CN106655673A - Linear rotating two-freedom-degree permanent magnet actuator of stator separation type - Google Patents

Linear rotating two-freedom-degree permanent magnet actuator of stator separation type Download PDF

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Publication number
CN106655673A
CN106655673A CN201611024006.8A CN201611024006A CN106655673A CN 106655673 A CN106655673 A CN 106655673A CN 201611024006 A CN201611024006 A CN 201611024006A CN 106655673 A CN106655673 A CN 106655673A
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China
Prior art keywords
stator
rotor
permanent magnet
actuator
freedom
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CN201611024006.8A
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CN106655673B (en
Inventor
房淑华
倪海妙
阳辉
林鹤云
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Southeast University
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Southeast University
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02KDYNAMO-ELECTRIC MACHINES
    • H02K16/00Machines with more than one rotor or stator
    • H02K16/04Machines with one rotor and two stators

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Linear Motors (AREA)

Abstract

The invention provides a linear rotating two-freedom-degree permanent magnet actuator of a stator separation type, and the actuator comprises an external stator, a rotor, and an internal stator. The internal and external stators respectively consist of three independent stator units with the same structure. Each independent external stator unit comprises six stator teeth, and is provided with an armature winding in a coiled manner. The rotor part is of a sandwich type cup-shaped structure, and a magnetic conductive iron core is of a segmented type structure, and is just formed by the overlapping of silicon steel plates. In order to improve the strength, an epoxy resin or carbon fiber sheath can be added outside the rotor. The internal rotor mainly consists of a stator core and a permanent magnet array, wherein the permanent magnet array is distributed in the peripheral and axial directions in a staggered manner, and each internal stator unit is provided with 24 permanent magnets. The actuator provided by the invention has the following advantages that (1), the actuator greatly reduces the inter-pole leaked magnetism, and remarkably increases the winding flux links; (2), the actuator avoids a conflict on an electromagnetic load space, and increases the power density; 3), the actuator reduces the demagnetizing risks of an armature field for permanent magnets, and improves the operation reliability.

Description

A kind of stator separate type straight line rotates two-freedom permanent magnetic actuator
Technical field
The present invention relates to a kind of stator separate type Linear-rotation permanent-magnet actuator, for needing to realize straight line and rotation two certainly By the occasion of degree compound motion.
Background technology
In industrial applicability, it is often necessary to which drive system realizes multivariant motion.Straight line and rotation two-freedom fortune Flowing mode as various dimensions motion in one kind, be with a wide range of applications, can be employed for high accuracy processing, robot, The occasions such as electric automobile, magnetic artillery transmitting.The conventional implementation of straight line rotation two-freedom motion is that combination two is independent Motor, but, this method transmission system is complicated, and volume is larger, and transmission efficiency is low.To overcome the rotation of conventional ASSEMBLE straight line to make The shortcoming of dynamic system, existing part document proposes the single actuator that can realize two free degree motions of straight line and rotation. But, existing actuator performance still has many performances to need further raising.
The content of the invention
Technical problem:In order to overcome, existing straight line rotation two-freedom permanent magnetic actuator power density is little, reliability is low Shortcoming, the present invention proposes a kind of stator separate type Linear-rotation permanent-magnet actuator, reduces interelectrode magnetic leakage, improves actuator gas Gap Distribution of Magnetic Field, improves power density, reduces degaussing risk of the armature field to permanent magnetism.
Technical scheme:A kind of stator separate type straight line rotates two-freedom permanent magnetic actuator, including external stator, rotor, interior Three parts of stator;
The external stator part subpackage contains three axially aligned independent annular external stator units, each annular external stator Unit includes annular external stator iron core and armature winding, and the annular external stator iron core inner side is uniformly distributed circumferentially 6 stators Tooth, on each stator tooth armature winding is wound with;The stator tooth of three external stator units is coaxially arranged vertically so that external stator electricity Pivot winding is vertically containing 1 electric cycle;
The rotor portion generally sandwich cup-like structure, by several rotor core blocks and connection rotor core block Non-magnetic sheath is constituted;
The inner stator subpackage contains three axially aligned independent default subelements, and each default subelement is by ring Shape internal stator iron core and it is arranged at the permanent magnet battle array that annular internal stator iron core outside is circumferentially interspersed with axial polarity Row are constituted.
Further, each annular internal stator iron core is provided with 24 pieces of permanent magnets, two opposite polarity permanent magnet axial directions One group of formation, 12 groups of set of permanent magnets are merged into, 12 groups of set of permanent magnets are evenly arranged along internal stator iron core external circumferential so that default Circumferentially contain 6 pairs of poles in sub- permanent magnet outside;The set of permanent magnets of three default subelements forms permanent magnet array, every piece of permanent magnet Circumferentially it is contrary with 4 pieces of axially adjacent permanent magnet polarities.
Further, the rotor core block is formed by silicon steel plate packing.
Further, the non-magnetic sheath is epoxy resin sheath or carbon fiber sheath.Being installed at outside mover is used to carry High mover intensity.
Further, the rotor portion includes 16 axially aligned rotor core rings, each rotor core ring bag Containing 8 rotor core blocks, the axially staggered arrangement of rotor core block between 16 rotor core rings.
Beneficial effect:Stator separate type flux-reversal straight line rotary actuator permanent magnetic field is shorter by the path of rotor, So that magnetic resistance is less, leakage field is reduced, so as to greatly improve electromagnetic performance.In addition, in two directions of motion of straight line and rotation On follow flux-reversal operation logic so that two sets of threephase armature windings of axial and circumferential can linkage obtain sinusoidal magnetic linkage And back-emf, so as to the motion of two frees degree can adopt traditional alternating-current synchronous method of operation, speed regulating control algorithm It is relatively easy, with actual engineering application value.
Description of the drawings
Fig. 1 is that a kind of stator separate type straight line rotates two-freedom permanent magnetic actuator structure chart;
Fig. 2 is a kind of stator separate type straight line rotation two-freedom permanent magnetic actuator circumference profile;
Fig. 3 is external stator unit;
Fig. 4 is rotor;
Fig. 5 is inner stator.
Wherein:I, external stator, II, rotor, III, inner stator, 1, external stator it is unshakable in one's determination, 2, armature winding, 3, rotor it is non-magnetic Sheath, 4, rotor core block, 5, permanent magnet, 6, internal stator iron core.
Specific embodiment
A kind of described stator separate type straight line rotation two-freedom permanent magnetic actuator, its specific embodiment such as Fig. 1,2 It is shown, mainly include external stator part I, rotor portion II and inner stator part III.External stator unit is as shown in figure 3, rotor list Unit is as shown in figure 4, default subelement is as shown in Figure 5.
As shown in figure 3, a kind of described stator separate type straight line rotation two-freedom permanent magnetic actuator, external stator part subpackage Containing three axially aligned independent annular external stator units, each annular external stator unit includes annular external stator iron core 1 With armature winding 2, the annular external stator iron core inner side is uniformly distributed circumferentially 6 stator tooths, on each stator tooth electricity is wound with Pivot winding;The stator tooth of three external stator units is coaxially arranged vertically so that external stator armature winding contains vertically 1 electricity Cycle.
As shown in figure 4, a kind of described stator separate type straight line rotation two-freedom permanent magnetic actuator, the rotor portion Generally sandwich cup-like structure, is made up of the non-magnetic sheath 3 of several rotor core blocks 4 and connection rotor core block.Lead Magnetic core is fraction block structure, is only formed by silicon steel plate packing, is to improve intensity to install epoxy resin sheath additional outside rotor Or carbon fiber sheath.
As shown in figure 5, a kind of described stator separate type straight line rotation two-freedom permanent magnetic actuator, inner stator subpackage Containing three axially aligned independent default subelements, each default subelement is by annular internal stator iron core and is arranged at ring The permanent magnet array that shape internal stator iron core outside is circumferentially interspersed with axial polarity is constituted.Specifically, in each annular Stator core is provided with 24 pieces of permanent magnets, and two opposite polarity permanent magnets axially merge into one group of formation, 12 groups of set of permanent magnets, 12 groups of set of permanent magnets are evenly arranged along internal stator iron core external circumferential so that circumferentially contain 6 pairs of poles in inner stator permanent magnet outside; The set of permanent magnets of three default subelements forms permanent magnet array, every piece of permanent magnet circumferentially with 4 pieces of axially adjacent permanent magnets Polarity is contrary.
Actuator proposed by the present invention has following remarkable advantage:1) greatly reduce interelectrode magnetic leakage, significantly increase around Group magnetic linkage;2) electromagnetic load contradiction spatially is solved, power density is increased;3) reduce armature field to remove permanent magnetism Magnetic wind danger, enhances actuator operational reliability.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should It is considered as protection scope of the present invention.

Claims (5)

1. a kind of stator separate type straight line rotates two-freedom permanent magnetic actuator, it is characterised in that:Including external stator, rotor, interior Three parts of stator;
The external stator part subpackage contains three axially aligned independent annular external stator units, each annular external stator unit Including annular external stator iron core and armature winding, the annular external stator iron core inner side is uniformly distributed circumferentially 6 stator tooths, often Armature winding is wound with individual stator tooth;The stator tooth of three external stator units is coaxially arranged vertically so that external stator armature around Group is vertically containing 1 electric cycle;
The rotor portion generally sandwich cup-like structure, is led by several rotor core blocks and connection the non-of rotor core block Magnetic sheath is constituted;
The inner stator subpackage contains three axially aligned independent default subelements, and each default subelement is by annular Stator core and it is arranged at the permanent magnet array structure that annular internal stator iron core outside is circumferentially interspersed with axial polarity Into.
2. a kind of stator separate type straight line according to claim 1 rotates two-freedom permanent magnetic actuator, it is characterised in that: Each annular internal stator iron core is provided with 24 pieces of permanent magnets, and two opposite polarity permanent magnets axially merge into one group of 12 groups of formation Set of permanent magnets, 12 groups of set of permanent magnets are evenly arranged along internal stator iron core external circumferential so that inner stator permanent magnet outside is circumferentially Containing 6 pairs of poles;The set of permanent magnets of three default subelements forms permanent magnet array, every piece of permanent magnet circumferentially with it is axially adjacent 4 pieces of permanent magnet polarities are contrary.
3. a kind of stator separate type straight line according to claim 1 rotates two-freedom permanent magnetic actuator, it is characterised in that: The rotor core block is formed by silicon steel plate packing.
4. a kind of stator separate type straight line according to claim 1 or 3 rotates two-freedom permanent magnetic actuator, and its feature exists In:The non-magnetic sheath is epoxy resin sheath or carbon fiber sheath.
5. a kind of stator separate type straight line according to claim 1 rotates two-freedom permanent magnetic actuator, it is characterised in that: The rotor portion include 16 axially aligned rotor core rings, each rotor core ring include 8 rotor core blocks, 16 The axially staggered arrangement of rotor core block between individual rotor core ring.
CN201611024006.8A 2016-11-18 2016-11-18 A kind of stator separate type straight line rotation two-freedom permanent magnetic actuator Active CN106655673B (en)

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CN201611024006.8A CN106655673B (en) 2016-11-18 2016-11-18 A kind of stator separate type straight line rotation two-freedom permanent magnetic actuator

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Application Number Priority Date Filing Date Title
CN201611024006.8A CN106655673B (en) 2016-11-18 2016-11-18 A kind of stator separate type straight line rotation two-freedom permanent magnetic actuator

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CN106655673A true CN106655673A (en) 2017-05-10
CN106655673B CN106655673B (en) 2019-02-01

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109412370A (en) * 2019-01-02 2019-03-01 安徽理工大学 Magnetic flux suitching type Linear-rotation permanent-magnet actuator
CN111786528A (en) * 2020-07-06 2020-10-16 湖南大学 Linear rotation voice coil motor
CN113131702A (en) * 2021-04-21 2021-07-16 郑州大学 Double-salient-pole hybrid excitation motor for industrial robot and control system thereof
CN113270986A (en) * 2021-05-28 2021-08-17 南京金崎新能源动力研究院有限公司 Spiral rotor magnetic field modulation transverse magnetic flux permanent magnet linear generator

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005168165A (en) * 2003-12-02 2005-06-23 Tamagawa Seiki Co Ltd Two-shaft composite motor
CN101999203A (en) * 2008-04-14 2011-03-30 本田技研工业株式会社 Electric motor
CN102843015A (en) * 2012-09-06 2012-12-26 东南大学 Linearly-rotating two-degrees-of-freedom magnetic levitation bearing-free permanent magnetic actuator
CN102868271A (en) * 2012-09-28 2013-01-09 哈尔滨工业大学 Double-stator rotating linear motor

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005168165A (en) * 2003-12-02 2005-06-23 Tamagawa Seiki Co Ltd Two-shaft composite motor
CN101999203A (en) * 2008-04-14 2011-03-30 本田技研工业株式会社 Electric motor
CN102843015A (en) * 2012-09-06 2012-12-26 东南大学 Linearly-rotating two-degrees-of-freedom magnetic levitation bearing-free permanent magnetic actuator
CN102868271A (en) * 2012-09-28 2013-01-09 哈尔滨工业大学 Double-stator rotating linear motor

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
付兴贺、林明耀: "基于电磁感应原理的两自由度直线旋转电机研究综述", 《电工技术学报》 *
金平、林鹤云等: "一种新型直线旋转永磁作动器的分析与实验", 《中国电机工程学报》 *

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109412370A (en) * 2019-01-02 2019-03-01 安徽理工大学 Magnetic flux suitching type Linear-rotation permanent-magnet actuator
CN111786528A (en) * 2020-07-06 2020-10-16 湖南大学 Linear rotation voice coil motor
CN113131702A (en) * 2021-04-21 2021-07-16 郑州大学 Double-salient-pole hybrid excitation motor for industrial robot and control system thereof
CN113131702B (en) * 2021-04-21 2022-04-26 郑州大学 Double-salient-pole hybrid excitation motor for industrial robot and control system thereof
CN113270986A (en) * 2021-05-28 2021-08-17 南京金崎新能源动力研究院有限公司 Spiral rotor magnetic field modulation transverse magnetic flux permanent magnet linear generator

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