CN109217518A - Linear motor and its stator - Google Patents
Linear motor and its stator Download PDFInfo
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- CN109217518A CN109217518A CN201710547578.2A CN201710547578A CN109217518A CN 109217518 A CN109217518 A CN 109217518A CN 201710547578 A CN201710547578 A CN 201710547578A CN 109217518 A CN109217518 A CN 109217518A
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- armature winding
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- 238000004519 manufacturing process Methods 0.000 claims description 10
- 238000003491 array Methods 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 7
- 239000011229 interlayer Substances 0.000 claims description 3
- 230000037237 body shape Effects 0.000 claims description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 66
- 230000005415 magnetization Effects 0.000 description 34
- 229910052742 iron Inorganic materials 0.000 description 32
- 230000004907 flux Effects 0.000 description 14
- 238000010586 diagram Methods 0.000 description 13
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- 230000005389 magnetism Effects 0.000 description 7
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- 238000005516 engineering process Methods 0.000 description 4
- 230000005284 excitation Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
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- 239000000696 magnetic material Substances 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 229910000632 Alusil Inorganic materials 0.000 description 1
- 229910000976 Electrical steel Inorganic materials 0.000 description 1
- 229910001030 Iron–nickel alloy Inorganic materials 0.000 description 1
- 206010030312 On and off phenomenon Diseases 0.000 description 1
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- RIVZIMVWRDTIOQ-UHFFFAOYSA-N cobalt iron Chemical compound [Fe].[Co].[Co].[Co] RIVZIMVWRDTIOQ-UHFFFAOYSA-N 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K3/00—Details of windings
- H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K16/00—Machines with more than one rotor or stator
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K3/00—Details of windings
- H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
- H02K3/12—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors arranged in slots
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K3/00—Details of windings
- H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
- H02K3/28—Layout of windings or of connections between windings
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K3/00—Details of windings
- H02K3/46—Fastening of windings on the stator or rotor structure
- H02K3/47—Air-gap windings, i.e. iron-free windings
-
- 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
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electromagnetism (AREA)
- Linear Motors (AREA)
Abstract
This application discloses a kind of linear motor and its stator modules.Stator modules include matrix and the stator coil component that is fixed on matrix.Stator coil component includes at least two layers of the coil unit for being layered on top of each other arrangement, and two layers adjacent of coil unit includes multiple armature winding units.There are three coil windings for each armature winding unit tool, three coil windings are respectively the U phase of the armature winding unit, V phase and W phase, wherein the U phase of armature winding unit is arranged adjacent each other at same layer with W phase, upper one layer or next layer of the V phase in U phase and W phase, arrangement is aligned with the center of U phase and W phase, and in two layers adjacent of coil unit, if the V phase of an armature winding unit in two adjacent armature winding units is in the U phase of the armature winding unit and the upper layer of W phase, then the V phase of the armature winding unit of another armature winding unit is in the U phase of the armature winding unit and the lower layer of W phase.The stator modules of the application will not generate Slot force, and control precision is high.
Description
Technical field
The present invention relates to linear motors, and in particular to the stator of linear motor.
Background technique
As manufacturing technology develops to high yield, high-precision densification direction, the research of precise flange technology becomes more next
More important, correspondingly, motion positioning control system demand is also increasing, be widely used in automatic production line, packaging with
The industries such as transport, assembly automation, silk-screen printing, are provided with higher speed and processing flexibility.Conventional drive system is using rotation
Turn motor driving mechanism, transmission system middle gear head, axis, key, sprocket, chain, belt etc. are usually used in traditional rotation motor and pass
Dynamic component is very complicated heavy.Linear motor applies a kind of moving magnetic field to directly drive moving component, and reduction finishes
Structure complexity, also reduce cost and due to reducing inertia, flexibility, damping, friction and wear bring speed increase etc. it is excellent
Point.
Core actuator component --- the linear motor of motion positioning control system, its limitation and electromagnetic push in support
Under the action of, electric mover is able to drive the driving that load generates high speed, high thrust, and multiple linear motors can combine building two
Dimension or multi-dimensional movement, use linear motor can be with the linear transfer equipment of design structure precision, precision XY stage, structure is simple
Compact, mechanical dimension is small, fast response time, and precision is high, and since, without relative friction, there is no mills between mover and stator
Damage, service life are very long.
However, the stator of linear motor can generate Slot force Cogging influence at present, lead to servo motion location control
Accuracy decline.Meanwhile the length of stator is also difficult to as needed to be arranged.
Summary of the invention
The object of the present invention is to provide a kind of influence of slotless power, the high stator of linear motor of servo motion positioning accuracy.
To achieve the above object, according to the first aspect of the invention, a kind of stator modules of linear motor are provided, it is described
Stator modules include matrix and the stator coil component that is fixed in described matrix, and the stator coil component includes to be layered on top of each other
Arrangement at least two layers of coil unit, the coil unit of adjacent two layers include multiple armature winding units, each armature around
There are three coil windings for group unit tool, and three coil windings are respectively the U phase, V phase and W phase of the armature winding unit,
The U phase of middle armature winding unit and W phase are arranged adjacent each other at same layer, V phase U phase and W phase upper one layer or next layer, with U phase
In center alignment arrangement and two layers adjacent of coil unit with W phase, if one in two adjacent armature winding units
The V phase of a armature winding unit is in the U phase of the armature winding unit and the upper layer of W phase, then the electricity of another armature winding unit
The V phase of pivot winding element is in the U phase of the armature winding unit and the lower layer of W phase.
In one embodiment, each coil windings are process by lattice coil is folded, wherein the connecting interface of each interlayer coil
Vertical interconnection, so that each layer line circle is connected.
In one embodiment, the coil is in cuboid in rectangle and the stator coil component；Alternatively, the line
Circle is in fan annular and the stator coil component in fan ring body shape.
In one embodiment, the stator coil component is manufactured by printed circuit board process.
In one embodiment, the coil windings are equipped with connecting terminal, and adjacent coil windings are according to UVW three-phase connection side
Formula, triangle connection type or star-like connection mode are attached.
In one embodiment, multiple armature winding units repeat to arrange along a direction period.
In one embodiment, the coil windings are iron-less core coil winding.
In one embodiment, described matrix includes stator base, wherein the sets of stator coils part be installed on it is described
In stator base.
According to the second aspect of the invention, a kind of stator of linear motor is additionally provided, the stator is by multiple institutes as above
The stator modules stated successively are spliced.
In one embodiment, the stator includes the stator coil component of the sequentially connected bodily form in a ring and is in cuboid
Stator coil component.
According to the third aspect of the invention we, a kind of linear motor is additionally provided, the linear motor includes mover and stator,
The stator uses above-mentioned stator, and the linear motor includes multiple movers, and each mover is arranged to independently
Relative to the stator movement and it is equipped with permanent magnet array.
In one embodiment, the mover includes upper and lower two permanent magnet arrays, wherein the sets of stator coils part is located at institute
It states between two permanent magnet arrays.
Possessed progress effect is as follows compared with prior art by the present invention:
1), there is no the core assembly of soft magnetic materials in coil windings, it, can because being influenced without generating Slot force Cogging
To provide the control of high-precision servo motion positions；
2), winding space can be carried out being routed and made up by coil stacked position method of the invention, realize slotless Reeb
It is dynamic, keep stable thrust ratio, the linearity of thrust very standard, consistency is good.
3) stator modules of the invention realize that the standardized module of linear motor is applied, it can be achieved that between multiple coil stators
Free splicing and extension, can satisfy the application demand of client's random length, can be run simultaneously on coil stator multiple dynamic
Son.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the linear motor straightway of an embodiment according to the present invention.
Fig. 2 is the linear motor straightway of an embodiment according to the present invention and the structural schematic diagram of segmental arc linking.
Fig. 3 is the structural schematic diagram of the stator coil of an embodiment according to the present invention.
Fig. 4 is the structural schematic diagram of the linear motor mover of an embodiment according to the present invention.
Fig. 5 is the magnet array distribution of the linear motor mover of an embodiment according to the present invention.
Fig. 6 is the magnet array distribution of linear motor mover according to another embodiment of the present invention.
Fig. 7 is the structural schematic diagram of the linear motor module of an embodiment according to the present invention.
Fig. 8 is the structural schematic diagram of linear motor module according to another embodiment of the present invention.
Fig. 9 is the structural schematic diagram of the Transmission system of the linear motor formed using linear motor module of the invention.
Figure 10 is the thrust constant effect curve example of linear motor of the invention.
Specific embodiment
Presently preferred embodiments of the present invention is described in detail below with reference to attached drawing, it is of the invention to be clearer to understand
Objects, features and advantages.It should be understood that embodiment shown in the drawings does not limit the scope of the present invention, and only it is
Illustrate the connotation of technical solution of the present invention.
In the following description, elaborate certain details to provide for the purpose for illustrating various disclosed embodiments
To the thorough understanding of various open embodiments.But it one skilled in the relevant art will recognize that can be in without these details
One or more details the case where practice embodiment.Device known under other circumstances, associated with linear motor,
Structure and technology may not be illustrated in detail or describe to avoid unnecessarily obscuring the description of embodiment.
Unless context has other needs, and in the whole instruction and claim, word " comprising " and its modification, such as
"comprising" and " having " should be understood meaning that is open, including, that is, should be interpreted that " including, but are not limited to ".
Expression is in conjunction with the embodiments described to be referred to " one embodiment " or " embodiment " throughout the specification
Certain features, structure or feature are included at least one embodiment.Therefore, in each position of the whole instruction " at one
In embodiment " or " in an embodiment " in appearance without all referring to identical embodiment.In addition, certain features, structure or feature
It can combine in any way in one or more embodiments.
The singular as used in the specification and appended " one " and " described " include plural object, are removed
It is clearly dictated otherwise in non-text.It should be noted that term "or" is usually used with the meaning that it includes "and/or", unless literary
In clearly dictate otherwise.
In the following description, structure and working method of the invention in order to clearly demonstrate, will be by many Directional words
It is described, but should be by the words such as "front", "rear", "left", "right", "outside", "inner", " outside ", " inside ", "upper", "lower"
Language understands for convenience of term, and is not construed as word of limitation.
In addition, " direction D1 " word used in the following description refers mainly to the direction parallel with horizontal direction；" the side D2
To " word refers mainly to direction vertical with the direction D1 simultaneously parallel with horizontal direction；" first direction " or " first axle " word is main
Refer to the direction or reference axis parallel with horizontal direction；" second direction " or " the second axis " word refers mainly to parallel with horizontal direction and simultaneously
The direction or reference axis vertical with first direction；" third direction " or " third axis " word refers mainly to the direction vertical with horizontal direction
Or coordinate.
Fig. 1 shows the structural schematic diagram of the linear motor straightway of an embodiment according to the present invention.As shown in Figure 1, line
Property motor straightway include two movers 211,212 and stator 200.The print that stator 200 is fixed in stator base 101 by one
Circuit board processed is constituted, wherein 213 be positioning hole, for screw connection and fixed stator 200.In printed circuit board 200
On, stator coil component is made of the alternately laminated arrangement of square coil winding.
Stator coil component includes multiple armature winding units, and wherein coil windings 209a, 209b, 209c is respectively one
U, V, W three-phase coil of armature winding unit, coil windings 210a, 210b, 210c are respectively another armature winding unit
U, V, W three-phase coil.Coil windings 209b, 210a and 210c coil are in same layer arranged adjacent, 209a, 209c, 210b coil
In same layer arranged adjacent, that is, correspond to center pair of the V phase coil in upper one layer or next layer of U phase and W phase, with U phase and W phase
Neat arrangement.When the U phase and W phase coil are arranged adjacent in one layer above, V phase coil one layer below U phase and W phase,
Arrangement is aligned with the geometric center of U phase and W phase two-phase.U, V, W three-phase coil constitute basic armature winding unit, the armature around
Group unit repeats to arrange along the lateral period, 1 group, 2 groups, 3 groups ... ..., basic unit, and so on, according to linear motor
Stroke demand carries out the group number of building armature winding unit.Wherein, each stator coil winding has connecting terminal, and adjacent connects
Line terminals are attached according to UVW tri-phase connected mode, triangle or star-like connection mode.Coil windings 209a, 209b,
Each winding of 209c, 210a, 210b, 210c are that lattice coil stacking fabricates, and the connection of each interlayer coil connects
The vertical interconnection of mouth, so that every layer line circle is connected into a winding.
Armature winding unit can carry out period extension, can be integrally formed manufacture, and coil windings can be long according to standard
The modular manufacture of degree, for the composable splicing stator modules of long stroke application.In addition, the stator coil component can also on
The splicing application of lower stacking, can provide bigger thrust.Particularly, the coil block is applicable to pass through printed circuit
The manufacture of plate technique.Moreover, the air gap of each coil of the stator coil component is very small and relatively uniform, thus, linearly
The thrust pad temperature of motor is very small, and the influence of Slot force cogging is smaller, is specially adapted to high-accuracy control application scenarios.Figure
10 show the thrust constant effect curve example of linear motor of the invention.Data are shown the result shows that pushing away in the technology in figure
The fluctuation of force constant is less than 5%, well below the force oscillation of conventional iron core linear motor, even it is better than traditional iron-core-free
Linear motor.
Also as shown in Figure 1, the permanent magnet array 211 and 212 of subunit be two movers permanent magnet array, each array by
The NS array or Halbach array composition of one group of periodic arrangement, the width of the permanent magnet array unit is Wm, N extremely in
The distance at the heart to adjacent S pole center is denoted as τ, and the length of the permanent magnet array is denoted as WmArray-width.Have with the pole N to the pole N center
Have 2 τ width as basic unit, distribution repeats to arrange along the first axle X-direction period, 1 basic unit, 2 groups it is substantially single
Member ..., and so on, the group number of building mover magnet array is carried out according to the thrust requirements of linear motor.Magnet array and line
The main conversion relation enclosed between winding is as follows:
Wm=nm·τ
Wherein, WmFor mover permanent magnet array width, p is width of each coil in centre of pitch circle line, and α is each coil base
In the corresponding angular range of pitch circle width, R is pitch radius.τ be pole of magnet away from, be defined as the pole S center to the pole N center away from
From ncFor the number of coil windings, nmFor the number of magnetic pole pairs of magnet.
When multiple movers are run above stator coil, the corresponding coil windings of each mover permanent magnet overlay area
Energization excitation generates horizontal thrust.The reality for each mover that linear transfer control system is obtained by position sensor measurement
Location information prejudges the stator coil region for the next operation covering that will be moved, in the region line that mover will be run
Circle is powered in advance.
Fig. 2 shows the linear motor straightways of an embodiment according to the present invention and (180 °) of the segmental arc structures being connected to show
It is intended to.As shown in Fig. 2, stator of linear motor 300 includes stator base 301, arcuate stator coil 302,303, straightway stator
Coil 307 and 308.Straightway stator coil 307 and 308 is respectively and with constant radius camber (180 °) arcuate stator coil
302 are connected with 303, and seamless interfacing connection is realized in the two linking.
The printed circuit board that stator 300 is fixed in stator base 301 by one is constituted, wherein the stator coil of segmental arc
302,303 be fan annular, has constant center radius R.Wherein, stator coil 302 and 303 is screwed in stator base
On 301.Stator coil array 302,303 is by having the alternately laminated arrangement of fan loop coil winding to constitute, the center of each coil
It arranges according to the pitch circle line 309 of constant radius, each coil is p in the width of centre of pitch circle line, its angle based on pitch circle is
α, it and conversion relation such as following formula of the pole of magnet away from 309 radius R of τ and pitch circle line:
P=R α
Wherein, p is width of each coil in centre of pitch circle line, and α is that each coil is based on the corresponding angle of pitch circle width
Range, R are pitch radius.τ is pole of magnet away from being defined as distance of the pole the S center to the pole N center, ncFor the number of coil windings,
nmFor the number of magnetic pole pairs of magnet.
Wherein, coil windings 304a, 304b, 304c is respectively U, V, W three-phase coil of one group of armature winding unit,
305a, 305b, 305c are respectively U, V, W three-phase coil of another set armature winding unit.Described 304a, 304b, the 304c
For coil in same layer arranged adjacent, 305a, 305b, 305c coil correspond to V phase coil in U phase in same layer arranged adjacent
With upper one layer of W phase or next layer, arrangement is aligned with the center of U phase and W phase.The U phase and W phase coil is adjacent in same layer
Arrangement, V phase coil are aligned arrangement with the geometric center of U phase and W phase two-phase in upper one layer or next layer of U phase and W phase.Work as institute
The U phase and W phase coil stated be arranged adjacent in above one layer when, V phase coil is one layer below U phase and W phase, with U phase and W phase two
The geometric center of phase is aligned arrangement.U, V, W three-phase coil constitutes basic armature winding unit, the stator coil component
It repeats to arrange along the lateral period, 1 group, 2 groups, 3 groups ... ..., basic unit, and so on, according to the stroke need of linear motor
Seek the group number for carrying out building coil unit.Its wherein, described coil windings 304a, 304b, 304c, 305a, 305b, 305c's
Each winding is that lattice coil stacking fabricates, according to UVW tri-phase connected mode, triangle or star-like connection mode
It is attached.
Period extension can be carried out with constant radius camber (180 °) stator of linear motor stator coil component, it can be with one
Body formed manufacture.Stator coil component can also be formed according to the module assembled of two groups of standards, 90 ° of arc lengths, can also be by more
A stator coil component assembles, for the composable splicing stator modules of long stroke application.In addition, the sets of stator coils
Part can provide bigger thrust with splicing application stacked on top of one another.Particularly, the stator coil component is applicable
It is manufactured in by printed circuit board process.Moreover, the air gap of each coil of the stator coil component is very small, and compare
Uniformly, thus, the thrust pad temperature of linear motor is very small, and the influence of Slot force cogging is smaller, is specially adapted to high-accuracy control
Application scenarios processed.Thrust of the fluctuation of the thrust constant of linear motor proposed by the present invention far below conventional iron core linear motor
Fluctuation, even it is better than traditional ironless linear motors.
Fig. 3 shows the structural schematic diagram of the stator coil of an embodiment according to the present invention.As shown in figure 3, stator coil
Component is made of lattice coil, including 501,502,503,504 ..., and 508 ....Wherein, in the layer where the 501st and 502
Coil windings 511,512,513 are respectively U, V, W three-phase coil of armature winding unit.U phase and W phase coil are adjacent in same layer
Arrangement, V phase coil are aligned arrangement with the center of U phase and W phase in upper one layer or next layer of U phase and W phase.When the U phase and
W phase coil be arranged adjacent in above one layer when, V phase coil is aligned one layer below U phase and W phase with the center of U phase and W phase
Arrangement.U, V, W three-phase coil constitute basic armature winding unit, and the armature winding unit is along the first axis direction X period weight
Multiple bank cloth, 1 group, 2 groups, 3 groups ... ..., basic unit, and so on, building armature is carried out according to the stroke demand of linear motor
The group number of winding element.Similar, the coil windings in layer where the 503rd, 504 carry out three-phase windings after the same method
Building, and the armature winding unit along the first axis direction X period repeat arrange, 1 group, 2 groups, 3 groups ... ..., basic unit,
And so on, the group number of building armature winding unit is carried out according to the stroke demand of linear motor.And so on, the 505th, 506,
507th, 508 ..., repeat more than process overlapping combinations layer by layer, can be any number of number of plies building.
Armature winding unit can carry out period extension, can be integrally formed manufacture.Winding coil can be long according to standard
The modular manufacture of degree, for the composable splicing stator modules of long stroke application.In addition, the armature winding unit can also on
The splicing application of lower stacking, can provide bigger thrust.Particularly, the coil block is applicable to pass through printed circuit
The manufacture of plate technique.
Fig. 4 is the structural schematic diagram of the linear motor mover of an embodiment according to the present invention.As shown in figure 4, linear horse
It include pedestal 100, the first permanent magnet array 130a, the second permanent magnet array 130b, the first back iron 131a, the second back iron up to mover
131b, the first auxiliary support plate 132a, the second auxiliary support plate 132b, back iron support plate 129, guide rail guide roller 121, slide
122 and anticollison block 111.First auxiliary support plate 132a is installed on the upside of pedestal 100.Second auxiliary support plate 132b and
One auxiliary support plate 132a, which is spaced apart, to be placed.First back iron 131a is installed on the first auxiliary support plate 132a.Second back iron
131b is installed on the second auxiliary support plate 132b and is spaced apart with the first back iron 131a.Back iron support plate 129 is placed in the first back iron
U-shaped structure is collectively formed between 131a and the second back iron 131b and with the first back iron and the second back iron.The first of linear motor
Permanent magnet array 130a is adhered on the first back iron 131a.Second permanent magnet array 130b of linear motor is adhered to the first back iron 131b
On.First permanent magnet array 130a and the second permanent magnet array 130b constitute the U-shaped mover of two-sided permanent magnet face to face.Slide 122 is installed
In the downside of pedestal 100.One group of guide rail guide roller 121 is installed on 122 downside of slide.
Anticollison block 111 is installed on the both ends of pedestal 100.Anticollison block 111 uses flexible material as such as polyurethane, when
Multiple movers are run in the tracks of the same closure, and when accident collision occurs, anticollison block deforms first absorbs impact
Energy, reducing impact force protect the safety of material on mover or mover.
The detection member of such as straightway magnetic grid or grating 125 or segmental arc magnetic grid or grating 126 can be also equipped on mover
Part.Straightway magnetic grid or grating 125 are installed on the guide surface of pedestal 100, can by be installed on the encoder array of straightway into
Row detection measurement.Segmental arc magnetic grid or grating 126 are installed on the lateral of pedestal 100, have with the consistent curved surface arc of guide rail, can
Encoder array by being installed on segmental arc carries out detection measurement.Straightway and segmental arc ruler are not done mutually during exercise with encoder
It relates to.
When work, the permanent magnet array of mover generates driving force under the current excitation of coil stator, pushes entire mover logical
Guide rail guide roller 121 is crossed to move along guide rail.Guide rail guide roller 121 can move along linear guide or along arc
The movement of shape guide rail.Detecting element can detecte the movement position of mover.
Fig. 5 is the magnet array distribution of the linear motor mover of an embodiment according to the present invention.As shown in figure 5, first
Permanent magnet array 131a and the second permanent magnet array 131b is 2 groups of aspectant permanent magnet arrays, and it includes the first permanent magnets, the second permanent magnetism
Iron and third permanent magnet, wherein the first and second permanent magnets are main magnet, third permanent magnet is auxiliary magnet.First permanent magnet
413a, 413b, 417a, 417b, 421a, 421b, the direction of magnetization are directed toward the pole N from the pole S, i.e., are directed toward Z axis along third reference axis
Positive direction.Second permanent magnet 415a, 415b, 419a, 419b, 423a, 423b, the direction of magnetization from the pole S be directed toward the pole N, i.e., along
Third reference axis is directed toward Z axis negative direction.
Third permanent magnet 412a, 412b, 414a, 414b, 416a, 416b, 418a, 418b, 420a, 420b, 422a,
422b, 424a, 424b are auxiliary magnet, and the direction of magnetization is along the first reference axis X-direction.
Third permanent magnet 412a, 414a, the direction of magnetization are directed toward the direction of the first permanent magnet 413a along the first reference axis,
The 412a direction of magnetization is directed toward the positive direction of X-axis, and the 414a direction of magnetization is directed toward the negative direction of X-axis.
Third permanent magnet 414a, 416a, the direction of magnetization are directed toward along the first reference axis far from the second permanent magnet 415a
Direction, the 416a direction of magnetization are directed toward the positive direction of X-axis.
Third permanent magnet 416a, 418a, the direction of magnetization are directed toward the direction of the first permanent magnet 417a along the first reference axis,
The negative direction of 418a direction of magnetization direction X-axis.
Third permanent magnet 418a, 420a, the direction of magnetization are directed toward along the first reference axis far from the second permanent magnet 419a
Direction, the 420a direction of magnetization are directed toward the positive direction of X-axis.
Third permanent magnet 418a, 420a, the direction of magnetization are directed toward along the first reference axis far from the first permanent magnet 419a
Direction, the 420a direction of magnetization are directed toward the positive direction of X-axis.
Third permanent magnet 420a, 422a, the direction of magnetization are directed toward the direction of the second permanent magnet 421a along the first reference axis,
The negative direction of 422a direction of magnetization direction X-axis.
Third permanent magnet 422a, 424a, the direction of magnetization are directed toward along the first reference axis far from the first permanent magnet 423a
Direction, the 424a direction of magnetization are directed toward the positive direction of X-axis.
Third permanent magnet 412b, 414b, the direction of magnetization are directed toward along the first reference axis far from the first permanent magnet 413b
Direction, the 412b direction of magnetization are directed toward the positive direction of X-axis, and the 414b direction of magnetization is directed toward the negative direction of X-axis.
Third permanent magnet 414b, 416b, the direction of magnetization are directed toward the direction of the second permanent magnet 415b along the first reference axis,
The negative direction of 416b direction of magnetization direction X-axis.
Third permanent magnet 416b, 418b, the direction of magnetization are directed toward along the first reference axis far from the first permanent magnet 417b
Direction, the 418b direction of magnetization are directed toward the positive direction of X-axis.
Third permanent magnet 418b, 420b, the direction of magnetization are directed toward the direction of the second permanent magnet 419b along the first reference axis,
The negative direction of 420b direction of magnetization direction X-axis.
Third permanent magnet 420b, 422b, the direction of magnetization are directed toward along the first reference axis far from the second permanent magnet 421b
Direction, the 422b direction of magnetization are directed toward the positive direction of X-axis.
Third permanent magnet 422b, 424b, the direction of magnetization are directed toward the direction of the first permanent magnet 423b along the first reference axis,
The negative direction of 424b direction of magnetization direction X-axis.
First, second, third permanent magnet is combined into Halbach array unit typically with prismatic magnet block, they
Collectively constitute the permanent magnet array of the symmetric configuration of mover.The width of Halbach array unit is Wm, the pole N to adjacent S pole permanent magnetism
The distance at center is denoted as τ, and the length of the permanent magnet array is denoted as WmArray-width.First, second, third permanent magnet building tool
There is the Halbach group of magnets of complete cycle, distribution repeats to arrange along the first axle X-direction period, 1 Halbach basic unit,
2 groups of Halbach basic units ..., and so on, building mover magnet array is carried out according to the thrust requirements of linear motor
Group number.
First back iron 403, the second back iron 402 are with high-permeability material, such as steel, iron material.It is by Halbach base
Magnetic flux of this unit in back iron direction constructs flux loop, reduces magnetic leakage.The Halbach basic unit has unilateral side
Flux density characteristic, the flux density distribution towards coil sides is higher than the flux density intensity of traditional NS array, and the magnetic towards back iron side
It is close then very weak, thus the thickness application of back iron can tradition NS magnetic array back iron it is thinner.Make using low-density and high-strength material
Auxiliary support can reduce subunit weight.In order to reduce local magnetic leakage, the thickness of back iron at least keeps 1mm.In addition,
It is influenced to reduce side end leakage field, third permanent magnet 412a, 412b, 424a, 424b is permanent magnetism along the width of third axis X-direction
The half of iron 414a, 414b width.The width of first and second permanent magnet along the X direction is 0.5~0.9 times of τ.First auxiliary branch
Fagging 401 and the second auxiliary support plate 404 are the Auxiliary support component of low-density high rigidity material, to reinforce the support of back iron
Rigidity.
Fig. 6 is the magnet array distribution of linear motor mover according to another embodiment of the present invention.As shown in fig. 6, dynamic
The magnet array unit of son is made of the basic unit and magnetic yoke of 2 groups of aspectant NS permanent magnet arrays, the basic unit center
First permanent magnet 512a, 512b, 514a, 514b, 516a, 516b, the direction of magnetization is directed toward the pole N from the pole S, i.e., along third coordinate
Axis is directed toward Z axis positive direction；Second permanent magnet 513a, 513b, 515a, 515b, 517a, the 517b at the basic unit center, magnetic
Change direction and be directed toward the pole N from the pole S, i.e., is directed toward Z axis negative direction along third reference axis.
The first, the second permanent magnet is combined into NS basic unit typically with prismatic magnet block, they collectively constitute dynamic
The permanent magnet array of the symmetric configuration of subelement.The width of NS permanent magnet array unit is Wm, the pole N to adjacent S pole permanent magnetism center
Distance is denoted as τ.First, second permanent magnet constructs the NS group of magnets of a complete cycle, is distributed along the first axis direction X period
It repeats to arrange, 1 NS basic unit, 2 groups of NS basic units ..., and so on, it is carried out according to the thrust requirements of linear motor
Construct the group number of mover magnet array.
Back iron 601,602 is soft magnetic materials, such as ferro-cobalt, iron-nickel alloy, silicon steel, iron alusil alloy etc., soft magnetism material
Material refer to IEC60404-1 standard, it by NS basic unit back iron direction magnetic flux construct flux loop.The NS base
This unit has two-way flux density characteristic, and according to electromagnetic push needs, the flux density intensity distribution towards coil sides needs more Gao Yue
It is good, and the flux density towards back iron side then wishes the smaller the better, therefore back iron thickness should have adequate thickness, to reduce magnetic leakage,
Its thickness at least keeps 5mm.In addition, the width of first and second permanent magnet along the X direction is 0.5~1 times of τ.
Fig. 7 is the structural schematic diagram of the linear motor module of an embodiment according to the present invention.As shown in fig. 7, linear horse
It include mover and stator modules up to module.Structure of mover as illustrated in figures 4-5 can be used in mover module.Stator modules include matrix
With the stator coil component being fixed on matrix, stator coil component includes at least two layers of the coil unit for being layered on top of each other arrangement.
Coil unit can be made up of iron-less core coil of printed circuit board process.Stator coil component is operably positioned at the first permanent magnetism
Between iron array and the second permanent magnet array.
Two layers adjacent of coil unit includes multiple armature winding units, each armature winding unit tool there are three coil around
Group 401a, 401b, 401c.Three coil windings 401a, 401b, 401c are respectively the U phase, V phase and W of the armature winding unit
Phase, wherein the U phase of each armature winding unit and W phase are arranged adjacent each other at same layer, upper one layer or next in U phase and W phase of V phase
Layer, is aligned arrangement with the center of U phase and W phase.In two layers adjacent of coil unit, if in two adjacent armature winding units
An armature winding unit V phase in the U phase of the armature winding unit and the upper layer of W phase, then another armature winding unit
Armature winding unit V phase in the U phase of the armature winding unit and the lower layer of W phase.
U, V, W three-phase coil constitute basic armature winding unit and repeat to arrange along the first axis direction X period, 1 group, 2
Group, 3 groups ... ..., basic unit, and so on, the group of building armature winding unit is carried out according to the stroke demand of linear motor
Number.
Fig. 8 is the structural schematic diagram of linear motor module according to another embodiment of the present invention.As shown in figure 8, linear
Motor module includes magnet mover and stator coil unit.Mover by 2 groups of aspectant permanent magnet arrays basic unit and magnetic yoke
Composition, first permanent magnet 430a, the 430b at the basic unit center, the direction of magnetization are directed toward the pole N from the pole S, i.e., are sat along third
Parameter is directed toward Z axis positive direction；Second permanent magnet 431a, the 431b at the basic unit center, the direction of magnetization are directed toward the pole N from the pole S,
Z axis negative direction is directed toward along third reference axis.
The first, the second permanent magnet is combined into NS basic unit typically with prismatic magnet block, they collectively constitute dynamic
The permanent magnet array of the symmetric configuration of subelement.The width of NS basic unit is Wm, half period length is denoted as τ.This first, second
Magnet constructs the NS group of magnets of a complete cycle, and distribution repeats to arrange along the first axis direction X period, 1 NS basic unit,
2 groups of NS basic units ..., and so on, the group number of building mover magnet array is carried out according to the thrust requirements of linear motor.
NS basic unit has two-way flux density characteristic, and according to electromagnetic push needs, the flux density flux density towards coil sides is strong
The higher the better for degree distribution needs, and the flux density towards back iron side then wishes the smaller the better, therefore back iron thickness should be enough to have
Thickness, reduces magnetic leakage, and thickness at least keeps 5mm.In addition, the width of the first and second class permanent magnet along the X direction is
0.5~1 times of τ.
Fig. 9 is the structural schematic diagram of the Transmission system of the linear motor formed using linear motor module of the invention.Such as
Shown in Fig. 9, which includes multiple movers 108, two sections of linear stator coil module stator modules 104 and two sections constant half
The arc motor stator module 106 of diameter, magnetic grid or grating 110, magnetic grid or grating encoder array 109, rail unit 103, Gu
Fixed rack 102 and stator base 101.Wherein, mover 108 is installed on the stator modules of linear motor, is led by roller
Rail 103 is along guide rail direction translational motion.Each mover 108 moves independently of each other relative to other all movers.It is dynamic
Son 108 includes permanent magnet array, is installed on mover magnetic yoke inner surface.The line motor stator that stator modules 104,106 are constituted
Module and arc motor stator module are connected with fixed bracket 102.Fixed bracket 102 is installed on stator base 101.Roller
Guide rail 103 is fixed on stator base 101 by fastening screw.Magnetic grid or grating encoder array 109 are installed on fixed branch
On frame 102.Position of the signal of encoder array 109 for mover measures.Stator modules 104,106 are passed through exciting current, make
Coil activation energization and excitation, the permanent magnetism that the excitation field that coil generates is generated in the permanent magnet array of subunit 108 must be specified
Interaction forms thrust and makes subunit 108 along guide rail translational motion in magnetic field.In embodiment, stator modules 104,
The 106 each mover 108 of combination function independent control with mover 108 as kinetic control system is moved along roller guide rail 103.
Presently preferred embodiments of the present invention has already been described in detail above, it is understood that if desired, the side of embodiment can be modified
Face provides other embodiment to use the aspect, feature and design of various patents, application and publication.
In view of detailed descriptions above, these and other variation can be made to embodiment.In general, in claim
In, term used should not be construed as limited to specific embodiment disclosed in description and claims, but be understood that
Being includes whole equivalency ranges that all possible embodiment is enjoyed together with these claims.
Claims (12)
1. a kind of stator modules of linear motor, which is characterized in that the stator modules include matrix and are fixed on described matrix
On stator coil component, the stator coil component includes to be layered on top of each other at least two layers of coil unit of arrangement, adjacent two
The layer coil unit includes multiple armature winding units, coil windings that there are three each armature winding unit tools, and described three
Coil windings are respectively the U phase, V phase and W phase of the armature winding unit, and wherein the U phase of armature winding unit is adjacently positioned with W phase
In same layer, V phase is aligned arrangement and adjacent two with the center of U phase and W phase in upper one layer or next layer of U phase and W phase
In layer line coil unit, if the V phase of an armature winding unit in two adjacent armature winding units is in the armature winding
The U phase of unit and the upper layer of W phase, then the V phase of the armature winding unit of another armature winding unit is in the armature winding unit
U phase and W phase lower layer.
2. stator modules as described in claim 1, which is characterized in that each coil windings are process by lattice coil is folded,
The wherein vertical interconnection of connecting interface of each interlayer coil, so that each layer line circle is connected.
3. stator modules as claimed in claim 2, which is characterized in that the coil is in rectangle and the sets of stator coils
Part is in cuboid；Alternatively, the coil is in fan annular and the stator coil component in fan ring body shape.
4. stator modules as described in claim 1, which is characterized in that the stator coil component passes through printed circuit board process
Manufacture.
5. stator modules as described in claim 1, which is characterized in that the coil windings are equipped with connecting terminal, adjacent line
Circle winding is attached according to UVW tri-phase connected mode, triangle connection type or star-like connection mode.
6. stator modules as described in claim 1, which is characterized in that multiple armature winding units are along a direction period
It repeats to arrange.
7. stator modules as described in claim 1, which is characterized in that the coil windings are iron-less core coil winding.
8. stator modules as described in claim 1, which is characterized in that described matrix includes stator base, wherein the stator
Coil block is installed in the stator base.
9. a kind of stator of linear motor, which is characterized in that the stator is by multiple as claimed in any one of claims 1 to 8
Stator modules are successively spliced.
10. stator as described in claim 1, which is characterized in that the stator includes determining for the sequentially connected bodily form in a ring
Sub-line coil assembly and stator coil component in cuboid.
11. a kind of linear motor, the linear motor includes mover and stator, which is characterized in that the stator is wanted using right
Stator described in asking 9, and the linear motor includes multiple movers, each mover is arranged to be independently relative to described
Stator movement is simultaneously equipped with permanent magnet array.
12. linear motor as claimed in claim 11, which is characterized in that the mover includes upper and lower two permanent magnet arrays,
Wherein the sets of stator coils part is between described two permanent magnet arrays.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710547578.2A CN109217518B (en) | 2017-07-06 | 2017-07-06 | Linear motor and stator thereof |
| PCT/CN2018/091193 WO2019007201A1 (en) | 2017-07-06 | 2018-06-14 | Linear motor and stator thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710547578.2A CN109217518B (en) | 2017-07-06 | 2017-07-06 | Linear motor and stator thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109217518A true CN109217518A (en) | 2019-01-15 |
| CN109217518B CN109217518B (en) | 2021-07-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710547578.2A Active CN109217518B (en) | 2017-07-06 | 2017-07-06 | Linear motor and stator thereof |
Country Status (2)
| Country | Link |
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| CN (1) | CN109217518B (en) |
| WO (1) | WO2019007201A1 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022047884A1 (en) * | 2020-09-01 | 2022-03-10 | 瑞声声学科技(深圳)有限公司 | Linear motor |
| WO2023056665A1 (en) * | 2021-10-09 | 2023-04-13 | 上海果栗自动化科技有限公司 | Linear motor, linear motor module and rotor thereof |
| WO2023056666A1 (en) * | 2021-10-09 | 2023-04-13 | 上海果栗自动化科技有限公司 | Linear motor stator module, linear motor, and stator thereof |
| CN116317226A (en) * | 2023-03-02 | 2023-06-23 | 上海果栗自动化科技有限公司 | Stator module and conveying device |
| CN117040228A (en) * | 2023-10-10 | 2023-11-10 | 惠州市艾美珈磁电技术股份有限公司 | Motor rotor linkage type annular line |
| WO2024077849A1 (en) * | 2022-10-12 | 2024-04-18 | 上海果栗自动化科技有限公司 | Stator module and conveying system |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116207941B (en) * | 2023-04-28 | 2023-08-01 | 深圳市盛泰奇科技有限公司 | Spliced linear motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2022047884A1 (en) * | 2020-09-01 | 2022-03-10 | 瑞声声学科技(深圳)有限公司 | Linear motor |
| WO2023056665A1 (en) * | 2021-10-09 | 2023-04-13 | 上海果栗自动化科技有限公司 | Linear motor, linear motor module and rotor thereof |
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| CN116317226A (en) * | 2023-03-02 | 2023-06-23 | 上海果栗自动化科技有限公司 | Stator module and conveying device |
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| CN117040228A (en) * | 2023-10-10 | 2023-11-10 | 惠州市艾美珈磁电技术股份有限公司 | Motor rotor linkage type annular line |
| CN117040228B (en) * | 2023-10-10 | 2023-12-29 | 惠州市艾美珈磁电技术股份有限公司 | Motor rotor linkage type annular line |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109217518B (en) | 2021-07-27 |
| WO2019007201A1 (en) | 2019-01-10 |
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Effective date of registration: 20210916 Address after: 201100 room 1, building 8, No. 333, Wanfang Road, Minhang District, Shanghai Patentee after: SHANGHAI GOLYTEC AUTOMATION Co.,Ltd. Address before: 201318 Room 802, No. 3, Lane 123, Shenmei Road, Pudong New Area, Shanghai Patentee before: SHANGHAI HOLYTEC INTELLIGENT TECHNOLOGY Co.,Ltd. |
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Address after: 201112, 1st Floor, Building 8, No. 333 Wanfang Road, Minhang District, Shanghai Patentee after: Guoli Zhizao (Shanghai) Technology Co.,Ltd. Address before: 201100 room 1, building 8, No. 333, Wanfang Road, Minhang District, Shanghai Patentee before: SHANGHAI GOLYTEC AUTOMATION Co.,Ltd. |