CN108270337A - A kind of switching magnetic-resistance two-dimensional surface motor - Google Patents
A kind of switching magnetic-resistance two-dimensional surface motor Download PDFInfo
- Publication number
- CN108270337A CN108270337A CN201611269212.5A CN201611269212A CN108270337A CN 108270337 A CN108270337 A CN 108270337A CN 201611269212 A CN201611269212 A CN 201611269212A CN 108270337 A CN108270337 A CN 108270337A
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- China
- Prior art keywords
- mover
- tooth pole
- stator
- dimensional surface
- motor
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
- H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/14—Stator cores with salient poles
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/24—Rotor cores with salient poles ; Variable reluctance rotors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2201/00—Specific aspects not provided for in the other groups of this subclass relating to the magnetic circuits
- H02K2201/03—Machines characterised by aspects of the air-gap between rotor and stator
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
- H02K2213/03—Machines characterised by numerical values, ranges, mathematical expressions or similar information
Abstract
The present invention provides a kind of switching magnetic-resistance two-dimensional surface motor, including stator and mover, air gap is formed between stator and mover, therebetween it is converted by magnetic force, mover is made to be moved to predetermined direction, the stator is made of stator tooth pole, and the end face of stator tooth pole forms array on two-dimensional surface, the half of the distance between stator tooth pole, less than the minimum range on the extreme face center to end periphery of stator tooth；The mover is made of mover tooth pole, shape of the end face of mover tooth pole on two-dimensional surface is identical with the end surface shape of stator tooth pole, mover tooth pole pair-wise combination, per a pair of mover tooth extremely in, when one mover tooth pole is overlapped with corresponding stator tooth pole, another mover tooth pole is located at joint of the stator tooth interpolar every center line.It is regular hexagon, and three pairs of regular hexagon tooth pole arrays are six side annular tooth pole arrays, form the mobile unit of mover, can select six direction stepping, be reduced by thrust calculation, operate steadily since the present invention uses the end surface shape of stator tooth pole.
Description
Technical field
The invention belongs to technical field of motors, especially planar motor and spherical motor.
Background technology
At present, it is relatively broad there are three ways to can realize two dimension driving and positioning in practical application：First, piezoelectricity
Ceramics cooperation flexure hinge mechanism is driven, second is that being driven using traditional electric rotating machine, third, being carried out using linear motor
It directly drives.Although these three mechanisms can realize that two dimensional surface positions, there is the defects of different aspect.
The system that flexure hinge mechanism and Piezoelectric Ceramic element are formed easily realizes monolithic construction, Bit andits control essence
Degree is high, small power consumption, but the damping of flexible hinge, small stroke and piezoelectric ceramics the characteristics such as sluggish, non-linear to workbench
The raising of performance can bring adverse effect.Because there is friction, sideshake, deformation etc. in leading screw plus the switching mechanism of nut linear motion
A series of problems, and two sets of transmission chains of switching mechanism introduce additional mass so that and two groups of traditional electric rotating motivations add
The precision and response speed of straight line switching mechanism positioning device are extremely difficult to higher level.
In order to which two-dimentional driving device is enable to realize the positioning of higher precision, research and utilization electromagnetic energy is needed directly to generate flat
The device of face movement, i.e. planar motor.
Compared with traditional positioning table, the movement locus of planar motor is not by two orthogonal guide rail movements
Synthesis on direction and cause, but directly generate plane positioning using electromagnetic energy and move, there is the high and low heat consumption of force density, height
The features such as precision, additionally, due to having abandoned the intermediate conversions device such as leading screw, screw rod, therefore can realize control object and planar motor
Integration, thus with fast response time, the advantages that high sensitivity, trackability is good and small.
Variable reluctance type planar motor,
According to the generation principle of electromagnetic push, planar motor can be divided into variable reluctance type, induction type, permanent-magnet synchronous type and once-through type
Four major class, wherein variable reluctance type contain two kinds of step-by-step movement and switched reluctance again.
Stepping type plane motor is earliest research, theoretical a kind of planar motor the most ripe and current only formation
The planar motor of product.In stepping type plane motor, generally by one piece of permanent magnet and two groups of drivings being wrapped on iron core
Coil forms mover by orthogonal two units, and will be provided with the lamination iron for being uniformly distributed parallel slot as a unit
The heart provides closed magnetic circuit as stator for mover.The internal magnetic field of stepping type plane motor is electric by the pulse of each phase winding of mover
Miscarriage life.
When in a direction two groups of driving coils alternately be passed through pulse current when, can respectively to permanent magnet generate increase magnetic or
According to magnetic resistance minimum principle, the magnetic pull effect for reducing magnetic circuit reluctance will be generated between stator and mover for person's demagnetizing effect, from
And drive motor generates step motion, if considering the active force on two direction of X, Y simultaneously, you can realize electric mover in stator
Two dimensional motion in plane.The basic structure of typical stepping type plane motor.
The frequency of occurrences is higher in document at home for switched reluctance planar motor switched reluctance planar motor, Hong Kong University
Pan Jianfei et al. propose a kind of novel switched reluctance motor structure, Ma Chunyan of Institutes Of Technology Of Taiyuan et al. in the patent
The operation mechanism of this kind of planar motor and topological structure are expounded respectively, and Preliminary design and imitative has been carried out to motor
True work, the Yang Jinming of South China Science ＆ Engineering University have also carried out corresponding research to the robust control of switched reluctance planar motor.
Switched reluctance planar motor is mainly filled by stator, mover, each section support guide structure and all directions position detection
The compositions such as put.Multiple stator blocks form stator block square formation, and stator block then uses and laminates silicon steel structure, and by epoxide-resin glue
It is formed by connecting, the thickness of wherein silicon steel sheet is identical with the facewidth, stator silicon steel sheet shape and connecting method.This building blocks are spliced
For stator structure instead of the mode of previous integral cutting raw material, this not only greatly reduces the influence of vortex, but also can reduce
The complexity and processing cost of production.
The mover of the planar motor uses wide toothing, six subunits is disposed altogether on entire mover platform, wherein often
Three subunits are one group, are responsible for the movement of X or Y-direction.Mover core is also to be formed by silicon steel plate stacking, and is each moved
Central excitation winding is wound on subelement.It is acted on to reduce X with the flux coupled in Y-direction, by six identical movers
Unit is separately fixed at according to the rule of " orthogonal with adjacent subunit " on mover rack, mover laminate shape and single phase winding
Winding construction.
The mover and stator of switched reluctance planar motor have ferromagnetic material composition, and concentratred winding is installed on mover, and
Stator is without winding, it is not required that permanent magnet, it is therefore, simple in structure, adaptable, and suitable at a high speed and badly using ring
Border.However, there are larger pulsation thrusts and complicated dynamic characteristic for such planar motor, it is made, which to model and control, becomes one
Problem limits its application in high-precision and high speed situation, although therefore switched reluctance planar motor have processing it is simple, into
This low advantage, but how solving the problems, such as its accurate control problem and eliminating thrust calculation is still one to be solved.
Invention content
In order to solve the problems, such as the accurate control problem of switching magnetic-resistance two-dimensional surface motor and eliminate thrust calculation, the present invention carries
For a kind of switching magnetic-resistance two-dimensional surface motor, including stator and mover, air gap is formed between stator and mover, passes through magnetic therebetween
Force transformation makes mover be moved to predetermined direction, and the stator is made of stator tooth pole, the end face of the stator tooth pole shape on two-dimensional surface
Into array, the half of the distance between stator tooth pole, less than the minimum range on the extreme face center to end periphery of stator tooth；It is described
Mover is made of mover tooth pole, and the shape of the end face of mover tooth pole on two-dimensional surface is identical with the end surface shape of stator tooth pole, moves
Sub- tooth pole pair-wise combination, per a pair of mover tooth extremely in, when a mover tooth pole is overlapped with corresponding stator tooth pole, another mover tooth
Pole is located at joint of the stator tooth interpolar every center line.
A kind of switching magnetic-resistance two-dimensional surface motor, the end surface shape of the stator tooth pole is square.
A kind of switching magnetic-resistance two-dimensional surface motor, the end surface shape of the stator tooth pole is regular hexagon.
A kind of switching magnetic-resistance two-dimensional surface motor, the two-dimensional surface are the two-dimensional surface of XYZ coordinate system, are exactly plane,
The motor is exactly switched reluctance planar motor.
A kind of switching magnetic-resistance two-dimensional surface motor, the two-dimensional surface are exactly spherical surface for the two-dimensional surface of spherical coordinate system, this
When, motor is exactly spherical surface switched reluctance machines.
A kind of switching magnetic-resistance two-dimensional surface motor, the two-dimensional surface are the two-dimensional surface of cylindrical coordinate, and the motor is just
It is cylindrical face motor.
A kind of two-dimensional surface mobile motor, the plane are X/Y plane, and stator array is N layers in X-direction, and mover
In X-direction and N layers, the linear motor moved along Y-direction is just formed.
It is regular hexagon, and three pairs of regular hexagon tooth pole arrays are since the present invention uses the end surface shape of stator tooth pole
Six side annular tooth pole arrays, form the mobile unit of mover, can select six direction stepping, be reduced by thrust calculation, operation
Steadily.
Description of the drawings
Fig. 1 square stator tooth pole square array structure diagrams of the present invention；
Fig. 2 regular hexagon stator tooth pole cross array structure schematic diagrames of the present invention.
Specific embodiment
One of stator tooth pole and mover tooth pole of this switching magnetic-resistance two-dimensional surface motor, can install winding coil, generate
Magnetic attraction, when winding coil is installed in stator tooth pole, winding coil is not installed in mover tooth pole；When winding coil is installed in mover tooth pole,
Stator tooth pole is not installed by winding coil.
A kind of switching magnetic-resistance two-dimensional surface motor including stator and mover, forms air gap, therebetween between stator and mover
It is converted by magnetic force, mover is made to be moved to predetermined direction, the stator is made of stator tooth pole, and the end face of stator tooth pole is in two dimension
The half of the distance between array, stator tooth pole is formed on face, less than the most narrow spacing on the extreme face center to end periphery of stator tooth
From being guaranteed at the mover tooth pole of joint in this way can flexibly move；The mover is made of mover tooth pole, mover tooth pole
Shape of the end face on two-dimensional surface is identical with the end surface shape of stator tooth pole, mover tooth pole pair-wise combination, per a pair of mover tooth pole
In, when a mover tooth pole is overlapped with corresponding stator tooth pole, another mover tooth pole is located at friendship of the stator tooth interpolar every center line
Meeting point.Such as Fig. 1 tops, stator tooth pole is square tooth pole 9, and square array 10, the interval of stator tooth pole 9 is that cross crosses, one
Square shaped mover tooth pole 1 is divided for A and B, and when rectangular mover tooth pole A is overlapped with stator tooth pole 9, rectangular mover tooth pole B is located at ten
Word joint, when rectangular mover tooth pole B is overlapped with stator tooth pole 9, rectangular mover tooth pole A is located at cross joint, Fig. 1 lower parts
It is the mover tooth pole array 2 that two square shaped mover tooth poles 1 are formed, mover tooth pole array 2 is by yoke（In order to avoid yoke block it is dynamic
Yoke is not shown in figure in the position relationship of sub- tooth pole and stator tooth pole）Mover tooth pole 1 is connected, forms tooth pole mover A；When
When the rectangular mover tooth pole A of tooth pole mover A two are overlapped with stator tooth pole, two rectangular mover tooth pole B are located at cross joint, when
When the rectangular mover tooth pole B of tooth pole mover A two are overlapped with stator tooth pole, two rectangular mover tooth pole A are located at cross joint.Figure
2 be regular hexagon stator tooth pole array 8, and it is three starlike joints that regular hexagon stator tooth pole 7, which is spaced intersection, a pair positive six
Side shape mover tooth pole 3 is divided for A and B, and when regular hexagon mover tooth pole A is overlapped with stator, hexagon mover tooth pole B is located at Samsung
Intersection;Conversely, when regular hexagon mover tooth pole B is overlapped with stator, hexagon mover tooth pole A is located at Samsung intersection also
So；It is six side annular tooth pole arrays 4 by three pairs of 3 arrays of regular hexagon tooth pole, six side annular tooth pole arrays 4 are by yoke（In order to keep away
Exempt from the position relationship that yoke blocks mover tooth pole and stator tooth pole, yoke is not shown in figure）Mover tooth pole 3 is connected, is formed
Tooth pole mover B, when the regular hexagon mover tooth pole 3 of tri- composition up-side down triangles of tooth pole mover B is overlapped with stator tooth pole 7, tooth
The regular hexagon mover tooth pole that pole mover B the other threes form equilateral triangle is located at Samsung intersection;Conversely, as tooth pole mover B
When the regular hexagon mover tooth pole of three composition equilateral triangles is overlapped with stator, tooth pole mover B the other threes form up-side down triangle
Regular hexagon mover tooth pole be located at Samsung intersection；Two such mover tooth pole cooperate movement, it will be able to make mover by
Predetermined direction moves.It is the example of one group of mover and the example of array mover tooth pole above, it is clear that array mover tooth pole can generate
The power of bigger.Effect it is best be three pairs of regular hexagon tooth pole arrays for six side annular tooth pole arrays, make the shifting of all directions
Dynamic flexible and uniform force.）
A kind of switching magnetic-resistance two-dimensional surface motor, the two-dimensional surface are the two-dimensional surface of XYZ coordinate system, are exactly plane, the electricity
Machine is exactly switched reluctance planar motor.Certainly, the air gap between mover and stator is kept, needs the movement between mover and stator
Support member can set therebetween universal wheel support.
A kind of switching magnetic-resistance two-dimensional surface motor, the two-dimensional surface are exactly spherical surface for the two-dimensional surface of spherical coordinate system, this
When, motor is exactly spherical surface switched reluctance machines.Rotation of the stator between mover is freely rotated as universal joint.
A kind of switching magnetic-resistance two-dimensional surface motor, the two-dimensional surface are the two-dimensional surface of cylindrical coordinate, and the motor is just
It is cylindrical face motor.It can axially also can moving in rotation between stator and mover.
A kind of two-dimensional surface mobile motor, the plane are X/Y plane, and stator array is N layers in X-direction, and mover
In X-direction and N layers, the linear motor moved along Y-direction is just formed.
Claims (9)
1. a kind of switching magnetic-resistance two-dimensional surface motor including stator and mover, forms air gap, leads to therebetween between stator and mover
Magnetic force transformation is crossed, mover is made to be moved to predetermined direction, it is characterised in that：The stator is made of stator tooth pole, stator tooth pole
End face forms the half of the distance between array, stator tooth pole on two-dimensional surface, less than stator tooth extreme face center to end week
The minimum range on side；The mover is made of mover tooth pole, the shape of the end face of mover tooth pole on two-dimensional surface and stator tooth pole
End surface shape it is identical, mover tooth pole pair-wise combination, per a pair of mover tooth extremely in, a mover tooth pole is extremely weighed with corresponding stator tooth
During conjunction, another mover tooth pole is located at joint of the stator tooth interpolar every center line.
A kind of 2. switching magnetic-resistance two-dimensional surface motor as described in claim 1, which is characterized in that the end face shape of the stator tooth pole
Shape is square.
A kind of 3. switching magnetic-resistance two-dimensional surface motor as described in claim 1, which is characterized in that the end face shape of the stator tooth pole
Shape is regular hexagon.
A kind of 4. switching magnetic-resistance two-dimensional surface motor as claimed in claim 3, which is characterized in that three pairs of regular hexagon teeth pole
Array is six side annular tooth pole arrays, and six side annular tooth pole arrays are connected mover tooth pole by yoke, form tooth pole mover B.
A kind of 5. switching magnetic-resistance two-dimensional surface motor as claimed in claim 3, which is characterized in that six sides annular tooth pole array
It is three, three six side annular tooth pole arrays array triangular in shape again.
6. a kind of switching magnetic-resistance two-dimensional surface motor as described in one of claim 1-3, which is characterized in that the two-dimensional surface is
The two-dimensional surface of XYZ coordinate system is exactly plane, which is exactly switched reluctance planar motor.
7. a kind of switching magnetic-resistance two-dimensional surface motor as described in one of claim 1-3, which is characterized in that the two-dimensional surface is ball
The two-dimensional surface of coordinate system is exactly spherical surface, at this point, motor is exactly spherical surface switched reluctance machines.
8. a kind of switching magnetic-resistance two-dimensional surface motor as described in one of claim 1-3, which is characterized in that the two-dimensional surface is column
The two-dimensional surface of coordinate system, the motor are exactly cylindrical face motor.
9. a kind of two-dimensional surface mobile motor as claimed in claim 3, which is characterized in that the plane is X/Y plane, stator battle array
It is N layers to be listed in X-direction, and mover is also N layers in X-direction, just forms the linear motor moved along Y-direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611269212.5A CN108270337A (en) | 2016-12-31 | 2016-12-31 | A kind of switching magnetic-resistance two-dimensional surface motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611269212.5A CN108270337A (en) | 2016-12-31 | 2016-12-31 | A kind of switching magnetic-resistance two-dimensional surface motor |
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| Publication Number | Publication Date |
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| CN108270337A true CN108270337A (en) | 2018-07-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611269212.5A Withdrawn CN108270337A (en) | 2016-12-31 | 2016-12-31 | A kind of switching magnetic-resistance two-dimensional surface motor |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115023405A (en) * | 2020-02-18 | 2022-09-06 | 株式会社日立高新技术 | Conveying device and specimen analysis system with conveying device |
| EP3937359A4 (en) * | 2019-03-08 | 2022-11-30 | Hitachi High-Tech Corporation | Conveying device, and sample analysis system and sample preprocessing device comprising same |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102694454A (en) * | 2012-03-02 | 2012-09-26 | 太原理工大学 | Displacement control mode of rotor of direct-drive switched-reluctance planar motor |
| CN102800368A (en) * | 2012-07-12 | 2012-11-28 | 清华大学 | Positioning method of initial zero position of air floatation planar motor |
| CN103312116A (en) * | 2013-05-13 | 2013-09-18 | 深圳大学 | Segmental planar switch reluctance motor |
-
2016
- 2016-12-31 CN CN201611269212.5A patent/CN108270337A/en not_active Withdrawn
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102694454A (en) * | 2012-03-02 | 2012-09-26 | 太原理工大学 | Displacement control mode of rotor of direct-drive switched-reluctance planar motor |
| CN102800368A (en) * | 2012-07-12 | 2012-11-28 | 清华大学 | Positioning method of initial zero position of air floatation planar motor |
| CN103312116A (en) * | 2013-05-13 | 2013-09-18 | 深圳大学 | Segmental planar switch reluctance motor |
Non-Patent Citations (1)
| Title |
|---|
| 张鲁: "复合电流驱动的永磁同步平面电机基础研究", 《中国优秀硕士学位论文全文数据库（电子期刊）》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3937359A4 (en) * | 2019-03-08 | 2022-11-30 | Hitachi High-Tech Corporation | Conveying device, and sample analysis system and sample preprocessing device comprising same |
| CN115023405A (en) * | 2020-02-18 | 2022-09-06 | 株式会社日立高新技术 | Conveying device and specimen analysis system with conveying device |
| CN115023405B (en) * | 2020-02-18 | 2023-07-07 | 株式会社日立高新技术 | Conveying device and sample analysis system provided with conveying device |
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Application publication date: 20180710 |