CN103280939B - A kind of Double-stator linear rotation Hal Bach permanent magnetic actuator - Google Patents
A kind of Double-stator linear rotation Hal Bach permanent magnetic actuator Download PDFInfo
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- CN103280939B CN103280939B CN201310136445.8A CN201310136445A CN103280939B CN 103280939 B CN103280939 B CN 103280939B CN 201310136445 A CN201310136445 A CN 201310136445A CN 103280939 B CN103280939 B CN 103280939B
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Abstract
The invention provides a kind of Double-stator linear rotation Hal Bach permanent magnetic actuator, the rotor portion, the stationary part that comprise armature spindle and coaxially arrange with armature spindle, rotor portion is fixedly connected with armature spindle, armature spindle passes through sleeve bearing location and installation in casing, stationary part is placed in rotor portion periphery, and location and installation is in casing.Two stator is independent of one another in rectilinear direction, there is not magnetic field vertically in stator, only containing magnetic field radially, can adopt silicon steel sheet lamination, can effectively reduce the wastage; Each independently stator is the stator structure of concentratred winding, and structure is simple, is easy to processing; Research shows, the size of the current amplitude of rotor linearly on position and two stators is linear, is easy to the control carrying out actuator.
Description
Technical field
The present invention relates to a kind of actuator, particularly relate to a kind of Linear-rotation permanent-magnet actuator.
Background technology
In industry and civil area, the motion of straight line rotated versions is very common, and such as screw rotation spiral shell enters, oilwell drilling etc.Up to now, there is the form of multiple straight line rotary electromagnetic drive, the such as patent name United States Patent (USP) (US3453510) that to be the United States Patent (USP) (US3441819) of " reciprocal linear motor (Reciprocatinglinearmotor) " and patent name be " linear-to rotate direct drive motor and control system (Linearandrotarydirectcurrentsteppingmotorsandcontrolsyst em) ".This kind of straight line rotary electromagnetic drive is also an importance in the research of current multiple degrees of freedom driving mechanism.
Linear actuator can drive rectilinear motion, and rotary actuator can drive rotary motion, and both combinations can realize the simplest solution of straight line rotary actuation.Name is called that the Chinese patent (CN200680043229) of " plastic-injection moulding machine with integrated, linear-rotary direct driv " provides a kind of injection moulding machine of straight line rotation two-freedom of coaxial manner, it is formed by discrete linear actuator and rotary actuator simple combination, and rotary actuator is enclosed within linear actuator.Name is called that the United States Patent (USP) (US4806068) of " the rotating linear actuator (Rotarylinearactuatorforuseinroboticmanipulators) for robot " provides a kind of straight line rotary actuator for robot of not coaxial manner, linear actuator promotes connecting portion and realizes rectilinear motion, and connecting portion realizes rotary motion under the rotation of electric rotating machine.The common drawback of these two kinds of structures be linear actuator and rotating driver separate, volume is large, poor reliability, and cooperation control is complicated, not easily realizes accurately controlling, and the utilization of permanent magnetism is incomplete simultaneously.In addition, each driver needs an independent current source, and the quantity of power supply is more.
Mode (the Y.Fujimoto that spiral directly drives, T.Kominami, H.Hamada.DevelopmentandAnalysisofaHighThrustForceDirect-DriveLinearActuator [J] .IEEETransactionsonIndustrialElectronics, 2009, 56 (05): 1383 – 1392) solution of screw drives mechanism that utilizes linear electric motors principle to realize, shortcoming use two actuator can being avoided to realize screw bring, but screw secures pitch, rotor can only be for the helical movement on fixing direction, purposes is restricted.
Use single electromagnetic mechanism also can realize the straight line rotary actuator of straight line and rotary motion, this kind of mechanism is often similar to planar motor after direction of rotation is launched, a kind of electric rotating machine when rotating separately, can continuous print rotary motion and do not have the restriction of limited travel.This straight line rotary actuator is according to the existing two kinds of prevailing topology modes of stator and rotor sructure, and the United States Patent (USP) (US20100060086) that the Japan Patent (JP2004040894) that name is called " electromagnetic actuator (Electromagneticactuator) " and name are called " driving mechanism (Drivingmechanismhavingpositionencoderfortwo-dimensionalp ositioning) with position decoder for twocouese location " each provides the single moving component straight line rotary actuator adopting single stator and bimorph transducer.Bimorph transducer list moving component straight line rotary actuator has two kinds of power drives modes, a kind of driving being inside and outside divided stator and you can well imagine for straight line and rotation.Another kind is that name is called that the interior external stator proposed in the European patent (EP1780878) of " compact straight rotation actuator (Compactlinearandrotaryactuator) " provides the driving of straight line and rotation simultaneously.The first type of drive has similar part with adopting two drivers, difference is: electric machine structure is more becoming tight gather although straight line and electric rotating machine share moving component, but because in two stators, the magnetic field of different directions is intersected in moving component, magnetic field on moving component is extremely complicated, is difficult to carry out analysis and control.Although the second type of drive can increase the interaction of moving component and stator surface, provide larger thrust and moment of torsion, mechanism is too complicated, and stationary part must be bell, and the difficulty of manufacture, installing is all very large.
In the drive scheme of above-mentioned three kinds of straight line rotary motions, the first uses the scheme of two drivers to need two motors, and complicated mechanism, bulky; The second screw drives mechanism type of drive is dumb, the screw that can only fix; Although the third linear rotating motor scheme stator is slightly complicated, from the compactedness of topological structure or the positioning precision of moving all has obvious advantage, it is a kind of multiple degrees of freedom driving mechanism having development prospect.
Although single stator list moving component straight line rotary actuator is high not as bimorph transducer list moving component straight line rotary actuator power density, because the linear displacement in rectilinear direction does not limit, and manufacture is simple, makes it have application prospect more widely.
The magnetic field that current single stator list moving component straight line rotary actuator generally adopts name to be called in the stator that the Japan Patent (JP62-40052) of " rotation-axial linear movement synthesis type motor (Rotaryandaxiallinearmotioncombinationtypemotor) " and name are called in the Chinese patent (CN200810042746) of " dual radial directions magnetic field reaction type straight-line rotating stepper motor " has straight line and rotates two radial forms, although more magnetic conductive area can be had in the region of stator yoke in theory, but the difficulty adding stator processing that so complicated magnetic field is serious, particularly the lamination of silicon steel sheet is very difficult, thus add stator loss.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, a kind of Double-stator linear rotation Hal Bach permanent magnetic actuator for finite straight line stroke is provided, improves the distribution of mover inner and outer magnetic field, reduce the iron core weight of mover, the response speed of raising system and reliability, improve system effectiveness.
For solving the problems of the technologies described above, technical scheme provided by the invention is:
A kind of Double-stator linear rotation Hal Bach permanent magnetic actuator, the rotor portion, the stationary part that comprise armature spindle and coaxially arrange with armature spindle, rotor portion is fixedly connected with armature spindle 7, armature spindle 7 passes through sleeve bearing 9 location and installation in casing 8, stationary part is placed in rotor portion periphery, location and installation is in casing 8, and described stationary part comprises the first stator module, the second stator module that are coaxially set up in parallel, and the first stator module, the second stator module are separate; (5) and be distributed in the Halbach permanent magnet array 6 of rotor core outer surface rotor portion comprises rotor core.
First stator module comprises the first stator core 1 and coiling the first stator winding 2, second stator module on it and comprises the second stator core 3 and coiling the second stator winding 4 on it; Air-gap 10 is left between first stator core 1 and the second stator core 3.
Rotor core 5 be greater than along the axial length the first stator core 1 or the second stator core 3 along the axial length with air-gap 10 sum along the axial length.
The number of teeth of described Halbach permanent magnet array 6 in sum of series first stator core 1 or the second stator core 3 of direction of rotation is not etc.
First stator core 1 and the second stator core 3 are salient pole type in a circumferential direction and are no less than six teeth.
Along direction of rotation, number of stator slots is the integral multiple of 3.
The mode of stator winding is centralized.
Stator core and rotor all adopt silicon steel sheet lamination process vertically.
When described Halbach permanent magnet array 6 is distributed in rotor core 5 outer surface with column, each permanent magnet polarity of composition Halbach permanent magnet array 6 is crisscross arranged in a rotational direction.
By above technical scheme, relative to prior art, the present invention has following beneficial effect:
Because two stators of Double-stator linear rotation Hal Bach permanent magnetic actuator provided by the invention are independent of one another in rectilinear direction, in stator, there is not magnetic field vertically, only containing magnetic field radially, silicon steel sheet lamination can be adopted, can effectively reduce the wastage; Each independently stator is the stator structure of concentratred winding, and structure is simple, is easy to processing; Research shows, the size of the current amplitude of rotor linearly on position and two stators is linear, is easy to the control carrying out actuator.
Accompanying drawing explanation
Fig. 1 is Double-stator linear rotation Hal Bach permanent magnetic actuator of the present invention generalized section vertically;
Fig. 2 is Double-stator linear rotation Hal Bach permanent magnetic actuator radially generalized section;
Fig. 3 is the schematic three dimensional views of Double-stator linear rotation Hal Bach permanent magnetic actuator;
Wherein: 1, the first stator core, the 2, first stator winding, the 3, second stator core, the 4, second stator winding, 5, rotor core, 6, Halbach permanent magnet array, 7, armature spindle, 8, casing, 9, sleeve bearing.
Embodiment
Accompanying drawing discloses the structural representation of preferred embodiment involved in the present invention without limitation; Technical scheme of the present invention is explained below with reference to accompanying drawing.
Double-stator linear rotation Hal Bach permanent magnetic actuator provided by the invention, as Figure 1-3, it mainly comprises the first stator core 1, first stator winding 2, second stator core 3, second stator winding 4, rotor core 5, Halbach permanent magnet array 6, armature spindle 7, casing 8, sleeve bearing 9.
First stator core 1 be arranged in juxtaposition vertically and the second stator core 3, first stator core 1 of casing 8 internal fixtion are wound with in the first stator winding 2, second stator core 3 and are wound with the second stator winding 4; Be placed in the rotor core 5 of the first stator core 1 and the second stator core 3 inside, its appearance posts Halbach permanent magnet array 6, and is fixed on armature spindle 7, and armature spindle 7 is connected with casing 8 by sleeve bearing 9.Linearly include the identical and independently stator apparatus of two covers, be respectively the first stator winding 2, second stator core 3 on it of the first stator core 1 and coiling and coiling the second stator winding 4 on it; Air-gap 10 is left between first stator core 1 and the second stator core 3.Linearly only comprise a set of rotor mechanism, and rotor core 5 be greater than along the axial length the first stator core 1 or the second stator core 3 along the axial length with air-gap 10 sum along the axial length.
Described stator is silicon steel sheet lamination vertically, and at circumferencial direction, the first stator core 1 and the second stator core 3 are salient pole type and are no less than six teeth, and adopts the form of concentratred winding.
In permanent magnet array 6, permanent magnet distributes with column when cylindrical moving component 2 outer Surface Mount, and permanent magnet polarity interlocks in direction of rotation.
Permanent magnet array 6 is in sum of series first stator core 1(second stator core 3 of direction of rotation) on the number of teeth not etc.
When needing screw, in the first stator winding 2, pass into electric current
, in the second stator winding 4, pass into electric current
, wherein,
for current peak,
for the initial phase of direction of rotation electric current,
get
,
with
.
for the stator tooth along direction of rotation
,
with
.Wherein,
for current peak,
for the initial phase of direction of rotation electric current,
get
,
with
.
for the stator tooth along direction of rotation
,
and C.
Claims (2)
1. a Double-stator linear rotation Hal Bach permanent magnetic actuator, the rotor portion, the stationary part that comprise armature spindle and coaxially arrange with armature spindle, rotor portion is fixedly connected with armature spindle (7), armature spindle (7) by sleeve bearing (9) location and installation in casing (8), stationary part is placed in rotor portion periphery, location and installation is in casing (8), it is characterized in that: described stationary part comprises the first stator module, the second stator module that are coaxially set up in parallel, and the first stator module, the second stator module are separate; Rotor portion comprises rotor core (5) and is distributed in the Halbach permanent magnet array (6) of rotor core outer surface; The size of the current amplitude of described rotor portion linearly on position and the first stator module, the second stator module is linear, can carry out the control of actuator; First stator module comprises the first stator core (1) and coiling the first stator winding (2) on it, and the second stator module comprises the second stator core (3) and coiling the second stator winding (4) on it; Air-gap (10) is left between first stator core (1) and the second stator core (3); Rotor core (5) be greater than along the axial length the first stator core (1) or the second stator core (3) along the axial length with air-gap (10) sum along the axial length; The number of teeth of described Halbach permanent magnet array (6) in sum of series first stator core (1) or the second stator core (3) of direction of rotation is not etc.; First stator core (1) and the second stator core (3) are salient pole type in a circumferential direction and are no less than six teeth; Along direction of rotation, number of stator slots is the integral multiple of 3; The mode of stator winding is centralized; Stator core and rotor all adopt silicon steel sheet lamination process vertically.
2. Double-stator linear rotation Hal Bach permanent magnetic actuator according to claim 1, it is characterized in that: when described Halbach permanent magnet array (6) is distributed in rotor core (5) outer surface with column, each permanent magnet polarity of composition Halbach permanent magnet array (6) is crisscross arranged in a rotational direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310136445.8A CN103280939B (en) | 2013-04-18 | 2013-04-18 | A kind of Double-stator linear rotation Hal Bach permanent magnetic actuator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310136445.8A CN103280939B (en) | 2013-04-18 | 2013-04-18 | A kind of Double-stator linear rotation Hal Bach permanent magnetic actuator |
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| Publication Number | Publication Date |
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| CN103280939A CN103280939A (en) | 2013-09-04 |
| CN103280939B true CN103280939B (en) | 2016-02-03 |
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| CN201310136445.8A Expired - Fee Related CN103280939B (en) | 2013-04-18 | 2013-04-18 | A kind of Double-stator linear rotation Hal Bach permanent magnetic actuator |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103475178A (en) * | 2013-09-30 | 2013-12-25 | 东南大学 | Linear rotation permanent magnet motor |
| CN103795203B (en) * | 2014-01-22 | 2016-04-20 | 北京航空航天大学 | A kind of novel two-part seven phase fault tolerant permanent magnet motor |
| JP7238312B2 (en) * | 2018-09-28 | 2023-03-14 | 日本電産株式会社 | motor |
| CN113162313B (en) * | 2021-04-15 | 2023-06-23 | 浙大城市学院 | Two-dimensional motor and servo valve |
| 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 |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20010086813A (en) * | 2000-03-03 | 2001-09-15 | 이종훈 | Superconductor journal bearings with a modified Halbach array |
| JP2007014110A (en) * | 2005-06-30 | 2007-01-18 | Asmo Co Ltd | Rotary electric machine |
| CN1917337A (en) * | 2006-08-09 | 2007-02-21 | 浙江大学 | Permanent magnet linear vibration motor |
| CN201854100U (en) * | 2010-11-08 | 2011-06-01 | 东南大学 | Permanent magnetic actuator capable of realizing straight line and rotation coordinated control |
| CN202364011U (en) * | 2011-11-25 | 2012-08-01 | 美的威灵电机技术（上海）有限公司 | Servo motor with halbach structure |
-
2013
- 2013-04-18 CN CN201310136445.8A patent/CN103280939B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20010086813A (en) * | 2000-03-03 | 2001-09-15 | 이종훈 | Superconductor journal bearings with a modified Halbach array |
| JP2007014110A (en) * | 2005-06-30 | 2007-01-18 | Asmo Co Ltd | Rotary electric machine |
| CN1917337A (en) * | 2006-08-09 | 2007-02-21 | 浙江大学 | Permanent magnet linear vibration motor |
| CN201854100U (en) * | 2010-11-08 | 2011-06-01 | 东南大学 | Permanent magnetic actuator capable of realizing straight line and rotation coordinated control |
| CN202364011U (en) * | 2011-11-25 | 2012-08-01 | 美的威灵电机技术（上海）有限公司 | Servo motor with halbach structure |
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| CN103280939A (en) | 2013-09-04 |
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