CN105471212B - A kind of rotational alignment magneto - Google Patents

Abstract

The invention provides a rotary linear permanent magnet motor, which includes a stator, a rotor and a mechanical decoupling device; the stator and the rotor are both placed in a support seat, the stator includes a stator core, a rotating armature winding and a linear armature winding; the rotor includes a rotor iron core and the permanent magnet of the rotor; the mechanical decoupling device includes a rotary bearing, a sliding bracket and a sliding guide rail; the sliding bracket is connected to the inner shaft of the rotor through the rotary bearing, the sliding bracket is arranged on the sliding guide rail, and the sliding bracket can be positioned relative to the sliding guide rail on the axis of the inner shaft of the rotor within the axial length of the stator core, the radial direction of the rotary linear permanent magnet motor from the inside to the outside is the rotor inner shaft, the air bearing, the annular protrusion of the support seat, the rotor core, the rotor permanent Magnets, linear armature windings, rotating armature windings and stator cores. The rotary linear permanent magnet motor of the present invention realizes the multi-degree-of-freedom movement of a single motor, and improves the precision and efficiency of motor operation.

Description

A rotary linear permanent magnet motor

technical field

The invention relates to the field of motors, in particular to a rotary linear permanent magnet motor.

Background technique

Traditional motors generally can only provide single-degree-of-freedom motion (rotary motion or linear motion), but cannot realize compound motion of rotation and linear motion. However, in systems such as robotic joints, industrial production, processing, and assembly, it is often necessary to achieve multi-freedom motion. Usually, this kind of multi-degree-of-freedom motion is realized by mechanical splicing and combination of basic components that can perform linear or rotary motion, but this method has the following problems: First, because there are mechanical components in its functional parts, Its friction, wear and deformation are relatively serious; second, the rotary motion and linear motion are coupled and cannot be controlled independently; third, the accuracy of this actuator is limited by machining; fourth, the use of multiple motors to control It will not only increase the volume and weight of the equipment, but also bring inconvenience to the control. Moreover, with the development of science and technology, electromechanical systems are becoming more and more complex, especially some precision devices, such as solid crystal machines, bonding machines, PCB drilling, etc., which have higher and higher requirements for driving performance. Performances such as device control accuracy and response time achieved by motion and linear motion units have been unable to meet their needs.

Chinese patent 201020582357.2 discloses a high-frequency linear rotary motor, the linear motion part and the rotary motion part of the motor are respectively a voice coil motor and a rotary servo motor. Essentially, the motor is a two-degree-of-freedom motor installed together, not a real one-piece linear rotation two-degree-of-freedom motor with a large volume. PCT patent WO2008/096519 A1 discloses a rotary linear motor. The stator of this motor has two sets of windings, namely the rotary armature winding and the linear armature winding. The polarity is the same in the direction of rotation and axial line, and opposite to the polarity in the oblique direction, but the installation of the permanent magnet in this structure is complicated.

Contents of the invention

In view of the status quo of the prior art, the object of the present invention is to provide a rotary linear permanent magnet motor with a simple structure, which realizes the multi-degree-of-freedom movement of a single motor, and improves the precision and efficiency of the motor operation. To achieve the above object, the technical scheme of the present invention is as follows:

A rotary linear permanent magnet motor, comprising a support base, a stator, a rotor, a mechanical decoupling device, an inner shaft of the rotor, and an air bearing;

Both the stator and the rotor are placed in the support seat, the rotor inner shaft is assembled on the support seat through the air bearing, the rotor inner shaft is connected to the rotor, and the rotor inner shaft is connected to the The rotors rotate synchronously;

The stator includes a stator core, a rotating armature winding and a linear armature winding; the rotor includes a rotor core and a rotor permanent magnet; the mechanical decoupling device includes a rotating bearing, a sliding bracket and a sliding guide rail;

The sliding bracket is connected to the inner shaft of the rotor through the rotary bearing, the sliding bracket is arranged on the sliding guide rail, and the sliding bracket can move in the axial direction of the rotor inner shaft relative to the sliding guide rail. move;

Within the range of the axial length of the stator core, in the radial direction of the rotary linear permanent magnet motor, the inner shaft of the rotor, the air bearing, the annular protrusion of the support seat, The rotor core, the rotor permanent magnets, the linear armature windings, the rotating armature windings, and the stator core.

Preferably, there are multiple rotor permanent magnets, and the plurality of rotor permanent magnets surround the circumference of the rotor core.

Preferably, the rotor permanent magnet is a unipolar permanent magnet, and with reference to the air gap surface, the polarities of the surfaces of the multiple rotor permanent magnets are both N poles or S poles.

Preferably, the linear armature winding is a single-phase winding, and the rotating armature winding is a three-phase or multi-phase winding.

Preferably, the linear armature winding is a circular coil;

The rotating armature winding is a concentrated winding, and is embedded in the slot of the stator core.

Preferably, the stator core is made of magnetically permeable material;

The rotor permanent magnets are NdFeB permanent magnets.

Preferably, the pole arc coefficient of the rotor permanent magnet is 0.4-0.8.

The beneficial effects of the present invention are:

The rotary linear permanent magnet motor of the present invention is equipped with a mechanical decoupling device, and by setting the combination of the rotary armature winding and the linear armature winding, under the action of the excitation magnetic field of the unipolar permanent magnet, the torque for driving the rotor to rotate can be generated. It can generate the linear thrust to drive the rotor to move in a straight line, and can also generate the torque to drive the rotor to rotate and the linear thrust to drive the rotor to move in a straight line to drive the rotor to spiral motion, realizing the multi-degree-of-freedom movement of the rotor, and the linear thrust and the rotation torque are mutually The impact is small, and the decoupling control of rotation and linear motion can be easily realized. This structure not only solves many problems such as low efficiency, easy wear, and difficult lubrication caused by the multi-degree-of-freedom movement mode realized by the existing technology relying on the conversion of mechanical parts and multiple motors, but also can greatly improve the accuracy and efficiency of the entire production operation. .

Description of drawings

Fig. 1 is a schematic sectional view of a rotary linear permanent magnet motor of the present invention;

Fig. 2 is the explosion diagram of rotary linear permanent magnet motor of the present invention;

Fig. 3 is a structural schematic diagram of an embodiment of the rotary linear permanent magnet motor rotor of the present invention;

Fig. 4 is a schematic structural view of another embodiment of the rotary linear permanent magnet motor rotor of the present invention;

Fig. 5 is a schematic diagram of the stator structure of the rotary linear permanent magnet motor of the present invention.

Detailed ways

In order to make the object, technical solution and advantages of the present invention clearer, the rotary linear permanent magnet motor of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

Referring to FIGS. 1 to 5 , a rotary linear permanent magnet motor according to an embodiment of the present invention includes a rotor 1 , an air bearing 2 , a support base 3 , a stator 4 , a mechanical decoupling device 9 and a rotor inner shaft 11 . The main body of the support seat 3 is a circular groove, and an annular protrusion is arranged in the circular groove. An annular accommodation space is formed between the annular protrusion and the side wall of the annular groove. Both the stator 4 and the rotor 1 are placed on the support seat. 3 in the accommodating space. The rotor inner shaft 11 is assembled on the support seat 3 through the air bearing 2 , and the air bearing 2 is placed between the rotor inner shaft 11 and the annular protrusion of the support seat 3 . The rotor inner shaft 11 runs through the annular protrusion of the support seat 3 , and the rotor inner shaft 11 is coaxial with the annular protrusion. The rotor inner shaft 11 is also connected to the rotor 1 so that the rotor inner shaft 11 and the rotor 1 rotate synchronously.

The stator 4 includes a stator core 43 , a rotating armature winding 42 and a linear armature winding 41 . The linear armature winding 41 is a circular coil, and the rotating armature winding 42 is a concentrated winding, and is embedded in the slot of the stator core 43 . The stator core 43 is made of magnetically permeable material. The rotor 1 includes a rotor core 12 and rotor permanent magnets 13 . The rotor permanent magnet 13 is an NdFeB permanent magnet, preferably a high-performance NdFeB permanent magnet. Wherein, the pole arc coefficient of the rotor permanent magnet 13 is preferably 0.4-0.8.

The mechanical decoupling device 9 includes a rotary bearing 91 , a sliding bracket 92 and a sliding guide rail 93 .

Within the range of the axial length of the stator core 43, in the radial direction of the rotary linear permanent magnet motor, the rotor inner shaft 11, the air bearing 2, the annular protrusion of the support seat 3, the rotor core 12, The rotor permanent magnet 13, the linear armature winding 41, the rotating armature winding 42 and the stator core 43, the outside of the stator core 43 in the radial direction is the main body side wall (circular slot side wall) of the support seat 3.

The sliding bracket 92 is connected to the rotor inner shaft 11 through a rotary bearing 91 , that is, the rotary bearing 91 is embedded in the sliding bracket 92 , and the rotary bearing 91 is sleeved on the rotor inner shaft 11 . The sliding bracket 92 is disposed on the sliding guide rail 93 , and the sliding bracket 92 can move relative to the sliding guide rail 93 in the axial direction of the rotor inner shaft 11 .

There are multiple rotor permanent magnets 13 , and the multiple rotor permanent magnets 13 surround the circumference of the rotor core 12 . The rotor permanent magnets 13 are unipolar permanent magnets. Taking the air gap surface as a reference, the polarities of the surfaces of multiple rotor permanent magnets 13 are both N poles or S poles, as shown in FIGS. 3 and 4 . The rotor core 12 in FIG. 3 is also used to fix the rotor permanent magnet 13 in addition to the magnetic conduction function. Adopting this structure can significantly increase the reluctance torque and improve the output of the motor; in Fig. 4, the rotor permanent magnets 13 are regularly distributed on the outer surface of the rotor core 12, which is no different from the conventional surface-mounted permanent magnet motor, except that the permanent magnet surface poles The characteristics are the same, the rotor core of this structure is simple, and the process is easier to realize.

In the rotary linear permanent magnet motor of the above embodiments, the linear armature winding 41 is a single-phase winding, and the rotating armature winding 42 is a three-phase or multi-phase winding.

The operating principle of the rotary linear permanent magnet motor is as follows: when only the three-phase symmetrical alternating current is passed into the rotating armature winding 42, opposite polarities are formed between the rotor permanent magnets 13 of the unipolar permanent magnets, so that the formed excitation magnetic field is consistent with the rotating The interaction of the armature magnetic field produces the torque that drives the rotor 1 to rotate; when only direct current is applied to the linear armature winding 41, under the action of the unipolar permanent magnet, the radiation excitation magnetic field formed in the air gap interacts with the linear armature magnetic field The action produces a linear driving force, so that the rotor 1 moves axially; when the linear armature winding 41 is fed with a direct current and the rotating armature winding 42 is fed with a three-phase symmetrical alternating current, the excitation magnetic field of the unipolar permanent magnet Under the action, the generated linear thrust and rotational torque drive the helical motion of the rotor 1, thus realizing the multi-degree-of-freedom of a single motor, and the linear thrust and rotational torque have little influence on each other, which can easily realize the decoupling control of rotation and linear motion .

The rotary linear permanent magnet motor of the above embodiments is provided with a mechanical decoupling device, and by setting the combination of the rotary armature winding and the linear armature winding, under the action of the excitation magnetic field of the unipolar permanent magnet, the torque for driving the rotor to rotate can be generated. It can also generate the linear thrust that drives the rotor to move in a straight line, and can also generate the torque to drive the rotor to rotate and the linear thrust to drive the rotor to move in a straight line to drive the rotor to spiral, realizing the multi-degree-of-freedom movement of the rotor, and the linear thrust and rotation torque The mutual influence is small, and the decoupling control of rotation and linear motion can be easily realized; this structure not only solves the problems of low efficiency, easy wear, and Lubrication difficulties and many other problems can also greatly improve the accuracy and efficiency of the entire production operation, meeting the needs of different applications.

The above-mentioned embodiments only express several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but should not be construed as limiting the patent scope of the present invention. It should be pointed out that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be based on the appended claims.

Claims (7)

1. A rotary linear permanent magnet motor, characterized in that: Including support base, stator, rotor, mechanical decoupling device, rotor inner shaft and air bearing; Both the stator and the rotor are placed in the support seat, the rotor inner shaft is assembled on the support seat through the air bearing, the rotor inner shaft is connected to the rotor, and the rotor inner shaft is connected to the The rotors rotate synchronously; The stator includes a stator core, a rotating armature winding and a linear armature winding; the rotor includes a rotor core and a rotor permanent magnet, the number of the rotor permanent magnets is multiple, and the rotor permanent magnet is a unipolar permanent magnet , taking the air gap surface as a reference, the polarities of the surfaces of the plurality of permanent magnets of the rotor are both N poles or S poles; the mechanical decoupling device includes a rotary bearing, a sliding bracket and a sliding guide rail; The sliding bracket is connected to the inner shaft of the rotor through the rotary bearing, the sliding bracket is arranged on the sliding guide rail, and the sliding bracket can move in the axial direction of the rotor inner shaft relative to the sliding guide rail. move; Within the range of the axial length of the stator core, in the radial direction of the rotary linear permanent magnet motor, the inner shaft of the rotor, the air bearing, the annular protrusion of the support seat, The rotor core, the rotor permanent magnets, the linear armature windings, the rotating armature windings, and the stator core. 2. The rotary linear permanent magnet motor according to claim 1, characterized in that: A plurality of permanent magnets of the rotor surround the circumference of the rotor core. 3. The rotary linear permanent magnet motor according to any one of claims 1-2, characterized in that: The linear armature winding is a single-phase winding, and the rotating armature winding is a multi-phase winding. 4. The rotary linear permanent magnet motor according to any one of claims 1 to 2, characterized in that: The linear armature winding is a circular coil; the rotating armature winding is a concentrated winding and embedded in the slot of the stator core. 5. The rotary linear permanent magnet motor according to claim 4, characterized in that: The linear armature winding is a single-phase winding, and the rotating armature winding is a multi-phase winding. 6. The rotary linear permanent magnet motor according to any one of claims 1-2, characterized in that: The stator core is made of magnetically permeable material; the rotor permanent magnet is a NdFeB permanent magnet. 7. The rotary linear permanent magnet motor according to any one of claims 1-2, characterized in that: The pole arc coefficient of the rotor permanent magnet is 0.4-0.8.