CN104852549A - Linear rotation permanent magnet actuator adopting staggered pole structure - Google Patents
Linear rotation permanent magnet actuator adopting staggered pole structure Download PDFInfo
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 53
- 229910052742 iron Inorganic materials 0.000 claims abstract description 26
- 238000004804 winding Methods 0.000 claims description 11
- 229910000976 Electrical steel Inorganic materials 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 3
- 230000035699 permeability Effects 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 description 12
- 230000005415 magnetization Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000004907 flux Effects 0.000 description 2
- 239000000696 magnetic material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000002356 single layer Substances 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 229910001172 neodymium magnet Inorganic materials 0.000 description 1
- 230000010349 pulsation Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
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Abstract
本发明公开了一种采用交错极结构的直线旋转永磁作动器，包括机壳(1)、定子、动子以及转轴(9)；定子在轴向上设置有三组定子单元，且所述三组定子单元通过非导磁连接器(10)连接；所述动子在轴向上设置有交替排列的第一磁极(6)和第二磁极(7)，所述第一磁极(6)在周向上包括交替排列的第一永磁极(61)和第一铁极(62)，所述第二磁极(7)在周向上包括交替排列的第二永磁极(71)和第二铁极(72)，且所述第一永磁极(61)与第二永磁极(71)的磁性相反。本发明大大减少了永磁的用量，减少了作动器的体积，提高了功率密度。
The invention discloses a linear rotary permanent magnet actuator adopting an interlaced pole structure, comprising a casing (1), a stator, a mover and a rotating shaft (9); the stator is provided with three sets of stator units in the axial direction, and the The three sets of stator units are connected by non-magnetic connectors (10); the mover is provided with alternately arranged first magnetic poles (6) and second magnetic poles (7) in the axial direction, and the first magnetic poles (6) In the circumferential direction, the first permanent magnetic poles (61) and the first iron poles (62) are arranged alternately, and the second magnetic poles (7) are arranged in the circumferential direction. The second permanent magnetic poles (71) and the second iron poles are alternately arranged. (72), and the magnetic properties of the first permanent magnetic pole (61) and the second permanent magnetic pole (71) are opposite. The invention greatly reduces the consumption of permanent magnets, reduces the volume of the actuator, and improves the power density.
Description
技术领域technical field
本发明涉及一种可实现直线、旋转和螺旋复合运动的高性能、高功率密度的直线旋转永磁作动器，属于电机领域范畴。The invention relates to a high-performance, high-power-density linear rotary permanent magnet actuator capable of realizing linear, rotary and helical compound motions, belonging to the field of motors.
背景技术Background technique
随着工业化的快速发展，对各类运动系统的响应速度、定位精度提出更高的要求，作动器高性能、高功率密度、体积小以及运动平稳的特性，受到人们的广泛重视，从检索文献来看，现有的直线旋转作动器多采用直线电机和旋转电机组合而成，存在结构复杂，控制精度差等缺点。With the rapid development of industrialization, higher requirements are put forward for the response speed and positioning accuracy of various motion systems. The characteristics of high performance, high power density, small size and smooth motion of actuators have attracted extensive attention. According to the literature, the existing linear rotary actuators are mostly composed of linear motors and rotary motors, which have disadvantages such as complex structures and poor control accuracy.
专利“直线-旋转运动驱动机构(CN104019202)”便是将直线与旋转运动驱动机构分开，利用各种机械装置提供直线与旋转运动的转换，明显的缺点是体积过于庞大。专利“直线旋转双自由度伺服电机(CN103427588)”，采用了两套线圈，定子无铁心，电机适用于行程短，负载轻，精密高的运动场合。专利“直线旋转耦合输出型压电驱动装置(CN103219916)”，仅可作螺旋运动，结构简单、位移和转角精度高的特点，但行程有限。专利“高动态动磁式的直线旋转一体式二自由度电机”(CN103986301A)，提供了一种能够实现驱动动子同时作直线和旋转的复合运动或单独作直线或单独作旋转运动的高动态动磁式的直线旋转一体式二自由度电机。The patent "linear-rotary motion drive mechanism (CN104019202)" separates the linear and rotary motion drive mechanisms, and uses various mechanical devices to provide conversion between linear and rotary motion. The obvious disadvantage is that the volume is too large. The patent "Linear Rotation Dual-DOF Servo Motor (CN103427588)" uses two sets of coils, and the stator has no iron core. The motor is suitable for sports occasions with short strokes, light loads, and high precision. The patented "Linear Rotation Coupling Output Piezoelectric Drive Device (CN103219916)" can only perform spiral motion, and has the characteristics of simple structure, high precision of displacement and rotation angle, but the stroke is limited. The patent "high dynamic moving magnet linear rotation integrated two-degree-of-freedom motor" (CN103986301A) provides a high dynamic motor that can realize the combined motion of driving the mover to perform linear and rotary motions at the same time, or to perform linear or rotary motions alone. Moving magnet linear rotation integrated two-degree-of-freedom motor.
现有的永磁作动器一般永磁用量大，这就显著增加了制作成本，不利于该类永磁作动器的推广应用。Existing permanent magnet actuators generally use a large amount of permanent magnets, which significantly increases the production cost, which is not conducive to the popularization and application of this type of permanent magnet actuators.
发明内容Contents of the invention
发明目的：为了克服现有技术中存在的不足，本发明提供一种采用交错极结构的高功率密度高性能的永磁作动器，大大减少了永磁的用量，显著降低了制造成本。Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a permanent magnet actuator with high power density and high performance using an interlaced pole structure, which greatly reduces the amount of permanent magnets used and significantly reduces manufacturing costs.
技术方案：为实现上述目的，本发明采用的技术方案为：一种采用交错极结构的直线旋转永磁作动器，包括机壳(1)、定子、动子以及转轴(9)，所述定子安装在机壳(1)上，动子安装在转轴(9)上，且所述动子设置于定子内，同时所述转轴(9)通过套筒与机壳相连接；所述定子在周向上采用12齿结构，相邻定子齿的夹角为30°；在轴向上设置有三组定子单元，所述定子单元包括定子磁轭(1)、定子极(4)和绕在定子铁心上的线圈(2)，所述定子单元圆周方向上有12个定子极，且所述三组定子单元通过非导磁连接器(10)连接；所述动子在轴向上设置有交替排列的第一磁极(6)和第二磁极(7)，所述第一磁极(6)在周向上包括交替排列的第一永磁极(61)和第一铁极(62)，所述第二磁极(7)在周向上包括交替排列的第二永磁极(71)和第二铁极(72)，且所述第一永磁极(61)与第二永磁极(71)的磁性相反，同时第一永磁极(61)和第二铁极(72)在径向上相对设置，第二永磁极(71)和第一铁极(62)在径向上相对设置。Technical solution: In order to achieve the above object, the technical solution adopted by the present invention is: a linear rotary permanent magnet actuator adopting a staggered pole structure, including a casing (1), a stator, a mover and a rotating shaft (9), the The stator is installed on the casing (1), the mover is installed on the rotating shaft (9), and the moving element is arranged in the stator, and the rotating shaft (9) is connected with the casing through a sleeve at the same time; A 12-tooth structure is adopted in the circumferential direction, and the angle between adjacent stator teeth is 30°; three sets of stator units are arranged in the axial direction, and the stator units include stator yoke (1), stator pole (4) and stator core The coil (2) on the stator unit has 12 stator poles in the circumferential direction, and the three groups of stator units are connected by non-magnetic connectors (10); the mover is arranged alternately in the axial direction The first magnetic pole (6) and the second magnetic pole (7), the first magnetic pole (6) includes alternately arranged first permanent magnetic poles (61) and first iron poles (62) in the circumferential direction, the second The magnetic poles (7) include alternately arranged second permanent magnetic poles (71) and second iron poles (72) in the circumferential direction, and the magnetic properties of the first permanent magnetic poles (61) and the second permanent magnetic poles (71) are opposite, and at the same time The first permanent magnet pole (61) and the second iron pole (72) are arranged oppositely in the radial direction, and the second permanent magnet pole (71) and the first iron pole (62) are arranged oppositely in the radial direction.
优选的：定子轴向三组定子之间的距离满足k1τ+k2τ/3,k1＝0,1,2…,k2＝0,1,2…,τ为动子轴向极距。Preferably: the distance between the three sets of stators in the axial direction of the stator satisfies k 1 τ+k 2 τ/3, k 1 =0,1,2...,k 2 =0,1,2..., τ is the axial direction of the mover polar distance.
优选的：所述线圈(4)的绕组采用单层集中绕组。Preferably: the winding of the coil (4) adopts single-layer concentrated winding.
优选的：所述定子铁心和动子铁心均采用高导磁材料硅钢片轴向叠制。Preferably: both the stator core and the mover core are axially laminated with silicon steel sheets of high magnetic permeability material.
优选的：在周向上第一、第二永磁极的极弧系数相同；在周向上第一、第二铁极的极弧系数相同。Preferably: the pole arc coefficients of the first and second permanent magnetic poles are the same in the circumferential direction; the pole arc coefficients of the first and second iron poles are the same in the circumferential direction.
优选的：所述动子长度在轴向上小于定子长度。Preferably: the length of the mover is smaller than the length of the stator in the axial direction.
优选的：所述线圈(4)的绕组在轴向上采用U+U-U-U+V-V+V+V-W+W-W-W+的排列方式。Preferably: the winding of the coil (4) adopts an arrangement of U+U-U-U+V-V+V+V-W+W-W-W+ in the axial direction.
有益效果：本发明提供的一种采用交错极结构的直线旋转永磁作动器，相比现有技术，具有以下有益效果：Beneficial effects: Compared with the prior art, the linear rotary permanent magnet actuator provided by the present invention has the following beneficial effects:
1.由于动子在轴向上设置有交替排列的第一磁极(6)和第二磁极(7)，所述第一磁极(6)在周向上包括交替排列的第一永磁极(61)和第一铁极(62)，所述第二磁极(7)在周向上包括交替排列的第二永磁极(71)和第二铁极(72)，且所述第一永磁极(61)与第二永磁极(71)的磁性相反，同时第一永磁极(61)和第二铁极(72)在径向上相对设置，第二永磁极(71)和第一铁极(62)在径向上相对设置，即转子表面采用永磁极和铁极交错分布的结构，大大节省了永磁的用量，各转子铁心安置在非导磁材料圆筒上，形成转子整体，而且有利于减少作动器的饱和度。减少了作动器的体积，提高了功率密度。1. Since the mover is provided with alternately arranged first magnetic poles (6) and second magnetic poles (7) in the axial direction, the first magnetic poles (6) include alternately arranged first permanent magnetic poles (61) in the circumferential direction and the first iron pole (62), the second magnetic pole (7) includes alternately arranged second permanent magnetic poles (71) and second iron poles (72) in the circumferential direction, and the first permanent magnetic pole (61) The magnetism of the second permanent magnet pole (71) is opposite, while the first permanent magnet pole (61) and the second iron pole (72) are arranged radially oppositely, the second permanent magnet pole (71) and the first iron pole (62) The relative arrangement in the radial direction means that the surface of the rotor adopts a structure in which permanent magnet poles and iron poles are alternately distributed, which greatly saves the amount of permanent magnets. saturation of the monitor. The volume of the actuator is reduced, and the power density is improved.
2.由于定子在轴向上设置有三组定子单元，通过绕组中电流产生的励磁分量调节周向和轴向的磁通量，可以有效地降低损耗。2. Since the stator is provided with three sets of stator units in the axial direction, the magnetic flux in the circumferential and axial directions can be adjusted by the excitation component generated by the current in the winding, which can effectively reduce the loss.
3.由于采用了高导磁材料硅钢片叠制，有效的减少了电机的漏磁通，从而可以提高作动器的功率因数。3. Due to the use of high-permeability silicon steel sheets, the leakage flux of the motor is effectively reduced, thereby improving the power factor of the actuator.
4.采用集中绕组易于安装，结构简单。4. Concentrated winding is used for easy installation and simple structure.
附图说明Description of drawings
图1为一种采用交错极结构的直线旋转永磁作动器周向结构示意图。Fig. 1 is a schematic diagram of the circumferential structure of a linear rotary permanent magnet actuator adopting an interlaced pole structure.
图2为采用交错极结构的直线旋转永磁作动器轴向剖面图。Fig. 2 is an axial sectional view of a linear rotary permanent magnet actuator adopting an interlaced pole structure.
图3为采用交错极结构的直线旋转永磁作动器转子结构示意图。Fig. 3 is a schematic diagram of the rotor structure of a linear rotary permanent magnet actuator adopting an interlaced pole structure.
其中，1为机壳、2为定子磁轭、3为定子极、4为线圈、5为极靴、6为第一磁极、61为第一永磁极、62为第一铁极、7为第二磁极、71为第二永磁极、72为第二铁极、8为转子、9为非导磁转轴、10为非导磁连接器。Among them, 1 is the casing, 2 is the stator yoke, 3 is the stator pole, 4 is the coil, 5 is the pole shoe, 6 is the first magnetic pole, 61 is the first permanent magnetic pole, 62 is the first iron pole, and 7 is the second pole. Two magnetic poles, 71 is the second permanent magnetic pole, 72 is the second iron pole, 8 is the rotor, 9 is the non-magnetic rotating shaft, and 10 is the non-magnetic connector.
具体实施方式Detailed ways
下面结合附图对本发明作更进一步的说明。The present invention will be further described below in conjunction with the accompanying drawings.
一种采用交错极结构的直线旋转永磁作动器，如图1所示，包括机壳1、定子、动子以及转轴9，所述定子安装在机壳1上，动子安装在转轴9上，且所述动子设置于定子内，同时所述转轴9通过套筒与机壳相连接。A linear rotary permanent magnet actuator adopting an interlaced pole structure, as shown in Figure 1, includes a casing 1, a stator, a mover and a rotating shaft 9, the stator is installed on the casing 1, and the mover is installed on the rotating shaft 9 , and the mover is arranged in the stator, and the rotating shaft 9 is connected to the casing through a sleeve.
如图2所示，定子在周向上采用12齿结构，相邻定子齿的夹角为30°；在轴向上设置有三组定子单元，所述定子单元包括定子磁轭1、定子极4和绕在定子铁心上的线圈2，所述定子单元圆周方向上有12个定子极，且所述三组定子单元通过非导磁连接器10连接；定子轴向采用了分段式的独立磁路U型结构，三组定子单元之间相互独立,中间通过非导磁材料连接。第一组定子、第二组定子和第三组定子结构完全相同。定子轴向三组定子之间的距离满足k1τ+k2τ/3，k1＝0，1，2…,k2＝0，1，2…,τ为动子轴向极距，有效的降低了动子推力脉动幅值。定子铁心和动子铁心均采用高导磁材料硅钢片50W470沿轴向叠制。As shown in Figure 2, the stator adopts a 12-tooth structure in the circumferential direction, and the angle between adjacent stator teeth is 30°; three sets of stator units are arranged in the axial direction, and the stator units include stator yoke 1, stator pole 4 and The coil 2 wound on the stator core has 12 stator poles in the circumferential direction of the stator unit, and the three sets of stator units are connected by a non-magnetic connector 10; the stator axially adopts a segmented independent magnetic circuit U-shaped structure, the three sets of stator units are independent of each other, and are connected by non-magnetic materials in the middle. The first group of stators, the second group of stators and the third group of stators are identical in structure. The distance between the three sets of stators in the stator axis satisfies k 1 τ+k 2 τ/3, k 1 =0, 1, 2...,k 2 =0, 1, 2..., τ is the axial pole distance of the mover, Effectively reduces the thrust pulsation amplitude of the mover. Both the stator core and the mover core are made of high magnetic permeability silicon steel sheet 50W470 and are laminated in the axial direction.
如图3所示，动子在轴向上设置有交替排列的第一磁极6和第二磁极7，所述第一磁极6在周向上包括交替排列的第一永磁极61和第一铁极62，所述第二磁极7在周向上包括交替排列的第二永磁极71和第二铁极72，且所述第一永磁极61与第二永磁极71的磁性相反，同时第一永磁极61和第二铁极72在径向上相对设置，第二永磁极71和第一铁极62在径向上相对设置。也就是说，转子铁心采用永磁极和铁极交错排列的机构，转子铁心嵌入的永磁体在同一圆周方向上充磁方向相同，在轴向上，相邻极充磁方向相反，各永磁体选用钕铁硼材料，即在同一周向剖面上，永磁体充磁方向一致，极对数取为8；轴向上同一运动方向上永磁充磁方向一致，极对数取为6，相邻极永磁体的充磁方向相反，如图3所示。与传统的永磁体极排布的结构相比，此结构大大减少了永磁体的用量，减少了作动器饱和程度，降低了制作成本。由于采用铁极和永磁极交错的结构，改变了动子d、q轴电抗，降低了回路的磁阻。与传统的结构相比，作动器的电磁特性基本不变，可以实现直线、旋转和螺旋运动的工作要求。As shown in Figure 3, the mover is provided with alternately arranged first magnetic poles 6 and second magnetic poles 7 in the axial direction, and the first magnetic poles 6 include alternately arranged first permanent magnetic poles 61 and first iron poles in the circumferential direction 62, the second magnetic pole 7 includes alternately arranged second permanent magnetic poles 71 and second iron poles 72 in the circumferential direction, and the magnetic properties of the first permanent magnetic poles 61 and the second permanent magnetic poles 71 are opposite, while the first permanent magnetic poles 61 and the second iron pole 72 are arranged radially opposite, and the second permanent magnet pole 71 and the first iron pole 62 are arranged radially opposite. That is to say, the rotor core adopts a mechanism in which permanent magnet poles and iron poles are staggered. The permanent magnets embedded in the rotor core are magnetized in the same direction in the same circumferential direction. In the axial direction, the magnetization directions of adjacent poles are opposite. NdFeB materials, that is, on the same circumferential section, the magnetization direction of the permanent magnet is the same, and the number of pole pairs is 8; the magnetization direction of the permanent magnet in the same moving direction in the axial direction is the same, and the number of pole pairs is 6, adjacent The magnetization directions of the pole permanent magnets are opposite, as shown in Figure 3. Compared with the traditional permanent magnet pole arrangement structure, this structure greatly reduces the amount of permanent magnets, reduces the saturation degree of the actuator, and reduces the production cost. Due to the staggered structure of iron poles and permanent magnet poles, the d and q axis reactance of the mover is changed, and the reluctance of the circuit is reduced. Compared with the traditional structure, the electromagnetic characteristics of the actuator are basically unchanged, and the working requirements of linear, rotary and helical motion can be realized.
所述线圈4的绕组采用单层集中绕组。线圈由铜导线绕制，易于安装，定子绕组在轴向上采用U+U-U-U+V-V+V+V-W+W-W-W+的排列方式，实现直线运动时多磁场间的动态解耦控制，如图2所示。定子沿轴向包含有三组相同且独立的定子单元，动子铁心的长度大于三段定子和它们之间的非导磁材料的长度之和。The winding of the coil 4 adopts single-layer concentrated winding. The coil is wound by copper wire, which is easy to install. The stator winding adopts the arrangement of U+U-U-U+V-V+V+V-W+W-W-W+ in the axial direction to realize the dynamic solution between multiple magnetic fields during linear motion. Coupling control, as shown in Figure 2. The stator includes three sets of identical and independent stator units along the axial direction, and the length of the mover iron core is greater than the sum of the lengths of the three stators and the non-magnetic materials between them.
在周向上第一、第二永磁极的极弧系数相同；在周向上第一、第二铁极的极弧系数相同。The pole arc coefficients of the first and second permanent magnet poles are the same in the circumferential direction; the pole arc coefficients of the first and second iron poles are the same in the circumferential direction.
所述动子长度在轴向上小于定子长度。The length of the mover is smaller than the length of the stator in the axial direction.
以上所述仅是本发明的优选实施方式，应当指出：对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。The above is only a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications are also possible. It should be regarded as the protection scope of the present invention.
Claims (7)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510282204.3A CN104852549A (en) | 2015-05-28 | 2015-05-28 | Linear rotation permanent magnet actuator adopting staggered pole structure |
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| CN105529865A (en) * | 2016-01-08 | 2016-04-27 | 清华大学 | Fractional slot concentrated winding memory motor |
| CN106655609A (en) * | 2015-10-30 | 2017-05-10 | 北京精密机电控制设备研究所 | Moving mass center adjusting electromechanical actuator |
| CN108880184A (en) * | 2018-08-20 | 2018-11-23 | 安徽理工大学 | A kind of Linear-rotation permanent-magnet actuator of novel short mover salient-pole structure |
| CN110466302A (en) * | 2019-07-08 | 2019-11-19 | 江苏大学 | A kind of heavy vehicle linear rotating motor formula steering feed energy suspension |
| CN111181259A (en) * | 2020-02-20 | 2020-05-19 | 安徽理工大学 | A linear rotating permanent magnet motor with E-type stator structure |
| CN111555474A (en) * | 2020-05-25 | 2020-08-18 | 安徽理工大学 | Linear rotary drilling motor |
| WO2020232740A1 (en) * | 2019-05-20 | 2020-11-26 | 江苏大学 | Two-degree-of-freedom electromagnetic energy feedback suspension based on dual-winding hybrid magnetic circuit linear rotation permanent magnet motor actuator |
| WO2021149420A1 (en) * | 2020-01-22 | 2021-07-29 | 国立大学法人横浜国立大学 | Electric motor with two degrees of freedom |
| CN113595355A (en) * | 2021-08-27 | 2021-11-02 | 江苏群科智能科技股份有限公司 | Magnetic pole inclined stator for linear motor |
| CN113991967A (en) * | 2021-09-30 | 2022-01-28 | 清华大学 | A non-contact permanent magnet support device |
| CN114531006A (en) * | 2022-04-01 | 2022-05-24 | 浙江舜宇智领技术有限公司 | Linear rotating motor and vehicle-mounted anti-shake camera device |
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| CN106655609A (en) * | 2015-10-30 | 2017-05-10 | 北京精密机电控制设备研究所 | Moving mass center adjusting electromechanical actuator |
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| CN108880184A (en) * | 2018-08-20 | 2018-11-23 | 安徽理工大学 | A kind of Linear-rotation permanent-magnet actuator of novel short mover salient-pole structure |
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| GB2587964B (en) * | 2019-05-20 | 2022-03-30 | Univ Jiangsu | Two-degree-of-freedom electromagnetic energy regenerative suspension based on linear-rotary permanent magnet actuator and dual-winding hybrid magnetic circuit |
| CN110466302B (en) * | 2019-07-08 | 2022-11-18 | 江苏大学 | A heavy-duty vehicle linear rotary motor type steering feed energy suspension |
| CN110466302A (en) * | 2019-07-08 | 2019-11-19 | 江苏大学 | A kind of heavy vehicle linear rotating motor formula steering feed energy suspension |
| WO2021149420A1 (en) * | 2020-01-22 | 2021-07-29 | 国立大学法人横浜国立大学 | Electric motor with two degrees of freedom |
| CN111181259A (en) * | 2020-02-20 | 2020-05-19 | 安徽理工大学 | A linear rotating permanent magnet motor with E-type stator structure |
| CN111555474A (en) * | 2020-05-25 | 2020-08-18 | 安徽理工大学 | Linear rotary drilling motor |
| CN111555474B (en) * | 2020-05-25 | 2022-05-10 | 安徽理工大学 | Linear rotary drilling motor |
| CN113595355A (en) * | 2021-08-27 | 2021-11-02 | 江苏群科智能科技股份有限公司 | Magnetic pole inclined stator for linear motor |
| CN113991967A (en) * | 2021-09-30 | 2022-01-28 | 清华大学 | A non-contact permanent magnet support device |
| CN113991967B (en) * | 2021-09-30 | 2023-07-14 | 清华大学 | A non-contact permanent magnet support device |
| CN114531006A (en) * | 2022-04-01 | 2022-05-24 | 浙江舜宇智领技术有限公司 | Linear rotating motor and vehicle-mounted anti-shake camera device |
| CN114531006B (en) * | 2022-04-01 | 2023-09-12 | 浙江舜宇智领技术有限公司 | Linear rotating motor and vehicle-mounted anti-shake imaging device |
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Application publication date: 20150819 |