CN105811809B - Magnetic floats electric rotating machine - Google Patents
Magnetic floats electric rotating machine Download PDFInfo
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- CN105811809B CN105811809B CN201410850783.2A CN201410850783A CN105811809B CN 105811809 B CN105811809 B CN 105811809B CN 201410850783 A CN201410850783 A CN 201410850783A CN 105811809 B CN105811809 B CN 105811809B
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Abstract
The present invention proposes that a kind of magnetic floats electric rotating machine, including main magnetic steel array, auxiliary steel array, polyphase machine winding and monophase machine winding.Main magnetic steel array is uniformly arranged by multiple strip magnet and multiple short bar magnet intervals；Two auxiliary magnetic steel arrays are made up of multiple magnet pieces respectively, and these magnet pieces are between these above-mentioned strip magnet, with these above-mentioned short bar magnets side by side；Polyphase machine winding is made up of multiple coils, is correspondingly arranged with above-mentioned main magnetic steel array；And monophase machine winding, it is annular, is correspondingly arranged with one of above-mentioned auxiliary magnetic steel array.The multiple degrees of freedom magnetic of the present invention floats electric rotating machine, can possess magnetic simultaneously and float shock-absorbing function and linear electric motors function, simple in construction, it is easy to accomplish.
Description
Technical field
The present invention relates to a kind of motor, and more particularly to a kind of magnetic floats electric rotating machine.
Background technology
Conventional motor is all single shaft driving, is goed deep into the research of this respect, the performance of single-axis drive system has
Huge raising.But with the increasingly complication of mechanical structure, such as robot, the precision machinery of sports platform compound movement,
Make system excessively complicated using single shaft motor, it is huge, and because the machine error that transmission belt comes seriously limits system
Performance.These problems promote the development of multi-freedom electric motor, and multi-freedom electric motor mechanical integrity is high, avoids by machinery
The error that transmission belt comes, systematic function can be very good to improve.
Traditional magnetic floats the structure type of damper motor, goes out force direction for axially, i.e. Z-direction direction.It is and traditional
Magnetic suspension linear motor mainly includes：Magnetic steel of stator array, mover coil, stator back iron, coil case, magnetic steel array N/H/S poles
It is arranged alternately, H magnets can increase the pushing force density of motor.If three-phase coil leads to the amplitude frequency phase of 120 ° of electrical angles of mutual deviation
With alternating current, it is ensured that motor can level to thrust output in vertical two frees degree in paper direction, you can with
Realize that magnetic suspension linear moves.
But how to combine the floating damper motor of traditional magnetic and magnetic suspension linear motor, form multivariant magnetic
Floating electric rotating machine, and there is simple structure, related technology does not occur also.
The content of the invention
The present invention proposes that a kind of magnetic floats electric rotating machine, and there is magnetic to float damping and linear electric motors function, simple in construction, is easy to real
It is existing.
In order to achieve the above object, the present invention proposes that a kind of magnetic floats electric rotating machine, magnetic steel component and coil block；Magnet steel group
Part includes main magnetic steel array and auxiliary magnetic steel array；Coil block includes polyphase machine winding and monophase machine winding；Main magnet steel battle array
Row, by multiple strip magnet and multiple short bar magnets are spaced is uniformly arranged, and form annulus profile；Auxiliary magnet steel battle array
Row, are made up of, auxiliary magnetic steel array is located at the same column of short bar magnet, and every piece of small magnet block is located at main magnet steel battle array multiple small magnet blocks
In row between 2 adjacent strip magnet, the length of strip magnet is formed with short bar magnet and small magnet block same column
Length is suitable, and the magnetic direction of small magnet block is identical with strip magnet magnetic direction；The magnetic direction and billet of small magnet block
Shape magnet magnetic direction is opposite；Polyphase machine winding, including multiple multigroup coils, are correspondingly arranged with main magnetic steel array, with main magnetic
Magnetic pumping effect occurs for steel array；Monophase machine winding, it is annular, magnetic pumping effect mainly occurs with auxiliary magnetic steel array, it is single
Phase machine winding is vertical by the direction of Ampere force with polyphase machine winding by the direction of Ampere force.
Furtherly, auxiliary magnetic steel array is two rows, and the auxiliary magnetic steel array of two rows is located at short bar magnet in main magnetic steel array
Both sides；Monophase machine winding is two, is symmetricly set on the both sides of polyphase machine winding.
Furtherly, auxiliary magnetic steel array is 1 row, and auxiliary magnetic steel array is located at the side of short bar magnet in main magnetic steel array；
Monophase machine winding is one, is arranged on the side of polyphase machine winding.
Furtherly, above-mentioned polyphase machine winding includes four bodies of having an effect, and body of each having an effect is made up of three groups of coils, adjacent
Have an effect body centerlines be 90 °.
Furtherly, above-mentioned polyphase machine winding includes three bodies of having an effect, and body of each having an effect is made up of three groups of coils, adjacent
Have an effect body centerlines be 120 °.
Furtherly, in addition to cylindrical type or dome-type back iron, back iron have multiple locating slots.
Furtherly, main magnetic steel array and auxiliary magnetic steel array are placed in the locating slot of back iron, and magnetic steel component is located relatively at
The periphery of coil block.
Furtherly, in addition to coil rack, coil rack include multiple grooves, polyphase machine winding and monophase machine around
Group is placed in the groove of coil rack, and coil block is located relatively at the periphery of magnetic steel component.
Furtherly, in addition to newel magnet, upper surface or lower surface that magnetic floats electric rotating machine are arranged in, vertically
Magnetize.
Furtherly, newel magnet is 2, is arranged in upper surface and lower surface that magnetic floats electric rotating machine.
The present invention utilizes the coil unit and a kind of multiple degrees of freedom magnetic of a form of permanent magnet unit composition of two kinds of forms
Floating electric rotating machine, magnetic can be possessed simultaneously and float shock-absorbing function and linear electric motors function, it is simple in construction, it is easy to accomplish.
Brief description of the drawings
The magnetic that Fig. 1 is shown in first embodiment of the invention floats electric rotating machine tomograph；
The magnetic that Fig. 2 is shown in first embodiment of the invention floats electric rotating machine three-dimensional structure exploded view；
The magnetic that Fig. 3 is shown in first embodiment of the invention floats electric rotating machine magnetic field and radially deploys plan；
The magnetic that Fig. 4 is shown in first embodiment of the invention floats dynamoelectric coil and radially deploys plan；
Fig. 5 A show two near polyphase machine winding assembly in the floating electric rotating machine of the magnetic in first embodiment of the invention
Tie up Distribution of Magnetic Field schematic diagram；
Fig. 5 B show two near polyphase machine winding assembly in the floating electric rotating machine of the magnetic in first embodiment of the invention
Tie up Distribution of Magnetic Field schematic diagram；
The magnetic that Fig. 6 is shown in first embodiment of the invention floats electric rotating machine output analysis chart；
The hemispherical magnetic that Fig. 7 is shown in second embodiment of the invention floats electric rotating machine tomograph；And
The multiple degrees of freedom magnetic with gravity compensation that Fig. 8 is shown in third embodiment of the invention floats electric rotating machine three-dimensional structure
Figure.
Embodiment
In order to know more about the technology contents of the present invention, especially exemplified by specific embodiment and institute's accompanying drawings are coordinated to be described as follows.
Referring to Fig. 1 and Fig. 2.The magnetic that Fig. 1 is shown in first embodiment of the invention floats electric rotating machine three-dimensional structure
Figure.The magnetic that Fig. 2 is shown in first embodiment of the invention floats electric rotating machine three-dimensional structure expanded view.
Motor is mainly made up of two parts：The motor stator of coil block composition, the rotor that magnetic steel component is formed.Electricity
Machine stator includes coil rack, polyphase machine winding 306, two symmetrical monophase machine windings 307,308, and rotor
Including cylindrical type back iron 301, magnetic steel component with locating slot.Magnetic steel component includes main magnetic steel array 302 and auxiliary magnetic steel array
303、304.Main magnetic steel array 302 and auxiliary magnetic steel array 303,304 are placed in the locating slot of back iron 301.
The magnetic steel component of motor mainly includes main magnetic steel array 302 and auxiliary magnetic steel array 303,304.Motor coil framework
305 are typically formed using non-magnet_conductible material, such as carbon fibre material, are mainly used for fixing motor coil.Coil rack center is set
There is centre bore 305a, for mitigating coil rack weight.4 lines are uniformly provided with the excircle of coil rack 305 along weft direction
Groove 305b is enclosed, is evenly distributed on coil rack 305, for placing coil block.Coil block includes polyphase machine winding
306 and monophase machine winding 307,308.Groove 305b is used for the polyphase machine winding 306 for placing motor.On coil rack 305
360 ° of groove 305c are provided with lower excircle, for placing monophase machine winding 307,308.Magnetic steel component is placed on back iron 301
Locating slot in, be located relatively at the periphery of coil block.
The magnetic that Fig. 3 is shown in first embodiment of the invention floats electric rotating machine magnetic field and radially deploys plan.
Incorporated by reference to referring to figs. 2 and 3.Main magnetic steel array 302 is by multiple strip magnet 302a and multiple short bar-shaped magnets
302b form, it is spaced be uniformly arranged arrangement be annulus profile.The magnetizing direction of magnet is that radial magnetizing (is pointed in cylinder
Heart line), the magnetizing direction of adjacent two permanent magnet is opposite.Strip magnet 302a is N magnet steel in the present embodiment, short bar-shaped magnet
302b is S magnet steel.Strip magnet 302a and short bar-shaped magnet 302b number are n, and N, S magnet steel in magnetic steel component are apart
τ pole span angle, unit for °, and n* τ=360 °.And N, S magnet steel length are different in main magnetic steel array 302, but all N magnetic
Steel length is the same, and all S magnet steel length is the same.
Auxiliary magnetic steel array 303,304 is made up of multiple (being, for example, n/2) individual small magnet blocks respectively.Auxiliary magnetic steel array 303,
304 these small magnet blocks are located at short bar magnet 302b same column, and every piece of small magnet block is located at adjacent 2 in main magnetic steel array
Between individual strip magnet 302a.Strip magnet 302a length is formed with short bar magnet 302b and small magnet block same column
Length is suitable.The magnetizing direction of small magnet block is multiple strip magnet 302a in radial magnetizing, with main magnetic steel array 302
Magnetizing direction is identical, and adjacent two magnet steel is at a distance of 2* τ pole span angle, and its main function is increase magnetic suspension magnetic density, so as to increase
The magnetic buoyancy of big motor.The magnetic direction of small magnet block is opposite with short bar magnet 302b magnetic directions.
In the present embodiment, auxiliary magnetic steel array is two rows, and the auxiliary magnetic steel array 303,304 of two rows is located at main magnetic steel array 302
In short bar magnet 302b both sides, in other embodiments, the number of auxiliary magnetic steel array can also be designed as it as needed
His number.
The magnetic that Fig. 4 is shown in first embodiment of the invention floats dynamoelectric coil and radially deploys plan.
Incorporated by reference to reference to figure 2 and Fig. 4.The polyphase machine winding 306 of motor is made up of 4 bodies of having an effect, be respectively 306a,
306b, 306c, 306d, body of each having an effect are made up of three groups of coils, are correspondingly arranged with strip magnet 302a.In each coil
Heart wire clamp angle is 4 τ/3, and the centerlines of adjacent body of having an effect are 90 °, and the horizontal center line of polyphase machine winding 306 and master
The horizontal center line of magnetic steel array 302 overlaps.Two monophase machine windings 307,308 are annular, and its horizontal center line is distinguished
Overlapped with the horizontal center line of auxiliary magnetic steel array 303,304, magnetic pumping effect mainly occurs with auxiliary magnetic steel array 303,304, it is single
Phase machine winding 307,308 is vertical by the direction of Ampere force with polyphase machine winding 306 by the direction of Ampere force.
Certainly, body is had an effect it can also be provided that three, and body of each having an effect is made up of three groups of coils, then adjacent body of having an effect
Centerlines be 120 °.
In the present embodiment, the number of monophase machine winding is two, is symmetricly set on the two of polyphase machine winding 306
Side, in other embodiments (such as second embodiment), the number of monophase machine winding can also be one.
Fig. 5 A show the two-dimensional magnetic near polyphase machine winding in the floating electric rotating machine of the magnetic in first embodiment of the invention
Field distribution schematic diagram.Fig. 5 B show two near polyphase machine winding in the floating electric rotating machine of the magnetic in first embodiment of the invention
Tie up Distribution of Magnetic Field schematic diagram.
Incorporated by reference to reference to figure 2 and Fig. 5 A, 5B.The arrow of figure center line coil assembly dense arrangement represents Distribution of Magnetic Field and side
To.It is outside that ⊙ in figure represents the vertical paper of current direction,Represent the vertical paper of current direction inwards.When polyphase machine winding
306th, when monophase machine winding 307 is passed through electric current as depicted, the Distribution of Magnetic Field of diagram can be formed.
Polyphase machine winding 306 is placed in the alternate magnetic field of N, S magnetic pole, when polyphase machine winding 306 is passed through illustrating current
Afterwards, can be produced in the presence of magnetic field between N, S-phase caused by strip magnet 302a, 302b X, Y-direction output.And single-phase electricity
Machine winding 307 is placed in the magnetic field for the full N poles that strip magnet 302a is formed, when monophase machine winding 307 is passed through diagram arrow
During the electric current that head points to, the output of Z-direction can be produced in the presence of N, N magnetic field.The magnetic field that monophase machine winding 308 is formed
Distribution and the situation contributed are symmetrical with monophase machine winding 307, will not be repeated here.
The magnetic that Fig. 6 is shown in first embodiment of the invention floats electric rotating machine output analysis chart.
4 three-phase windings in polyphase machine winding 306 are relatively independent body of having an effect, body position of center line of each having an effect
Circumferentially it is separated by 90 °, body of each having an effect goes out to illustrate the power in Fx and Fy directions, i.e., tangential direction and normal orientation on circumference,
Have an effect body 306a and the body 306c Fy components had an effect, the Fx components for the body 306b and body 306d that has an effect that has an effect form rotating out of for motor
Power unit.
And have an effect body 306a and body 306c center lines of having an effect are separated by 180 °, therefore the Fx components of two bodies of having an effect are straight at one
On line, and by the origin of coordinate system, have an effect body 306a, 306c Fx components together constitute the output of the X-direction of motor.
The center line of 306b has an effect body and 306d has an effect body is also separated by 180 °, therefore the Fy components of two bodies of having an effect are also in straight line
On, and the origin for passing through coordinate system.Two have an effect body 306b, 306d Fy components together constitute the output of motor Y-direction.
Four bodies of having an effect can be driven by three-phase PWM driver, and control is simple, A, B, C three-phase difference for body of each having an effect
Be passed through ia=IK* (sin (π θ/τ -4 π/3)+sin (π θ/τ -4 π/3+ pi/2s)), ib=IK* ((sin (π θ/τ)+sin (π θ/τ+τ/
2)), (sin (+4 π of π θ/τ/3+sin (+4 π of π θ/τ/3+ pi/2s)) three-phase electricity, wherein IK are current amplitude to ic=IK*, and θ is electricity
The initial phase value of machine, single body can of having an effect export constant Fx and Fy, i.e. tangential force and normal force.Monophase machine winding
After 307 and 308 are passed through direct current, have an effect for two and body while go out the magnetic buoyancy of Fz power, i.e. motor.
The hemispherical magnetic that Fig. 7 is shown in second embodiment of the invention floats electric rotating machine tomograph.
Such as first embodiment, the difference with first embodiment is motor overall knot second embodiment principle
Configuration formula is changed to hemispherical.The back iron 401 of motor is hemispherical in diagram, the strip magnet steel 402 of main magnetic steel array, billet shape
Magnet steel 403 is also that half sector is arranged in back iron 401.The number of auxiliary magnetic steel array 404 is one, also fan-shaped for half, is set
In the side of the short bar magnet 403 of main magnetic steel array.The set-up mode and first embodiment of the polyphase machine winding 405 of motor
It is identical, deformation only in shape, it will not be repeated here.The number of the monophase machine winding 406 of motor is one, is arranged on more
The side of phase machine winding 405.
The multiple degrees of freedom magnetic with gravity compensation that Fig. 8 is shown in third embodiment of the invention floats electric rotating machine three-dimensional structure
Figure.
The motor of the present embodiment, adds gravity compensation on the basis of first embodiment is realized.Motor is on centerline
Increase by 2 newel magnets 509 to be magnetized along Z-direction, be arranged in the upper surface and lower surface of motor, height and monophase machine
The position of winding 508 is suitable, and other structures are as first embodiment.Motor stator includes coil rack, polyphase machine winding
506, two symmetrical monophase machine windings 507,508, and rotor includes the cylindrical type back iron 501 with locating slot, master
Magnetic steel array 502 and auxiliary magnetic steel array 503,504.Newel magnet 509 provides gravity compensation.
Certainly, the number of newel magnet 509 is arranged on the upper surface or lower surface of motor it can also be provided that 1.
Although the present invention is disclosed above with preferred embodiment, so it is not limited to the present invention.Skill belonging to the present invention
Has usually intellectual in art field, without departing from the spirit and scope of the present invention, when can be used for a variety of modifications and variations.Cause
This, the scope of protection of the present invention is defined by those of the claims.
Claims (10)
1. a kind of magnetic floats electric rotating machine, it is characterised in that including：Magnetic steel component and coil block；The magnetic steel component includes master
Magnetic steel array and auxiliary magnetic steel array；The coil block includes polyphase machine winding and monophase machine winding；
The main magnetic steel array, by multiple strip magnet and multiple short bar magnets are spaced is uniformly arranged, and form circle
Ring profile；
The auxiliary magnetic steel array, it is made up of multiple small magnet blocks, the auxiliary magnetic steel array is located at the same column of the short bar magnet,
Every piece of small magnet block is located between 2 strip magnet adjacent in the main magnetic steel array, the strip magnetic
The length of iron is suitable with the length that the short bar magnet and the small magnet block same column are formed, the magnetic side of the small magnet block
To identical with the strip magnet magnetic direction；The magnetic direction of the small magnet block and the short bar magnet magnetic direction
Conversely；
The polyphase machine winding, including multiple multigroup coils, are correspondingly arranged with the main magnetic steel array, with the main magnet steel battle array
Magnetic pumping effect occurs for row；
The monophase machine winding, it is annular, magnetic pumping effect, the monophase machine mainly occurs with the auxiliary magnetic steel array
Winding is vertical by the direction of Ampere force with the polyphase machine winding by the direction of Ampere force.
2. magnetic according to claim 1 floats electric rotating machine, it is characterised in that the auxiliary magnetic steel array is two rows, two row institutes
State the both sides that auxiliary magnetic steel array is located at short bar magnet described in the main magnetic steel array；The monophase machine winding is two,
It is symmetricly set on the both sides of the polyphase machine winding.
3. magnetic according to claim 1 floats electric rotating machine, it is characterised in that the auxiliary magnetic steel array is 1 row, the auxiliary magnetic
Steel array is located at the side of short bar magnet described in the main magnetic steel array；The monophase machine winding is one, is arranged on
The side of the polyphase machine winding.
4. electric rotating machine is floated according to any described magnetic in claim 1-3, it is characterised in that above-mentioned polyphase machine winding includes
Four bodies of having an effect, each body coil described in three groups of having an effect form, and the centerlines of the adjacent body of having an effect are 90 °.
5. electric rotating machine is floated according to any described magnetic in claim 1-3, it is characterised in that above-mentioned polyphase machine winding includes
Three bodies of having an effect, each body coil described in three groups of having an effect form, and the centerlines of the adjacent body of having an effect are 120 °.
6. electric rotating machine is floated according to any described magnetic in claim 1-3, it is characterised in that also including cylindrical type or hemisphere
Type back iron, the back iron have multiple locating slots.
7. magnetic according to claim 6 floats electric rotating machine, it is characterised in that the main magnetic steel array and the auxiliary magnet steel battle array
Row are placed in the locating slot of the back iron, and the magnetic steel component is located relatively at the periphery of the coil block.
8. magnetic according to claim 6 floats electric rotating machine, it is characterised in that also including coil rack, the coil rack
Including multiple grooves, the polyphase machine winding and the monophase machine winding are placed on the groove of the coil rack
In, the coil block is located relatively at the periphery of the magnetic steel component.
9. electric rotating machine is floated according to any described magnetic in claim 1-3, it is characterised in that also including newel magnet, cloth
The upper surface or lower surface that electric rotating machine is floated in the magnetic are put, is magnetized vertically.
10. magnetic according to claim 9 floats electric rotating machine, it is characterised in that the newel magnet is 2, respectively cloth
Put the upper surface and lower surface that electric rotating machine is floated in the magnetic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410850783.2A CN105811809B (en) | 2014-12-31 | 2014-12-31 | Magnetic floats electric rotating machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410850783.2A CN105811809B (en) | 2014-12-31 | 2014-12-31 | Magnetic floats electric rotating machine |
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| Publication Number | Publication Date |
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| CN105811809A CN105811809A (en) | 2016-07-27 |
| CN105811809B true CN105811809B (en) | 2018-03-02 |
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| CN201410850783.2A Active CN105811809B (en) | 2014-12-31 | 2014-12-31 | Magnetic floats electric rotating machine |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109229424B (en) * | 2018-09-13 | 2020-10-27 | 清华大学 | Multi-freedom-degree spherical electric magnetic suspension momentum wheel |
| 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 |
| CN112968558B (en) * | 2021-02-20 | 2022-05-17 | 复旦大学 | Magnetic suspension hub motor |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1374732A (en) * | 2001-03-13 | 2002-10-16 | 刘粤荣 | Magnetically excited resonant rotating motor |
| EP2144349A1 (en) * | 2007-04-17 | 2010-01-13 | Honda Motor Co., Ltd. | Axial gap motor |
| CN102624115A (en) * | 2012-03-14 | 2012-08-01 | 上海海马汽车研发有限公司 | End play type motor and rotor thereof |
| CN104242596A (en) * | 2014-09-11 | 2014-12-24 | 浙江大学 | Asymmetric double-side type permanent magnet straight line synchronous motor |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101967806B1 (en) * | 2012-08-21 | 2019-04-10 | 삼성전자 주식회사 | Rotor and electric motor comprising the same |
| JP5752177B2 (en) * | 2013-05-09 | 2015-07-22 | 三菱電機株式会社 | Magnet rotating machine |
-
2014
- 2014-12-31 CN CN201410850783.2A patent/CN105811809B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1374732A (en) * | 2001-03-13 | 2002-10-16 | 刘粤荣 | Magnetically excited resonant rotating motor |
| EP2144349A1 (en) * | 2007-04-17 | 2010-01-13 | Honda Motor Co., Ltd. | Axial gap motor |
| CN102624115A (en) * | 2012-03-14 | 2012-08-01 | 上海海马汽车研发有限公司 | End play type motor and rotor thereof |
| CN104242596A (en) * | 2014-09-11 | 2014-12-24 | 浙江大学 | Asymmetric double-side type permanent magnet straight line synchronous motor |
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