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
- Publication number
- 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
- Authority
- CN
- China
- Prior art keywords
- stator
- rotor
- core
- linear
- iron core
- 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
- 238000004804 winding Methods 0.000 claims abstract description 19
- 229910000976 Electrical steel Inorganic materials 0.000 claims abstract description 6
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 23
- 230000004323 axial length Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 abstract description 3
- 238000003475 lamination Methods 0.000 abstract description 3
- 238000011160 research Methods 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 13
- 230000007246 mechanism Effects 0.000 description 12
- 238000000034 method Methods 0.000 description 3
- 239000000243 solution Substances 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000001746 injection moulding Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006757 chemical reactions by type Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000003129 oil well Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Landscapes
- Linear Motors (AREA)
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 invention relates to an actuator, in particular to a linear rotation permanent magnet actuator.
Background
Linear rotary forms of movement are common in both industrial and domestic applications, such as screw rotary screwing, oil well drilling, and the like. Heretofore, there have been various forms of linear rotary electromagnetic drive mechanisms, such as U.S. patent No. US3441819 (trade name "reciprocating linear motor") and U.S. patent No. US3453510 (trade name "linear-rotary direct drive motor and control system)". Such linear rotary electromagnetic drive mechanisms are also an important aspect in the current multi-degree-of-freedom drive mechanism research.
The combination of the linear actuator and the rotary actuator can drive linear motion and the linear actuator and the rotary actuator can drive rotary motion, so that the simplest solution of linear rotary drive can be realized. Chinese patent (CN 200680043229) entitled "plastic injection molding machine with built-in linear-rotary direct drive" provides a coaxial type linear-rotary two-degree-of-freedom injection molding machine, which is simply composed of a discrete linear actuator and a rotary actuator, the rotary actuator being nested inside the linear actuator. US patent (US 4806068) entitled "rotary linear actuator for robots" (US 4806068) provides a linear rotary actuator for robots in a non-coaxial manner, the linear actuator pushing a connection portion to perform a linear motion, the connection portion performing a rotary motion under rotation of a rotary motor. The common defects of the two structures are that the linear driver and the rotary driver are mutually independent, the size is large, the reliability is poor, the coordination control is complex, the precise control is not easy to realize, and meanwhile, the permanent magnet is not completely utilized. In addition, each driver requires an independent power supply, which is large in number.
The solution of the screw driving mechanism realized by the principle of the linear motor in the screw direct driving mode (Y.Fujimoto, T.Kominami, H.Hamada.development and Linear motion high speed direct-driven Linear actuator [ J ]. IEEETransactionon industrial electronics,2009,56(05): 1383-.
The linear and rotary actuators can realize linear and rotary motion by using a single electromagnetic mechanism, and the mechanism is similar to a planar motor after being unfolded in a rotating direction and is a rotary motor when rotating independently, so that continuous rotary motion can be realized without the limitation of limited stroke. Such a linear rotary actuator has been proposed in accordance with two main topological ways existing in the stator-rotor structure, namely, japanese patent (JP 2004040894) entitled "electromagnetic actuator (electromagnetic actuator)" and US patent (US 20100060086) entitled "driving mechanism with position encoder for bidirectional positioning" (single moving member linear rotary actuator) employing a single stator and a double stator, respectively. The double-stator single-motion part linear rotation actuator has two power supply driving modes, wherein one mode is that the inner stator and the outer stator respectively provide linear driving and rotary driving. Another is the inner and outer stators proposed in european patent (EP 1780878) entitled "compact linear rotary actuator" which provides both linear and rotary drive. The first driving method is similar to the two drivers, and the difference is that: although the linear and rotary motors share the moving part to make the motor structure more compact, the magnetic fields in different directions in the two stators are converged on the moving part, so that the magnetic fields on the moving part are extremely complex and difficult to analyze and control. The second driving method can increase the interaction between the moving part and the stator surface to provide larger thrust and torque, but the mechanism is too complicated, the stator part needs to be bell-shaped, and the manufacturing and installation are difficult.
Among the three driving schemes of the linear rotation motion, the first scheme using two drivers needs two motors, and the transmission mechanism is complex and bulky; the second screw driving mechanism has inflexible driving mode and can only do fixed screw motion; although the stator of the third linear rotating motor scheme is slightly complex, the third linear rotating motor scheme has obvious advantages from the compactness of a topological structure and the positioning precision of movement, and is a multi-degree-of-freedom driving mechanism with great development prospect.
Although the single-stator single-moving-part linear rotary actuator has lower power density than the double-stator single-moving-part linear rotary actuator, the linear displacement in the linear direction is not limited, and the manufacture is simple, so that the single-stator single-moving-part linear rotary actuator has wider application prospect.
The existing single-stator single-moving-part linear rotation actuator generally adopts a form that a magnetic field in a stator in a japanese patent (JP 62-40052) named as a "rotating-axial linear motion synthetic motor" and a chinese patent (CN 200810042746) named as a "dual-radial magnetic field reaction type linear rotation stepping motor" has two radial directions of linear rotation, so that theoretically, although more magnetic conduction areas can be arranged in a stator yoke area, the complex magnetic field seriously increases the difficulty of stator processing, particularly the lamination of silicon steel sheets is very difficult, and thus the stator loss is increased.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the double-stator linear rotation Halbach permanent magnet actuator for the limited linear stroke, which improves the distribution of the internal and external magnetic fields of the rotor, reduces the iron core weight of the rotor, improves the response speed and reliability of a system and improves the system efficiency.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
a double-stator linear rotation Halbach permanent magnet actuator comprises a rotor shaft, a rotor part and a stator part, wherein the rotor part and the stator part are coaxially arranged with the rotor shaft, the rotor part is fixedly connected with the rotor shaft 7, the rotor shaft 7 is positioned and installed on a machine shell 8 through a sleeve bearing 9, the stator part is arranged on the periphery of the rotor part and is positioned and installed on the machine shell 8, the stator part comprises a first stator component and a second stator component which are coaxially arranged in parallel, and the first stator component and the second stator component are mutually independent; the rotor part comprises a rotor core and a Halbach permanent magnet array 6 distributed on the outer surface of the rotor core.
The first stator component comprises a first stator iron core 1 and a first stator winding 2 wound on the first stator iron core, and the second stator component comprises a second stator iron core 3 and a second stator winding 4 wound on the second stator iron core; an air gap 10 is left between the first stator core 1 and the second stator core 3.
The axial length of the rotor core 5 is greater than the sum of the axial length of the first stator core 1 or the second stator core 3 and the axial length of the air gap 10.
The number of the permanent magnet array 6 in the rotation direction is different from that of the first stator core 1 or the second stator core 3.
The first stator core 1 and the second stator core 3 are both salient pole type and have not less than six teeth in the circumferential direction.
The number of stator slots is an integer multiple of 3 in the direction of rotation.
The stator winding is centralized.
The stator core and the rotor are both laminated in an axial direction by adopting silicon steel sheets.
When the Halbach permanent magnet array 6 is distributed on the outer surface of the rotor core 5 in a columnar manner, the polarities of the permanent magnets forming the Halbach permanent magnet array 6 are arranged in a staggered manner in the rotating direction.
Through the technical scheme, compared with the prior art, the invention has the following beneficial effects:
because the two stators of the double-stator linear rotating Halbach permanent magnet actuator provided by the invention are independent from each other in the linear direction, the stators do not have magnetic fields along the axial direction and only contain magnetic fields along the radial direction, silicon steel sheet lamination can be adopted, and the loss can be effectively reduced; each independent stator is of a concentrated winding stator structure, and the structure is simple and easy to process; researches show that the linear relation between the position of the rotor along a straight line and the magnitude of the current amplitude on the two stators is easy to control the actuator.
Drawings
FIG. 1 is a schematic axial sectional view of a double-stator linear rotary Halbach permanent magnet actuator according to the present invention;
FIG. 2 is a schematic radial cross-sectional view of a double-stator linear rotating Halbach permanent magnet actuator;
FIG. 3 is a three-dimensional schematic diagram of a double-stator linear rotating Halbach permanent magnet actuator;
wherein: 1. the stator comprises a first stator core, 2, a first stator winding, 3, a second stator core, 4, a second stator winding, 5, a rotor core, 6, a Halbach permanent magnet array, 7, a rotor shaft, 8, a machine shell, 9 and a sleeve bearing.
Detailed Description
The attached drawings disclose a schematic structural diagram of a preferred embodiment of the invention without limitation; the technical solution of the present invention will be described in detail below with reference to the accompanying drawings.
The invention provides a double-stator linear rotation Halbach permanent magnet actuator, which mainly comprises a first stator iron core 1, a first stator winding 2, a second stator iron core 3, a second stator winding 4, a rotor iron core 5, a Halbach permanent magnet array 6, a rotor shaft 7, a machine shell 8 and a sleeve bearing 9, as shown in figures 1-3.
A first stator core 1 and a second stator core 3 which are fixed in the casing 8 and are arranged in parallel along the axial direction, wherein a first stator winding 2 is wound on the first stator core 1, and a second stator winding 4 is wound on the second stator core 3; and a rotor core 5 arranged inside the first stator core 1 and the second stator core 3, wherein a Halbach permanent magnet array 6 is attached to the outer surface of the rotor core 5 and is fixed on a rotor shaft 7, and the rotor shaft 7 is connected with a machine shell 8 through a sleeve bearing 9. The stator comprises two sets of identical and independent stator devices, namely a first stator iron core 1 and a first stator winding 2 wound on the first stator iron core, and a second stator iron core 3 and a second stator winding 4 wound on the second stator iron core, along the linear direction; an air gap 10 is left between the first stator core 1 and the second stator core 3. Only one set of rotor mechanism is included in the linear direction, and the length of the rotor core 5 in the axial direction is greater than the sum of the length of the first stator core 1 or the second stator core 3 in the axial direction and the length of the air gap 10 in the axial direction.
The stator is a silicon steel sheet and has an axial laminated structure, and in the circumferential direction, the first stator iron core 1 and the second stator iron core 3 are both salient poles and have at least six teeth and adopt a concentrated winding form.
The permanent magnets in the permanent magnet array 6 are distributed in a columnar shape when being attached to the outer surface of the cylindrical moving part 2, and the polarities of the permanent magnets are staggered in the rotating direction.
The number of stages of the permanent magnet array 6 in the rotational direction is different from the number of teeth on the first stator core 1 (second stator core 3).
When the spiral motion is needed, the current is introduced into the first stator winding 2The second stator winding 4 is energized with currentWhereinin order to be the peak value of the current,is the initial phase of the current in the direction of rotation,get，And。for stator teeth in the direction of rotation、And. Wherein,in order to be the peak value of the current,is the initial phase of the current in the direction of rotation,get，And。for stator teeth in the direction of rotation、And C.
Claims (2)
1. The utility model provides a two stator linear rotation halbach permanent magnet actuator, includes rotor shaft and rotor part, the stator part with the coaxial setting of rotor shaft, rotor part and rotor shaft (7) fixed connection, and rotor shaft (7) are fixed a position through sleeve bearing (9) and are installed in casing (8), and rotor part periphery is placed in to the stator part, and the location is installed in casing (8), its characterized in that: the stator part comprises a first stator component and a second stator component which are coaxially arranged in parallel, and the first stator component and the second stator component are mutually independent; the rotor part comprises a rotor core (5) and a Halbach permanent magnet array (6) distributed on the outer surface of the rotor core; the rotor part is in a linear relation with the current amplitudes of the first stator component and the second stator component along a straight line, and the actuator can be controlled; the first stator component comprises a first stator iron core (1) and a first stator winding (2) wound on the first stator iron core, and the second stator component comprises a second stator iron core (3) and a second stator winding (4) wound on the second stator iron core; an air gap (10) is reserved between the first stator core (1) and the second stator core (3); the axial length of the rotor iron core (5) is greater than the sum of the axial length of the first stator iron core (1) or the second stator iron core (3) and the axial length of the air gap (10); the number of stages of the Halbach permanent magnet array (6) in the rotating direction is different from the number of teeth on the first stator core (1) or the second stator core (3); the first stator iron core (1) and the second stator iron core (3) are both salient poles in the circumferential direction and have no less than six teeth; along the rotating direction, the number of the stator slots is integral multiple of 3; the stator winding mode is centralized; the stator core and the rotor are both laminated in an axial direction by adopting silicon steel sheets.
2. The dual-stator linear rotary halbach permanent magnet actuator of claim 1, wherein: when the Halbach permanent magnet array (6) is distributed on the outer surface of the rotor core (5) in a columnar manner, the polarities of all permanent magnets forming the Halbach permanent magnet array (6) are arranged in a staggered manner in the rotating 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 |
Applications Claiming Priority (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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103280939A CN103280939A (en) | 2013-09-04 |
| CN103280939B true CN103280939B (en) | 2016-02-03 |
Family
ID=49063413
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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 |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103280939B (en) |
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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103280939A (en) | 2013-09-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101997389B (en) | Linear-rotation permanent-magnet actuator | |
| CN201846217U (en) | Linear rotating permanent magnetic actuator | |
| US9647593B2 (en) | Switched reluctance motors and excitation control methods for the same | |
| CN103280939B (en) | A kind of Double-stator linear rotation Hal Bach permanent magnetic actuator | |
| CN103222165B (en) | Three phase permanent magnet servomotor | |
| CN111181259B (en) | Linear rotation permanent magnet motor with E-shaped stator structure | |
| CN104852549A (en) | Linear rotation permanent magnet actuator adopting staggered pole structure | |
| CN103986301B (en) | High-dynamic moving-magnetic type linear rotation integrated two-degree-of-freedom motor | |
| CN111082551B (en) | Stator and rotating linear two-degree-of-freedom permanent magnet motor with modular structure | |
| WO2021189595A1 (en) | Multi-degree-of-freedom magnetic field modulation-type magnetic screw actuator and integrated design method therefor | |
| CN102868271B (en) | Double-stator rotating linear motor | |
| CN205319905U (en) | Straight line - rotating electrical machines | |
| CN102843015A (en) | Linearly-rotating two-degrees-of-freedom magnetic levitation bearing-free permanent magnetic actuator | |
| US8975799B2 (en) | Broad-pole type square-wave three-phase brushless permanent magnet direct current motor and assembling method thereof | |
| CN108847725B (en) | Stator permanent magnet type sheet type bearingless switched reluctance motor | |
| CN105471212B (en) | A kind of rotational alignment magneto | |
| CN104682642B (en) | A kind of two-freedom motor | |
| CN211063425U (en) | Stator and rotating linear two-degree-of-freedom permanent magnet motor with modular structure | |
| CN204597741U (en) | A kind of two-freedom motor | |
| CN108736675B (en) | Moving-coil type unipolar permanent magnet rotary linear motor | |
| CN104539122A (en) | Rotary linear permanent magnet electric motor | |
| CN208369436U (en) | A kind of moving-coil type unipolarity permanent magnet rotational alignment motor | |
| CN108809021B (en) | Double-sheet five-degree-of-freedom bearingless switched reluctance motor | |
| CN108462362B (en) | Sine wave power supply double-freedom-degree spiral motor with position self-locking function | |
| CN204046380U (en) | A kind of rotational alignment magneto |
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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160203 |