CN101997389A - Linear-rotation permanent-magnet actuator - Google Patents
Linear-rotation permanent-magnet actuator Download PDFInfo
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- CN101997389A CN101997389A CN 201010539294 CN201010539294A CN101997389A CN 101997389 A CN101997389 A CN 101997389A CN 201010539294 CN201010539294 CN 201010539294 CN 201010539294 A CN201010539294 A CN 201010539294A CN 101997389 A CN101997389 A CN 101997389A
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Abstract
The invention relates to a linear-rotation permanent-magnet actuator which is characterized by comprising a stator (3), a cylindrical moving part (2), a permanent magnet array (1) and a shell (6),wherein the cylindrical moving part (2) is provided with a moving part shaft (2-1) and connected with the stator (3), the permanent magnet array (1) is attached to the upper surface of the cylindrical moving part (2), the shell (6) is connected with the cylindrical moving part (2) and is provided with an end (6-1), the stator (3) is fixed on the shell (6), a hole (6-2) is arranged in the middle of the end (6-1) of the shell (6), a sleeve bearing (7) is embedded into the hole (6-2), a shaft (2-1) of the cylindrical moving part (2) is fixed in the sleeve bearing (7), and the cylindrical moving part (2) is concentric with the core of the shaft (2-1). Due to the adoption of the structure, the linear-rotation permanent-magnet actuator can use simple stator laminated pieces and reduces stator loss at the same time.
Description
Technical field
The present invention relates to a kind of actuator, particularly a kind of list is magnetic circuit straight line rotary permanent-magnet actuator radially.
Background technology
It is a kind of common forms of motion that straight line rotatablely moves, such as modal screw rotation, drill bit.Straight line rotating electromagnetic driving mechanism is to drive rotatablely move a kind of important way of system of straight line, can be US 3441819 referring to U.S. Patent number, patent name is reciprocal linear motor (reciprocating linear motor), U.S. Patent number is US 3453510, and patent name is direct drive-type motor of linearity-rotation and control system Linear and rotary direct current stepping motors and control system).This straight line rotating electromagnetic driving mechanism also is an importance in the current multiple degrees of freedom driving mechanism research.
Realize that the simplest solution method that the straight line rotation drives is to use two independent actuation means, first is a linear actuator, is used to drive rectilinear motion, and second is rotary actuator, is used for driving rotatablely moving.The combination of linear actuator and rotary actuator has dual mode, coaxial mode and not coaxial mode.China Patent No. is CN 200680043229, name is called the plastic-injection moulding machine with integrated, linear-rotary direct driv, a kind of injection moulding machine of straight line rotation two-freedom of coaxial mode is provided, it is formed by discrete linear actuator and rotary actuator simple combination, and rotary actuator is enclosed within the linear actuator.U.S. Patent number is US 4806068, name is called the straight line rotary actuator that is used for robot that the rotation linear actuator (Rotary linear actuator for use in robotic manipulators) that is used for robot provides a kind of not coaxial mode, linear actuator promotes connecting portion and realizes rectilinear motion, simultaneously, connecting portion is realized rotatablely moving under the rotation of electric rotating machine.The common drawback of these two kinds of structures is that linear actuator and rotating driver are separate, and volume is big, poor reliability, and it is complicated to coordinate control, is difficult for realizing accurately control, and the utilization of permanent magnetism is incomplete simultaneously.In addition, each driver needs an independent current source, has increased the quantity of power supply.
For fear of using two actuator to realize the shortcoming that screw brings, mode (the Y. Fujimoto that also can use a kind of spiral directly to drive, T. Kominami, H. Hamada. Development and Analysis of a High Thrust Force Direct-Drive Linear Actuator[J]. IEEE Transactions on Industrial Electronics, 2009,56 (05): 1383 – 1392) utilize the solution of the screw drives mechanism that the linear electric motors principle realizes, but such screw is owing to fixed pitch, rotor can only be for the helical movement on fixing direction, and purposes is restricted.
Another kind of solution is to use single electromagnetic mechanism to realize straight line and the straight line rotary actuator that rotatablely moves, after launching, direction of rotation is similar to planar motor, and the straight line rotary actuator is a kind of electric rotating machine when rotating separately, can continuous rotary motion and do not have the restriction of limited travel.This straight line rotary actuator is according to the existing two kinds of main topological modes of stator and rotor sructure, Japanese Patent No. is JP 2004040894, name is called electromagnetic actuator (Electromagnetic actuator) and U.S. Patent number is US 20100060086, and name is called single stator list moving component straight line rotary actuator and pair stator list moving component straight line rotary actuators that the driving mechanism with position decoder (Driving mechanism having position encoder for two-dimensional positioning) that is used for the twocouese location is provided.Two stator list moving component straight line rotary actuators have two kinds of power drives modes, and a kind of is that inside and outside divided stator be you can well imagine the driving for straight line and rotation.Another kind is that european patent number is EP 1780878, and name is called the driving that the interior external stator that proposes in the compact straight line rotary actuator (Compact linear and rotary actuator) provides straight line and rotation simultaneously.First kind of type of drive has similar part with adopting two drivers, difference is: gather though the shared moving component of straight line and electric rotating machine more is becoming tight electric machine structure, but owing to the magnetic field of different directions in two stators is intersected in moving component, magnetic field on the moving component is extremely complicated, is difficult to analyze and control.Though second kind of type of drive can increase the interaction of moving component and stator surface, provide bigger thrust and moment of torsion, but mechanism is too complicated, stationary part must be for bell, make, mounting hardness is all very big, and the displacement on the moving component rectilinear direction is extremely limited.
In the drive scheme that above-mentioned three kinds of straight lines rotatablely move, first kind is used the scheme of two drivers to need two motors, and the transmission mechanism complexity, bulky; Second kind of screw drives mechanism type of drive is dumb, the screw that can only fix; Though the third straight line electric rotating machine scheme stator is slightly complicated, the positioning accuracy of still moving from the compactedness of topological structure all has remarkable advantages, is a kind of multiple degrees of freedom driving mechanism that has development prospect.
Though single stator list moving component straight line rotary actuator is not as two stator list moving component straight line rotary actuator power density height because the linear displacement on the rectilinear direction without limits, and make simply, make it have application prospects more.
It is JP 62-40052 that present single stator list moving component straight line rotary actuator generally adopts Japanese Patent No., name is called rotation-axial linear movement synthesis type motor (Rotary and axial linear motion combination type motor) and China Patent No. is CN 200810042746, the magnetic field that name is called in the stator in the dual radial directions magnetic field reaction type straight-line rotating stepper motor has two forms radially of straight line rotation, though in theory more magnetic conductive area can be arranged in the zone of stator yoke, but the increase that so complicated magnetic field is serious the difficulty of stator processing, particularly the lamination of silicon steel sheet is very difficult, thereby has increased stator loss.
Summary of the invention
Technical problem:The objective of the invention is to propose a kind of straight line rotary permanent-magnet actuator, make actuator can use simple stator lasmination structure, reduce stator loss simultaneously.
Technical scheme:For solving the problems of the technologies described above, technical scheme provided by the invention is: a kind of straight line rotary permanent-magnet actuator, this actuator comprises stator, the cylindrical moving component that is provided with the moving component axle that is connected with stator, is affixed on permanent magnet array of showing on the cylindrical moving component and the shell that is provided with the end that is connected with cylindrical moving component, stator is fixed on the shell, perforate is arranged in the middle of the end of shell, perforate is embedded with sleeve bearing, the axle of the cylindrical moving component of sleeve bearing internal fixation; Cylindrical moving component is concentric with axle;
Stator is axially comprising three identical axial single-pole stators at least, the i.e. first axial single-pole stator, the second axial single-pole stator, the 3rd axial single-pole stator, and described axial single-pole stator is silicon steel sheet lamination vertically, at circumferencial direction, the first axial single-pole stator is salient pole type and is no less than six teeth, and adopts the form of concentrating winding.
Preferably, permanent magnet distributes with column when cylindrical moving component Surface Mount in the permanent magnet array, permanent magnet polarity rotation and axially rectilinear direction all intermesh.
Preferably, the number of teeth of permanent magnet array on the sum of series first axial single-pole stator of direction of rotation do not wait; Permanent magnet array does not wait in the number of teeth of stator on axial rectilinear direction of the sum of series correspondence of axial rectilinear direction.
Preferably, axially adopt non-magnetic conduction spacing block to separate between single-pole stator, be fixed on the shell.
Preferably, stator comprises 6 identical circumferencial direction single-pole stators at circumferencial direction, and is silicon steel sheet lamination along the circumferential direction, and axially, the circumferencial direction single-pole stator is salient pole type and is no less than 3 teeth, adopts the form of concentrating winding.
Beneficial effect:
The list provided by the invention radially straight line rotary permanent-magnet actuator of magnetic circuit has simple in structurely, is easy to processing, and stator can adopt the silicon steel sheet lamination to constitute, and reduces the wastage; Further, single radially magnetic structure is simple, is easy to carry out the control of actuator.
Description of drawings
Fig. 1 for the present invention along the straight line rotary permanent-magnet actuator of circumference radial magnetic field generalized section vertically;
Fig. 2 is along the straight line rotary permanent-magnet actuator of circumference radial magnetic field generalized section radially;
Fig. 3 is the cut-away section schematic three dimensional views along the straight line rotary permanent-magnet actuator of circumference radial magnetic field;
Fig. 4 for the present invention along the diameter of axle to the straight line rotary permanent-magnet actuator in magnetic field generalized section vertically;
Fig. 5 is to the straight line rotary permanent-magnet actuator in magnetic field generalized section radially along the diameter of axle;
Fig. 6 is along the cut-away section schematic three dimensional views of the diameter of axle to the straight line rotary permanent-magnet actuator in magnetic field.
Fig. 7 is single radially developed winding diagram of the straight line rotary permanent-magnet actuator of magnetic circuit;
Wherein have: permanent magnet array 1, cylindrical moving component 2, moving component axle 2-1, stator 3, the first axial single-pole stator 3-a, the second axial single-pole stator 3-b, the 3rd axial single-pole stator 3-c; Concentrate winding 4, non-magnetic conduction spacing block 5, shell 6, outer casing end 6-1, outer casing end perforate 6-2, sleeve bearing 7.
Embodiment
The present invention will be further described below in conjunction with accompanying drawing.
Straight line rotary permanent-magnet actuator provided by the invention, shown in Fig. 1-7, it mainly comprises permanent magnet array 1, cylindrical moving component 2, stator 3, concentrates winding 4, non-magnetic conduction separation 5, shell 6, sleeve bearing 7.
This actuator comprises stator 3, the cylindrical moving component 2 that is provided with moving component axle 2-1 that is connected with stator 3, is affixed on the permanent magnet array 1 and the shell that is provided with end 6-1 6 that is connected with cylindrical moving component 2 of table on the cylindrical moving component 2, stator 3 is fixed on the shell 6, perforate 6-2 is arranged in the middle of the end 6-1 of shell 6, perforate 6-2 is embedded with sleeve bearing 7, the axle 2-1 of the cylindrical moving component 2 of sleeve bearing 7 internal fixation; Cylindrical moving component 2 is concentric with axle 2-1;
Permanent magnet distributes with column when cylindrical moving component 2 Surface Mounts in the permanent magnet array 1, permanent magnet polarity rotation and axially rectilinear direction all intermesh.
The number of teeth of permanent magnet array 1 on the sum of series first axial single-pole stator 3-a of direction of rotation do not wait; Permanent magnet array 1 does not wait in the number of teeth of stator 3 on axial rectilinear direction of the sum of series correspondence of axial rectilinear direction.
Axially adopt non-magnetic conduction spacing block 5 to separate between single-pole stator, be fixed on the shell 6.
Particularly, in casing 6, be fixed with stator 3, stator 3 is made of 3 identical axial single-pole stator 3-a, 3-b, 3-c, axially adopt non-magnetic conduction spacing block 5 to separate between the single-pole stator, axially single-pole stator is a salient-pole structure, is wound with on the salient pole tooth to concentrate winding 4; In the middle of the 6-1 of the end of shell 6 perforate 6-2 is arranged, hole 6-2 is embedded with sleeve bearing 7, the axle 2-1 of the cylindrical moving component 2 of sleeve bearing 7 internal fixation; Cylindrical moving component 2 is concentric with axle 2-1, is positioned at casing 6 inside, and Surface Mount has permanent magnet array 1 on the cylindrical moving component 2, all intermeshes in rotation and axial rectilinear direction polarity.
Permanent magnet distributes with column when cylindrical moving component 2 Surface Mounts in the permanent magnet array 1, permanent magnet polarity rotation and axially rectilinear direction all intermesh.
The number of teeth of permanent magnet array 1 on the sum of series first axial single-pole stator 3-a of direction of rotation do not wait; Permanent magnet array 1 does not wait in the number of teeth of stator 3 on axial rectilinear direction of the sum of series correspondence of axial rectilinear direction.
Axially adopt non-magnetic conduction spacing block 5 to separate between single-pole stator, be fixed on the shell 6.
When needing rectilinear motion, power taking stream in the winding
, wherein,
Be current peak,
Be straight line synchro angle frequency,
With
Be respectively the initial phase of rotation and rectilinear direction electric current,
With
All get
,
With
Be stator tooth along direction of rotation
,
With
,
Be lengthwise stator tooth
,
With
Can flow along among Fig. 7 this moment
Direction.
In the time of need rotatablely moving, power taking stream in the winding
, wherein,
Be rotation synchro angle frequency.Can flow along among Fig. 7 this moment
Direction.
When needing the synchronous screw motion, power taking stream in the winding
, wherein
,
Can flow along among Fig. 7 this moment
Direction.
Shown in Figure 4 a kind of along the diameter of axle to magnetic circuit straight line rotation two-freedom permanent magnetism actuator, the cylindrical moving component 2 of this actuator is identical with Fig. 1, stator constitutes radially magnetic circuit along axle.
Claims (5)
1. straight line rotary permanent-magnet actuator, it is characterized in that: this actuator comprises stator (3), the cylindrical moving component (2) that is provided with moving component axle (2-1) that is connected with stator (3), be affixed on cylindrical moving component (2) and go up the permanent magnet array (1) and the shell that is provided with end (6-1) (6) that is connected with cylindrical moving component (2) of table, stator (3) is fixed in shell (6), perforate (6-2) is arranged in the middle of the end (6-1) of shell (6), perforate (6-2) is embedded with sleeve bearing (7), the axle (2-1) of the cylindrical moving component of sleeve bearing (7) internal fixation (2); Cylindrical moving component (2) is concentric with axle center (2-1); Stator (3) is axially comprising three identical axial single-pole stators at least, the i.e. first axial single-pole stator (3-a), the second axial single-pole stator (3-b), the 3rd axial single-pole stator (3-c), and described axial single-pole stator is silicon steel sheet lamination vertically, at circumferencial direction, the first axial single-pole stator (3-a) is for salient pole type and be no less than six teeth, and adopts the form of concentrating winding (4).
2. straight line rotary permanent-magnet actuator according to claim 1 is characterized in that: permanent magnet distributes with column when cylindrical moving component (2) Surface Mount in the permanent magnet array (1), and permanent magnet polarity is in rotation and the axially rectilinear direction arrangement that all intermeshes.
3. according to claim 1 straight line rotary permanent-magnet actuator, it is characterized in that: permanent magnet array (1) does not wait at the progression of direction of rotation and the number of teeth on the first axial single-pole stator (3-a); Permanent magnet array (1) does not wait with the corresponding number of teeth of stator (3) on axial rectilinear direction at the progression of axial rectilinear direction.
4. straight line rotary permanent-magnet actuator according to claim 1 is characterized in that: axially adopt non-magnetic conduction spacing block (5) to separate between single-pole stator, be fixed on the shell (6).
5. straight line rotary permanent-magnet actuator according to claim 1, it is characterized in that: stator (3) comprises 6 identical circumferencial direction single-pole stators at circumferencial direction, and be silicon steel sheet lamination along the circumferential direction, axially, the circumferencial direction single-pole stator is salient pole type and is no less than 3 teeth, adopts the form of concentrating winding (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010539294 CN101997389B (en) | 2010-11-11 | 2010-11-11 | Linear-rotation permanent-magnet actuator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010539294 CN101997389B (en) | 2010-11-11 | 2010-11-11 | Linear-rotation permanent-magnet actuator |
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| CN101997389A true CN101997389A (en) | 2011-03-30 |
| CN101997389B CN101997389B (en) | 2013-01-16 |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102780380A (en) * | 2011-05-13 | 2012-11-14 | 西门子公司 | Combined driving device for performing rotational motion and reciprocating linear motion and linear motor with reduced inertia |
| CN102780379A (en) * | 2012-05-08 | 2012-11-14 | 深圳大学 | Switched reluctance linear motor |
| CN104852549A (en) * | 2015-05-28 | 2015-08-19 | 东南大学 | Linear rotation permanent magnet actuator adopting staggered pole structure |
| CN105449975A (en) * | 2014-09-18 | 2016-03-30 | 株式会社安川电机 | Linear-rotary actuator |
| CN109660100A (en) * | 2019-01-24 | 2019-04-19 | 江苏大学 | A kind of straight line rotation two-freedom magneto |
| CN110226280A (en) * | 2016-12-07 | 2019-09-10 | Mts系统有限公司 | Electric actuator |
| CN111082551A (en) * | 2020-01-19 | 2020-04-28 | 山东大学 | Stator and rotating linear two-degree-of-freedom permanent magnet motor with modular structure |
| CN111181259A (en) * | 2020-02-20 | 2020-05-19 | 安徽理工大学 | Linear rotation permanent magnet motor with E-shaped stator structure |
| CN111555474A (en) * | 2020-05-25 | 2020-08-18 | 安徽理工大学 | Linear rotary drilling motor |
| CN112039277A (en) * | 2020-08-24 | 2020-12-04 | 珠海格力电器股份有限公司 | Motor shaft end supporting structure and motor |
| CN113315331A (en) * | 2021-07-28 | 2021-08-27 | 深圳双十科技有限公司 | Two-degree-of-freedom motor for Z axis and assembling method thereof |
| CN114531006A (en) * | 2022-04-01 | 2022-05-24 | 浙江舜宇智领技术有限公司 | Linear rotating motor and vehicle-mounted anti-shake camera device |
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| EP1780878A1 (en) * | 2005-10-25 | 2007-05-02 | Protronic N.V. | Compact linear and rotary actuator |
| CN101167235A (en) * | 2005-04-25 | 2008-04-23 | 西门子公司 | Combined drive comprising a hybrid magnetoresistive motor |
| US20100060086A1 (en) * | 2008-09-09 | 2010-03-11 | Gan Wai Chuen | Driving mechanism having position encoder for two-dimensional positioning |
| CN201846217U (en) * | 2010-11-11 | 2011-05-25 | 东南大学 | Linear rotating permanent magnetic actuator |
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| JP2004040894A (en) * | 2002-07-02 | 2004-02-05 | Tsubakimoto Chain Co | Electromagnetic actuator |
| CN101167235A (en) * | 2005-04-25 | 2008-04-23 | 西门子公司 | Combined drive comprising a hybrid magnetoresistive motor |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102780380A (en) * | 2011-05-13 | 2012-11-14 | 西门子公司 | Combined driving device for performing rotational motion and reciprocating linear motion and linear motor with reduced inertia |
| CN102780379A (en) * | 2012-05-08 | 2012-11-14 | 深圳大学 | Switched reluctance linear motor |
| CN102780379B (en) * | 2012-05-08 | 2015-07-08 | 深圳大学 | Switched reluctance linear motor |
| CN105449975A (en) * | 2014-09-18 | 2016-03-30 | 株式会社安川电机 | Linear-rotary actuator |
| CN105449975B (en) * | 2014-09-18 | 2018-03-23 | 株式会社安川电机 | Direct acting rotary actuator |
| CN104852549A (en) * | 2015-05-28 | 2015-08-19 | 东南大学 | Linear rotation permanent magnet actuator adopting staggered pole structure |
| CN110226280B (en) * | 2016-12-07 | 2021-09-17 | Mts系统有限公司 | Electric actuator |
| CN110226280A (en) * | 2016-12-07 | 2019-09-10 | Mts系统有限公司 | Electric actuator |
| US10892078B2 (en) | 2016-12-07 | 2021-01-12 | Mts Systems Corporation | Electric actuator |
| CN109660100A (en) * | 2019-01-24 | 2019-04-19 | 江苏大学 | A kind of straight line rotation two-freedom magneto |
| CN111082551B (en) * | 2020-01-19 | 2023-04-07 | 山东大学 | Stator and rotating linear two-degree-of-freedom permanent magnet motor with modular structure |
| CN111082551A (en) * | 2020-01-19 | 2020-04-28 | 山东大学 | Stator and rotating linear two-degree-of-freedom permanent magnet motor with modular structure |
| CN111181259A (en) * | 2020-02-20 | 2020-05-19 | 安徽理工大学 | Linear rotation permanent magnet motor with E-shaped stator structure |
| CN111555474A (en) * | 2020-05-25 | 2020-08-18 | 安徽理工大学 | Linear rotary drilling motor |
| CN111555474B (en) * | 2020-05-25 | 2022-05-10 | 安徽理工大学 | Linear rotary drilling motor |
| CN112039277A (en) * | 2020-08-24 | 2020-12-04 | 珠海格力电器股份有限公司 | Motor shaft end supporting structure and motor |
| CN113315331A (en) * | 2021-07-28 | 2021-08-27 | 深圳双十科技有限公司 | Two-degree-of-freedom motor for Z axis and assembling method thereof |
| CN113315331B (en) * | 2021-07-28 | 2021-10-26 | 深圳双十科技有限公司 | Two-degree-of-freedom motor for Z axis and assembling method thereof |
| CN114531006A (en) * | 2022-04-01 | 2022-05-24 | 浙江舜宇智领技术有限公司 | Linear rotating motor and vehicle-mounted anti-shake camera device |
| CN114531006B (en) * | 2022-04-01 | 2023-09-12 | 浙江舜宇智领技术有限公司 | Linear rotating motor and vehicle-mounted anti-shake imaging device |
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Application publication date: 20110330 Assignee: Thunder electric (Suzhou) Co., Ltd. Assignor: Southeast University Contract record no.: 2013320000721 Denomination of invention: Linear-rotation permanent-magnet actuator Granted publication date: 20130116 License type: Exclusive License Record date: 20131016 |
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