CN103475178A - Linear rotation permanent magnet motor - Google Patents
Linear rotation permanent magnet motor Download PDFInfo
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- CN103475178A CN103475178A CN2013104629272A CN201310462927A CN103475178A CN 103475178 A CN103475178 A CN 103475178A CN 2013104629272 A CN2013104629272 A CN 2013104629272A CN 201310462927 A CN201310462927 A CN 201310462927A CN 103475178 A CN103475178 A CN 103475178A
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Abstract
The invention discloses a linear rotation permanent magnet motor. The linear rotation permanent magnet motor comprises an inner stator, an outer stator, a rotor located between the inner stator and the outer stator, a left end cover (1), a machine shell (2), an outer stator winding (3), an outer stator iron core (4) with a groove, an inner stator winding (5), an inner stator permanent magnet (6), an inner stator iron core (7) with a groove, a rotor (8), a right end cover (9), an inner stator support (10), a rotation shaft (11), an outer stator permanent magnet (12) and a bearing (13), wherein the left end cover (1), the machine shell (2) and the right end cover (9) form a cavity, the inner stator support (10) is arranged in the cavity, and one end of the inner stator support (10) is connected with the right end cover (9). According to the linear rotation permanent magnet motor, the structure of the linear rotation two-freedom-degree motor is simplified, the size and the weight of the motor are reduced, magnetic coupling of linear and rotary motion units is eliminated, and the control difficulty of linear and rotary motions is lowered.
Description
Technical field
The present invention relates to a kind of straight line permanent magnet rotating electric machine, be applicable to straight line, rotation and screw drives occasion, belong to technical field of motors.
Background technology
With regard to the motion control of current motor, major part belongs to the single-degree-of-freedom motor, can only carry out rectilinear motion or rotatablely move.Along with the increase of industrial drives system complexity and the raising of driving required precision, the single-degree-of-freedom motor of motion in one dimension can't meet the driving requirement, needs motor and the driving mechanism thereof of a large amount of multi-dimensional movements.With the single-degree-of-freedom motor, compare, multi-freedom electric motor not only has the characteristic of multi-dimensional movement, also has higher mechanical integrated level, higher stock utilization and control characteristic flexibly.The straight line motor that rotatablely moves is a kind of of multi-freedom electric motor, can be straight line, rotation and screw drives field power is provided.Through the development of more than ten years, straight line rotation two-freedom motor has been obtained significant progress, but also exposes some problems, mainly comprises:
1) sped structure can only advance motion as spiral shell in the axial direction, and pitch is fixed, and purposes is limited;
2) the series connection double-winding structure is axial series, and motor presents slim-lined construction;
3) cross-couplings of rotating magnetic field and travelling-magnetic-field, be unfavorable for the optimal design of motor;
4) integrated structure often adopts concentrated winding, and the winding number of phases is more, controls difficulty larger, the control strategy complexity;
5) stator and Structure of mover are special, motor manufacturing technology complexity, processing difficulties;
6) control theory and the technology of straight line rotation two-freedom motor are left to be desired.
The present invention proposes a kind of simple straight line rotation two-freedom double-stator permanent magnet electric machine structure, can realize rectilinear motion simultaneously, rotatablely move and the multi-motion mode such as screw, in fields such as Aeronautics and Astronautics, national defence, exploration, mapping, numerical control, medical treatment, health and industrial production, there is quite wide application prospect.
Summary of the invention
Goal of the invention: the present invention proposes a kind of straight line permanent magnet rotating electric machine, purpose is to simplify the structure of straight line rotation two-freedom motor, reduce the volume and weight of motor, eliminate the magnetic coupling of straight line and the unit that rotatablely moves, the control difficulty that reduces straight line and rotatablely move.
Technical scheme: for solving the problems of the technologies described above, the invention provides a kind of straight line permanent magnet rotating electric machine, this motor comprises internal stator, external stator and the mover between internal stator and external stator;
This motor comprises left end cap, casing, external stator winding, opens reeded external stator iron core, internal stator winding, internal stator permanent magnet, drive reeded internal stator iron core, mover, right end cap, internal stator support, rotating shaft, external stator permanent magnet, bearing;
Wherein, left end cap, casing and right end cap form a cavity, and the internal stator support is arranged in this cavity, and an end of internal stator support is connected with right end cap, and the other end is connected with rotating shaft by bearing;
The external stator iron core is fixed on the inner surface of casing, and internal stator iron core is fixed on the upper surface relative with casing of internal stator support, between external stator iron core and internal stator iron core, is provided with mover, and an end of mover is connected with rotating shaft, and the other end is unsettled;
Be placed with the external stator winding in the external stator core slots, place the external stator permanent magnet between the external stator iron core, be placed with the internal stator winding in the internal stator iron core groove, place stator permanent magnet between internal stator iron core;
External stator iron core, external stator winding, external stator permanent magnet and mover form rotary drive unit, and internal stator iron core, external stator winding, external stator permanent magnet and mover form the linear drives unit;
Perhaps external stator iron core, external stator winding, external stator permanent magnet and mover form the linear drives unit, and internal stator iron core, external stator winding, external stator permanent magnet and mover form rotary drive unit;
Linear drives unit and rotary drive unit all adopt stator permanent magnetic type flux switch motor structure.
Preferably, internal stator iron core equates with the axial length of external stator iron core, both with side end face in same sagittal plane.
Preferably, internal stator iron core equates with the axial length of external stator iron core, both with side end face not in same sagittal plane.
Preferably, the axial length that the axial length of internal stator iron core is greater than or less than the external stator iron core equates, both with side end face in same sagittal plane.
Preferably, the axial length that the axial length of internal stator iron core is greater than or less than the external stator iron core equates, both with side end face in same sagittal plane, both with side end face not in same sagittal plane.
Preferably, external stator permanent magnet and internal stator permanent magnet can be selected ferrite or Nd-Fe-Bo permanent magnet material, and mover is made by permeability magnetic material.
Preferably, described external stator winding and internal stator winding are heterogeneous symmetric winding.
Beneficial effect:
1) adopt two stators, single action minor structure, can take full advantage of the motor internal space, reduce whole motor volume;
2) straight line and rotary drive unit are substantially independent on machinery and magnetic structure, can separately carry out Electromagnetic Design;
3) cover of two on interior external stator armature winding is separate, the decoupling zero control that is easy to realize straight line and rotatablely moves;
4) stator of the stator of motor and mover and conventional motors and to turn (moving) minor structure similar, simple in structure, be easy to processing, manufacture;
5) permanent magnet is placed on stator side, and radiating condition is good, has avoided the danger of permanent magnet degaussing;
6) on rotor not only without permanent magnet, but also without winding, simple in structure, reliability is high, is applicable to high-speed cruising.
The accompanying drawing explanation
Fig. 1 be motor shaft in execution mode one to schematic cross-section, wherein external stator and mover form rotary drive unit, internal stator and mover formation linear drives unit.
Fig. 2 is the motor radial section schematic diagram in execution mode one, and wherein external stator and mover form rotary drive unit, and internal stator and mover form the linear drives unit.
Fig. 3 be motor shaft in execution mode two to schematic cross-section, external stator and mover form the linear drives unit, the general structure schematic diagram of internal stator and mover formation rotary drive unit.
Fig. 4 is the motor radial section schematic diagram in execution mode two, and external stator and mover form the linear drives unit, and internal stator and mover form the general structure schematic diagram of rotary drive unit.
In figure, left end cap 1, casing 2, external stator winding 3, external stator iron core 4, internal stator winding 5, internal stator permanent magnet 6, internal stator iron core 7, mover 8, right end cap 9, internal stator support 10, rotating shaft 11, external stator permanent magnet 12, bearing 13.
Embodiment
Below in conjunction with accompanying drawing, the present invention will be further described.
Straight line permanent magnet rotating electric machine provided by the invention, consist of inside and outside two stators and a middle mover, is equivalent to two single air gap motor parallel runnings.
Motor adopts cylinder type, and primary clustering comprises casing, external stator, mover, internal stator, internal stator support, rotating shaft and end cap.
External stator is fixed on the inner surface of casing, and internal stator is connected with end cap by the internal stator support, and two ends, left and right end cap is bolted in casing and forms one, and rotating shaft is connected by three bearings with non-motion parts.
Between internal stator and external stator, be electric mover, mover adopts drag cup structure, at one end with rotating shaft, is connected.
Between mover and internal stator, being interior air gap, is outer air gap between mover and external stator.
Internal stator and external stator form by internal stator iron core, permanent magnet and armature winding, are the stator structure of stator permanent magnetic type flux switch motor.
Mover adopts the teeth groove salient-pole structure, and surfaces externally and internally, along axial or axially grooved, is the rotor structure of stator permanent magnetic type flux switch motor.
External stator and mover form linear drives unit (or rotary drive unit), and internal stator and mover form rotary drive unit (or linear drives unit).
Referring to Fig. 1-4, the straight line permanent magnet rotating electric machine that the present invention proposes.
Straight line permanent magnet rotating electric machine provided by the invention comprises internal stator, external stator and the mover between internal stator and external stator.
This motor comprises left end cap 1, casing 2, external stator winding 3, opens reeded external stator iron core 4, internal stator winding 5, internal stator permanent magnet 6, drive reeded internal stator iron core 7, mover 8, right end cap 9, internal stator support 10, rotating shaft 11, external stator permanent magnet 12, bearing 13.
Wherein, left end cap 1, casing 2 and right end cap 9 form a cavity, and internal stator support 10 is arranged in this cavity, and an end of internal stator support 10 is connected with right end cap 9, and the other end is connected with rotating shaft 11 by bearing 13.
External stator iron core 4 is fixed on the inner surface of casing 2, and internal stator iron core 7 is fixed on the upper surface relative with casing 2 of internal stator support 10, between external stator unshakable in one's determination 4 and internal stator iron core 7, is provided with mover 8, and an end of mover 8 is connected with rotating shaft, and the other end is unsettled;
Be placed with external stator winding 3 in external stator 4 grooves unshakable in one's determination, place external stator permanent magnet 12 between external stator iron core 4, in internal stator iron core 7 grooves, be placed with internal stator winding 5, place stator permanent magnet 6 between internal stator iron core 7.
External stator iron core 4, external stator winding 3, external stator permanent magnet 12 and mover 8 form rotary drive unit, and internal stator iron core 7, external stator winding 5, external stator permanent magnet 12 and mover 8 form the linear drives unit.
Perhaps external stator iron core 4, external stator winding 3, external stator permanent magnet 12 and mover 8 form the linear drives unit, and internal stator iron core 7, external stator winding 5, external stator permanent magnet 12 and mover 8 form rotary drive unit;
Linear drives unit and rotary drive unit all adopt stator permanent magnetic type flux switch motor structure.
Internal stator iron core 7 equates with the axial length of external stator iron core 4, both with side end face in same sagittal plane.
Internal stator iron core 7 equates with the axial length of external stator iron core 4, both with side end face not in same sagittal plane.
The axial length that the axial length of internal stator iron core 7 is greater than or less than external stator iron core 4 equates, both with side end face in same sagittal plane.
The axial length that the axial length of internal stator iron core 7 is greater than or less than external stator iron core 4 equates, both with side end face in same sagittal plane, both with side end face not in same sagittal plane.
External stator permanent magnet 12 and internal stator permanent magnet 6 can be selected ferrite or Nd-Fe-Bo permanent magnet material, and mover is made by permeability magnetic material.
Described external stator winding 3 and internal stator winding 5 are heterogeneous symmetric winding.
The casing 2 of described motor is connected with right end cap 9 with left end cap 1 by bolt, external stator iron core 4 is fixed on the inner surface of casing 2, internal stator iron core 7 is bolted on internal stator support 10, internal stator support 10 is connected with right end cap 9 by bolt, and mover 8 is connected with left end cap 1, right end cap 9 and internal stator support 10 by bearing.
Between external stator unshakable in one's determination 4 and mover 8, being outer air gap, is interior air gap between internal stator iron core 7 and mover 8, external stator iron core 4, internal stator iron core 7 and mover 8 coaxial lines.
Embodiment one: present embodiment is described below in conjunction with body Fig. 1 and Fig. 2, the external stator iron core 4 of the described motor of present embodiment, external stator winding 3, external stator permanent magnet 12 form rotary drive unit with mover 8, and internal stator iron core 7, internal stator winding 5, internal stator permanent magnet 6 form the linear drives unit with mover 8.Described rotary drive unit adopts internal rotor electric rotating machine structure, and described linear drives unit adopts the cylindrical linear structure.
External stator iron core 4 is in axial direction laminated by the punching of a plurality of " U " type, more assembled along circumferencial direction, along circumferencial direction, is placed with external stator permanent magnet 12 between external stator iron core 4.
External stator permanent magnet 12 magnetizes along circumferencial direction, and the magnetizing direction of adjacent external stator permanent magnet 12 is contrary.
Place symmetrical external stator winding 3 in the groove of external stator iron core 4, out of phase external stator winding 3 is arranged in order along the motor circumferencial direction.
The outer surface of mover 8 is tooth slot structure, along circumferencial direction, and the tooth on mover 8 outer surfaces and groove alternative arrangement.
After passing into the symmetrical sine electric current in stator winding 3 outside, produce outside the along the circumferential direction magnetic field of rotation in air gap, this rotating magnetic field and mover 8 interaction generation rotating torques drive mover 8 and rotating shaft 11 to produce and rotatablely move.
Internal stator iron core 7 is along the circumferential direction laminated by the punching of a plurality of " U " type, more assembled along axial direction, and along axial direction, 7 of internal stator iron cores are placed with internal stator permanent magnet 6.
Internal stator permanent magnet 6 is loop configuration, along axial direction, magnetize, and the magnetizing direction of adjacent internal stator permanent magnet 6 is contrary.
Place annular internal stator winding 5 in the groove of internal stator iron core 7, out of phase internal stator winding 5 is arranged in order along the motor axial direction, the axis of the internal stator winding 5 of annular and the dead in line of mover 8 and internal stator iron core 7.
The inner surface of mover 8 is tooth slot structure, along axial direction, and the tooth on mover 8 inner surfaces and groove alternative arrangement.
Pass into the symmetrical sine electric current in internal stator winding 5 after, produce in axial direction mobile travelling-magnetic-field in interior air gap, this travelling-magnetic-field and mover 8 interact and produce linear electromagnetic thrust driving mover 8 and rotating shaft 11 generation rectilinear motions.
The axial length of internal stator iron core 7, external stator unshakable in one's determination 4 and mover 8 can equate, also can not wait.
By controlling having or not of electric current in external stator winding 3 and internal stator winding 5, can realize mover 8 rectilinear motion, rotatablely move and screw.
Embodiment two: present embodiment is described below in conjunction with body Fig. 3 and Fig. 4, the external stator iron core 4 of the described motor of present embodiment, external stator winding 3, external stator permanent magnet 12 form the linear drives unit with mover 8, and internal stator iron core 7, internal stator winding 5, internal stator permanent magnet 6 form rotary drive unit with mover 8.Described linear drives unit adopts the cylindrical linear structure, and described rotary drive unit adopts external rotor electric rotating machine structure.
External stator iron core 4 is along the circumferential direction laminated by the punching of a plurality of " U " type, more assembled along axial direction, and along axial direction, 4 unshakable in one's determination of each external stator is placed with external stator permanent magnet 12.
External stator permanent magnet 12 is loop configuration, along axial direction, magnetizes, and the magnetizing direction of adjacent external stator permanent magnet 12 is contrary.
Place annular external stator winding 3 in the groove of external stator iron core 4, out of phase external stator winding 3 is arranged in order along the motor axial direction, the axis of the external stator winding 3 of annular and the dead in line of mover 8 and external stator iron core 4.
The outer surface of mover 8 is tooth slot structure, along axial direction, and the tooth on mover 8 outer surfaces and groove alternative arrangement.
After passing into the symmetrical sine electric current in stator winding 3 outside, produce outside in axial direction mobile travelling-magnetic-field in air gap, this travelling-magnetic-field and mover 8 interact and produce linear electromagnetic thrust driving mover 8 and rotating shaft 11 generation rectilinear motions.
Internal stator iron core 7 is in axial direction laminated by the punching of a plurality of " U " type, more assembled along circumferencial direction, and along circumferencial direction, 7 of each internal stator iron cores are placed with internal stator permanent magnet 6.
Internal stator permanent magnet 6 magnetizes along circumference side, and the magnetizing direction of adjacent internal stator permanent magnet 6 is contrary.
Place symmetrical internal stator winding 5 in the groove of internal stator iron core 7, out of phase internal stator winding 5 is arranged in order along the motor circumferencial direction.
The inner surface of mover 8 is tooth slot structure, along circumferencial direction, and the tooth on mover 8 inner surfaces and groove alternative arrangement.
Pass into the symmetrical sine electric current in internal stator winding 5 after, produce the along the circumferential direction magnetic field of rotation in interior air gap, this rotating magnetic field and mover 8 interaction generation rotating torques drive mover 8 and rotating shaft 11 to produce and rotatablely move.
The axial length of internal stator iron core 7, external stator unshakable in one's determination 4 and mover 8 can equate, also can not wait.
By controlling having or not of electric current in external stator winding 3 and internal stator winding 5, can realize mover 8 rectilinear motion, rotatablely move and screw.
The present invention proposes the straight line permanent magnet rotating electric machine, and the mechanical transmission structure of its alternative complexity is realized rectilinear motion, rotatablely moved and screw.That this motor has is simple and compact for structure, magnetic circuit independent, control decoupling zero, without permanent magnet degaussing risk, high reliability.Motor comprises casing, end cap, external stator iron core, mover, internal stator iron core, internal stator iron core support and rotating shaft.The casing two ends are connected with the left and right end cap respectively, and the left and right end cap is connected with rotating shaft by bearing again.The external stator iron core is fixed on internal side of shell, internal stator iron core is fixed on the internal stator support outside.Between inside and outside stator core, for having the hollow cup type mover of tooth slot structure, mover one end is fixed in rotating shaft.External stator, external stator permanent magnet, external stator winding and mover form linear drives unit or rotary drive unit; Internal stator, internal stator permanent magnet, internal stator winding and mover form rotary drive unit or linear drives unit.Straight line and rotary drive unit are stator permanent magnetic type flux switch motor structure.
The foregoing is only better embodiment of the present invention; protection scope of the present invention is not limited with above-mentioned execution mode; in every case the equivalence that those of ordinary skills do according to disclosed content is modified or is changed, and all should include in the protection range of putting down in writing in claims.
Claims (7)
1. a straight line permanent magnet rotating electric machine, is characterized in that, this motor comprises internal stator, external stator and the mover between internal stator and external stator;
This motor comprises left end cap (1), casing (2), external stator winding (3), opens reeded external stator (4), internal stator winding (5), internal stator permanent magnet (6) unshakable in one's determination, drives reeded internal stator iron core (7), mover (8), right end cap (9), internal stator support (10), rotating shaft (11), external stator permanent magnet (12), bearing (13);
Wherein, left end cap (1), casing (2) and right end cap (9) form a cavity, internal stator support (10) is arranged in this cavity, and an end of internal stator support (10) is connected with right end cap (9), and the other end is connected with rotating shaft (11) by bearing (13);
External stator (4) unshakable in one's determination is fixed on the inner surface of casing (2), internal stator iron core (7) is fixed on the upper surface relative with casing (2) of internal stator support (10), be provided with mover (8) between external stator (4) unshakable in one's determination and internal stator iron core (7), one end of mover (8) is connected with rotating shaft, and the other end is unsettled;
Be placed with external stator winding (3) in external stator (4) groove unshakable in one's determination, external stator is placed external stator permanent magnet (12) between (4) unshakable in one's determination, be placed with internal stator winding (5) in internal stator iron core (7) groove, place stator permanent magnet (6) between internal stator iron core (7);
External stator (4), external stator winding (3) unshakable in one's determination, external stator permanent magnet (12) and mover (8) form rotary drive unit, and internal stator iron core (7), external stator winding (5), external stator permanent magnet (12) and mover (8) form the linear drives unit;
Perhaps external stator (4), external stator winding (3) unshakable in one's determination, external stator permanent magnet (12) and mover (8) form the linear drives unit, and internal stator iron core (7), external stator winding (5), external stator permanent magnet (12) and mover (8) form rotary drive unit;
Linear drives unit and rotary drive unit all adopt stator permanent magnetic type flux switch motor structure.
2. straight line permanent magnet rotating electric machine according to claim 1 is characterized in that: internal stator iron core (7) equates with the axial length of external stator (4) unshakable in one's determination, both with side end face in same sagittal plane.
3. straight line permanent magnet rotating electric machine according to claim 1 is characterized in that: internal stator iron core (7) equates with the axial length of external stator (4) unshakable in one's determination, both with side end face not in same sagittal plane.
4. straight line permanent magnet rotating electric machine according to claim 1 is characterized in that: the axial length that the axial length of internal stator iron core (7) is greater than or less than external stator iron core (4) equates, both with side end face in same sagittal plane.
5. straight line permanent magnet rotating electric machine according to claim 1, it is characterized in that: the axial length that the axial length of internal stator iron core (7) is greater than or less than external stator iron core (4) equates, both with side end face in same sagittal plane, both with side end face not in same sagittal plane.
6. according to the arbitrary described straight line permanent magnet rotating electric machine of claim 1-5, it is characterized in that: external stator permanent magnet (12) and internal stator permanent magnet (6) can be selected ferrite or Nd-Fe-Bo permanent magnet material, and mover is made by permeability magnetic material.
7. according to the arbitrary described straight line permanent magnet rotating electric machine of claim 1-5, it is characterized in that: described external stator winding (3) and internal stator winding (5) are heterogeneous symmetric winding.
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| CN104539122A (en) * | 2014-12-08 | 2015-04-22 | 沈阳工业大学 | Rotary linear permanent magnet electric motor |
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Application publication date: 20131225 |