CN105207445A - Multi-degree of freedom linear motor - Google Patents

Abstract

The invention relates to a multi-degree of freedom linear motor. The multi-degree of freedom linear motor comprises a first magnet array, a second magnet array, a third magnet array and a fourth magnet array which are successively arranged in parallel along the first direction. A first magnetic field is formed between the first magnet array and the second magnet array. A second magnetic field is formed between the third magnet array and the fourth magnet array. The first magnetic field and the second magnetic field are opposite in polarity. The multi-degree of freedom linear motor also comprises a U-shaped coil array. Two ends of the U-shaped coil array are respectively inserted in the first magnetic field and the second magnetic field. According to the invention, without adding the number of coils, push forces in x and y directions and even torque in the Rz direction are achieved, so that the multi-degree of freedom movement of the linear motor is realized.

Description

A kind of multivariant linear motor

Technical field

The present invention relates to linear electric motors field, particularly relate to a kind of multivariant linear motor.

Background technology

Linear electric motors are otherwise known as linear motor, pusher motor, and its principle can be regarded as and radially cut by electric rotating machine, and get its stator as elementary, mover, as secondary, after winding passes into three-phase current, has become rectilinear motion by original rotary motion.Relative to traditional electric rotating machine, due to mechanical transmission link between linear electric motors and work stage, tired this has the characteristics such as high speed, high accuracy and Zero-drive Chain, is widely used in high-end numerical control field.

But traditional linear electric motors only have one degree of freedom, namely only there is thrust in a direction.Please refer to Fig. 1 to Fig. 3, traditional linear electric motors mainly comprise three parts: two back irons 1, are located at two groups of magnet arrays 2 of the relative side of two back irons 1, and are located at one group of coil array 3 in the middle of two groups of magnet arrays 2.After the coil in coil array 3 passes into three-phase current, can produce between coil array 3 and magnet array 2 x to interaction force, make the two produce x to relative motion.Please illustrate with reference to figure 2, Fig. 2 a kind of traditional line motor that coil Y-direction total length is longer than magnet Y-direction length, the linear electric motors of this kind of form by emphasis, the part (201) that coil is exposed at outside, magnetic field along the conductor that X-axis is moved towards is equal; In Fig. 3, black arrow represents magnet magnetizing direction, two groups of magnet arrays 2 comprise the magnet of four kinds of magnetizing directions: magnet 2a, 2b, 2c, 2d, wherein, magnet 2a is N-type magnet, magnet 2b is S type magnet, magnet 2c, 2d are H magnet (Halbach magnet), there is above-mentioned analysis known, no matter be energized in which way, existing linear electric motors only can go out x to power.

In addition, also have a kind of linear electric motors, its structure as shown in Figure 4, be characterized in that the coil one end in coil array 20 is placed in outside magnet array 10 completely, the other end is placed within magnetic field, the conductor part (in figure oval 30) in x to distribution in magnetic field goes out y to power, is in still can go out x to power in y to the conductor (in figure square frame 40) of distribution within magnetic field.But the y of this linear electric motors is less to thrust constant.

Summary of the invention

The invention provides a kind of multivariant linear motor, make motor can go out multidirectional power, and its thrust constant is larger.

For solving the problems of the technologies described above, the invention provides a kind of multivariant linear motor, comprise: the first magnet array, the second magnet array, the 3rd magnet array and the 4th magnet array that sequentially be arranged in parallel along first direction, the first magnetic field is formed between described first magnet array and the second magnet array, form the second magnetic field between described 3rd magnet array and the 4th magnet array, described first magnetic field is contrary with the polarity in the second magnetic field; And U-shaped coil array, the two ends of described U-shaped coil array are inserted in first, second magnetic field described respectively.

Preferably, described coil array comprises at least one body of having an effect, and each body of having an effect is made up of three coils.

Preferably, the electric current passed in each coil in described single body of having an effect meets relational expression:

$\left\{\begin{array}{c}{\stackrel{\→}{i}}_A={\stackrel{\→}{i}}_{\mathrm{Ad}}+{\stackrel{\→}{i}}_{\mathrm{Aq}}\\ {\stackrel{\→}{i}}_B={\stackrel{\→}{i}}_{\mathrm{Bd}}+{\stackrel{\→}{i}}_{\mathrm{Bq}}\\ {\stackrel{\→}{i}}_C={\stackrel{\→}{i}}_{\mathrm{Cd}}+{\stackrel{\→}{i}}_{\mathrm{Cq}}\end{array}\right.$

Wherein, be the electric current passed in three coils, for electric current is at the component of second direction; for electric current is at the component of third direction, second, third direction described is positioned at the plane vertical with first direction, and vertical with third direction with second direction.

Preferably, described first, second, third and the 4th each magnet array in magnet array all comprises N-type magnet, S type magnet, also comprise the H type magnet be arranged between N-type magnet and S type magnet, that is, the arrangement of magnet array is followed successively by: N-type magnet, H type magnet H1, S type magnet, H type magnet H2.

Preferably, the arrangement of described first, second, third and the 4th each magnet array in magnet array and coil array meets relational expression:

$W_{\mathrm{coil}}=\frac{4}{3}\mathrm{\τ},$

Wherein, W _coilfor each coil in single body of having an effect is at the width of second direction, τ is the magnetic pole pole span of each magnet array along second direction, and the center of namely adjacent N-type magnet and S type magnet is in the spacing of second direction.

Preferably, the three-phase current initial phase that described coil passes into meets relational expression:

Wherein, for initial phase; for initial phase; N is integer.

Preferably, flowing to of the electric current passed in three coils of described same body of having an effect is identical.

Preferably, the arrangement of described first, second, third and the 4th each magnet array in magnet array and coil array meets relational expression:

$W_{\mathrm{coil}}=\frac{5}{3}\mathrm{\τ},$

Wherein, W _coilfor each coil in single body of having an effect is at the width of second direction, τ is the magnetic pole pole span of each magnet array along second direction, and the center of namely adjacent N-type magnet and S type magnet is in the spacing of second direction.

Preferably, the three-phase current initial phase that described coil passes into meets relational expression:

Wherein, for initial phase; for initial phase; N is integer.

Preferably, in three coils of described same body of having an effect, the electric current that middle coil passes into is contrary with the flow direction of the electric current that the coil of both sides passes into.

Multivariant linear motor provided by the invention, comprise the first magnet array, the second magnet array, the 3rd magnet array and the 4th magnet array that sequentially be arranged in parallel along first direction, the first magnetic field is formed between described first magnet array and the second magnet array, form the second magnetic field between described 3rd magnet array and the 4th magnet array, described first magnetic field is contrary with the polarity in the second magnetic field; And U-shaped coil array, the two ends of described U-shaped coil array are inserted in first, second magnetic field described respectively.In the present invention, while not increasing coil quantity, make linear electric motors have the thrust in x direction, y direction, even there is the torque in Rz direction, realize linear electric motors multifreedom motion.

Accompanying drawing explanation

Fig. 1 is the structural representation of existing linear electric motors;

Fig. 2 is the vertical view (concealing back iron and the magnet array on top) of Fig. 1;

Fig. 3 is two-dimensional section and the magnetizing direction schematic diagram of Fig. 1;

Fig. 4 is the structural representation of another kind of existing linear electric motors;

Fig. 5 is the structural representation of the linear electric motors of the embodiment of the present invention 1;

Fig. 6 is the structural representation (concealing back iron and the magnet array on top) of the linear electric motors of the embodiment of the present invention 1;

Fig. 7 is the structural representation of the linear electric motors coil array of the embodiment of the present invention 1;

Fig. 8 is two-dimensional section and the magnetizing direction schematic diagram of the linear electric motors of the embodiment of the present invention 1;

Fig. 9 is the size relationship schematic diagram of the linear electric motors of the embodiment of the present invention 1;

Figure 10 be the embodiment of the present invention 1 linear electric motors coil array relative to magnet array do x direction motion time, coil is at the stress simulation figure in x direction;

Figure 11 be the embodiment of the present invention 1 linear electric motors coil array relative to magnet array do x direction motion time, coil is at the stress simulation figure in y direction;

Figure 12 be the embodiment of the present invention 1 linear electric motors coil array relative to magnet array do y direction motion time, coil is at the stress simulation figure in x direction;

Figure 13 be the embodiment of the present invention 1 linear electric motors coil array relative to magnet array do y direction motion time, coil is at the stress simulation figure in y direction;

Figure 14 is the structural representation (concealing back iron and the magnet array on top) of the linear electric motors of the embodiment of the present invention 2.

In Fig. 1 ~ 3: 1-back iron, 2-magnet array, 2a-N type magnet, 2b-S type magnet, 2c-H type magnet H1,2d-H type magnet H2,3-coil array, 4-center line;

In Fig. 4: 10-magnet array, 11-magnet centerline, 20-coil array, 21-coil centerline, 30-are oval, 40-square frame;

In Fig. 5-9: 100-back iron, 200-magnet array, 210-N type magnet, 220-S type magnet, 230-H type magnet H1,240-H type magnet H2,300-coil array, 400-ellipse, 500-square frame;

In Figure 14: have an effect body, 300b-second of 300a-first has an effect body.

Embodiment

In order to the technical scheme of more detailed statement foregoing invention, below list specific embodiment and carry out Proof Technology effect; It is emphasized that these embodiments are not limited to for illustration of the present invention limit the scope of the invention.

Multivariant linear motor provided by the invention, as shown in Fig. 5 to Figure 14, comprise three pieces of back irons 100, four groups of magnet arrays 200, and U-shaped coil array 300, described three pieces of back irons 100 are arranged side by side, described four groups of magnet arrays 200 are located at the middle both sides of back iron 100 and the inner side of the back iron 100 of both sides respectively, and opposite polarity magnetic field is formed between adjacent two back irons 100, described U-shaped coil array 300 is coated on middle back iron 100 and the outside of magnet array 200, and the two ends of U-shaped coil array 300 are inserted in two magnetic fields respectively.In the present invention, while not increasing coil quantity, linear electric motors are made to have the motion in three directions, such as there is the torque (namely Rz is to torque) around first direction (z direction), there is the thrust of second direction (x direction) and third direction (y direction), realize linear electric motors multifreedom motion.

Embodiment 1

Preferably, described coil array 300 comprises at least one body of having an effect, and each body of having an effect is made up of three coils, and the present embodiment only includes a body of having an effect for coil array 300, carries out detailed analysis to its course of work and stressing conditions.

Preferably, please emphasis with reference to figure 8, the arrangement of described magnet array 200 is followed successively by: N-type magnet, H type magnet H1, S type magnet, H type magnet H2 (210,230,220,240), in figure, black arrow represents the magnetizing direction of magnet, by the mode shown in Fig. 8, four groups of magnet arrays 200 are made to form upper and lower two opposite polarity magnetic fields, to coordinate the sense of current of coil, make coil two ends to go out force direction identical, avoid the counteracting of exerting oneself at two ends, the y direction motion of motor cannot be realized.

Preferably, ask emphasis with reference to figure 8 and Fig. 9, described magnet array 200 meets relational expression with the arrangement of coil array 300:

$W_{\mathrm{coil}}=\frac{4}{3}\mathrm{\τ}---\left(1\right)$

Or

$W_{\mathrm{coil}}=\frac{5}{3}\mathrm{\τ}---\left(2\right)$

Wherein, W _coilfor the width of each coil in x direction in single body of having an effect, τ is magnet array 210 magnetic pole pole span in the x-direction, is adjacent N-type magnet 210 and the spacing of center in x direction of S type magnet 220 in the present embodiment.

Particularly, three coils are defined as A, B, C respectively.Shown in shown in dotted lines in Figure 9 oval 400, the conductor of part is x directional spreding, it is the part that coil goes out y direction force, shown in square frame 500 shown in dotted line, the conductor of part is y directional spreding, is the part that coil goes out x direction force, and oval 400 are contained within square frame 500.When coil electrical current amplitude is constant, the size that y exerts oneself in direction is with W _coilincrease and increase, x exert oneself in direction size with coil in magnetic field y to total length L _coilincrease and increase.

Two degrees of freedom linear electric motors have two to go out force direction, in coil electric current just correspondence two current components of lead to, be defined as with the former exerts oneself for controlling motor y direction, and the latter exerts oneself for controlling motor x direction.Corresponding to three coils be respectively with the electric current passed in three coils is respectively the electric current then passed in each coil in described single body of having an effect meets relational expression:

$\left\{\begin{array}{c}{\stackrel{\→}{i}}_A={\stackrel{\→}{i}}_{\mathrm{Ad}}+{\stackrel{\→}{i}}_{\mathrm{Aq}}\\ {\stackrel{\→}{i}}_B={\stackrel{\→}{i}}_{\mathrm{Bd}}+{\stackrel{\→}{i}}_{\mathrm{Bq}}\\ {\stackrel{\→}{i}}_C={\stackrel{\→}{i}}_{\mathrm{Cd}}+{\stackrel{\→}{i}}_{\mathrm{Cq}}\end{array}\right.---\left(3\right)$

initial phase be defined as initial phase be defined as if coil width W _coiland between pole span τ, meet the relation of formula (1), then the three-phase current initial phase that described coil passes into meets relational expression:

N=0, ± 1, ± 2, ± 3, ± 4 (integer).

When coil and magnet size relation meet formula (1), and current relationship meets formula (3), when current phase relation meets formula (4), three loop A, current direction that B, C pass into are consistent, i.e. flowing to of the electric current passed in three coils of same body of having an effect is identical.

If coil width W _coiland between pole span τ, meet the relation of formula (2), then the three-phase current initial phase that described coil passes into meets relational expression:

N=0, ± 1, ± 2, ± 3, ± 4 (integer).

When coil and magnet size relation meet formula (2), and current relationship meets formula (3), when current phase relation meets formula (5), B coil institute galvanization flows to contrary with A, C coil, in three coils of i.e. same body of having an effect, the electric current that middle coil passes into is contrary with the flow direction of the electric current that the coil of both sides passes into.

Please emphasis when to be coil do the motion of x direction relative to magnet array 200 with reference to figures 10 to Figure 13, Figure 10, the x direction thrust constant simulation curve of coil, in figure transverse axis be x to stroke, the longitudinal axis is thrust constant numerical value.From in Figure 10, x to thrust constant maximum 68.83N/A, minimum value 68.62N/A, force oscillation (68.83-68.62)/68.62=0.3%;

Figure 11 is when to be coil do the motion of x direction relative to magnet array 200, and the y direction thrust constant simulation curve of coil, can find out, y direction thrust constant is less, maximum 7.74N/A, minimum value 7.59N/A, force oscillation (7.74-7.59)/7.59=2.0%;

Figure 12 is when to be coil do the motion of y direction relative to magnet array 200, the x direction thrust constant simulation curve of coil, in figure, transverse axis is that the y of coil is to stroke, the longitudinal axis is thrust constant numerical value, the party upwards thrust constant changes greatly, but the linearity is fine, maximum 68.80N/A, minimum value 20.91N/A, force oscillation (68.80-20.91)/20.91=229%;

Figure 13 is that coil does the y direction thrust constant simulation curve of coil time moving in y direction relative to magnet array 200, thrust constant maximum 7.67N/A, minimum value 7.20N/A, force oscillation (7.67-7.20)/7.20=6.5%.

From the above results, when coil array 300 does the motion of x direction relative to magnet array 200, the force oscillation of both direction is very little; But when coil array 300 does the motion of y direction relative to magnet array 200, the force oscillation of both direction is comparatively large, what force oscillation was maximum is when coil does the motion of y direction, the thrust constant fluctuation of x direction, reach 229%, but due to its linearity fine, therefore control and compensation is relatively easy.All the other force oscillations also all can be compensated by the mode controlling size of current.When coil and magnet array 200 do the relative motion of both direction, y direction thrust constant is all far below x direction thrust constant, and therefore in actual condition, y is unsuitable excessive to thrust.The above analysis, two degrees of freedom linear electric motors, are suitable for y less to load weight, the application scenario that acceleration demand is less.

Embodiment 2

Please emphasis with reference to Figure 14, the difference of the present embodiment and embodiment 1 is: coil array comprises two body 300a and 300b that have an effect be made up of six coils, when body quantity of having an effect is increased to two, two body 300a and 300b that have an effect are powered by two driver (not shown)s respectively, can realize the motor function of three degree of freedom: the motion of x direction, the motion of y direction, Rz axial rotation motion.The phase relation of the three-phase current that two body 300a and 300b that have an effect pass into still needs to meet the relation of formula (1), (3), (4) or formula (2), (3), (5).

Certainly, multivariant linear motor coil quantity can be expanded as required, can be 3n (n=1,2,3,4... positive integer), the phase relation of the three-phase current that each body of having an effect passes into still needs the relation meeting formula (1), (3), (4) or formula (2), (3), (5), when the quantity of body of having an effect is more than or equal to 2, motor all can realize the motor function of Three Degree Of Freedom.

In sum, multivariant linear motor provided by the invention, comprise the first magnet array, the second magnet array, the 3rd magnet array and the 4th magnet array that sequentially be arranged in parallel along first direction (z direction), the first magnetic field is formed between described first magnet array and the second magnet array, form the second magnetic field between described 3rd magnet array and the 4th magnet array, described first magnetic field is contrary with the polarity in the second magnetic field; And U-shaped coil array 300, the two ends of described U-shaped coil array 300 are inserted in first, second magnetic field described respectively.In the present invention, while not increasing coil quantity, make linear electric motors have the thrust in x direction, y direction, even there is the torque in Rz direction, realize linear electric motors multifreedom motion.

Obviously, those skilled in the art can carry out various change and modification to invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.

Claims (12)

1. a multivariant linear motor, is characterized in that, comprising:

Along the first magnet array, the second magnet array, the 3rd magnet array and the 4th magnet array that first direction sequentially be arranged in parallel, the first magnetic field is formed between described first magnet array and the second magnet array, form the second magnetic field between described 3rd magnet array and the 4th magnet array, described first magnetic field is contrary with the polarity in the second magnetic field; And

U-shaped coil array, the two ends of described U-shaped coil array are inserted in first, second magnetic field described respectively.

2. multivariant linear motor as claimed in claim 1, it is characterized in that, described coil array comprises at least one body of having an effect, and each body of having an effect is made up of three coils.

3. multivariant linear motor as claimed in claim 2, it is characterized in that, the electric current passed in each coil in described single body of having an effect meets relational expression:

$\left\{\begin{array}{c}{\stackrel{\→}{i}}_A={\stackrel{\→}{i}}_{\mathrm{Ad}}+{\stackrel{\→}{i}}_{\mathrm{Aq}}\\ {\stackrel{\→}{i}}_B={\stackrel{\→}{i}}_{\mathrm{Bd}}+{\stackrel{\→}{i}}_{\mathrm{Bq}}\\ {\stackrel{\→}{i}}_C={\stackrel{\→}{i}}_{\mathrm{Cd}}+{\stackrel{\→}{i}}_{\mathrm{Cq}}\end{array}\right.$

Wherein, be the electric current passed in three coils, for electric current is at the component of second direction; for electric current is at the component of third direction, second, third direction described is positioned at the plane vertical with first direction, and vertical with third direction with second direction.

4. multivariant linear motor as claimed in claim 3, is characterized in that, the arrangement of described first, second, third and the 4th each magnet array in magnet array and coil array meets relational expression:

$W_{\mathrm{coil}}=\frac{4}{3}\mathrm{\τ},$

Wherein, W _coilfor each coil in single body of having an effect is at the width of second direction, τ is the magnetic pole pole span of each magnet array along second direction.

5. multivariant linear motor as claimed in claim 4, it is characterized in that, the three-phase current initial phase that described coil passes into meets relational expression:

Wherein, for initial phase; for initial phase; N is integer.

6. multivariant linear motor as claimed in claim 4, it is characterized in that, flowing to of the electric current passed in three coils of described same body of having an effect is identical.

7. multivariant linear motor as claimed in claim 3, is characterized in that, the arrangement of described first, second, third and the 4th each magnet array in magnet array and coil array meets relational expression:

$W_{\mathrm{coil}}=\frac{5}{3}\mathrm{\τ},$

Wherein, W _coilfor each coil in single body of having an effect is at the width of second direction, τ is the magnetic pole pole span of each magnet array along second direction.

8. multivariant linear motor as claimed in claim 7, it is characterized in that, the three-phase current initial phase that described coil passes into meets relational expression:

Wherein, for initial phase; for initial phase; N is integer.

9. multivariant linear motor as claimed in claim 7, is characterized in that, in three coils of described same body of having an effect, the electric current that middle coil passes into is contrary with the flow direction of the electric current that the coil of both sides passes into.

10. multivariant linear motor as claimed in claim 1, also comprise the three pieces of back irons be arranged in parallel along first direction, described four magnet arrays are arranged at the both sides of middle back iron and the inner side of both sides back iron.

11. multivariant linear motors as claimed in claim 1, is characterized in that, described first, second, third and the 4th each magnet array in magnet array all comprises N-type magnet, S type magnet.

12. multivariant linear motors as claimed in claim 11, is characterized in that, each magnet array also comprises the H type magnet be arranged between N-type magnet and S type magnet.