Torque motor with low torque pulsation

Abstract

The utility model discloses a torque motor with low torque pulsation, which comprises a stator, the stator comprises an outer ring and an inner ring, the inner ring is connected with a rotor, one side of the stator close to the rotor is provided with an installation iron core, the installation iron core is connected with a coil group, and the coil group is connected with the stator. The coil assembly comprises a coil wide end arranged close to one side of the outer ring, and the coil assembly comprises a coil narrow end arranged close to one side of the inner ring. The coil group arranged on the mounting iron core is divided into a coil wide end and a coil narrow end, and the coil turns on the coil wide end are more than the coil turns on the coil narrow end, so that more gaps between the mounting iron cores can be occupied, the gaps can be fully utilized, and in the same gap space between the mounting iron cores, the gap between the mounting iron cores can be fully utilized; and therefore, the working quality of the motor can be improved, and the upper limit of the operation performance of the motor can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of motors, in particular to a torque motor with low torque ripple. Background Technique

[0002] The torque motor directly and rigidly connects the motor output shaft and the load shaft, avoiding the flexibility and backlash of the intermediate connection, and can greatly improve the transmission stiffness; and low torque ripple, that is, low cogging torque, in addition to reducing vibration and noise, reducing low-speed creep, and making it easier to achieve rapid positioning.

[0003] For example, the publication number "CN116638543A" discloses "a variable stiffness joint driver integrating a motor and a reducer", including: a torque motor, which includes a housing, a stator, a rotor, a pin tooth pin, and a pin tooth sleeve; a reducer core, which includes a cycloid gear, a planetary carrier, and an eccentric shaft. However, in actual applications, the coils wound on the iron core adopt a uniform winding method. Since the motor has a stator-rotor and a circular ring structure, the number of turns of the coils can only be based on the size of the inner ring side, and the installation gap between the iron cores is not fully utilized. Summary of the Invention

[0004] Aiming at the problem that the existing technology mentioned in the background technique does not fully utilize the installation gap, the utility model provides a torque motor with low torque ripple, which can fully utilize the installation gap between the installed iron cores, so that the coil group on the installed iron cores can have more turns of coils.

[0005] To achieve the above object, the utility model adopts the following technical solutions.

[0006] A torque motor with low torque pulsation includes a stator, the stator including an outer ring and an inner ring, the inner ring being connected to a rotor, a mounting core being provided on the side of the stator close to the rotor, a coil assembly being connected to the mounting core, the coil assembly including a wide end of the coil provided close to the side of the outer ring, and a narrow end of the coil provided close to the side of the inner ring. In the present application, the stator is provided on the outer ring side of the rotor, wherein the stator is a fixed structure, and the rotor can rotate relative to the stator, a mounting core is provided on the side of the stator close to the rotor, wherein a plurality of mounting cores are provided, and the mounting cores are further evenly distributed along the circumferential direction of the stator, a coil assembly is provided on the mounting core, and magnetism is generated by energizing the coil assembly, thereby driving the rotor to rotate. In the prior art, since a ring-shaped arrangement is adopted and the mounting cores are arranged toward the center of the rotor, and since the cross-sectional area of the mounting cores is the same at all locations, the gaps between adjacent mounting cores form a conical structure. The gaps between adjacent mounting cores are smaller on the side close to the rotor and wider on the side away from the rotor. In the prior art, the number of turns of the coil groups wound on the mounting cores is controlled to be the same at all locations. This results in a larger gap between adjacent coil groups on the side away from the rotor, and the gaps between adjacent coil groups on the side close to the rotor have reached a minimum, which results in insufficient utilization of the gaps between the mounting cores.

[0007] Therefore, in the present application, the coil group arranged on the mounting core is divided into a wide end of the coil and a narrow end of the coil, wherein the number of coil turns on the wide end of the coil is greater than the number of coil turns on the narrow end of the coil, thereby occupying more of the gap between the mounting cores, so that the gap can be more fully utilized, and more coil turns can be obtained within the same gap space between the mounting cores, thereby improving the working quality of the motor and increasing the performance upper limit of the motor operation.

[0008] Preferably, the cross-sectional dimensions of the coil assembly decrease progressively from the wide end of the coil toward the narrow end. The cross-sectional area of the coil assembly decreases progressively from the wide end toward the narrow end, wherein the coil assembly is tapered to maximize utilization of the gap space between the mounting cores and maximize the number of turns in the coil assembly.

[0009] Preferably, along the direction from the wide end of the coil towards the narrow end of the coil, the cross-sectional dimension of the coil group decreases in a stepped manner. In the present application, there is also another setting method for the coil group. In the direction towards the rotor, the cross-sectional area of the coil group decreases in a stepped manner instead of a progressive decrease manner, so that there is a gap between two parts of the coil group with the same cross-sectional dimension. Through this setting method, on the basis of increasing the number of turns of the coil on the wide end side of the coil, it can be ensured that there is a gap between adjacent coil groups instead of a tightly fitting state, thereby improving the heat dissipation effect and avoiding heat accumulation caused by insufficient gaps.

[0010] Preferably, the coil group includes a wide portion provided on one side of the wide end of the coil, and the coil group includes a narrow portion provided on one side of the narrow end of the coil. A stepped surface is formed at the junction between the wide portion and the narrow portion. The coil group includes a wide portion provided on one side of the wide end of the coil and a narrow portion provided on one side of the narrow end of the coil, dividing the coil group into two parts, and a stepped surface is formed between the wide portion and the narrow portion. Thus, the gap between adjacent coil groups is the smallest on the side of the wide portion close to the stepped surface and on the side of the narrow portion away from the stepped surface, while the gap between the remaining parts gradually increases, thereby ensuring sufficient heat dissipation space. At the same time, only two different numbers of turns of winding are provided for the coil group, improving the stability of the coil and reducing the processing difficulty.

[0011] Preferably, a number of layered coil units are provided on the coil group, and stepped surfaces are provided between the respective layered coil units. A number of layered coil units are provided on the coil group. Among them, since there are multiple coil units, stepped surfaces are formed between the respective layered coil units, thereby ensuring the uniformity of heat dissipation. At the same time, within the region of each respective layered coil unit, the cross-sectional area of each layered coil unit reaches the maximum value, thereby increasing the number of turns of the coil winding. On the basis of ensuring heat dissipation, the upper limit of the number of turns of the coil is maximally increased.

[0012] Preferably, along the stator axis direction, the mounting iron core is obliquely offset. In the present application, the mounting iron core is obliquely offset, so that the magnetic resistance between the rotor and the air gap is reduced, a more uniform magnetic field can be generated, thereby reducing certain vibration and noise, and improving the efficiency and stability of the motor. At the same time, the residual cogging torque after adopting fractional slots and eccentric pole arcs can also be further weakened.

[0013] Preferably, a number of magnets are provided on the side of the rotor close to the stator, and the magnetism alternates. By providing a number of magnets to alternate, the rotor can be driven to work.

[0014] Preferably, an eccentric pole arc is provided on the magnet. Providing the eccentric pole arc can minimize torque ripple in terms of the motor topology.

[0015] Preferably, the stator adopts a fractional-slot concentrated winding. Using fractional slots can minimize torque ripple in terms of the motor topology.

[0016] The beneficial effects of the present utility model are as follows:

[0017] (1) It can make full use of the installation gap between the installed iron cores, enabling the coil groups on the installed iron cores to have more turns of coils;

[0018] (2) By means of the fractional-slot combination and the eccentric pole arc on the magnet, torque ripple can be minimized as much as possible in terms of the motor topology;

[0019] (3) The installed iron cores adopt skewed slots, and the corresponding coil groups are also inclined at an equal angle, which can further weaken the residual cogging torque after using fractional slots and eccentric pole arcs;

[0020] (4) The torque ripple can be controlled within an acceptable range by adjusting the angle of the skewed slots of the installed iron cores, so as to avoid excessively weakening the effective torque of the torque motor. Description of the Drawings

[0021] Figure 1 is an axonometric view of the present utility model.

[0022] Figure 2 is an axonometric view of the stator in the present utility model.

[0023] Figure 3 is Figure 1 a partial enlarged view of part A in

[0024] Figure 4 is a partial structural schematic diagram of Embodiment 1.

[0025] Figure 5 is a partial structural schematic diagram of Embodiment 2.

[0026] Figure 6 is a partial structural schematic diagram of Embodiment 3.

[0027] Figure 7 is a structural schematic diagram of the rotor in the present utility model.

[0028] In the figure:

[0029] 1 Stator, 11 Outer ring, 12 Inner ring, 13 Installed iron core;

[0030] 2 Rotor;

[0031] 3 Magnet, 31 Eccentric pole arc;

[0032] 4 - coil group, 41 wide end of the coil, 42 narrow end of the coil, 43 wide part, 44 narrow part, 45 step surface, 46 stratified coil unit. Detailed implementation

[0033] The present utility model will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0034] Embodiment 1:

[0035] As Figure 1 、 2 shown, a torque motor with low torque ripple includes a stator 1, the stator 1 includes an outer ring 11 and an inner ring 12, the inner ring 12 is connected with a rotor 2, a mounting iron core 13 is arranged on one side of the stator 1 close to the rotor 2, a coil group 4 is connected to the mounting iron core 13, the coil group 4 includes a wide end 41 of the coil arranged on one side close to the outer ring 11, and the coil group 4 includes a narrow end 42 of the coil arranged on one side close to the inner ring 12. In this application, the stator 1 is arranged on the outer side of the rotor 2, wherein the stator 1 is a fixed structure, while the rotor 2 can rotate relative to the stator 1. A mounting iron core 13 is arranged on one side of the stator 1 close to the rotor 2, and a plurality of mounting iron cores 13 are arranged, and further the mounting iron cores 13 are evenly distributed along the circumferential direction of the stator 1. A coil group 4 is arranged on the mounting iron core 13, and magnetic force is generated by energizing the coil group 4, so as to drive the rotor 2 to rotate. In the prior art, due to the annular arrangement method and the mounting iron core 13 being arranged towards the center direction of the rotor 2, since the cross-sectional areas of the mounting iron cores 13 at each place are the same, the gap between adjacent mounting iron cores 13 is in a conical structure, the gap between adjacent mounting iron cores 13 is smaller on the side close to the rotor 2 and wider on the side far from the rotor 2. In the prior art, the number of turns of the coil group 4 wound on the mounting iron core 13 is controlled to be the same at each place, which results in a large gap between adjacent coil groups 4 on the side far from the rotor 2, while the gap between adjacent coil groups 4 on the side close to the rotor 2 has reached the minimum, which leads to the insufficient utilization of the gap between the mounting iron cores 13.

[0036] Therefore, in this application, the coil group 4 arranged on the mounting iron core 13 is divided into a wide end 41 of the coil and a narrow end 42 of the coil, wherein the number of turns of the coil on the wide end 41 of the coil is more than that of the coil on the narrow end 42 of the coil, so that it will occupy more gaps between the mounting iron cores 13, thus being able to make more full use of the gaps. In the same gap space between the mounting iron cores 13, more turns of the coil can be obtained, and further the working quality of the motor can be improved and the performance upper limit of the motor operation can be increased.

[0037] As Figure 4As shown, along the direction from the wide end 41 of the coil towards the narrow end 42 of the coil, the cross-sectional dimension of the coil group 4 gradually decreases. Along the direction from the wide end 41 of the coil towards the narrow end 42 of the coil, the cross-sectional area of the coil number is set to gradually decrease, and the decreasing method is a progressive decrease, that is, the shape of the coil group 4 is set to a conical structure, so as to make the best use of the gap space between the mounting iron cores 13 and maximize the number of turns of the coils in the coil group 4.

[0038] As Figure 2 shown, along the axis direction of the stator 1, the mounting iron core 13 is obliquely offset. In this application, the mounting iron core 13 is obliquely offset, so that the magnetic resistance between the rotor 2 and the air gap is reduced, a more uniform magnetic field can be generated, vibration and noise can be reduced to a certain extent, and the efficiency and stability of the motor can be improved. At the same time, the residual cogging torque after using fractional slots and eccentric pole arcs 31 can be further weakened.

[0039] As Figure 1 、 7 shown, several magnets 3 are arranged on the side of the rotor 2 close to the stator 1, and the magnetism of the magnets 3 changes alternately. By arranging several magnets 3 to change alternately, the rotor 2 can be driven to work.

[0040] As Figure 7 shown, an eccentric pole arc 31 is arranged on the magnet 3. Arranging the eccentric pole arc 31 can reduce the torque ripple as much as possible from the motor topology.

[0041] As Figure 1 shown, the stator 1 adopts a fractional-slot concentrated winding. Setting fractional slots can reduce the torque ripple as much as possible from the motor topology.

[0042] The assembly and working process of the torque motor with low torque ripple in this embodiment are as follows: In this embodiment, a stator 1 and a rotor 2 are provided, both of which are annular structures. A number of mounting iron cores 13 are arranged on the side of the stator 1 facing the rotor 2. Among them, the mounting iron cores 13 are all obliquely arranged. A coil group 4 is connected to each mounting iron core 13. In this embodiment, the shape of the coil group 4 is a conical structure. The number of turns of the coil group 4 at the wide end 41 of the coil is set to be more, while the number of turns of the coil group 4 at the narrow end 42 of the coil is set to be less, so as to make full use of the gap between adjacent mounting iron cores 13. A magnet 3 is arranged on the side of the rotor 2 close to the stator 1, and an eccentric pole arc 31 is arranged on the magnet 3. The side of the magnet 3 close to the stator 1 is an arc-shaped structure.

[0043] Embodiment 2:

[0044] As Figure 1 、 2As shown in the figure, a torque motor with low torque ripple includes a stator 1. The stator 1 includes an outer ring 11 and an inner ring 12. The inner ring 12 is connected to a rotor 2. On one side of the stator 1 close to the rotor 2, there is an installation iron core 13. A coil group 4 is connected to the installation iron core 13. The coil group 4 includes a wide-end coil 41 arranged on the side close to the outer ring 11, and the coil group 4 includes a narrow-end coil 42 arranged on the side close to the inner ring 12. In this application, the stator 1 is arranged on the outer side of the rotor 2. Among them, the stator 1 is a fixed structure, while the rotor 2 can rotate relative to the stator 1. On the side of the stator 1 close to the rotor 2, there is an installation iron core 13. Among them, there are several installation iron cores 13. Further, the installation iron cores 13 are evenly distributed along the circumferential direction of the stator 1. A coil group 4 is arranged on the installation iron core 13. By energizing the coil group 4, magnetism is generated, thereby driving the rotor 2 to rotate. In the prior art, due to the annular arrangement method and the installation iron core 13 being arranged towards the center direction of the rotor 2, since the cross-sectional areas of each part of the installation iron core 13 are the same, the gaps between adjacent installation iron cores 13 form a conical structure. The gaps between adjacent installation iron cores 13 are smaller on the side close to the rotor 2 and wider on the side far from the rotor 2. In the prior art, the number of turns of the coil group 4 wound on the installation iron core 13 is controlled to be the same everywhere. This results in a large gap between adjacent coil groups 4 on the side far from the rotor 2, while the gap between adjacent coil groups 4 on the side close to the rotor 2 has reached the minimum. This leads to the insufficient utilization of the gaps between the installation iron cores 13.

[0045] Therefore, in this application, the coil group 4 arranged on the installation iron core 13 is divided into a wide-end coil 41 and a narrow-end coil 42. Among them, the number of turns of the coil on the wide-end coil 41 is more than that of the coil on the narrow-end coil 42, thereby occupying more gaps between the installation iron cores 13, so that the gaps can be utilized more fully. In the same gap space between the installation iron cores 13, more turns of coils can be obtained, and thus the working quality of the motor can be improved, and the performance upper limit of the motor operation can be increased.

[0046] As Figure 3 , 5 shown, along the direction from the wide-end coil 41 towards the narrow-end coil 42, the cross-sectional dimension of the coil group 4 decreases in a stepped manner. In this application, there is also another setting method for the coil group 4. In the direction towards the rotor 2, the cross-sectional area of the coil group 4 is decreased in a stepped manner instead of in a progressive manner, so that there is a gap between two parts of the coil group 4 with the same cross-sectional dimension. Through this setting method, on the basis of increasing the number of turns of the coil on the wide-end coil 41 side, it can be ensured that there is a gap between adjacent coil groups 4 instead of being in a closely attached state, thereby improving the heat dissipation effect and avoiding heat accumulation caused by insufficient gaps.

[0047] As shown in Figure 3 and 5 Figure, the coil group 4 includes a wide portion 43 disposed on one side of the wide end 41 of the coil, and the coil group 4 includes a narrow portion 44 disposed on one side of the narrow end 42 of the coil. A stepped surface 45 is formed at the junction between the wide portion 43 and the narrow portion 44. The coil group 4 includes a wide portion 43 disposed on one side of the wide end of the coil and a narrow portion 44 disposed on one side of the narrow end of the coil, dividing the coil group 4 into two parts, and a stepped surface 45 is formed between the wide portion 43 and the narrow portion 44, so that the gap between adjacent coil groups 4 is minimized on the side of the wide portion 43 close to the stepped surface 45 and on the side of the narrow portion 44 far from the stepped surface 45, while the gap between the remaining parts gradually increases, thereby ensuring sufficient heat dissipation space. At the same time, the coil group 4 is only wound with two different numbers of turns, improving the stability of the coil and reducing the processing difficulty.

[0048] As shown in Figure 2 Figure, along the axis direction of the stator 1, the mounting iron core 13 is obliquely offset. In this application, the mounting iron core 13 is obliquely offset, so that the magnetic resistance between the rotor 2 and the air gap is reduced, a more uniform magnetic field can be generated, thereby reducing certain vibrations and noises, and improving the efficiency and stability of the motor. At the same time, the residual cogging torque after adopting fractional slots and eccentric pole arcs 31 can also be further weakened.

[0049] As shown in Figure 1 and 7 Figure, several magnets 3 are arranged on the side of the rotor 2 close to the stator 1, and the magnetism of the magnets 3 alternates. By arranging several magnets 3 to alternate, the rotor 2 can be driven to work.

[0050] As shown in Figure 7 Figure, an eccentric pole arc 31 is provided on the magnet 3. Providing the eccentric pole arc 31 can reduce the torque ripple as much as possible from the motor topology.

[0051] As shown in Figure 1 Figure, the stator 1 adopts a fractional-slot concentrated winding. Setting fractional slots can reduce the torque ripple as much as possible from the motor topology.

[0052] Embodiment 3:

[0053] As shown in Figure 1 and 2As shown, a torque motor with low torque pulsation includes a stator 1, which includes an outer ring 11 and an inner ring 12. The inner ring 12 is connected to the rotor 2. A mounting core 13 is provided on the side of the stator 1 close to the rotor 2. A coil assembly 4 is connected to the mounting core 13. The coil assembly 4 includes a wide coil end 41 provided close to the outer ring 11, and a narrow coil end 42 provided close to the inner ring 12. In the present application, the stator 1 is provided on the outer ring side of the rotor 2, wherein the stator 1 is a fixed structure, and the rotor 2 can rotate relative to the stator 1. A mounting core 13 is provided on the side of the stator 1 close to the rotor 2, wherein a plurality of mounting cores 13 are provided, and the mounting cores 13 are further evenly distributed along the circumferential direction of the stator 1. The coil assembly 4 is provided on the mounting core 13. When the coil assembly 4 is energized, magnetism is generated, thereby driving the rotor 2 to rotate. In the prior art, since an annular arrangement is adopted and the mounting core 13 is arranged toward the center of the rotor 2, and since the cross-sectional area of each portion of the mounting core 13 is the same, the gap between adjacent mounting cores 13 forms a conical structure. The gap between adjacent mounting cores 13 is smaller on the side close to the rotor 2 and wider on the side away from the rotor 2. In the prior art, the number of turns of the coil group 4 wound on the mounting core 13 is controlled to be the same at each portion. This results in a larger gap between adjacent coil groups 4 on the side away from the rotor 2, while the gap between adjacent coil groups 4 on the side close to the rotor 2 has reached a minimum, which results in insufficient utilization of the gap between the mounting cores 13.

[0054] Therefore, in the present application, the coil group 4 arranged on the mounting core 13 is divided into a coil wide end 41 and a coil narrow end 42, wherein the number of coil turns on the coil wide end 41 is greater than the number of coil turns on the coil narrow end 42, thereby occupying more of the gap between the mounting cores 13, so that the gap can be more fully utilized, and more coil turns can be obtained within the same gap space between the mounting cores 13, thereby improving the working quality of the motor and improving the performance upper limit of the motor operation.

[0055] like Figure 6 As shown, the cross-sectional dimensions of the coil assembly 4 decrease in a step-wise manner from the wide end 41 of the coil toward the narrow end 42 of the coil. In the present application, there is another arrangement of the coil assembly 4, in which the cross-sectional area of the coil assembly 4 decreases in a step-wise manner in the direction toward the rotor 2, rather than in a gradual manner, so that a gap exists between two portions of the coil assembly 4 with the same cross-sectional dimensions. This arrangement ensures that, while increasing the number of coil turns on the side of the wide end 41 of the coil, adjacent coil assemblies 4 are spaced apart, rather than being tightly fitted. This improves heat dissipation and avoids heat accumulation due to insufficient clearance.

[0056] As shown Figure 6 in the figure, a plurality of stratified coil units 46 are provided on the coil group 4, and a stepped surface 45 is provided between the respective stratified coil units 46. A plurality of stratified coil units 46 are provided on the coil group 4. Among them, since there are multiple coil units, a stepped surface 45 is formed between the stratified coil units 46 in each coil, thereby ensuring the uniformity of heat dissipation. At the same time, within the region of each stratified coil unit 46, the cross-sectional area of each stratified coil unit 46 reaches the maximum value, thereby increasing the number of turns of the coil winding. On the basis of ensuring heat dissipation, the upper limit of the number of turns of the coil is maximized.

[0057] As shown Figure 2 in the figure, along the axis direction of the stator 1, the mounting core 13 is obliquely offset. In the present application, the mounting core 13 is obliquely offset, so that the magnetic resistance between the rotor 2 and the air gap is reduced, a more uniform magnetic field can be generated, thereby reducing certain vibrations and noises, and improving the efficiency and stability of the motor. At the same time, the residual cogging torque after adopting fractional slots and eccentric pole arcs 31 can be further reduced.

[0058] As shown Figure 1 and 7 in the figure, a plurality of magnets 3 are provided on the side of the rotor 2 close to the stator 1, and the magnetism of the magnets 3 changes alternately. By providing a plurality of magnets 3 to change alternately, the rotor 2 can be driven to work.

[0059] As shown Figure 7 in the figure, an eccentric pole arc 31 is provided on the magnet 3. The provision of the eccentric pole arc 31 can reduce the torque ripple as much as possible from the motor topology.

[0060] As shown Figure 1 in the figure, the stator 1 adopts a fractional-slot concentrated winding. The provision of fractional slots can reduce the torque ripple as much as possible from the motor topology.

Claims

1. A torque motor with low torque ripple, characterized in that The invention comprises a stator (1), wherein the stator (1) comprises an outer ring (11) and an inner ring (12), wherein the inner ring (12) is connected to a rotor (2), and a mounting core (13) is provided on a side of the stator (1) close to the rotor (2), wherein a coil group (4) is connected to the mounting core (13), wherein the coil group (4) comprises a coil wide end (41) arranged close to a side of the outer ring (11), and wherein the coil group (4) comprises a coil narrow end (42) arranged close to a side of the inner ring (12).

2. A torque motor with low torque ripple according to claim 1, characterized in that The cross-sectional dimensions of the coil assembly (4) decrease gradually in a direction from the wide end (41) of the coil toward the narrow end (42) of the coil.

3. The torque motor with low torque ripple according to claim 1, characterized in that The cross-sectional size of the coil assembly (4) decreases in a discontinuous manner in a direction from the wide end (41) of the coil toward the narrow end (42) of the coil.

4. A torque motor with low torque ripple according to claim 3, characterized in that The coil assembly (4) includes a wide portion (43) arranged on one side of the wide end (41) of the coil, and the coil assembly (4) includes a narrow portion (44) arranged on one side of the narrow end (42) of the coil, and a step surface (45) is formed at the junction between the wide portion (43) and the narrow portion (44).

5. The torque motor with low torque ripple according to claim 3, characterized in that, The coil group (4) is provided with a plurality of layered coil units (46), and step surfaces (45) are provided between each layered coil unit (46).

6. A torque motor with low torque ripple according to any one of claims 1-5, characterized in that Along the axial direction of the stator (1), the mounting core (13) is arranged in an oblique offset manner.

7. A torque motor with low torque ripple according to any one of claims 1-5, characterized in that A plurality of magnets (3) are provided on a side of the rotor (2) close to the stator (1), and the magnetism of the magnets (3) changes alternately.

8. A torque motor with low torque ripple according to claim 7, characterized in that, An eccentric pole arc (31) is provided on the magnet (3).

9. A torque motor with low torque ripple according to any one of claims 1-5, characterized in that The stator (1) adopts fractional slot concentrated winding.

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