CN113037140A - Inclined magnetization vertical air gap type magnetic suspension gravity compensator - Google Patents
Inclined magnetization vertical air gap type magnetic suspension gravity compensator Download PDFInfo
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- CN113037140A CN113037140A CN202110158134.6A CN202110158134A CN113037140A CN 113037140 A CN113037140 A CN 113037140A CN 202110158134 A CN202110158134 A CN 202110158134A CN 113037140 A CN113037140 A CN 113037140A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N15/00—Holding or levitation devices using magnetic attraction or repulsion, not otherwise provided for
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- 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
- H02K1/17—Stator cores with permanent magnets
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- 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
- H02K1/18—Means for mounting or fastening magnetic stationary parts on to, or to, the stator structures
- H02K1/187—Means for mounting or fastening magnetic stationary parts on to, or to, the stator structures to inner stators
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- 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
- H02K1/27—Rotor cores with permanent magnets
- H02K1/2786—Outer rotors
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- 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
- H02K1/28—Means for mounting or fastening rotating magnetic parts on to, or to, the rotor structures
Abstract
The invention belongs to the technical field of magnetic suspension, and discloses an inclined magnetization vertical air gap type magnetic suspension gravity compensator which comprises a stator and a rotor, wherein an air gap is formed between the stator and the rotor; the stator comprises a stator frame, a stator permanent magnet, a stator winding and a stator base; the stator permanent magnet and the stator winding are arranged on a stator frame, and the stator frame is arranged on a stator base; the rotor comprises a rotor frame and a rotor permanent magnet; the mover permanent magnet is mounted on the mover frame. The inclined magnetization vertical air gap type magnetic suspension gravity compensator realizes the compensation of the gravity of a suspension object in a magnetic suspension system by utilizing the interaction force between the stator permanent magnet and the rotor permanent magnet; the inclined magnetization vertical air gap type magnetic suspension gravity compensator has the advantages of simple structure, easiness in manufacturing, no friction, no abrasion, no need of lubrication, low rigidity and large stroke.
Description
Technical Field
The invention belongs to the technical field of magnetic suspension, and particularly relates to a magnetic suspension gravity compensator.
Background
Devices based on magnetic suspension technology, such as magnetic suspension flywheel energy storage systems, magnetic suspension rotating motors, magnetic suspension planar motors and the like, have the advantages of no friction, no abrasion, high speed, high precision and the like, and are widely applied to multiple fields of modern industry.
Compared with the traditional device which adopts a mechanical bearing to support the rotor or the rotor of the magnetic suspension device, the magnetic suspension device utilizes the magnetic suspension technology to make the rotor or the rotor of the magnetic suspension device suspend, avoids the mechanical contact between the rotor or the rotor of the magnetic suspension device and a fixed part, has the advantages of no friction, no abrasion, no need of lubrication, high precision, long service life and the like, and has wide application prospect in the fields of high-speed flywheel energy storage, precision manufacturing and the like.
Generally, a magnetic levitation apparatus generates a levitation force using an interaction between an energized coil and a permanent magnet or a ferromagnetic material or a conductor plate. However, this mode of operation tends to generate more heat, which increases the temperature and affects the system performance. Therefore, the magnetic suspension device usually adopts a gravity compensator to offset the gravity of the suspension object, so as to achieve the purposes of reducing the heating of the system and improving the accuracy of the system.
Researchers in the technical field have made some research on gravity compensators, for example, patent CN106953551A discloses a gravity compensation device named as a magnetic suspension gravity compensator, which is composed of a stator and a rotor, and compensates the moving mass in a magnetic suspension system through the interaction between the stator permanent magnet and the rotor diamond permanent magnet array; however, the rotor of the magnetic suspension gravity compensator adopts the diamond permanent magnet array, so that the device stroke is small, the manufacturing difficulty is increased, and the application is not facilitated. Accordingly, there is a need in the art to develop a gravity compensator with a greater travel that is easier to manufacture.
Disclosure of Invention
In order to achieve the aim of the above complaint, the invention provides an inclined magnetization vertical air gap type magnetic suspension gravity compensator which comprises a stator and a rotor;
wherein the stator includes: the stator comprises a cuboid stator frame, cuboid stator permanent magnets, annular stator windings with rectangular sections and cuboid stator bases, wherein the number of the stator windings is 2;
the stator frame is provided with a first groove for placing a stator permanent magnet and two second grooves for placing a stator winding, the two second grooves are symmetrically formed in the first side surface and the second side surface of the stator frame respectively and are arranged around the first groove; the stator permanent magnet is embedded in a first groove on the stator frame and fixed, and the two stator windings are embedded in corresponding second grooves on the stator frame and fixed;
the bottom end of the stator frame is vertically connected with the stator base;
wherein the mover includes: the rotor comprises a cuboid rotor base, a rotor frame and cuboid rotor permanent magnets, wherein the number of the rotor permanent magnets is 4;
the rotor frame is fixedly connected with the bottom surface of the rotor base, the rotor frame is composed of two symmetrically arranged frame parts, a cavity is formed in the middle of one opposite side of the two frame parts, 2 groove bodies which are arranged up and down are arranged on the surface of each frame part on the two sides of the cavity, and the 4 rotor permanent magnets are respectively embedded in the 4 groove bodies on the rotor frame;
the stator frame is inserted into the cavity, in which the corresponding stator permanent magnets and stator windings located on the stator frame are located.
Preferably, the number of the stator permanent magnets and the number of the first grooves are both 1, the first grooves penetrate through the first side face and the second side face which are opposite to each other on the stator frame, the stator permanent magnets are embedded into the first grooves on the stator frame and fixedly arranged, and the stator permanent magnets are surrounded by 2 stator windings.
Preferably, the number of stator permanent magnet and first recess is 2, first recess is located relative first side and second side on the stator frame respectively, and every first recess all is surrounded by the second recess that sets up on same side and surrounds, and two stator permanent magnets imbed respectively in two first recess internal fixation settings, and every stator permanent magnet all is surrounded by a corresponding annular stator winding.
Furthermore, a plane perpendicular to the extending direction of the cavity is used for cutting the gravity compensator to serve as a cross-sectional plane for observation, the horizontal direction of the cross-sectional plane is the Y-axis direction, the vertical upward direction is the Z-axis positive direction, and the direction perpendicular to the cross-sectional plane is the X-axis direction;
defining the magnetizing direction of the stator permanent magnet along the positive direction of the Y axis under the coordinate system;
in a YZ plane under the coordinate system, four rotor permanent magnets are distributed in four quadrants in the YZ coordinate system, the magnetizing direction of the rotor permanent magnet in the third quadrant is defined as the Y-axis positive anticlockwise rotation theta angle, the magnetizing direction of the rotor permanent magnet in the first quadrant is opposite to that of the rotor permanent magnet in the third quadrant, the magnetizing direction of the rotor permanent magnet in the second quadrant is 180 degrees-theta, the magnetizing direction of the rotor permanent magnet in the fourth quadrant is opposite to that of the rotor permanent magnet in the second quadrant, and theta is an angle larger than 0 degree and smaller than 90 degrees.
Preferably, the stator frame, the stator base and the mover frame are made of non-ferromagnetic materials.
The invention provides an inclined magnetization vertical air gap type magnetic suspension gravity compensator which comprises a stator and a rotor;
wherein the stator includes: the stator comprises an annular stator frame, an annular stator permanent magnet, an annular stator winding and an annular stator base, wherein the number of the stator windings is 4;
the inner side and the outer side of the stator frame are annularly provided with a first groove for placing a stator permanent magnet and 4 second grooves for placing a stator winding, the four second grooves are respectively arranged at the inner side and the outer side of the stator frame, each side of each stator frame is provided with two second grooves, and the two second grooves positioned at the same side are separated by the first groove; the stator permanent magnet is embedded and fixed in a first groove on the stator frame, and the four stator windings are respectively embedded and fixed in corresponding second grooves on the stator frame;
the bottom end of the stator frame is vertically connected with the stator base;
wherein the mover includes: the rotor comprises a circular rotor base, a rotor frame and a circular rotor permanent magnet;
the number of the rotor permanent magnets is 4, the rotor frame is fixedly connected with the bottom surface of the rotor base, the rotor frame is two concentric annular frame parts, a cavity is formed in the middle of one opposite side of the two frame parts, 2 annular groove bodies are arranged on the surface of each frame part on the two sides of the cavity, and the 4 rotor permanent magnets are respectively embedded in the 4 groove bodies on the rotor frame;
the stator frame is inserted into the cavity, in which the corresponding stator permanent magnets and stator windings located on the stator frame are located.
Preferably, the number of stator permanent magnet and first recess is 2, is used for 2 the first recess that the embedding of stator permanent magnet was placed sets up respectively in stator frame's inboard and outside, and the first recess of each side is provided with a second recess respectively on vertical direction's both sides, all is provided with a stator permanent magnet between two stator windings of each side.
Preferably, the stator permanent magnet sets up along stator frame's hoop interval, is used for the first recess that stator permanent magnet embedding was placed link up stator frame's inboard and outside, and first recess sets up along stator permanent magnet's hoop interval, stator permanent magnet is multistage arc structure.
Furthermore, a plane perpendicular to the extending direction of the cavity is used for cutting the gravity compensator to serve as a cross-sectional plane for observation, the horizontal direction of the cross-sectional plane is the Y-axis direction, the vertical upward direction is the Z-axis positive direction, and the direction perpendicular to the cross-sectional plane is the X-axis direction;
defining the magnetizing direction of the stator permanent magnet along the positive direction of the Y axis under the coordinate system;
in a YZ plane under the coordinate system, four rotor permanent magnets are distributed in four quadrants in the YZ coordinate system, the magnetizing direction of the rotor permanent magnet in the third quadrant is defined as the Y-axis positive anticlockwise rotation theta angle, the magnetizing direction of the rotor permanent magnet in the first quadrant is opposite to that of the rotor permanent magnet in the third quadrant, the magnetizing direction of the rotor permanent magnet in the second quadrant is 180 degrees-theta, and the magnetizing direction of the rotor permanent magnet in the fourth quadrant is opposite to that of the rotor permanent magnet in the second quadrant; where θ is an angle greater than 0 ° and less than 90 °.
Preferably, the stator frame, the stator base and the mover frame are made of non-ferromagnetic materials.
The invention has the beneficial effects that: the moving stroke of the rotor is large; the rigidity of the rotor is low; easy to manufacture.
Drawings
FIG. 1 is a schematic three-dimensional structure diagram of a rectangular magnetic suspension gravity compensator;
FIG. 2 is a cross-sectional front view of a magnetic levitation gravity compensator according to a first embodiment;
FIG. 3 is a schematic sectional view of the magnetic levitation gravity compensator of the first embodiment and the third embodiment illustrating the magnetizing direction of the planar permanent magnet;
FIG. 4 is a schematic three-dimensional structure diagram of a stator of the magnetic levitation gravity compensator according to the first embodiment;
FIG. 5 is a schematic three-dimensional structure diagram of a stator section of a magnetic levitation gravity compensator according to a first embodiment;
FIG. 6 is a schematic three-dimensional structure diagram of a stator frame of the magnetic levitation gravity compensator according to the first embodiment;
FIG. 7 is a cross-sectional front view of a magnetic levitation gravity compensator according to a second embodiment;
FIG. 8 is a schematic view of the magnetizing direction of the permanent magnet of the sectional plane of the magnetic levitation gravity compensator of the second embodiment and the fourth embodiment;
FIG. 9 is a schematic three-dimensional structure diagram of a magnetic levitation gravity compensator in a circular shape;
FIG. 10 is a schematic three-dimensional structure diagram of a stator of a magnetic levitation gravity compensator according to a third embodiment;
FIG. 11 is a schematic three-dimensional structure diagram of a stator section of a magnetic levitation gravity compensator according to a third embodiment;
FIG. 12 is a cross-sectional view of the magnetically levitated gravity compensator of the third embodiment along a radial direction;
FIG. 13 is a schematic diagram of the arrangement of the permanent magnets of the stator of the magnetic levitation gravity compensator of the third embodiment;
FIG. 14 is a cross-sectional view of the magnetically levitated gravity compensator of the fourth embodiment along a radial direction;
FIG. 15 is a schematic diagram of an arrangement of stator permanent magnets of the magnetic levitation gravity compensator according to the fourth embodiment;
FIG. 16 is a schematic three-dimensional structure diagram of a magnetic levitation gravity compensator of the fifth embodiment;
FIG. 17 is a cross-sectional front view of a magnetic levitation gravity compensator of the fifth embodiment;
FIG. 18 is a schematic view of the magnetizing directions of the permanent magnets of the cross-sectional plane of the magnetic levitation gravity compensator of the fifth embodiment and the magnetic levitation gravity compensator of the seventh embodiment;
FIG. 19 is a sectional front view of a magnetically levitated gravity compensator of a sixth embodiment;
fig. 20 is a schematic view of the magnetizing directions of the permanent magnets of the sectional planes of the magnetic levitation gravity compensator of the sixth embodiment and the eighth embodiment;
FIG. 21 is a cross-sectional view of the magnetic levitation gravity compensator of the seventh embodiment in the radial direction;
fig. 22 is a cross-sectional view of the magnetically levitated gravity compensator of the eighth embodiment in a radial direction.
Detailed Description
The inclined magnetization vertical air gap type magnetic suspension gravity compensator provided by the invention is further described in detail with reference to the accompanying drawings and the detailed description. The advantages and features of the present invention will become more apparent from the following description. It is to be noted that the drawings are in a very simplified form and are all used in a non-precise scale for the purpose of facilitating and distinctly aiding in the description of the embodiments of the present invention. To make the objects, features and advantages of the present invention comprehensible, reference is made to the accompanying drawings. It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the implementation conditions of the present invention, so that the present invention has no technical significance, and any structural modification, ratio relationship change or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention.
The invention provides an inclined magnetization vertical air gap type magnetic suspension gravity compensator, which comprises a stator 1 and a rotor 2, as shown in figure 1;
in a first embodiment, referring to fig. 2-6, the stator 1 includes: a cuboid stator frame 11, a cuboid stator permanent magnet 12, a ring-shaped stator winding 13 with a rectangular cross section, and a cuboid stator base 14, wherein the number of the stator windings 13 is 2, and the stator windings are respectively a stator winding 131 and a stator winding 132;
as shown in fig. 4 to 6, a first groove for placing the stator permanent magnet 12 and two second grooves for placing the stator winding 13 are formed in the stator frame 11, wherein the first groove penetrates through a first side surface and a second side surface of the stator frame 11, and the two second grooves are symmetrically formed in the first side surface and the second side surface of the stator frame 11 and surround the first groove; the stator permanent magnet 12 is embedded in a first groove on the stator frame 11 and fixed, the two stator windings 131 and 132 are respectively embedded in corresponding second grooves on the stator frame 11 and fixed, and the stator windings 131 and 132 are wound outside the stator permanent magnet 12.
The bottom end of the stator frame 11 is vertically connected to the stator base 14.
As shown in fig. 2, the mover 2 includes: a rectangular parallelepiped mover base 21, a mover frame 22, a rectangular parallelepiped mover permanent magnet 24; the rotor frame 22 is fixedly connected with the bottom surface of the rotor base 21, the rotor frame 22 is two symmetrically arranged frame parts, a cavity 23 is formed in the middle of one opposite side of the two frame parts, 2 groove bodies which are arranged up and down are arranged on the surface of each frame part on the two sides of the cavity 23, and the heights of the 2 opposite groove bodies positioned on different frame parts are consistent; the number of the mover permanent magnets 24 is 4, and the mover permanent magnets 241, 242, 243, and 244 are respectively embedded in the 4 slots of the mover frame 21.
The stator frame 11 of the stator 1 is inserted into the cavity 23, and accordingly the stator permanent magnets 12 and the stator windings 13 located on the stator frame 11 are located in the cavity 23.
The gravity compensator is cut off by a plane perpendicular to the extending direction of the cavity 23 as a section plane for observation, as shown in fig. 2 and 3, the stator 1 in the section plane is in a convex structure; the mover 2 in the cross-sectional plane has an inverted concave structure.
As shown in fig. 2 and 3, a rectangular coordinate system is established by using the right-hand rule, with the horizontal direction in the cross-sectional plane as the Y-axis direction, the vertical upward direction as the positive Z-axis direction, and the direction perpendicular to the cross-sectional plane as the X-axis direction (i.e., the extending direction of the cavity 23), and the magnetizing direction of the stator permanent magnet 12 is defined along the positive Y-axis direction;
as shown in fig. 3, the cross-sectional view plane is a YZ plane in the coordinate system, four mover permanent magnets 24 are distributed in four quadrants in the YZ coordinate system, and it is defined that the magnetizing direction of the mover permanent magnet 243 in the third quadrant is counterclockwise rotated by an angle θ around the positive direction of the Y axis, the magnetizing direction of the mover permanent magnet 241 in the first quadrant is opposite to the magnetizing direction of the mover permanent magnet 243 in the third quadrant, the magnetizing direction of the mover permanent magnet 242 in the second quadrant is 180 ° - θ, and the magnetizing direction of the mover permanent magnet 244 in the fourth quadrant is opposite to the magnetizing direction of the mover permanent magnet 242 in the second quadrant; where θ is an angle greater than 0 ° and less than 90 °.
Second embodiment, please refer to fig. 7 and 8, the magnetic suspension gravity compensator provided in this embodiment is different from the first embodiment in that the number of the stator permanent magnets 12 in this embodiment is 2, correspondingly, two first grooves are symmetrically disposed on the first side surface and the second side surface opposite to each other on the stator frame 11, each first groove is surrounded by a second groove disposed on the same side surface, and the two stator permanent magnets 12 are embedded in the two second grooves, respectively, so that each stator permanent magnet 12 is surrounded by a corresponding annular stator winding 13, and the magnetizing directions of the two stator permanent magnets 12 are the same, that is, along the positive direction of the Y axis.
In a third embodiment, referring to fig. 9-13, the magnetic suspension gravity compensator provided in this embodiment includes: a stator 7 and a mover 8;
the stator 7 includes: the stator comprises an annular stator frame 71, annular stator permanent magnets 72, annular stator windings 73 and a circular stator base 74, wherein the number of the stator permanent magnets 72 is 2, and the number of the stator windings 73 is 4;
as shown in fig. 10 to 13, two first grooves for placing the stator permanent magnets 72 and four second grooves for placing the stator windings 73 are circumferentially arranged on the inner side and the outer side of the stator frame 71, two second grooves are respectively arranged on two sides of the first groove on the same side of the stator frame 71 in the vertical direction, the shapes of the four second grooves on the inner side and the outer side of the stator frame 71 are matched with the shape of the stator windings 73, the two stator permanent magnets 721 and 722 are respectively embedded in the corresponding first grooves on the stator frame 71 for fixation, and the four stator windings 731, 732, 733 and 734 are respectively embedded in the corresponding second grooves on the stator frame 11 for fixation.
The bottom end of the stator frame 71 is vertically connected to a stator base 74.
As shown in fig. 12, the mover 8 includes: a circular mover base 81, a mover frame 82, and a circular mover permanent magnet 84; the mover frame 82 is fixedly connected with the bottom surface of the mover base 81, the mover frame 82 is two annular frame parts arranged at intervals, namely a cavity 83 is formed in the middle of one opposite side of the two frame parts, 2 annular groove bodies are arranged on the surface of each frame part on the two sides of the cavity 83, and the heights of the 2 opposite groove bodies on different frame parts are consistent; the number of the mover permanent magnets 84 is 4, and the mover permanent magnets are respectively 841, 842, 843 and 844, and the 4 mover permanent magnets are respectively embedded in the 4 slots of the mover frame 81.
The stator frame 71 of the stator 7 is inserted into the cavity 83, and accordingly the stator permanent magnets 72 and the stator windings 73 on the stator frame 71 are located in the cavity 83.
The gravity compensator is cut out with a plane perpendicular to the direction in which the cavity 83 extends as a cross-sectional view as viewed in fig. 12, the stator 7 in the cross-sectional view being of two symmetrical "convex" configurations; the mover 8 in the cross-sectional plane is of two symmetrical inverted 'concave' structures.
As shown in fig. 12, a rectangular coordinate system is established by the right-hand rule with the horizontal direction of the cross-sectional surface (i.e., the radial direction of the mover base 81 or the stator base 74) being the Y-axis direction, the vertically upward direction being the positive Z-axis direction, and the direction perpendicular to the cross-sectional surface being the X-axis direction, and the magnetization direction of the stator permanent magnet 72 being along the positive Y-axis direction (i.e., the radial direction of the mover base 81 or the stator base 74 being directed toward the center of the circle).
Referring to fig. 12, the cross-sectional view is a YZ plane in the coordinate system, four mover permanent magnets 84 are distributed in four quadrants in the YZ coordinate system, and it is defined that the magnetizing direction of the mover permanent magnet 843 in the third quadrant is rotated counterclockwise by θ degrees around the Y axis, the magnetizing direction of the mover permanent magnet 841 in the first quadrant is opposite to the magnetizing direction of the mover permanent magnet 843 in the third quadrant, the magnetizing direction of the mover permanent magnet 842 in the second quadrant is 180 ° - θ, and the magnetizing direction of the mover permanent magnet 844 in the fourth quadrant is opposite to the magnetizing direction of the mover permanent magnet 842 in the second quadrant; wherein is an angle greater than 0 ° and less than 90 °.
In the fourth embodiment, referring to fig. 14 and 15, the magnetic levitation gravity compensator provided in the third embodiment is different from the magnetic levitation gravity compensator provided in the third embodiment in that the stator permanent magnets 72 of the embodiment are disposed to penetrate through the inner and outer side surfaces of the stator frame 71 along the radial direction of the stator frame 71.
As shown in fig. 15, when the stator permanent magnet 72 penetrates through the inner and outer side surfaces of the stator frame 71 and is embedded, the stator permanent magnet 72 is a discontinuous multi-segment arc, a plurality of discontinuous first grooves penetrating through the inner and outer side surfaces of the stator frame 71 are circumferentially arranged on the stator frame 71, the first grooves are separated by ribs 711 reserved on the stator frame 71, the stator permanent magnets 72 are correspondingly embedded in the first grooves of the stator frame 71 and are fixed, and the first grooves are connected by the ribs 711 reserved on the stator frame 71, so that the structural continuity of the stator frame 71 in the vertical direction is ensured. The number of first grooves provided in fig. 15 is 4, but the number of first grooves may be any number greater than 1.
In the fifth embodiment, referring to fig. 16 to 18, the magnetic suspension gravity compensator provided in the first embodiment of the present invention is different from the magnetic suspension gravity compensator provided in the first embodiment of the present invention in that: the stator winding is not included in this embodiment.
In a sixth embodiment, referring to fig. 19 and 20, the magnetic suspension gravity compensator provided in the second embodiment is different from the magnetic suspension gravity compensator provided in the first embodiment in that: the stator winding is not included in this embodiment.
In a seventh embodiment, referring to fig. 21, the magnetic suspension gravity compensator provided in this embodiment is different from the magnetic suspension gravity compensator provided in the third embodiment in that: the stator winding is not included in this embodiment.
In an eighth embodiment, referring to fig. 22, the magnetic suspension gravity compensator provided in this embodiment is different from the magnetic suspension gravity compensator provided in the fourth embodiment in that: the stator winding is not included in this embodiment.
The stator frames 11, 71, the stator bases 14, 74 and the mover frames 22, 82 of all the embodiments provided above are made of non-ferromagnetic materials.
When the magnetic suspension gravity compensator provided by the invention works, the stator frame is inserted into the cavity of the rotor, the magnetic force in the horizontal direction is offset due to the interaction of the magnetic force, the magnetic force in the vertical direction overcomes the gravity, so that the rotor is suspended above the stator, and no mechanical contact exists between the stator and the rotor.
Further, in all embodiments with stator windings, after the stator windings are energized, an additional compensation magnetic field is provided according to the electromagnetic induction principle, and a controllable magnetic compensation value is provided for the rotor.
The mover of the magnetic suspension gravity compensator has the advantages of large movement stroke, low rigidity of the mover and easy manufacture.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (10)
1. An inclined magnetization vertical air gap type magnetic suspension gravity compensator is characterized by comprising a stator (1) and a rotor (2);
the stator (1) comprises: the stator comprises a cuboid-shaped stator frame (11), cuboid-shaped stator permanent magnets (12), annular stator windings (13) with rectangular sections and cuboid-shaped stator bases (14), wherein the number of the stator windings (13) is 2;
the stator frame (11) is provided with a first groove for placing a stator permanent magnet (12) and two second grooves for placing a stator winding (13), and the two second grooves are symmetrically formed in the first side face and the second side face of the stator frame (11) respectively and are arranged around the first groove; the stator permanent magnet (12) is embedded into a first groove on the stator frame (11) and fixed, and the two stator windings (13) are embedded into corresponding second grooves on the stator frame (11) and fixed;
the bottom end of the stator frame (11) is vertically connected with the stator base (14);
the mover (2) includes: the rotor comprises a cuboid rotor base (21), a rotor frame (22) and cuboid rotor permanent magnets (24), wherein the number of the rotor permanent magnets (24) is 4;
the rotor frame (22) is fixedly connected with the bottom surface of the rotor base (21), the rotor frame (22) is two symmetrically arranged frame parts, a cavity (23) is formed in the middle of one opposite side of the two frame parts, 2 groove bodies which are arranged up and down are arranged on the surface of each frame part on the two sides of the cavity (23), and the 4 rotor permanent magnets are respectively embedded in the 4 groove bodies on the rotor frame (21);
the stator frame (11) is inserted into the cavity (23), and the corresponding stator permanent magnet (12) and the stator winding (13) on the stator frame (11) are positioned in the cavity (23).
2. The magnetic levitation gravity compensator according to claim 1, wherein the number of the stator permanent magnets (12) and the number of the first grooves are 1, the first grooves are arranged through the first side surface and the second side surface of the stator frame (11), the stator permanent magnets (12) are embedded in the first grooves of the stator frame (11) and are fixedly arranged, and the stator permanent magnets (12) are surrounded by 2 stator windings (13).
3. The magnetic levitation gravity compensator according to claim 1, wherein the number of the stator permanent magnets (12) and the number of the first grooves are 2, two of the first grooves are respectively located on the first side surface and the second side surface of the stator frame (11), each first groove is surrounded by the second groove disposed on the same side surface, two stator permanent magnets (12) are respectively embedded in the two first grooves and fixedly disposed, and each stator permanent magnet (12) is surrounded by a corresponding annular stator winding (13).
4. The magnetic levitation gravity compensator according to any one of claims 2 or 3, wherein a plane perpendicular to the extending direction of the cavity (23) is taken as a cross-sectional view of the gravity compensator, the horizontal direction of the cross-sectional view is the Y-axis direction, the vertical upward direction is the positive Z-axis direction, and the direction perpendicular to the cross-sectional view is the X-axis direction;
defining the magnetizing direction of the stator permanent magnet (12) along the positive direction of the Y axis under the coordinate system;
in a YZ plane under the coordinate system, four rotor permanent magnets (24) are distributed in four quadrants in the YZ coordinate system, the magnetizing direction of the rotor permanent magnet in the third quadrant is defined as the Y-axis positive anticlockwise rotation theta angle, the magnetizing direction of the rotor permanent magnet in the first quadrant is opposite to that of the rotor permanent magnet in the third quadrant, the magnetizing direction of the rotor permanent magnet in the second quadrant is 180-theta, the magnetizing direction of the rotor permanent magnet in the fourth quadrant is opposite to that of the rotor permanent magnet in the second quadrant, and theta is an angle larger than 0 degree and smaller than 90 degrees.
5. The magnetic levitation gravity compensator according to any one of claims 1-3, wherein the stator frame (11), the stator base (14) and the mover frame (22) are made of non-ferromagnetic material.
6. An inclined magnetization vertical air gap type magnetic suspension gravity compensator is characterized by comprising a stator (7) and a rotor (8);
the stator (7) includes: the stator comprises an annular stator frame (71), an annular stator permanent magnet (72), an annular stator winding (73) and a circular stator base (74), wherein the number of the stator windings (73) is 4;
a first groove for placing a stator permanent magnet (72) and 4 second grooves for placing a stator winding (73) are arranged on the inner side and the outer side of the stator frame (71) in the circumferential direction, two second grooves are arranged on the inner side and the outer side of the stator frame (71), and the two second grooves on the same side are separated by the first groove; the stator permanent magnet is embedded into a first groove on the stator frame (71) and fixed, and the four stator windings (73) are respectively embedded into corresponding second grooves on the stator frame (71) and fixed;
the bottom end of the stator frame (71) is vertically connected with a stator base (74);
the mover (8) includes: the rotor comprises a circular rotor base (81), a rotor frame (82) and a circular rotor permanent magnet (84);
the number of the rotor permanent magnets (84) is 4, the rotor frame (82) is fixedly connected with the bottom surface of the rotor base (81), the rotor frame (82) is two concentric annular frame parts, a cavity (83) is formed in the middle of one opposite side of the two frame parts, 2 annular groove bodies are arranged on the surface of each frame part on the two sides of the cavity (83), and the 4 rotor permanent magnets are respectively embedded in the 4 groove bodies on the rotor frame (81);
the stator frame (71) is inserted into the cavity (83), and the corresponding stator permanent magnet (72) and the stator winding (73) on the stator frame (71) are located in the cavity (83).
7. The magnetic levitation gravity compensator according to claim 6, wherein the number of the stator permanent magnets (72) and the number of the first grooves are 2, the first grooves for 2 embedded stator permanent magnets (72) are respectively arranged on the inner side and the outer side of the stator frame (71), the first groove on each side is respectively provided with a second groove on both sides in the vertical direction, and a stator permanent magnet (72) is arranged between the two stator windings (73) on each side.
8. The magnetic levitation gravity compensator according to claim 6, wherein the stator permanent magnets (72) are arranged at intervals along the circumferential direction of the stator frame (71), first grooves for the embedded placement of the stator permanent magnets (72) penetrate through the inner side and the outer side of the stator frame (71), the first grooves are arranged at intervals along the circumferential direction of the stator permanent magnets (71), and the stator permanent magnets (72) are of a multi-segment arc structure.
9. The magnetic levitation gravity compensator according to claim 7 or 8, wherein a plane perpendicular to the extending direction of the cavity (83) is used to cut the gravity compensator as a cross-sectional view, and the horizontal direction of the cross-sectional view is the Y-axis direction, the vertical upward direction is the positive Z-axis direction, and the direction perpendicular to the cross-sectional view is the X-axis direction;
defining the magnetizing direction of the stator permanent magnet (72) along the positive direction of the Y axis under the coordinate system;
in a YZ plane under the coordinate system, four rotor permanent magnets (84) are distributed in four quadrants in the YZ coordinate system, the magnetizing direction of the rotor permanent magnet in the third quadrant is defined as the Y-axis positive anticlockwise rotation theta angle, the magnetizing direction of the rotor permanent magnet in the first quadrant is opposite to that of the rotor permanent magnet in the third quadrant, the magnetizing direction of the rotor permanent magnet in the second quadrant is 180 degrees-theta, and the magnetizing direction of the rotor permanent magnet in the fourth quadrant is opposite to that of the rotor permanent magnet in the second quadrant; where θ is an angle greater than 0 ° and less than 90 °.
10. The magnetic levitation gravity compensator according to any one of claims 6-8, wherein the stator frame (71), the stator base (74) and the mover frame (82) are made of non-ferromagnetic material.
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| CN202110158134.6A CN113037140A (en) | 2021-02-04 | 2021-02-04 | Inclined magnetization vertical air gap type magnetic suspension gravity compensator |
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| CN202110158134.6A CN113037140A (en) | 2021-02-04 | 2021-02-04 | Inclined magnetization vertical air gap type magnetic suspension gravity compensator |
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| CN116247973A (en) * | 2023-03-30 | 2023-06-09 | 哈尔滨工业大学 | Large levitation force magnetic levitation gravity compensator with separable dynamic force and static force |
| CN116292709A (en) * | 2023-05-10 | 2023-06-23 | 苏州猎奇智能设备有限公司 | Magnetic spring with adjustable magnetic force, magnetic force adjusting method and Z-axis driving module |
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