CN104901508A - Linear rotating permanent magnet actuator adopting intermediate magnetic pole structure and control method of linear rotating permanent magnet actuator - Google Patents
Linear rotating permanent magnet actuator adopting intermediate magnetic pole structure and control method of linear rotating permanent magnet actuator Download PDFInfo
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- CN104901508A CN104901508A CN201510284034.2A CN201510284034A CN104901508A CN 104901508 A CN104901508 A CN 104901508A CN 201510284034 A CN201510284034 A CN 201510284034A CN 104901508 A CN104901508 A CN 104901508A
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- mover
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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
- H02K1/2746—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 arranged with the same polarity, e.g. consequent pole type
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Linear Motors (AREA)
- Reciprocating, Oscillating Or Vibrating Motors (AREA)
Abstract
The invention discloses a linear rotating permanent magnet actuator adopting an intermediate magnetic pole structure and a control method of the linear rotating permanent magnet actuator. The linear rotating permanent magnet actuator includes a shell (3), a stator, a rotor, permanent magnets (5) and a rotating shaft (9); a 12-tooth structure is formed on the stator at the circumferential direction of the stator; angles between adjacent stator teeth are 30 degrees; the stator is provided with three sets of stator units along the axial direction of the stator; 12 stator poles are distributed at the circumferential direction of the stator units; the rotor comprises more than one sub rotor at the axial direction of the rotor; the permanent magnets (5) are embedded in the sub rotors; two ends of each permanent magnet (5) along the circumferential direction of the rotor are provided with non-magnetic conductive bodies (7); at the circumferential profile of the same sub rotor, the magnetizing directions of the permanent magnets are the same; and in an axial direction, the magnetizing directions of the permanent magnets at the circumferences of sub rotors where adjacent poles are located are opposite. With the linear rotating permanent magnet actuator and the control method of the invention adopted, the consumption of permanent magnets can be decreased, and the size of the actuator can be reduced, and production cost can be reduced; and permanent magnetic torque and reluctance torque jointly form electromagnetic torque, and therefore, power density can be improved.
Description
Technical field
The present invention relates to one and can realize straight line, rotation and screw Linear-rotation permanent-magnet actuator, be the electromagnetic actuator of a kind of high-performance, high power density, belong to the category of motor and control field.
Background technology
Realize straight line and rotary motion, traditional implementation sets up two to overlap independently electric system and transmission device thereof and drive straight line and rotary motion respectively, and system bulk is large, low-response.Along with developing rapidly of hyundai electronics industry, its defect is more and more obvious, and the straight line in the urgent need to small size, high-performance, Absorbable organic halogens motion rotates two-freedom motor.
Patent " magnetic combination linear rotating driver " (CN201398162Y) adopts rodding structure, achieves the linear drives in ultra-high vacuum environment and rotary actuation, drives simple, adopts non-contacting magnetic drive to construct, can increase the service life.But this structure axial dimension is long, high to the requirement on machining accuracy of driver.
Patent " Novel dual freedom mechanism " (CN 203579294 U) proposes a kind of novel double freedom mechanism, linear electric motors and electric rotating machine are combined, eliminate intermediate transmission link, improve precision and efficiency, compared to traditional structure, volume greatly reduces, but the form of motor combination, the volume-diminished of motor is restricted, and cannot be applicable to the environment that small size runs.
The motor that patent " a kind of moving magnet type linear rotation two-degree-of-freedom motor " (CN 102497080 A) proposes drives mover to rotate by front winding, drive mover moving linearly by rear winding again, achieve the two-freedom compound motion exporting on a motor and have rotary motion and rectilinear motion concurrently.Adopt double winding, add cost of manufacture, and be unfavorable for the heat radiation of motor, system responses is slow.
Patent " straight line rotates double freedom servomotor " (CN 103427588 A) can provide straight line simultaneously and rotate the motion of two degrees of freedom on same output shaft, simplifies the complexity of equipment, reduces the cost produced and safeguard.Conversion links in the middle of reducing, realizes full closed loop control, substantially increases the precision of motion.But its disadvantage is: stroke is short, and load capacity is low.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the invention provides a kind of Linear-rotation permanent-magnet actuator adopting consequent pole structure, this actuator can greatly reduce the consumption of permanent magnetism, saves cost of manufacture, and power density is high simultaneously, performance good.
Technical scheme: for achieving the above object, the technical solution used in the present invention is: a kind of Linear-rotation permanent-magnet actuator adopting consequent pole structure, comprise shell (3), stator, mover, permanent magnet (5) and rotating shaft (9), described stator is arranged on shell (3), mover is arranged in rotating shaft (9), and described mover is arranged in stator, described rotating shaft simultaneously (9) is connected with casing by sleeve; Described stator adopts 12 toothings in the circumferential, and the angle of adjacent stators tooth is 30 °; Be provided with three groups of stator units in the axial direction, described stator unit comprises stator yoke (1), stator poles (4) and around the coil (2) in stator core, and described stator unit circumferentially has 12 stator poles; Described mover comprises more than one sub-mover in the axial direction; It is inner that described permanent magnet (5) is embedded in sub-mover, permanent magnet (5) is provided with non-magnetizer (7) along the two ends of sub-mover circumference simultaneously, and axially, by non-magnetizer (7) between the iron plate in sub-mover core; On same sub-mover circumference section, number of pole-pairs is 8, and permanent magnet magnetizing direction is identical, and in the axial direction, number of pole-pairs is 3, and the permanent magnet magnetizing direction circumferentially of the sub-mover at consecutive roots place is contrary.
Preferred: the distance between each stator unit meets τ/3* (1+2*k), k=0,1,2 ..., τ is mover axial poles distance.
Preferred: the winding of described coil (2) adopts individual layer concentratred winding.
Preferred: described stator core and mover core all adopt high permeability material silicon steel sheet axially to fold, and silicon steel sheet adopts 50W470.
Preferred: described mover length is less than stator length in the axial direction.
When moving, permanent-magnet torque and reluctance torque acting in conjunction form electromagnetic torque.
A kind of Linear-rotation permanent-magnet actuator control method adopting consequent pole structure, by the size of the exciting current of winding in regulating winding (2), the size of magnetic flux can be controlled, thus increase actuator rectilinear motion and rotary motion speed adjustable range, reach and regulate torque and thrust, control the object of rotating speed and point-to-point speed.
When needs do rectilinear motion, in concentratred winding, Current Decomposition is excitation component and controls component, in winding, electric excitation and permanent magnetism form mover excitation field jointly, and the armature field that in winding, Current Control component produces interacts, and makes actuator do rectilinear motion;
When needs rotate, now mover excitation field is that excitation that in winding, electric current produces and permanent magnetism form and to rotate in a circumferential direction magnetic field, and the armature field produced with Current Control component in winding rotates;
When motion spinned by needs, the excitation component I that in winding, electric current produces
ebe 0, the permanent magnetic field that permanent magnet is formed becomes helical magnetic field, the control component I now produced with electric current in winding
armthe armature field formed interacts, motion of can spinning, now, by regulating in electric current the size of the excitation component produced, can the magnetic flux size in adjustable screw magnetic field, and reach the object of control screw.
Actuator is made to do the control method of rectilinear motion: to get electric current I=I in winding
erect (t/T)+I
armcos (ω
rnt+ θ
n+ ψ
n) cos (ω
lnz+ θ
m+ ψ
m), wherein, rect (t/T)=u (t+T/2+k
rzπ+φ)-2u (t-T/2+k
rzπ+φ), T=2 π/w
rn, or T=2 π/w
ln, ω
rnfor rotating synchro angle frequency, ω
lnfor rectilinear motion synchro angle frequency, ψ
nfor the initial phase of direction of rotation electric current, ψ
mfor the initial phase of electric current during rectilinear motion, k
rzπ is exciting current at circumference or the phase difference axially between excitation component, and φ is that in winding, exciting current is at circumference or starting phase angle axially, and in the circumferential, stator has four electric cycles, and rotor has 8 to pole, k
rzbe respectively 0,1/2 and 3/2, in the axial direction, stator has three electric cycles, and rotor has 6 to pole; In rotation and linear movement direction, θ
m, θ
nbe taken as 0,120 ° and 240 °, by the frequency rate formula v=2 τ f of rectilinear motion, and frequency angular frequency reduction formula f=ω/2 π, initial position ω can be determined
lnz; By regulating I
esize, can axial magnetic field strength be regulated, and then control the size of axial thrust, expand the adjustable range of axial thrust;
Make actuator spin motion control method: by regulate I
esize, control the size of circumferential magnetic flux, expand the adjustable range of circumferential torque;
Actuator is spinned the control method of motion: by regulating in electric current the size of the excitation component produced, can the magnetic flux size in adjustable screw magnetic field, reach control screw.
Beneficial effect: a kind of Linear-rotation permanent-magnet actuator and control method adopting consequent pole structure provided by the invention, compared to existing technology, has following beneficial effect:
1. adopt consequent pole structure, greatly save the consumption of permanent magnetism, be conducive to the saturation reducing actuator.
2. the excitation component that can be produced by electric current in winding regulates the magnetic field intensity of circumferential and axial, can effectively reduce loss.Therefore its power density is high, performance good.
3., because permanent magnet is embedded into mover inside, add the intensity of mover.
4. actuator mover core adopts silicon steel plate packing to form, and stator core is also form with silicon steel plate packing, and each stator core is arranged on the casing of non-magnet material.
Accompanying drawing explanation
Fig. 1 is the Linear-rotation permanent-magnet actuator axial section adopting consequent pole structure;
Fig. 2 is a kind of Linear-rotation permanent-magnet actuator circumference structural representation adopting consequent pole structure;
Fig. 3 is the Linear-rotation permanent-magnet actuator Structure of mover schematic diagram adopting consequent pole structure;
Wherein, 1 be stator yoke, 2 be coil, 3 be non-magnetic shell, 4 be stator poles, 5 be permanent magnet, 6 for mover core, 7 be non-magnet material, 8 be pole shoe, 9 is non-magnetic rotating shaft;
Embodiment
Below in conjunction with accompanying drawing, the present invention is further described.
A kind of Linear-rotation permanent-magnet actuator adopting consequent pole structure, as shown in Figure 2, comprise shell (3), stator, mover, permanent magnet (5) and rotating shaft (9), shell (3), rotating shaft (9) all adopt non-magnet material to make; Described stator is arranged on shell (3), and mover is arranged in rotating shaft (9), and described mover is arranged in stator, and described rotating shaft simultaneously (9) is connected with casing by sleeve.Each permanent magnet (5) selects NdFeB material.
As shown in Figure 1, stator adopts 12 toothings in the circumferential, and the angle of adjacent stators tooth is 30 °; Be provided with three groups of stator units in the axial direction, be respectively three groups of stator units I, II, III, described stator unit comprises stator yoke (1), stator poles (4) and around the coil (2) in stator core, and described stator unit circumferentially has 12 stator poles.Distance between each stator unit meets τ/3* (1+2*k), k=0,1,2 ..., τ is mover axial poles distance.The winding of described coil (2) adopts individual layer concentratred winding, is easy to install.Stator shaft orientation have employed three electric cycles.
Stator core have employed 12 electrode structures in the circumferential, and the greatest common divisor divided by itself and number of pole-pairs is the natural number multiple of 3, is conducive to harmonic carcellation like this.
As shown in Figure 3, mover comprises more than one sub-mover in the axial direction; It is inner that described permanent magnet (5) is embedded in sub-mover, because permanent magnet is embedded in mover inside, has good protective action to permanent magnetism.Permanent magnet (5) is provided with non-magnetizer (7) along the two ends of sub-mover circumference simultaneously, and axially, by non-magnetizer (7) between the iron plate in sub-mover core; On same sub-mover circumference section, number of pole-pairs is 8, and permanent magnet magnetizing direction is identical, and in the axial direction, number of pole-pairs is 3, and the permanent magnet magnetizing direction circumferentially of the sub-mover at consecutive roots place is contrary.
As shown in Figure 3, the arrangement of permanent magnet adopts consequent pole structure, and permanent magnet is embedded in mover inside.Axially, connected between mover by non-magnet material, mover core is arranged on non-magnetic bearing, and this bearing is connected with casing (6) by sleeve.Structure of mover is compact, good reliability; On same circumferential section, permanent magnet magnetizing direction is consistent, and number of pole-pairs is 8, and axially in the same direction of motion, permanent magnetism magnetizing direction is consistent, and number of pole-pairs is 3, and the magnetizing direction of consecutive roots permanent magnet is contrary, as shown in Figure 3.Compared with the structure that traditional permanent magnet pole is staggered, this structure greatly reduces the consumption of permanent magnet, saturation of magnetic path and volume, reduces cost of manufacture.Owing to adopting the structure of consequent pole, change the reactance of mover d, q axle, reduce the size of magnetic resistance on loop, compared with traditional structure, the electromagnetic property of actuator is substantially constant, can improve Driving Torque, thrust and power density, realizes straight line, rotation and screw.
Stator core and mover core all adopt high permeability material silicon steel sheet axially to fold, and silicon steel sheet adopts 50W470.
Mover core does rectilinear motion in the axial direction, and the axial length of mover core is less than the length of stator, effectively decreases the volume of actuator, and adopts consequent pole structure, decreases the consumption of mover and permanent magnet material, reduces cost of manufacture.Winding adopts the form of concentratred winding, and coil, by copper conductor coiling, is easy to install.
When moving, permanent-magnet torque and reluctance torque acting in conjunction form electromagnetic torque.
A kind of Linear-rotation permanent-magnet actuator control method adopting consequent pole structure, by the size of the exciting current of winding in regulating winding (2), the size of magnetic flux can be controlled, thus increase actuator rectilinear motion and rotary motion speed adjustable range, reach and regulate torque and thrust, control the object of rotating speed and point-to-point speed.
When needs do rectilinear motion, in concentratred winding, Current Decomposition is excitation component and controls component, in winding, electric excitation and permanent magnetism form mover excitation field jointly, and the armature field that in winding, Current Control component produces interacts, and makes actuator do rectilinear motion; Get electric current I=I in winding
erect (t/T)+I
armcos (ω
rnt+ θ
n+ ψ
n) cos (ω
lnz+ θ
m+ ψ
m), wherein, rect (t/T)=u (t+T/2+k
rzπ+φ)-2u (t-T/2+k
rzπ+φ), T=2 π/w
rn, or T=2 π/w
ln, ω
rnfor rotating synchro angle frequency, ω
lnfor rectilinear motion synchro angle frequency, ψ
nfor the initial phase of direction of rotation electric current, ψ
mfor the initial phase of electric current during rectilinear motion, k
rzπ is exciting current at circumference or the phase difference axially between excitation component, and φ is that in winding, exciting current is at circumference or starting phase angle axially, and in the circumferential, stator has four electric cycles, and number of pole-pairs is 8, k
rzbe respectively 0,1/2 and 3/2; In the axial direction, stator has three electric cycles, and number of pole-pairs is 6; In rotation and linear movement direction, θ
m, θ
nbe taken as 0,120 ° and 240 ° respectively, by the frequency rate formula v=2 τ f of rectilinear motion, and frequency angular frequency reduction formula f=ω/2 π, initial position ω can be determined
lnz; By regulating I
esize, can axial magnetic field strength be regulated, and then control the size of axial thrust, expand the adjustable range of axial thrust.
When needs rotate, now mover excitation field is that excitation that in winding, electric current produces and permanent magnetism form and to rotate in a circumferential direction magnetic field, and the armature field produced with Current Control component in winding rotates.Equally, motor when rotating, by regulate I
esize, control the size of circumferential magnetic flux, expand the adjustable range of circumferential torque.
When motion spinned by needs, the excitation component I that in winding, electric current produces
ebe 0, the permanent magnetic field that permanent magnet is formed becomes helical magnetic field, the control component I now produced with electric current in winding
armthe armature field formed interacts, motion of can spinning, now, by regulating in electric current the size of the excitation component produced, can the magnetic flux size in adjustable screw magnetic field, and reach the object of control screw.In a word, the excitation component that in winding, electric current produces, no matter the permanent magnetic field acting in conjunction produced with permanent magnet is in circumference, and still in the axial direction, Distribution of Magnetic Field all close to Sine distribution, and then makes the counter potential waveform of coil for sinusoidal.Actuator is doing straight line, rotation and screw, in winding, excitation component is consistent with the current phase controlling component, by regulating the size of exciting current, the size of magnetic flux can be controlled, thus increase actuator rectilinear motion and rotary motion speed adjustable range, reach and regulate torque and thrust, control the object of rotating speed and point-to-point speed.
As from the foregoing, present invention substantially reduces the consumption of permanent magnet, decrease the volume of actuator, reduce cost of manufacture, permanent-magnet torque and reluctance torque form electromagnetic torque jointly, improve power density.
The above is only the preferred embodiment of the present invention; be noted that for those skilled in the art; under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (9)
1. one kind adopts the Linear-rotation permanent-magnet actuator of consequent pole structure, it is characterized in that: comprise shell (3), stator, mover, permanent magnet (5) and rotating shaft (9), described stator is arranged on shell (3), mover is arranged in rotating shaft (9), and described mover is arranged in stator, described rotating shaft simultaneously (9) is connected with casing by sleeve; Described stator adopts 12 toothings in the circumferential, and the angle of adjacent stators tooth is 30 °; Be provided with three groups of stator units in the axial direction, described stator unit comprises stator yoke (1), stator poles (4) and around the coil (2) in stator core, and described stator unit circumferentially has 12 stator poles; Described mover comprises more than one sub-mover in the axial direction; It is inner that described permanent magnet (5) is embedded in sub-mover, permanent magnet (5) is provided with non-magnetizer (7) along the two ends of sub-mover circumference simultaneously, and axially, by non-magnetizer (7) between the iron plate in sub-mover core; On same sub-mover circumference section, number of pole-pairs is 8, and permanent magnet magnetizing direction is identical, and in the axial direction, number of pole-pairs is 3, and the permanent magnet magnetizing direction circumferentially of the sub-mover at consecutive roots place is contrary.
2. the Linear-rotation permanent-magnet actuator of employing consequent pole structure according to claim 1, is characterized in that: the distance between each stator unit meets τ/3* (1+2*k), k=0,1,2 ..., τ is mover axial poles distance.
3. the Linear-rotation permanent-magnet actuator of employing consequent pole structure according to claim 1, is characterized in that: the winding of described coil (2) adopts individual layer concentratred winding.
4. the Linear-rotation permanent-magnet actuator of employing consequent pole structure according to claim 1, is characterized in that: described stator core and mover core all adopt high permeability material silicon steel sheet axially to fold, and silicon steel sheet adopts 50W470.
5. the Linear-rotation permanent-magnet actuator of employing consequent pole structure according to claim 1, is characterized in that: described mover length is less than stator length in the axial direction.
6. the Linear-rotation permanent-magnet actuator of employing consequent pole structure according to claim 1, is characterized in that: when moving, and permanent-magnet torque and reluctance torque acting in conjunction form electromagnetic torque.
7. the Linear-rotation permanent-magnet actuator control method based on employing consequent pole structure according to claim 1, it is characterized in that: by the size of the exciting current of winding in regulating winding (2), the size of magnetic flux can be controlled, thus increase actuator rectilinear motion and rotary motion speed adjustable range, reach and regulate torque and thrust, control the object of rotating speed and point-to-point speed.
8. the Linear-rotation permanent-magnet actuator control method of employing consequent pole structure according to claim 7, it is characterized in that: when needs do rectilinear motion, in concentratred winding, Current Decomposition is excitation component and controls component, in winding, electric excitation and permanent magnetism form mover excitation field jointly, interact with the armature field that Current Control component in winding produces, make actuator do rectilinear motion;
When needs rotate, now mover excitation field is that excitation that in winding, electric current produces and permanent magnetism form and to rotate in a circumferential direction magnetic field, and the armature field produced with Current Control component in winding rotates;
When motion spinned by needs, the excitation component I that in winding, electric current produces
ebe 0, the permanent magnetic field that permanent magnet is formed becomes helical magnetic field, the control component I now produced with electric current in winding
armthe armature field formed interacts, motion of can spinning, now, by regulating in electric current the size of the excitation component produced, can the magnetic flux size in adjustable screw magnetic field, and reach the object of control screw.
9. the Linear-rotation permanent-magnet actuator control method of employing consequent pole structure according to claim 8, is characterized in that: make actuator do the control method of rectilinear motion: get electric current I=I in winding
erect (t/T)+I
armcos (ω
rnt+ θ
n+ ψ
n) cos (ω
lnz+ θ
m+ ψ
m), wherein, rect (t/T)=u (t+T/2+k
rzπ+φ)-2u (t-T/2+k
rzπ+φ), T=2 π/w
rn, or T=2 π/w
ln, ω
rnfor rotating synchro angle frequency, ω
lnfor rectilinear motion synchro angle frequency, ψ
nfor the initial phase of direction of rotation electric current, ψ
mfor the initial phase of electric current during rectilinear motion, k
rzπ is exciting current at circumference or the phase difference axially between excitation component, and φ is that in winding, exciting current is at circumference or starting phase angle axially, and in the circumferential, stator has four electric cycles, and rotor has 8 to pole, k
rzbe respectively 0,1/2 and 3/2, in the axial direction, stator has three electric cycles, and rotor has 6 to pole; In rotation and linear movement direction, θ
m, θ
nbe taken as 0,120 ° and 240 °, by the frequency rate formula v=2 τ f of rectilinear motion, and frequency angular frequency reduction formula f=2 π/ω, initial position ω can be determined
lnz; By regulating I
esize, can axial magnetic field strength be regulated, and then control the size of axial thrust, expand the adjustable range of axial thrust;
Make actuator spin motion control method: by regulate I
esize, control the size of circumferential magnetic flux, expand the adjustable range of circumferential torque;
Actuator is spinned the control method of motion: by regulating in electric current the size of the excitation component produced, can the magnetic flux size in adjustable screw magnetic field, reach control screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510284034.2A CN104901508B (en) | 2015-05-28 | 2015-05-28 | A kind of Linear-rotation permanent-magnet actuator and control method using consequent pole structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510284034.2A CN104901508B (en) | 2015-05-28 | 2015-05-28 | A kind of Linear-rotation permanent-magnet actuator and control method using consequent pole structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104901508A true CN104901508A (en) | 2015-09-09 |
| CN104901508B CN104901508B (en) | 2018-09-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113991967A (en) * | 2021-09-30 | 2022-01-28 | 清华大学 | Non-contact permanent magnet supporting device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1375907A (en) * | 2001-03-16 | 2002-10-23 | 刘粤荣 | Rotary motor with motor with equidirectinoal magnetic pole layout structure |
| JP2006311715A (en) * | 2005-04-28 | 2006-11-09 | Oriental Motor Co Ltd | Linear/rotary combined motor |
| CN201846217U (en) * | 2010-11-11 | 2011-05-25 | 东南大学 | Linear rotating permanent magnetic actuator |
| CN102315754A (en) * | 2010-07-01 | 2012-01-11 | 株式会社安川电机 | Actuator |
-
2015
- 2015-05-28 CN CN201510284034.2A patent/CN104901508B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1375907A (en) * | 2001-03-16 | 2002-10-23 | 刘粤荣 | Rotary motor with motor with equidirectinoal magnetic pole layout structure |
| JP2006311715A (en) * | 2005-04-28 | 2006-11-09 | Oriental Motor Co Ltd | Linear/rotary combined motor |
| CN102315754A (en) * | 2010-07-01 | 2012-01-11 | 株式会社安川电机 | Actuator |
| CN201846217U (en) * | 2010-11-11 | 2011-05-25 | 东南大学 | Linear rotating permanent magnetic actuator |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113991967A (en) * | 2021-09-30 | 2022-01-28 | 清华大学 | Non-contact permanent magnet supporting device |
| CN113991967B (en) * | 2021-09-30 | 2023-07-14 | 清华大学 | Non-contact permanent magnet supporting device |
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|---|---|
| CN104901508B (en) | 2018-09-18 |
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