Rotor iron core, motor rotor, rotating motor and carrying vehicle

Abstract

The utility model provides a rotor iron core, a motor rotor, a rotary motor and a carrier, a plurality of magnet grooves distributed around the axis of the rotor iron core are formed in the rotor iron core, the plurality of magnet grooves divide the rotor iron core into a plurality of magnetic conductive parts, and the magnetic conductive part on at least one side of the magnet grooves along the circumferential direction is provided with an adjusting hole. The adjusting holes are arranged in a non-axisymmetric manner with respect to the magnet groove. In the rotor iron core provided by the utility model, the adjusting holes in the side surfaces of the magnet grooves are asymmetrically arranged relative to the q axis, so that the asymmetry between d-axis inductance and q-axis inductance can be expanded, the reluctance torque is further improved, the cogging torque, the torque pulsation and the air gap harmonic distortion rate are reduced, and the transmission efficiency and the reliability of the rotating motor are improved.

Description

Technical Field

[0001] The utility model relates to the field of motors, in particular to a rotor core, a motor rotor comprising the rotor core, a rotating motor comprising the motor rotor, and a transport vehicle comprising the rotating motor. Background Art

[0002] Rotating motors are widely used in automobiles, industrial automation, robotics and other fields. Rotating motors are generally composed of stators, rotors and related accessories. The structural composition of rotating motors varies in different application scenarios. The rotor of a permanent magnet synchronous motor is composed of a rotor core, permanent magnets and a rotating shaft. The motor rotor is an important magnetic field transmission medium of the rotating motor. It interacts with the stator magnetic field to realize the electromechanical energy conversion of the motor.

[0003] The motor rotor structure of existing permanent magnet synchronous motors often has problems such as low overall strength, low torque density, and edge magnetic leakage, resulting in poor transmission efficiency and reliability of the rotating motor and high manufacturing cost.

[0004] Therefore, how to provide a motor rotor structure with good magnetic field concentration effect, high structural strength and the ability to improve motor transmission efficiency has become a technical problem that needs to be urgently solved in this field. Utility Model Content

[0005] The present invention aims to, to a certain extent, address one of the technical problems in the related art. To this end, the present invention provides a rotor core, a motor rotor including the rotor core, a rotating motor including the motor rotor, and a transport vehicle including the rotating motor. The rotor core has excellent magnetic field concentration, high structural strength, and is capable of improving motor transmission efficiency.

[0006] To achieve the above-mentioned purpose, as one aspect of the present invention, a rotor core is provided, in which a plurality of magnet slots distributed around the axis of the rotor core are formed, and the plurality of magnet slots separate the rotor core into a plurality of magnetic conductive parts, and the magnetic conductive parts on at least one side of the magnet slot along the circumferential direction are provided with adjustment holes, and the adjustment holes are arranged non-axisymmetrically with respect to the magnet slot.

[0007] Optionally, the adjustment hole includes at least one first adjustment hole and at least one second adjustment hole respectively located on both sides of the magnet slot.

[0008] Optionally, the first adjustment hole and the second adjustment hole on both sides of the magnet slot have different shapes.

[0009] Optionally, the cross-sectional shape of the first adjustment hole and the cross-sectional shape of the second adjustment hole are similar figures, that is, the cross-sectional contour pattern of the first adjustment hole and the cross-sectional contour pattern of the second adjustment hole are consistent but different in size.

[0010] Optionally, the cross-sectional shape of the adjustment hole is any one of a rectangle, a rounded rectangle, a parallelogram, a triangle, a circle, an ellipse, a trapezoid, and a fan.

[0011] Optionally, the cross-sectional shape of the first adjustment hole is any one of a rectangle, a rounded rectangle, a parallelogram, a triangle, a circle, an ellipse, a trapezoid, and a sector; and the cross-sectional shape of the second adjustment hole is any one of a rectangle, a rounded rectangle, a parallelogram, a triangle, a circle, an ellipse, a trapezoid, and a sector.

[0012] Optionally, at least one of the adjustment holes is interconnected with the magnet slot.

[0013] Optionally, the first adjustment holes and the second adjustment holes on both sides of the magnet slot are symmetrically distributed about the magnet slot axis.

[0014] Optionally, the first adjustment hole and the second adjustment hole on both sides of the magnet slot are asymmetrically positioned with respect to the magnet slot. Specifically, the distance between the first adjustment hole and the magnet slot is different from the distance between the second adjustment hole and the magnet slot; and / or

[0015] The shortest distance between the first adjustment hole and the outer circumferential surface of the rotor core is different from the shortest distance between the second adjustment hole and the outer circumferential surface of the rotor core.

[0016] Optionally, the distance between the first adjustment hole and the magnet slot is greater than or equal to 0.2 times the radius of the rotor core and less than or equal to 0.7 times the radius of the rotor core, and the distance between the second adjustment hole and the magnet slot is greater than or equal to 0.2 times the radius of the rotor core and less than or equal to 0.7 times the radius of the rotor core.

[0017] Optionally, the shortest distance between the first adjustment hole and the outer peripheral surface of the rotor core is between 0.01 times and 0.1 times the radius of the rotor core, and the shortest distance between the second adjustment hole and the outer peripheral surface of the rotor core is between 0.01 times and 0.1 times the radius of the rotor core.

[0018] Optionally, a radial dimension of the first adjustment hole in the rotor core is less than 0.1 times the radius of the rotor core, and a circumferential dimension of the first adjustment hole in the rotor core is less than 0.1 times the radius of the rotor core;

[0019] The radial dimension of the second adjustment hole is smaller than 0.1 times the radius of the rotor core, and the circumferential dimension of the second adjustment hole is smaller than 0.1 times the radius of the rotor core.

[0020] Optionally, each pair of the first adjustment holes is symmetrically arranged about the symmetry axis of the magnet slots adjacent to each other on both sides, and each pair of the second adjustment holes is symmetrically arranged about the symmetry axis of the magnet slots adjacent to each other on both sides.

[0021] Optionally, the outer contour of the cross section of the rotor core includes multiple flat edges and multiple arc edges that are alternately connected, the positions of the flat edges correspond one-to-one to the positions of the multiple magnet slots and the adjacent adjustment holes on both sides thereof, and the positions of the multiple arc edges correspond one-to-one to the positions of the multiple magnetic conductive parts.

[0022] Optionally, the rotor core includes a plurality of rotor punchings stacked along the axial direction, and the magnet slots, the first adjustment holes, and the second adjustment holes all penetrate the plurality of rotor punchings along the axial direction of the rotor core.

[0023] Optionally, the plurality of rotor punchings are fixed by welding, riveting or bonding.

[0024] Optionally, a plurality of magnetic isolation holes extending along the axis of the rotor core are further formed in the rotor core, and the magnetic isolation holes are located at one end of the magnetic conductive portion facing the axis of the rotor core.

[0025] Optionally, the magnetic isolation hole passes through along the axial direction of the rotor core.

[0026] Optionally, the magnetic isolation hole is fan-shaped.

[0027] As a second aspect of the present invention, a motor rotor is provided, which includes a plurality of permanent magnets and a rotor core provided by an embodiment of the present invention, wherein the plurality of permanent magnets are fixedly disposed in a plurality of magnet slots of the rotor core.

[0028] Optionally, the motor rotor further includes a rotating shaft, and the rotor core is sleeved on the rotating shaft.

[0029] As a third aspect of the present invention, a rotating motor is provided, which includes a motor housing, a stator assembly and a motor rotor provided in an embodiment of the present invention, wherein the stator assembly is arranged around the outside of the motor rotor, and the stator assembly and the motor rotor are both arranged in the motor housing.

[0030] Optionally, two opposite sides of the motor housing are provided with rotating shaft fixing structures, and both ends of the rotating shaft of the motor rotor are movably connected to the rotating shaft fixing structures on both sides respectively.

[0031] As the fourth aspect of the present invention, a transport vehicle is provided, comprising a vehicle body, at least one rotating motor and a plurality of traveling wheels, wherein the traveling wheels are arranged on the vehicle body, and the rotating motor can drive the traveling wheels to rotate to drive the vehicle body to move, and the rotating motor is the rotating motor provided in an embodiment of the present invention.

[0032] In the rotor core, motor rotor, rotating motor and transport vehicle provided by the present invention, the rotor core is of an integrated design, multiple magnetic conductive parts are interconnected as one, and the position of the permanent magnet is fixed by the magnet slot, thereby ensuring the stability of the relative position between the iron core and the permanent magnet in the motor rotor, thereby ensuring the overall structural strength of the rotor core and the uniformity of its outer contour, thereby helping to reduce the motor cogging torque, torque fluctuation and air gap harmonic distortion rate, and can effectively ensure the motor transmission efficiency and reliability. At the same time, it can also reduce the difficulty of machining the rotor core, thereby reducing the manufacturing cost of the rotating motor.

[0033] Furthermore, an adjustment hole is provided on at least one side of the magnet slot, which can adjust the air gap magnetic field distribution and reduce the magnetic flux leakage at the end of the magnet slot, thereby ensuring the magnetic concentration of the motor rotor, improving the torque density of the motor rotor, and further improving the transmission efficiency of the motor. Under the same magnetic field strength requirement, the material used for the permanent magnet can be effectively reduced, thereby reducing the material cost of the permanent magnet.

[0034] At the same time, the adjustment hole is arranged non-axisymmetrically about the q-axis, thereby expanding the asymmetry between the d-axis inductance and the q-axis inductance, thereby improving the reluctance torque and reducing the slot torque, torque pulsation and air gap harmonic distortion rate, further improving the torque density, transmission efficiency and weak magnetic control performance of the rotating motor, ensuring the transmission efficiency and reliability of the rotating motor, and thus ensuring the power performance of the transport vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The present invention will be further described below with reference to the accompanying drawings:

[0036] Figure 1 This is a schematic structural diagram of the rotor core provided by an embodiment of the present utility model;

[0037] Figure 2 This is a schematic diagram of the partial structure of the rotor core provided by an embodiment of the present utility model;

[0038] Figure 3 This is a schematic diagram of the partial structure of the rotor core provided by an embodiment of the present utility model;

[0039] Figure 4 This is a schematic diagram of the partial structure of the rotor core provided by an embodiment of the present utility model;

[0040] Figure 5 This is a schematic diagram of the partial structure of the rotor core provided by an embodiment of the present utility model;

[0041] Figure 6 This is a schematic diagram of the partial structure of the rotor core provided by an embodiment of the present utility model;

[0042] Figure 7 This is a schematic diagram of the partial structure of the rotor core provided by an embodiment of the present utility model;

[0043] Figure 8 This is a schematic diagram of the partial structure of the rotor core provided by an embodiment of the present utility model;

[0044] Figure 9 This is a schematic diagram of the partial structure of the rotor core provided by an embodiment of the present utility model;

[0045] Figure 10 It is a structural schematic diagram of the motor rotor provided by an embodiment of the utility model.

[0046] Description of reference numerals:

[0047] Rotor core 100 ; magnetic conductive portion 101 ; magnet slot 110 ; adjustment hole 120 ; first adjustment hole 121 ; second adjustment hole 122 ; magnetic isolation hole 130 ; shaft hole 140 ; permanent magnet 200 ; flat edge a1 ; arc edge a2 . DETAILED DESCRIPTION

[0048] The following describes in detail embodiments of the present invention, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described in the embodiments are intended to explain the present invention and are not to be construed as limiting the present invention.

[0049] References in this specification to "one embodiment," "an example," or "an example" mean that a particular feature, structure, or characteristic described in connection with the embodiment itself can be included in at least one embodiment disclosed herein. The appearance of the phrase "in one embodiment" in various places in the specification does not necessarily refer to the same embodiment.

[0050] In the related art, the rotor core usually adopts a spliced assembly structure or an integrated structure. In the spliced assembly structure, multiple cores and permanent magnets are connected and spliced to form a complete motor rotor structure through plastic (such as BMC material). This solution is not only complex in structure, cumbersome in manufacturing process, and high in manufacturing cost, but also has low connection strength between the cores. Especially when used in high-speed scenarios, there is often a risk of falling off during high-speed rotation. At the same time, due to the separate assembly design, the assembly tolerance during manufacturing will also cause the outer contour of the motor rotor to be uneven, resulting in a series of problems such as large motor cogging torque, large torque fluctuation, large air gap harmonics, etc., affecting the motor transmission efficiency;

[0051] In the integrated structure, the rotor core is a whole, and multiple magnet slots are hollowed out on the rotor core. Multiple permanent magnets are arranged in the magnet slots, which can ensure the overall structural strength of the rotor core and eliminate the problem of uneven outer contour caused by assembly tolerance. However, the existing integrated rotor core structure often has the risk of magnetic leakage at the edge of the outer side of the permanent magnet, resulting in the rotor core's magnetic field not being concentrated, which in turn leads to low torque density, affecting the transmission efficiency of the rotating motor and increasing the cost of magnetic steel.

[0052] In order to solve the above technical problems, as one aspect of the present invention, a rotor core 100 is provided, in which a plurality of magnet slots 110 distributed around the axis of the rotor core 100 are formed. The plurality of magnet slots 110 separate the rotor core 100 into a plurality of magnetic conductive portions 101. An adjustment hole 120 is provided on the magnetic conductive portion 101 on at least one side of the magnet slot 110 along the circumferential direction, and the adjustment hole 120 is arranged non-axisymmetrically with respect to the magnet slot 110.

[0053] It is understandable that if Figure 1 As shown, the circumferential position of the magnet slot 110 is the q-axis (Quadrature Axis, also known as the torque axis) position of the rotor core 100, the first adjustment hole 121 and the second adjustment hole 122 are non-axisymmetrically arranged on both sides of the q-axis, and the circumferential position of the magnetic conductive portion 101 is the d-axis (Direct Axis, also known as the flux axis) position of the rotor core 100.

[0054] The rotor core 100 provided by the present invention is an integrated design, in which multiple d-axis magnetic conductive parts 101 are interconnected as a whole, and the position of the permanent magnet 200 is fixed by the magnet slot 110, thereby ensuring the stability of the relative position between the iron core and the permanent magnet 200 in the motor rotor, thereby ensuring the overall structural strength of the rotor core 100 and the uniformity of its outer contour, thereby helping to reduce the motor's cogging torque, torque fluctuation and air gap harmonic distortion rate, and can effectively ensure the motor's transmission efficiency and reliability. At the same time, it can also reduce the difficulty of processing the rotor core 100, thereby reducing the manufacturing cost of the rotating motor.

[0055] Furthermore, an adjustment hole 120 is provided on at least one side of the magnet slot 110. The adjustment hole 120 can adjust the air gap magnetic field distribution and reduce the magnetic flux leakage at the end of the magnet slot 110, thereby ensuring the magnetic concentration of the motor rotor, improving the torque density of the motor rotor, and further improving the transmission efficiency of the motor. Under the same magnetic field strength requirement, the material used for the permanent magnet can be effectively reduced, thereby reducing the material cost of the permanent magnet 200.

[0056] At the same time, the adjustment hole 120 is arranged non-axisymmetrically about the q-axis, thereby expanding the asymmetry between the d-axis inductance and the q-axis inductance, thereby increasing the reluctance torque and reducing the cogging torque, torque pulsation and air gap harmonic distortion rate, further improving the torque density, transmission efficiency and weak magnetic control performance of the rotating motor, and ensuring the transmission efficiency of the rotating motor.

[0057] It can be understood that the d-axis and the q-axis are uniformly distributed along the circumferential direction, and the angle θ between the d-axis and the q-axis and the number N1 of the magnetic conductive portion 101 and the magnet slots 110 satisfy: N1 = 360° / 2θ.

[0058] As an optional embodiment of the present invention, Figure 1 As shown, the center of the rotor core 100 has an axial hole 140 that passes through the rotor core 100 along the axis of the rotor core 100 , and the axial hole 140 is used to pass the rotating shaft.

[0059] Alternatively, as Figure 1 As shown, the adjustment hole 120 is provided on at least one side of the distal end of the magnet slot 110 (ie, the end away from the axis of the rotor core 100 ).

[0060] As an optional embodiment of the present invention, the magnet slot 110 is provided with adjustment holes 120 on both sides along the circumferential direction. Specifically, Figure 1 As shown, the adjustment hole 120 includes at least one first adjustment hole 121 and at least one second adjustment hole 122 respectively located on both sides of the magnet slot 110 , and the first adjustment hole 121 and the second adjustment hole 122 on both sides of the magnet slot 110 are arranged non-axisymmetrically with respect to the magnet slot 110 .

[0061] As an optional embodiment of the present invention, Figure 1 、 Figure 2 、 Figure 3 、 Figure 5 As shown, the first adjustment holes 121 and the second adjustment holes 122 on both sides of the magnet slot 110 have different shapes.

[0062] It can be understood that the first adjustment hole 121 and the second adjustment hole 122 are non-axisymmetrically arranged about the q-axis, which may include a situation where the positions are symmetrical but the shapes are different, that is, the first adjustment hole 121 and the second adjustment hole 122 on both sides of the magnet slot 110 are axially symmetrically distributed about the magnet slot 110, and the two have different shapes. In this case, due to the different shapes of the first adjustment hole 121 and the second adjustment hole 122, there is a difference in the air gap on both sides of the q-axis, and the influence of the two on the magnetic field distribution on both sides will also be different accordingly, thereby achieving the effect of improving the reluctance torque and reducing the cogging torque, torque pulsation and air gap harmonic distortion rate.

[0063] As an optional embodiment of the present invention, the cross-sectional shape of the first adjustment hole 121 and the cross-sectional shape of the second adjustment hole 122 are similar figures, that is, the cross-sectional profile pattern of the first adjustment hole 121 and the cross-sectional profile pattern of the second adjustment hole 122 are consistent but different in size, for example, Figure 3 As shown, the cross-sectional profile patterns of the first adjustment hole 121 and the second adjustment hole 122 are both square, but the sizes are different, so that the air gaps on both sides of the q-axis can also be different.

[0064] As an optional embodiment of the present invention, the cross-sectional shape of the adjustment hole 120 can be rectangular (ie Figure 3 、 Figure 6 、 Figure 7 As shown), rounded rectangle (ie Figure 1 、 Figure 2 As shown), parallelogram, triangle, circle (i.e. Figure 4 As shown), elliptical (i.e. Figure 5 As shown), any one of trapezoidal and fan-shaped.

[0065] In the case where the adjustment hole 120 includes the first adjustment hole 121 and the second adjustment hole 122, as shown in FIG. Figures 1 to 5 As shown, the cross-sectional shape of the first adjustment hole 121 is a rectangle (ie Figure 3 、 Figure 6 、 Figure 7 As shown), rounded rectangle (ie Figure 1 、 Figure 2 As shown), parallelogram, triangle, circle (i.e. Figure 4 As shown), elliptical (i.e. Figure 5 As shown in the case), any one of a trapezoid and a sector. Accordingly, the cross-sectional shape of the second adjustment hole 122 can also be any one of a rectangle, a rounded rectangle, a parallelogram, a triangle, a circle, an ellipse, a trapezoid and a sector.

[0066] As an optional embodiment of the present invention, Figure 7 、 Figure 8 、 Figure 9 As shown, at least one adjustment hole 120 is interconnected with the magnet slot 110, that is, the adjustment hole 120 does not have to exist independently of the magnet slot 110, but can also be an open structure connected to the magnet slot 110, which can also achieve the effect of adjusting the air gap on both sides of the magnet slot 110.

[0067] like Figure 6 、 Figure 8 As shown, in some embodiments of the present invention, the number of the first adjustment hole 121 and the second adjustment hole 122 can also be multiple (for example, two, three, four, etc.).

[0068] As an optional embodiment of the present invention, the first adjustment hole 121 and the second adjustment hole 122 on both sides of the magnet slot 110 are asymmetrical with respect to the magnet slot 110. Specifically, Figure 2 As shown, the distance L1 between the first adjustment hole 121 and the magnet slot 110 is different from the distance L2 between the second adjustment hole 122 and the magnet slot 110; and / or

[0069] like Figure 2 As shown, the shortest distance D1 between the first adjustment hole 121 and the outer circumference of the rotor core 100 is different from the shortest distance D2 between the second adjustment hole 122 and the outer circumference of the rotor core 100 .

[0070] That is, at least one of the radial position and the circumferential position of the first adjustment hole 121 and the second adjustment hole 122 is different, so that the positions of the first adjustment hole 121 and the second adjustment hole 122 on both sides of the magnet slot 110 are different.

[0071] As a preferred embodiment of the present invention, the distance L1 between the first adjustment hole 121 and the magnet slot 110 is greater than or equal to 0.2 times the radius R of the rotor core 100 and less than or equal to 0.7 times the radius R of the rotor core 100 (i.e., 0.2R≤L1≤0.7R), and the distance L2 between the second adjustment hole 122 and the magnet slot 110 is greater than or equal to 0.2 times the radius R of the rotor core 100 and less than or equal to 0.7 times the radius R of the rotor core 100 (i.e., 0.2R≤L2≤0.7R).

[0072] As an optional embodiment of the present invention, the shortest distance D1 between the first adjustment hole 121 and the outer peripheral surface of the rotor core 100 is between 0.01 times and 0.1 times the radius R of the rotor core 100 (i.e., 0.01R<D1<0.1R), and the shortest distance D2 between the second adjustment hole 122 and the outer peripheral surface of the rotor core 100 is between 0.01 times and 0.1 times the radius R of the rotor core 100 (i.e., 0.01R<D2<0.1R).

[0073] As an optional embodiment of the present invention, a radial dimension H1 of the first adjustment hole 121 along the rotor core 100 is less than 0.1 times the radius R of the rotor core 100 , and a circumferential dimension W1 of the first adjustment hole 121 is less than 0.1 times the radius R of the rotor core 100 , that is, H1<0.1R, W1<0.1R;

[0074] The radial dimension H2 of the second adjustment hole 122 along the rotor core 100 is less than 0.1 times the radius R of the rotor core 100 , and the circumferential dimension W2 of the second adjustment hole 122 is less than 0.1 times the radius R of the rotor core 100 , that is, H2 < 0.1R, W2 < 0.1R.

[0075] As an optional embodiment of the present invention, Figure 1 As shown, the first adjustment holes 121 corresponding to adjacent magnet slots 110 are located on the same magnetic conductive portion 101 and are symmetrically arranged about the symmetry axis (ie, d-axis) of the magnet slots 110 adjacent to each other on both sides;

[0076] The second adjustment holes 122 corresponding to adjacent magnet slots 110 are located on the same magnetic conductive portion 101 and are symmetrically arranged with respect to the symmetry axis of the magnet slots 110 adjacent to each other on both sides.

[0077] That is, the first adjustment hole 121 and the second adjustment hole 122 on each magnetic conductive portion 101 are symmetrically arranged about the corresponding d-axis, thereby improving the uniformity of the motor rotor magnetic field along the circumferential direction and further reducing the air gap harmonic distortion rate.

[0078] As an optional embodiment of the present invention, the outer contour of the cross section of the rotor core 100 includes multiple flat edges a1 and multiple arc edges a2 that are alternately connected. The positions of the flat edges a1 correspond one-to-one to the positions of the multiple magnet slots 110 and the adjacent adjustment holes on both sides thereof, and the positions of the multiple arc edges a2 correspond one-to-one to the positions of the multiple magnetic conductive parts 101.

[0079] As an optional embodiment of the present invention, the rotor core 100 includes a plurality of rotor punchings stacked along the axial direction, and the magnet slots 110 , the first adjustment holes 121 and the second adjustment holes 122 all penetrate the plurality of rotor punchings along the axial direction of the rotor core 100 .

[0080] As an optional implementation of the present invention, the plurality of rotor punchings are fixed by welding, riveting or bonding.

[0081] As an optional embodiment of the present invention, Figure 1 As shown, the rotor core 100 is further formed with a plurality of magnetic isolation holes 130 extending along the axial direction of the rotor core 100. The magnetic isolation holes 130 are located at one end of the magnetic conductive portion 101 facing the axis of the rotor core 100. The magnetic isolation holes 130 can effectively adjust the magnetic field distribution at the proximal end of the magnetic conductive portion 101, thereby reducing the leakage magnetic field on the inner side of the motor rotor and further ensuring the magnetic concentration effect of the motor rotor.

[0082] Optionally, the number N2 of the magnetic isolation holes 130 is equal to the number N1 of the magnetic conductive portions 101 and the magnet slots 110 , that is, N2 = N1.

[0083] As an optional implementation of the present invention, the magnetic isolation hole 130 passes through along the axial direction of the rotor core 100 .

[0084] As an optional embodiment of the present invention, Figure 1 As shown, the magnetic isolation hole 130 is in a fan shape.

[0085] As a second aspect of the present invention, a motor rotor is provided, such as Figure 10 As shown, the motor rotor includes a plurality of permanent magnets 200 and a rotor core 100 provided in an embodiment of the present invention. The plurality of permanent magnets 200 are fixedly disposed in a plurality of magnet slots 110 of the rotor core 100 .

[0086] In the motor rotor provided by the present invention, the rotor core 100 is an integrated design, multiple d-axis magnetic conductive parts 101 are interconnected as a whole, and the position of the permanent magnet 200 is fixed by the magnet slot 110, thereby ensuring the stability of the relative position between the iron core and the permanent magnet 200 in the motor rotor, thereby ensuring the overall structural strength of the rotor core 100 and the uniformity of its outer contour, thereby helping to reduce the motor cogging torque, torque fluctuation and air gap harmonic distortion rate, and can effectively ensure the motor transmission efficiency and reliability. At the same time, it can also reduce the processing difficulty of the rotor core 100, thereby reducing the manufacturing cost of the rotating motor.

[0087] Furthermore, an adjustment hole 120 is provided on at least one side of the magnet slot 110. The adjustment hole 120 can adjust the air gap magnetic field distribution and reduce the magnetic flux leakage at the end of the magnet slot 110, thereby ensuring the magnetic concentration of the motor rotor, improving the torque density of the motor rotor, and further improving the transmission efficiency of the motor. Under the same magnetic field strength requirement, the material used for the permanent magnet can be effectively reduced, thereby reducing the material cost of the permanent magnet 200.

[0088] At the same time, the adjustment hole 120 is arranged non-axisymmetrically about the q-axis, thereby expanding the asymmetry between the d-axis inductance and the q-axis inductance, thereby increasing the reluctance torque and reducing the cogging torque, torque pulsation and air gap harmonic distortion rate, further improving the torque density, transmission efficiency and weak magnetic control performance of the rotating motor, and ensuring the transmission efficiency of the rotating motor.

[0089] As an optional implementation of the present invention, the motor rotor further includes a rotating shaft (not shown in the figure), and the rotor core 100 is sleeved on the rotating shaft.

[0090] As a third aspect of the present invention, a rotating motor is provided, which includes a motor housing, a stator assembly and a motor rotor provided in an embodiment of the present invention. The stator assembly is arranged around the outside of the motor rotor, and both the stator assembly and the motor rotor are arranged in the motor housing.

[0091] In the rotating motor provided by the present invention, the rotor core 100 is of an integrated design, multiple d-axis magnetic conductive parts 101 are interconnected as a whole, and the position of the permanent magnet 200 is fixed by the magnet slot 110, thereby ensuring the stability of the relative position between the iron core and the permanent magnet 200 in the motor rotor, thereby ensuring the overall structural strength of the rotor core 100 and the uniformity of its outer contour, thereby helping to reduce the motor's cogging torque, torque fluctuation and air gap harmonic distortion rate, and can effectively ensure the motor's transmission efficiency and reliability. At the same time, it can also reduce the difficulty of processing the rotor core 100, thereby reducing the manufacturing cost of the rotating motor.

[0092] Furthermore, an adjustment hole 120 is provided on at least one side of the magnet slot 110. The adjustment hole 120 can adjust the air gap magnetic field distribution and reduce the magnetic flux leakage at the end of the magnet slot 110, thereby ensuring the magnetic concentration of the motor rotor, improving the torque density of the motor rotor, and further improving the transmission efficiency of the motor. Under the same magnetic field strength requirement, the material used for the permanent magnet can be effectively reduced, thereby reducing the material cost of the permanent magnet.

[0093] At the same time, the adjustment hole 120 is arranged non-axisymmetrically about the q-axis, thereby expanding the asymmetry between the d-axis inductance and the q-axis inductance, thereby increasing the reluctance torque and reducing the cogging torque, torque pulsation and air gap harmonic distortion rate, further improving the torque density, transmission efficiency and weak magnetic control performance of the rotating motor, and ensuring the transmission efficiency of the rotating motor.

[0094] As an optional embodiment of the present invention, two opposite sides of the motor housing are provided with a rotating shaft fixing structure, and both ends of the rotating shaft of the motor rotor are movably connected to the rotating shaft fixing structures on both sides respectively.

[0095] As the fourth aspect of the present invention, a transport vehicle is provided, comprising a vehicle body, at least one rotating motor and a plurality of traveling wheels, wherein the traveling wheels are arranged on the vehicle body, the rotating motor can drive the traveling wheels to rotate to drive the vehicle body to move, and the rotating motor is the rotating motor provided in an embodiment of the present invention.

[0096] It can be understood that the transport vehicle provided by the present invention is used to transport materials in a storage system, for example, to transfer materials from a sorting platform to a shelf, or to remove materials from a shelf.

[0097] In the transport vehicle provided by the present invention, the rotor core 100 of the rotating motor is of an integrated design, and the magnetic conductive parts 101 of multiple d axes are interconnected as a whole, and the position of the permanent magnet 200 is fixed by the magnet slot 110, thereby ensuring the stability of the relative position between the iron core and the permanent magnet 200 in the motor rotor, and thus ensuring the overall structural strength of the rotor core 100 and the uniformity of its outer contour, which helps to reduce the motor cogging torque, torque fluctuation and air gap harmonic distortion rate, and can effectively ensure the motor transmission efficiency and reliability. At the same time, it can also reduce the processing difficulty of the rotor core 100, thereby reducing the manufacturing cost of the rotating motor, and thus reducing the production cost of the transport vehicle.

[0098] Furthermore, an adjustment hole 120 is provided on at least one side of the magnet slot 110. The adjustment hole 120 can adjust the air gap magnetic field distribution and reduce the magnetic flux leakage at the end of the magnet slot 110, thereby ensuring the magnetic concentration of the motor rotor, improving the torque density of the motor rotor, and thus improving the transmission efficiency of the motor. Under the same magnetic field strength requirement, the material used for the permanent magnet can be effectively reduced, thereby reducing the material cost of the permanent magnet 200, thereby improving the power performance of the transport vehicle while reducing the material cost of the transport vehicle.

[0099] At the same time, the adjustment hole 120 is arranged non-axisymmetrically about the q-axis, thereby expanding the asymmetry between the d-axis inductance and the q-axis inductance, thereby improving the magnetic resistance torque and reducing the slot torque, torque pulsation and air gap harmonic distortion rate, further improving the torque density, transmission efficiency and weak magnetic control performance of the rotating motor, ensuring the transmission efficiency of the rotating motor, and thus ensuring the power performance of the transport vehicle.

[0100] Optionally, the transport vehicle provided by the present invention may be an automatic guided vehicle (AGV).

[0101] The above are only specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes but is not limited to the contents described in the drawings and the above specific embodiments. Any modifications that do not deviate from the functional and structural principles of the present invention are included within the scope of the claims.

Claims

1. A rotor core, wherein a plurality of magnet slots (110) are formed in the rotor core (100) and distributed around the axis of the rotor core, wherein the plurality of magnet slots (110) separate the rotor core (100) into a plurality of magnetic conductive portions (101), characterized in that: An adjustment hole (120) is provided on the magnetic conductive portion (101) on at least one side of the magnet slot (110) along the circumferential direction, and the adjustment hole (120) is non-axisymmetrically arranged with respect to the magnet slot (110).

2. The rotor core according to claim 1, characterized in that The adjustment hole (120) comprises at least one first adjustment hole (121) and at least one second adjustment hole (122) respectively located on both sides of the magnet slot (110).

3. The rotor core according to claim 2, characterized in that: The first adjustment hole (121) and the second adjustment hole (122) on both sides of the magnet slot (110) have different shapes.

4. The rotor core according to claim 3, characterized in that: The cross-sectional shape of the first adjustment hole (121) and the cross-sectional shape of the second adjustment hole (122) are similar figures.

5. The rotor core according to any one of claims 3 to 4, characterized in that: The first adjustment holes (121) and the second adjustment holes (122) on both sides of the magnet slot (110) are symmetrically distributed about the magnet slot (110).

6. The rotor core according to any one of claims 2 to 4, characterized in that: The distance between the first adjustment hole (121) and the magnet slot (110) is different from the distance between the second adjustment hole (122) and the magnet slot (110); and / or The shortest distance between the first adjustment hole (121) and the outer peripheral surface of the rotor core (100) is different from the shortest distance between the second adjustment hole (122) and the outer peripheral surface of the rotor core (100).

7. The rotor core according to claim 6, characterized in that The distance between the first adjustment hole (121) and the magnet slot (110) is greater than or equal to 0.2 times the radius of the rotor core (100) and less than or equal to 0.7 times the radius of the rotor core, and the distance between the second adjustment hole (122) and the magnet slot (110) is greater than or equal to 0.2 times the radius of the rotor core (100) and less than or equal to 0.7 times the radius of the rotor core; The shortest distance between the first adjustment hole (121) and the outer peripheral surface of the rotor core (100) is between 0.01 times and 0.1 times the radius of the rotor core (100), and the shortest distance between the second adjustment hole (122) and the outer peripheral surface of the rotor core (100) is between 0.01 times and 0.1 times the radius of the rotor core (100).

8. The rotor core according to any one of claims 2 to 4, characterized in that: The first adjustment holes (121) corresponding to adjacent magnet slots (110) are located on the same magnetic conductive portion (101) and are symmetrically arranged with respect to the symmetry axes of the magnet slots (110) adjacent to each other on both sides; The second adjustment holes (122) corresponding to adjacent magnet slots (110) are located on the same magnetic conductive portion (101) and are symmetrically arranged with respect to the symmetry axes of the magnet slots (110) adjacent to each other on both sides.

9. The rotor core according to any one of claims 1 to 4, characterized in that: The cross-sectional shape of the adjustment hole is any one of a rectangle, a rounded rectangle, a parallelogram, a triangle, a circle, an ellipse, a trapezoid, and a fan.

10. The rotor core according to any one of claims 1 to 4, characterized in that: At least one of the adjustment holes (120) is in communication with the magnet slot (110).

11. A motor rotor, characterized in that: The motor rotor comprises a plurality of permanent magnets (200) and a rotor core (100) according to any one of claims 1 to 10, wherein the plurality of permanent magnets are fixedly disposed in a plurality of magnet slots (110) of the rotor core (100).

12. A rotating electrical machine, characterized in that: The rotating electric machine includes a motor housing, a stator assembly, and the motor rotor according to claim 11, wherein the stator assembly is arranged around the outside of the motor rotor, and the stator assembly and the motor rotor are both arranged in the motor housing.

13. A transport vehicle comprising a vehicle body, at least one rotating motor and a plurality of traveling wheels, wherein the traveling wheels are arranged on the vehicle body, and the rotating motor can drive the traveling wheels to rotate to drive the vehicle body to move, characterized in that: The rotating electric machine is the rotating electric machine according to claim 12.

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