CN110380533A

CN110380533A - A kind of motor and the equipment including the motor

Info

Publication number: CN110380533A
Application number: CN201910544447.8A
Authority: CN
Inventors: 侯唯敏; 何国斌
Original assignee: Nanfang Electric Technology Co Ltd
Current assignee: Hou Weimin
Priority date: 2019-06-21
Filing date: 2019-06-21
Publication date: 2019-10-25
Also published as: WO2020253847A1

Abstract

The present invention provides a kind of motor, which includes: stator, mover and stator permanent magnet component and/or rotor permanent magnet component；Stator includes N number of stator unit of magnetic conduction, and mover includes N number of subunit of magnetic conduction；N number of stator unit includes N number of stator yoke；N number of subunit includes N number of mover yoke portion；Wherein, N is the integer more than or equal to 2；N number of stator unit and N number of subunit are arranged in pairs along first direction；And air gap is formed between N number of stator unit and N number of subunit；Magnetic field in a second direction is formed in air gap；Wherein, second direction is perpendicular to first direction；N-1 stator unit gap is formed between adjacent stators unit in N number of stator unit；N-1 subunit gap is formed between adjacent subunit in N number of subunit；Stator permanent magnet component may be provided at least partly N-1 stator unit gap and/or on N number of stator unit；And/or rotor permanent magnet component may be provided at least partly N-1 subunit gap and/or on N number of subunit, using technical solution of the present invention, can increase electromagnetic torque/power output, or increase the power density of power generation.

Description

Motor and equipment comprising same

Technical Field

The invention relates to the technical field of electromagnetism, in particular to a motor and equipment comprising the motor.

Background

With the rapid development of society and science and technology in recent two years, people have increasingly demanded motors capable of outputting large torque/output or large power generation.

However, the performance of the motor in this respect has not been satisfactory to date.

Disclosure of Invention

In view of this, embodiments of the present invention provide a motor and an apparatus including the motor.

The present invention provides a motor, comprising: the stator, the rotor and the stator permanent magnet assembly and/or the rotor permanent magnet assembly; the stator comprises N magnetic conductive stator units, and the rotor comprises N magnetic conductive rotor units; the N stator units comprise N stator yokes; the N mover units include N mover yokes; wherein N is an integer greater than or equal to 2;

the N stator units and the N rotor units are arranged in pairs along a first direction; air gaps are formed between the N stator units and the N rotor units; a magnetic field in a second direction is formed in the air gap; wherein the second direction is perpendicular to the first direction;

n-1 stator unit gaps are formed between adjacent stator units in the N stator units; n-1 rotor unit gaps are formed between adjacent rotor units in the N rotor units;

the stator permanent magnet assemblies are arranged in at least part of the N-1 stator unit gaps and/or on the N stator units; and/or

The rotor permanent magnet assemblies are arranged in at least part of the N-1 rotor unit gaps and/or on the N rotor units.

Preferably, the N stator yoke portions are connected into a whole through a stator magnetic conductive material connecting portion; and/or

The N rotor yokes are connected into a whole through rotor magnetic conductive material connecting parts.

Preferably, when the stator permanent magnet assemblies are arranged on at least part of the N-1 stator unit gaps; the magnetic field polarization direction of the stator permanent magnet assembly corresponds to the first direction; and/or

When the stator permanent magnet assembly is disposed on at least a portion of the N stator units; the direction of a magnetic field generated by the stator permanent magnet assembly in the air gap corresponds to the second direction; and/or

When the rotor permanent magnet assembly is arranged on at least part of the N-1 rotor unit gaps; the magnetic field polarization direction of the rotor permanent magnet assembly corresponds to the first direction; and/or

When the mover permanent magnet assemblies are arranged on at least part of the N mover units; and the magnetic field direction generated by the rotor permanent magnet assembly in the air gap corresponds to the second direction.

Preferably, when the motor comprises the stator permanent magnet assemblies and the rotor permanent magnet assemblies, the directions of the magnetic fields formed by the stator permanent magnet assemblies and the rotor permanent magnet assemblies in the air gaps on the stator units and the rotor units which are arranged in pairs are the same.

Preferably, the stator permanent magnet assemblies may be disposed on the N stator yokes of at least some of the N stator units; and/or the mover permanent magnet assemblies are disposed on at least some of the N mover yokes of the N mover units.

Preferably, when the motor is a rotating motor, the stator permanent magnet assemblies and/or the mover permanent magnet assemblies arranged on the yoke are distributed in a circular ring shape; or

When the motor is a linear motor, the stator permanent magnet assemblies and/or the rotor permanent magnet assemblies arranged on the yoke are linearly distributed.

Preferably, each of the N stator yokes extends toward the mover in the mover moving direction to form a plurality of large teeth; a large groove is formed between the adjacent large teeth; at least part of the large slots are provided with windings;

the large teeth correspond to the surface of the rotor to form a plurality of first small teeth along the motion direction of the rotor, and first small grooves are formed between the adjacent first small teeth; or

The surfaces of the large teeth, corresponding to the rotor, are smooth surfaces.

Preferably, when the motor forms the first small slot, a first permanent magnet is arranged in at least part of the first small slot of at least part of the N stator units.

Preferably, a seventh permanent magnet is arranged in at least part of the large groove.

Preferably, a plurality of second small teeth are formed on the N mover yokes corresponding to the surface of the stator along the moving direction of the mover, and a second small slot is formed between adjacent second small teeth.

Preferably, at least part of the second small slots in at least part of the N mover units are provided with second permanent magnets.

Preferably, when adjacent stator permanent magnet assemblies are arranged in the N-1 adjacent stator unit gaps, the directions of the magnetic fields generated in the air gaps by the adjacent stator permanent magnet assemblies are opposite; and/or

When the adjacent stator permanent magnet assemblies are arranged on the N adjacent stator units, the directions of magnetic fields generated by the adjacent stator permanent magnet assemblies in the air gap are opposite; and/or

When the adjacent rotor permanent magnet assemblies are arranged in the gaps of the N-1 rotor units, the directions of magnetic fields generated by the adjacent rotor permanent magnet assemblies in the air gaps are opposite; and/or

When the N adjacent rotor units are provided with the adjacent rotor permanent magnet assemblies, the directions of magnetic fields generated by the adjacent rotor permanent magnet assemblies in the air gap are opposite.

Preferably, the adjacent rotor units are staggered by a certain distance along the motion direction of the rotor; wherein,

the certain distance enables the directions of magnetic fields generated by the adjacent stator permanent magnet assemblies and/or the adjacent rotor permanent magnet assemblies in the air gaps between the adjacent stator units and the adjacent rotor units along the first direction to be the same.

Preferably, the adjacent rotor units are staggered by 0.5 pitch of the second small teeth along the moving direction of the rotor.

Preferably, when the motor is a radial flux rotating machine, the first direction is an axial direction; the second direction is radial; or

When the motor is a linear motor; the first direction is perpendicular to the moving direction of the rotor; the second direction is a direction crossing an air gap between the stator and the mover.

The present invention provides an apparatus comprising at least one electric machine as defined in any one of the above.

By arranging the first permanent magnet assembly and/or the second permanent magnet assembly on the motor comprising the N stator units and the N rotor units, when the motor is used as a motor, larger electromagnetic torque/output force is generated; similarly, when the motor is used as a generator, the power density of the generated power can be increased.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the embodiments and the drawings used in the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

Fig. 1 is a schematic view of an overall structure of a motor according to an embodiment of the present invention.

Fig. 2A is a schematic view of two stator units of a motor provided in an embodiment of the present invention; fig. 2B is a first schematic view of two stator units of the motor provided in the embodiment of the present invention, which are cut along the axial direction; fig. 2C is a second schematic view of two stator units of the motor provided in the embodiment of the present invention, which are cut along the axial direction.

Fig. 3 is a schematic view of two stator units of the motor provided in the embodiment of the present invention, which are provided with a third permanent magnet and a fifth permanent magnet and then are cut along an axial direction.

Fig. 4 is a schematic view of two rotor units of a motor provided in an embodiment of the present invention, which are taken along an axial direction.

Fig. 5 is a schematic view of two mover units of the motor provided in the embodiment of the present invention, which are provided with a fourth permanent magnet and a fifth permanent magnet and then are cut along an axial direction.

Fig. 6A is a schematic partial plan view of tooth slot surfaces of two adjacent rotor units of a motor according to an embodiment of the present invention; fig. 6B is a schematic partial plan view of tooth slot surfaces of three adjacent rotor units of the motor according to the embodiment of the present invention; fig. 6C is a partial schematic view of tooth slot surfaces of two adjacent mover units of the motor according to the embodiment of the present invention.

Fig. 7A is a first plan view of one of the large teeth of the stator unit of the motor according to the embodiment of the present invention; fig. 7B is a second plan view schematically illustrating one of the large teeth of the stator unit of the motor according to the embodiment of the present invention; fig. 7C is a third schematic plan view of one of the large teeth of the stator unit of the motor according to the embodiment of the present invention.

Fig. 8A is a first partial schematic view of a slot arrangement of opposing portions of a stator and a mover of a motor according to an embodiment of the present invention; fig. 8B is a second partial schematic view of a slot arrangement of stator and mover opposing portions of a motor according to an embodiment of the present invention.

Fig. 9A is a first schematic view of a fifth permanent magnet of a ring arrangement structure provided in a stator yoke of an electric machine according to an embodiment of the present invention; fig. 9B is a second schematic view of a fifth permanent magnet of a ring arrangement structure provided in a stator yoke of the motor according to the embodiment of the present invention; fig. 9C is a third schematic view of a fifth permanent magnet of a circular ring arrangement structure provided in a stator yoke of the motor according to the embodiment of the present invention.

Fig. 10A is a first schematic view of a fifth permanent magnet of a linear arrangement structure provided in a stator yoke of a motor according to an embodiment of the present invention; fig. 10B is a second schematic view of fifth permanent magnets arranged in a linear arrangement in a stator yoke of an electric machine according to an embodiment of the present invention; fig. 10C is a third schematic view of a fifth permanent magnet of a linear arrangement structure provided in a stator yoke of a motor according to an embodiment of the present invention.

Fig. 11A is an axial cross-sectional view of an axial-flux rotating electrical machine provided in accordance with an embodiment of the present invention; fig. 11B is a schematic view of a stator-facing surface of a mover of an axial-flux rotary electric machine provided in an embodiment of the present invention; fig. 11C is a schematic view of a stator of an axial-flux rotating electrical machine according to an embodiment of the present invention.

Description of the symbols of the drawings: 10, a motor; 11a stator; 12 movers; 111. 112 a stator unit; 1113. 1123 a stator yoke; 121. 122, 123 mover units; 1213. 1223 a mover yoke; 13 stator magnetic conductive material connecting part; 1111 a first small tooth; 1112 a first small groove; m1 first permanent magnet; m2 second permanent magnet; m3 third permanent magnet; m4 fourth permanent magnet; m5 fifth permanent magnet; m6 sixth permanent magnet; m7 seventh permanent magnet; t big teeth; an L winding; n1 adjacent stator cell gap; and the Y axis direction.

Detailed Description

In order to make the technical solutions of the embodiments of the present invention better understood, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1, an embodiment of the present invention provides an electric machine 10.

Specifically, the motor may be any type of motor that has been developed now or in the future, for example, having the following structure: the dividing in the relative movement manner of the stator and the mover of the motor may include: a rotary motor (as shown in fig. 1) or a linear motor (as shown in fig. 8A or 8B); taking the magnetic flux profile of the rotating electrical machine as an example, an axial flux rotating electrical machine (as shown in fig. 11A to 11C), a radial flux rotating electrical machine (as shown in fig. 1), or an axial-radial mixed flux rotating electrical machine (the drawings are omitted) may be included.

Specifically, the motor can be an electric motor which converts electric energy into kinetic energy and outputs the kinetic energy; the generator can also convert kinetic energy into electric energy to be output. The two can be realized by adopting the same structure in some cases, and the functions of the generator or the motor are realized by adopting different electric connection and mechanical connection modes for the same structure.

As further shown in fig. 1, the motor 10 includes a stator 11, a mover 12, and a stator permanent magnet assembly and/or a mover permanent magnet assembly; the stator 11 includes N stator units 111, 112 that are magnetically conductive; the mover 12 includes N mover units 121, 122 that are magnetically conductive; the N stator units 111, 112 include N stator yoke portions 1113, 1123 (shown in fig. 2A or 2B); the N mover units 121, 122 include N mover yokes 1213, 1223 (as shown in fig. 4 or 5); in which N is an integer greater than or equal to 2, for convenience of understanding, the specific embodiment will be described in detail by taking N equal to 2 as an example.

Specifically, the N stator units and the N mover units may be made of various magnetically permeable materials, such as commonly used silicon steel sheets, iron powder, or pure iron, which are currently available or developed in the future.

Specifically, the stator 11 and the mover 12 may be disposed opposite to each other on one side (as shown in fig. 1, 8A, or 11A), and besides, the stator 11 may be two parts and respectively located on both sides of the second mover 12 (the drawing is omitted), or the mover may be two parts (12, 12') respectively located on both sides of the stator 11 (as shown in fig. 8B), or as shown in fig. 11C, the mover part is omitted, and both sides of the stator in the axial direction Y may respectively correspond to the movers.

Further, when the stator 11 and the mover 12 are disposed to be single-sided opposite to each other, the stator 11 may be located at any side of the mover 12. For convenience of understanding, the present embodiment is further described in detail by taking the motor as a radial flux rotating motor and the stator 11 located at the radially inner side of the mover 12 as an example, as shown in fig. 1.

The N stator units 111, 112 and the N mover units 121, 122 are arranged in pairs in a first direction; air gaps are formed between the N stator units 111 and 112 and the N rotor units 121 and 122, and magnetic fields along the second direction are formed in the air gaps; wherein the second direction is perpendicular to the first direction.

Specifically, the first direction and the second direction represent different meanings according to different motors.

Such as: as shown in fig. 1, when the motor 10 is a radial flux rotating motor 10, the first direction is the axial direction Y; the second direction is radial;

as shown in fig. 8A or 8B, when the motor is a linear motor; the first direction is a direction perpendicular to the second direction; the second direction is a direction crossing an air gap between the stator and the mover.

As shown in fig. 11A-11C, when the machine is an axial flux rotating machine, the first direction is radial; the second direction is an axial direction Y, and then the N stator units 111 and 112 and the N mover units 121 and 122 are arranged in pairs along a radial direction; and air gaps are formed between the N stator units 111, 112 and the N mover units 121, 122, and magnetic fields are formed in the air gaps in the axial direction Y.

As shown in fig. 2B, a stator unit gap N1 is formed between adjacent stator units, and N-1 stator unit gaps N1 are formed between adjacent stator units of the N stator units 111, 112; n-1 mover unit voids are formed between adjacent ones of the N mover units 121, 122.

Where adjacent means contiguous, such as: the first and second stator elements are referred to as neighbors, the second and third stator elements are referred to as neighbors … …, and so on, the nth and N-1 th stator elements may be referred to as neighbors; similarly, the Nth and (N-1) th sub-units are referred to as neighbors.

In one embodiment, as shown in FIG. 2C, N stator units 111, 112 are completely independent of each other with a stator gap N1 between them and/or a mover gap (the mover unit portion is omitted from FIG. 2C) between N mover units; then respective magnetic line of force loops H', H ″ are formed between each stator unit and each rotor unit arranged in pairs;

in one embodiment, as shown in fig. 2B, N stator yokes of N stator units 111, 112 are integrally connected by a stator magnetic permeable material connecting portion 13, except for a stator gap N1 between N stator units 111, 112 and/or a mover gap N1 between N mover units (a mover unit portion is omitted in fig. 2B); and/or the N mover yokes of the N mover units are connected into a whole through mover magnetic conductive material connecting parts 14 (shown in FIG. 4 or FIG. 5); then, an integral magnetic line of force loop H is formed between the N stator units and the N mover units, and compared with the above embodiments in which respective magnetic line of force loops are formed, the magnetic resistance of the magnetic circuit of the entire motor can be reduced.

Specifically, the connection can be prefabricated or realized by splicing.

Specifically, each of the N stator yokes may be a prefabricated whole, formed by splicing a plurality of portions, or formed by spacing a plurality of portions at a certain distance from each other; and/or each rotor yoke in the N rotor yokes can be a prefabricated whole body, formed by splicing a plurality of parts, or formed by separating a plurality of parts at a certain distance.

The stator permanent magnet assemblies may be disposed in at least a portion (part or all) of the N-1 stator unit voids and/or on the N stator units 111, 112; and/or

The mover permanent magnet assemblies may be disposed in at least a portion of the N-1 mover unit voids and/or on the N mover units 121, 122.

Specifically, the stator permanent magnet assembly and the rotor permanent magnet assembly can be a single piece or multiple pieces, the multiple pieces of permanent magnets can be designed into any shape according to the design, and the Halbach structure or the simplified Halbach structure is a special structure of the multiple pieces of permanent magnets.

Taking a motor as an example of a rotating electric machine, the electromagnetic torque of the motor depends on the magnitude of the current in the windings and the magnetic field generated by the permanent magnets. Under the condition of the same winding current, the larger the effective magnetic field generated by the permanent magnet is, the larger the electromagnetic torque of the motor is, and the copper loss of the motor cannot be increased by the increase of the electromagnetic torque. The first permanent magnet assembly and/or the second permanent magnet assembly are arranged on the motor comprising the N stator units and the N rotor units, magnetic fluxes generated by the first permanent magnet assembly and/or the second permanent magnet assembly form a loop through the stator, the air gap and the rotor, magnetic fields generated by each permanent magnet in the air gap are overlapped, and the magnetic fields generated by the permanent magnets are greatly improved. Due to the ingenious arrangement of the permanent magnets, the magnetic fields generated by the first permanent magnet assembly and/or the second permanent magnet assembly can interact with the magnetic field generated by the winding current on the motor to generate effective torque, so that when the motor is used as a motor, larger electromagnetic torque/output can be generated; similarly, when the motor is used as a generator, the power density of the generated power can be increased.

In addition, under the condition that the volume of the motor is not changed, when the motor is used as a motor, the torque/output of the motor under the same load current can be increased; when the motor is used as a generator, the power density of power generation can be increased; and under the condition that the output torque/force or the power generation density of the motor is not changed, the volume and the weight of the motor can be reduced.

In addition, because the stator and/or the rotor permanent magnet assembly is arranged on the stator unit, the rotor unit, the stator unit gap and/or the rotor unit gap, the processing and installation cost of the permanent magnet can be reduced, and the manufacturing cost of the motor is reduced.

Specifically, for ease of understanding, the stator permanent magnet assemblies described above may be disposed in at least a portion of N-1 stator unit voids and/or on N stator units 111, 112; and/or mover permanent magnet assemblies may be disposed in at least a portion of the N-1 mover unit voids and/or on the N mover units 121, 122 for further elaboration:

in one embodiment, as shown in FIG. 3, the stator permanent magnet assembly is a third permanent magnet M3 disposed at least partially within N-1 stator unit voids N1;

in one embodiment, as shown in FIG. 3, the mover permanent magnet assembly is a fourth permanent magnet M4 disposed within at least a portion of N-1 mover unit voids N2.

In one embodiment, as shown in fig. 3, the stator permanent magnet assembly may be disposed on N stator yokes of at least some of the N stator units; and/or the mover permanent magnet assemblies are disposed on the N mover yokes of at least some of the N mover units. In addition, the stator permanent magnet assembly and the rotor permanent magnet assembly can be arranged at any other positions of the stator unit and the rotor unit which meet any requirement that magnetic field superposition can be formed in the air gap.

For ease of understanding, the following is described in further detail:

in one embodiment, as shown in fig. 3, fifth permanent magnets M5 are disposed on the N stator yokes 113.

Further, in one embodiment, when the motor is a rotating motor, the fifth permanent magnet is arranged in a circular ring shape.

Specifically, as shown in fig. 9A, 9B or 9C, the fifth permanent magnet M5 may be prefabricated into a whole or spliced by a plurality of separate parts to form the circular terrestrial object permanent magnet M5 (as shown in fig. 9A); or a plurality of permanent magnets are arranged at certain intervals along the circumferential direction to form a fifth permanent magnet M5' (shown in FIG. 9B) in a ring shape; or a fifth permanent magnet M5 "(fig. 9C) is formed by a plurality of permanent magnets which are arranged at intervals and included angles along the circumferential direction.

Further, in one embodiment, when the motor is a linear motor, the fifth permanent magnets are arranged in a line.

Specifically, as shown in fig. 9A, 9B, or 9C, the fifth permanent magnet M5 may be prefabricated as a whole or be formed by splicing a plurality of separate parts to form a linear arrangement (as shown in fig. 10A), or be formed by linearly arranging a plurality of spaced permanent magnets M5' (as shown in fig. 10B), or be formed by arranging adjacent permanent magnets M5 "(as shown in fig. 10C) at a certain distance and at a certain angle.

As shown in fig. 5, in one embodiment, sixth permanent magnets M6 are disposed on the N mover yokes 123.

Further, in one embodiment, when the motor is a rotary motor, the sixth permanent magnet M6 is arranged in a circular ring shape.

Specifically, the sixth permanent magnet may be prefabricated into a whole or formed by splicing a plurality of separate parts into a circular ring shape; or a plurality of permanent magnets are arranged at certain intervals along the circumferential direction to form a ring-shaped sixth permanent magnet; or a sixth permanent magnet is formed by arranging a plurality of permanent magnets which are spaced at a certain distance and form a certain included angle along the circumferential direction.

Further, in one embodiment, when the motor is a linear motor, the sixth permanent magnet M6 is aligned.

Specifically, the sixth permanent magnet may be prefabricated as one body or may be linearly arranged by splicing a plurality of individual parts; or a plurality of linear arrays with certain intervals; or the adjacent permanent magnets are arranged at a certain distance and at a certain included angle.

Specifically, other relevant descriptions about the sixth permanent magnet refer to the description in the fifth permanent magnet above, and are not repeated herein.

In one embodiment, the magnetic field polarization direction of the stator permanent magnet assembly corresponds to the first direction when the stator permanent magnet assembly is disposed on at least a portion of the N-1 stator unit voids; and/or

When the stator permanent magnet assemblies are arranged on at least part of the N stator units, the direction of a magnetic field generated in the air gap by the stator permanent magnet assemblies corresponds to a second direction; and/or

When the rotor permanent magnet assembly is arranged on at least part of the N-1 rotor unit gaps, the magnetic field polarization direction of the rotor permanent magnet assembly corresponds to a first direction; and/or

When the mover permanent magnet assemblies are disposed on at least some of the N mover units, the direction of the magnetic field generated in the air gap by the mover permanent magnet assemblies corresponds to a second direction.

Wherein, the above-mentioned correspondences mean the same or substantially the same.

By the arrangement of the polarization directions of the magnetic fields, each permanent magnet can fully utilize the material of the permanent magnet to generate a magnetic field as large as possible in the air gap of the motor, so that when the motor is a motor, the electromagnetic torque/output force as large as possible can be generated. In addition, similarly, when the motor is a generator, the power density of the generated power can be increased.

In one embodiment, when the paired stator unit and the paired mover unit of the motor include the paired stator permanent magnet assemblies and the paired mover permanent magnet assemblies, the magnetic fields formed in the air gap by the paired stator permanent magnet assemblies and the paired mover permanent magnet assemblies have the same direction. Such as: the first permanent magnet and the second permanent magnet form magnetic fields in the air gap in the same direction.

The stator permanent magnet assemblies and the rotor permanent magnet assemblies arranged in pairs can form magnetic field superposition with each other, so that the magnetic flux density passing through the air gap can be further increased.

In one embodiment, as shown in fig. 2, each of the N stator yokes of the N stator units 111, 112 extends toward the mover unit in a mover movement direction (e.g., may be referred to as a "circumferential direction" in a radial flux rotary electric machine) to form a plurality of large teeth T, and a large slot is formed between adjacent large teeth T; the windings L are arranged in at least part of the macro grooves.

In particular, the windings may be arranged in the macro grooves in a concentrated or distributed manner.

In one embodiment, a seventh permanent magnet M7 (shown in fig. 8A) may also be disposed within the macro groove.

Further, in one embodiment, the same winding L (shown in fig. 1) may be shared by the respective large slots corresponding to the N stator units along the first direction position; the respective independent windings L may be provided in the large slots of each stator unit 111, 112 (not shown in the drawings)

In particular, the large teeth may be various types of large teeth, such as: shoe teeth (as shown in fig. 1), or straight teeth (with drawings omitted), etc.

As shown in fig. 7B, in one embodiment, a plurality of large teeth T ' of the stator unit form a plurality of first small teeth 1111 ' corresponding to the end surface of the mover in the moving direction of the mover, and a first small groove 1112 ' is formed between adjacent first small teeth 1111 ', and specifically, the small groove 1112 ' may be an open groove (as shown in fig. 7C), a closed groove (omitted from the drawings), or a half-open groove (omitted from the drawings), or the like.

Further, as shown in fig. 7A, in one embodiment, a first permanent magnet M1 is disposed in at least a portion of first small groove 1112; in one embodiment, the direction of the magnetic field formed in the air gap by the first permanent magnet M1 corresponds to the second direction.

As shown in fig. 7C, in one embodiment, the surface of the corresponding mover of the plurality of large teeth T "is smooth, i.e., the large tooth surface is not provided with the first small teeth and the second small grooves, and/or the first permanent magnets.

As shown in fig. 1 or 4, in one embodiment, a plurality of second small teeth are formed on the surface of the stator corresponding to the N mover yokes of the N mover units 121, 122 along the moving direction, and a second small slot is formed between two adjacent second small teeth;

further, in one embodiment, a second permanent magnet M2 is disposed in at least a portion of the second small slot; in one embodiment, the direction of the magnetic field formed in the air gap by the second permanent magnet M2 corresponds to the second direction.

Specifically, the first permanent magnet arranged in each first small groove and the second permanent magnet arranged in each second small groove can be a single piece or multiple pieces, the multiple pieces of permanent magnets can be designed into any shape according to the design, and the Halbach structure or the simplified Halbach structure is a special structure of the multiple pieces of permanent magnets.

In one embodiment, as shown in fig. 4 or 5, according to the above embodiment, when the faces of the N mover yokes corresponding to the stators form a plurality of second small teeth 1211 and 1221 along the moving direction of the mover, second small slots 1212 and 1222 are formed between two adjacent second small teeth.

In one embodiment, when adjacent stator permanent magnet assemblies are arranged in the adjacent N-1 stator unit gaps, the directions of magnetic fields generated in the air gaps by the adjacent stator permanent magnet assemblies can be opposite or the same; and/or

In one embodiment, as shown in fig. 3, when adjacent stator permanent magnet assemblies are disposed on adjacent N stator units, the directions of the magnetic fields generated in the air gaps by the adjacent stator permanent magnet assemblies may be opposite or the same; and/or

In one embodiment, when adjacent mover permanent magnet assemblies are arranged in the N-1 adjacent mover unit gaps, the directions of the magnetic fields generated in the air gaps by the adjacent mover permanent magnet assemblies can be opposite or the same; and/or

In one embodiment, when adjacent mover permanent magnet assemblies are disposed on adjacent N mover units, the directions of the magnetic fields generated in the air gaps by the adjacent mover permanent magnet assemblies may be opposite or the same.

Wherein, the adjacent N-1 stator unit gaps refer to the adjacent stator unit gaps in the N-1 stator unit gaps; the adjacent N-1 rotor unit gaps are rotor unit gaps which are adjacent to each other in the N-1 rotor unit gaps; for specific meanings, reference is made to the description of the adjacent stator units in the above embodiments, and the description is omitted here.

The adjacent stator permanent magnet assemblies are the general names of two stator permanent magnet assemblies which are respectively arranged in the adjacent N-1 stator unit gaps; the adjacent rotor permanent magnet assemblies are general names of two rotor permanent magnet assemblies which are respectively arranged in the gaps of the N-1 adjacent rotor units.

Further, in one embodiment, when the adjacent N-1 stator unit gaps and/or the adjacent N stator units are respectively provided with adjacent stator permanent magnet assemblies, the directions of the magnetic fields generated in the air gaps by the adjacent stator permanent magnet assemblies are opposite; and/or when the adjacent N-1 rotor unit gaps and/or the adjacent N rotor units are respectively provided with adjacent rotor permanent magnet assemblies, and the directions of magnetic fields generated by the adjacent rotor permanent magnet assemblies in the air gaps are opposite, two adjacent rotor units 121, 122 of the N rotor units 121, 122 are staggered by a certain distance along the motion direction of the motor, and the distance enables the directions of magnetic fields generated by the adjacent stator permanent magnet assemblies and/or the adjacent rotor permanent magnet assemblies in the air gaps corresponding to the first direction positions between the adjacent rotor units and the adjacent stator units which are arranged in pairs to be the same, so that the torque/output of the motor or the power density of power generation is increased.

By adopting the motor with the structure, when the directions of the magnetic fields generated by the adjacent stator permanent magnet assemblies and/or the adjacent rotor permanent magnet assemblies in the air gaps are opposite, the corresponding two adjacent rotor units are staggered by a certain distance along the motion direction of the rotor, and the magnetic fields generated by the adjacent stator permanent magnet assemblies and/or the adjacent rotor permanent magnet assemblies in the air gaps corresponding to the first direction position are the same in direction by the distance, so that the magnetic fields in the same direction are generated in the adjacent stator units which are arranged in pairs with the adjacent rotor units, and the torque/output of the motor or the power density of power generation is increased.

Further, in one embodiment, as shown in fig. 4, 5 or 6A-6C, when a plurality of second small teeth 1211, 1221 are formed on the surface of the N mover yokes corresponding to the stator along the moving direction of the mover, and a second small slot 1212, 1222 is formed between two adjacent second small teeth; two adjacent mover units 121, 122 of the N mover units 121, 122 are staggered by a distance d of 0.5 second small teeth in the moving direction of the motor. Specifically, for example, as shown in fig. 6A, a distance of 0.5 pitch d of the second small teeth is staggered between the first mover unit 121 and the second mover unit 122; for another example, as shown in fig. 6B, the first mover unit 121 and the second mover unit 122 are staggered by a distance d of 0.5 second small teeth along the moving direction of the mover; and the second mover unit 122 is further shifted from the third mover unit 125 by a distance of 0.5 second small teeth in a mover movement direction opposite to the above direction.

According to the above structure, as shown in fig. 6C, assuming that the magnetic field generated by the stator permanent magnet assembly and/or the mover permanent magnet assembly on the 1 st stator unit and/or the 2 nd mover unit enters the mover from the stator at the second small tooth portion and enters the stator at the second small slot, since the direction of the magnetic field formed by the stator and/or the mover permanent magnet assembly on the first stator and/or the mover unit in the air gap is opposite to the magnetization direction of the stator and/or the mover permanent magnet assembly on the second stator and/or the mover unit, the magnetic field generated by the stator and/or the mover permanent magnet assembly on the second stator and/or the mover unit in the air gap is the stator entering at the second small tooth portion and enters the mover from the stator at the second small slot portion, when the adjacent second mover unit is displaced from the first mover unit by 0.5 mover teeth in the mover moving direction, the directions of the magnetic fields generated by the stator and/or the rotor permanent magnet assemblies in the air gaps at the corresponding positions of the first rotor unit and the second rotor unit along the first direction are the same, so that the magnetic fields in the same direction can be generated on the adjacent stator units which are arranged in pairs with the adjacent rotor units, and the integral torque/output force of the motor or the power density of power generation is increased.

Embodiments of the present invention also provide an apparatus (with drawings omitted) comprising at least one electric machine as described in any one of the above.

In some preferred embodiments, the device may be an automated device or a semi-automated device.

It should be noted that the automated or semi-automated device may be applied to various fields, such as: industrial, educational, nursing, entertainment, or medical, among others.

In some preferred embodiments, a robot (e.g., a robotic arm or a humanoid robot) can be considered to be an advanced automation device.

In some embodiments, the device may also be a power generation device.

For the related description of the motor, reference is made to the above embodiments, and the description is not repeated here.

When an element is referred to as being "disposed on" another element, it can be secured to the other element or movably coupled to the other element. When an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. The terms "longitudinal," "lateral," "left," "right," "inner," "outer," and the like as used herein are for descriptive purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

The term "and/or" herein is merely an association relationship describing an associated object, and means that three relationships may exist, for example: a and/or B may mean that A is present alone, A and B are present simultaneously, and B is present alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

The terms "first," "second," "third," and the like in the description and in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and any variations thereof, are intended to cover non-exclusive inclusions. For example: a product or device that comprises a list of structures or modules, etc., is not necessarily limited to those structures or modules explicitly listed, but may include other structures or modules not explicitly listed or inherent to such product or device.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to the related descriptions of other embodiments.

It should be noted that the embodiments described in the specification are preferred embodiments, and the structures and modules involved are not necessarily essential to the invention, as will be understood by those skilled in the art.

The motor and the device including the motor provided by the embodiment of the present invention are described in detail above, but the above description of the embodiment is only for helping understanding the method and the core idea of the present invention, and should not be construed as limiting the present invention. Those skilled in the art should also appreciate that various modifications and substitutions can be made without departing from the scope of the present invention.

Claims

1. An electric machine, characterized in that the electric machine comprises: the stator, the rotor and the stator permanent magnet assembly and/or the rotor permanent magnet assembly; the stator comprises N magnetic conductive stator units, and the rotor comprises N magnetic conductive rotor units; the N stator units comprise N stator yokes; the N mover units include N mover yokes; wherein N is an integer greater than or equal to 2;

2. The electric machine of claim 1, wherein said N stator yoke sections are integrally connected by stator permeable material connections; and/or

3. The electric machine of claim 1 or 2, wherein when said stator permanent magnet assembly is disposed over at least a portion of said N-1 stator unit voids, the direction of magnetic field polarization of said stator permanent magnet assembly corresponds to said first direction; and/or

When the stator permanent magnet assemblies are arranged on at least part of the N stator units, the direction of the magnetic field generated in the air gap by the stator permanent magnet assemblies corresponds to the second direction; and/or

When the rotor permanent magnet assembly is arranged on at least part of the N-1 rotor unit gaps, the magnetic field polarization direction of the rotor permanent magnet assembly corresponds to the first direction; and/or

When the rotor permanent magnet assemblies are arranged on at least part of the N rotor units, the magnetic field directions generated by the rotor permanent magnet assemblies in the air gaps correspond to the second direction.

4. The electric machine of claim 1 or 2, wherein when the electric machine comprises the stator permanent magnet assembly and the mover permanent magnet assembly, the stator permanent magnet assembly and the mover permanent magnet assembly on the paired stator unit and mover unit form magnetic fields in the same direction in the air gap.

5. The electric machine of claim 1 or 2, wherein the stator permanent magnet assemblies are disposed on at least some of the N stator yokes of the N stator units; and/or the mover permanent magnet assemblies are disposed on at least some of the N mover yokes of the N mover units.

6. The motor according to claim 1 or 2, wherein when the motor is a rotating motor, the stator permanent magnet assemblies and/or the mover permanent magnet assemblies disposed at a yoke are distributed in a ring shape; or

7. The electric machine according to claim 1 or 2, wherein each of the N stator yokes extends towards the mover in the mover movement direction forming a plurality of large teeth; a large groove is formed between the adjacent large teeth; at least part of the large slots are provided with windings;

8. The electric machine of claim 7, wherein when the electric machine forms the first small slot, a first permanent magnet is disposed in at least a portion of the first small slot of at least a portion of the N stator units.

9. The machine of claim 7 wherein a seventh permanent magnet is disposed in at least a portion of the macro grooves.

10. The motor of claim 1 or 2, wherein a plurality of second small teeth are formed on the N mover yokes corresponding to the surface of the stator along the moving direction of the mover, and a second small slot is formed between adjacent second small teeth.

11. The electric machine of claim 10, wherein at least some of said N mover units have second permanent magnets disposed in at least some of said second slots.

12. The machine of claim 1 or 2, wherein when adjacent stator permanent magnet assemblies are provided in adjacent ones of said N-1 stator unit air gaps, said adjacent stator permanent magnet assemblies produce magnetic fields in opposite directions in said air gaps; and/or

13. The electrical machine of claim 12, wherein said adjacent mover units are staggered a distance in a mover movement direction; wherein,

14. The motor of claim 12, wherein a plurality of second small teeth are formed on the N mover yokes corresponding to the surface of the stator along the mover moving direction, and a second small slot is formed between adjacent second small teeth.

15. The electric machine of claim 14, wherein said adjacent mover units are staggered by a pitch of 0.5 of said second small teeth in a mover movement direction.

16. An electrical machine according to claim 1 or 2, wherein when the electrical machine is a radial flux rotating electrical machine, the first direction is axial; the second direction is radial; or

When the motor is an axial flux rotating motor, the first direction is a radial direction; the second direction is axial; or

17. An apparatus, characterized in that the apparatus comprises at least one electric machine according to any of claims 1-16.