CN118199298B - Rotor core, rotor assembly, servo motor and industrial robot - Google Patents
Rotor core, rotor assembly, servo motor and industrial robot Download PDFInfo
- Publication number
- CN118199298B CN118199298B CN202410601919.XA CN202410601919A CN118199298B CN 118199298 B CN118199298 B CN 118199298B CN 202410601919 A CN202410601919 A CN 202410601919A CN 118199298 B CN118199298 B CN 118199298B
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- rotor
- rotor core
- wall surface
- rotation axis
- along
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- 238000004080 punching Methods 0.000 claims abstract description 65
- 238000003475 lamination Methods 0.000 claims abstract description 5
- 238000009423 ventilation Methods 0.000 claims description 16
- 238000009434 installation Methods 0.000 description 13
- 238000004519 manufacturing process Methods 0.000 description 10
- 230000000694 effects Effects 0.000 description 9
- 230000002093 peripheral effect Effects 0.000 description 7
- 238000009826 distribution Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000006866 deterioration Effects 0.000 description 3
- 230000006698 induction Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000010349 pulsation Effects 0.000 description 3
- 229920000271 Kevlar® Polymers 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 2
- 239000004761 kevlar Substances 0.000 description 2
- 238000003698 laser cutting Methods 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 210000000707 wrist Anatomy 0.000 description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000005347 demagnetization Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
- H02K1/2706—Inner rotors
- H02K1/272—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis
- H02K1/274—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets
- H02K1/2753—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets the rotor consisting of magnets or groups of magnets arranged with alternating polarity
- H02K1/278—Surface mounted magnets; Inset magnets
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/28—Means for mounting or fastening rotating magnetic parts on to, or to, the rotor structures
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
- H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
- H02K21/14—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures
- H02K21/16—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures having annular armature cores with salient poles
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2201/00—Specific aspects not provided for in the other groups of this subclass relating to the magnetic circuits
- H02K2201/03—Machines characterised by aspects of the air-gap between rotor and stator
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
- H02K2213/03—Machines characterised by numerical values, ranges, mathematical expressions or similar information
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Permanent Field Magnets Of Synchronous Machinery (AREA)
- Iron Core Of Rotating Electric Machines (AREA)
Abstract
The invention discloses a rotor core, a rotor assembly, a servo motor and an industrial robot, and relates to the technical field of motors, wherein the rotor core comprises a first punching sheet group and a second punching sheet group which are arranged in a lamination manner along the direction of a rotation axis, each of the first punching sheet group and the second punching sheet group comprises a plurality of rotor punching sheets, each rotor punching sheet comprises a groove positioned at the outer periphery and a plurality of convex parts which are arranged at intervals along the circumferential direction of the rotor punching sheet, and the convex parts of the first punching sheet group are arranged in a lamination manner along the direction of the rotation axis to form a first limiting part; the second punching group is provided with a second limiting part; the number of the convex parts of each rotor punching sheet is N, the first punching sheet group rotates 180 degrees/N relative to the second punching sheet group around the rotation axis so that the first limiting part and the second limiting part are staggered, and a mounting groove for mounting the permanent magnet is defined between the adjacent first limiting part and second limiting part along the circumferential direction. The rotor core can ensure that the permanent magnets are firmly and reliably installed, reduce the movement, ensure the anti-demagnetizing capability of the permanent magnets and reduce the magnetic leakage.
Description
Technical Field
The invention relates to the technical field of motors, in particular to a rotor core, a rotor assembly, a servo motor and an industrial robot.
Background
In the application environment of high temperature and high rotating speed, the permanent magnet of the motor is required to have better installation stability, which puts higher requirements on the design of the surface-mounted permanent magnet motor. In the related art, permanent magnets of a surface-mounted permanent magnet motor are adhered to the outer peripheral wall of a rotor core, and a steel sleeve is arranged on the outer periphery of the rotor core so as to fix the permanent magnets. However, in the manufacturing, transportation or motor operation process, the permanent magnet of this kind of mounting means is liable to take place the drunkenness, especially along the circumference drunkenness of rotor core, and the permanent magnet installation is unstable, and the reliability is poor to easily lead to the magnetic leakage, influence the performance of motor.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides the rotor iron core, which can ensure that the permanent magnet is firmly and reliably installed, reduce the play, ensure the anti-demagnetizing capability of the permanent magnet and reduce the magnetic leakage.
The invention also provides a rotor assembly, a servo motor and an industrial robot with the rotor core.
According to the rotor core of the embodiment of the first aspect of the invention, the rotor core comprises a first punching sheet group and a second punching sheet group, wherein the first punching sheet group comprises a plurality of rotor punching sheets which are correspondingly and overlapped along the direction of the rotation axis, the rotor punching sheets comprise a plurality of convex parts, the convex parts are convexly arranged on the outer periphery of the rotor punching sheets, the convex parts are arranged at intervals along the circumferential direction of the rotor punching sheets, the rotor punching sheets are further provided with grooves, the grooves are arranged on the outer periphery of the rotor punching sheets, and the convex parts which are overlapped along the direction of the rotation axis form a first limiting part; the second punching sheet group comprises a plurality of rotor punching sheets which are arranged in a stacking way along the direction of the rotation axis, and a second limit part is formed by a plurality of convex parts which are arranged in a stacking way along the direction of the rotation axis; the number of the convex parts of each rotor punching sheet is N, the first punching sheet group and the second punching sheet group are arranged in a lamination mode along the direction of the rotating axis, the first punching sheet group rotates around the rotating axis relative to the second punching sheet group so that the first limiting part and the second limiting part are staggered, the rotating angle is 180 degrees/N, and a mounting groove is formed between the adjacent first limiting part and second limiting part along the circumferential direction and is used for mounting a permanent magnet.
The rotor core according to the embodiment of the first aspect of the present invention has at least the following advantages: through set up convex part and recess on the rotor punching for the convex part of first punching group forms first spacing portion, and the convex part of second punching group forms second spacing portion, consequently, can install the permanent magnet to the mounting groove between first spacing portion and the second spacing portion, and first spacing portion and second spacing portion are spacing to the both ends of permanent magnet along rotor core's circumference respectively, thereby realize fixed permanent magnet, and the installation is firm reliable. Meanwhile, the first punching sheet group and the second punching sheet group relatively rotate by 180 degrees/N, so that the first limiting part and the second limiting part are only abutted against part of the wall surface of the permanent magnet along the circumferential direction of the rotor core respectively, the magnetic leakage risk of the permanent magnet along the two ends of the circumferential direction of the rotor core can be reduced, the magnetic field distribution is optimized through the grooves, the anti-demagnetizing capacity of the permanent magnet is improved, and the performance of the motor is improved.
According to some embodiments of the invention, the rotor sheet is provided with a plurality of the grooves, and the number of the grooves is equal to the number of the protrusions, and the plurality of the grooves and the plurality of the protrusions are alternately arranged at intervals in the circumferential direction.
According to some embodiments of the invention, the mounting groove has a first wall surface, the first wall surface is located between the adjacent first limit portion and second limit portion, and the first wall surface faces away from the rotation axis, on a projection surface perpendicular to the rotation axis, a circle with a projection of the rotation axis as a center of a circle, a minimum distance between an end of the projection of the first wall surface and the center of the circle is a first reference circle, and the first wall surface is convexly arranged relative to the first reference circle in a direction away from the rotation axis.
According to some embodiments of the invention, on a projection plane perpendicular to the rotation axis, the projection of the first wall surface is an arc, a circle on which the arc is located is a second reference circle, and a center of the second reference circle is located between the first wall surface and the rotation axis.
According to some embodiments of the invention, a distance between a center of the second reference circle and the rotation axis is L 1, which satisfies the following conditions: l 1 mm or more and L 1 mm or less.
According to some embodiments of the invention, the protrusion has a second wall surface and a third wall surface facing away from each other in the circumferential direction, and a distance between the second wall surface and the third wall surface increases in a radially outward direction of the rotor core.
According to some embodiments of the invention, in the radial direction of the rotor core, the maximum protrusion height of the protrusion is L 2, which satisfies: l 2 mm or less and 1mm or less is added.
According to some embodiments of the invention, the maximum depth of the groove is L 3 along the radial direction of the rotor core, which satisfies the following conditions: l 3 mm or more and L 3 mm or less and 0.7mm or less.
According to some embodiments of the invention, the rotor blade is further provided with a plurality of ventilation holes, the plurality of ventilation holes being arranged at intervals along the circumferential direction, the ventilation holes penetrating the rotor blade in the direction of the rotation axis.
According to some embodiments of the invention, the vent has a maximum inside diameter D that satisfies: d is more than or equal to 8mm and less than or equal to 10mm.
According to some embodiments of the invention, the rotor punching sheet is provided with a shaft hole for installing a rotating shaft, and is further provided with a plurality of stress relief grooves, wherein the stress relief grooves are arranged at the periphery of the shaft hole, and the stress relief grooves are arranged at intervals along the circumferential direction.
According to some embodiments of the invention, the maximum depth of the stress relief groove is L 4 along the radial direction of the rotor core, which satisfies: l 4 is less than or equal to 2mm and less than or equal to 3mm.
A rotor assembly according to an embodiment of the second aspect of the present invention includes the rotor core of the embodiment of the first aspect of the present invention and a plurality of permanent magnets correspondingly mounted to the plurality of mounting grooves.
The rotor assembly according to the second aspect of the present invention, which includes the rotor core according to any one of the above embodiments, has all the advantageous effects of the rotor core, which are not described herein.
According to some embodiments of the invention, the permanent magnet has a sixth wall surface and a seventh wall surface facing away from each other in a radial direction of the rotor core, a distance between the sixth wall surface and the seventh wall surface in the radial direction is a thickness of the permanent magnet, and the thickness of the permanent magnet is equal at any place in the circumferential direction.
According to some embodiments of the invention, the mounting groove has a first wall surface located between the adjacent first and second limit portions, the first wall surface facing away from the rotation axis, the sixth wall surface being closer to the rotation axis than the seventh wall surface, the sixth wall surface being in abutment with the first wall surface.
According to some embodiments of the invention, the permanent magnet has a thickness of L 5, and the maximum protrusion height of the protrusion is L 2 along the radial direction of the rotor core, which satisfies the following conditions: l 2/L5 is more than or equal to 0.25 and less than or equal to 0.3.
A servo motor according to an embodiment of the third aspect of the present invention comprises a rotor assembly according to an embodiment of the second aspect of the present invention.
The servo motor according to the embodiment of the third aspect of the present invention, including the rotor assembly according to any one of the embodiments described above, has all the advantageous effects of the rotor assembly, which are not described herein.
An industrial robot according to an embodiment of the fourth aspect of the invention comprises a servo motor according to an embodiment of the third aspect of the invention.
The industrial robot according to the fourth aspect of the present invention, which includes the servo motor according to any one of the above embodiments, has all the advantageous effects of the servo motor, and is not described herein.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The invention is further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is an axial schematic view of a rotor blade in an embodiment of the invention;
fig. 2 is a schematic structural view of a rotor core according to an embodiment of the present invention;
FIG. 3 is an axial schematic view of a rotor core in an embodiment of the present invention;
FIG. 4 is a schematic view of a rotor assembly according to an embodiment of the present invention;
FIG. 5 is an axial schematic view of a rotor assembly in an embodiment of the invention;
FIG. 6 is a schematic illustration of a permanent magnet in an embodiment of the invention;
FIG. 7 is an axial schematic view of a rotor assembly mated with a stator assembly in an embodiment of the invention;
fig. 8 is an enlarged view at a in fig. 7;
FIG. 9 is a simulated magnetic field of a permanent magnet when rotor punching is not provided with grooves in an embodiment of the invention;
fig. 10 is a magnetic field simulation of a permanent magnet when rotor punching is provided with grooves in an embodiment of the invention.
Reference numerals:
A rotor core 10;
A first die set 100; a first limiting portion 110; a first slot segment 120; a mounting groove 130; a first wall surface 131;
A second punch set 200; a second limit portion 210; a second trough section 220;
Rotor punching 300; a convex portion 310; a second wall surface 311; a third wall surface 312; a fourth wall 313; a groove 320; a fifth wall 321; a vent 330; a shaft hole 340; stress relief groove 350; an eighth wall 351;
A permanent magnet 400; a sixth wall 410; a seventh wall 420;
A stator core 500; an air gap 510;
a first reference circle P 1;
A second reference circle P 2;
A centre line of symmetry Z.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
In the description of the present invention, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present invention and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, a number means one or more, a number means two or more, and greater than, less than, exceeding, etc. are understood to not include the present number, and above, below, within, etc. are understood to include the present number. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless explicitly defined otherwise, terms such as arrangement, mounting, connection, assembly, cooperation, etc. should be construed broadly and the specific meaning of the terms in the present invention can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical solution.
Permanent magnet motors are widely used in industrial fields because of their advantages of high efficiency, high power density, good control performance, etc. Generally, the application environment of a motor is relatively bad, for example, the motor is operated under a high-temperature environment, operated under a high-rotation-speed working condition or needs to output a large torque, and the permanent magnet of the motor is easy to demagnetize under a high temperature or severe vibration, so that the permanent magnet of the motor is required to have good installation stability, and in particular, the requirement of the surface-mounted permanent magnet motor is higher.
In the related art, permanent magnets of a surface-mounted permanent magnet motor are adhered to the outer peripheral wall of a rotor core, and a steel sleeve is arranged on the outer periphery of the rotor core so as to fix the permanent magnets. However, in the manufacturing, transportation or motor operation process, the permanent magnet of this kind of mounting means is liable to take place the drunkenness, especially along the circumference drunkenness of rotor core, and the permanent magnet installation is unstable, and the reliability is poor to easily lead to the magnetic leakage, influence the performance of motor.
For this purpose, referring to fig. 1 to 10, an embodiment of the first aspect of the present invention provides a rotor core 10, where the rotor core 10 is used as a component of a rotor assembly, and is mainly applied to a servo motor of an industrial robot, and the industrial robot is a mechanical device with anthropomorphic arm, wrist and hand functions, and is used for performing procedures of automatic welding, spraying, laser cutting, workpiece handling, part assembling, and the like.
The rotor core 10 of the rotor assembly will be described in detail below using the rotor assembly of the servo motor as an example.
Referring to fig. 4, it can be understood that the rotor assembly includes a rotor core 10 and a plurality of permanent magnets 400, the rotor core 10 having a rotation axis and being rotatable about the rotation axis, that is, the rotor assembly being rotatable about the rotation axis. The permanent magnets 400 are mounted on the outer circumferential wall of the rotor core 10 in a surface-mounted type, and a plurality of permanent magnets 400 are arranged at equal intervals along the circumferential direction of the rotor core 10, each permanent magnet 400 being one magnetic pole of the rotor assembly. It will be readily appreciated that "outer" is the direction away from the axis of rotation, and the opposite side is "inner", i.e. the "inner" is the direction closer to the axis of rotation. The direction around the rotation axis is the circumferential direction, and the direction perpendicular to the rotation axis and pointing to the rotation axis and the opposite direction are the radial directions.
Referring to fig. 2, it can be understood that the rotor core 10 includes a plurality of rotor sheets 300 stacked in the direction of the rotation axis, the plurality of rotor sheets 300 being divided into at least two groups, and in the present embodiment, the plurality of rotor sheets 300 being divided into two groups, namely, the first sheet group 100 and the second sheet group 200.
Referring to fig. 1, it will be appreciated that the rotor blade 300 is generally circular in projection on a plane of projection perpendicular to the axis of rotation. Specifically, the rotor punching 300 is provided with a shaft hole 340 at a middle position, a central axis of the shaft hole 340 coincides with the rotation axis, and the shaft hole 340 is used for installing the rotation shaft. When the rotor core 10 is assembled with the rotating shaft, the rotating shaft penetrates through the shaft hole 340 and is fixedly connected with the rotor core 10, for example, the rotating shaft is in interference fit with the rotor core 10.
Referring to fig. 1, it may be understood that the rotor sheet 300 includes a plurality of protrusions 310, the protrusions 310 are disposed on an outer peripheral wall of the rotor sheet 300 and protrude outward in a radial direction of the rotor sheet 300, and projections of the protrusions 310 may be rectangular, trapezoidal, fan-shaped, etc. on a projection plane perpendicular to a rotation axis, so that only the same shape of projections of the plurality of protrusions 310 on the rotor sheet 300 is required to be ensured, thereby facilitating production, simplifying a mold, and reducing production costs. The plurality of protrusions 310 are arranged at equal intervals in the circumferential direction of the rotor sheet 300, and the number of protrusions 310 is half the number of permanent magnets 400. In the present embodiment, the number of permanent magnets 400 is ten, and the number of protrusions 310 is five.
Of course, in other embodiments, the number of permanent magnets 400 is not limited to ten, and correspondingly, the number of protrusions 310 is not limited to five, and the number of permanent magnets 400 may also be eight, twelve, etc., satisfying that the number of permanent magnets 400 is twice the number of protrusions 310.
Referring to fig. 1, it is understood that the rotor sheet 300 is further provided with a groove 320, specifically, the groove 320 is disposed on the peripheral wall of the rotor sheet 300 and concavely disposed along the radial direction of the rotor sheet 300, and on the projection plane perpendicular to the rotation axis, the projection of the groove 320 may be any shape, such as a rectangle, a fan, etc., and only needs to be concavely disposed. The number of the grooves 320 may be plural, and in general, the number of the grooves 320 does not exceed the number of the protrusions 310, and each groove 320 is located between two adjacent protrusions 310, respectively. At the same time, the projection shapes of the plurality of grooves 320 on the rotor punching sheet 300 on the projection plane perpendicular to the rotation axis are required to be the same, so that the production is convenient, the die is simplified, and the production cost is reduced. For example, when the number of grooves 320 is one, the grooves 320 are located between any two adjacent protrusions 310. When the number of the grooves 320 is two, one groove 320 is located between two adjacent protrusions 310, the other groove 320 is located between another set of two adjacent protrusions 310, and so on, which will not be described herein.
Referring to fig. 1, it can be understood that in the present embodiment, the rotor sheet 300 is provided with a plurality of grooves 320, and the number of grooves 320 is equal to the number of protrusions 310, that is, the number of grooves 320 is five. The plurality of grooves 320 are arranged at equal intervals in the circumferential direction of the rotor sheet 300, and the plurality of grooves 320 and the plurality of protrusions 310 are alternately arranged at intervals in the circumferential direction of the rotor sheet 300 while each groove 320 is located at an intermediate position between two adjacent protrusions 310, that is, each groove 320 is equidistant from two adjacent protrusions 310 on both sides. Thus, on the rotor sheet 300, the distances between any adjacent convex portions 310 and concave grooves 320 are equal in the circumferential direction of the rotor sheet 300.
Referring to fig. 2 and 3, it can be appreciated that in the present embodiment, the rotor core 10 includes the first sheet group 100 and the second sheet group 200. Specifically, the first sheet set 100 includes a plurality of rotor sheets 300 that are stacked and arranged in a direction along the rotation axis, that is, on a projection plane perpendicular to the rotation axis, the projections of the rotor sheets 300 that are arranged in a corresponding manner are completely coincident. In the first sheet set 100, the plurality of protruding portions 310 that are correspondingly stacked in the direction of the rotation axis form the first limiting portions 110 of the first sheet set 100, it is easy to understand that the number of the first limiting portions 110 in the first sheet set 100 is equal to the number of protruding portions 310 on each rotor sheet 300, that is, in the present embodiment, the number of the first limiting portions 110 in the first sheet set 100 is five. In addition, in the first sheet set 100, the plurality of grooves 320, which are correspondingly arranged in a stacked manner in the direction of the rotation axis, communicate with each other and form the first groove sections 120 provided to the first sheet set 100, and the number of the first groove sections 120 of the first sheet set 100 is equal to the number of the first limiting portions 110, that is, the number of the first groove sections 120 of the first sheet set 100 is five.
As shown in fig. 2 and 3, it is understood that the second sheet set 200 includes a plurality of the above-described rotor sheets 300 arranged in a corresponding stack in the direction of the rotation axis in the same manner, that is, projections of the plurality of rotor sheets 300 of the second sheet set 200 are completely overlapped on a projection plane perpendicular to the rotation axis. In the second sheet set 200, the plurality of protruding portions 310 that are correspondingly stacked in the direction of the rotation axis form the second limiting portions 210 of the second sheet set 200, it is easy to understand that the number of the second limiting portions 210 in the second sheet set 200 is equal to the number of protruding portions 310 on each rotor sheet 300, that is, in the present embodiment, the number of the second limiting portions 210 in the second sheet set 200 is five. In addition, in the second sheet set 200, the plurality of grooves 320, which are correspondingly arranged in a stacked manner in the direction of the rotation axis, communicate with each other and form the second groove segments 220 provided to the second sheet set 200, and the number of the second groove segments 220 of the second sheet set 200 is equal to the number of the second stopper portions 210, that is, the number of the second groove segments 220 of the second sheet set 200 is five.
It can be appreciated that, since the first and second punch sets 100 and 200 include the same rotor punch 300, the number of dies can be reduced, facilitating processing of the rotor punch 300, and reducing the production cost of the rotor core 10.
Referring to fig. 1 to 3, it is understood that the number of protrusions 310 on each rotor sheet 300 is defined as N. The first punch set 100 and the second punch set 200 are stacked in the direction of the rotation axis, and the rotation axis of the first punch set 100 coincides with the rotation axis of the second punch set 200. When the first sheet set 100 is assembled with the second sheet set 200, the first sheet set 100 rotates about the rotation axis relative to the second sheet set 200 so that the first limiting portion 110 and the second limiting portion 210 are staggered in the circumferential direction of the rotor core 10, that is, the projections of the first limiting portion 110 and the second limiting portion 210 do not overlap on the projection plane perpendicular to the rotation axis. And, the rotation angle of the first punch set 100 is 180 °/N. In the present embodiment, the number n=5 of the protruding portions 310, that is, the rotation angle of the first punch set 100 is 36 °. Therefore, on the projection plane perpendicular to the rotation axis, the projection of the first limiting portion 110 is located at an intermediate position between the projections of the adjacent two second limiting portions 210, that is, the projection of the first limiting portion 110 is equal to the distance between the projections of the adjacent second limiting portions 210 on both sides. It is to be readily understood that the first stopper 110 corresponds to the position of the second slot segment 220 in the circumferential direction of the rotor core 10, and the second stopper 210 corresponds to the position of the first slot segment 120 in the circumferential direction of the rotor core 10. In the entire rotor core 10, the mounting groove 130 is defined between the adjacent first and second stopper portions 110 and 210 in the circumferential direction of the rotor core 10, and the mounting groove 130 penetrates the rotor core 10 in the direction of the rotation axis. The number of the mounting grooves 130 is equal to the number of the permanent magnets 400. In this embodiment, the number of the mounting slots 130 is ten.
Referring to fig. 4 and 5, it can be understood that, along the circumferential direction of the rotor core 10, two sides defining the mounting slot 130 are a first side and a second side, where the first side of the portion of the slot body of the mounting slot 130 located at the first punching group 100 is a first limiting portion 110, and the second side is a hollow structure; the first side of the part of the groove body of the mounting groove 130, which is positioned at the second punching group 200, is a hollow structure, and the second side is a second limiting part 210. In this way, the mounting grooves 130 are partially hollowed out along two sides of the rotor core 10 in the circumferential direction, and correspondingly, for the two sides of the mounting grooves 130 are both solid structures, the number of the protrusions 310 on the rotor sheet 300 in this embodiment can be reduced by half, so that the material consumption of the rotor sheet 300 is reduced, and the manufacturing cost is reduced.
Referring to fig. 4 and 5, it can be understood that the plurality of permanent magnets 400 are correspondingly installed in the plurality of installation grooves 130, and both side wall surfaces of the permanent magnets 400 along the circumferential direction of the rotor core 10 respectively collide with the first and second stopper portions 110 and 210 adjacent thereto. Therefore, the first limiting portion 110 and the second limiting portion 210 limit the two sides of the permanent magnet 400 along the circumferential direction of the rotor core 10, so as to effectively prevent the permanent magnet 400 from moving along the circumferential direction of the rotor core 10, thereby improving the installation stability of the permanent magnet 400, reducing the magnetic leakage risk, and improving the anti-demagnetization capability of the permanent magnet 400.
It will be appreciated that, to further enhance the mounting stability of the permanent magnet 400, any one or any two or more of the following ways are also used to further fix the permanent magnet 400. The permanent magnet 400 is also adhesively connected to the groove wall of the mounting groove 130, for example, by means of glue. Or after the plurality of permanent magnets 400 are mounted on the rotor core 10, a plurality of turns of kevlar wires are wound on the periphery of the rotor assembly, and the kevlar wires have the advantages of high strength, good bending performance and the like, and can prevent the permanent magnets 400 from moving along the radial direction of the rotor core 10. Or after a plurality of permanent magnets 400 are mounted to the rotor core 10, gaps between the permanent magnets 400 and the rotor core 10 are filled by injection-molded bodies.
Referring to fig. 4 and 5, it can be understood that, generally, the poles of adjacent two permanent magnets 400 are opposite in the circumferential direction of the rotor core 10. The first limiting portion 110 and the second limiting portion 210 are part of the structure of the rotor core 10, and the magnetic resistance of the first limiting portion 110 and the second limiting portion 210 is smaller than that of air. Therefore, a portion of the induction lines of the magnetic field formed by the adjacent two permanent magnets 400 may be closed at the positions of the first and second limiting portions 110 and 210 and form a closed loop, and the portion of the induction lines does not pass through the stator assembly, resulting in magnetic leakage, resulting in poor anti-demagnetization capability of the permanent magnets 400, and affecting output torque and efficiency of the servo motor.
Therefore, by arranging the first punching sheet set 100 and the second punching sheet set 200 to rotate 180 degrees/N relatively, the two sides of the formed mounting groove 130 along the circumferential direction of the rotor core 10 are partially hollowed out, the magnetic resistance of the position of the hollowed-out structure is large, and magnetic leakage is not easy to occur, so that the magnetic leakage risk of the permanent magnet 400 can be reduced, the anti-demagnetization capability of the permanent magnet 400 is improved, and the output torque and efficiency of the servo motor are effectively improved.
In addition, since the rotor core 10 has the first slot segment 120 and the second slot segment 220 composed of the grooves 320 thereon, magnetic resistance is large at the first slot segment 120 and the second slot segment 220, and the magnetic field does not pass through the positions of the first slot segment 120 and the second slot segment 220. Specifically, in the present embodiment, the first slot segment 120 and the second slot segment 220 are respectively and correspondingly arranged with the hollow structures of the mounting slots 130 along two sides of the circumferential direction of the rotor core 10 in the radial direction of the rotor core 10, so that the magnetic field formed by two adjacent permanent magnets 400 can be optimized, more magnetic induction lines can pass through the rotor core 10, the magnetic leakage is further reduced, the magnetic leakage risk is reduced, the anti-demagnetizing capability of the permanent magnets 400 is improved, and the output torque and efficiency of the servo motor are effectively improved.
Referring to fig. 9 and 10, when the rotor sheet 300 is not provided with the grooves 320, the lowest magnetic density of the permanent magnet 400 is 0.2981T, and after the rotor sheet 300 is provided with the grooves 320, the lowest magnetic density of the permanent magnet 400 is 0.3642T, and it is obvious that the leakage flux of the permanent magnet 400 is greater than that of the permanent magnet 400 after the rotor sheet 300 is provided with the grooves 320 when the rotor sheet 300 is not provided with the grooves 320, that is, the anti-demagnetization capability of the permanent magnet 400 can be improved after the rotor sheet 300 is provided with the grooves 320.
It is understood that in other embodiments, the rotor core 10 may include more punch groups, for example, the rotor core 10 includes two first punch groups 100 and two second punch groups 200, the two first punch groups 100 and the two second punch groups 200 are alternately stacked in the direction of the rotation axis, and the two first punch groups 100 are disposed correspondingly in the direction of the rotation axis, and the two second punch groups 200 are disposed correspondingly in the direction of the rotation axis. Thus, two first limiting portions 110 spaced apart in the direction of the rotation axis are formed at one side of the mounting groove 130 in the circumferential direction of the rotor core 10, and two second limiting portions 210 spaced apart in the direction of the rotation axis are formed at the other side, thereby further improving the mounting stability of the permanent magnet 400. Of course, the rotor core 10 may further include a plurality of first punch stacks 100 and a plurality of second punch stacks 200, which are not described herein.
Referring to fig. 1 and 3, it can be understood that the mounting groove 130 has a first wall surface 131, and specifically, the first wall surface 131 is a part of the outer circumferential wall of the rotor core 10. The first wall surface 131 is located between the adjacent first limiting portion 110 and second limiting portion 210, and the first wall surface 131 faces away from the rotation axis. The first wall surface 131 may also be understood as a bottom wall of the mounting groove 130.
Referring to fig. 1, it can be understood that, on a projection plane perpendicular to the rotation axis, a circle having a minimum distance between an end of the projection of the first wall surface 131 and the circle center as a radius is defined as a first reference circle P 1, and generally, the distances between both ends of the projection of the first wall surface 131 and the circle center are equal, that is, the minimum distance is the distance between either end of the projection of the first wall surface 131 and the circle center. The first wall surface 131 is arranged to be convex with respect to the first reference circle P 1 in a direction away from the rotational axis, i.e., the first wall surface 131 is arranged to be convex outward with respect to the first reference circle P 1.
Referring to fig. 1, it can be understood that, in the present embodiment, on a projection plane perpendicular to the rotation axis, the projection of the first wall surface 131 is an arc and has a symmetrical center line Z passing through the center of the first reference circle P 1, the circle where the arc is defined is a second reference circle P 2, the diameter of the second reference circle P 2 is smaller than that of the first reference circle P 1, and the center of the second reference circle P 2 is deviated from the center of the first reference circle P 1, specifically, the center of the second reference circle P 2 is located between the first wall surface 131 and the rotation axis, and the second reference circle P 2 is located on the symmetrical center line Z of the first wall surface 131.
Referring to fig. 5 and 6, it can be appreciated that the permanent magnet 400 is a uniform thickness magnet, respectively. Specifically, the permanent magnet 400 has a sixth wall surface 410 and a seventh wall surface 420 facing away from each other in the radial direction of the rotor core 10, wherein the sixth wall surface 410 is closer to the rotational axis than the seventh wall surface 420, the sixth wall surface 410 is matched with the first wall surface 131, and the sixth wall surface 410 is bonded to the first wall surface 131 when the permanent magnet 400 is mounted. That is, in the present embodiment, the sixth wall surface 410 is also an arc surface, and the arc of the sixth wall surface 410 is equal to the arc of the first wall surface 131.
Referring to fig. 6, it can be understood that the distance between the sixth wall surface 410 and the seventh wall surface 420 in the radial direction of the rotor core 10 is defined as the thickness L 5 of the permanent magnet 400. The thickness L 5 of the permanent magnet 400 at any position in the circumferential direction of the rotor core 10 is equal, that is, the permanent magnet 400 is an equal-thickness magnet. That is, in this embodiment, the seventh wall 420 is also an arc surface, and the center of the circle corresponding to the seventh wall 420 coincides with the center of the circle corresponding to the sixth wall 410. Therefore, the permanent magnet 400 has regular shape, and the workload of polishing after cutting can be reduced, thereby reducing the production difficulty of the permanent magnet 400 and being beneficial to reducing the production cost. In addition, the permanent magnets 400 have a larger thickness along the circumferential direction of the rotor core 10, which is advantageous in reducing end leakage and enhancing the demagnetization resistance of the permanent magnets 400.
As is readily understood with reference to fig. 7 and 8, the servo motor further includes a stator assembly including a stator core 500 and windings wound around the stator core 500, the stator core 500 being disposed around the outer circumference of the rotor assembly. An air gap 510 is formed between the inner peripheral wall of the stator core 500 and the seventh wall 420. Generally speaking, the inner peripheral wall of the stator core 500 is arc-shaped, and the corresponding center of the circle coincides with the center of the first reference circle P 1, and since the first wall surface 131 is arranged protruding outwards relative to the first reference circle P 1, and the permanent magnets 400 are equal-thickness magnets, the radial distance of the corresponding air gap 510 at the seventh wall surface 420 increases gradually from the symmetrical center line Z of the first wall surface 131 to two sides, and the waveform of the magnetic density distribution of the air gap 510 is close to a sine waveform under the premise of equal magnetic field strength, so that the harmonic wave is reduced, the cogging torque pulsation is reduced, the vibration and noise are reduced, and the performance of the servo motor is improved.
Of course, in other embodiments, on the projection plane perpendicular to the rotation axis, the projection of the first wall surface 131 may be other curves, fold lines, etc., which only needs to ensure that the first wall surface 131 is disposed to bulge outwards relative to the first reference circle P 1, and the sixth wall surface 410 of the permanent magnet 400 matches the first wall surface 131, and the permanent magnet 400 is a magnet with equal thickness.
Referring to fig. 1, it can be understood that the distance between the center of the second reference circle P 2 and the rotation axis is L 1, which satisfies the following requirements: l 1 mm or more and L 1 mm or less. If L 1 < 5mm, the radian of the first wall 131 is too small, the radial distance of the air gap 510 tends to be equal everywhere, and the waveform of the distribution of the magnetic density of the air gap 510 deviates from a sine waveform, so that the harmonic wave is increased, the cogging torque ripple is increased, and the vibration and noise are increased, thereby affecting the performance of the servo motor. If L 1 is greater than 8mm, the radian of the first wall 131 is too large, the maximum value of the radial distance of the air gap 510 is larger, and the magnetic density of the air gap 510 is small, so that the output torque of the servo motor is affected. Therefore, the L 1 mm is less than or equal to 8mm, the output torque and the cogging torque pulsation of the servo motor can be considered, the reduction of the cogging torque pulsation, the reduction of vibration and noise are realized, the performance of the servo motor is improved, and the output torque is ensured to meet the set requirement.
Referring to fig. 1 and 5, it can be understood that the protrusion 310 has a second wall surface 311 and a third wall surface 312 facing away from each other in the circumferential direction of the rotor core 10, and the distance between the second wall surface 311 and the third wall surface 312 increases in the radially outward direction of the rotor core 10, i.e., the outer end of the protrusion 310 is a large end and the inner end of the protrusion 310 is a small end. In this embodiment, on a projection plane perpendicular to the rotation axis, the projection of the convex portion 310 is isosceles trapezoid, and the large end of the isosceles trapezoid is located outside. Correspondingly, the wall surfaces of the permanent magnets 400 at both ends in the circumferential direction of the rotor core 10 are matched with the second wall surface 311 and the third wall surface 312, respectively. When the permanent magnet 400 is mounted, the permanent magnet 400 is inserted into the mounting groove 130 in the direction of the rotation axis, and the wall surfaces of both ends of the permanent magnet 400 in the circumferential direction of the rotor core 10 are abutted against the second wall surface 311 and the third wall surface 312 located on both sides of the mounting groove 130 in the circumferential direction of the rotor core 10, respectively, thereby fixing the permanent magnet 400. And the protrusion 310 can limit the permanent magnet 400 from being separated from the rotor core 10 along the radial direction of the rotor core 10, prevent the permanent magnet 400 from moving along the radial direction of the rotor core 10, and further improve the installation stability of the permanent magnet 400.
Referring to fig. 1, it can be understood that the maximum protrusion height of the protrusion 310 is defined as L 2 in the radial direction of the rotor core 10. Specifically, the side of the protrusion 310 facing away from the rotation axis has a fourth wall 313, that is, the outer side wall of the protrusion 310 is the fourth wall 313, and the maximum protrusion height L 2 of the protrusion 310 is the maximum distance between the fourth wall 313 and the first wall 131, and when measuring L 2, the position of the fourth wall 313 having the maximum distance from the first wall 131 can be measured by a scale. The maximum protrusion height L 2 of the convex portion 310 satisfies: l 2 mm or less and 1mm or less is added. When L 2 is less than 0.5mm, the maximum protruding height of the protruding part 310 is too small, the limit effect of the protruding part 310 on the permanent magnet 400 is poor, and the installation stability of the permanent magnet 400 is affected; when L 2 is more than 1mm, the maximum protruding height of the protruding part 310 is overlarge, the magnetic leakage of the permanent magnet 400 is increased, the anti-demagnetizing capability of the permanent magnet 400 is poor, and the output torque and the efficiency of the servo motor are affected. Therefore, the L 2 mm is less than or equal to 0.5mm and less than or equal to 1mm, and the installation stability and the anti-demagnetization capability of the permanent magnet 400 can be considered, so that the installation stability of the permanent magnet 400 is ensured, the magnetic leakage is reduced, and the performance of the servo motor is improved.
Referring to fig. 1 and 6, it can be understood that the maximum protrusion height L 2 of the protrusion 310 and the thickness L 5 of the permanent magnet 400 satisfy: l 2/L5 is more than or equal to 0.25 and less than or equal to 0.3. That is, the maximum protrusion height of the protrusion 310 is set according to the thickness of the permanent magnet 400 such that the maximum protrusion height of the protrusion 310 is within a reasonable range to allow for both the installation stability and anti-demagnetization ability of the permanent magnet 400, thereby ensuring the installation stability of the permanent magnet 400 and reducing the magnetic leakage, improving the performance of the servo motor.
Referring to fig. 1, it can be understood that the maximum depth of the groove 320 is defined as L 3 in the radial direction of the rotor core 10. Specifically, the end of the groove 320 near the rotation axis has a fifth wall 321, the fifth wall 321 can be understood as a bottom wall of the groove 320, and the maximum depth L 3 of the groove 320 is the maximum distance between the fifth wall 321 and the first wall 131. When measuring L 3, the position where the distance between the fifth wall 321 and the first wall 131 is the largest can be measured by a vernier caliper. The maximum depth L 3 of the groove 320 satisfies: l 3 mm or more and L 3 mm or less and 0.7mm or less. When L 3 is less than 0.5mm, the maximum depth of the groove 320 is too small, and the effect of the groove 320 for optimizing the magnetic field distribution and improving the anti-demagnetizing capability of the permanent magnet 400 is poor; when L 3 > 0.7mm, the maximum depth of the grooves 320 is excessively large, resulting in deterioration of the structural strength of the rotor sheet 300. Therefore, L 3 mm or less and 0.7mm or less is achieved, the magnetic field distribution is optimized to the maximum extent on the premise that the structural strength of the rotor punching sheet 300 meets the requirement, the anti-demagnetizing capability of the permanent magnet 400 is improved, and the magnetic leakage is reduced.
Referring to fig. 1 and 4, it can be understood that the rotor sheet 300 is further provided with a plurality of ventilation holes 330, the ventilation holes 330 being located between the first wall surface 131 and the shaft hole 340, the ventilation holes 330 penetrating the rotor sheet 300 in the direction of the rotation axis, the plurality of ventilation holes 330 being equally spaced along the circumferential direction of the rotor sheet 300. In this embodiment, the number of vent holes 330 is ten. The ventilation holes 330 of the plurality of rotor laminations 300 of the rotor core 10 are correspondingly communicated. Therefore, in the rotation process of the rotor assembly, air can pass through the ventilation holes 330 to realize the integral cooling of the rotor core 10 and indirectly cool the permanent magnets 400, thereby reducing the risk of demagnetizing the permanent magnets 400 due to high temperature.
Referring to fig. 1, it can be appreciated that the maximum inner diameter of the vent 330 is defined as D. In this embodiment, on a projection plane perpendicular to the rotation axis, the projection of the vent 330 is circular, and the maximum inner diameter of the vent 330 is any inner diameter. The maximum inner diameter D of the vent 330 satisfies: d is more than or equal to 8mm and less than or equal to 10mm. When D < 8mm, the maximum inner diameter of the ventilation hole 330 is too small, the ventilation amount is insufficient, and the effect of lowering the temperature of the rotor core 10 and the permanent magnet 400 is poor; when D > 10mm, the maximum inner diameter of the vent hole 330 is excessively large, resulting in deterioration of the structural strength of the rotor sheet 300. Therefore, D is 8mm or less and 10mm or less, and the ventilation amount of the ventilation hole 330 is increased on the premise that the structural strength of the rotor sheet 300 is ensured to meet the requirements, so that the temperatures of the rotor core 10 and the permanent magnet 400 are reduced.
Referring to fig. 1 and 4, it can be understood that the rotor sheet 300 is further provided with a plurality of stress relief grooves 350, the stress relief grooves 350 are provided at the periphery of the shaft hole 340, and the stress relief grooves 350 are concavely provided toward the outside of the rotor sheet 300. The projection of the stress relief groove 350 on a projection plane perpendicular to the axis of rotation may be rectangular, fan-shaped, etc. The plurality of stress relief grooves 350 are equally spaced along the circumferential direction of the rotor sheet 300. In this embodiment, the rotor sheet 300 is provided with ten stress relief grooves 350. It is easy to understand that the rotating shaft is in interference fit with the rotor core 10, and by providing the stress release groove 350, the rotor punching sheet 300 can have a certain deformation amount at the periphery of the shaft hole 340, so that the interference of the rotating shaft and the rotor core 10 can be reduced, and the fit stress of the rotating shaft and the rotor core 10 can be reduced.
Referring to fig. 1, it can be understood that the maximum depth of the stress relieving groove 350 is defined as L 4 in the radial direction of the rotor core 10. Specifically, in the present embodiment, the projection of the stress relieving groove 350 on the projection plane perpendicular to the rotation axis is a sector with a central angle greater than 180 °. The wall of the stress relief groove 350 is defined as an eighth wall 351, and the maximum depth L 4 of the stress relief groove 350 is the maximum distance between the eighth wall 351 and the inner peripheral wall of the shaft hole 340 in the radial direction of the rotor sheet 300. The maximum depth L 4 of the stress relief groove 350 satisfies: l 4 is less than or equal to 2mm and less than or equal to 3mm. When L 4 is less than 2mm, the maximum depth of the stress relief groove 350 is too small, and the effect of the stress relief groove 350 for reducing the matching stress of the rotating shaft and the rotor core 10 is poor; when L 4 > 3mm, the maximum depth of the stress relief groove 350 is excessively large, resulting in deterioration of the structural strength of the rotor sheet 300. Therefore, the L 4 mm or less and the L3 mm or less are made to be 2mm or less, and the effect of the stress relief groove 350 for reducing the matching stress of the rotating shaft and the rotor core 10 is enhanced on the premise that the structural strength of the rotor punching sheet 300 meets the requirement. Of course, in other embodiments, the projection of the strain relief slot 350 may be a sector or other shape having a central angle less than 180 °.
The rotor assembly according to the second embodiment of the present invention includes the rotor core 10 according to the first embodiment of the present invention and the plurality of permanent magnets 400, and the plurality of permanent magnets 400 are correspondingly mounted in the plurality of mounting slots 130, which will not be described herein.
The rotor assembly adopts all the technical solutions of the rotor core 10 of the above embodiment, and therefore has at least all the advantageous effects brought by the technical solutions of the above embodiment.
The servo motor comprises a stator assembly and a rotor assembly, wherein the stator assembly is arranged around the periphery of the rotor assembly.
The servo motor adopts all the technical schemes of the rotor assembly of the embodiment, so that the servo motor has at least all the beneficial effects brought by the technical schemes of the embodiment.
An industrial robot according to an embodiment of the fourth aspect of the present invention comprises a servo motor according to an embodiment of the third aspect of the present invention. The industrial robot can be a mechanical device with the functions of an anthropomorphic arm, a wrist and a hand, and the servo motor drives the industrial robot to move so as to realize the procedures of automatic welding, spraying, laser cutting, workpiece carrying, part assembling and the like.
The industrial robot adopts all the technical schemes of the servo motor of the embodiment, so the industrial robot has at least all the beneficial effects brought by the technical schemes of the embodiment.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of one of ordinary skill in the art without departing from the spirit of the present invention.
Claims (18)
1. The rotor core rotates around the rotation axis, and is characterized by comprising:
The first punching sheet group comprises a plurality of rotor punching sheets which are correspondingly and repeatedly arranged along the direction of the rotation axis, the rotor punching sheets comprise a plurality of convex parts, the convex parts are convexly arranged on the outer periphery of the rotor punching sheets, the convex parts are circumferentially and alternately arranged along the rotor punching sheets, the rotor punching sheets are further provided with grooves which are arranged on the outer periphery of the rotor punching sheets and are positioned between two adjacent convex parts, the convex parts which are correspondingly and repeatedly arranged along the direction of the rotation axis form a first limiting part, and the grooves which are correspondingly arranged along the direction of the rotation axis are mutually communicated and form a first groove section;
The second punching sheet group comprises a plurality of rotor punching sheets which are arranged in a stacking way along the direction of the rotation axis, a second limiting part is formed by a plurality of convex parts which are arranged in a stacking way along the direction of the rotation axis, and a plurality of grooves which are correspondingly arranged along the direction of the rotation axis are mutually communicated and form a second groove section;
The number of the protruding parts of each rotor punching sheet is N, the first punching sheet group and the second punching sheet group are arranged in a lamination mode along the direction of the rotating axis, the first punching sheet group rotates around the rotating axis relative to the second punching sheet group so that the first limiting part and the second limiting part are staggered, the rotating angle is 180 degrees/N, a mounting groove is formed between the adjacent first limiting part and second limiting part along the circumferential direction, the mounting groove is used for mounting a permanent magnet, the first groove section corresponds to the position of the second limiting part in the circumferential direction of the rotor core, and the second groove section corresponds to the position of the first limiting part in the circumferential direction of the rotor core.
2. The rotor core of claim 1, wherein: the rotor punching sheet is provided with a plurality of the grooves, and the number of the grooves is equal to the number of the convex portions, and the plurality of the grooves and the plurality of the convex portions are alternately arranged at intervals in the circumferential direction.
3. The rotor core of claim 1, wherein: the mounting groove is provided with a first wall surface, the first wall surface is positioned between the adjacent first limiting part and the second limiting part, the first wall surface faces away from the rotating axis, the projection of the rotating axis is taken as the circle center on the projection surface perpendicular to the rotating axis, the minimum distance between the projected end of the first wall surface and the circle center is a circle with a radius as a first reference circle, and the first wall surface is arranged in a protruding mode relative to the first reference circle in a direction deviating from the rotating axis.
4. A rotor core as claimed in claim 3, wherein: on the projection plane perpendicular to the rotation axis, the projection of the first wall surface is an arc line, the circle where the arc line is located is a second reference circle, and the center of the second reference circle is located between the first wall surface and the rotation axis.
5. The rotor core as recited in claim 4, wherein: the distance between the center of the second reference circle and the rotation axis is L 1, and the following conditions are satisfied: l 1 mm or more and L 1 mm or less.
6. The rotor core of claim 1, wherein: the convex portion has a second wall surface and a third wall surface facing away from each other in the circumferential direction, and a distance between the second wall surface and the third wall surface increases in a radially outward direction of the rotor core.
7. The rotor core according to claim 1 or 6, characterized in that: along the radial direction of the rotor core, the maximum protruding height of the protruding part is L 2, and the following conditions are satisfied: l 2 mm or less and 1mm or less is added.
8. The rotor core of claim 1, wherein: along the radial direction of the rotor core, the maximum depth of the groove is L 3, and the following conditions are satisfied: l 3 mm or more and L 3 mm or less and 0.7mm or less.
9. The rotor core of claim 1, wherein: the rotor punching sheet is further provided with a plurality of ventilation holes, the ventilation holes are arranged at intervals along the circumferential direction, and the ventilation holes penetrate through the rotor punching sheet along the direction of the rotation axis.
10. The rotor core as recited in claim 9, wherein: the maximum internal diameter of the vent hole is D, and the maximum internal diameter satisfies the following conditions: d is more than or equal to 8mm and less than or equal to 10mm.
11. The rotor core of claim 1, wherein: the rotor punching sheet is provided with a shaft hole for installing the rotating shaft, the rotor punching sheet is also provided with a plurality of stress release grooves, the stress release grooves are arranged on the periphery of the shaft hole, and the stress release grooves are arranged at intervals along the circumferential direction.
12. The rotor core as recited in claim 11, wherein: along the radial direction of the rotor core, the maximum depth of the stress relief groove is L 4, and the following conditions are satisfied: l 4 is less than or equal to 2mm and less than or equal to 3mm.
13. A rotor assembly, comprising:
the rotor core according to any one of claims 1 to 12;
And the permanent magnets are correspondingly arranged in the mounting grooves.
14. The rotor assembly of claim 13 wherein: the permanent magnet is provided with a sixth wall surface and a seventh wall surface which are opposite along the radial direction of the rotor core, the distance between the sixth wall surface and the seventh wall surface in the radial direction is the thickness of the permanent magnet, and the thickness of the permanent magnet at any position in the circumferential direction is equal.
15. The rotor assembly as recited in claim 14, wherein: the mounting groove is provided with a first wall surface, the first wall surface is positioned between the adjacent first limiting part and second limiting part, the first wall surface is opposite to the rotation axis, the sixth wall surface is closer to the rotation axis than the seventh wall surface, and the sixth wall surface is attached to the first wall surface.
16. The rotor assembly as recited in claim 14, wherein: the thickness of permanent magnet is L 5, along the radial of rotor core, the maximum protrusion height of convex part is L 2, satisfies: l 2/L5 is more than or equal to 0.25 and less than or equal to 0.3.
17. A servo motor comprising a rotor assembly as claimed in any one of claims 13 to 16.
18. An industrial robot comprising a servomotor according to claim 17.
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| CN202410601919.XA CN118199298B (en) | 2024-05-15 | 2024-05-15 | Rotor core, rotor assembly, servo motor and industrial robot |
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| CN202410601919.XA CN118199298B (en) | 2024-05-15 | 2024-05-15 | Rotor core, rotor assembly, servo motor and industrial robot |
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| CN118199298B true CN118199298B (en) | 2024-07-26 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109347233A (en) * | 2018-12-19 | 2019-02-15 | 上海特波电机有限公司 | Permanent-magnetic synchronous motor rotor with air magnetic barrier |
| CN110912300A (en) * | 2019-11-07 | 2020-03-24 | 联创汽车电子有限公司 | Rotating shaft and motor rotor unit |
| JP2021191093A (en) * | 2020-05-29 | 2021-12-13 | 株式会社ミツバ | Brushless motor |
| CN117321886A (en) * | 2021-04-05 | 2023-12-29 | 株式会社电装 | Rotor and rotating electrical machine |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN217720857U (en) * | 2022-07-26 | 2022-11-01 | 蜂巢传动系统(江苏)有限公司保定研发分公司 | Rotor assembly and motor |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109347233A (en) * | 2018-12-19 | 2019-02-15 | 上海特波电机有限公司 | Permanent-magnetic synchronous motor rotor with air magnetic barrier |
| CN110912300A (en) * | 2019-11-07 | 2020-03-24 | 联创汽车电子有限公司 | Rotating shaft and motor rotor unit |
| JP2021191093A (en) * | 2020-05-29 | 2021-12-13 | 株式会社ミツバ | Brushless motor |
| CN117321886A (en) * | 2021-04-05 | 2023-12-29 | 株式会社电装 | Rotor and rotating electrical machine |
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