opposite.

8. The bipolar common drive motor according to claim 6 or 7, characterized in that, The coil includes a winding section and a forward section, the forward section extending along the direction of rotation to connect the winding sections in two adjacent stators, the winding section at least partially winding the stator support.

9. The bipolar common drive motor according to claim 8, characterized in that, The winding section has a C-shaped structure in a cross section perpendicular to the output shaft axis, and the opening of the C-shaped structure faces the rotor.

10. The bipolar common drive motor according to claim 9, characterized in that, The advancing sections of the coils in the same phase are divided into two parallel groups, located at the two ends of the opening of the C-shaped structure, respectively.

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