CN103280939A - Double-stator linear rotation Hal Bach permanent magnetic actuator - Google Patents
Double-stator linear rotation Hal Bach permanent magnetic actuator Download PDFInfo
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- CN103280939A CN103280939A CN2013101364458A CN201310136445A CN103280939A CN 103280939 A CN103280939 A CN 103280939A CN 2013101364458 A CN2013101364458 A CN 2013101364458A CN 201310136445 A CN201310136445 A CN 201310136445A CN 103280939 A CN103280939 A CN 103280939A
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Abstract
The invention provides a double-stator linear rotation Hal Bach permanent magnetic actuator which comprises a rotor shaft, a rotor part and a stator part, wherein the rotor part and the stator part are arranged in a coaxial way together with the rotor shaft; the rotor part is fixedly connected with the rotor shaft; the rotor shaft is located and arranged in a machine shell by a sleeve bearing; and the stator part is arranged at the periphery of the rotor part and is located and arranged in the machine shell. Two stators of the actuator are independent of each other along the linear direction, do not have magnetic field along the axial direction, only have magnetic fields along the radial direction, are prepared by laminating silicon steel sheets, and can effectively reduce the loss; each independent stator has a stator structure with a concentrated winding, thus being simple in structure and easy in processing; and researches prove that the rotor has linear relation with the current amplitudes of the two stators along the linear position, so that the actuator can be easily controlled.
Description
Technical field
The present invention relates to a kind of actuator, particularly relate to a kind of straight line rotary permanent-magnet actuator.
Background technology
In industry and civil area, the motion of straight line rotation form is very common, such as screw rotate that spiral shell advances, oilwell drilling etc.Up to now, the form that multiple straight line rotating electromagnetic driving mechanism is arranged is that the United States Patent (USP) (US 3441819) of " reciprocal linear motor (Reciprocating linear motor) " and patent name are the United States Patent (USP) (US 3453510) of " linear-direct drive-type motor of rotation and control system (Linear and rotary direct current stepping motors and control system) " such as patent name.This class straight line rotating electromagnetic driving mechanism also is an importance in the current multiple degrees of freedom driving mechanism research.
Linear actuator can drive rectilinear motion, and rotary actuator can drive and rotatablely move, and both combinations can realize the simplest solution that the straight line rotation drives.The Chinese patent (CN 200680043229) that name is called " plastic-injection moulding machine with integrated, linear-rotary direct driv " provides a kind of straight line of coaxial mode to rotate the injection moulding machine of two-freedom, it is formed by discrete linear actuator and rotary actuator simple combination, and rotary actuator is enclosed within the linear actuator.The United States Patent (USP) (US 4806068) that name is called the rotation linear actuator (Rotary linear actuator for use in robotic manipulators) of robot " be used for " provides a kind of straight line rotary actuator that is used for robot of not coaxial mode, linear actuator promotes connecting portion and realizes rectilinear motion, and connecting portion is realized rotatablely moving under the rotation of electric rotating machine.The common shortcoming of these two kinds of structures is that linear actuator and rotating driver are separate, and volume is big, poor reliability, and it is complicated to coordinate control, is difficult for realizing accurately control, and the utilization of permanent magnetism is incomplete simultaneously.In addition, each driver needs an independent current source, and the quantity of power supply is more.
The mode that spiral directly drives (Y. Fujimoto, T. Kominami, H. Hamada. Development and Analysis of a High Thrust Force Direct-Drive Linear Actuator[J]. IEEE Transactions on Industrial Electronics, 2009,56 (05): 1383 – 1392) utilize the solution of the screw drives mechanism that the linear electric motors principle realizes, can avoid using two actuator to realize the shortcoming that screw brings, but pitch has been fixed in screw, rotor can only be for the helical movement on fixing direction, and purposes is restricted.
Use single electromagnetic mechanism also can realize straight line and the straight line rotary actuator that rotatablely moves, this class mechanism often is similar to planar motor after direction of rotation is launched, be a kind of electric rotating machine when rotating separately, can continuous rotary motion and do not have the restriction of limited travel.This straight line rotary actuator is according to the existing two kinds of main topological modes of stator and rotor sructure, and the United States Patent (USP) (US 20100060086) that Japan Patent (JP 2004040894) and the name that name is called " electromagnetic actuator (Electromagnetic actuator) " is called " driving mechanism with position decoder (Driving mechanism having position encoder for two-dimensional positioning) that is used for the twocouese location " provides the single moving component straight line rotary actuator that adopts single stator and pair stators respectively.Two stator list moving component straight line rotary actuators have two kinds of power drives modes, and a kind of is that inside and outside divided stator be you can well imagine the driving for straight line and rotation.Another kind is that name is called the driving that the interior external stator that proposes in the European patent (EP 1780878) of " compact straight line rotary actuator (Compact linear and rotary actuator) " provides straight line and rotation simultaneously.First kind of type of drive has similar part with adopting two drivers, difference is: gather though the shared moving component of straight line and electric rotating machine more is becoming tight electric machine structure, but owing to the magnetic field of different directions in two stators is intersected in moving component, magnetic field on the moving component is extremely complicated, is difficult to analyze and control.Though second kind of type of drive can increase the interaction of moving component and stator surface, bigger thrust and moment of torsion is provided, mechanism is too complicated, and stationary part must be made for bell, mounting hardness is all very big.
In the drive scheme that above-mentioned three kinds of straight lines rotatablely move, first kind is used the scheme of two drivers to need two motors, and the transmission mechanism complexity, bulky; Second kind of screw drives mechanism type of drive is dumb, the screw that can only fix; Though the third straight line electric rotating machine scheme stator is slightly complicated, the positioning accuracy of still moving from the compactedness of topological structure all has remarkable advantages, is a kind of multiple degrees of freedom driving mechanism that has development prospect.
Though single stator list moving component straight line rotary actuator is not as two stator list moving component straight line rotary actuator power density height because the linear displacement on the rectilinear direction without limits, and make simply, make it have application prospect more widely.
Present single stator list moving component straight line rotary actuator generally adopts name to be called the Japan Patent (JP 62-40052) of " rotation-axial linear movement synthesis type motor (Rotary and axial linear motion combination type motor) " and is called magnetic field in the stator in the Chinese patent (CN 200810042746) of " dual radial directions magnetic field reaction type straight-line rotating stepper motor " to have straight line and rotates two forms radially, though in theory more magnetic conductive area can be arranged in the zone of stator yoke, but the increase that so complicated magnetic field is serious the difficulty of stator processing, particularly the lamination of silicon steel sheet is very difficult, thereby has increased stator loss.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, a kind of double-stator direct line rotation Halbach permanent magnetism actuator for the finite straight line stroke is provided, improves the mover inner and outer magnetic field and distribute, reduce the iron core weight of mover, the response speed of raising system and reliability improve system effectiveness.
For solving the problems of the technologies described above, technical scheme provided by the invention is:
A kind of double-stator direct line rotation Halbach permanent magnetism actuator, comprise armature spindle and with rotor portion, the stationary part of the coaxial setting of armature spindle, rotor portion is fixedlyed connected with armature spindle 7, armature spindle 7 passes through sleeve bearing 9 location and installation in casing 8, stationary part places the rotor portion periphery, location and installation is in casing 8, and described stationary part comprises coaxial first stator module that is set up in parallel, second stator module, and first stator module, second stator module are separate; The Halbach permanent magnet array 6 that rotor portion comprises rotor core ⑸ and is distributed in the rotor core outer surface.
First stator module comprises that first stator core 1 and coiling first stator winding, 2, the second stator modules on it comprise second stator core 3 and coiling second stator winding 4 on it; Leave air-gap 10 between first stator core 1 and second stator core 3.
Rotor core 5 along the axial length greater than first stator core 1 or second stator core 3 along the axial length with air-gap 10 sum along the axial length.
Described Halbach permanent magnet array 6 does not wait in sum of series first stator core 1 of direction of rotation or the number of teeth in second stator core 3.
First stator core 1 and second stator core 3 are salient pole type in a circumferential direction and are no less than six teeth.
Along direction of rotation, number of stator slots is 3 integral multiple.
The mode of stator winding is centralized.
Stator core and rotor all adopt silicon steel sheet lamination mode vertically.
When described Halbach permanent magnet array 6 was distributed in rotor core 5 outer surfaces with column, each permanent magnet polarity of forming Halbach permanent magnet array 6 was crisscross arranged in direction of rotation.
By above technical scheme, with respect to prior art, the present invention has following beneficial effect:
Because two stators of double-stator direct line rotation Halbach permanent magnetism actuator provided by the invention are independent of one another in rectilinear direction, do not have magnetic field vertically in the stator, only contain magnetic field radially, can adopt the silicon steel sheet lamination, can effectively reduce the wastage; Each independently stator be the stator structure of concentrating winding, simple in structure, be easy to processing; Studies show that rotor is big or small linear along the current amplitude on linear position and two stators, is easy to carry out the control of actuator.
Description of drawings
Fig. 1 rotates Halbach permanent magnetism actuator generalized section vertically for double-stator direct line of the present invention;
Fig. 2 rotates radially generalized section of Halbach permanent magnetism actuator for the double-stator direct line;
Fig. 3 is the schematic three dimensional views of double-stator direct line rotation Halbach permanent magnetism actuator;
Wherein: 1, first stator core, 2, first stator winding, 3, second stator core, 4, second stator winding, 5, rotor core, 6, the Halbach permanent magnet array, 7, armature spindle, 8, casing, 9, sleeve bearing.
Embodiment
Accompanying drawing discloses the structural representation of preferred embodiment involved in the present invention without limitation; Explain technical scheme of the present invention below with reference to accompanying drawing.
Double-stator direct line rotation Halbach permanent magnetism actuator provided by the invention, as Figure 1-3, it mainly comprises first stator core, 1, the first stator winding 2, second stator core, 3, the second stator winding 4, rotor core 5, Halbach permanent magnet array 6, armature spindle 7, casing 8, sleeve bearing 9.
Be wound with in 2, the second stator cores 3 of first stator winding in first stator core of in casing 8, fixing 1 that is arranged in juxtaposition vertically and second stator core, 3, the first stator cores 1 and be wound with second stator winding 4; Place the rotor core 5 of first stator core 1 and second stator core, 3 inside, its appearance is posted Halbach permanent magnet array 6, and is fixed on the armature spindle 7, and armature spindle 7 links to each other with casing 8 by sleeve bearing 9.Include the identical and stator apparatus independently of two covers along rectilinear direction, be respectively first stator core 1 and coiling 2, the second stator cores 3 of first stator winding and second stator winding 4 of coiling on it on it; Leave air-gap 10 between first stator core 1 and second stator core 3.Only comprise a cover rotor mechanism along rectilinear direction, and rotor core 5 along the axial length greater than first stator core 1 or second stator core 3 along the axial length with air-gap 10 sum along the axial length.
Described stator is silicon steel sheet lamination vertically, and at circumferencial direction, first stator core 1 and second stator core 3 are salient pole type and are no less than six teeth, and adopts the form of concentrating winding.
Permanent magnet distributes with column during Surface Mount outside cylindrical moving component 2 in the permanent magnet array 6, and permanent magnet polarity is staggered in direction of rotation.
Permanent magnet array 6 is in the sum of series first stator core 1(of direction of rotation second stator core 3) on the number of teeth do not wait.
When needing screw, feed electric current in first stator winding 2
, feed electric current in second stator winding 4
, wherein,
Be current peak,
Be the initial phase of direction of rotation electric current,
Get
,
With
Be the stator tooth along direction of rotation
,
With
Wherein,
Be current peak,
Be the initial phase of direction of rotation electric current,
Get
,
With
Be the stator tooth along direction of rotation
,
And C.
Claims (9)
1. a double-stator direct line rotates Halbach permanent magnetism actuator, comprise armature spindle and with rotor portion, the stationary part of the coaxial setting of armature spindle, rotor portion is fixedlyed connected with armature spindle ⑺, armature spindle ⑺ passes through sleeve bearing ⑼ location and installation in casing ⑻, stationary part places the rotor portion periphery, location and installation is in casing ⑻, it is characterized in that: described stationary part comprises coaxial first stator module that is set up in parallel, second stator module, and first stator module, second stator module are separate; The Halbach permanent magnet array ⑹ that rotor portion comprises rotor core ⑸ and is distributed in the rotor core outer surface.
2. double-stator direct line according to claim 1 rotates Halbach permanent magnetism actuator, it is characterized in that: first stator module comprises the first stator core ⑴ and the coiling first stator winding ⑵ on it, and second stator module comprises the second stator core ⑶ and the coiling second stator winding ⑷ on it; Leave air-gap ⑽ between the first stator core ⑴ and the second stator core ⑶.
3. double-stator direct line according to claim 2 rotation Halbach permanent magnetism actuator is characterized in that: rotor core ⑸ along the axial length greater than the first stator core ⑴ or the second stator core ⑶ along the axial length with air-gap ⑽ sum along the axial length.
4. double-stator direct line according to claim 2 rotates Halbach permanent magnetism actuator, and it is characterized in that: described Halbach permanent magnet array ⑹ does not wait at the sum of series first stator core ⑴ of direction of rotation or the number of teeth on the second stator core ⑶.
5. double-stator direct line according to claim 2 rotates Halbach permanent magnetism actuator, and it is characterized in that: the first stator core ⑴ and the second stator core ⑶ are salient pole type in a circumferential direction and are no less than six teeth.
6. double-stator direct line according to claim 2 rotates Halbach permanent magnetism actuator, and it is characterized in that: along direction of rotation, number of stator slots is 3 integral multiple.
7. double-stator direct line according to claim 2 rotates Halbach permanent magnetism actuator, and it is characterized in that: the mode of stator winding is centralized.
8. double-stator direct line according to claim 2 rotates Halbach permanent magnetism actuator, and it is characterized in that: stator core and rotor all adopt silicon steel sheet lamination mode vertically.
9. double-stator direct line according to claim 1 rotates Halbach permanent magnetism actuator, it is characterized in that: when described Halbach permanent magnet array ⑹ was distributed in rotor core ⑸ outer surface with column, each permanent magnet polarity of forming Halbach permanent magnet array ⑹ was crisscross arranged in direction of rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310136445.8A CN103280939B (en) | 2013-04-18 | 2013-04-18 | A kind of Double-stator linear rotation Hal Bach permanent magnetic actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310136445.8A CN103280939B (en) | 2013-04-18 | 2013-04-18 | A kind of Double-stator linear rotation Hal Bach permanent magnetic actuator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103280939A true CN103280939A (en) | 2013-09-04 |
| CN103280939B CN103280939B (en) | 2016-02-03 |
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| CN201310136445.8A Expired - Fee Related CN103280939B (en) | 2013-04-18 | 2013-04-18 | A kind of Double-stator linear rotation Hal Bach permanent magnetic actuator |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103475178A (en) * | 2013-09-30 | 2013-12-25 | 东南大学 | Linear rotation permanent magnet motor |
| CN103795203A (en) * | 2014-01-22 | 2014-05-14 | 北京航空航天大学 | Novel two-section type seven-phase permanent magnet fault-tolerant motor |
| CN110971033A (en) * | 2018-09-28 | 2020-04-07 | 日本电产株式会社 | Motor with a stator having a stator core |
| CN113162313A (en) * | 2021-04-15 | 2021-07-23 | 浙大城市学院 | Two-dimensional motor and servo valve |
| CN113315331A (en) * | 2021-07-28 | 2021-08-27 | 深圳双十科技有限公司 | Two-degree-of-freedom motor for Z axis and assembling method thereof |
Citations (5)
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|---|---|---|---|---|
| KR20010086813A (en) * | 2000-03-03 | 2001-09-15 | 이종훈 | Superconductor journal bearings with a modified Halbach array |
| JP2007014110A (en) * | 2005-06-30 | 2007-01-18 | Asmo Co Ltd | Rotary electric machine |
| CN1917337A (en) * | 2006-08-09 | 2007-02-21 | 浙江大学 | Permanent magnet linear vibration motor |
| CN201854100U (en) * | 2010-11-08 | 2011-06-01 | 东南大学 | Permanent magnetic actuator capable of realizing straight line and rotation coordinated control |
| CN202364011U (en) * | 2011-11-25 | 2012-08-01 | 美的威灵电机技术（上海）有限公司 | Servo motor with halbach structure |
-
2013
- 2013-04-18 CN CN201310136445.8A patent/CN103280939B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20010086813A (en) * | 2000-03-03 | 2001-09-15 | 이종훈 | Superconductor journal bearings with a modified Halbach array |
| JP2007014110A (en) * | 2005-06-30 | 2007-01-18 | Asmo Co Ltd | Rotary electric machine |
| CN1917337A (en) * | 2006-08-09 | 2007-02-21 | 浙江大学 | Permanent magnet linear vibration motor |
| CN201854100U (en) * | 2010-11-08 | 2011-06-01 | 东南大学 | Permanent magnetic actuator capable of realizing straight line and rotation coordinated control |
| CN202364011U (en) * | 2011-11-25 | 2012-08-01 | 美的威灵电机技术（上海）有限公司 | Servo motor with halbach structure |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103475178A (en) * | 2013-09-30 | 2013-12-25 | 东南大学 | Linear rotation permanent magnet motor |
| CN103795203A (en) * | 2014-01-22 | 2014-05-14 | 北京航空航天大学 | Novel two-section type seven-phase permanent magnet fault-tolerant motor |
| CN103795203B (en) * | 2014-01-22 | 2016-04-20 | 北京航空航天大学 | A kind of novel two-part seven phase fault tolerant permanent magnet motor |
| CN110971033A (en) * | 2018-09-28 | 2020-04-07 | 日本电产株式会社 | Motor with a stator having a stator core |
| CN110971033B (en) * | 2018-09-28 | 2022-05-10 | 日本电产株式会社 | Motor |
| CN113162313A (en) * | 2021-04-15 | 2021-07-23 | 浙大城市学院 | Two-dimensional motor and servo valve |
| CN113315331A (en) * | 2021-07-28 | 2021-08-27 | 深圳双十科技有限公司 | Two-degree-of-freedom motor for Z axis and assembling method thereof |
| CN113315331B (en) * | 2021-07-28 | 2021-10-26 | 深圳双十科技有限公司 | Two-degree-of-freedom motor for Z axis and assembling method thereof |
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| Publication number | Publication date |
|---|---|
| CN103280939B (en) | 2016-02-03 |
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