CN105471212B - A kind of rotational alignment magneto - Google Patents
A kind of rotational alignment magneto Download PDFInfo
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- CN105471212B CN105471212B CN201410448886.6A CN201410448886A CN105471212B CN 105471212 B CN105471212 B CN 105471212B CN 201410448886 A CN201410448886 A CN 201410448886A CN 105471212 B CN105471212 B CN 105471212B
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- rotor
- armature winding
- permanent magnet
- rotational alignment
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Abstract
The present invention provides a kind of rotational alignment magneto, including stator, rotor and mechanically decoupled device；Stator and rotor are placed in support base, and stator includes stator core, rotating armature winding and straight line armature winding；Rotor includes rotor core and rotor permanent magnet；Mechanically decoupled device includes swivel bearing, sliding support and rail plate；Sliding support is connect with rotor inner shaft by swivel bearing, and sliding support is arranged on rail plate, and sliding support can be moved relative to rail plate on the axial direction of rotor inner shaft；In stator core axial length range, rotational alignment magneto is followed successively by rotor inner shaft, air bearing, the annular projection portion of support base, rotor core, rotor permanent magnet, straight line armature winding, rotating armature winding and stator core from inside to outside in the radial direction.The rotational alignment magneto of the present invention realizes the multifreedom motion of single motor, improves the precision and efficiency of motor running.
Description
Technical field
The present invention relates to motor field more particularly to a kind of rotational alignment magnetoes.
Background technology
Traditional motor can only generally provide single dof mobility (rotary motion or linear motion), and can not realize rotation
The compound motion for turning and moving along a straight line.But it in the systems such as joint of robot, industrial production, processing and assembling, often needs
Realize more free movements.Under normal conditions, this multifreedom motion is the base by that can perform straight line or rotary motion
This element is realized by mechanical splice combination, but there are following some problems for this mode：First, because in its functional component
Mechanical organ is mixed with, its friction, abrasion and deformation is all than more serious；Second, rotary motion and linear motion are couplings, no
It can independent control；Third, the precision of this executing agency are limited by being machined；4th, using multiple electric motors control not only
The volume and weight of equipment can be increased, returning control makes troubles.And with the development of science and technology, Mechatronic Systems is increasingly multiple
It is miscellaneous, especially some precision apparatus, such as bonder, bonding machines, PCB drillings etc., their requirements to driveability are increasingly
Height, the performances such as the device control accuracy realized by mechanically combining rotary motion and linear motion unit and response time
The needs of can not having met them.
Chinese patent 201020582357.2 discloses a kind of high-frequency linear rotating motor, the straight-line movement portion of the motor
It is a voice coil motor and rotating servo motor respectively with rotary motion part.Substantially the motor is by two freedom motors
It is installed together, not integral type straight line rotation two-freedom degree electric machine truly, volume are larger.PCT Patent WO
2008/096519 A1 discloses a kind of rotational alignment motor, this kind of motor stator possesses double winding, is rotating armature respectively
Winding and straight line armature winding, rotor permanent magnet are launched into plane as rectangle grid pattern, and permanent magnet polarity is straight in rotation and axially
Line direction is identical polarity, with oblique angle direction polarity on the contrary, but this structure permanent magnet installation complexity.
Invention content
In view of the present situation of the prior art, simple in structure the purpose of the present invention is to provide a kind of rotational alignment magneto,
The multifreedom motion of single motor is realized, improves the precision and efficiency of motor running.To achieve the above object, it is of the invention
Technical solution it is as follows：
A kind of rotational alignment magneto, including support base, stator, rotor, mechanically decoupled device, rotor inner shaft and air
Bearing；
The stator and the rotor are placed in the support base, and the rotor inner shaft is assembled by the air bearing
On the support base, rotor described in axis connection in the rotor, the rotor inner shaft and the rotor synchronous rotary；
The stator includes stator core, rotating armature winding and straight line armature winding；The rotor includes rotor core
And rotor permanent magnet；The mechanically decoupled device includes swivel bearing, sliding support and rail plate；
The sliding support is connect with the rotor inner shaft by the swivel bearing, and the sliding support is arranged on described
On rail plate, the sliding support can be moved relative to the rail plate on the axial direction of the rotor inner shaft；
In the stator core axial length range, the rotational alignment magneto in the radial direction from inside to outside
It is followed successively by the rotor inner shaft, the air bearing, the annular projection portion of the support base, the rotor core, the rotor
Permanent magnet, the straight line armature winding, the rotating armature winding and the stator core.
More preferably, the quantity of the rotor permanent magnet is multiple, and multiple rotor permanent magnets are looped around the rotor iron
The side of the heart.
More preferably, the rotor permanent magnet is unipolarity permanent magnet, using air-gap surface as reference, multiple rotor permanent magnets
The polarity on surface is all N poles or is all S poles.
More preferably, the straight line armature winding is single-phase winding, and the rotating armature winding is three-phase or polyphase windings.
More preferably, the straight line armature winding is making toroidal coil；
The rotating armature winding is concentratred winding, and is embedded in the slot of the stator core.
More preferably, the stator core is made of permeability magnetic material；
The rotor permanent magnet is Nd-Fe-B permanent magnet.
More preferably, the pole embrace of the rotor permanent magnet is 0.4-0.8.
The beneficial effects of the invention are as follows：
The rotational alignment magneto of the present invention, sets mechanically decoupled device, by setting rotating armature winding and straight line
The combination of armature winding under the action of unipolarity permanent magnet excitation magnetic field, can generate the torque of driving rotor rotation, also can
Enough linear thrusts for generating driving rotor linear motion, additionally it is possible to while generate and drive the torque of rotor rotation and driving rotor straight
Line movement linear thrust and rotor helical-screw is driven to move, realize the multifreedom motion of rotor, and linear thrust and rotation
Square of walking around influence each other it is smaller, can easily realize rotation, linear motion uncoupling control.This kind of structure not only solves existing
There is technology to convert low with the efficiency that the multifreedom motion mode that multiple motors are realized is brought, easy to wear, profit by mechanical part
The problems such as sliding difficulty can also greatly improve the precision and efficiency of entire production running.
Description of the drawings
Fig. 1 is the rotational alignment magneto diagrammatic cross-section of the present invention；
Fig. 2 is the rotational alignment magneto explosive view of the present invention；
Fig. 3 is the structure diagram of one embodiment of rotational alignment permanent magnet machine rotor of the present invention；
Fig. 4 is the structure diagram of another embodiment of rotational alignment permanent magnet machine rotor of the present invention；
Fig. 5 is the stator structure schematic diagram of the rotational alignment magneto of the present invention.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right with reference to the accompanying drawings and embodiments
The rotational alignment magneto of the present invention is further elaborated.It should be appreciated that specific embodiment described herein is only
For explaining the present invention, it is not intended to limit the present invention.
Referring to figs. 1 to Fig. 5, the rotational alignment magneto of one embodiment of the invention, including rotor 1, air bearing 2, branch
Support seat 3, stator 4, mechanically decoupled device 9 and rotor inner shaft 11.The main body of support base 3 is circular trough, and ring is provided in circular trough
The accommodating space of annular is formed between the side wall of shape lug boss, annular relief and annular groove, stator 4 and rotor 1 are placed in propping up
In the accommodating space for supportting seat 3.Rotor inner shaft 11 is assemblied in by air bearing 2 on support base 3, and air bearing 2, which is placed in, to be turned
Between sub- inner shaft 11 and the annular relief of support base 3.Rotor inner shaft 11 runs through the annular relief of support base 3, rotor
Inner shaft 11 and the annular relief are coaxial.Rotor inner shaft 11 is also connected with rotor 1 so that the rotation synchronous with rotor 1 of rotor inner shaft 11
Turn.
Stator 4 includes stator core 43, rotating armature winding 42 and straight line armature winding 41.Straight line armature winding 41 is circle
Loop coil, rotating armature winding 42 is concentratred winding, and is embedded in the slot of stator core 43.Stator core 43 is by magnetic conduction material
Material is made.Rotor 1 includes rotor core 12 and rotor permanent magnet 13.Rotor permanent magnet 13 be Nd-Fe-B permanent magnet, preferably high property
The Nd-Fe-B permanent magnet of energy.Wherein, the pole embrace of rotor permanent magnet 13 is preferably 0.4-0.8.
Mechanically decoupled device 9 includes swivel bearing 91, sliding support 92 and rail plate 93.
In 43 axial length range of stator core, rotational alignment magneto is followed successively by from inside to outside in the radial direction
Rotor inner shaft 11, air bearing 2, the annular projection portion of support base 3, rotor core 12, rotor permanent magnet 13, straight line armature
Winding 41, rotating armature winding 42 and stator core 43, stator core 43 is in main body side of the outside of radial direction for support base 3
Wall (round groove sidewall).
Sliding support 92 is connect with rotor inner shaft 11 by swivel bearing 91, i.e., swivel bearing 91 is embedded in sliding support 92
Interior, swivel bearing 91 is set in rotor inner shaft 11.And sliding support 92 is arranged on rail plate 93, sliding support 92 can
It is moved on the axial direction of rotor inner shaft 11 relative to rail plate 93.
The quantity of rotor permanent magnet 13 is multiple, and multiple rotor permanent magnets 13 are looped around the side of rotor core 12.Rotor
Permanent magnet 13 is unipolarity permanent magnet, and using air-gap surface as reference, the polarity on multiple 13 surfaces of rotor permanent magnet is all N poles or is all
S poles, as shown in Figure 3 and Figure 4.Rotor core 12 is additionally operable to fixed rotor permanent magnet 13 other than magnetic conduction acts in wherein Fig. 3.
Reluctance torque can significantly be increased by adopting the structure, and improve the output of motor；Rotor permanent magnet 13, which is regularly distributed on, in Fig. 4 turns
The outer surface of sub- iron core 12 is no different with conventional face paste formula magneto, and only permanent magnet surfaces polarity is identical, such construction rotor
Iron core is simple, and technique is easier to realize.
The rotational alignment magneto of above example, straight line armature winding 41 be single-phase winding, rotating armature winding 42
For three-phase or polyphase windings.
Rotational alignment magneto operation logic is as follows：When being only passed through three-phase symmetrical alternating current to rotating armature winding 42
When, form opposite polarity between the rotor permanent magnet 13 of unipolarity permanent magnet so that the excitation field and rotating armature of formation
Magnetic field interaction generates the torque that driving rotor 1 rotates；When being only passed through direct current to straight line armature winding 41, in unipolarity
Under the action of permanent magnet, pushing away in terms of radiation excitation field and straight line armature magnetic field interaction the generation straight line formed in air gap
Power is axially moved rotor 1；It is passed through direct current when simultaneously to straight line armature winding 41 and is passed through three-phase to rotating armature winding 42
During symmetrical alternating current electricity, under the action of unipolarity permanent magnet excitation magnetic field, linear thrust and rotating torques the driving rotor 1 of generation
Screw, it is achieved thereby that the multiple degrees of freedom of single motor, and linear thrust and rotating torques influence each other it is smaller, can be very
Facilitate realization rotation, linear motion uncoupling control.
The rotational alignment magneto of above example, sets mechanically decoupled device, by set rotating armature winding and
The combination of straight line armature winding under the action of unipolarity permanent magnet excitation magnetic field, can generate the torque of driving rotor rotation,
Also the linear thrust of driving rotor linear motion can be generated, additionally it is possible to while the torque for generating driving rotor rotation turns with driving
The linear thrust of son linear motion and rotor helical-screw is driven to move, realize the multifreedom motion of rotor, and linear thrust and
Rotating torques influence each other it is smaller, can easily realize rotation, linear motion uncoupling control；This kind of structure not only solves
The prior art by mechanical part convert it is low with the efficiency that the multifreedom motion mode that multiple motors are realized is brought, easy to wear,
The problems such as lubricating difficulties can also greatly improve the precision and efficiency of entire production running, meet different application occasion
Needs.
Embodiment described above only expresses the several embodiments of the present invention, and description is more specific and detailed, but simultaneously
Cannot the limitation to the scope of the claims of the present invention therefore be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect range.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (7)
1. a kind of rotational alignment magneto, it is characterised in that：
Including support base, stator, rotor, mechanically decoupled device, rotor inner shaft and air bearing；
The stator and the rotor are placed in the support base, and the rotor inner shaft is assemblied in institute by the air bearing
It states on support base, rotor described in axis connection in the rotor, the rotor inner shaft and the rotor synchronous rotary；
The stator includes stator core, rotating armature winding and straight line armature winding；The rotor includes rotor core and turns
Sub- permanent magnet, the quantity of the rotor permanent magnet is multiple, and the rotor permanent magnet is unipolarity permanent magnet, using air-gap surface as ginseng
It examines, the polarity of multiple permanent magnet surfaces is all N poles or is all S poles；The mechanically decoupled device include swivel bearing,
Sliding support and rail plate；
The sliding support is connect with the rotor inner shaft by the swivel bearing, and the sliding support is arranged on the slip
On guide rail, the sliding support can be moved relative to the rail plate on the axial direction of the rotor inner shaft；
In the stator core axial length range, the rotational alignment magneto in the radial direction from inside to outside successively
For the rotor inner shaft, the air bearing, the annular projection portion of the support base, the rotor core, the rotor permanent magnet
Body, the straight line armature winding, the rotating armature winding and the stator core.
2. rotational alignment magneto according to claim 1, it is characterised in that：
Multiple rotor permanent magnets are looped around the side of the rotor core.
3. according to claim 1-2 any one of them rotational alignment magnetoes, it is characterised in that：
The straight line armature winding is single-phase winding, and the rotating armature winding is polyphase windings.
4. according to claim 1 to 2 any one of them rotational alignment magneto, it is characterised in that：
The straight line armature winding is making toroidal coil；The rotating armature winding is concentratred winding, and is embedded in the stator
In the slot of iron core.
5. rotational alignment magneto according to claim 4, it is characterised in that：
The straight line armature winding is single-phase winding, and the rotating armature winding is polyphase windings.
6. according to claim 1-2 any one of them rotational alignment magnetoes, it is characterised in that：
The stator core is made of permeability magnetic material；The rotor permanent magnet is Nd-Fe-B permanent magnet.
7. according to claim 1-2 any one of them rotational alignment magnetoes, it is characterised in that：
The pole embrace of the rotor permanent magnet is 0.4-0.8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410448886.6A CN105471212B (en) | 2014-09-04 | 2014-09-04 | A kind of rotational alignment magneto |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410448886.6A CN105471212B (en) | 2014-09-04 | 2014-09-04 | A kind of rotational alignment magneto |
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| Publication Number | Publication Date |
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| CN105471212A CN105471212A (en) | 2016-04-06 |
| CN105471212B true CN105471212B (en) | 2018-07-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410448886.6A Active CN105471212B (en) | 2014-09-04 | 2014-09-04 | A kind of rotational alignment magneto |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10476411B2 (en) * | 2017-04-20 | 2019-11-12 | GM Global Technology Operations LLC | Electric machine having continuously-variable magnetic characteristics and method of controlling the same |
| JP7194457B2 (en) * | 2017-09-05 | 2022-12-22 | インディゴ テクノロジーズ， インク． | Permanent magnet motor with passively controlled aligned variable rotor/stator |
| CN107896020B (en) * | 2017-12-20 | 2024-04-12 | 浙江宝龙机电有限公司 | Driving motor |
| CN108736675B (en) * | 2018-07-05 | 2023-11-14 | 中国科学院宁波材料技术与工程研究所 | Moving-coil type unipolar permanent magnet rotary linear motor |
| CN112230145B (en) * | 2020-10-16 | 2024-04-19 | 中车永济电机有限公司 | Modularized linear induction motor rotation test device |
| CN112968559B (en) * | 2021-02-20 | 2023-06-09 | 上海隐冠半导体技术有限公司 | Magnetic levitation rotating device |
| CN114696559B (en) * | 2022-05-09 | 2022-12-27 | 德瑞精工（深圳）有限公司 | Linear rotation permanent magnet motor |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101552512A (en) * | 2008-12-19 | 2009-10-07 | 杨士平 | Screw motor |
| CN102843015A (en) * | 2012-09-06 | 2012-12-26 | 东南大学 | Linearly-rotating two-degrees-of-freedom magnetic levitation bearing-free permanent magnetic actuator |
| CN103475178A (en) * | 2013-09-30 | 2013-12-25 | 东南大学 | Linear rotation permanent magnet motor |
| CN204046380U (en) * | 2014-09-04 | 2014-12-24 | 中国科学院宁波材料技术与工程研究所 | A kind of rotational alignment magneto |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008096519A1 (en) * | 2007-02-08 | 2008-08-14 | Mitsubishi Electric Corporation | Rotary-linear motor |
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2014
- 2014-09-04 CN CN201410448886.6A patent/CN105471212B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101552512A (en) * | 2008-12-19 | 2009-10-07 | 杨士平 | Screw motor |
| CN102843015A (en) * | 2012-09-06 | 2012-12-26 | 东南大学 | Linearly-rotating two-degrees-of-freedom magnetic levitation bearing-free permanent magnetic actuator |
| CN103475178A (en) * | 2013-09-30 | 2013-12-25 | 东南大学 | Linear rotation permanent magnet motor |
| CN204046380U (en) * | 2014-09-04 | 2014-12-24 | 中国科学院宁波材料技术与工程研究所 | A kind of rotational alignment magneto |
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| CN105471212A (en) | 2016-04-06 |
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