WO2016173293A1 - Stator and rotor mechanism of spiral stepper motor, and spiral stepper motor - Google Patents
Stator and rotor mechanism of spiral stepper motor, and spiral stepper motor Download PDFInfo
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- WO2016173293A1 WO2016173293A1 PCT/CN2016/000228 CN2016000228W WO2016173293A1 WO 2016173293 A1 WO2016173293 A1 WO 2016173293A1 CN 2016000228 W CN2016000228 W CN 2016000228W WO 2016173293 A1 WO2016173293 A1 WO 2016173293A1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K37/00—Motors with rotor rotating step by step and without interrupter or commutator driven by the rotor, e.g. stepping motors
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- the invention relates to an electric motor, in particular to a stator, a rotor mechanism and a spiral stepping motor of a spiral stepping motor capable of simultaneously performing different modes of movement of a stator and a rotor.
- the existing electric motors are mostly single moving parts. When the two parts in the system can simultaneously perform different modes of motion or the same part has both circular motion and linear motion, it must be transformed by the intermediate mechanism, resulting in complicated structure and volume of the equipment. Huge and costly.
- the rotary motor must reach its linear drive capability through the intermediate link. Although the linear motor has advantages in linear drive, it is expensive. Moreover, they have one thing in common: there is only one moving part.
- the electric motor can not only meet the two parts at the same time, but also integrates the power and the transmission mechanism, the positioning precision is low and the production cost is high.
- the structure of the motor has such a problem that it is not possible to have two moving parts while having high positioning accuracy, low production cost, and a combination of power and transmission mechanism.
- the technical problem to be solved by the present invention is to overcome the problems of the above-mentioned electric motor.
- the object of the present invention is to provide a stator, a rotor mechanism and a corresponding spiral stepping motor of a spiral stepping motor, so that the spiral stepping motor has two movements. Parts do different movements at the same time or one part performs two different movements at the same time.
- the stator and rotor mechanism of the spiral stepping motor including a stator, a rotor and a cover plate, characterized in that:
- the rotor includes a central shaft and a plurality of rotor blocks, wherein the rotor blocks are uniformly or continuously spaced on the circumference of the central axis along a cylindrical spiral as a reference line, and the axis line of the cylindrical spiral is at the axis of the central axis On the same center line;
- the stator includes a plurality of stator blocks and a spacer, wherein each stator block and the rotor block maintain the same distance in a radial direction, the working face axial width of the stator block is equal to the axial width of the rotor block and aligned with the rotor block;
- stator and stator are conventionally used, and the materials and windings of the stator and the rotor are the same as those of the stator and rotor of the existing motor.
- the two axial stator blocks are separated by a partition and connected by a fixing pin, and the two sides of the stator are composed of two blocks.
- the cover is fixed.
- the stator blocks are all laminated by a plurality of non-planar single-piece silicon steel sheets, and the axial projection of all the stator blocks is preferably a central symmetrical pattern, and the center of symmetry is: the center of the circle where the central axis cross section is located And the axial distance between two adjacent stator blocks on the same side of the central axis is preferably equal to one pitch of the spiral and separated by a spacer.
- the rotor block is formed by laminating a plurality of single-piece silicon steel sheets, or made of a permanent magnet, or laminated by a silicon steel sheet and a permanent magnet.
- the axial length after placement of all rotor blocks is preferably an integer multiple of the pitch of the helix.
- stator blocks on both sides of the central shaft are connected by a stator fixing pin, and the stator fixing pin functions as a magnetic flux.
- the wires come in and out from the opening of the stator fixing pin.
- the rotor can be a conductive liquid or a conductive gas.
- a spiral stepping motor comprising the stator and rotor mechanism according to the spiral stepping motor described above.
- the two cover plates are spatially symmetrical and have a false pole shoe on the cover plate, which does not wrap around the coil, only serves as the first pole piece on the first stator block and finally
- the path of the last pole shoe flux on one stator block, the dummy pole shoes respectively correspond to the first pole piece of the first stator block and the last pole piece of the last stator block, and the dummy pole shoe acts as a magnetic circuit The role of the pathway.
- a dynamic spiral magnetic field is generated between the stator block and the rotor block, and the spiral magnetic field causes a frictionless relative straight line and a circular motion between the stator block and the rotor block.
- the following movement modes a. If the rotor is fixed, the stator makes a circular linear motion; b. Conversely, if the stator is fixed, the rotor makes a linear circular motion; c. If both ends of the rotor are fixed by bearings, the stator is mounted on the guide rail, Then the rotor moves in a circular motion, and the stator moves in a straight line; d.
- the spiral stepping motor can simultaneously perform one circular motion and another linear motion or one component simultaneously performs circumferential and linear motion, and has high positioning accuracy, low production cost, and power and transmission are integrated; the stator and the rotor are generated.
- Friction-free circumferential and linear motion can greatly simplify the structure of the equipment and reduce the cost of the equipment. Due to the modular structure of the stator block and the compartment, it can be easily produced and cost-saving, and can also meet the needs of users for expansion; There are many working windings, which brings convenience to the control and can greatly improve some performance of the motor.
- the large area of the stator and the rotor in the axial direction can also greatly improve the torque and thrust and accuracy.
- FIG. 1 is a schematic structural view of an embodiment of the present invention applied to a three-phase spiral reactive stepping motor.
- FIG. 2 is a schematic view showing the internal structure of a three-phase spiral reaction type stepping motor after removing a cover plate according to an embodiment of the present invention.
- FIG 3 is a schematic view showing a cross section of a three-phase spiral reaction type stepping motor according to an embodiment of the present invention.
- FIG. 4 is a structural schematic view showing the connection of a rotor of a three-phase spiral reactive stepping motor to a central shaft according to an embodiment of the present invention.
- FIG. 5 is a schematic view showing a state in which a stator and a rotor are combined in a three-phase helical reaction type stepping motor according to an embodiment of the present invention.
- FIG. 6 is a structural schematic view showing the combination of a stator and a spacer of a three-phase spiral reactive stepping motor according to an embodiment of the present invention.
- FIG. 7 is a structural schematic view showing the combination of a stator, a spacer and a stator fixing pin of a three-phase spiral reactive stepping motor according to an embodiment of the present invention.
- FIG. 8 is a schematic structural view of a three-phase spiral reactive stepping motor according to an embodiment of the present invention.
- FIG. 9 is a schematic view showing the partial decomposition of the cover plate and the stator block in the three-phase spiral reaction type stepping motor according to the embodiment of the present invention.
- FIG. 10 is a schematic structural view of a cover plate of a three-phase spiral reaction type stepping motor according to an embodiment of the present invention.
- FIG. 11 is a three-phase schematic diagram of a three-phase helical reactive stepping motor in an axial forward projection according to an embodiment of the present invention.
- FIG. 12 to FIG. 14 are schematic diagrams showing a pitch cycle of a three-phase helical reaction type stepping motor according to the present invention.
- 15 to 16 are schematic views of a control system of the present invention.
- FIG. 14 for an application of a three-phase helical reactive stepping motor in accordance with a preferred embodiment of the present invention, and an embodiment of the present invention will be described below by taking a three-phase helical reactive stepping motor as an example, and a stator is assumed Fixed, the rotor can perform circumferential and linear motion, unipolar pulse drive power.
- Figure 1 is an overview of the whole after assembly.
- Figure 8 is an overall longitudinal cross-sectional view in which a plurality of stator blocks 3 and rotor blocks 2 are regularly placed in the axial direction and held in a spiral alignment.
- stator block 3 and the rotor block 2 are evenly distributed on a circle, and a certain distance between the stator block 3 and the working surface of the rotor block 2 is maintained, and they are connected with the central axis 1 concentric.
- the stator and rotor mechanism of the spiral stepping motor comprises a stator, a rotor and a cover plate 4;
- the rotor comprises a central shaft 1 and a plurality of rotor blocks 2, wherein the rotor block 2 is uniformly or continuously spaced on the circumference of the central axis 1 along a cylindrical spiral as a reference line, the axis of the cylindrical helix and the central axis 1
- the axis lines are on the same center line;
- the stator comprises a plurality of stator blocks 3 and a spacer 5, wherein each stator block 3 and the rotor block 2 are maintained at the same distance in the radial direction, the axial width of the working face of the stator block 3 is equal to the axial width of the rotor block 2 and Aligned with the rotor block 2;
- FIG. 1 is a schematic diagram of the assembly of the embodiment of the present invention
- FIG. 2 is a schematic view. A schematic diagram of the interior of the inventive embodiment.
- a plurality of rotor blocks 2 are continuously placed around the central axis 1 along the aforementioned cylindrical spiral and a plurality of stator blocks 3 are regularly placed.
- the rotor block 2 is placed on the outer peripheral surface of the center shaft, and all the stator blocks 3 are kept in the same spatial distance and spirally aligned with all of the aforementioned rotor blocks 2.
- All of the aforementioned rotor blocks 2 have an orthographic projection of 40 small teeth in the axial direction, the teeth are the same size and the pitch of each tooth is also equal: the angle between the center lines of the adjacent two teeth is 9 degrees. After all the rotor blocks 2 are placed, their length in the axial direction is greater than the sum of the axial widths of all the stator blocks 3 and the spacers 5. The central angle formed by the two sides of the rotor block 2 in the axial forward projection profile is 45 degrees.
- FIG. 5 is a schematic view of the assembled rotor and stator.
- Eight stator blocks 3 are placed at intervals in the axial direction, and the orthographic projections of the eight stator blocks in the axial direction are the same.
- the axial spacing of the adjacent two stator blocks 3 on the same side of the central axis is a pitch of the aforementioned cylindrical helix, and the axial spacing of the two consecutive stator blocks 3 along any of the aforementioned spirals is smaller than a pitch of the aforementioned spiral.
- the eight stator blocks 3 are divided into two equal numbers, one on each side of the central shaft 1, and separated by a partition 5.
- Each stator block 3 has three field windings and three pole pieces, each of which has five small teeth.
- the size and pitch of the small teeth are the same as the teeth on the rotor and the pitch is the same.
- the working faces of the 3 pole pieces and the working faces of all the rotor blocks 2 remain concentric with the central axis 1.
- Figure 6 is a schematic view of the continuation of the installation of all of the barrier layers 5
- Figure 3 is a schematic cross-sectional view of an embodiment of the present invention.
- the two stator blocks 3 on both sides of the rotor are center-symmetrical, and the center of symmetry is the center of the circle of the central axis 1 on the same cross-section, which is called a pair of stator blocks, and thus is axially
- the two magnetic poles with a space difference of 180 degrees on each pair of stator blocks are called: one phase. Therefore, each pair of stator blocks has three phases.
- the method of aligning the teeth of each pair of stator blocks with the rotor block 2 is such that when the teeth of one phase are aligned with the teeth of the rotor, the center line of the first small tooth on the other phase is different from the center line of the teeth on the opposite rotor. degree.
- FIG. 7 is a schematic view of the embodiment of the present invention after the stator fixing pin 6 is mounted.
- Each rotor block 2 is fixed to the center shaft by a rotor fixing pin 7 and an epoxy resin.
- the stator block 3 and the rotor block 2 of the embodiment of the present invention are all formed by laminating silicon steel sheets.
- the orthographic projection in the axial direction of the embodiment of the present invention is the same as the cross section of the corresponding rotary three-phase stepping motor.
- Figure 8 is a schematic longitudinal cross-sectional view of an embodiment of the present invention
- Figure 9 is a schematic exploded view of an embodiment of the present invention.
- a total of 8 stator blocks are divided into 4 pairs, and 12 phases have a total of 24 windings.
- the phases according to different positions on the stator block 3 are divided into three different sets of phases.
- Each phase group has 4 phases, which are identical in position on the stator block 3.
- the third phase is wound around the C group by a pulse, and according to the principle of minimum reluctance, the rotor is again rotated over the circumference by a step angle: 3 degrees, while in the axial direction.
- the pitch of the aforementioned spiral is further advanced by one hundred and twenty-one (120 pulses make the rotor rotate one week), see Figure 14.
- the rotor is rotated over the circumference by a step angle: 3 degrees, while in the axial direction. It also advances the pitch of the aforementioned spiral of one hundred and twenty-oneth (120 pulses rotate the rotor for one week) and returns to the initial state, see Figure 12.
- the rotor By continuously performing the above-described cycle, the rotor can be continuously advanced in the axial direction while performing the circular motion. If you want to reverse, just change the execution order.
- the direction control is exactly the same as that of the rotary stepper motor. The process of other beats is similar and will not be repeated.
- the present invention can select different control methods: open loop control and closed loop control.
- open loop control can be used.
- 15 is a block diagram of open loop control including a power source 44, a controller 43, a driver 45, and a motor body 46.
- the controller 43 controls the operation mode of the direction, speed, torque, and thrust of the motor, and the controller 43 outputs Information is driven by driver 45 to motor body 46, which provides electrical power to the overall system.
- Motor control can also be controlled in closed loop.
- Figure 16 is a block diagram of closed loop control including a power supply 44, a controller 43, a driver 45, an information feedback 48, and a motor body 46; wherein the controller 43 is a mode of operation that controls the direction, speed, torque, and thrust of the motor.
- the information output by the controller 43 drives the motor body 46 via the driver 45.
- the motor operating state 48 feeds back the real-time operating state information of the motor to the controller 43 for comparison control, and the power source 44 supplies power to the entire system.
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Abstract
A spiral stepper motor and a stator and rotor mechanism thereof. A rotor comprises a central shaft (1) and a plurality of rotor blocks (2), wherein the rotor blocks (2) are continuously or separately uniformly arranged on the circumference of the central shaft (1) by adopting a cylindrical helix, adopting the central shaft (1) as a shaft centre, as a reference line; and a stator comprises a plurality of stator blocks (3), a barrier layer (5) and a cover plate (4), wherein the stator blocks (3) and the rotor blocks (2) are equally distanced to each other in the radial direction, the axial width of a working surface of the stator block (3) is equal to that of the rotor block (2), and the stator blocks are aligned to the rotor blocks. When the motor works, a dynamic spiral magnetic field is generated between the stator blocks (3) and the rotor blocks (2), and under the action of the spiral magnetic field, a friction-free relative rectilinear and circular motion is produced between the stator blocks (3) and the rotor blocks (2). According to the spiral stepper motor, one of two parts can make the circular motion, while the other one makes the rectilinear motion, or one part simultaneously makes the circular motion and the rectilinear motion.
Description
本发明涉及一种电动机,特别涉及一种定子、转子能同时进行不同模式运动的螺旋步进电动机的定子、转子机构及其螺旋步进电动机。The invention relates to an electric motor, in particular to a stator, a rotor mechanism and a spiral stepping motor of a spiral stepping motor capable of simultaneously performing different modes of movement of a stator and a rotor.
现有电动机大都是单一的运动部件,当***中的两部件要同时能进行不同模式运动或同一部件既要圆周运动又要作直线运动时,必须通过中间机构进行变换,造成设备结构复杂、体积庞大、成本加大。而旋转电动机必须通过中间环节来达到其直线驱动的能力,直线电机虽在直线驱动上有优势,但价格昂贵。而且,它们有一个共同的特点:只有一个运动部件。The existing electric motors are mostly single moving parts. When the two parts in the system can simultaneously perform different modes of motion or the same part has both circular motion and linear motion, it must be transformed by the intermediate mechanism, resulting in complicated structure and volume of the equipment. Huge and costly. The rotary motor must reach its linear drive capability through the intermediate link. Although the linear motor has advantages in linear drive, it is expensive. Moreover, they have one thing in common: there is only one moving part.
虽然有电动机既能满足两部件能同时作不同运动,又有集动力与传动机构于一体,但其定位精度低,生产成本高。Although the electric motor can not only meet the two parts at the same time, but also integrates the power and the transmission mechanism, the positioning precision is low and the production cost is high.
所以,已知电动机的结构存在这样的问题:不能够具备二个运动部件同时又要定位精度高、生产成本低且集动力与传动机构于一身。Therefore, it is known that the structure of the motor has such a problem that it is not possible to have two moving parts while having high positioning accuracy, low production cost, and a combination of power and transmission mechanism.
发明内容Summary of the invention
本发明所要解决的技术问题是为了克服上述电动机存在的问题,本发明的目的是提供一种螺旋步进电动机的定子、转子机构及相应的螺旋步进电动机,使螺旋步进电动机具备二个运动部件同时做不同的运动或一个部件同时做二种不同的运动。The technical problem to be solved by the present invention is to overcome the problems of the above-mentioned electric motor. The object of the present invention is to provide a stator, a rotor mechanism and a corresponding spiral stepping motor of a spiral stepping motor, so that the spiral stepping motor has two movements. Parts do different movements at the same time or one part performs two different movements at the same time.
本发明解决上述技术问题所采用的技术方案为:该螺旋步进电动机的定子、转子机构,包括定子、转子和盖板,其特征在于:The technical solution adopted by the present invention to solve the above technical problem is: the stator and rotor mechanism of the spiral stepping motor, including a stator, a rotor and a cover plate, characterized in that:
转子包括中心轴和多个转子块,其中转子块是沿圆柱螺旋线为基准线连续或间隔地均匀放置在中心轴圆周上,所述圆柱螺旋线的轴心线与中心轴的轴心线处于同一中心线上;The rotor includes a central shaft and a plurality of rotor blocks, wherein the rotor blocks are uniformly or continuously spaced on the circumference of the central axis along a cylindrical spiral as a reference line, and the axis line of the cylindrical spiral is at the axis of the central axis On the same center line;
定子包括多个定子块及隔层,其中各定子块与所述转子块在径向上保持相同距离,所述定子块的工作面轴向宽度与转子块轴向宽度相等且与转子块对齐;The stator includes a plurality of stator blocks and a spacer, wherein each stator block and the rotor block maintain the same distance in a radial direction, the working face axial width of the stator block is equal to the axial width of the rotor block and aligned with the rotor block;
电动机工作时,在定子块、转子块之间产生动态螺旋磁场,在螺旋磁场作用下,所述定子块、转子块间产生无摩擦相对的直线、圆周运动。When the motor is working, a dynamic spiral magnetic field is generated between the stator block and the rotor block. Under the action of the spiral magnetic field, a straight line and a circular motion without friction are generated between the stator block and the rotor block.
上述转子、定子的术语采用传统的说法,定子、转子的材料、绕线均与现有电机的定子、转子的结构相同。The terms of the above rotor and stator are conventionally used, and the materials and windings of the stator and the rotor are the same as those of the stator and rotor of the existing motor.
优选地,轴向二个定子块之间由隔层间隔并通过固定销相连,定子二侧由二块两块
盖板固定。Preferably, the two axial stator blocks are separated by a partition and connected by a fixing pin, and the two sides of the stator are composed of two blocks.
The cover is fixed.
优选地,定子块都由多片非平面的单片硅钢片叠压而成,所有定子块在轴向的正投影较佳为中心对称图形,其对称中心是:中心轴横截面所在圆的圆心,且在中心轴同侧相邻两个定子块的轴向距离较佳为等于所述螺旋线的一个螺距,并用隔层隔开。Preferably, the stator blocks are all laminated by a plurality of non-planar single-piece silicon steel sheets, and the axial projection of all the stator blocks is preferably a central symmetrical pattern, and the center of symmetry is: the center of the circle where the central axis cross section is located And the axial distance between two adjacent stator blocks on the same side of the central axis is preferably equal to one pitch of the spiral and separated by a spacer.
优选地,转子块由多块单片硅钢片叠压而成,或由永磁铁制得,或者由硅钢片与永磁铁叠压而成。Preferably, the rotor block is formed by laminating a plurality of single-piece silicon steel sheets, or made of a permanent magnet, or laminated by a silicon steel sheet and a permanent magnet.
所有转子块放置后的轴向长度较佳是所述螺旋线螺距的整数倍。The axial length after placement of all rotor blocks is preferably an integer multiple of the pitch of the helix.
优选地,在中心轴两侧的定子块用定子固定销连接定位,定子固定销并起到磁通的通路作用。Preferably, the stator blocks on both sides of the central shaft are connected by a stator fixing pin, and the stator fixing pin functions as a magnetic flux.
优选地,导线从定子固定销的开口进出。Preferably, the wires come in and out from the opening of the stator fixing pin.
转子可以是导电液体或者导电气体。The rotor can be a conductive liquid or a conductive gas.
本发明的另一方面,还提供一种包括根据上述螺旋步进电动机的定子、转子机构得到的螺旋步进电动机。In another aspect of the invention, there is also provided a spiral stepping motor comprising the stator and rotor mechanism according to the spiral stepping motor described above.
为优选地提供工作效率,两块盖板在空间上的成中心对称且盖板上有一个假极靴,它不绕线圈,仅起到第一个定子块上的第一个极靴和最后一个定子块上的最后一个极靴磁通的通路作用,假极靴分别与第一个定子块的第一个极靴和最后一个定子块的最后一个极靴对应,假极靴起到磁路的通路作用。In order to provide work efficiency, the two cover plates are spatially symmetrical and have a false pole shoe on the cover plate, which does not wrap around the coil, only serves as the first pole piece on the first stator block and finally The path of the last pole shoe flux on one stator block, the dummy pole shoes respectively correspond to the first pole piece of the first stator block and the last pole piece of the last stator block, and the dummy pole shoe acts as a magnetic circuit The role of the pathway.
工作时,由于通电在定子块、转子块之间产生动态螺旋磁场,螺旋磁场使定子块、转子块间产生无摩擦相对的直线、圆周运动,此时根据定子块、转子块的定位情况,有以下几种运动方式:a.如果转子固定,则定子作圆周直线运动;b.相反,如果定子固定,则转子作直线圆周运动;c.如果转子两端通过轴承固定,定子安装在导轨上,则转子作圆周运动,定子作直线运动;d.又相反,如果转子安装在导轨上,定子固定在轴向的某一位置且可旋转,则转子作直线运动,定子作圆周运动。以上四种运动模式都在轴向上产生推力,在径向上产生扭矩。由此可以在同一电机上实现旋转运动和直线运动。During operation, due to the energization, a dynamic spiral magnetic field is generated between the stator block and the rotor block, and the spiral magnetic field causes a frictionless relative straight line and a circular motion between the stator block and the rotor block. At this time, according to the positioning of the stator block and the rotor block, The following movement modes: a. If the rotor is fixed, the stator makes a circular linear motion; b. Conversely, if the stator is fixed, the rotor makes a linear circular motion; c. If both ends of the rotor are fixed by bearings, the stator is mounted on the guide rail, Then the rotor moves in a circular motion, and the stator moves in a straight line; d. On the contrary, if the rotor is mounted on the guide rail and the stator is fixed at a certain position in the axial direction and is rotatable, the rotor moves linearly and the stator moves in a circular motion. All of the above four motion modes generate thrust in the axial direction and generate torque in the radial direction. This allows rotary and linear motion to be achieved on the same motor.
与现有技术相比,本发明的优点在于:The advantages of the present invention over the prior art are:
螺旋步进电动机能够两个部件能同时进行一个圆周运动另一个直线运动或一个部件同时进行圆周、直线运动,其定位精度高、生产成本低且动力与传动集于一身;定子、转子之间产生无摩擦相对的圆周、直线运动,可以大大简化设备的结构,降低设备的成本;由于定子块及隔层模块化的结构,能方便生产,节约成本,同时也能满足用户扩展的需要;由于通电的工作绕组可以有很多个,这给控制带来了方便,能大大改善电机的一些性能;利用定子、转子在轴向相对的巨大面积,也可大幅提高扭矩和推力及精度。The spiral stepping motor can simultaneously perform one circular motion and another linear motion or one component simultaneously performs circumferential and linear motion, and has high positioning accuracy, low production cost, and power and transmission are integrated; the stator and the rotor are generated. Friction-free circumferential and linear motion can greatly simplify the structure of the equipment and reduce the cost of the equipment. Due to the modular structure of the stator block and the compartment, it can be easily produced and cost-saving, and can also meet the needs of users for expansion; There are many working windings, which brings convenience to the control and can greatly improve some performance of the motor. The large area of the stator and the rotor in the axial direction can also greatly improve the torque and thrust and accuracy.
图1本发明实施例在三相螺旋反应式步进式电机中应用的结构示意图。
FIG. 1 is a schematic structural view of an embodiment of the present invention applied to a three-phase spiral reactive stepping motor.
图2本发明实施例三相螺旋反应式步进式电机去除一个盖板后内部的结构示意图。2 is a schematic view showing the internal structure of a three-phase spiral reaction type stepping motor after removing a cover plate according to an embodiment of the present invention.
图3本发明实施例三相螺旋反应式步进式电机横截面的示意图。3 is a schematic view showing a cross section of a three-phase spiral reaction type stepping motor according to an embodiment of the present invention.
图4本发明实施例三相螺旋反应式步进式电机转子与中心轴连接的结构示意图。4 is a structural schematic view showing the connection of a rotor of a three-phase spiral reactive stepping motor to a central shaft according to an embodiment of the present invention.
图5本发明实施例三相螺旋反应式步进式电机中定子与转子组合状态的示意图。FIG. 5 is a schematic view showing a state in which a stator and a rotor are combined in a three-phase helical reaction type stepping motor according to an embodiment of the present invention.
图6本发明实施例三相螺旋反应式步进式电机定子与隔层结合的结构示意图。FIG. 6 is a structural schematic view showing the combination of a stator and a spacer of a three-phase spiral reactive stepping motor according to an embodiment of the present invention.
图7本发明实施例三相螺旋反应式步进式电机定子、隔层及定子固定销结合的结构示意图。FIG. 7 is a structural schematic view showing the combination of a stator, a spacer and a stator fixing pin of a three-phase spiral reactive stepping motor according to an embodiment of the present invention.
图8本发明实施例三相螺旋反应式步进式电机沿纵向局部剖切后的结构示意图。FIG. 8 is a schematic structural view of a three-phase spiral reactive stepping motor according to an embodiment of the present invention.
图9本发明实施例三相螺旋反应式步进式电机中盖板、定子块局部分解后的示意图。FIG. 9 is a schematic view showing the partial decomposition of the cover plate and the stator block in the three-phase spiral reaction type stepping motor according to the embodiment of the present invention.
图10本发明实施例三相螺旋反应式步进式电机中盖板的结构示意图。FIG. 10 is a schematic structural view of a cover plate of a three-phase spiral reaction type stepping motor according to an embodiment of the present invention.
图11本发明实施例三相螺旋反应式步进式电机在轴向正投影时的三相示意图。FIG. 11 is a three-phase schematic diagram of a three-phase helical reactive stepping motor in an axial forward projection according to an embodiment of the present invention.
图12~图14本发明三相螺旋反应式步进式电机完成一个齿距周期顺环的示意图。12 to FIG. 14 are schematic diagrams showing a pitch cycle of a three-phase helical reaction type stepping motor according to the present invention.
图15~图16是本发明的控制***的示意图。15 to 16 are schematic views of a control system of the present invention.
以下结合附图实施例对本发明作进一步详细描述。The invention will be further described in detail below with reference to the embodiments of the drawings.
图1至图14针对本发明的一个优选实施例在三相螺旋反应式步进式电机的应用,下面以三相螺旋反应式步进式电机为例对本发明的实施例进行说明,并且假定定子固定,转子可以进行圆周和直线运动,单极脉冲驱动电源。1 to FIG. 14 for an application of a three-phase helical reactive stepping motor in accordance with a preferred embodiment of the present invention, and an embodiment of the present invention will be described below by taking a three-phase helical reactive stepping motor as an example, and a stator is assumed Fixed, the rotor can perform circumferential and linear motion, unipolar pulse drive power.
其中,图1是组装好后一个整体的概图。图8是一个整体的纵截面概图,在轴向规律地放置着若干定子块3和转子块2并保持螺旋状对齐。Among them, Figure 1 is an overview of the whole after assembly. Figure 8 is an overall longitudinal cross-sectional view in which a plurality of stator blocks 3 and rotor blocks 2 are regularly placed in the axial direction and held in a spiral alignment.
从轴向看(见图3),所有定子块3、转子块2都均匀地分布在一个圆上,定子块3和转子块2的工作面之间保持一定的距离,且它们与中心轴1同心。Viewed from the axial direction (see Fig. 3), all of the stator block 3 and the rotor block 2 are evenly distributed on a circle, and a certain distance between the stator block 3 and the working surface of the rotor block 2 is maintained, and they are connected with the central axis 1 concentric.
1)、本发明实施例的结构。1) Structure of an embodiment of the present invention.
该螺旋步进电动机的定子、转子机构,包括定子、转子和盖板4;The stator and rotor mechanism of the spiral stepping motor comprises a stator, a rotor and a cover plate 4;
转子包括中心轴1和多个转子块2,其中转子块2是沿圆柱螺旋线为基准线连续或间隔地均匀放置在中心轴1圆周上,所述圆柱螺旋线的轴心线与中心轴1的轴心线处于同一中心线上;The rotor comprises a central shaft 1 and a plurality of rotor blocks 2, wherein the rotor block 2 is uniformly or continuously spaced on the circumference of the central axis 1 along a cylindrical spiral as a reference line, the axis of the cylindrical helix and the central axis 1 The axis lines are on the same center line;
定子包括多个定子块3及隔层5,其中各定子块3与所述转子块2在径向上保持相同距离,所述定子块3的工作面轴向宽度与转子块2轴向宽度相等且与转子块2对齐;The stator comprises a plurality of stator blocks 3 and a spacer 5, wherein each stator block 3 and the rotor block 2 are maintained at the same distance in the radial direction, the axial width of the working face of the stator block 3 is equal to the axial width of the rotor block 2 and Aligned with the rotor block 2;
电动机工作时,在定子块3、转子块2之间产生动态螺旋磁场,在螺旋磁场作用下,所述定子块3、转子块2间产生无摩擦相对的直线、圆周运动。When the motor is in operation, a dynamic spiral magnetic field is generated between the stator block 3 and the rotor block 2, and a linear or circular motion without friction is generated between the stator block 3 and the rotor block 2 under the action of the spiral magnetic field.
首先要确定一条与中心轴1同心的圆柱螺旋线(这里的圆柱是以定子块3与转子块
2之间气隙的中心圆为圆柱底面),以后的定子块3、转子块2的放置都以前述圆柱螺旋线为基准参考,图1是本发明实施例组装好的示意图,图2是本发明实施例内部的示意图。First, determine a cylindrical spiral that is concentric with the central axis 1 (the cylinder here is the stator block 3 and the rotor block)
2, the center circle of the air gap is a cylindrical bottom surface), and the subsequent placement of the stator block 3 and the rotor block 2 is based on the aforementioned cylindrical spiral line. FIG. 1 is a schematic diagram of the assembly of the embodiment of the present invention, and FIG. 2 is a schematic view. A schematic diagram of the interior of the inventive embodiment.
在中心轴1周围沿前述圆柱螺旋线为基准连续放置着若干转子块2和有规律地放置着若干个定子块3。其中,转子块2放置在中心轴的外周面上,所有定子块3与所有前述转子块2在径向保持相同的空间距离并呈螺旋状对齐。A plurality of rotor blocks 2 are continuously placed around the central axis 1 along the aforementioned cylindrical spiral and a plurality of stator blocks 3 are regularly placed. Here, the rotor block 2 is placed on the outer peripheral surface of the center shaft, and all the stator blocks 3 are kept in the same spatial distance and spirally aligned with all of the aforementioned rotor blocks 2.
所有前述转子块2在轴向上的正投影有40个小齿,各齿大小相同且各齿的齿距也相等:相邻两齿的中心线所夹的角为9度。所有转子块2放置好后其在轴向的长度大于所有定子块3和隔层5在轴向宽度的总和。所有转子块2在轴向的正投影轮廓中两边所形成的中心角是45度。All of the aforementioned rotor blocks 2 have an orthographic projection of 40 small teeth in the axial direction, the teeth are the same size and the pitch of each tooth is also equal: the angle between the center lines of the adjacent two teeth is 9 degrees. After all the rotor blocks 2 are placed, their length in the axial direction is greater than the sum of the axial widths of all the stator blocks 3 and the spacers 5. The central angle formed by the two sides of the rotor block 2 in the axial forward projection profile is 45 degrees.
图5是组装好一段转子及定子后的示意图。在轴向有间隔地放置着八个定子块3,这八个定子块在轴向上的正投影是一样的。在中心轴同侧相邻两定子块3的轴向间隔是前述圆柱螺旋线的一个螺距,任意沿前述螺旋线连续两定子块3的轴向间隔小于前述螺旋线的一个螺距。八个定子块3被分为数量相等的两组,分别在中心轴1的两侧,且用隔层5隔开。每个定子块3有三个励磁绕组、三个极靴,每个极靴上有五个小齿,小齿的大小及齿距和转子上的齿的大小及齿距是一样的,所有定子块3极靴的工作面与所有转子块2的工作面保持与中心轴1同心。Figure 5 is a schematic view of the assembled rotor and stator. Eight stator blocks 3 are placed at intervals in the axial direction, and the orthographic projections of the eight stator blocks in the axial direction are the same. The axial spacing of the adjacent two stator blocks 3 on the same side of the central axis is a pitch of the aforementioned cylindrical helix, and the axial spacing of the two consecutive stator blocks 3 along any of the aforementioned spirals is smaller than a pitch of the aforementioned spiral. The eight stator blocks 3 are divided into two equal numbers, one on each side of the central shaft 1, and separated by a partition 5. Each stator block 3 has three field windings and three pole pieces, each of which has five small teeth. The size and pitch of the small teeth are the same as the teeth on the rotor and the pitch is the same. The working faces of the 3 pole pieces and the working faces of all the rotor blocks 2 remain concentric with the central axis 1.
图6是继续装好所有隔层5后的示意图,图3是本发明实施例的横截面示意图。从本发明实施例的横截面看,转子两边的两个定子块3成中心对称,对称中心为中心轴1在前述同一横截面上圆的圆心,它们称为一对定子块,因此在轴向共有四对定子块。每对定子块上空间相差180度的两磁极称为:一相。所以,每对定子块有三相。每对定子块与转子块2的齿对齐的方法是:其中一相的齿与转子的齿对齐时,另一相上的第一个小齿的中心线与相对转子上齿的中心线相差3度。Figure 6 is a schematic view of the continuation of the installation of all of the barrier layers 5, and Figure 3 is a schematic cross-sectional view of an embodiment of the present invention. From the cross-section of the embodiment of the present invention, the two stator blocks 3 on both sides of the rotor are center-symmetrical, and the center of symmetry is the center of the circle of the central axis 1 on the same cross-section, which is called a pair of stator blocks, and thus is axially There are four pairs of stator blocks. The two magnetic poles with a space difference of 180 degrees on each pair of stator blocks are called: one phase. Therefore, each pair of stator blocks has three phases. The method of aligning the teeth of each pair of stator blocks with the rotor block 2 is such that when the teeth of one phase are aligned with the teeth of the rotor, the center line of the first small tooth on the other phase is different from the center line of the teeth on the opposite rotor. degree.
所有的定子块3和隔层5用定子固定销6连接组合。图7是本发明实施例装好定子固定销6后的示意图。各转子块2通过转子固定销7和环氧树脂与中心轴固定。本发明实施例的定子块3、转子块2都用硅钢片叠压而成。All of the stator blocks 3 and the spacers 5 are connected and combined by a stator fixing pin 6. Figure 7 is a schematic view of the embodiment of the present invention after the stator fixing pin 6 is mounted. Each rotor block 2 is fixed to the center shaft by a rotor fixing pin 7 and an epoxy resin. The stator block 3 and the rotor block 2 of the embodiment of the present invention are all formed by laminating silicon steel sheets.
本发明实施例在轴向上的正投影与相应旋转型三相步进电机横截面是一样的。The orthographic projection in the axial direction of the embodiment of the present invention is the same as the cross section of the corresponding rotary three-phase stepping motor.
图8是本发明实施例的纵截面示意图,图9是本发明实施例的***示意图。Figure 8 is a schematic longitudinal cross-sectional view of an embodiment of the present invention, and Figure 9 is a schematic exploded view of an embodiment of the present invention.
2)、本发明实施例的运动控制描述。2) Description of motion control of an embodiment of the present invention.
本实施例共有8个定子块分成4对,12相共24个绕组。根据在定子块3上不同位置的相分成三组不同的相。每一相组有4相,它们在定子块3上的位置相同。每次可以从一相组中的一至四个相进行多种组合地通电工作,这给控制带来了方便。实际上这二十四个绕组都可以独立地进行控制。这里我们仅以一个定子块3上的三个绕组进行顺环控制的说明(三相三单拍)。
In this embodiment, a total of 8 stator blocks are divided into 4 pairs, and 12 phases have a total of 24 windings. The phases according to different positions on the stator block 3 are divided into three different sets of phases. Each phase group has 4 phases, which are identical in position on the stator block 3. Each time a plurality of combinations can be energized from one to four phases of a phase group, which brings convenience to the control. In fact, these twenty-four windings can be controlled independently. Here we only use the three windings on the stator block 3 for the description of the forward control (three-phase three-shot).
单拍执行过程,见图11~图14:Single shot execution process, see Figure 11 ~ Figure 14:
初始状态:绕组A来一个脉冲电后,根据最小磁阻原理(磁路:极靴-气隙-转子-相邻的气隙-相邻的极靴-原极靴),这时转子不动,参见图12。Initial state: After the winding A is pulsed, according to the principle of minimum reluctance (magnetic circuit: pole piece - air gap - rotor - adjacent air gap - adjacent pole piece - original pole shoe), the rotor does not move at this time See Figure 12.
在前相绕组A断电的同时,下一相绕组B来一个脉冲电后,根据最小磁阻原理,转子在圆周上再转过一个步距角:3度,同时在轴向上也推进一百二十分之一前述螺旋线的螺距(120个脉冲使转子转过一周),见图13。While the front phase winding A is de-energized, after the next phase winding B is pulsed, according to the principle of minimum reluctance, the rotor is rotated over the circumference by a step angle of 3 degrees, and also advances in the axial direction. One hundred and twenty-oneth of the pitch of the aforementioned spiral (120 pulses turn the rotor through one week), see Figure 13.
接着,在前相绕组B断电的同时,第三相绕C组来一个脉冲电后,根据最小磁阻原理,转子又在圆周上再转过一个步距角:3度,同时在轴向上又推进一百二十分之一前述螺旋线的螺距(120个脉冲使转子转过一周),见图14。Then, while the front phase winding B is de-energized, the third phase is wound around the C group by a pulse, and according to the principle of minimum reluctance, the rotor is again rotated over the circumference by a step angle: 3 degrees, while in the axial direction. The pitch of the aforementioned spiral is further advanced by one hundred and twenty-one (120 pulses make the rotor rotate one week), see Figure 14.
再接着,在前相绕组C断电的同时,下一相绕组A来一个脉冲电后,根据最小磁阻原理,转子在圆周上又再转过一个步距角:3度,同时在轴向上也推进一百二十分之一前述螺旋线的螺距(120个脉冲使转子转过一周),回到初始状态,见图12。Then, after the front phase winding C is de-energized, after the next phase winding A is pulsed, according to the principle of minimum reluctance, the rotor is rotated over the circumference by a step angle: 3 degrees, while in the axial direction. It also advances the pitch of the aforementioned spiral of one hundred and twenty-oneth (120 pulses rotate the rotor for one week) and returns to the initial state, see Figure 12.
经过A、B、C这三个相绕组的依次通电工作后就完成一个小循环;转子在圆周上转过一个齿距:9度,同时在轴向上推进四十分之一前述螺旋线的螺距。如此顺环:A-B-C-A......依次通电,经过120个脉冲后完成一个大顺环:转子旋转一周,同时在轴向推进一个螺距。After a series of energization of the three phase windings A, B, and C, a small cycle is completed; the rotor rotates a pitch of 9 degrees on the circumference while advancing one-fourth of the aforementioned spiral in the axial direction. Pitch. So the ring: A-B-C-A... is energized in turn, after a pulse of 120 completes a large smooth ring: the rotor rotates one revolution while pushing a pitch in the axial direction.
不断进行上述循环,就可使转子在进行圆周运动时,在轴向也不断地推进。如果要反转只要变换一下执行顺序就可以了。方向的控制完全与旋转型步进电机一样,其它节拍的过程类似,不再重复。By continuously performing the above-described cycle, the rotor can be continuously advanced in the axial direction while performing the circular motion. If you want to reverse, just change the execution order. The direction control is exactly the same as that of the rotary stepper motor. The process of other beats is similar and will not be repeated.
二)、电机控制***描述。b) Description of the motor control system.
本发明根据电机的不同类型,可选用不同的控制方法:开环控制和闭环控制。According to different types of motors, the present invention can select different control methods: open loop control and closed loop control.
a)开环控制。a) Open loop control.
在本实施例中,可以用开环控制。In this embodiment, open loop control can be used.
图15是开环控制的方框图,闭环控制包括电源44、控制器43、驱动器45和电机本体46,控制器43控制电机的方向、速度、扭矩及推力大小等的运行方式,控制器43输出的信息经驱动器45来驱动电机本体46,电源44为整个***提供电能。15 is a block diagram of open loop control including a power source 44, a controller 43, a driver 45, and a motor body 46. The controller 43 controls the operation mode of the direction, speed, torque, and thrust of the motor, and the controller 43 outputs Information is driven by driver 45 to motor body 46, which provides electrical power to the overall system.
b)闭环控制。b) Closed loop control.
电机控制还可以采用闭环控制。Motor control can also be controlled in closed loop.
图16是闭环控制的方框图,闭环控制包括电源44、控制器43、驱动器45、信息反馈48、和电机本体46;其中控制器43是控制电机的方向、速度、扭矩及推力大小等的运行方式,控制器43输出的信息经驱动器45来驱动电机本体46,电机运行状态48把电机的实时运行状态信息反馈给控制器43进行比较控制,电源44为整个***提供电能。
Figure 16 is a block diagram of closed loop control including a power supply 44, a controller 43, a driver 45, an information feedback 48, and a motor body 46; wherein the controller 43 is a mode of operation that controls the direction, speed, torque, and thrust of the motor. The information output by the controller 43 drives the motor body 46 via the driver 45. The motor operating state 48 feeds back the real-time operating state information of the motor to the controller 43 for comparison control, and the power source 44 supplies power to the entire system.
Claims (10)
- 一种螺旋步进电动机的定子、转子机构,包括定子、转子和盖板(4),其特征在于:A stator and rotor mechanism of a spiral stepping motor, comprising a stator, a rotor and a cover plate (4), characterized in that:转子包括中心轴(1)和多个转子块(2),其中转子块(2)是沿圆柱螺旋线为基准线连续或间隔地均匀放置在中心轴(1)圆周上,所述圆柱螺旋线的轴心线与中心轴(1)的轴心线处于同一中心线上;The rotor comprises a central shaft (1) and a plurality of rotor blocks (2), wherein the rotor block (2) is uniformly or continuously spaced on the circumference of the central axis (1) along a cylindrical spiral as a reference line, the cylindrical spiral The axis line is on the same center line as the axis line of the central axis (1);定子包括多个定子块(3)及隔层(5),其中各定子块(3)与所述转子块(2)在径向上保持相同距离,所述定子块(3)的工作面轴向宽度与转子块(2)轴向宽度相等且与转子块(2)对齐;The stator comprises a plurality of stator blocks (3) and a compartment (5), wherein each stator block (3) and the rotor block (2) are kept at the same distance in the radial direction, and the working surface of the stator block (3) is axially The width is equal to the axial width of the rotor block (2) and aligned with the rotor block (2);电动机工作时,在定子块(3)、转子块(2)之间产生动态螺旋磁场,在螺旋磁场作用下,所述定子块(3)、转子块(2)间产生无摩擦相对的直线、圆周运动。When the motor is working, a dynamic spiral magnetic field is generated between the stator block (3) and the rotor block (2), and a frictionless magnetic field is generated between the stator block (3) and the rotor block (2). Circular motion.
- 根据权利要求1所述的螺旋步进电动机的定子、转子机构,其特征在于:轴向二个定子块(3)之间由隔层(5)间隔,所有定子块(3)和隔层(5)通过定子固定销(6)相连,盖板(4)设置在定子的最外二侧。The stator and rotor mechanism of a spiral stepping motor according to claim 1, characterized in that: the axial two stator blocks (3) are separated by a partition (5), and all the stator blocks (3) and the partition ( 5) Connected by the stator fixing pin (6), the cover plate (4) is disposed on the outermost two sides of the stator.
- 根据权利要求1所述的螺旋步进电动机的定子、转子机构,其特征在于:定子块(3)都由多片非平面的单片硅钢片叠压而成,所有定子块(3)在轴向的正投影为中心对称图形,其对称中心是:中心轴(1)横截面所在圆的圆心,且在中心轴(1)同侧相邻两个定子块(3)的轴向距离为所述螺旋线的一个螺距,并用隔层(5)隔开。The stator and rotor mechanism of a spiral stepping motor according to claim 1, wherein the stator blocks (3) are formed by laminating a plurality of non-planar single-piece silicon steel sheets, and all the stator blocks (3) are on the shaft. The orthographic projection of the direction is a central symmetry figure whose center of symmetry is: the center of the circle where the cross section of the central axis (1) is located, and the axial distance of the two stator blocks (3) adjacent to the same side of the central axis (1) is A pitch of the spiral is separated by a barrier (5).
- 根据权利要求1所述的螺旋步进电动机的定子、转子机构,其特征在于:转子块(2)由多块单片硅钢片叠压而成,或由永磁铁制得,或者由硅钢片与永磁铁叠压而成。The stator and rotor mechanism of a spiral stepping motor according to claim 1, wherein the rotor block (2) is formed by laminating a plurality of single-piece silicon steel sheets, or made of permanent magnets, or by silicon steel sheets and The permanent magnet is laminated.
- 根据权利要求1所述的螺旋步进电动机的定子、转子机构,其特征在于:所有转子块(2)放置后的轴向长度较佳是所述螺旋线螺距的整数倍。The stator and rotor mechanism of a spiral stepping motor according to claim 1, characterized in that the axial length of all the rotor blocks (2) after placement is preferably an integral multiple of the pitch of the spiral.
- 根据权利要求1所述的螺旋步进电动机的定子、转子机构,其特征在于:两块盖板(4)左右对称设置,且盖板(4)上有一个假极靴,它不绕线圈,仅起到第一个定子块(3)上的第一个极靴和最后一个定子块(3)上的最后一个极靴磁通的通路作用。The stator and rotor mechanism of the spiral stepping motor according to claim 1, wherein the two cover plates (4) are symmetrically disposed on the left and right sides, and the cover plate (4) has a false pole shoe which does not wrap around the coil. Only acts as a passage for the last pole piece of the first pole piece on the first stator block (3) and the last pole piece on the last stator block (3).
- 根据权利要求1所述的螺旋步进电动机的定子、转子机构,其特征在于:在中心轴(1)两侧的定子块(3)用定子固定销(6)连接定位,定子固定销(6)并起到磁通的通路作用。The stator and rotor mechanism of a spiral stepping motor according to claim 1, characterized in that the stator blocks (3) on both sides of the central shaft (1) are connected and positioned by a stator fixing pin (6), and the stator fixing pin (6) ) and act as a magnetic flux.
- 根据权利要求1所述的螺旋步进电动机的定子、转子机构,其特征在于:导线从定子固定销(6)的开口进出。A stator or rotor mechanism for a spiral stepping motor according to claim 1, wherein the wire is guided in and out from the opening of the stator fixing pin (6).
- 根据权利要求1所述的螺旋步进电动机的定子、转子机构,其特征在于:转子是导电的液体或者导电的气体。A stator or rotor mechanism for a spiral stepping motor according to claim 1, wherein the rotor is a conductive liquid or a conductive gas.
- 一种螺旋步进电动机,其特征在于:包括权利要求1-9所述的任一项的定子、转子机构。 A spiral stepping motor comprising the stator and rotor mechanism according to any one of claims 1-9.
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RU2762288C1 (en) * | 2019-11-05 | 2021-12-17 | Дмитрий Валерьевич Хачатуров | Method for constructing a linear electric drive |
CN114583880A (en) * | 2021-12-09 | 2022-06-03 | 郑州大学 | Stator permanent magnet type winding mixed excitation two-degree-of-freedom motor |
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CN104795960B (en) * | 2015-04-30 | 2018-09-21 | 俞富春 | Stator, rotor mechanism and the spiral stepping motor of spiral stepping motor |
CN105262313B (en) * | 2015-11-24 | 2017-08-15 | 俞富春 | Differential detent mechanism and utilize the differential detent mechanism accurate positioning method |
CN110034658A (en) * | 2019-04-19 | 2019-07-19 | 哈尔滨工业大学 | Novel magnetic field modulation system magnetic Screw |
US11876407B2 (en) * | 2020-07-31 | 2024-01-16 | Lenovo (Singapore) Pte. Ltd. | Assembly for rotary motion using electropermanent magnet assembly |
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