CN101710779A - Long stroke synchronous planar motor with integrated winding structure - Google Patents
Long stroke synchronous planar motor with integrated winding structure Download PDFInfo
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- CN101710779A CN101710779A CN200910073495A CN200910073495A CN101710779A CN 101710779 A CN101710779 A CN 101710779A CN 200910073495 A CN200910073495 A CN 200910073495A CN 200910073495 A CN200910073495 A CN 200910073495A CN 101710779 A CN101710779 A CN 101710779A
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Abstract
The invention relates to a long stroke synchronous planar motor with an integrated winding structure, which belongs to the field of motors and solves the problems of complicated structure, low winding use ratio, large loss and limited stroke of the traditional planar motor. The planar motor consists of a plurality of motor units. The width lt of a coil and the polar distance gammap of a permanent magnet array in each motor unit satisfy the relation: lt=gammap; the center distance gammat of the coil and the polar distance gammap of the permanent magnet array satisfy the relation: gammat=1.5 gammap. An armature winding of each motor unit consists of four square coils, the winding directions are same; the coils are fixedly arranged on a flat-shaped winding substrate in Chinese character 'tian'; permanent magnets in the permanent magnet array of each motor unit are evenly distributed on a permanent magnet yoke plate; the magnetizing directions of the permanent magnets, the opposite angles of which are adjacent, are opposite; and the magnetizing directions in the same row or line are same. The planar motor has simple structure, easy control and high control precision, and the stroke is not limited. The planar motor is suitable for being used for 2-D planar drive devices, in particular for precise 2-D planar drive devices.
Description
Technical field
The invention belongs to machine field, refer more particularly to a kind of long stroke synchronous planar motor with integrated winding structure.
Background technology
Modern precision, ultraprecise process unit have urgent demand to height response, high-speed, high-precision plane drive unit, as machining, electronic product production, mechanical handling, manufacturing automation instrumentation even robot driving etc.Usually these devices produce power drive by rotary electromotor, again by mechanical devices such as belt, ball screws, are converted to rectilinear motion.Because the mechanical device complexity, transmission accuracy and speed all are restricted, and need frequent adjustment, cause cost height, poor reliability, volume bigger.Initial plane drive unit is realized that by two direct driving linear motor adopt stacked Drive Structure, this structure has increased the complexity of drive system, from not breaking away from the pattern that the stack of low-dimensional motion forms the higher-dimension motion in essence.For the linear electric motors of bottom, carry the gross mass of upper strata linear electric motors and associated mechanical components thereof, thereby have a strong impact on location and control accuracy.And directly utilize electromagnetic energy to produce the planar motor of plane motion, have the characteristics of the high and low hear rate of force density, high-speed, high accuracy and high reliability, because of having saved from the rectilinear motion that rotatablely moves again to the intermediate conversion device of plane motion, can be controlling object with being made of one of motor structure, have that reaction is fast, highly sensitive, servo-actuated reaches advantages of simple structure and simple well.According to the generation principle of planar motor electromagnetic push, planar motor can be divided into change magnetic resistance type, synchronized model and induction type.Wherein, good comprehensive performances such as that the synchronized model planar motor has is simple in structure, thrust is big, efficient is high and response speed is fast is at the two dimensional surface drive unit, particularly have broad application prospects in the drive unit of precise 2-D plane.
Figure 8 shows that existing a kind of permanent magnetic synchronous plane electromotor electric machine structure, Fig. 9 is the permanent magnet array structural representation of described planar motor.Comprise stator and mover two big parts in this motor, its operation principle is similar to three-phase rotary permanent-magnet synchronous machine, stator pack contains thrust winding unshakable in one's determination and 4 mutual vertical placements, each winding has independently 3 phases, X is used to drive mover to thrust winding and moves along directions X, and Y is used to drive mover to thrust winding and moves along the Y direction.Mover comprises mover platform and 4 permanent magnet arrays, and permanent magnet array is arranged in the lower surface of mover platform, and by controlling corresponding three-phase winding current, the mover platform just can be done setting movement in the plane.But problems such as this permanent magnetic synchronous plane electromotor motor exists the utilance of electric machine structure complexity, winding low, loss is big, efficient is low, the big and stroke range of control difficulty is little.
Figure 10 is a kind of stacked winding construction permanent magnetic synchronous plane electromotor motor.Comprise primary and secondary two big parts in this motor, secondary secondary platform and 4 permanent magnet arrays of comprising, permanent magnet array is arranged in the lower surface of secondary platform.Elementaryly comprise iron core and divide the armature winding of three layers of layout along the Z axle, every layer of winding has independently 3 phases, after three layers of armature winding energising, interacts with secondary permanent magnet array respectively, produce the electromagnetic force of directions X, Y direction and Z direction, drive mover and move along directions X, Y direction and Z direction.The characteristics of this motor are the simple in structure of driver, and motor range is unrestricted.But there are problems such as the utilance of electric machine structure complexity, winding is low, loss is big, efficient is low in this planar motor.
Summary of the invention
The complex structure, the winding utilization that have planar motor now are low, loss is big, the problem of stroke limiting in order to solve, and the present invention proposes a kind of long stroke synchronous planar motor with integrated winding structure.
The long stroke synchronous planar motor with integrated winding structure of single-side structural of the present invention, described planar motor comprises armature component and permanent magnet excitation parts, be air gap between armature component and the permanent magnet excitation parts, wherein armature component comprises armature winding and winding substrate, and the permanent magnet excitation parts comprise permanent magnet array and plate shaped permanent magnet yoke plate;
Armature winding is four phase windings, described armature winding is individual around forming to identical square coil by 4m, per 4 coil arrangement become four phase winding unit, " field " shape unit, four coils in each four phase winding are formed four phase windings, described 4m coil formed m four phase winding serial or parallel connections and connected, all coils in the described armature winding is positioned on the XY plane, coil side or be parallel to X-axis, or be parallel to Y-axis; Described coil width l
tWith permanent magnet array pole span τ
pBetween satisfy and to concern l
t=τ
pHub of a spool is apart from τ
tWith permanent magnet array pole span τ
pBetween satisfy and to concern τ
t=1.5 τ
p
The permanent magnet yoke plate is divided into n * n square shaped cells lattice, and permanent magnet array comprises n
2/ 2 flat permanent magnet bodies that vertically magnetize, described n
2/ 2 flat permanent magnet bodies evenly distribute and are fixed in the cell on the permanent magnet yoke plate, and the permanent magnet magnetizing direction in the adjacent cell in diagonal angle is opposite, the magnetizing direction of water magnet that is positioned at same row or column is identical, every flat permanent magnet body is square, and cell big or small and on the permanent magnet yoke plate is identical, n is the integer more than or equal to 4, and m is the integer greater than 0.
Integrated winding structure long stroke synchronous planar point machine based on the bilateral structure of the long stroke synchronous planar motor with integrated winding structure of above-mentioned single-side structural comprises armature component and two permanent magnet excitation parts, two permanent magnet excitation parts are parallel to each other, described armature component is between two permanent magnet excitation parts, be air gap between armature component and the permanent magnet excitation parts, wherein armature component comprises armature winding and winding substrate, two permanent magnet excitation modular constructions are identical, and described permanent magnet excitation parts comprise permanent magnet array and permanent magnet yoke plate;
Armature winding is four phase windings, described armature winding is individual around forming to identical square coil by 4m, per 4 coil arrangement become four phase winding unit, " field " shape unit, four coils in each four phase winding are formed four phase windings, described 4m coil formed m four phase winding serial or parallel connections and connected, all coils in the described armature winding is positioned on the XY plane, coil side or be parallel to X-axis, or be parallel to Y-axis; Described coil width l
tWith permanent magnet array pole span τ
pBetween satisfy and to concern l
t=τ
pHub of a spool is apart from τ
tWith permanent magnet array pole span τ
pBetween satisfy and to concern τ
t=1.5 τ
p
The permanent magnet yoke plate is divided into n * n square shaped cells lattice, and permanent magnet array is by n
2/ 2 flat permanent magnet bodies that vertically magnetize constitute described n
2/ 2 flat permanent magnet bodies evenly distribute and are fixed in the cell on the permanent magnet yoke plate, and the permanent magnet magnetizing direction in the adjacent cell in diagonal angle is opposite, the magnetizing direction of permanent magnet that is positioned at same row or column is identical, every flat permanent magnet body is square, and cell big or small and on the permanent magnet yoke plate is identical, n is the integer more than or equal to 4, and m is the integer greater than 0
In two excitation permanent magnet elements, the magnetizing direction of the permanent magnet that vertically magnetizes that the position is identical is identical; The magnetizing direction of the permanent magnet of the identical parallel magnetization in position is opposite.
The present invention also provides a kind of long stroke synchronous planar motor with integrated winding structure of single-side structural, described planar motor comprises armature component and permanent magnet excitation parts, be air gap between armature component and the permanent magnet excitation parts, wherein armature component comprises armature winding and winding substrate, and the permanent magnet excitation parts comprise permanent magnet array and plate shaped permanent magnet yoke plate;
Armature winding is four phase windings, described armature winding is individual around forming to identical square coil by 4m, every 4 adjacent coil arrangement become sphere of movements for the elephants shape four phase winding unit, m four phase winding unit are in parallel or be connected in series, all coils is positioned on the XY plane, each coil side is parallel to X-axis, or is parallel to Y-axis; Described coil width l
tWith permanent magnet array pole span τ
pBetween satisfy and to concern l
t=τ
pHub of a spool is apart from τ
tWith permanent magnet array pole span τ
pBetween satisfy and to concern τ
t=1.5 τ
p
Flat permanent magnet body yoke plate is divided into n * n square shaped cells lattice, and permanent magnet array is by (n+1)
2The flat permanent magnet body of/4 flat permanent magnet bodies that vertically magnetize and polylith parallel magnetization constitutes, (n+1)
2/ 4 flat permanent magnet bodies that vertically magnetize lay respectively at the 1st, 3 ... (n+1)/2 go, the 1st, 3 ... (n+1)/2 be listed as in the cell on the permanent magnet yoke plate that intersects, the magnetizing direction of parallel and vertical adjacent two flat permanent magnet bodies that vertically magnetize is opposite, all be fixed with the flat permanent magnet body of a parallel magnetization in the cell on the permanent magnet yoke plate between per two adjacent flat permanent magnet bodies that vertically magnetize, the magnetizing direction of the flat permanent magnet body of described parallel magnetization is to point to the N utmost point by the S utmost point that is adjacent, n is the integer more than or equal to 4, and m is the integer greater than 0.
Long stroke synchronous planar motor with integrated winding structure based on the bilateral structure of the long stroke synchronous planar motor with integrated winding structure of above-mentioned single-side structural, the described planar motor of described planar motor comprises armature component and two permanent magnet excitation parts, two permanent magnet excitation parts are parallel to each other, described armature component is between two permanent magnet excitation parts, be air gap between armature component and the permanent magnet excitation parts, wherein armature component comprises armature winding and winding substrate, two permanent magnet excitation modular constructions are identical, and described permanent magnet excitation parts comprise permanent magnet array and permanent magnet yoke plate;
Armature winding is four phase windings, described armature winding is individual around forming to identical square coil by 4m, every 4 adjacent coil arrangement become sphere of movements for the elephants shape four phase winding unit, m four phase winding unit are in parallel or be connected in series, all coils is positioned on the XY plane, each coil side is parallel to X-axis, or is parallel to Y-axis; Described coil width l
tWith permanent magnet array pole span τ
pBetween satisfy and to concern l
t=τ
pHub of a spool is apart from τ
tWith permanent magnet array pole span τ
pBetween satisfy and to concern τ
t=1.5 τ
p
Flat permanent magnet body yoke plate is divided into n * n square shaped cells lattice, and permanent magnet array is by (n+1)
2The flat permanent magnet body of/4 flat permanent magnet bodies that vertically magnetize and polylith parallel magnetization constitutes, (n+1)
2/ 4 flat permanent magnet bodies that vertically magnetize lay respectively at the 1st, 3 ... (n+1)/2 go, the 1st, 3 ... (n+1)/2 be listed as in the cell on the permanent magnet yoke plate that intersects, the magnetizing direction of parallel and vertical adjacent two flat permanent magnet bodies that vertically magnetize is opposite, all be fixed with the flat permanent magnet body of a parallel magnetization in the cell on the permanent magnet yoke plate between per two adjacent flat permanent magnet bodies that vertically magnetize, the magnetizing direction of the flat permanent magnet body of described parallel magnetization is to point to the N utmost point by the S utmost point that is adjacent, n is the integer more than or equal to 4, and m is the integer greater than 0;
In two excitation permanent magnet elements, the magnetizing direction of the permanent magnet that vertically magnetizes that the position is identical is identical; The magnetizing direction of the permanent magnet of the identical parallel magnetization in position is opposite.
The X of planar motor of the present invention overlaps winding to driving with Y to driving shared one, direction and size by each coil current of control motor, direction that can control action electromagnetic force on mover and size realize the X, the motion of Y two dimensional surface of electric mover and around the yaw motion of Z axle.
The utilance height of planar motor winding of the present invention, power density, efficient height, simple in structure, control is easily.Simultaneously, the interaction force between stator and the mover is evenly distributed, reduce the deformation that stator, mover cause because of interaction force, thereby can improve the positioning accuracy of motor.Because the thrust that is all directions is by making a concerted effort that all coils and permanent magnet interact and produce, thus the electric current that each coil flows through can be reduced, and then suppress the heating of each coil, the precision of avoiding being caused by coil heating reduces.Because whole motor is made up of the identical electric motor units of structure, so the stroke of mover is unrestricted, can arrive any position on the stator.
Description of drawings
Fig. 1 is the armature winding of an electric motor units in the present embodiment and the structural representation of permanent magnet array.Fig. 2 is the structural representation of the permanent magnet array of embodiment two described electric motor units.Fig. 3 is the permanent magnet array structural representation of embodiment three described electric motor units.Fig. 4 is the armature winding of the described planar motor of being made up of four electric motor units of embodiment one and the structural representation of permanent magnet array.Fig. 5 is that embodiment two is described, the permanent magnet array structural representation of the planar motor of being made up of four electric motor units.Fig. 6 is that embodiment nine is described, the structural representation of the armature winding of an electric motor units and permanent magnet array when n=7.Fig. 7 is the permanent magnet array structural representation among Fig. 6.Figure 8 shows that existing a kind of permanent magnetic synchronous plane electromotor electric machine structure, Fig. 9 is the permanent magnet array structural representation of described planar motor.Figure 10 is existing a kind of stacked winding construction permanent magnetic synchronous plane electromotor motor.
Embodiment
Embodiment one: the long stroke synchronous planar motor with integrated winding structure of the described a kind of single-side structural of present embodiment, comprise armature component and permanent magnet excitation parts, be air gap between armature component and the permanent magnet excitation parts, wherein armature component comprises armature winding and winding substrate, and the permanent magnet excitation parts comprise permanent magnet array and plate shaped permanent magnet yoke plate;
Armature winding is four phase windings, described armature winding is individual around forming to identical square coil by 4m, per 4 coil arrangement become four phase winding unit, " field " shape unit, four coils in each four phase winding are formed four phase windings, described 4m coil formed m four phase winding serial or parallel connections and connected, all coils in the described armature winding is positioned on the XY plane, coil side or be parallel to X-axis, or be parallel to Y-axis; Described coil width l
tWith permanent magnet array pole span τ
pBetween satisfy and to concern l
t=τ
pHub of a spool is apart from τ
tWith permanent magnet array pole span τ
pBetween satisfy and to concern τ
t=1.5 τ
p
The permanent magnet yoke plate is divided into n * n square shaped cells lattice, and permanent magnet array comprises n
2/ 2 flat permanent magnet bodies that vertically magnetize constitute described n
2/ 2 flat permanent magnet bodies evenly distribute and are fixed in the cell on the permanent magnet yoke plate, and the permanent magnet magnetizing direction in the adjacent cell in diagonal angle is opposite, the magnetizing direction of permanent magnet that is positioned at same row or column is identical, every flat permanent magnet body is square, and cell big or small and on the permanent magnet yoke plate is identical, n is the integer more than or equal to 4, and m is the integer greater than 0.
The described planar motor of present embodiment both can be moving secondary structure, also can be moving primary structure.
Fig. 1 is the armature winding of an electric motor units in the present embodiment and the structural representation of permanent magnet array.Fig. 4 is the armature winding of the planar motor be made up of four electric motor units and the structural representation of permanent magnet array.
Embodiment two: present embodiment is described referring to Fig. 2 and Fig. 5.Present embodiment is with embodiment one the different of described single-side structural long stroke synchronous planar motor with integrated winding structure, also comprise a plurality of right-angled triangle permanent magnets in the described permanent magnet array, in the cell of free time that does not have permanent magnet of each permanent magnet yoke plate, be fixed with 4 right-angled triangle permanent magnets that shape is identical, described 4 right-angled triangle permanent magnets are formed the identical square of cell on size and the permanent magnet yoke plate, each right-angled triangle permanent magnet parallel magnetization, and the magnetizing direction of the right-angled triangle permanent magnet adjacent with N utmost point permanent magnet is for pointing to described N utmost point permanent magnet, the magnetizing direction of the right-angled triangle permanent magnet adjacent with S utmost point permanent magnet is described S utmost point permanent magnet dorsad, and the magnetizing direction of the adjacent two right-angled triangle permanent magnets in diagonal angle is opposite.
The described planar motor of present embodiment both can be moving secondary structure, also can be moving primary structure.
Fig. 2 is the structural representation of the permanent magnet array of the described electric motor units of present embodiment, and Fig. 5 is the permanent magnet array structural representation of four electric motor units.
Embodiment three: present embodiment is with the different of long stroke synchronous planar motor with integrated winding structure of embodiment one described single-side structural, in the cell of free time that does not have permanent magnet of each permanent magnet yoke, be fixed with 4 block-shaped identical parallel magnetization permanent magnets, described 4 parallel magnetization permanent magnets are formed the identical square of cell on size and the permanent magnet yoke plate, the magnetizing direction of the permanent magnet of every parallel magnetization parallels with the diagonal of its end face, and because its adjacent S utmost point permanent magnet points to N utmost point permanent magnet, the magnetizing direction of two parallel magnetization permanent magnets that the diagonal angle is adjacent is opposite.
Fig. 3 represents in the electric motor units, the described permanent magnet array structural representation of present embodiment.
The described planar motor of present embodiment both can be moving secondary structure, also can be moving primary structure.
Embodiment two and three, all be each do not have permanent magnet free time the cell of permanent magnet yoke plate in increase the permanent magnet of parallel magnetization, strengthen the magnetic field intensity of permanent magnet array, and make the Distribution of Magnetic Field of permanent magnet array more even.
Embodiment four: the difference of the long stroke synchronous planar motor with integrated winding structure of present embodiment and embodiment one, two or three described single-side structurals is, it also comprises one or more armature components in the described planar motor, a plurality of armature components can work alone respectively, but also synchronous working.
For not having annexation between the armature winding in each armature component that works alone.
For a plurality of armature components that need synchronous working, the armature winding in described a plurality of armature components adopts series connection or mode in parallel to connect.
A plurality of armature components in the present embodiment do not link to each other between each armature winding as mover, all are independent control therefore, that is, the planar motor in the present embodiment is realized the purpose of a plurality of movers.
Embodiment five: present embodiment is described to be the long stroke of the integrated winding structure isoplanar motor of bilateral structure, it is to realize on the motor basis, the long stroke of integrated winding structure isoplanar of embodiment one described single-side structural, that is: increase permanent magnet excitation parts and get final product on the basis of embodiment one described structure.The concrete structure of the described planar motor of present embodiment is:
Described planar motor is made of armature component and two permanent magnet excitation parts, two permanent magnet excitation parts are parallel to each other, described armature component is between two permanent magnet excitation parts, be air gap between armature component and the permanent magnet excitation parts, wherein armature component comprises armature winding and winding substrate, two permanent magnet excitation modular constructions are identical, and described permanent magnet excitation parts comprise permanent magnet array and permanent magnet yoke plate;
Armature winding is four phase windings, described armature winding is individual around forming to identical square coil by 4m, per 4 coil arrangement become four phase winding unit, " field " shape unit, four coils in each four phase winding are formed four phase windings, described 4m coil formed m four phase winding serial or parallel connections and connected, all coils in the described armature winding is positioned on the XY plane, coil side or be parallel to X-axis, or be parallel to Y-axis; Described coil width l
tWith permanent magnet array pole span τ
pBetween satisfy and to concern l
t=τ
pHub of a spool is apart from τ
tWith permanent magnet array pole span τ
pBetween satisfy and to concern τ
t=1.5 τ
p
The permanent magnet yoke plate is divided into n * n square shaped cells lattice, and permanent magnet array is by n
2/ 2 flat permanent magnet bodies that vertically magnetize constitute described n
2/ 2 flat permanent magnet bodies evenly distribute and are fixed in the cell on the permanent magnet yoke plate, and the permanent magnet magnetizing direction in the adjacent cell in diagonal angle is opposite, the magnetizing direction of permanent magnet that is positioned at same row or column is identical, every flat permanent magnet body is square, and cell big or small and on the permanent magnet yoke plate is identical, n is the integer more than or equal to 4, and m is the integer greater than 0
In two excitation permanent magnet elements, the magnetizing direction of the permanent magnet that vertically magnetizes that the position is identical is identical; The magnetizing direction of the permanent magnet of the identical parallel magnetization in position is opposite.
The described planar motor of present embodiment both can be moving secondary structure, also can be moving primary structure.
Embodiment six: different being of present embodiment and the long stroke of the integrated winding structure isoplanar motor of embodiment five described bilateral structures, in the cell of free time that does not have permanent magnet of each permanent magnet yoke, be fixed with 4 right-angled triangle permanent magnets that shape is identical, described 4 right-angled triangle permanent magnets are formed the identical square of cell on size and the permanent magnet yoke plate, each right-angled triangle permanent magnet parallel magnetization, and the magnetizing direction of the right-angled triangle permanent magnet adjacent with N utmost point permanent magnet is for pointing to described N utmost point permanent magnet, the magnetizing direction of the right-angled triangle permanent magnet adjacent with S utmost point permanent magnet is described S utmost point permanent magnet dorsad, and the magnetizing direction of the adjacent two right-angled triangle permanent magnets in diagonal angle is opposite.
Present embodiment is to realize on the motor basis, the long stroke of integrated winding structure isoplanar of embodiment two described single-side structurals, that is: increase permanent magnet excitation parts and get final product on the basis of embodiment two described structures.
The described planar motor of present embodiment both can be moving secondary structure, also can be moving primary structure.
Embodiment seven: present embodiment is with the different of long stroke synchronous planar motor with integrated winding structure of embodiment five described bilateral structures, in the cell of free time that does not have permanent magnet of each permanent magnet yoke, be fixed with 4 block-shaped identical parallel magnetization permanent magnets, described 4 parallel magnetization permanent magnets are formed the identical square of cell on size and the permanent magnet yoke plate, the magnetizing direction of the permanent magnet of every parallel magnetization parallels with the diagonal of its end face, and because its adjacent S utmost point permanent magnet points to N utmost point permanent magnet, the magnetizing direction of two parallel magnetization permanent magnets that the diagonal angle is adjacent is opposite.
Present embodiment is to realize on the motor basis, the long stroke of integrated winding structure isoplanar of embodiment three described single-side structurals, that is: increase permanent magnet excitation parts and get final product on the basis of embodiment three described structures.
The described planar motor of present embodiment both can be moving secondary structure, also can be moving primary structure.
Embodiment eight: present embodiment is that with the different of long stroke synchronous planar motor with integrated winding structure of embodiment five, six or seven described bilateral structures it also comprises one or more armature components.
Present embodiment is to realize on the motor basis, the long stroke of integrated winding structure isoplanar of embodiment four described single-side structurals, that is: increase permanent magnet excitation parts and get final product on the basis of embodiment one described structure.
Armature component in the present embodiment is a mover, and described a plurality of armature components can work alone respectively, but also synchronous working realizes the purpose of a plurality of movers.
For not having annexation between the armature winding in each armature component that works alone.
For a plurality of armature components that need synchronous working, the armature winding in described a plurality of armature components adopts series connection or mode in parallel to connect.
Embodiment nine: the long stroke synchronous planar motor with integrated winding structure of the described single-side structural of present embodiment is made of a plurality of electric motor units, and the structure of each electric motor units is:
Each electric motor units is made of armature component and permanent magnet excitation parts, is air gap between armature component and the permanent magnet excitation parts, and wherein armature component comprises armature winding and winding substrate, and the permanent magnet excitation parts comprise permanent magnet array and permanent magnet yoke plate;
Armature winding is four phase windings, described armature winding is individual around forming to identical square coil by 4m, every 4 adjacent coil arrangement become sphere of movements for the elephants shape four phase winding unit, m four phase winding unit are in parallel or be connected in series, all coils is positioned on the XY plane, each coil side is parallel to X-axis, or is parallel to Y-axis; Described coil width l
tWith permanent magnet array pole span τ
pBetween satisfy and to concern l
t=τ
pHub of a spool is apart from τ
tWith permanent magnet array pole span τ
pBetween satisfy and to concern τ
t=1.5 τ
p
Flat permanent magnet body yoke plate is divided into n * n square shaped cells lattice, and permanent magnet array is by (n+1)
2The flat permanent magnet body of/4 flat permanent magnet bodies that vertically magnetize and polylith parallel magnetization constitutes, (n+1)
2/ 4 flat permanent magnet bodies that vertically magnetize lay respectively at the 1st, 3 ... (n+1)/2 go, the 1st, 3 ... (n+1)/2 be listed as in the cell on the permanent magnet yoke plate that intersects, the magnetizing direction of parallel and vertical adjacent two flat permanent magnet bodies that vertically magnetize is opposite, all be fixed with the flat permanent magnet body of a parallel magnetization in the cell on the permanent magnet yoke plate between per two adjacent flat permanent magnet bodies that vertically magnetize, the magnetizing direction of the flat permanent magnet body of described parallel magnetization is to point to the N utmost point by the S utmost point that is adjacent, n is the integer more than or equal to 4, and m is the integer greater than 0.
Fig. 6 is that present embodiment is described, the armature winding of an electric motor units and the structural representation of permanent magnet array.Fig. 7 is the permanent magnet array structural representation among Fig. 6.
The described planar motor of present embodiment both can be moving secondary structure, also can be moving primary structure.
Embodiment ten: the long stroke synchronous planar motor with integrated winding structure of the described bilateral structure of present embodiment is to realize on the motor basis, the long stroke of integrated winding structure isoplanar of embodiment nine described single-side structurals, that is: increase permanent magnet excitation parts and get final product on the basis of embodiment nine described structures.The concrete structure of the described planar motor of present embodiment is: described planar motor comprises armature component and two permanent magnet excitation parts, two permanent magnet excitation parts are parallel to each other, described armature component is between two permanent magnet excitation parts, be air gap between armature component and the permanent magnet excitation parts, wherein armature component comprises armature winding and winding substrate, two permanent magnet excitation modular constructions are identical, and described permanent magnet excitation parts comprise permanent magnet array and permanent magnet yoke plate;
Armature winding is four phase windings, described armature winding is individual around forming to identical square coil by 4m, every 4 adjacent coil arrangement become sphere of movements for the elephants shape four phase winding unit, m four phase winding unit are in parallel or be connected in series, all coils is positioned on the XY plane, each coil side is parallel to X-axis, or is parallel to Y-axis; Described coil width l
tWith permanent magnet array pole span τ
pBetween satisfy and to concern l
t=τ
pHub of a spool is apart from τ
tWith permanent magnet array pole span τ
pBetween satisfy and to concern τ
t=1.5 τ
p
Flat permanent magnet body yoke plate is divided into n * n square shaped cells lattice, and permanent magnet array is by (n+1)
2The flat permanent magnet body of/4 flat permanent magnet bodies that vertically magnetize and polylith parallel magnetization constitutes, (n+1)
2/ 4 flat permanent magnet bodies that vertically magnetize lay respectively at the 1st, 3 ... (n+1)/2 go, the 1st, 3 ... (n+1)/2 be listed as in the cell on the permanent magnet yoke plate that intersects, the magnetizing direction of parallel and vertical adjacent two flat permanent magnet bodies that vertically magnetize is opposite, all be fixed with the flat permanent magnet body of a parallel magnetization in the cell on the permanent magnet yoke plate between per two adjacent flat permanent magnet bodies that vertically magnetize, the magnetizing direction of the flat permanent magnet body of described parallel magnetization is to point to the N utmost point by the S utmost point that is adjacent, n is the integer more than or equal to 4, and m is the integer greater than 0;
In two excitation permanent magnet elements, the magnetizing direction of the permanent magnet that vertically magnetizes that the position is identical is identical; The magnetizing direction of the permanent magnet of the identical parallel magnetization in position is opposite.
The described planar motor of present embodiment both can be moving secondary structure, also can be moving primary structure.
Winding substrate in the respective embodiments described above both can be magnetic material, also can be nonmagnetic substance.
Claims (10)
1. the long stroke synchronous planar motor with integrated winding structure of a single-side structural, comprise armature component and permanent magnet excitation parts, be air gap between armature component and the permanent magnet excitation parts, wherein armature component comprises armature winding and winding substrate, and the permanent magnet excitation parts comprise permanent magnet array and plate shaped permanent magnet yoke plate;
It is characterized in that, armature winding in the armature component is four phase windings, described armature winding is individual around forming to identical square coil by 4m, per 4 coil arrangement become four phase winding unit, " field " shape unit, four coils in each four phase winding are formed four phase windings, and described 4m coil formed m four phase winding serial or parallel connections and connected, and all coils in the described armature winding is positioned on the XY plane, coil side or be parallel to X-axis, or be parallel to Y-axis; Described coil width l
tWith permanent magnet array pole span τ
pBetween satisfy and to concern l
t=τ
pHub of a spool is apart from τ
tWith permanent magnet array pole span τ
pBetween satisfy and to concern τ
t=1.5 τ
p
The permanent magnet yoke plate is divided into n * n square shaped cells lattice, and permanent magnet array comprises n
2/ 2 flat permanent magnet bodies that vertically magnetize, described n
2/ 2 flat permanent magnet bodies evenly distribute and are fixed in the cell on the permanent magnet yoke plate, and the permanent magnet magnetizing direction in the adjacent cell in diagonal angle is opposite, the magnetizing direction of permanent magnet that is positioned at same row or column is identical, every flat permanent magnet body is square, and cell big or small and on the permanent magnet yoke plate is identical, n is the integer more than or equal to 4, and m is the integer greater than 0.
2. the long stroke synchronous planar motor with integrated winding structure of single-side structural according to claim 1, it is characterized in that, also comprise a plurality of right-angled triangle permanent magnets in the described permanent magnet array, in the cell of free time that does not have permanent magnet of each permanent magnet yoke, be fixed with 4 right-angled triangle permanent magnets that shape is identical, described 4 right-angled triangle permanent magnets are formed the identical square of cell on size and the permanent magnet yoke plate, each right-angled triangle permanent magnet parallel magnetization, and the magnetizing direction of the right-angled triangle permanent magnet adjacent with N utmost point permanent magnet is for pointing to described N utmost point permanent magnet, the magnetizing direction of the right-angled triangle permanent magnet adjacent with S utmost point permanent magnet is described S utmost point permanent magnet dorsad, and the magnetizing direction of the adjacent two right-angled triangle permanent magnets in diagonal angle is opposite.
3. the long stroke synchronous planar motor with integrated winding structure of single-side structural according to claim 1, it is characterized in that, in the cell of free time that does not have permanent magnet of each permanent magnet yoke, be fixed with 4 block-shaped identical parallel magnetization permanent magnets, described 4 parallel magnetization permanent magnets are formed the identical square of cell on size and the permanent magnet yoke plate, the magnetizing direction of the permanent magnet of every parallel magnetization parallels with the diagonal of its end face, and because its adjacent S utmost point permanent magnet points to N utmost point permanent magnet, the magnetizing direction of two parallel magnetization permanent magnets that the diagonal angle is adjacent is opposite.
4. according to the long stroke synchronous planar motor with integrated winding structure of claim 1,2 or 3 described single-side structurals, it is characterized in that it also comprises one or more armature components, the armature winding serial or parallel connection in each armature component connects.
5. according to the long stroke synchronous planar motor with integrated winding structure of claim 1,2 or 3 described single-side structurals, it is characterized in that it also comprises one or more armature components, the armature winding in each armature component works alone.
6. the long stroke synchronous planar motor with integrated winding structure of bilateral structure, described planar motor comprises armature component and two permanent magnet excitation parts, two permanent magnet excitation parts are parallel to each other, described armature component is between two permanent magnet excitation parts, be air gap between armature component and the permanent magnet excitation parts, wherein armature component comprises armature winding and winding substrate, and two permanent magnet excitation modular constructions are identical, and described permanent magnet excitation parts comprise permanent magnet array and permanent magnet yoke plate;
It is characterized in that, armature winding is four phase windings, described armature winding is individual around forming to identical square coil by 4m, per 4 coil arrangement become four phase winding unit, " field " shape unit, four coils in each four phase winding are formed four phase windings, and described 4m coil formed m four phase winding serial or parallel connections and connected, and all coils in the described armature winding is positioned on the XY plane, coil side or be parallel to X-axis, or be parallel to Y-axis; Described coil width l
tWith permanent magnet array pole span τ
pBetween satisfy and to concern l
t=τ
pHub of a spool is apart from τ
tWith permanent magnet array pole span τ
pBetween satisfy and to concern τ
t=1.5 τ
p
The permanent magnet yoke plate is divided into n * n square shaped cells lattice, and permanent magnet array is by n
2/ 2 flat permanent magnet bodies that vertically magnetize constitute described n
2/ 2 flat permanent magnet bodies evenly distribute and are fixed in the cell on the permanent magnet yoke plate, and the permanent magnet magnetizing direction in the adjacent cell in diagonal angle is opposite, the magnetizing direction of permanent magnet that is positioned at same row or column is identical, every flat permanent magnet body is square, and cell big or small and on the permanent magnet yoke plate is identical, n is the integer more than or equal to 4, and m is the integer greater than 0
In two excitation permanent magnet elements, the magnetizing direction of the permanent magnet that vertically magnetizes that the position is identical is identical; The magnetizing direction of the permanent magnet of the identical parallel magnetization in position is opposite.
7. the long stroke synchronous planar motor with integrated winding structure of bilateral structure according to claim 6, it is characterized in that, in the cell of free time that does not have permanent magnet of each permanent magnet yoke, be fixed with 4 right-angled triangle permanent magnets that shape is identical, described 4 right-angled triangle permanent magnets are formed the identical square of cell on size and the permanent magnet yoke plate, each right-angled triangle permanent magnet parallel magnetization, and the magnetizing direction of the right-angled triangle permanent magnet adjacent with N utmost point permanent magnet is for pointing to described N utmost point permanent magnet, the magnetizing direction of the right-angled triangle permanent magnet adjacent with S utmost point permanent magnet is described S utmost point permanent magnet dorsad, and the magnetizing direction of the adjacent two right-angled triangle permanent magnets in diagonal angle is opposite.
8. the long stroke synchronous planar motor with integrated winding structure of bilateral structure according to claim 6, it is characterized in that, it is characterized in that, in the cell of free time that does not have permanent magnet of each permanent magnet yoke, be fixed with 4 block-shaped identical parallel magnetization permanent magnets, described 4 parallel magnetization permanent magnets are formed the identical square of cell on size and the permanent magnet yoke plate, the magnetizing direction of the permanent magnet of every parallel magnetization parallels with the diagonal of its end face, and because its adjacent S utmost point permanent magnet points to N utmost point permanent magnet, the magnetizing direction of two parallel magnetization permanent magnets that the diagonal angle is adjacent is opposite.
9. the long stroke synchronous planar motor with integrated winding structure of single-side structural, described planar motor comprises armature component and permanent magnet excitation parts, be air gap between armature component and the permanent magnet excitation parts, wherein armature component comprises armature winding and winding substrate, and the permanent magnet excitation parts comprise permanent magnet array and plate shaped permanent magnet yoke plate;
It is characterized in that, armature winding is four phase windings, described armature winding is individual around forming to identical square coil by 4m, every 4 adjacent coil arrangement become sphere of movements for the elephants shape four phase winding unit, m four phase winding unit are in parallel or be connected in series, all coils is positioned on the XY plane, and each coil side is parallel to X-axis, or is parallel to Y-axis; Described coil width l
tWith permanent magnet array pole span τ
pBetween satisfy and to concern l
t=τ
pHub of a spool is apart from τ
tWith permanent magnet array pole span τ
pBetween satisfy and to concern τ
t=1.5 τ
p
Flat permanent magnet body yoke plate is divided into n * n square shaped cells lattice, and permanent magnet array is by (n+1)
2The flat permanent magnet body of/4 flat permanent magnet bodies that vertically magnetize and polylith parallel magnetization constitutes, (n+1)
2/ 4 flat permanent magnet bodies that vertically magnetize lay respectively at the 1st, 3 ... (n+1)/2 go, the 1st, 3 ... (n+1)/2 be listed as in the cell on the permanent magnet yoke plate that intersects, the magnetizing direction of parallel and vertical adjacent two flat permanent magnet bodies that vertically magnetize is opposite, all be fixed with the flat permanent magnet body of a parallel magnetization in the cell on the permanent magnet yoke plate between per two adjacent flat permanent magnet bodies that vertically magnetize, the magnetizing direction of the flat permanent magnet body of described parallel magnetization is to point to the N utmost point by the S utmost point that is adjacent, n is the integer more than or equal to 4, and m is the integer greater than 0.
10. the long stroke synchronous planar motor with integrated winding structure of bilateral structure, described planar motor comprises armature component and two permanent magnet excitation parts, two permanent magnet excitation parts are parallel to each other, described armature component is between two permanent magnet excitation parts, be air gap between armature component and the permanent magnet excitation parts, wherein armature component comprises armature winding and winding substrate, and two permanent magnet excitation modular constructions are identical, and described permanent magnet excitation parts comprise permanent magnet array and permanent magnet yoke plate;
It is characterized in that, armature winding is four phase windings, described armature winding is individual around forming to identical square coil by 4m, every 4 adjacent coil arrangement become sphere of movements for the elephants shape four phase winding unit, m four phase winding unit are in parallel or be connected in series, all coils is positioned on the XY plane, and each coil side is parallel to X-axis, or is parallel to Y-axis; Described coil width l
tWith permanent magnet array pole span τ
pBetween satisfy and to concern l
t=τ
pHub of a spool is apart from τ
tWith permanent magnet array pole span τ
pBetween satisfy and to concern τ
t=1.5 τ
p
Flat permanent magnet body yoke plate is divided into n * n square shaped cells lattice, and permanent magnet array is by (n+1)
2The flat permanent magnet body of/4 flat permanent magnet bodies that vertically magnetize and polylith parallel magnetization constitutes, (n+1)
2/ 4 flat permanent magnet bodies that vertically magnetize lay respectively at the 1st, 3 ... (n+1)/2 go, the 1st, 3 ... (n+1)/2 be listed as in the cell on the permanent magnet yoke plate that intersects, the magnetizing direction of parallel and vertical adjacent two flat permanent magnet bodies that vertically magnetize is opposite, all be fixed with the flat permanent magnet body of a parallel magnetization in the cell on the permanent magnet yoke plate between per two adjacent flat permanent magnet bodies that vertically magnetize, the magnetizing direction of the flat permanent magnet body of described parallel magnetization is to point to the N utmost point by the S utmost point that is adjacent, n is the integer more than or equal to 4, and m is the integer greater than 0;
In two excitation permanent magnet elements, the magnetizing direction of the permanent magnet that vertically magnetizes that the position is identical is identical; The magnetizing direction of the permanent magnet of the identical parallel magnetization in position is opposite.
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| CN200910073495A CN101710779A (en) | 2009-12-23 | 2009-12-23 | Long stroke synchronous planar motor with integrated winding structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910073495A CN101710779A (en) | 2009-12-23 | 2009-12-23 | Long stroke synchronous planar motor with integrated winding structure |
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| CN101710779A true CN101710779A (en) | 2010-05-19 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102185443A (en) * | 2011-05-16 | 2011-09-14 | 哈尔滨工业大学 | Limited stroke high-dynamic plane motor |
| CN102497083A (en) * | 2011-11-30 | 2012-06-13 | 哈尔滨工业大学 | Concentric permanent magnet synchronous planar motor with winding structure |
| CN105144556A (en) * | 2013-04-25 | 2015-12-09 | 株式会社电装 | Input device |
| CN105141106A (en) * | 2015-09-15 | 2015-12-09 | 清华大学 | Three-degree-of-freedom motion workbench |
| CN106549550A (en) * | 2015-09-23 | 2017-03-29 | 上海微电子装备有限公司 | A kind of linear electric motors, sports platform and lithographic equipment |
| CN107819391A (en) * | 2017-10-30 | 2018-03-20 | 中国石油大学(华东) | A kind of novel permanent magnetic array and planar motor |
| CN108964404A (en) * | 2018-07-18 | 2018-12-07 | 中国石油大学(华东) | A kind of novel permanent-magnet planar motor and its decoupling algorithm |
| CN109861493A (en) * | 2019-04-01 | 2019-06-07 | 哈尔滨工业大学 | Moving-magnetic type magnetic suspension permanent magnet synchronous plane motor |
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2009
- 2009-12-23 CN CN200910073495A patent/CN101710779A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102185443A (en) * | 2011-05-16 | 2011-09-14 | 哈尔滨工业大学 | Limited stroke high-dynamic plane motor |
| CN102185443B (en) * | 2011-05-16 | 2013-02-13 | 哈尔滨工业大学 | Limited stroke high-dynamic plane motor |
| CN102497083A (en) * | 2011-11-30 | 2012-06-13 | 哈尔滨工业大学 | Concentric permanent magnet synchronous planar motor with winding structure |
| WO2013078860A1 (en) * | 2011-11-30 | 2013-06-06 | 哈尔滨工业大学 | Concentric-winding permanent magnet synchronous planar motor |
| CN102497083B (en) * | 2011-11-30 | 2013-10-23 | 哈尔滨工业大学 | Concentric permanent magnet synchronous planar motor with winding structure |
| CN105144556A (en) * | 2013-04-25 | 2015-12-09 | 株式会社电装 | Input device |
| CN105141106A (en) * | 2015-09-15 | 2015-12-09 | 清华大学 | Three-degree-of-freedom motion workbench |
| CN105141106B (en) * | 2015-09-15 | 2018-01-16 | 清华大学 | A kind of motion workbench of Three Degree Of Freedom |
| CN106549550A (en) * | 2015-09-23 | 2017-03-29 | 上海微电子装备有限公司 | A kind of linear electric motors, sports platform and lithographic equipment |
| CN106549550B (en) * | 2015-09-23 | 2019-04-12 | 上海微电子装备（集团）股份有限公司 | A kind of linear motor, sports platform and lithographic equipment |
| CN107819391A (en) * | 2017-10-30 | 2018-03-20 | 中国石油大学(华东) | A kind of novel permanent magnetic array and planar motor |
| CN107819391B (en) * | 2017-10-30 | 2023-07-07 | 中国石油大学(华东) | Permanent magnet array and planar motor |
| CN108964404A (en) * | 2018-07-18 | 2018-12-07 | 中国石油大学(华东) | A kind of novel permanent-magnet planar motor and its decoupling algorithm |
| CN109861493A (en) * | 2019-04-01 | 2019-06-07 | 哈尔滨工业大学 | Moving-magnetic type magnetic suspension permanent magnet synchronous plane motor |
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