CN110492708B - Laminated vernier motor - Google Patents

Abstract

The invention provides a laminated vernier motor, which includes a stator module and a rotor module matched with the stator module, the stator module includes two end stators arranged at intervals and opposite to each other and a middle stator arranged between the two end stators , the two end stators are respectively staggered from the middle stator by half a pitch angle in the circumferential direction; the rotor module includes two rotors respectively arranged between the middle stator and the two end stators and a plurality of pairs of permanent magnets respectively arranged on each rotor magnet. In the laminated vernier motor of the present invention, the end stator, the rotor, the middle stator, the rotor and the end stator are coaxially arranged in sequence along the axial direction, so as to form an axial magnetic field double rotor laminated permanent magnet motor structure, and on the middle stator A plurality of magnetic flux modulation poles arranged in a spoke pattern at equal intervals can change the magnetic field circuit by changing the relative position of the two rotors, which is conducive to the efficient use of magnetic flux, improves the torque density of the permanent magnet motor, and reduces the size of the permanent magnet motor. volume of.

Description

Laminated Vernier Motor

technical field

The invention belongs to the technical field of permanent magnet motors, and more particularly relates to a laminated vernier motor.

Background technique

As a direct-drive motor with low speed and high torque, Vernier Machine has a wide range of application prospects in new energy fields such as electric vehicles, wind power generation, and ocean wave power generation. The vernier motor effectively modulates the stator armature winding magnetic field and the rotor permanent magnet magnetic field through the cogging structure on the stator, so that the vernier motor can perform better low-speed operation when the number of poles and slots of the stator armature winding is large. High torque operation. However, multiple permanent magnets are usually arranged on the rotor in a single magnetization direction, and the magnetic field generated by them is often difficult to fully act on the ends of the stator windings of the motor, and the magnetic circuit formed by two adjacent permanent magnets has a large reluctance and leakage flux. Seriously, the permanent magnet magnetic flux utilization rate is low, and the torque density of the vernier motor is low, which makes the permanent magnet vernier motor unable to meet the market demand of smaller size, lighter weight and higher efficiency.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a laminated vernier motor, which aims to solve the problems of low utilization rate of permanent magnet magnetic flux and low torque density of the vernier motor in the prior art.

In order to achieve the above object, the technical solution adopted in the present invention is to provide a laminated vernier motor, which includes a stator module and a rotor module matched with the stator module, and the stator module includes two end stators that are spaced apart and arranged opposite to each other. and a middle stator arranged between the two end stators, the inner end face of each end stator is provided with a first cogging structure for winding the stator winding; the middle stator includes a spoke-like arrangement at equal intervals A plurality of magnetic flux modulation poles, a plurality of the magnetic flux modulations form a second cogging structure corresponding to the first cogging structure, and the two end stators are respectively staggered from the middle stator by half in the circumferential direction The rotor module includes two rotors respectively arranged between the middle stator and the two end stators, and a plurality of pairs of permanent magnets respectively arranged on the rotors. The end stator, the middle stator and the two rotors are arranged coaxially.

Further, the two rotors are circumferentially staggered by a potential angle of 180°.

Further, the middle stator further includes a connection ring connecting a plurality of the magnetic flux modulation poles, two ends of each magnetic flux modulation pole respectively protrude from both ends of the connection ring in the axial direction, and each magnetic flux The modulation pole is integrally formed with the connecting ring.

Further, the potential angles of the two rotors are set to face each other.

Further, the two rotors are annular structures with the same structure, the two end stators and the middle stator are both annular structures; the inner diameters of the two end stators and the middle stator are equal, the outer diameters of the two end stators and the middle stator are the same.

Further, the inner diameter of each rotor is smaller than the inner diameter of the end stator, and the outer diameter of each rotor is larger than the outer diameter of the end stator.

Further, the axial length of the middle stator is twice the axial length of the end stator.

Further, each of the first tooth slot structures includes a plurality of first stator teeth corresponding to the inner end surface of the end stator, and a plurality of the first stator teeth are distributed at equal intervals along the circumferential direction of the end stator, A first stator slot is formed between two adjacent first stator teeth; each of the second slot structures includes a plurality of second stator teeth respectively formed by a plurality of the magnetic flux modulation poles, adjacent to each other. A second stator slot is formed between the two second stator teeth, and the first stator tooth has the same structure as the second stator tooth.

Further, the adjacent two permanent magnets on each of the rotors are arranged with opposite polarities.

Further, the stator module further includes a plurality of stator windings respectively wound on each of the magnetic flux modulation poles.

The beneficial effect of the laminated vernier motor provided by the present invention is that compared with the prior art, the laminated vernier motor provided by the present invention has the end stator, the rotor, the middle stator, the rotor and the The end stator is provided with a first cogging structure around the stator winding on the inner end face of each end stator, and a plurality of magnetic flux modulation poles arranged at equal intervals in a spoke type are arranged on the middle stator, and the plurality of magnetic flux modulation poles form The second cogging structure corresponds to the first cogging structure, and the two end stators are respectively offset from the middle stator by half a slot pitch angle in the circumferential direction to form an axial magnetic field double rotor laminated permanent magnet motor structure, which can be changed by changing The relative position of the two rotors changes the magnetic field circuit of the permanent magnet motor, which is beneficial to the efficient use of the permanent magnet magnetic flux on each rotor, improves the torque density of the permanent magnet motor, and reduces the volume of the permanent magnet motor.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only for the present invention. In some embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

FIG. 1 is a schematic structural diagram of a laminated vernier motor provided in Embodiment 1 of the present invention;

2 is a schematic structural diagram of a middle stator of a laminated vernier motor provided in Embodiment 1 of the present invention;

FIG. 3 is a schematic structural diagram of a middle stator of a laminated vernier motor provided with a stator winding around a stator winding according to Embodiment 1 of the present invention;

FIG. 4 is a schematic three-dimensional structural diagram of a laminated vernier motor provided in Embodiment 2 of the present invention;

FIG. 5 is a schematic structural diagram of the middle stator of the laminated vernier motor provided by the second embodiment of the present invention and provided with stator windings;

6 is a schematic structural diagram 1 of the stator winding at the end of the laminated vernier motor provided by the second embodiment of the present invention;

FIG. 7 is a second structural schematic diagram in which the stator windings are wound around the end stator of the laminated vernier motor according to the second embodiment of the present invention;

FIG. 8 is a schematic structural diagram of a main magnetic field loop formed by the laminated vernier motor provided in Embodiment 1 of the present invention;

FIG. 9 is a schematic structural diagram of a stacked vernier motor forming two independent magnetic field loops according to Embodiment 2 of the present invention.

Among them, the main symbols of each accompanying drawing in the figure are:

1-end stator; 11-first cogging structure; 111-first stator tooth; 112-first stator slot;

2-middle stator; 21-second cogging structure; 211-second stator tooth; 212-second stator slot; 22-connecting ring;

3-rotor; 4-permanent magnet; 5-magnetic flux modulation pole; 6-stator winding.

Detailed ways

In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

It should be noted that when an element is referred to as being "connected to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as "first", "second" may expressly or implicitly include one or more of that feature. In the description of the present invention, "plurality" means two or more, unless otherwise expressly and specifically defined. "Several" means one or more than one, unless expressly specifically defined otherwise.

In the description of the present invention, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense, unless otherwise expressly specified and limited, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; may be mechanical connection or electrical connection; may be direct connection or indirect connection through an intermediate medium, may be internal communication between two elements or an interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

Referring to FIG. 1 to FIG. 3 together, the stacked vernier motor provided by the embodiment of the present invention will now be described. The laminated vernier motor provided by the embodiment of the present invention includes a stator module and a rotor 3 module matched with the stator module. The stator module includes two end stators 1 arranged at intervals and opposite to each other, and a stator 1 arranged between the two end stators 1 The inner end face of each end stator 1 is provided with a first cogging structure 11 for winding the stator winding 6 . The middle stator 2 includes a plurality of magnetic flux modulation poles 5 arranged in a spoke pattern at equal intervals, and the plurality of magnetic flux modulation poles 5 form a second cogging structure 21 corresponding to the first cogging structure 11 , and the second cogging structure 21 uses Set the sub-winding 6 around it. The first cogging structure 11 is the same as the second cogging structure 21, and the two end stators 1 and the middle stator 2 are circumferentially shifted by half a slot pitch angle respectively, so that the cogging of the middle stator 2 and the two end stators are respectively The cogging of 1 constitutes a main magnetic field loop, and the magnetic circuit reluctance is small, which solves the problem that the adjacent magnetic poles of the traditional vernier motor are composed of stator teeth and slots. Improve the torque density of permanent magnet motors. The rotor 3 module includes two rotors 3 respectively arranged between the middle stator 2 and the two end stators 1 and a plurality of pairs of permanent magnets 4 respectively arranged on each rotor 3, the two end stators 1 and the middle stator 2 and the two rotors 3 are arranged coaxially. Specifically, one rotor 3 is located between one end stator 1 and the middle stator 2, the other rotor 3 is located between the other end stator 1 and the middle stator 2, and the two rotors 3 rotate coaxially with each other around the central axis and pass through The radial no-load air gap is separated, which is equivalent to combining two permanent magnet motors into a motor with a dual-rotor 3-drive structure, which reduces the overall volume of the motor while increasing the torque density of the permanent magnet motor.

Preferably, as a specific embodiment of the laminated vernier motor provided by the present invention, two adjacent permanent magnets 4 on each rotor 3 are arranged in opposite polarities.

In this embodiment, a plurality of pairs of permanent magnets 4 are arranged in a spoke pattern along the circumferential direction of the rotor 3 of the corresponding annular structure, and two adjacent permanent magnets 4 on the same rotor 3 are arranged in opposite polarities, that is, two adjacent permanent magnets 4 The magnetic polarity on the side facing each other is the same, and the magnetic polarity on the side facing away from each other of the two adjacent permanent magnets 4 is the same, so that the laminated permanent magnet motor forms a main magnetic field loop or two independent magnetic field loops, reducing the Magnetic circuit reluctance to improve the torque density of permanent magnet motors. In addition, each permanent magnet 4 is arranged through the corresponding rotor 3, and each rotor 3 can use an iron core, so that the magnetic fields generated by the permanent magnets 4 on the two rotors 3 can fully act on the ends of the coils of the stator winding 6, increasing the electromagnetic torque , to improve the torque density of the permanent magnet motor.

Compared with the prior art, the laminated vernier motor provided by the present invention has the end stator 1 , the rotor 3 , the middle stator 2 , the rotor 3 and the end stator 1 coaxially arranged in sequence along the axial direction, and at each end The inner end face of the stator 1 is provided with a first cogging structure 11 around the stator winding 6 , and a plurality of magnetic flux modulation poles 5 arranged in a spoke pattern at equal intervals on the middle stator 2 to form a corresponding to the first cogging structure 11 . The second cogging structure 21, and the two end stators 1 and the middle stator 2 are respectively shifted by half a slot pitch angle in the circumferential direction to form an axial magnetic field double rotor 3 laminated permanent magnet motor structure, which can be changed by changing the two rotors 3 The relative position of the permanent magnet motor changes the magnetic field circuit of the permanent magnet motor, which is conducive to the efficient use of the magnetic flux of the permanent magnet 4 on each rotor 3, improves the torque density of the permanent magnet motor, reduces the volume of the permanent magnet motor, and makes the permanent magnet motor manufacturing. Modular, while improving the fault tolerance of permanent magnet motors.

Further, please refer to FIG. 1 and FIG. 8 together, as a specific embodiment of the laminated vernier motor provided by the present invention, the two rotors 3 are circumferentially staggered by 180° potential angle, that is, the two rotors 3 have the same structure. The rotor 3 is staggered by half a pole pitch in the circumferential direction, and by changing the relative position of the two rotors 3, the potential angle is staggered by 180° in the circumferential direction, so that the magnetic field circuit of the permanent magnet motor is changed, and the multiple magnetic flux modulation poles of the middle stator 2 Under the modulation effect of 5, the permanent magnet motor can better form a flux linkage and improve the torque density of the permanent magnet motor.

Further, please refer to FIG. 3 , as a specific embodiment of the laminated vernier motor provided by the present invention, the stator module further includes a plurality of stator windings 6 respectively wound on each magnetic flux modulation pole 5 .

Specifically, the middle stator 2 includes a plurality of magnetic flux modulation poles 5, the shape of the magnetic flux modulation poles 5 is the same as that of the first stator teeth 111 of the end stator 1, and the magnetic flux modulation poles 5 are equally spaced in a spoke type. Arrangement, the spacing between adjacent magnetic flux modulation poles 5 is the same as the spacing between adjacent first stator teeth 111 on the same end stator 1, and each magnetic flux modulation pole 5 of the middle stator 2 corresponds to the end stator 1 The second stator teeth 211 are staggered by half a slot pitch angle in the circumferential direction, a plurality of stator coils are respectively wound on a plurality of magnetic flux modulation poles 5, and the magnetic flux linkage of the permanent magnet motor is penetrated into one through each magnetic flux modulation pole 5 ( 8), improving the torque density of the permanent magnet motor is conducive to the efficient utilization of the magnetic flux of the permanent magnets 4 on each rotor 3, improves the torque density of the permanent magnet motor, and reduces the volume of the permanent magnet motor. In addition, the stator winding 6 of the middle stator 2 is controlled by an inverter, and the stator winding 6 of the end stator 1 can be controlled by one inverter, or two inverters can be used for control respectively, which can realize multi-phase control. control.

Please refer to FIG. 4 and FIG. 9. As a specific embodiment of the laminated vernier motor provided by the present invention, the laminated vernier motor includes a stator module and a rotor 3 module matched with the stator module. The stator module includes spaced and oppositely arranged There are two end stators 1 and a middle stator 2 arranged between the two end stators 1. The inner end face of each end stator 1 is provided with a first cogging structure 11 for winding the stator winding 6. The middle stator 2 includes a plurality of magnetic flux modulation poles 5 arranged at equal intervals in a spoke type, and the plurality of magnetic flux modulation poles 5 form a second cogging structure 21 corresponding to the first cogging structure 11 , and the second cogging structure 21 is used for Set the sub-winding 6 around it. The middle stator 2 also includes a connection ring 22 connecting a plurality of magnetic flux modulation poles 5. Both ends of each magnetic flux modulation pole 5 protrude from the two axial ends of the connection ring 22, and each magnetic flux modulation pole 5 and the connection ring 22 are the same. One piece. The first cogging structure 11 and the second cogging structure 21 are the same, and the two end stators 1 and the middle stator 2 are circumferentially staggered by half a pitch angle, so that the cogging of the middle stator 2 and the two end stators are respectively The cogging of 1 constitutes two independent magnetic field circuits, and the magnetic circuit reluctance is small, which solves the problem that the adjacent magnetic poles of the traditional vernier motor are composed of stator teeth and slots. rate and improve the torque density of the permanent magnet motor. The rotor 3 module includes two rotors 3 respectively arranged between the middle stator 2 and the two end stators 1 and a plurality of pairs of permanent magnets 4 respectively arranged on each rotor 3, the two end stators 1 and the middle stator 2 and the two rotors 3 are arranged coaxially.

Specifically, each second cogging structure 21 includes a plurality of second stator teeth 211 formed on the corresponding axial end surfaces of the connecting ring 22 . A second stator slot 212 is formed between the two stator teeth 211 , and the first stator tooth 111 has the same structure as the second stator tooth 211 . The end stator 1 , the rotor 3 , the middle stator 2 , the rotor 3 and the end stator 1 are coaxially arranged in sequence in the axial direction, and the inner end face of each end stator 1 is provided with a first cogging slot around the stator winding 6 In structure 11, the end faces of the two axial ends of the middle stator 2 are respectively provided with second cogging structures 21 opposite to the first cogging structure 11. The first cogging structure 11 is the same as the second cogging structure 21, and the two ends are The stator 1 and the middle stator 2 are circumferentially staggered by half a slot angle to form an axial magnetic field double rotor 3 laminated permanent magnet motor structure. By changing the relative positions of the two rotors 3, the magnetic field circuit of the permanent magnet motor can be changed. It is beneficial to the efficient utilization of the magnetic flux of the permanent magnets 4 on each rotor 3, improves the torque density of the permanent magnet motor, reduces the volume of the permanent magnet motor, and enhances the fault tolerance of the permanent magnet motor.

Further, please refer to FIG. 4 together, as a specific embodiment of the laminated vernier motor provided by the present invention, the two rotors 3 are placed coaxially and parallel, and the permanent magnets 4 at the corresponding positions on the two rotors 3 are along the rotor 3 . axial alignment. Specifically, the two rotors 3 are annular structures, the two rotors 3 are coaxially disposed on both sides of the middle stator 2 respectively, and are respectively located between the end stator 1 and the middle stator 2, and the pairs of permanent magnets 4 are arranged along the The rotor 3 is arranged in a spoke pattern in the circumferential direction, the adjacent two permanent magnets 4 on the same rotor 3 are arranged in opposite polarities, and the adjacent two permanent magnets 4 on different rotors 3 are aligned along the axial direction of the rotor 3, so that the The laminated permanent magnet motor preferably forms two independent magnetic field loops (see Figure 9), which reduces the magnetic circuit reluctance and improves the torque density of the permanent magnet motor.

Further, please refer to FIG. 4 together, as a specific embodiment of the laminated vernier motor provided by the present invention, the potential angles of the two rotors 3 are set to face each other, so that the potential angle of the two rotors 3 differs by 0° . Specifically, the positions of the two rotors 3 with the same structure are set to be exactly the same, so that the two rotors 3 are coaxial and parallel axial mirror structures, so that the permanent magnet motor can better form two independent magnetic field loops, Reduce the reluctance of the magnetic circuit and improve the torque density of the permanent magnet motor.

Further, please refer to FIG. 1 and FIG. 4 together, as a specific embodiment of the laminated vernier motor provided by the present invention, the two rotors 3 are annular structures with the same structure, and the two end stators 1 and 3 are of the same structure. The middle stator 2 is a circular structure; the inner diameters of the two end stators 1 and the middle stator 2 are equal, and the outer diameters of the two end stators 1 and the middle stator 2 are the same, so as to reduce the overall volume of the motor and make the permanent Modular production of magneto components.

Further, please refer to FIG. 1 and FIG. 4 together, as a specific embodiment of the laminated vernier motor provided by the present invention, the inner diameter of each rotor 3 is smaller than the inner diameter of the end stator 1, and the outer diameter of each rotor 3 is larger than The outer diameter of the stator 1 at the end is designed by extending the radial length of each rotor 3, so that the magnetic field generated by the permanent magnet 4 at the radial extension of each rotor 3 can more fully act on the end of the coil of the stator winding 6, increasing the electromagnetic torque. , to improve the torque density of the permanent magnet motor.

Further, please refer to FIG. 4 together, as a specific embodiment of the laminated vernier motor provided by the present invention, the axial length of the middle stator 2 is twice the axial length of the end stator 1, so that the permanent magnet motor can Two stable and independent magnetic field loops with a certain magnetic field strength are formed, the torque density of the permanent magnet motor is improved, the interference caused by the two independent magnetic field loops is avoided, and the working stability of the permanent magnet motor is enhanced.

Further, please refer to FIG. 4 , as a specific embodiment of the laminated vernier motor provided by the present invention, each first cogging structure 11 includes a plurality of first stators disposed on the inner end surface of the corresponding end stator 1 Teeth 111, a plurality of first stator teeth 111 are distributed at equal intervals along the circumferential direction of the end stator 1, and a first stator slot 112 is formed between two adjacent first stator teeth 111; each second tooth slot structure 21 includes a A plurality of second stator teeth 211 are respectively formed by a plurality of magnetic flux modulation poles 5, a second stator slot 212 is formed between two adjacent second stator teeth 211, and the first stator teeth 111 and the second stator teeth 211 have the same structure .

Specifically, please refer to FIG. 6 , each end stator 1 has an annular structure, and a plurality of first stator teeth 111 are evenly arranged on the inner end surface of each end stator 1 along the circumferential direction. The first stator slots 112 are formed concavely in the axial direction, and the coils of the plurality of stator windings 6 are respectively wound on the corresponding first stator teeth 111 . In addition, please refer to FIG. 7 , the inner bottom surface of each first stator slot 112 and the outer end surface of the corresponding end stator 1 form a stator yoke, and the coils of the plurality of stator windings 6 can also be correspondingly wound on the corresponding stator yoke. The coils of the stator windings 6 are made firmer and not easy to fall off. The middle stator 2 is also designed as a circular structure with the same structure as the end stator 1. The end faces of the two axial ends of the middle stator 2 are respectively provided with tooth slots of the same structure as the two end stators 1, that is, the middle stator 2 is axially two. The end faces of the ends are respectively provided with a plurality of second stator teeth 211 uniformly along the circumferential direction, and a second stator slot 212 is formed concavely between the adjacent second stator teeth 211 in the axial direction. The second stator teeth 211 and the first stator teeth 111 The structure of the second stator slot 212 is the same as that of the first stator slot 112 , and the first cogging structure 11 and the second cogging structure 21 have the same number of stator teeth and stator slots. The coils of the plurality of stator windings 6 can be respectively wound on the corresponding second stator teeth 211 . Specifically, the stator winding 6 can be a single-phase or multi-phase winding. In addition, the stator windings 6 of the two end stators 1 and the middle stator 2 can be controlled in series through an inverter, or can be controlled independently, and multi-phase control can be realized.

Further, please refer to FIG. 5 together, as a specific embodiment of the laminated vernier motor provided by the present invention, a plurality of second stator teeth 211 on the axial end face of the middle stator 2 are respectively axially opposite to the middle stator 2 . Several second stator teeth 211 on one end face are axially aligned along the middle stator 2 .

Specifically, the adjacent second stator teeth 211 on the axial end faces of the middle stator 2 are aligned along the axial direction of the middle stator 2, so that the adjacent second stator slots 212 on the axial end faces of the middle stator 2 are also along the middle stator 2. The stator 2 is axially aligned, so that the stator coil can be wound at the position between the two adjacent second stator slots 212, which is convenient for winding the stator winding 6 on the middle stator 2, and makes the coil of the stator winding 6 more firm. It is not easy to fall off, which improves the stability and reliability of the permanent magnet motor.

The above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included in the protection of the present invention. within the range.

Claims (7)

1. A laminated vernier motor, characterized in that: it comprises a stator module and a rotor module matched with the stator module, and the stator module comprises two end stators that are spaced apart and oppositely arranged and are arranged on the two said stators. The middle stator between the end stators, the inner end face of each end stator is provided with a first cogging structure for winding the stator winding; the middle stator includes a plurality of magnetic flux modulation poles arranged at equal intervals, a plurality of The magnetic flux modulation poles form a second cogging structure corresponding to the first cogging structure, and the two end stators are circumferentially offset from the middle stator by half a pitch angle; the rotor module It includes two rotors respectively arranged between the middle stator and the two end stators and a plurality of pairs of permanent magnets respectively arranged on each of the rotors, the two end stators, the middle stator and the The two rotors are arranged coaxially; the two rotors are annular structures with the same structure, and the adjacent two permanent magnets on the same rotor are arranged in opposite polarities, and one rotor The permanent magnet of the second rotor is aligned with the permanent magnet at the corresponding position on the other rotor along the axial direction of the rotor; the two rotors are circumferentially staggered by a potential angle of 180°; each of the first cogging structures It includes a plurality of first stator teeth arranged on the inner end surface of the corresponding end stator, a plurality of the first stator teeth are distributed at equal intervals along the circumferential direction of the end stator, and two adjacent first stator teeth are A first stator slot is formed between them; each of the second cogging structures includes a plurality of second stator teeth respectively formed by a plurality of the magnetic flux modulation poles, and formed between two adjacent second stator teeth In the second stator slot, the first stator teeth have the same structure as the second stator teeth. 2 . The laminated vernier motor according to claim 1 , wherein the middle stator further comprises a connecting ring connecting a plurality of the magnetic flux modulation poles, and two ends of each of the magnetic flux modulation poles protrude respectively. 3 . The two ends of the connecting ring in the axial direction, and each of the magnetic flux modulation poles and the connecting ring are integrally formed. 3 . The laminated vernier motor according to claim 2 , wherein the potential angles of the two rotors are set to face each other. 4 . 4. The laminated vernier motor according to claim 2, characterized in that: the two end stators and the middle stator are both annular structures; the two end stators and the middle stator are in annular structure; The inner diameters are equal, and the outer diameters of the two end stators and the middle stator are equal. 5 . The laminated vernier motor according to claim 4 , wherein the inner diameter of each rotor is smaller than the inner diameter of the end stator, and the outer diameter of each rotor is larger than the outer diameter of the end stator. 6 . . 6 . The laminated vernier motor according to claim 4 , wherein the axial length of the middle stator is twice the axial length of the end stator. 7 . 7. The laminated vernier motor according to any one of claims 1 to 6, wherein the stator module further comprises a plurality of stator windings respectively wound on each of the magnetic flux modulation poles.

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