CN111509948B - Multi-degree-of-freedom magnetic field modulation type magnetic screw actuator and integrated design method thereof - Google Patents
Multi-degree-of-freedom magnetic field modulation type magnetic screw actuator and integrated design method thereof Download PDFInfo
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- CN111509948B CN111509948B CN202010208697.7A CN202010208697A CN111509948B CN 111509948 B CN111509948 B CN 111509948B CN 202010208697 A CN202010208697 A CN 202010208697A CN 111509948 B CN111509948 B CN 111509948B
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Abstract
The invention discloses a multi-degree-of-freedom magnetic field modulation type magnetic screw actuator and an integrated design method thereof, wherein the multi-degree-of-freedom magnetic field modulation type magnetic screw actuator comprises a spiral magnetic stator, a rotor spiral iron ring, a spiral magnetic rotor and a rotating motor which are coaxially arranged; according to the characteristics of the spiral structure, the magnetic pole pairs among the spiral magnetic rotor, the spiral iron ring rotor and the spiral magnetic stator not only meet the modulation mechanism in the linear direction, but also meet the modulation mechanism in the circumferential direction. The invention provides a multi-degree-of-freedom magnetic field modulation type magnetic screw actuator and an integrated design method thereof, solves the problems of single degree of freedom in operation, single magnetic field modulation, short movement stroke and low utilization rate of a permanent magnet of the existing magnetic screw linear actuator on the premise of ensuring reliability and economy, and remarkably improves the force energy density of the existing multi-degree-of-freedom actuator.
Description
Technical Field
The invention relates to a magnetic field modulation type magnetic screw rod with multiple degrees of freedom and an integrated design method thereof, in particular to a spiral magnetic transmission and magnetic field modulation technology and an integrated design method, which are suitable for multiple degrees of freedom compound motion and belong to the technical field of design and manufacture of novel multiple degrees of freedom magnetic actuators.
Background
The multi-degree-of-freedom actuator has the characteristics of multi-dimensional motion, simplicity in maintenance and the like, and has a very strong application prospect in the field of industrial driving such as robots, medical equipment, aerospace and the like. The single-degree-of-freedom actuator can only realize motion in a single direction, and in order to obtain linear-rotary multi-degree-of-freedom motion, the linear actuator and the rotary actuator can be mechanically combined to output the multi-degree-of-freedom motion through an intermediate transmission mechanism. However, the combined actuator has a complex structure, a large volume and weight, low operation efficiency and poor operation precision.
A linear-rotary permanent magnet motor is adopted, a rotary magnetic field and a traveling wave magnetic field are generated by controlling the current phase sequence through the interaction between a stator winding and a rotor permanent magnet, and therefore the rotor is driven to realize rotary and linear multi-degree-of-freedom operation. However, the structure has the disadvantages of low force energy density, large permanent magnet consumption in long stroke, high cost and great limitation on application range.
The literature of Analysis of a magnetic scale for high performance magnetic actuators IEEE TRANSACTIONS ON MAGNETICS,47(10) 4477-4480,2011 describes a surface-mounted magnetic lead screw, which alternately mounts radially-charged spiral permanent magnets N, S ON an electrical iron rod. Compared with other linear drivers, the structure can greatly improve the thrust density and increase the air gap magnetic induction intensity, but the magnetic field modulation of the introduced magnetic lead screw is single, the linear motion stroke is short, and if the stroke is increased, the use amount of the permanent magnet is only increased. With the increasing price of permanent magnetic materials, the application progress of the magnetic lead screw is limited.
The Chinese patent application No. 201610821273.1 discloses a magnetic field modulation type magnetic screw, which is a magnetic gear structure meeting the requirement of single linear magnetic field modulation, wherein rotor permanent magnets are spirally and alternately distributed in N, S poles, and the number of pole pairs in the linear direction is pr(ii) a The mover is composed of a spiral electric iron ring, and the number of pole pairs in the linear direction is nt(ii) a The stator permanent magnets are spirally and alternately distributed with N, S poles, and the number of pole pairs in the linear direction is ps(ii) a And satisfy ps＝nt-prLinear magnetic field modulation relationship of (1). In the structure, the rotor can only realize linear reciprocating motion, so that the application background of multiple degrees of freedom of the rotor is limited. The documents design and experimental testing a magnetic sampled surface scan, IEEE TRANSACTIONS INDUSTRY APPLICATIONS,54(6): 5736) 5747,2018, a theoretical prototype was designed and manufactured, and the linear motion magnetic field modulation effect was experimentally verified.
The Chinese patent application No. 201610821273.1 discloses a multi-stator unit linear rotating permanent magnet motor, which generates a rotating magnetic field and a traveling wave magnetic field by controlling the current phase sequence, thereby driving a rotor to realize multi-degree-of-freedom operation. But compared with permanent magnetic transmission, the structure has insufficient thrust density and torque density.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a multi-degree-of-freedom magnetic field modulation type magnetic screw actuator and an integrated design method thereof, solves the problems of single degree of freedom, short movement stroke and low utilization rate of a permanent magnet of the conventional magnetic screw on the premise of ensuring reliability and economy, and remarkably improves the force energy density of the conventional linear-rotary permanent magnet actuator.
Specifically, the multi-degree-of-freedom magnetic field modulation type magnetic screw actuator is realized by adopting the following technical scheme: a multi-degree-of-freedom magnetic field debugging magnetic lead screw actuator sequentially comprises a spiral magnetic stator (3), a rotor spiral iron ring (2), a spiral magnetic rotor (1) and a rotating motor (4) from outside to inside, wherein the four are coaxially arranged; an air gap is arranged between the spiral magnetic stator (3) and the rotor spiral iron ring (2), and an air gap is arranged between the rotor spiral iron ring (2) and the spiral magnetic rotor (1); no air gap exists between the rotating motor rotor (5) of the rotating motor (4) and the spiral magnetic rotor (1); selecting the thickness of the air gap according to requirements;
the spiral magnetic stator (3) consists of two spiral permanent magnets C (8-1) and a permanent magnet D (8-2) which are alternately arranged and have opposite magnetizing directions, wherein one magnetizing direction is radial inward, and the other magnetizing direction is radial outward; the lead of the permanent magnet C (8-1) and the permanent magnet D (8-2) is lambda, and the axial length of the single permanent magnet is ls＝λ/(2·ps) Wherein p issThe radial radian of a single permanent magnet is alpha based on the spiral effect of the permanent magnet for the pole pair number of the permanent magnet of the spiral magnetic stator in a lead lambdas＝2π/(2·ps)；
The rotor spiral iron ring (2) is formed by alternately arranging a spiral magnetic conductive electric iron ring A (7-1) and a spiral non-magnetic conductive material B (7-2) and is attached to the outer surface of the stainless steel sleeve (15), the lead of the spiral iron ring is lambda, the lead lambda is consistent with the leads of the permanent magnet C (8-1) and the permanent magnet D (8-2), and the axial length of a single spiral magnetic conductive electric iron ring is lt＝λ/(2·nt) Wherein n istFor the pole pair number of the spiral iron ring within a lead lambda, the same principle is based on the spiral effect of the spiral iron ring, and the radial radian of a single electric iron material is alphat＝2π/(2·nt)；
The spiral magnetic rotor (1) consists of two spiral permanent magnets A (6-1) and a permanent magnet B (6-2) which are alternately arranged and have opposite magnetizing directions, wherein one magnetizing direction is radial inward, and the other magnetizing direction is radial outward; the lead of the permanent magnet A (6-1) and the permanent magnet B (6-2) is lambda, the lead lambda is consistent with the lead of the permanent magnet C (8-1) and the permanent magnet D (8-2), and the axial length of the single permanent magnet is lr＝λ/(2·pr) Wherein p isrThe pole pair number of the rotor spiral permanent magnet in a lead lambda is obtained; the same principle is based on the spiral effect of the permanent magnet, and the radial radian of a single permanent magnet is alphar＝2π/(2·pr)；
The above-mentioned screwThe spiral leads of the rotary magnetic rotor (1), the spiral magnetic stator (3) and the rotor spiral iron ring (2) are always kept the same and are all lambda, and then the pole pair number p of the spiral magnetic rotor (1)rThe pole pair number p of the spiral magnetic stator (3)sAnd the number n of pole pairs of the rotor spiral iron ring (2)tNot only satisfy ps＝nt-prAnd also satisfies ps＝nt-prRadial rotating magnetic field modulation relationship.
Furthermore, the axial lengths of the spiral magnetic rotor (1) and the spiral magnetic stator (3) are kept consistent, and the utilization rate of the permanent magnet is improved to the maximum extent. The axial length of the rotor spiral iron ring (2) is longer than that of the spiral magnetic rotor (1) and the spiral magnetic stator (3), and the specific length is determined according to the stroke requirement.
Further, the rotating motor (4) is composed of a rotating motor rotor (5) and a rotating motor stator; the rotating motor rotor (5) of the rotating motor (4) and the spiral magnetic rotor (1) are integrated to form a composite rotor (13-1), in order to avoid magnetic field coupling between the rotating motor rotor (5) and the spiral magnetic rotor (1) in the composite rotor (13-1), the rotating motor rotor (5) is formed by arranging a permanent magnet E (14-1), a permanent magnet F (14-2), a permanent magnet G (14-3) and a permanent magnet H (14-4), wherein the magnetizing direction of the permanent magnet F (14-2) is outward in the radial direction, the magnetizing direction of the permanent magnet H (14-4) is inward in the radial direction, the magnetizing directions of the permanent magnet E (14-1) and the permanent magnet G (14-3) are axial magnetizing, and the magnetizing direction points to the permanent magnet F (14-2), and a magnetism gathering structure is formed.
Furthermore, a rotating motor rotor (5) of the rotating motor (4) and the spiral magnetic rotor (1) are integrated to form a composite rotor (13-1), a rotating bearing (10-1) of the composite rotor (13-1) is fixed on the base shaft (9), and a rotating motor stator of the rotating motor (4) is fixed on the base shaft (9).
Furthermore, a rotor spiral iron ring (2) is arranged between the spiral magnetic rotor (1) and the spiral magnetic stator (3), end covers (12) are arranged at two ends of the rotor spiral iron ring (2), a rotary bearing mounting opening is reserved on each end cover (12), and a rotary bearing (10-2) is arranged at the rotary bearing mounting opening; in order to realize the spiral motion, the linear motion and the rotary motion of the rotor spiral iron ring (2), a spline groove (9-1) is configured on the base shaft (9), a linear spline sleeve (11) is further mounted on the base shaft (9) to realize the linear motion, a rotary bearing (10-2) is mounted on the spline sleeve (11), and the two are matched to realize the spiral motion and the rotary motion.
Further, the rotor spiral iron ring (2), the spiral magnetic conductive electrical iron ring A (7-1) and the spiral magnetic non-conductive material B (7-2) are alternately arranged, and the spiral magnetic conductive electrical iron ring A (7-1) is sequentially and alternately attached to the outer surface of the stainless steel sleeve 15 along the circumferential direction through the segmented electrical iron ring 16 to form the spiral magnetic conductive electrical iron ring A (7-1).
An integrated design method for a magnetic screw actuator with multiple degrees of freedom for debugging a magnetic field comprises the following steps:
step 1, ensuring that the spiral lead lambada of a spiral permanent magnet A (6-1) and a spiral permanent magnet B (6-2), the spiral lead lambada of a spiral magnetic conductive electric iron ring A (7-1) and a spiral non-magnetic conductive material B (7-2), the spiral lead lambada of a spiral permanent magnet C (8-1) and a spiral permanent magnet D (8-2) and keeping the lengths of the spiral leads lambada of the three parts consistent;
and step 2, determining the pole pair number p of the spiral magnetic rotor (1) by adjusting the axial length l of the magnet, l being lambda/(pole pair number multiplied by 2) under the condition that the spiral lead lambda lengths are consistentrThe number n of pole pairs of the rotor spiral iron ring (2)tAnd the number p of pole pairs of the helical magnetic stator 3sThereby satisfying the air gap magnetic field modulation mechanism in the linear direction;
and 3, under the condition of meeting the linear direction air gap magnetic field modulation mechanism, sectioning the circumferential directions of the spiral magnetic rotor (1), the rotor spiral iron ring (2) and the spiral magnetic stator (3), and verifying the pole pair number p of the spiral magnetic rotor (1) through a circumferential radian alpha, alpha being 2 pi/(pole pair number multiplied by 2)rThe number n of pole pairs of the rotor spiral iron ring (2)tAnd the number p of pole pairs of the helical magnetic stator (3)sThe length of the spiral lead is ensured to be consistent, and the number of pole pairs in the circumferential direction is kept consistent with that in the linear direction, so that the modulation mechanism in the linear direction and the modulation mechanism in the circumferential direction are met;
step 5, introducing n into the three-dimensional spiral magnetic field of the spiral magnetic rotor (1)tAfter the rotor spiral iron ring (2) with the number of pole pairs, n exists due to the constitution of the spiral magnetic conductive electric iron ring A (7-1) and the spiral non-magnetic conductive material B (7-2)tThe air gap permeance distribution of the linear component and the circumferential component of the pole pair number is modulated to n in the linear direction and the circumferential direction respectivelyt±prThe sub-magnetic field distribution thereby determining the number of pole pairs of the helical magnetic stator (3) to be nt-prIs a suitable value;
and 6, carrying out Fourier harmonic analysis on the air gap flux densities in the circumferential direction and the linear direction before and after modulation, verifying the feasibility of the modulation principle, and verifying the relation between the torque and the thrust.
The invention has the following benefits and effects:
1. according to the invention, the rotor spiral iron ring is positioned between the spiral magnetic rotor and the spiral magnetic stator, and a three-dimensional spiral rotating magnetic field is formed by the rotation of the spiral magnetic rotor, so that the spiral rotor iron ring is driven to realize linear, rotary and spiral motion;
2. the invention obviously improves the thrust density and the torque density while realizing the multi-degree-of-freedom operation, obviously reduces the using amount of permanent magnets in the long-stroke field and reduces the material cost;
3. the invention obtains a design method of a proper magnetic field modulation ratio, increases the utilization rate of the spiral permanent magnet and further obtains the maximum thrust density and torque density;
4. the invention integrates and designs the external rotor rotating motor and the magnetic field modulation type magnetic force lead screw actuator with multiple degrees of freedom, adopts the method of superposing the spline linear bearing and the rotating bearing, realizes the design of the spiral bearing with the minimum friction force, and respectively realizes the single degree of freedom motion of linear motion and rotation by switching on and off the rotating bearing and the linear bearing.
In conclusion, the multi-degree-of-freedom magnetic field modulation type magnetic screw actuator disclosed by the invention has the advantages that the three-dimensional spiral magnetic field rotates to move, so that the magnetic field modulation in the axial linear direction and the radial circumferential direction are met, the spiral rotor iron ring is driven to realize the multi-degree-of-freedom movement, and the thrust and the torque density can be obviously improved compared with the traditional rotation-linear permanent magnet actuator; compared with the traditional magnetic transmission actuator, the spiral magnetic field modulation with the structure is adopted, the high-force energy density transmission is ensured, the utilization rate of the permanent magnet is further improved, the consumption of permanent magnet materials is obviously reduced in the long-stroke linear application field, and the material cost is reduced.
Drawings
FIG. 1 is a schematic structural view of an actuator according to a first embodiment of the present invention;
FIG. 2 is an axial, radial cross-sectional view of the inventive structure;
FIG. 3 is a schematic diagram of the helix of the permanent magnet of the helical rotor of the present invention;
FIG. 4 is a schematic diagram of the spiral stator permanent magnet spiral of the present invention;
FIG. 5 is a schematic view of a spiral rotor iron ring of the present invention;
FIG. 6 is a schematic diagram of a three-dimensional helical magnetic field of a helical rotor according to the present invention;
FIG. 7 is a schematic view of the magnetic field of the helical rotor modulated by the helical rotor iron ring according to the present invention;
FIG. 8 is a graph of an air gap flux density harmonic spectrum analysis of the present invention; (a) is the magnetic density circumferential component; (b) is a magnetic flux density linear component;
FIG. 9 is a schematic illustration of torque and thrust waveforms for various components; (a) is a torque waveform; (b) is a thrust waveform;
FIG. 10 is a schematic diagram of an assembly of a screw rotor hoop;
in the figure: 1. the rotor comprises a spiral magnetic rotor, 2, a rotor spiral iron ring, 3, a spiral magnetic stator, 4, a rotary motor, 5, a rotary motor rotor, 6-1, permanent magnets A, 6-2, permanent magnets B, 7-1, spiral magnetic conductive electric iron rings A, 7-2, spiral non-magnetic conductive materials B, 8-1, permanent magnets C, 8-2, permanent magnets D, 9, a base shaft, 10-1, an inner rotor rotary bearing, 10-2, a rotor spiral iron ring rotary bearing, 11, a spline sleeve, 12, an end cover, 13-1, a composite rotor, 14, a rotary motor rotor permanent magnet, 15, a stainless steel sleeve, 16 and a segmented electric iron ring.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
As shown in fig. 1, the invention discloses a multi-degree-of-freedom magnetic field modulation type magnetic screw actuator and an integrated design method thereof.A spiral magnetic rotor 1 consists of a spiral permanent magnet A6-1 and a spiral permanent magnet B6-2, wherein the magnetization direction of the spiral permanent magnet A6-1 is outward in the radial direction, the magnetization direction of the spiral permanent magnet B6-2 is inward in the radial direction, and the two are alternately attached to the outer surface of an electrical iron ring;
the rotor spiral iron ring 2 is composed of a spiral magnetic conductive electric iron ring A7-1 and a spiral non-magnetic conductive material B7-2, the spiral magnetic conductive electric iron ring A7-1 and the spiral non-magnetic conductive material B7-2 are sequentially and alternately arranged, end covers 12 are mounted at two ends of the rotor spiral iron ring 2, bearing mounting holes are reserved on the end covers 12, rotary bearings 10-2 are mounted in the reserved holes, the rotary bearings 10-2 are fixed on a linear spline sleeve 11, and the linear spline sleeve 11 is matched with a spline groove 9-1 on a base shaft 9 to realize linear motion;
the spiral magnetic stator 3 comprises a permanent magnet C8-1 and a permanent magnet D8-2, wherein the permanent magnet C8-1 is magnetized radially outwards, the permanent magnet D8-2 is magnetized radially inwards, and the permanent magnets are alternately attached to the inner surface of an electrical iron ring;
the outer rotor rotating motor consists of an inner stator 4 and a rotating motor rotor 5; the rotary motor rotor 5 and the spiral magnetic rotor 1 are integrated to form a composite integrated rotor 13-1, mounting holes of rotary bearings 10-1 are reserved on end covers at two ends of the composite integrated rotor 13-1, and the rotary bearings 10-1 are fixed on the base shaft 9 to realize rotary motion;
the design method of the magnetic screw rod for obtaining the multi-degree-of-freedom magnetic field modulation effect comprises the following steps of:
step 1, ensuring that the spiral lead lambda of the spiral permanent magnet A6-1 and the spiral permanent magnet B6-2 is consistent with the spiral lead lambda of the spiral magnetic conductive electric iron ring A7-1 and the spiral non-magnetic conductive material B7-2 and the spiral lead lambda of the spiral permanent magnet C8-1 and the spiral permanent magnet D8-2 in length;
and 3, under the condition of meeting the linear direction air gap magnetic field modulation mechanism, carrying out section cutting on the circumferential directions of the spiral magnetic rotor 1, the rotor spiral iron ring 2 and the spiral magnetic stator 3, and verifying the pole pair number p of the spiral magnetic rotor 1 by the circumferential radian alpha, alpha being 2 pi/(pole pair number multiplied by 2)rThe number n of pole pairs of the rotor spiral iron ring 2tAnd the number p of pole pairs of the helical magnetic stator 3sThe length of the spiral lead is ensured to be consistent, and the number of pole pairs in the circumferential direction is kept consistent with that in the linear direction, so that the modulation mechanism in the linear direction and the modulation mechanism in the circumferential direction are met;
and 4, verifying the three-dimensional spiral magnetic field and the magnetic field modulation effect thereof under the condition of determining the number of the pole pairs of each part, wherein the number of the pole pairs of the spiral magnetic rotor 1 is prIn the linear direction and the circumferential direction, the air gap flux density distribution in the linear direction and the air gap flux density distribution in the circumferential direction are both prDistributing magnetic poles;
step 5, introducing n into the three-dimensional spiral magnetic field of the spiral magnetic rotor 1tAfter the rotor spiral iron ring 2 with the pole pair number, the spiral magnetic conductive electrical iron ring A7-1 and the spiral magnetic non-conductive material B7-2 form, so that n existstThe air gap permeance distribution of the linear component and the circumferential component of the pole pair number is modulated to n in the linear direction and the circumferential direction respectivelyt±prThe sub-magnetic field distribution thereby determining the number of pole pairs n of the helical magnetic stator 3t-prIs a suitable value;
and 6, carrying out Fourier harmonic analysis on the air gap flux densities in the circumferential direction and the linear direction before and after modulation, verifying the feasibility of the modulation principle, and verifying the relation between the torque and the thrust.
Example 1
For the purpose of clearly illustrating the embodiments of the present invention, the present invention will be described below with reference to a magnetic screw actuator with multiple degrees of freedom and magnetic field modulation. As shown in fig. 1, it can be seen that a helical magnetic rotor 1, a mover helical iron ring 2, a helical magnetic stator 3, and an outer rotor rotating electric machine are coaxially disposed, and the mover helical iron ring 2 is disposed between the helical magnetic rotor 1 and the helical magnetic stator 3 with an air gap therebetween. The spiral magnetic rotor 1 and the rotary motor rotor 5 adopt an integrated design, and no air gap exists in the middle, so that the spiral magnetic rotor 1 realizes rotary motion. The spiral magnetic stator 3 is kept fixed and does not move, and the multi-degree-of-freedom movement of the spiral rotor iron ring 2 is realized according to the spiral magnetic field modulation principle.
As shown in fig. 2, it can be seen that the magnetic field modulation type magnetic screw proposed by the present invention is viewed from different viewing angle directions. The proposed magnetic field modulated magnetic screw can be equivalent to a concentric rotating magnetic gear according to the side view of the viewing direction 1. Similarly, according to the spiral design, the proposed magnetic field modulation type magnetic screw can be simultaneously equivalent to a cylindrical linear magnetic gear according to the side view of the viewing angle direction 2.
In the present embodiment, the permanent magnet of the helical magnetic rotor 1 is composed of helical permanent magnets 6-1 and 6-2 with the magnetizing directions of radially inward and radially outward, two helical permanent magnets with opposite magnetizing directions are arranged in a helical alternating manner, the lead of the helical permanent magnet is 100mm, and the helical permanent magnet is divided into a 4-pair magnetic pole structure within one lead of lambda, so that the axial length of a single permanent magnet is lr＝λ/(2·pr) 12.5mm, where prThe pole pair number of the rotor helical permanent magnet in one lead lambda is obtained. The same principle is based on the spiral effect of the permanent magnet, and the circumference radian of a single permanent magnet is alphar＝2π/(2·pr) 45 degrees as shown in fig. 3.
The rotor spiral iron ring 2 is composed of a spiral magnetic conductive electric iron ring A7-1 and a spiral non-magnetic conductive material B7-2, the spiral magnetic conductive electric iron ring A7-1 and the spiral non-magnetic conductive material B7-2 are sequentially and alternately arranged, the lead length lambda of the spiral magnetic conductive electric iron ring is 100mm and is the same as that of the spiral permanent magnets A6-1 and B6-2, and the magnetic pole structure is divided into 13 pairs of poles in one lead lambda, so that the axial length of the spiral magnetic conductive electric iron ring is lt＝λ/(2·nt) 3.84mm, where ntThe pole pair number of the rotor spiral iron ring 2 in a lead lambda is shown. In the same way, based on the spiral effect, the radian of the circumference of the spiral magnetic conductive electrical iron ring is alphat＝2π/(2·nt) 13.8 degrees as shown in fig. 4. The axial length of the spiral magnetic conductive electrical iron ring is ltAnd a circumferential arc of alphatThe size needs to be optimized to achieve the optimal magnetic field modulation effect, but the specific optimization range needs to be around 3.84mm and 13.8 degrees.
The permanent magnet of the adopted spiral magnetic stator 3 consists of spiral permanent magnets 8-1 and 8-2 with the magnetizing directions of radial inward and radial outward, the two spiral permanent magnets with the magnetizing directions opposite are arranged in a spiral alternate mode, the lead of the spiral permanent magnet is 100mm, one lead is within lambda and is divided into a magnetic pole structure with 9 pairs of poles, and then the axial direction of a single permanent magnet isLength of lr＝λ/(2·ps) 5.55mm, where psThe pole pair number of the stator helical permanent magnet in one lead lambda is obtained. The same principle is based on the spiral effect of the permanent magnet, and the circumference radian of a single permanent magnet is alphas＝2π/(2·ps) 20 degrees as shown in fig. 5.
In the present embodiment, the number p of pole pairs of the helical magnetic rotor 1r4, pole pair number p of the helical magnetic stator 3s9, and the number n of pole pairs of the rotor spiral iron ring 2tNot only satisfies p 13s＝nt-prAnd also satisfies ps＝nt-prThe circumferential rotating magnetic field modulation relationship of (1).
In the present embodiment, a three-dimensional finite element analysis is performed on the helical magnetic field of the helical magnetic rotor 1, and the number p of pole pairs of the helical magnetic rotor 1r4, because the magnetic field adopts a spiral distribution, a radial air gap flux density circumferential component B existsθiAnd radial air gap flux density linear component BziAs shown in fig. 6. The circumferentially distributed air gap magnetic field and the linearly distributed air gap magnetic field mainly contain 4 pairs of polar harmonic contents and odd multiples of 4.
When introducing the number of pole pairs ntAfter the rotor spiral iron ring 2 of 13, the magnetic conductance of the magnetic regulating ring in the air gap exists, and the circumferential component and the linear component Λ of the air gap magnetic conductance when the magnetic conductance is not in the air gapθAnd Λz. Radial air gap flux density circumferential component Λ of the helical magnetic field of the helical magnetic rotor 1θ·BθiAnd radial air gap flux density linear component Λz·BziA corresponding helical magnetic field modulation is generated and a significant harmonic content of 9 pairs of poles appears, as shown in fig. 7. In order to meet the working principle of the magnetic field modulation type magnetic screw rod, 9 pairs of poles, namely p, are correspondingly selected as the pole pairs of the spiral magnetic stator 3s＝nt-pr. And to the magnetic density circumferential component B of the radial air gapθiAnd radial air gap flux density linear component BziThe air gap flux density of (a) was subjected to harmonic analysis as shown in fig. 8.
In the present embodiment, the helical magnetic rotor 1 is partially rotated, the helical magnetic stator 3 is partially fixed, and the helical moverThe iron ring 2 is partially used as a rotary-linear motion output port. When 4 pairs of pole spiral magnetic rotors 1 are in omegarThe rotating speed of the helical magnetic rotor is 360 degrees, and the helical magnetic field of the helical magnetic rotor forms a linear motion with a helical lead lambda being 100mm according to the rotating effect of the helical magnetic field, and the transmission ratio is G lambda/2 pi. According to the modulation effect of the spiral magnetic field, the spiral magnetic field acts on the spiral rotor iron ring 2 with 13 pairs of poles to form a linear displacement of lambda-4/13 with the linear velocity vt＝(λ/2π)·(4/13)·ωr. Similarly, according to the modulation effect of the spiral magnetic field, the spiral magnetic field acts on the rotor spiral iron ring 2 with 13 pairs of poles to form a rotation angle of 2 pi · 4/13, and the rotation speed is ωt＝(4/13)·ωr. The corresponding two degree of freedom thrust torque angle characteristic is shown in figure 9.
In the present embodiment, the magnetic conductive electrical iron rings a7-1 of the rotor helical iron ring 2 are sequentially and alternately attached to the outer surface of the stainless steel sleeve 15 in the circumferential direction by the segmented electrical iron rings 16 to form the helical lead electrical iron ring a7-1, as shown in fig. 10.
Claims (5)
1. A multi-degree-of-freedom magnetic field debugging magnetic lead screw actuator is characterized by comprising a spiral magnetic stator (3), a rotor spiral iron ring (2), a spiral magnetic rotor (1) and a rotating motor (4) which are coaxially arranged from outside to inside in sequence; an air gap is arranged between the spiral magnetic stator (3) and the rotor spiral iron ring (2), and an air gap is arranged between the rotor spiral iron ring (2) and the spiral magnetic rotor (1); no air gap exists between the rotating motor rotor (5) of the rotating motor (4) and the spiral magnetic rotor (1); selecting the thickness of the air gap according to requirements;
the spiral magnetic stator (3) consists of two spiral permanent magnets C (8-1) and a permanent magnet D (8-2) which are alternately arranged and have opposite magnetizing directions, wherein one magnetizing direction is radial inward, and the other magnetizing direction is radial outward; the lead of the permanent magnet C (8-1) and the permanent magnet D (8-2) is lambda, and the axial length of the single permanent magnet is ls＝λ/(2·ps) Wherein p issFor the pole pair number of the permanent magnet of the spiral magnetic stator in a lead lambda, the same principle is based on the spiral effect of the permanent magnet, and the radial arc of a single permanent magnetDegree of alphas＝2π/(2·ps)；
The rotor spiral iron ring (2) is formed by alternately arranging a spiral magnetic conductive electric iron ring A (7-1) and a spiral non-magnetic conductive material B (7-2) and is attached to the outer surface of the stainless steel sleeve (15), the lead of the spiral iron ring is lambda, the lead lambda is consistent with the leads of the permanent magnet C (8-1) and the permanent magnet D (8-2), and the axial length of a single spiral magnetic conductive electric iron ring is lt＝λ/(2·nt) Wherein n istFor the pole pair number of the spiral iron ring within a lead lambda, the same principle is based on the spiral effect of the spiral iron ring, and the radial radian of a single electric iron material is alphat＝2π/(2·nt)；
The spiral magnetic rotor (1) consists of two spiral permanent magnets A (6-1) and a permanent magnet B (6-2) which are alternately arranged and have opposite magnetizing directions, wherein one magnetizing direction is radial inward, and the other magnetizing direction is radial outward; the lead of the permanent magnet A (6-1) and the permanent magnet B (6-2) is lambda, the lead lambda is consistent with the lead of the permanent magnet C (8-1) and the permanent magnet D (8-2), and the axial length of the single permanent magnet is lr＝λ/(2·pr) Wherein p isrThe pole pair number of the rotor spiral permanent magnet in a lead lambda is obtained; the same principle is based on the spiral effect of the permanent magnet, and the radial radian of a single permanent magnet is alphar＝2π/(2·pr)；
The spiral leads of the spiral magnetic rotor (1), the spiral magnetic stator (3) and the rotor spiral iron ring (2) are always kept the same and are all lambda, and then the pole pair number p of the spiral magnetic rotor (1)rThe pole pair number p of the spiral magnetic stator (3)sAnd the number n of pole pairs of the rotor spiral iron ring (2)tNot only satisfy ps＝nt-prAnd also satisfies ps＝nt-prThe radial rotating magnetic field modulation relationship;
the axial lengths of the spiral magnetic rotor (1) and the spiral magnetic stator (3) are kept consistent, the utilization rate of the permanent magnet is improved to the maximum extent, the axial length of the rotor spiral iron ring (2) is longer than that of the spiral magnetic rotor (1) and that of the spiral magnetic stator (3), and the specific length is determined according to the stroke requirement;
the rotating motor (4) consists of a rotating motor rotor (5) and a rotating motor stator; the rotating motor rotor (5) of the rotating motor (4) and the spiral magnetic rotor (1) are integrated to form a composite rotor (13-1), in order to avoid magnetic field coupling between the rotating motor rotor (5) and the spiral magnetic rotor (1) in the composite rotor (13-1), the rotating motor rotor (5) is formed by arranging a permanent magnet E (14-1), a permanent magnet F (14-2), a permanent magnet G (14-3) and a permanent magnet H (14-4), wherein the magnetizing direction of the permanent magnet F (14-2) is outward in the radial direction, the magnetizing direction of the permanent magnet H (14-4) is inward in the radial direction, the magnetizing directions of the permanent magnet E (14-1) and the permanent magnet G (14-3) are axial magnetizing, and the magnetizing direction points to the permanent magnet F (14-2), and a magnetism gathering structure is formed.
2. The multi-degree-of-freedom magnetic field debugging magnetic screw actuator according to claim 1, wherein a rotating motor rotor (5) of the rotating motor (4) and a spiral magnetic rotor (1) are integrated to form a composite rotor (13-1), a rotating bearing (10-1) of the composite rotor (13-1) is fixed on a base shaft (9), and a rotating motor stator of the rotating motor (4) is fixed on the base shaft (9).
3. The magnetic lead screw actuator for debugging the magnetic field with multiple degrees of freedom according to claim 1, characterized in that a rotor helical iron ring (2) is installed between a helical magnetic rotor (1) and a helical magnetic stator (3), end covers (12) are installed at two ends of the rotor helical iron ring (2), a rotary bearing installation opening is reserved on each end cover (12), and a rotary bearing (10-2) is arranged at the rotary bearing installation opening; in order to realize the spiral motion, the linear motion and the rotary motion of the rotor spiral iron ring (2), a spline groove (9-1) is configured on the base shaft (9), a linear spline sleeve (11) is further mounted on the base shaft (9) to realize the linear motion, a rotary bearing (10-2) is mounted on the spline sleeve (11), and the two are matched to realize the spiral motion and the rotary motion.
4. The magnetic screw actuator for debugging the magnetic field with multiple degrees of freedom according to claim 1, wherein the rotor helical iron ring (2), the helical magnetic conductive electrical iron ring a (7-1) and the helical non-magnetic conductive material B (7-2) are alternately arranged, and the helical magnetic conductive electrical iron ring a (7-1) is formed by sequentially and alternately attaching segmented electrical iron rings 16 to the outer surface of the stainless steel sleeve 15 along the circumferential direction to form the helical magnetic conductive electrical iron ring a (7-1).
5. The integrated design method of the magnetic screw actuator with multiple degrees of freedom for debugging the magnetic field is characterized by comprising the following steps of:
step 1, ensuring that the spiral lead lambada of a spiral permanent magnet A (6-1) and a spiral permanent magnet B (6-2), the spiral lead lambada of a spiral magnetic conductive electric iron ring A (7-1) and a spiral non-magnetic conductive material B (7-2), the spiral lead lambada of a spiral permanent magnet C (8-1) and a spiral permanent magnet D (8-2) and keeping the lengths of the spiral leads lambada of the three parts consistent;
and step 2, determining the pole pair number p of the spiral magnetic rotor (1) by adjusting the axial length l of the magnet, l being lambda/(pole pair number multiplied by 2) under the condition that the spiral lead lambda lengths are consistentrThe number n of pole pairs of the rotor spiral iron ring (2)tAnd the number p of pole pairs of the helical magnetic stator 3sThereby satisfying the air gap magnetic field modulation mechanism in the linear direction;
and 3, under the condition of meeting the linear direction air gap magnetic field modulation mechanism, sectioning the circumferential directions of the spiral magnetic rotor (1), the rotor spiral iron ring (2) and the spiral magnetic stator (3), and verifying the pole pair number p of the spiral magnetic rotor (1) through a circumferential radian alpha, alpha being 2 pi/(pole pair number multiplied by 2)rThe number n of pole pairs of the rotor spiral iron ring (2)tAnd the number p of pole pairs of the helical magnetic stator (3)sThe length of the spiral lead is ensured to be consistent, and the number of pole pairs in the circumferential direction is kept consistent with that in the linear direction, so that the modulation mechanism in the linear direction and the modulation mechanism in the circumferential direction are met;
and 4, verifying the three-dimensional spiral magnetic field and the magnetic field modulation effect thereof under the condition of determining the number of the pole pairs of each part, wherein the number of the pole pairs of the spiral magnetic rotor (1) is prIn the linear direction and the circumferential direction, the air gap flux density distribution in the linear direction and the air gap flux density distribution in the circumferential direction are both prDistributing magnetic poles;
step 5, in the three-dimensional spiral magnetic field of the spiral magnetic rotor (1)Introduction of ntAfter the rotor spiral iron ring (2) with the number of pole pairs, n exists due to the constitution of the spiral magnetic conductive electric iron ring A (7-1) and the spiral non-magnetic conductive material B (7-2)tThe air gap permeance distribution of the linear component and the circumferential component of the pole pair number is modulated to n in the linear direction and the circumferential direction respectivelyt±prThe sub-magnetic field distribution thereby determining the number of pole pairs of the helical magnetic stator (3) to be nt-prIs a suitable value;
and 6, carrying out Fourier harmonic analysis on the air gap flux densities in the circumferential direction and the linear direction before and after modulation, verifying the feasibility of the modulation principle, and verifying the relation between the torque and the thrust.
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| CN202010208697.7A CN111509948B (en) | 2020-03-23 | 2020-03-23 | Multi-degree-of-freedom magnetic field modulation type magnetic screw actuator and integrated design method thereof |
| PCT/CN2020/087571 WO2021189595A1 (en) | 2020-03-23 | 2020-04-28 | Multi-degree-of-freedom magnetic field modulation-type magnetic screw actuator and integrated design method therefor |
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| CN113422496B (en) * | 2021-05-13 | 2022-06-21 | 江苏大学 | High-positioning-precision mixed magnetic source magnetic screw and multi-harmonic cooperative modulation method thereof |
| CN113991967B (en) * | 2021-09-30 | 2023-07-14 | 清华大学 | Non-contact permanent magnet supporting device |
| CN114583880B (en) * | 2021-12-09 | 2023-08-18 | 郑州大学 | Stator permanent magnet winding hybrid excitation two-degree-of-freedom motor |
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