CN108736675A - A kind of moving-coil type unipolarity permanent magnet rotational alignment motor - Google Patents
A kind of moving-coil type unipolarity permanent magnet rotational alignment motor Download PDFInfo
- Publication number
- CN108736675A CN108736675A CN201810726754.3A CN201810726754A CN108736675A CN 108736675 A CN108736675 A CN 108736675A CN 201810726754 A CN201810726754 A CN 201810726754A CN 108736675 A CN108736675 A CN 108736675A
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- permanent magnet
- moving
- stator
- rotational alignment
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- 238000004804 winding Methods 0.000 claims description 38
- 238000009434 installation Methods 0.000 claims description 6
- 239000000696 magnetic material Substances 0.000 claims description 6
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 4
- 229910001172 neodymium magnet Inorganic materials 0.000 claims description 3
- 230000035699 permeability Effects 0.000 claims description 3
- 239000012141 concentrate Substances 0.000 claims description 2
- 239000000203 mixture Substances 0.000 claims 1
- 230000004907 flux Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- 230000001050 lubricating effect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000012994 industrial processing Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 238000007634 remodeling Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K16/00—Machines with more than one rotor or stator
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electromagnetism (AREA)
- Linear Motors (AREA)
Abstract
The invention discloses a kind of moving-coil type unipolarity permanent magnet rotational alignment motor, including the external stator of cartridge type, be fixed on external stator both ends drive end bearing bracket and rear end cap, the projecting shaft that is movably arranged inside external stator.It is fixed with finite angle rotor on projecting shaft and linear motion is secondary.It is internally provided with the inner stator being fixedly connected with rear end cap in linear motion secondary.Finite angle rotor and external stator act on, and linear motion secondary acts on simultaneously with external stator and inner stator, realize projecting shaft by linear motion, finite angle moves and screw.The motor of the present invention has the advantages that simple in structure, compact, reduces the dosage of permanent magnet, improves air gap flux density, and have the characteristics that control simply, linear thrust and rotating torques influence each other it is smaller.
Description
Technical field
The present invention relates to rotational alignment magneto field, specifically a kind of moving-coil type unipolarity permanent magnet rotation is straight
Line motor.
Background technology
Traditional motor can only generally provide single dof mobility (rotary motion or linear motion), and cannot achieve rotation
The compound motion for turning and moving along a straight line.But it in the systems such as joint of robot, industrial production, processing and assembly, often needs
Realize more free movements.Under normal conditions, this multifreedom motion is the base by that can execute straight line or rotary motion
This element is realized by mechanical splice combination, but there are following some problems for this mode：First, because in its functional component
It is mixed with mechanical organ, its friction, abrasion and deformation is all than more serious；Second, rotary motion and linear motion are couplings, no
It can independent control；Third, the precision of this executing agency are limited by being machined；4th, not only using multiple electric motors control
The volume and weight that equipment can be increased, returning control makes troubles.And with the development of science and technology, Mechatronic Systems is increasingly multiple
Miscellaneous, especially some precision apparatus, such as bonder, bonding machines, PCB drillings etc., their requirements to driveability are increasingly
Height, the performances such as the device control accuracy realized by mechanically combining rotary motion and linear motion unit and response time
It can no longer meet their demand.
Chinese patent 201410448886.6 discloses a kind of rotational alignment magneto, which uses unipolarity permanent magnetism
Body is followed successively by rotor inner shaft, air bearing, the annular projection portion of support base, rotor core, turns from inside to outside in radial directions
Sub- permanent magnet, straight line armature winding, rotating armature winding and stator core so that effective air gap increases very much, effectively reduces gas
Gap flux density, and since moving-magnetic type structure causes the electric machine structure to there is axial attraction.Chinese patent 201020582357.2
A kind of high-frequency linear rotating motor is disclosed, the straight-line movement portion of the motor and rotary motion part are a voice coil electricity respectively
Machine and rotating servo motor.Substantially the motor is to be installed together two freedom motors, not one truly
Body formula straight line rotates two-freedom degree electric machine, and volume is larger.Chinese patent 201510282204.3 discloses a kind of using the pole that interlocks
The Linear-rotation permanent-magnet actuator of structure, which is arranged three groups of stator units in the axial direction, and three groups of stator units pass through
The connection of non-magnetic connector, and mover is arranged has been alternately arranged opposite magnetic pole in the axial direction, effectively reduces permanent magnet dosage,
But bring complicated control.
Invention content
In view of the present situation of the prior art, the purpose of the present invention is to provide a kind of moving-coil type unipolarity permanent magnet rotational alignments
Motor, the motor have the advantages that it is simple in structure, compact, reduce permanent magnet dosage, improve air gap flux density, and with control
Simply, linear thrust and rotating torques influence each other the features such as smaller.
Technical scheme is as follows：A kind of moving-coil type unipolarity permanent magnet rotational alignment motor, including cartridge type are outer
Stator, the drive end bearing bracket for being fixed on external stator both ends and rear end cap, the projecting shaft being movably arranged inside external stator.It is fixed on projecting shaft
There are finite angle rotor and linear motion secondary.It is fixedly connected with rear end cap in secondary being internally provided with of linear motion default
Son.Finite angle rotor and external stator act on, and linear motion is secondary to be acted on simultaneously with outer, inner stator, realization projecting shaft by
Linear motion, finite angle movement and screw.
Above-mentioned projecting shaft is axially distributed the first fixed part and the second fixed part, the front end and front end of the first fixed part
The first sleeve covered is rotatably assorted, and finite angle rotor is mounted on the first fixed part.Second fixed part is cylinder type, straight line
Movement secondary is fixedly connected with the second fixed part, and inner stator is located at the secondary inside of linear motion.
Above-mentioned rear end cap has the installation axle extended to inside the second fixed part.Inner stator is fixed on the mounting shaft.Peace
Axis is filled to be equipped with and the second matched second sleeve of fixed part inner wall.
Above-mentioned finite angle rotor is made of the rotor core and rotating armature winding of toothed portion.External stator is by toothed fixed
Sub- iron core and unipolarity set of permanent magnets at.
Above-mentioned linear motion secondary is made of straight line armature winding and winding skeleton.Winding skeleton is cylinder type, winding bone
The end of frame and the end of the second fixed part are coaxially connected.
Above-mentioned unipolarity permanent magnet and inner stator are the Nd-Fe-B permanent magnet of same polarity, and magnetizing direction is radial magnetizing.
The number p of the above-mentioned unipolarity permanent magnet and tooth number Q of toothed stator core meets the pole of three-phase motor with permanent magnets
Slot cooperation requires.
Above-mentioned straight line armature winding is making toroidal coil, is mounted on the outer wall of winding skeleton.Rotating armature winding is to concentrate
Winding, and rotating armature winding is embedded between the teeth portion of rotor core.
Above-mentioned end cap is permeability magnetic material, and projecting shaft is un-conducted magnetic material.
Angle τ shared by the teeth portion of said stator iron corecWith angle τ shared by unipolarity permanent magnetpmRatio is：0.5 to 1.5.
The beneficial effects of the invention are as follows：The moving-coil type unipolarity permanent magnet rotational alignment motor of the present invention, using shared
External stator, by the way that rotating armature winding and straight line armature winding are arranged in the axial direction, the work in unipolarity permanent magnet excitation magnetic field
Under, the torque of driving rotor rotation can be generated, can also generate the linear thrust of driving rotor linear motion, additionally it is possible to same
When generate driving rotor rotation torque and driving rotor linear motion linear thrust, to drive rotor carry out spiral fortune
It is dynamic, realize the two-freedom movement of rotor；And linear thrust and rotating torques influence each other smaller, can easily realize
Rotation, linear motion uncoupling control.This kind of structure not only solves the prior art by mechanical part conversion and multiple motors
The problems such as low, the easy to wear, lubricating difficulties of efficiency that the multifreedom motion mode of realization is brought also improve turning for motor
Square density and the advantages of without axial attraction, effectively improves the precision and efficiency of entire production running.
Description of the drawings
Fig. 1 is the cross-sectional view of moving-coil type unipolarity permanent magnet rotational alignment motor in the present embodiment.
Fig. 2 is the structural schematic diagram of finite angle rotor in the present embodiment.
Fig. 3 is the cross-sectional view of external stator in the present embodiment.
Fig. 4 is the cross-sectional view of the present embodiment linear movement primary.
Specific implementation mode
The embodiment of the present invention is described in further detail below in conjunction with attached drawing.
Fig. 1 to Fig. 4 show the structural schematic diagram of the present invention.
Reference numeral therein is：External stator 1, stator core 11, unipolarity permanent magnet 12, finite angle rotor 2, rotor
Iron core 21, rotating armature winding 22, linear motion secondary 3, straight line armature winding 31, winding skeleton 32, projecting shaft 4, drive end bearing bracket
5, rear end cap 6, inner stator 7, the first sleeve 81, second sleeve 82.
The moving-coil type unipolarity permanent magnet rotational alignment motor of the present embodiment, including the external stator 1 of cartridge type, be fixed on it is outer fixed
The drive end bearing bracket 5 and rear end cap 6 at sub 1 both ends, the projecting shaft 4 being movably arranged inside external stator 1.
Finite angle rotor 2 and linear motion secondary 3 are fixed on projecting shaft 4.In being internally provided with for linear motion secondary 3
The inner stator 7 being fixedly connected with rear end cap 6.Finite angle rotor 2 is coupled with external stator 1, linear motion secondary 3 and external stator 1
Interact simultaneously with inner stator 7, realize projecting shaft 4 by linear motion, finite angle movement and screw.
Projecting shaft 4 is axially distributed the first fixed part and the second fixed part, the front end of the first fixed part on drive end bearing bracket 5
The first sleeve 81 be rotatably assorted, finite angle rotor 2 be mounted on the first fixed part on.Second fixed part is cylinder type, straight line
Movement secondary 3 is fixedly connected with the second fixed part, and inner stator 7 is located at the inside of linear motion secondary 3.
Rear end cap 6 has the installation axle extended to inside the second fixed part.Inner stator 7 is fixed on the mounting shaft.Installation axle
It is equipped with and the matched second sleeve of the second fixed part inner wall 82.
As shown in Fig. 2, finite angle rotor 2 is made of the rotor core 21 and rotating armature winding 22 of toothed portion.It is outer fixed
Son 1 is made of toothed stator core 11 and unipolarity permanent magnet 12.
Rotating armature winding 22 and straight line armature winding 31 are axially distributed on projecting shaft 4, in unipolarity permanent magnet excitation
Under the action of magnetic field, the torque that driving rotor 2 rotates can be generated, driving linear motion secondary 3 can be also generated and move along a straight line
Linear thrust, additionally it is possible to while generate driving projecting shaft 4 rotate torque and driving projecting shaft 4 move along a straight line straight line push away
Power realizes the two-freedom movement of projecting shaft 4 to drive projecting shaft 4 to carry out screw
Linear motion secondary 3 is made of straight line armature winding 31 and winding skeleton 32.Winding skeleton 32 is cylinder type, winding
The end of skeleton 32 and the end of the second fixed part are coaxially connected.
Unipolarity permanent magnet 12 and inner stator 7 are the Nd-Fe-B permanent magnet of same polarity, and magnetizing direction is radial magnetizing.
The number p of the unipolarity permanent magnet 12 and tooth number Q of toothed stator core 11 meets the pole of three-phase motor with permanent magnets
Slot cooperation requires.
As shown in figure 4, straight line armature winding 31 is making toroidal coil, it is mounted on the outer wall of winding skeleton 32.Rotating armature
Winding 22 is concentratred winding, and rotating armature winding 22 is embedded between the teeth portion of rotor core 21.
End cap 6 is permeability magnetic material in the present embodiment, and projecting shaft 4 is un-conducted magnetic material.
As shown in figure 3, angle τ shared by the teeth portion of stator core 11cWith angle τ shared by unipolarity permanent magnet 12pmRatio is：
0.5 to 1.5.
The moving-coil type unipolarity permanent magnet rotational alignment motor of the present embodiment not only solves the prior art and relies on Machinery Ministry
Part converts the problems such as, easy to wear, lubricating difficulties low with the efficiency that the multifreedom motion mode that multiple motors are realized is brought,
It also improves the torque density of motor and the advantages of without axial attraction, effectively improves the precision and efficiency of entire production running.
Highly preferred embodiment of the present invention has illustrated, and the various change or remodeling made by those of ordinary skill in the art are not
It can depart from the scope of the present invention.
Claims (10)
1. a kind of moving-coil type unipolarity permanent magnet rotational alignment motor, it is characterised in that：External stator (1), fixation including cartridge type
External stator (1) both ends drive end bearing bracket (5) and rear end cap (6), be movably arranged at the internal projecting shaft (4) of external stator (1)；Described
It is fixed with finite angle rotor (2) on projecting shaft (4) and linear motion is secondary (3)；In being internally provided with for linear motion secondary (3)
The inner stator (7) being fixedly connected with rear end cap (6)；The finite angle rotor (2) is acted on external stator (1), and described is straight
Line movement secondary (3) acts on simultaneously with external stator (2) and inner stator (7), realization projecting shaft (4) by move along a straight line, it is limited
Rotating angle movement and screw.
2. moving-coil type unipolarity permanent magnet rotational alignment motor according to claim 1, it is characterised in that：The stretching
Axis (4) is axially distributed the first fixed part and the second fixed part, the front end of first fixed part and the on drive end bearing bracket (5)
One sleeve (81) is rotatably assorted, and the finite angle rotor (2) is mounted on the first fixed part；Second fixed part is
Cylinder type, linear motion secondary (3) are fixedly connected with the second fixed part, and the inner stator (7) is located at linear motion
The inside of secondary (3).
3. moving-coil type unipolarity permanent magnet rotational alignment motor according to claim 2, it is characterised in that：The rear end
Lid (6) has the installation axle extended to inside the second fixed part；The inner stator (7) is fixed in the installation axle；Institute
The installation axle stated is equipped with and the second matched second sleeve of fixed part inner wall (82).
4. moving-coil type unipolarity permanent magnet rotational alignment motor according to claim 2, it is characterised in that：Described limited turn
Angle rotor (2) is made of the rotor core (21) and rotating armature winding (22) of toothed portion；The external stator (1) is by toothed fixed
Sub- iron core (11) and unipolarity permanent magnet (12) composition.
5. moving-coil type unipolarity permanent magnet rotational alignment motor according to claim 4, it is characterised in that：The straight line fortune
Dynamic secondary (3) is made of straight line armature winding (31) and winding skeleton (32)；The winding skeleton (32) is cylinder type, winding
The end and the end of the second fixed part of skeleton (32) are coaxially connected.
6. moving-coil type unipolarity permanent magnet rotational alignment motor according to claim 4, it is characterised in that：The unipolarity
Permanent magnet (12) and inner stator (7) are the Nd-Fe-B permanent magnet of same polarity, and magnetizing direction is radial magnetizing.
7. moving-coil type unipolarity permanent magnet rotational alignment motor according to claim 4, it is characterised in that：The unipolarity
The pole slot cooperation that the number p of permanent magnet (12) and the tooth number Q of toothed stator core (11) meets three-phase motor with permanent magnets requires.
8. moving-coil type unipolarity permanent magnet rotational alignment motor according to claim 5, it is characterised in that：The straight-line electric
Pivot winding (31) is making toroidal coil, is mounted on the outer wall of winding skeleton (32)；The rotating armature winding (22) be concentrate around
Group, and rotating armature winding (22) is embedded between the teeth portion of rotor core (21).
9. moving-coil type unipolarity permanent magnet rotational alignment motor according to claim 1, it is characterised in that：The end cap
(6) it is permeability magnetic material, the projecting shaft (4) is un-conducted magnetic material.
10. moving-coil type unipolarity permanent magnet rotational alignment motor according to claim 4, it is characterised in that：The stator
Angle τ shared by the teeth portion of iron core (11)cWith angle τ shared by unipolarity permanent magnet (12)pmRatio is：0.5 to 1.5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810726754.3A CN108736675B (en) | 2018-07-05 | 2018-07-05 | Moving-coil type unipolar permanent magnet rotary linear motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810726754.3A CN108736675B (en) | 2018-07-05 | 2018-07-05 | Moving-coil type unipolar permanent magnet rotary linear motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108736675A true CN108736675A (en) | 2018-11-02 |
| CN108736675B CN108736675B (en) | 2023-11-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810726754.3A Active CN108736675B (en) | 2018-07-05 | 2018-07-05 | Moving-coil type unipolar permanent magnet rotary linear motor |
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| Country | Link |
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| CN (1) | CN108736675B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110112882A (en) * | 2019-06-04 | 2019-08-09 | 浙江江宇电机有限公司 | A kind of motor of exportable compound motion |
| 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 |
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| CN110112882A (en) * | 2019-06-04 | 2019-08-09 | 浙江江宇电机有限公司 | A kind of motor of exportable compound motion |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN108736675B (en) | 2023-11-14 |
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