WO2020057146A1 - 一种转子开槽的内置式永磁伺服电机 - Google Patents

一种转子开槽的内置式永磁伺服电机 Download PDF

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Publication number
WO2020057146A1
WO2020057146A1 PCT/CN2019/086540 CN2019086540W WO2020057146A1 WO 2020057146 A1 WO2020057146 A1 WO 2020057146A1 CN 2019086540 W CN2019086540 W CN 2019086540W WO 2020057146 A1 WO2020057146 A1 WO 2020057146A1
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rotor
permanent magnet
built
slotted
servo motor
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PCT/CN2019/086540
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English (en)
French (fr)
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钱巍
张建
阳辉
林鹤云
黄沁
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南京埃斯顿自动化股份有限公司
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Publication of WO2020057146A1 publication Critical patent/WO2020057146A1/zh

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    • 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
    • H02K1/276—Magnets embedded in the magnetic core, e.g. interior permanent magnets [IPM]
    • H02K1/2766—Magnets embedded in the magnetic core, e.g. interior permanent magnets [IPM] having a flux concentration effect
    • H02K1/2773—Magnets embedded in the magnetic core, e.g. interior permanent magnets [IPM] having a flux concentration effect consisting of tangentially magnetized radial magnets
    • 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

Definitions

  • the invention belongs to the technical field of servo motors, and relates to a permanent magnet servo motor, which is a built-in permanent magnet servo motor with a slotted rotor.
  • Permanent Magnet Servo Motors are widely used in servo work places such as robots, machine tools, and textile industries due to their good speed regulation performance, high torque density, and high accuracy.
  • the rotor structure of the servo motor is mostly surface-mounted, and the surface-mounted rotor structure is mostly adhered to the surface of the rotor core with magnetic steel and glue, and then fixed with glass fiber or other non-magnetically conductive sheaths outside the magnetic steel to prevent the motor from During high-speed operation, the magnetic steel may become loose or fall off due to centrifugal force.
  • the glass fiber protective sleeve is more troublesome in the manufacturing process of the rotor and increases the manufacturing cost. And the use of steel sleeve structure will generate eddy current loss, which reduces the efficiency of the motor and affects the overall performance.
  • the built-in permanent magnet servo motor is widely studied, but because the rotor core provides a magnetic flux path for the armature reaction, the armature reacts with more magnetomotive force harmonics, which results in a large eddy current loss of the rotor.
  • the torque fluctuation characteristics and vibration noise Larger, the comprehensive servo performance needs to be further improved.
  • the problem to be solved by the present invention is that the rotor of the built-in permanent magnet servo motor in the prior art has large eddy current loss, low-speed operation reliability and low overall operation efficiency.
  • the invention designs a built-in permanent magnet servo motor with a slotted rotor. By slotting the rotor, the low-order harmonic magnetic field generated by the non-sinusoidal armature reaction magnetic field distribution is weakened, and the rotor eddy current loss is reduced, including the following three implementation schemes :
  • a slotted built-in permanent magnet servo motor includes a stator, a rotor, and a rotating shaft. Slots are formed on the rotor to reduce the eddy current loss of the rotor.
  • the rotor includes a radially magnetized neodymium iron boron permanent magnet, an outer air slot, and a rotor.
  • the iron core back yoke and the permanent magnet inner slot, the outer air slot is arranged on the outer surface of the rotor, is located between two adjacent permanent magnets, and is evenly distributed along the circumference of the rotor.
  • the permanent magnets are installed in the permanent magnet inner slot.
  • a slotted built-in permanent magnet servo motor includes a stator, a rotor, and a rotating shaft. Slots are formed on the rotor to reduce the eddy current loss of the rotor.
  • the rotor includes a radially magnetized neodymium-iron-boron permanent magnet, an inner air slot, and a rotor. The core back yoke and the permanent magnet inner slot.
  • the inner air slot is located between the permanent magnet and the rotating shaft, and is evenly distributed along the circumference of the rotor.
  • the permanent magnet is installed in the permanent magnet inner slot.
  • a slotted built-in permanent magnet servo motor includes a stator, a rotor, and a rotating shaft. Slots are formed on the rotor to reduce eddy current loss of the rotor.
  • the rotor includes a radially magnetized neodymium-iron-boron permanent magnet, an outer air slot, and an inner rotor. Air slot, rotor core yoke and permanent magnet inner slot.
  • the outer air slot is located on the outer surface of the rotor and is located between two adjacent permanent magnets.
  • the inner air slot is located between the permanent magnet and the rotating shaft.
  • the permanent magnet is installed on the permanent magnet. In the groove.
  • the cut surface of the external air groove in the above-mentioned scheme is an open triangle, and the opening faces the stator.
  • the thickness of the magnetically conductive bridge connecting the outer air groove and the permanent magnet is greater than 0.4 mm.
  • the apex angle in the outer air groove is a chamfered arc, which is convenient for craftsmanship.
  • the cross section of the inner air groove in the above-mentioned aspect is rectangular.
  • the position of the inner air groove is directly in the middle of the permanent magnet, and the width of the inner air groove is greater than 0.5 mm.
  • the thickness of the magnetically conductive bridge connecting the inner air groove and the permanent magnet is greater than 0.4 mm.
  • the rotor slotted built-in permanent magnet servo motor according to any one of the above solutions, the rotor surface adopts a non-uniform air gap design, that is, the rotor surface is non-concentric pole-cutting method.
  • the present invention proposes a design idea of reducing eddy current loss by slotting the rotor, and proposes three implementation schemes based on this, including slotting on the outer surface of the rotor.
  • the three schemes of slotting in the rotor and double slotting inside and outside the rotor can effectively reduce the rotor eddy current loss and improve the efficiency of the motor.
  • the invention uses a slotted built-in permanent magnet rotor design to weaken the low-order harmonic magnetic field generated by the non-sinusoidal armature reaction magnetic field distribution to further reduce rotor eddy current loss and improve the overall operating efficiency of the motor;
  • the invention uses a slotted built-in permanent magnet rotor design to reduce the cross-saturation of the motor, solve the problems of traditional built-in motor core saturation, large losses, etc., and reduce the non-linearity of the motor inductance parameters, further Improved the motor's overload capacity, field weakening capacity and control accuracy;
  • the present invention improves the built-in permanent magnet servo motor and reduces the eddy current loss of the rotor.
  • the conventional surface-mounted permanent magnet servo motor does not have the problem that the permanent magnet needs to be fixed with glass fiber or other non-magnetically permeable sheath during high-speed operation. , which improves the motor's operating reliability and has good comprehensive servo performance;
  • the rotor slotted structure design effectively reduces the rotor weight and the moment of inertia, and improves the torque density and control accuracy of the motor.
  • FIG. 1 is a schematic structural diagram of an embodiment of the present invention.
  • Figure 2 is a loss distribution diagram of a motor with different rotor structures.
  • Figure 3 is a comparison chart of the total losses of motors with different rotor structures.
  • Figure 4 is a comparison diagram of the comprehensive operating efficiency of motors with different rotor structures.
  • Figure 5 shows the variation of the q-axis inductance of a conventional non-slotted built-in permanent magnet servo motor under different dq-axis currents.
  • FIG. 6 is the q-axis inductance change of the dual-slot built-in permanent magnet servo motor according to the present invention under different dq-axis currents.
  • the invention proposes a built-in permanent magnet servo motor with a slotted rotor, which reduces the rotor eddy current loss by slotting on the rotor, and includes three solutions of slotting the outer slot, the inner slot, and the double slotting of the inner and outer slots.
  • the outer slot design can also solve the problem of serious cross-saturation of the traditional built-in permanent magnet servo motor, further improve the motor's overload capacity and field weakening ability, and improve the motor control accuracy;
  • the inner slot design can weaken the non-sinusoidal armature response
  • the low-order harmonic magnetic field generated by the magnetic field distribution reduces the rotor eddy current loss and improves the overall operating efficiency of the motor.
  • FIG. 1 is a schematic structural diagram of a permanent magnet servo motor according to an embodiment of the present invention.
  • the rotor slotted permanent magnet servo motor provided by the present invention includes a stator 1 and a built-in permanent magnet rotor 2, and the stator 1 and the built-in permanent magnet rotor 2 are mounted on a rotating shaft 3, and the stator 1 and the built-in permanent magnet rotor 2 The permanent magnet rotor 2 and the rotating shaft 3 are both inside the casing of the servo motor.
  • the built-in permanent magnet rotor 2 includes a radial magnetized neodymium-iron-boron permanent magnet 2.1, an outer air slot 2.2, an inner air slot 2.3, a rotor core back yoke 2.4, and a permanent magnet inner slot 2.5.
  • the permanent magnet rotor is double-slotted.
  • the outer surface of the rotor 2 has an outer air groove 2.2 with an inverted triangular cross-section between the two permanent magnets 2.1. The triangular opening faces the stator and the apex. It points to the center of the rotor, and the inside of the vertex is a chamfered arc, which is convenient for processing.
  • the outer air groove 2.2 can reduce the leakage between the permanent magnet poles and reduce the armature reaction cross saturation.
  • An internal air slot 2.3 with a rectangular cross section is provided between the slots. This air slot can further weaken the low-order harmonic magnetic field generated by the non-sinusoidal distribution of the armature response magnetic field of the fractional-slot concentrated winding to further weaken the eddy current loss of the rotor and improve the motor synthesis. operation efficiency.
  • the inner and outer air grooves are evenly distributed along the circumference of the rotor.
  • the slot width of the outer air groove 2.2 is greater than the minimum requirement of the manufacturing process, which is related to the specific process accuracy of the motor.
  • the inner air groove 2.3 is directly in the middle of the permanent magnet and the width is greater than 0.5.
  • the width here refers to the length of the side adjacent to the permanent magnet.
  • the thickness of the magnetically conductive bridge connecting the inner and outer air grooves to the permanent magnet must be greater than 0.4 mm. Both the inner and outer air grooves are axially provided on the rotor.
  • the stator 1 is provided outside the built-in permanent magnet rotor 2 and includes an armature core tooth 1.1, a stator yoke 1.2, a slot 1.3 and an armature winding 4 provided on the armature core tooth 1.1.
  • the armature core tooth 1.1 is provided.
  • a recessed slot 1.3 is formed between adjacent armature core teeth 1.1, and the slot 1.3 is used to place an armature winding 4 wound around the armature core teeth 1.1.
  • the stator structure of the present invention is the prior art and will not be described in detail.
  • the outer surface of the built-in permanent magnet rotor 2 adopts a non-uniform air gap design method, that is, the rotor surface is non-concentrically pole-cut, so as to further reduce cogging torque and torque ripple. effect.
  • the design method of the non-uniform air gap is referred to the Chinese application CN201410453460.X, "Rotor core for embedded permanent magnet motors and its design method", which will not be described in detail here.
  • the radial magnetized neodymium-iron-boron permanent magnet 2.1 in the present invention has a rectangular shape and an even number of blocks, and is evenly distributed along the circumference of the rotor.
  • the radial magnetized neodymium-iron-boron permanent magnet 2.1 is located in two adjacent outer air slots 2.2. It is installed in the inner slot 2.5 of the permanent magnet, and the magnetization directions of two adjacent permanent magnets are opposite.
  • FIG. 2 is a step-by-step diagram of the loss of the motor with different rotor structures.
  • the present invention can reduce the loss in the case of single slotting, and the double slotted structure can greatly reduce the loss.
  • Figures 3 and 4 show the comparison of the total losses of motors with different rotor structures. It can be seen that the slotted built-in permanent magnet motor proposed by the present invention can reduce the total loss of the motor compared with the non-slotted solution, thereby achieving the total motor loss. The effect of improving efficiency, in which the double-grooved scheme has a better effect than the single-grooved scheme.
  • Figures 5 and 6 show the traditional non-slotted built-in permanent magnet servo motor and the double slotted built-in permanent magnet servo motor of the present invention.
  • the q-axis inductance changes under different dq-axis currents, and the abscissa represents the q-axis current and the ordinate
  • the indicated q-axis inductances, different curves correspond to different d-axis currents. It can be seen that the scheme of the present invention reduces the phenomenon of cross saturation of the motor.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Permanent Field Magnets Of Synchronous Machinery (AREA)

Abstract

一种转子开槽的内置式永磁伺服电机，包括定子、转子和转轴，在转子上开槽来减小转子涡流损耗，转子包括径向充磁式钕铁硼永磁体、转子铁心背轭、永磁内槽、外空气槽和/或内空气槽，其中，外空气槽设置于转子的外表面，位于相邻两个永磁体之间，内空气槽位于永磁体和转轴之间，永磁体安装于永磁内槽中。本发明通过对转子进行开槽的内置式永磁转子设计，削弱非正弦电枢反应磁场分布所产生的低次谐波磁场，减少转子涡流损耗，提升电机综合运行效率。

Description

一种转子开槽的内置式永磁伺服电机 技术领域
本发明属于伺服电机技术领域，涉及永磁伺服电机，为一种转子开槽的内置式永磁伺服电机。
背景技术
永磁伺服电机(Permanent Magnet Servo Motor)由于其调速性能好，转矩密度高和精度高等优点，被广泛应用于机器人、机床、纺织行业等伺服工作场合。
目前伺服电机转子结构多采用表贴式，表贴式转子结构多采用磁钢加胶黏贴在转子铁心表面，然后在磁钢外面加玻璃纤维或者其他非导磁护套固定，以防止电机在高速运转时，由于离心力作用，磁钢会出现松动或者脱落的情况。而玻璃纤维保护套在转子制作装配工艺上比较麻烦，增加制造成本。且采用钢套结构会产生涡流损耗，降低了电机效率，影响综合性能。因此，内置式永磁伺服电机被广泛研究，但由于转子铁心为电枢反应提供了磁通路径，电枢反应磁动势谐波较多，导致转子涡流损耗大，此外扭矩波动特性和振动噪声较大，综合伺服性能有待进一步提升。
因为工业机器人用伺服电机要求较高的工艺精度，综合效率以及平稳转矩输出等性能要求。鉴于此，有必要提出一种高转矩密度新型工业机器人用内置式永磁伺服电机，以提升综合运行效率和运行可靠性。
发明内容
本发明要解决的问题是：现有技术中的内置式永磁伺服电机的转子涡流损耗大，高速运行可靠性低和综合运行效率低。
本发明设计了转子开槽的内置式永磁伺服电机，通过在转子上开槽，削弱非正弦电枢反应磁场分布所产生的低次谐波磁场，减少转子涡流损耗，包括以下三种实现方案：
一种转子开槽的内置式永磁伺服电机，包括定子、转子和转轴，在转子上开槽来减小转子涡流损耗，转子包括径向充磁式钕铁硼永磁体、外空气槽、转子铁心背轭和永磁内槽，外空气槽设置于转子的外表面，位于相邻两个永磁体之间，沿着转子圆周上均匀分布，永磁体安装于永磁内槽中。
一种转子开槽的内置式永磁伺服电机，包括定子、转子和转轴，在转子上开槽来减小转子涡流损耗，转子包括径向充磁式钕铁硼永磁体、内空气槽、转子铁心背轭和永磁内槽，内空气槽位于永磁体和转轴之间，沿着转子圆周上均匀分布，永磁体安装于永磁内槽中。
一种转子开槽的内置式永磁伺服电机，包括定子、转子和转轴，在转子上开槽来减小转子涡流损耗，转子包括径向充磁式钕铁硼永磁体、外空气槽、内空气槽、转子铁心背轭和永磁内槽，外空气槽设置于转子的外表面，位于相邻两个永磁体之间，内空气槽位于永磁体和转轴之间，永磁体安装于永磁内槽中。
作为优选方式，上述方案中的外空气槽的截断面为开口的三角形，开口朝向定子。
进一步的，外空气槽与永磁体连接的导磁桥厚度大于0.4mm。
进一步的，外空气槽槽内的顶角为圆弧倒角，便于工艺制作加工。
作为优选方式，上述方案中的内空气槽的截断面为矩形。
进一步的，内空气槽的位置正对于永磁体的中间，内空气槽宽度大于0.5mm。
进一步的，内空气槽与永磁体连接的导磁桥厚度大于0.4mm。
作为优选方式，上述任一项方案所述转子开槽的内置式永磁伺服电机，所述转子表面采用不均匀气隙的设计，即采用转子表面非同心式削极方式。
本发明针对内置式永磁伺服电机转子涡流损耗大的问题，提出了通过在转子上开槽来减小涡流损耗的设计思路，并据此提出了三种实现方案，包括在转子外表面开槽，在转子内开槽，以及在转子内外双开槽三种方案，均能有效降低转子涡流损耗，提高电机效率。
有益效果：
1、本发明通过转子开槽的内置式永磁转子设计，削弱非正弦电枢反应磁场分布所产生的低次谐波磁场，以进一步减少转子涡流损耗，提升电机综合运行效率；
2、本发明通过转子开槽的内置式永磁转子设计，减少了电机的交叉饱和现象，解决了传统内置式电机铁心饱和，损耗较大等问题，并使得电机电感参数非线性程度下降，进一步提高了电机的过载能力、弱磁能力和控制精度；
3、本发明针对内置式永磁伺服电机进行改进，降低了转子涡流损耗，同时不存在传统表贴式永磁伺服电机高速运行时永磁体需外加玻璃纤维或者其他非导磁护套固定的问题，提高了电机的运行可靠性，具有良好的综合伺服性能；
4、本发明通过转子开槽的结构设计，有效减少了转子重量和转动惯量，提高了电机的转矩密度和控制精度。
附图说明
图1为本发明的实施例结构示意图。
图2为不同转子结构电机的损耗分布图。
图3为不同转子结构电机的总损耗对比图。
图4为不同转子结构电机的综合运行效率对比图。
图5为传统不开槽的内置式永磁伺服电机不同dq轴电流下的q轴电感变化。
图6为本发明双开槽内置式永磁伺服电机不同dq轴电流下的q轴电感变化。
具体实施方式
本发明提出一种转子开槽的内置式永磁伺服电机，通过在转子上开槽来减小转子涡流损耗，包括在转子上开外槽、内槽和同时内外开槽的双开槽三种方案。其中，外开槽设计还可以解决传统内置式永磁伺服电机交叉饱和严重的问题，进一步提升电机的过载能力和弱磁能力，并提高电机控制精度；内开槽设计可以削弱非正弦电枢反应磁场分布所产生的低次谐波磁场，减少转子涡流损耗，提升电机综合运行效率。当内外两个空气槽同时工作，即双开槽，则相比仅开内槽或外槽，可进一步减少涡流损耗，实现电机的高效率运行。
以下结合附图和具体实施案例对本发明提出的永磁伺服电机作进一步的详细说明。需说明的是，附图采用简化形式且非精准的比例，仅以方便、明晰地辅助说明本发明实 施例的目的。
图1是本发明实施例的永磁伺服电机的结构示意图，为方便同时介绍内槽及外槽的设置，以双开槽为例进行说明。如图1所示，本发明提出的转子开槽的永磁伺服电机，包括：定子1和内置式永磁转子2，定子1和内置式永磁转子2安装在转轴3上，定子1、内置式永磁转子2和转轴3均在伺服电机的机壳内。
内置式永磁转子2包括径向充磁式钕铁硼永磁体2.1、外空气槽2.2、内空气槽2.3、转子铁心背轭2.4和永磁内槽2.5。本实施例对永磁转子进行了双开槽设计，一方面，在转子2的外表面，在两个永磁2.1之间开有截断面为倒三角形的外空气槽2.2，三角形开口朝向定子，顶点指向转子中心，顶点内侧为圆弧倒角，方便制作加工，外空气槽2.2可以起到减少永磁极间漏磁，减少电枢反应交叉饱和的作用；另一方面，在永磁体2.1与转轴3之间设有截断面为矩形的内空气槽2.3，该空气槽可以进一步削弱分数槽集中绕组电枢反应磁场非正弦分布所产生的低次谐波磁场，以进一步削弱转子涡流损耗，提升电机综合运行效率。内外空气槽均沿着转子圆周上均匀分布，外空气槽2.2的开槽宽度大于制造工艺最低要求即可，与电机的具体工艺精度相关；内空气槽2.3正对于永磁体的中间，宽度大于0.5mm，这里的宽指的是与永磁体相邻的边的长度，内外空气槽与永磁体连接的导磁桥厚度均要求大于0.4mm。内外空气槽均轴向贯通设置在转子上。
所述的定子1设在内置式永磁转子2外部，包括电枢铁心齿1.1、定子轭1.2、间槽1.3和设于电枢铁心齿1.1上的电枢绕组4，电枢铁心齿1.1设置在定子轭部1.2与转子2之间，相邻的电枢铁心齿1.1之间形成内凹的间槽1.3，间槽1.3用于置放缠绕于电枢铁心齿1.1上的电枢绕组4。本发明定子结构为现有技术，不再详述。
进一步地，所述的内置式永磁转子2的外表面采用不均匀气隙的设计方法，即采用转子表面非同心式削极的方式，以起到进一步减少齿槽转矩和转矩脉动的作用。所述的不均匀气隙的设计方法参考中国申请CN201410453460.X，《内嵌式永磁电机用的转子铁芯及其设计方法》，这里不再详述。
本发明中的径向充磁式钕铁硼永磁体2.1形状为矩形，块数为偶数，沿转子圆周均匀分布，径向充磁式钕铁硼永磁体2.1位于两个相邻外空气槽2.2之间，安装于永磁内槽2.5中，相邻两块永磁的充磁方向相反。
参考上述双开槽的实施例，同理可以得到单开外空气槽或内空气槽的实施结构。
图2～4给出了不同转子结构对电机损耗的影响。图2为不同转子结构电机的损耗分步图，如图2所示，本发明在单开槽的情况下即可降低损耗，双开槽结构可以大幅降低损耗。图3和4给出了不同转子结构电机的总损耗比较，可以看出本发明提出的转子开槽的内置式永磁电机相比不开槽的方案可以降低电机的总损耗，从而实现电机总效率提高的效果，其中双开槽的方案比但开槽的方案具有更好的效果。
图5和图6为传统不开槽的内置式永磁伺服电机以及本发明双开槽内置式永磁伺服电机，在不同dq轴电流下的q轴电感变化，横坐标表示q轴电流，纵坐标表示的q轴电感，不同曲线对应不同的d轴电流，可见本发明的方案减少了电机的交叉饱和现象。
以上所述仅是本发明的优选实施方式，应当指出：对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。

Claims (10)

  1. 一种转子开槽的内置式永磁伺服电机，包括定子(1)、转子(2)和转轴(3)，其特征是在转子(2)上开槽来减小转子涡流损耗，转子(2)包括径向充磁式钕铁硼永磁体(2.1)、外空气槽(2.2)、转子铁心背轭(2.4)和永磁内槽(2.5)，外空气槽(2.2)设置于转子(2)的外表面，位于相邻两个永磁体(2.1)之间，沿着转子圆周上均匀分布，永磁体(2.1)安装于永磁内槽(2.5)中。
  2. 一种转子开槽的内置式永磁伺服电机，包括定子(1)、转子(2)和转轴(3)，其特征是在转子(2)上开槽来减小转子涡流损耗，转子(2)包括径向充磁式钕铁硼永磁体(2.1)、内空气槽(2.3)、转子铁心背轭(2.4)和永磁内槽(2.5)，内空气槽(2.3)位于永磁体(2.1)和转轴(3)之间，沿着转子圆周上均匀分布，永磁体(2.1)安装于永磁内槽(2.5)中。
  3. 一种转子开槽的内置式永磁伺服电机，包括定子(1)、转子(2)和转轴(3)，其特征是在转子(2)上开槽来减小转子涡流损耗，转子(2)包括径向充磁式钕铁硼永磁体(2.1)、外空气槽(2.2)、内空气槽(2.3)、转子铁心背轭(2.4)和永磁内槽(2.5)，外空气槽(2.2)设置于转子(2)的外表面，位于相邻两个永磁体(2.1)之间，内空气槽(2.3)位于永磁体(2.1)和转轴(3)之间，永磁体(2.1)安装于永磁内槽(2.5)中。
  4. 根据权利要求1或3所述的转子开槽的内置式永磁伺服电机，其特征是外空气槽(2.2)的截断面为开口的三角形，开口朝向定子(1)。
  5. 根据权利要求4所述的转子开槽的内置式永磁伺服电机，其特征是外空气槽(2.2)与永磁体(2.1)连接的导磁桥厚度大于0.4mm。
  6. 根据权利要求4所述的转子开槽的内置式永磁伺服电机，其特征是外空气槽(2.2)槽内的顶角为圆弧倒角。
  7. 根据权利要求2或3所述的转子开槽的内置式永磁伺服电机，其特征是内空气槽(2.3)的截断面为矩形。
  8. 根据权利要求6所述的转子开槽的内置式永磁伺服电机，其特征是内空气槽(2.3)的位置正对于永磁体(2.1)的中间，内空气槽(2.3)宽度大于0.5mm。
  9. 根据权利要求6所述的转子开槽的内置式永磁伺服电机，其特征是内空气槽(2.3)与永磁体(2.1)连接的导磁桥厚度大于0.4mm。
  10. 根据权利要求1-3任一项所述的转子开槽的内置式永磁伺服电机，其特征是所述转子(2)表面采用不均匀气隙的设计，即采用转子表面非同心式削极方式。
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