CN104600950A - Radial flux hybrid stepping motor - Google Patents

Radial flux hybrid stepping motor Download PDF

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Publication number
CN104600950A
CN104600950A CN201510039131.5A CN201510039131A CN104600950A CN 104600950 A CN104600950 A CN 104600950A CN 201510039131 A CN201510039131 A CN 201510039131A CN 104600950 A CN104600950 A CN 104600950A
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China
Prior art keywords
stator
iron core
core
permanent magnet
magnetic
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CN201510039131.5A
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CN104600950B (en
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李鹏
王磊
郑文鹏
程远
鲁华
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CETC 21 Research Institute
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CETC 21 Research Institute
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Abstract

The invention provides a radial flux hybrid stepping motor. The radial flux hybrid stepping motor comprises a stator portion, a rotor portion, a housing, a front end cover and a rear end cover. The stator portion comprises a stator core, stator windings, a stator inner static core, a permanent magnet and a magnetic modulation ring. The rotor portion is a rotating core and small teeth are uniformly distributed on the outer periphery of the rotating core. The stator core is mounted on the inner periphery of the housing, magnetic poles are distributed on the inner periphery of the stator core, the stator winding is arranged on a pole body of every magnetic pole, and small teeth in the same pitch with that of the teeth on the rotating core are evenly distributed on pole shoes of the magnetic poles. The rotating core rotates between the stator core and the stator inner static core. One end of the stator inner static core is connected to the front end cover. The permanent magnet is mounted on the stator inner static core. The magnetic modulation ring is mounted outside the permanent magnet. The permanent magnet radially magnetizes or parallelly magnetizes. The radial flux hybrid stepping motor is reasonable in structure, low in machining difficulty, high in permanent magnet utilization rate, capable of being analyzed and optimized through two-dimensional finite element software, small in rotor rotational inertia and high in motor operation efficiency.

Description

A kind of radial flux composite stepper motor
Technical field
The present invention relates to a kind of stepping motor, especially a kind of composite stepper motor.
Background technology
At present, stepping motor is divided into variable reluctance stepping motor, p-m step motor and composite stepper motor.Wherein, although variable reluctance stepping motor precision is higher, low cost of manufacture, power consumption is large, Driving Torque and power little; Although p-m step motor power consumption is little, step angle is bigger than normal, and running precision is on the low side.By contrast, composite stepper motor combines the advantage of variable reluctance stepping motor and p-m step motor: power consumption is little, and Driving Torque is large, and control precision is high, and can provide certain cogging torque.
But still there is certain defect in configuration aspects in traditional composite stepper motor:
1. due to rotor core segmentation, stagger half rotor slot-pitch each other, and placed annular permanent magnet steel in the middle of the rotor core of two ends, therefore complex structure, difficulty of processing is large.
2. permanent magnet magnetizes vertically, and stator core is formed by silicon steel plate stacking, there is non-magnetic insulating barrier between silicon steel sheet, reduces the magnetic permeability of stator-rotor iron core axis, thus reduces permanent magnet utilance.
3. in permanent magnet axial range, do not produce effective energy converting between mechanical, thus reduce torque density and the power density of motor, also increase resistance and the inductance of stator winding simultaneously, increase the power consumption of motor.
4. air-gap induction axial distribution uneven, near the close reduction of two ends magnetic, the material effective rate of utilization of motor is on the low side.
5. the close complex distribution of magnetic in motor, there is radial and axial magnetic circuit, by three-dimensional finite element software, motor can only be analyzed, increase and analyze difficulty and computing cycle, for the motor that some teeth portion sizes are less, Three-D limited meta software even cannot carry out subdivision to it, causes such design of electrical motor and analyze difficulty large.
Summary of the invention
For solving the problems of the technologies described above, the invention provides a kind of radial flux composite stepper motor, comprise stationary part, rotor, casing, before, rear end cap, stationary part comprises stator core, stator winding, static iron core in stator, permanent magnet and magnetic modulation ring, rotor is the rotary iron core of cup-shaped, rotary iron core periphery is evenly distributed with little tooth, stator core is installed on casing inner circumferential, magnetic pole (stator canine tooth) is distributed with in stator core inner circumferential, each magnetic pole pole body places stator winding, little tooth is uniformly distributed at magnetic pole pole shoe, tooth pitch is identical with tooth tooth pitch little on rotary iron core, it is interior static iron core in rotary iron core, in stator, static iron core one end is connected with front end housing, in stator, static iron core is provided with permanent magnet, magnetic modulation ring is installed outside permanent magnet, permanent magnet is radial magnetizing or parallel magnetization, rotary iron core rotates between static iron core in stator core and stator.
Described permanent magnet is multipair pole, and it is corresponding that magnetic modulating device is provided with multipair breach.
In described stator, static iron core and front end housing can make one.
In described stator, the other end of static iron core is flexibly connected with rotary iron core by bearing.
Rear end cap is stretched out in described rotary iron core one end, and rotary iron core is flexibly connected by bearing with end cap.
In described stator, static iron core and magnetic are modulated ring and can be made one, and interior static iron core is provided with groove, and described permanent magnet is that column embeds in groove.
The invention has the advantages that:
1. simplify the structure of rotor, reduce processing and manufacturing difficulty.
2. permanent magnet is placed in stator on static iron core, and permanent magnet placement space is enough large, and does not affect the mechanical strength of stator core.
3. magnetic circuit and motor excitation are all positioned at circumferencial direction, avoid the drawback of conventional hybrid formula stepping motor magnetic circuit through laminated core, improve permanent magnet utilance.
4. permanent magnet does not take the useful space of motor, improves the power density of motor, torque density and operational efficiency.
5. motor gas-gap magnetic is close is axially evenly distributed, and contributes to the utilance improving stator-rotor iron core.
6. conveniently by two-dimensional FE analysis software, analysis and designation and optimization are carried out to motor, greatly reduce the design and analysis difficulty of motor.
7. by increasing permanent magnet consumption, can effectively improve cogging torque and the holding torque of motor.
8. rotor moment of inertia is little, and motor operational efficiency is high.
Accompanying drawing explanation
Fig. 1 radial flux composite stepper motor major part exploded view;
Fig. 2 radial flux composite stepper motor cutaway view;
Static core structure schematic diagram in Fig. 3 small size radial flux hybrid type stepping motor;
Fig. 4 stator punching schematic diagram;
Fig. 5 stator core, rotary iron core, permanent magnet and magnetic modulation relationship ofloops schematic diagram;
Fig. 6 multipolar dynamo permanent magnet and magnetic modulation ring distribution schematic diagram;
Description of reference numerals:
1-front end housing; Static iron core in 2-; 3-casing; 4-is with winding stator core; 41-stator core; 42-stator winding; 5-permanent magnet; 6-magnetic modulation ring; 7-rotary iron core; 8-rear end cap; 9-bearing.
Specific embodiment
Below in conjunction with accompanying drawing and embodiment, the present invention will be further described.
For 2 phase 16 tooth radial flux composite stepper motors of the present invention, electric machine structure as depicted in figs. 1 and 2, the invention provides a kind of radial flux composite stepper motor, comprise stationary part, rotor, casing 3, before, rear end cap 1, 8, stationary part comprises stator core 41, stator winding 42, static iron core 2 in stator, permanent magnet 5 and magnetic modulation ring 6, rotor is rotary iron core 7, rotary iron core 7 periphery is evenly distributed with little tooth, stator core 41 is installed on casing inner circumferential, magnetic pole is distributed with in stator core 41 inner circumferential, each magnetic pole pole body places stator winding 42, little tooth is uniformly distributed at magnetic pole pole shoe, tooth pitch is identical with tooth tooth pitch little on rotary iron core 7,
It is interior static iron core 2 in rotary iron core 7, in stator, static iron core 2 one end is connected with front end housing 1, in stator, static iron core 2 is provided with permanent magnet 5, magnetic modulation ring 6 is installed outside permanent magnet 5, permanent magnet 5 is radial magnetizing or parallel magnetization, and rotary iron core 7 rotates between static iron core 2 in stator core 41 and stator.
In described stator, the other end of static iron core 2 is flexibly connected with rotary iron core 7 by bearing 9.
Rear side end cap 8 is stretched out in described rotary iron core 7 one end, and rotary iron core 7 is flexibly connected by bearing 9 with end cap 8.
For the motor that size is less, in described stator, static iron core 2 and magnetic are modulated ring 6 and can be made one, and interior static iron core is provided with groove, and described permanent magnet 5 is in column embedding groove.In static iron core 2 can be reduced to structure as shown in Figure 3, in the embedding and interior static iron core of the permanent magnet 5 of column 2.Because motor size is less, rotary iron core 7 only need be connected with rear side end cap 8 by a bearing 9, and magnetic is modulated between ring 6 and permanent magnet 5 and do not had Mechanical Contact.
As shown in Figure 4, stator canine tooth circumferentially, is divided into two groups, left and right according to permanent magnet magnetic 5 number of poles to stator core 41 structure, and the little tooth of stator of each group is completely the same.The distribution of stator canine tooth and winding mode consistent with the design rule of conventional hybrid formula stepping motor.Center line between stator core 41 left and right sides is mutually vertical with permanent magnet 5 pole center line.Modulate line centered by upper and lower two the breach mid points of 6 rings by magnetic, the center line between this center line with stator core 41 left and right sides overlaps.The relative position relation of stator core 41, permanent magnet 5 and magnetic modulation ring 6 as shown in Figure 5.
As shown in Figure 6, in order to reduce the thickness in stator core 41 yoke portion, permanent magnet 5 also can become multipair pole, and the ring 6 of magnetic modulation simultaneously also will change according to permanent magnet pole 5 number, as magnetic modulation ring 6 and the permanent magnet 5 of four-pole permanent magnet body.

Claims (6)

1. a radial flux composite stepper motor, comprises stationary part, rotor, casing, forward and backward end cap, and stationary part comprises static iron core, permanent magnet and magnetic modulation ring in stator core, stator winding, stator, it is characterized in that:
Rotor is the rotary iron core of cup-shaped, and rotary iron core periphery is evenly distributed with little tooth, and stator core is installed on casing inner circumferential, magnetic pole is distributed with in stator core inner circumferential, each magnetic pole pole body places stator winding, is uniformly distributed little tooth at magnetic pole pole shoe, tooth pitch is identical with tooth tooth pitch little on rotary iron core;
It is interior static iron core in rotary iron core, in stator, static iron core one end is connected with front end housing, in stator, static iron core is provided with permanent magnet, is provided with magnetic modulation ring outside permanent magnet, permanent magnet is radial magnetizing or parallel magnetization, and rotary iron core rotates between static iron core in stator core and stator.
2., by a kind of radial flux composite stepper motor according to claim 1, it is characterized in that,
Described permanent magnet is multipair pole, and it is corresponding that magnetic modulating device is provided with multipair breach.
3., by a kind of radial flux composite stepper motor according to claim 1, it is characterized in that,
In described stator, static iron core and front end housing can make one.
4., by a kind of radial flux composite stepper motor according to claim 1, it is characterized in that,
In described stator, the other end of static iron core is flexibly connected with rotary iron core by bearing.
5., by a kind of radial flux composite stepper motor according to claim 1, it is characterized in that, rear end cap is stretched out in described rotary iron core one end, and rotary iron core is flexibly connected by bearing with end cap.
6., by a kind of radial flux composite stepper motor according to claim 1, it is characterized in that,
In described stator, static iron core and magnetic are modulated ring and can be made one, and interior static iron core is provided with groove, and described permanent magnet is that column embeds in groove.
CN201510039131.5A 2015-01-27 2015-01-27 Radial flux hybrid stepping motor Active CN104600950B (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106341024A (en) * 2016-10-19 2017-01-18 山东大学 Two-degree-freedom mixed type stepping motor with orthogonal cylindrical structure for robot
CN109347232A (en) * 2018-12-11 2019-02-15 西安航天动力测控技术研究所 A kind of composite stepper motor rotor structure

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003284309A (en) * 2002-03-25 2003-10-03 Japan Servo Co Ltd Hybrid multi-phase stepping motor
CN101207319A (en) * 2007-11-16 2008-06-25 西北工业大学 Double redundancy composite stepper motor
JP2011114897A (en) * 2009-11-25 2011-06-09 Nidec Servo Corp Two-phase hybrid rotary electric machine
CN202602512U (en) * 2012-04-19 2012-12-12 常州市常华电机有限公司 Circular mixed stepping motor
US20140132092A1 (en) * 2012-11-14 2014-05-15 Nippon Piston Ring Co., Ltd. Rotating electrical machine
CN204425168U (en) * 2015-01-27 2015-06-24 中国电子科技集团公司第二十一研究所 A kind of radial flux composite stepper motor

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003284309A (en) * 2002-03-25 2003-10-03 Japan Servo Co Ltd Hybrid multi-phase stepping motor
CN101207319A (en) * 2007-11-16 2008-06-25 西北工业大学 Double redundancy composite stepper motor
JP2011114897A (en) * 2009-11-25 2011-06-09 Nidec Servo Corp Two-phase hybrid rotary electric machine
CN202602512U (en) * 2012-04-19 2012-12-12 常州市常华电机有限公司 Circular mixed stepping motor
US20140132092A1 (en) * 2012-11-14 2014-05-15 Nippon Piston Ring Co., Ltd. Rotating electrical machine
CN204425168U (en) * 2015-01-27 2015-06-24 中国电子科技集团公司第二十一研究所 A kind of radial flux composite stepper motor

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106341024A (en) * 2016-10-19 2017-01-18 山东大学 Two-degree-freedom mixed type stepping motor with orthogonal cylindrical structure for robot
CN106341024B (en) * 2016-10-19 2018-08-14 山东大学 The orthogonal cylindrical structure two-freedom hybrid type stepping motor of robot
CN109347232A (en) * 2018-12-11 2019-02-15 西安航天动力测控技术研究所 A kind of composite stepper motor rotor structure

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