CN102013739B - Hal-Bach permanent magnet actuator capable of lineally rotating two degrees of freedom - Google Patents
Hal-Bach permanent magnet actuator capable of lineally rotating two degrees of freedom Download PDFInfo
- Publication number
- CN102013739B CN102013739B CN2010105349928A CN201010534992A CN102013739B CN 102013739 B CN102013739 B CN 102013739B CN 2010105349928 A CN2010105349928 A CN 2010105349928A CN 201010534992 A CN201010534992 A CN 201010534992A CN 102013739 B CN102013739 B CN 102013739B
- Authority
- CN
- China
- Prior art keywords
- permanent magnet
- stator
- freedom
- straight line
- halbach
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Linear Motors (AREA)
Abstract
The invention relates to a Hal-Bach permanent magnet actuator capable of lineally rotating two degrees of freedom, mainly comprising a stator part and a rotator part. The stator part is composed of stator tooth sockets and a concentrated winding, wherein the stator teeth are linearly and evenly distributed on a back yoke on circumference, namely if the circumference is spread to a plane, the stator teeth are distributed on the plane of the back yoke at equal intervals, the six tooth sockets are evenly distributed on the circumference, and the concentrated winding is wound on the tooth sockets. The rotator part is composed of a Hal-Bach permanent magnet array, therefore, the magnetic field of the permanent magnet array is axially and linearly distributed on the circumference of the surface of the rotator in a sine mode. The permanent magnet actuator provided by the invention has simple and compact structure, good reliability and large power density, and can be used to coordinately control linear motion and rotation, thereby being applicable to situations having motion requirement on two degrees (namely linear motion and rotation) of freedom.
Description
Technical field
The present invention relates to a kind of straight line rotation two-freedom permanent magnetism actuator, be used for the occasion that needs are realized straight line and rotation two-freedom compound motion.
Background technology
Realize the main at present common electric rotating machine that normally adopts two platform independent by the straight line and the mode of the combination that rotatablely moves of actuator of two degrees of freedom of straight line and rotation; Perhaps linear electric motors and an electric rotating machine cooperate completion; Its positioning accuracy and response speed are relatively poor, and volume is bigger.(patent No.: 4806068) announced a kind of straight line rotary actuator that is used for robot, linear actuator promotes connecting portion and realizes rectilinear motion United States Patent (USP), and simultaneously, connecting portion is realized rotatablely moving under the rotation of electric rotating machine.(application number: 200680043229) announced that a kind of straight line rotates the injection moulding machine of two-freedom, this injection moulding machine is formed by the linear electric motors and the electric rotating machine simple combination of separating Chinese patent, and electric rotating machine is enclosed within the linear electric motors.The drawback of said structure is that linear actuator and rotary actuator are separate, and volume is big, poor reliability, and it is complicated to coordinate control, inefficiency.Document " a kind of modeling of straight line rotary permanent-magnet actuator " has been announced a kind of straight line rotary permanent-magnet actuator; Mainly form by internal stator, external stator, concentrated winding and permanent magnet; This structure has been abandoned the form of the simple addition of straight line two single-degree-of-freedom actuator of rotation, integrates straight line and rotation two-freedom.But also there is certain defective in this kind structure, and outside magnetic field intensity is equal basically in the permanent magnet, and the iron core weight of mover is bigger, has reduced system response time and reliability.
Summary of the invention
Technical problem:In order to overcome the defective that above-mentioned existing straight line rotation two-freedom permanent magnetism actuator exists; The present invention proposes a kind of straight line rotation two-freedom Halbach permanent magnetism actuator; Improve the mover inner and outer magnetic field and distribute, reduce the iron core weight of mover, improve the response speed and the reliability of system.
Technical scheme:For solving the problems of the technologies described above; Technical scheme provided by the invention is: a kind of straight line rotation two-freedom Halbach permanent magnetism actuator; Comprise stator and mover two parts of being provided with back of the body yoke, stator is made up of stator tooth, stator slot and concentrated winding, wherein stator tooth circumferentially being evenly distributed on the back of the body yoke at stator inner periphery upper edge stator; After being launched into the plane along stator circumference, stator tooth equidistance on back of the body yoke plane distributes;
Mover is made up of the Halbach permanent magnet array, and the Distribution of Magnetic Field of this permanent magnet array is near Sine distribution.
Preferably, stator tooth is high permeability material with back of the body yoke material.
Preferably, stator tooth and back of the body yoke material are No. ten steel or silicon steel sheet.
Preferably, equidistance six teeth of distribution and six grooves are wound with centralized winding on said six teeth and six grooves on the stator circumference.
Preferably, arranged the outer surface constitute mover by permanent magnet array, the magnetic field surface polarity is the permanent magnet of the N utmost point, with the polarity of the permanent magnet of this permanent magnet coplane be the N utmost point; The magnetic field surface polarity is the permanent magnet of the S utmost point; With the polarity of the permanent magnet of this permanent magnet coplane be the S utmost point; At the circumference of stator with along on the axis rectilinear direction, the N utmost point and S utmost point permanent magnet and the alternately arrangement of permanent magnet of cutting orientation magnetizing all around form the Halbach structure; Make the Distribution of Magnetic Field of permanent magnet array near Sine distribution, realize the motion of straight line and two degrees of freedom of rotation.
Preferably, the radially angle of adjacent stators tooth is 60 °.
Preferably, the width of stator equals the length of pole arc between stator tooth.
Beneficial effect:Because stator adopts centralized winding, mover has adopted the Halbach permanent-magnet structure, and this permanent magnetism actuator has following advantage: stator no longer needs measures such as complicated distributed winding or fixed, mover skewed slot to obtain the close distribution of sinusoidal wave magnetic; Mover has good magnetic screening action, can reduce conductive magnetic yoke thickness, even can save iron core; Simple and compact for structure, good reliability, power density is big; Can realize straight line and rotation coordination control.
Description of drawings
Fig. 1 is a straight line rotation two-freedom Halbach permanent magnetism actuator structural representation provided by the invention;
Wherein have: I, stationary part, II, mover part;
Fig. 2 is straight line rotation two-freedom Halbach permanent magnetism actuator stator and winding part sketch map;
Wherein have: 1, concentrate winding, 2, stator tooth, 3, back of the body yoke;
Fig. 3 is a stator unit part sketch map;
Wherein have: 1, concentrate winding, 2, stator tooth, 3, back of the body yoke, 4, stator slot;
Fig. 4 is a mover part-structure sketch map;
Wherein have: 41, cutting orientation magnetizing permanent magnet, 42, axial charging permanent magnet, 43, the radial magnetizing permanent magnetism body.
Embodiment
Below in conjunction with accompanying drawing the present invention is further specified.
The Halbach permanent magnet array is a kind of arrangement mode of permanent magnet, thereby it can form monolateral magnetic field and has good self-shielding effect, and can produce the magnetostatic field bigger than remnant field intensity level.
Referring to Fig. 1-4; Straight line rotation two-freedom Halbach permanent magnetism actuator provided by the invention; It comprises stator I and the mover II two parts that are provided with back of the body yoke 3, and stator I is made up of stator tooth 2, stator slot 4 and concentrated winding 1, and wherein stator tooth 2 is being evenly distributed on the back of the body yoke 3 with rectilinear direction on the stator I part circumference; After promptly being launched into the plane by circumference, stator tooth 2 equidistance on back of the body yoke 3 planes distributes; Mover II is made up of the Halbach permanent magnet array, and the Distribution of Magnetic Field of this permanent magnet array is near Sine distribution.
Equidistance six teeth of distribution and six grooves are wound with centralized winding on said six teeth and six grooves on the stator I circumference.
Permanent magnet array is arranged and is characterised in that: the magnetic field surface polarity is the permanent magnet of the N utmost point, around it, and this permanent magnet of the polar orientations of permanent magnet; The magnetic field surface polarity is the permanent magnet of the S utmost point; The polarity of permanent magnet this permanent magnet dorsad around it; On circumference and rectilinear direction, the N utmost point and S utmost point permanent magnet and the alternately arrangement of permanent magnet of cutting orientation magnetizing all around form the Halbach structure at stationary part; Make the Distribution of Magnetic Field of permanent magnet array near Sine distribution, realize the motion of straight line and two degrees of freedom of rotation.
Straight line rotation two-freedom Halbach permanent magnetism actuator provided by the invention, its embodiment is as shown in Figure 1, mainly comprises stationary part I and mover part II.Stator is as shown in Figure 2, is rearranged by stator unit (shown in Figure 3).Fig. 4 is that permanent magnetism actuator rotor permanent magnet is arranged.
A kind of straight line rotation two-freedom Halbach permanent magnetism actuator; Stator I is made up of stator tooth 2 and stator slot and concentrated winding 1; Wherein stator tooth 2 is after being evenly distributed on the back of the body yoke 3 with rectilinear direction on the circumference, promptly being launched into the plane by circumference, and stator tooth equidistance on back of the body yoke plane distributes.Stator tooth 2 is high permeability material with back of the body yoke 3 materials, like No. ten steel or silicon steel sheet etc.
Said a kind of straight line rotation two-freedom Halbach permanent magnetism actuator, six teeth groove of equidistance distribution on its circumference, the angle of adjacent stators tooth is 60 °.Be wound with centralized winding 1 on the teeth groove, winding 1 is made up of copper conductor.The width of stator I equals the length of pole arc between stator tooth.
Said a kind of straight line rotation two-freedom Halbach permanent magnetism actuator, its mover is made up of the Halbach permanent magnet array, and is as shown in Figure 4.What this permanent magnet was arranged is characterized as: surface polarity is the permanent magnet of the N utmost point, this permanent magnet of polar orientations of (the mover both ends were three weeks) permanent magnet around it; Otherwise surface polarity is the permanent magnet of the S utmost point, the polarity of (the mover end was three weeks) permanent magnet this permanent magnet dorsad around it.On circumference and rectilinear direction, the N utmost point and S utmost point permanent magnet are alternately arranged with the permanent magnet of cutting orientation magnetizing all around, form the Halbach structure, make the Distribution of Magnetic Field of permanent magnet array near Sine distribution, realize the motion of straight line and two degrees of freedom of rotation.
Claims (7)
1. a straight line rotation two-freedom Halbach permanent magnetism actuator comprises stator (I) and mover (II) two parts of being provided with back of the body yoke (3), it is characterized in that:
Stator (I) is made up of stator tooth (2), stator slot (4) and concentrated winding (1); Wherein stator tooth (2) is carried on the back on the yoke (3) circumferentially being evenly distributed on of stator (I) inner periphery upper edge stator; After being launched into the plane along stator (I) circumference, stator tooth (2) equidistance on back of the body yoke (3) plane distributes;
Mover (II) is made up of the Halbach permanent magnet array, and the Distribution of Magnetic Field of this permanent magnet array is near Sine distribution.
2. straight line rotation two-freedom Halbach permanent magnetism actuator according to claim 1, it is characterized in that: stator tooth (2) and back of the body yoke (3) material are high permeability material.
3. straight line according to claim 2 rotation two-freedom Halbach permanent magnetism actuator is characterized in that: stator tooth (2) is No. ten steel or silicon steel sheet with carrying on the back yoke (3) material.
4. straight line rotation two-freedom Halbach permanent magnetism actuator according to claim 1, it is characterized in that: equidistance six teeth of distribution and six grooves on stator (I) circumference are wound with centralized winding on said six teeth and six grooves.
5. straight line rotation two-freedom Halbach permanent magnetism actuator according to claim 1; It is characterized in that: arranging the outer surface that constitutes mover (II) by permanent magnet array; The magnetic field surface polarity is the permanent magnet of the N utmost point, with the polarity of the permanent magnet of this permanent magnet coplane be the N utmost point; The magnetic field surface polarity is the permanent magnet of the S utmost point; With the polarity of the permanent magnet of this permanent magnet coplane be the S utmost point; At the circumference of stator (I) with along on the axis rectilinear direction, the N utmost point and S utmost point permanent magnet and the alternately arrangement of permanent magnet of cutting orientation magnetizing all around form the Halbach structure; Make the Distribution of Magnetic Field of permanent magnet array near Sine distribution, realize the motion of straight line and two degrees of freedom of rotation.
6. straight line rotation two-freedom Halbach permanent magnetism actuator according to claim 1, it is characterized in that: the radially angle of adjacent stators tooth (2) is 60 °.
7. straight line rotation two-freedom Halbach permanent magnetism actuator according to claim 1, it is characterized in that: the width of stator (I) equals the length of pole arc between stator tooth (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105349928A CN102013739B (en) | 2010-11-08 | 2010-11-08 | Hal-Bach permanent magnet actuator capable of lineally rotating two degrees of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105349928A CN102013739B (en) | 2010-11-08 | 2010-11-08 | Hal-Bach permanent magnet actuator capable of lineally rotating two degrees of freedom |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102013739A CN102013739A (en) | 2011-04-13 |
| CN102013739B true CN102013739B (en) | 2012-06-27 |
Family
ID=43843802
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010105349928A Expired - Fee Related CN102013739B (en) | 2010-11-08 | 2010-11-08 | Hal-Bach permanent magnet actuator capable of lineally rotating two degrees of freedom |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102013739B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107896020B (en) * | 2017-12-20 | 2024-04-12 | 浙江宝龙机电有限公司 | Driving motor |
| CN108462362B (en) * | 2018-01-24 | 2020-04-24 | 东南大学 | Sine wave power supply double-freedom-degree spiral motor with position self-locking function |
| CN109905011B (en) * | 2019-03-15 | 2020-05-26 | 广东极迅精密仪器有限公司 | Motor and chip picking and placing device with same |
| JP7185595B2 (en) * | 2019-06-04 | 2022-12-07 | Ｋｙｂ株式会社 | Cylindrical linear motor |
| CN111181259B (en) * | 2020-02-20 | 2023-01-10 | 安徽理工大学 | Linear rotation permanent magnet motor with E-shaped stator structure |
| CN111786528B (en) * | 2020-07-06 | 2021-09-21 | 湖南大学 | Linear rotation voice coil motor |
| EP4179611A1 (en) * | 2020-07-07 | 2023-05-17 | Bien-Air Holding SA | Surgical micromotor |
| CN115056877B (en) * | 2022-07-15 | 2023-10-13 | 北京航空航天大学 | Wheeled wall climbing robot adsorption equipment based on sphere drive |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101741197B (en) * | 2010-01-22 | 2012-05-23 | 东南大学 | Flux switching type magnetic-concentration transverse flux permanent magnetic wind generator |
| CN201854100U (en) * | 2010-11-08 | 2011-06-01 | 东南大学 | Permanent magnetic actuator capable of realizing straight line and rotation coordinated control |
-
2010
- 2010-11-08 CN CN2010105349928A patent/CN102013739B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN102013739A (en) | 2011-04-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102013739B (en) | Hal-Bach permanent magnet actuator capable of lineally rotating two degrees of freedom | |
| CN102843015A (en) | Linearly-rotating two-degrees-of-freedom magnetic levitation bearing-free permanent magnetic actuator | |
| US8860275B2 (en) | Multi-layer arc-shaped permanent magnet machine with reduced rotational stress | |
| US8653709B2 (en) | Rotating electrical machine, linear motion electrical machine, and wind generator system | |
| CN103222165B (en) | Three phase permanent magnet servomotor | |
| CN102497074A (en) | Multiphase fault tolerant permanent magnet motor based on birotor structure | |
| KR101162477B1 (en) | Power generator having multilayer coil and multilayer permanent magnet | |
| CN104882978A (en) | Low-torque-ripple high-efficient permanent magnetic motor stator and rotor structure | |
| US8975799B2 (en) | Broad-pole type square-wave three-phase brushless permanent magnet direct current motor and assembling method thereof | |
| CN105637733A (en) | Inverse transverse flux machine | |
| CN201854100U (en) | Permanent magnetic actuator capable of realizing straight line and rotation coordinated control | |
| CN109742874A (en) | A kind of straight line rotation two-freedom flux switch permanent magnet motor | |
| CN106849567A (en) | A kind of flux switch permanent magnet motor of high power density | |
| EP2757663A1 (en) | Light weight rotor with Halbach magnetized permanent magnets for large external rotor machines | |
| CN102013781A (en) | Brushless direct current motor with internal and external rotors and without core losses | |
| CN101741213B (en) | Cylindrical permanent magnet linear motor | |
| CN102761220A (en) | Magnet-embedded rotary motor | |
| CN102611219A (en) | High-reliability half stator-tooth winded stator-surface mounted permanent magnet motor | |
| CN202384970U (en) | Bearingless brushless direct current motor | |
| CN202444339U (en) | Fault-tolerant-type semi-tooth-winding stator surface mounting type permanent magnet motor | |
| CN109818441A (en) | A kind of magnetic barrier formula permanent-magnet magnetic resistance synchronous motor rotor structure | |
| CN206650564U (en) | A kind of magnetic suspension flux switch motor | |
| CN202524195U (en) | Same-polarity type rotor of rotary motor | |
| US20140132092A1 (en) | Rotating electrical machine | |
| CN102570663A (en) | Hybrid rotor of rotary motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120627 Termination date: 20141108 |
|
| EXPY | Termination of patent right or utility model |