CN115776182A - Linear rotation permanent magnet motor applied to drilling robot - Google Patents
Linear rotation permanent magnet motor applied to drilling robot Download PDFInfo
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- CN115776182A CN115776182A CN202211478553.9A CN202211478553A CN115776182A CN 115776182 A CN115776182 A CN 115776182A CN 202211478553 A CN202211478553 A CN 202211478553A CN 115776182 A CN115776182 A CN 115776182A
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Abstract
The invention relates to a linear rotating permanent magnet motor applied to a drilling robot, which mainly comprises a stator, a rotor and related accessories, wherein the stator part comprises a stator iron core and a rotating armature winding, the rotor part comprises an aluminum support frame, a rotating moving iron pole, a linear moving iron pole, an axial magnetizing N-pole permanent magnet and an S-pole permanent magnet, and the rotor part comprises a rotor pole, a linear moving annular armature winding, a rotor yoke and a shaft.
Description
Technical Field
The invention relates to the field of motors, in particular to a motor capable of realizing linear, rotary and spiral motion.
Background
The coal mine robot is important equipment for realizing the coal mine intellectualization and the energy conservation and emission reduction in the coal mine industry, is also an important mark of the coal mining technology revolution, and encourages the development and application of the coal mine robot as a key for realizing the coal mine intellectualized mining technology. The drilling operation is a common operation mode of the coal mine robot, can carry out operations such as advanced gas and water detection, and the linear rotating permanent magnet motor has the characteristics of high torque density and high reliability, and becomes one of indispensable core devices for the coal mine robot to finish the drilling operation. The utility model discloses a "moving coil permanent magnetism linear rotating electrical machines stator" (application number: CN 201821153377) discloses a moving coil permanent magnetism linear rotating electrical machines stator, will produce respectively the permanent magnet in sharp and rotary motion magnetic field and place in outer stator core yoke portion both ends, will produce the permanent magnet that realizes sharp and rotary motion magnetic field and place in the inner chamber of outer stator core yoke portion, and this stator can realize the two degree of freedom motion and big thrust/big moment of torsion, the high accuracy control operation of motor. The invention discloses a linear rotating motor and a vehicle-mounted anti-shake camera device (application number: CN 2022103485672). The stator and the rotor respectively comprise two driving groups to realize the linear and rotating motion of the rotor, the motor can reduce the size in the radial direction, and the motor is arranged on the vehicle-mounted anti-shake camera device to offset the axial moving direction and the acceleration, so that the camera device has the anti-shake function. The invention discloses a linear rotating motor for SMD picking and mounting (with the authorization number of CN 202011041162), and provides a linear rotating voice coil motor for SMD picking and mounting. The invention discloses a steering energy feedback suspension based on a switched reluctance linear rotating motor (application number: CN 2019106079344). The switched reluctance linear rotating motor is applied to a suspension system, so that the steering of the suspension system is realized, the original steering system is cancelled, the chassis structure of an automobile is simplified, and the structural interference during large-amplitude steering is eliminated.
Disclosure of Invention
The invention aims to provide a linear rotating permanent magnet motor applied to a drilling robot, which has the characteristics of high torque density, low linear positioning force and the like.
The invention adopts the following technical scheme for realizing the purpose:
a linear rotating permanent magnet motor applied to a drilling robot is mainly composed of a stator part, a rotor part and related accessories, wherein the stator part is composed of a stator iron core (2) and a rotary motion armature winding (3), the rotor part is composed of an aluminum support frame (6), a rotary motion iron pole (8), a linear motion iron pole (11), an axial magnetizing N-pole permanent magnet (9) and an axial magnetizing S-pole permanent magnet (10), the rotor part comprises a rotor pole (12), a linear motion annular armature winding (13), a rotor yoke (14) and a shaft (7), the rotor iron core is connected with an elongated ball linear bearing (4) sleeved on the shaft (7) through the aluminum support frame (6), a rotary bearing (5) is sleeved on the elongated ball linear bearing (4) and connected with an explosion-proof shell (1), the motor realizes rotary, linear and spiral motion by only adopting one set of permanent magnets, changes the structure of the permanent magnets, changes the permanent magnets, linear motion iron poles (11) and the rotary motion iron pole (8) on two sides of the rotor to form a linear motion iron pole along the axial direction, linear motion and a magnetic field, the S-pole and the rotary motion iron pole respectively, the linear motion permanent magnet is used as a magnetic field source, the magnetic field of the linear motion permanent magnet is simplified, and the linear motion permanent magnet motor, the linear motion magnetic circuit is used as a magnetic circuit source, and the magnetic circuit is also simplified.
Preferably, the present invention provides a linear rotating permanent magnet motor for a drilling robot, comprising: the width, the thickness and the pole distance of the rotating moving iron pole outside the rotor iron core and the distance between the iron pole and the outer diameter of the permanent magnet are flexibly designed, so that the rotating movement air gap flux density is improved, the torque density is further improved, the rotating movement air gap flux density is approximately distributed in a sine mode along the axial direction, the stator iron core flux density is reduced, the current density under the condition of motor load is improved, the torque density is further improved, the rotating movement end air gap flux density is lower, and the influence of an end effect is reduced.
Preferably, the present invention provides a linear rotating permanent magnet motor for a drilling robot, comprising: the linear motion annular armature winding is embedded in a rotor groove and moves along with the rotor to form a moving coil structure, and the axial motion distance of the motor is equal to the difference between the axial length of the stator and the axial length of the rotor.
Has the advantages that:
compared with the prior art, the invention has the beneficial effects that: the motor only adopts one set of permanent magnet to realize rotation, linear motion and spiral motion, changes a permanent magnet magnetic circuit by changing the structure of a rotor core, forms alternating polarities of N and S poles along the axial direction and the circumferential direction on the linear and rotary motion iron poles on the inner side and the outer side of the rotor respectively, further establishes a linear and rotary motion air gap magnetic field, and simplifies the structure of the motor by using the same set of permanent magnet as a rotary motion permanent magnet excitation source and also as a linear motion permanent magnet excitation source. The rotary motion air gap magnetic density is approximately distributed in a sine mode along the axial direction, the magnetic density of a stator core is reduced, the current density under the load condition is improved, the torque density is further improved, the air gap magnetic density at the end part of the rotary motion is lower, and the influence of the end part effect is reduced. The linear motion annular winding is embedded in the inner rotor slot and moves along with the rotor to form a moving coil type structure, and the axial motion distance of the motor is equal to the difference between the axial length of the stator and the axial length of the rotor.
Drawings
Fig. 1 is an overall configuration diagram of a linear rotating permanent magnet motor.
The rotor comprises a shell (1), a stator core (2), a rotary motion armature winding (3), an elongated ball linear bearing (4), a rotary bearing (5), an aluminum support frame (6), a shaft (7), a rotary motion iron pole (8), an axial magnetizing N-pole permanent magnet (9), an axial magnetizing S-pole permanent magnet (10), a linear motion iron pole (11), a rotor pole (12), a linear motion annular armature winding (13) and a rotor yoke (14).
Fig. 2 is a partial structure view of a stator of a linear rotating permanent magnet motor.
Comprising a stator core (2), a rotary motion armature winding (3), a stator yoke (16) and stator poles (17). Fig. 3 is a partial block diagram of a rotor of a linear rotating permanent magnet motor.
The permanent magnet comprises a rotary moving iron pole (8), an axial magnetizing N pole permanent magnet (9), an axial magnetizing S pole permanent magnet (10) and a linear moving iron pole (11).
Fig. 4 is a structural view of an aluminum support frame of the linear rotating permanent magnet motor.
Comprises an aluminum support frame (6).
Fig. 5 is a structural view of a mover of the linear rotation permanent magnet motor.
Comprises a rotor iron pole (12), a linear motion annular armature winding (13) and a rotor yoke (14).
Fig. 6 is a structure diagram of a topology structure I of a linear rotating permanent magnet motor.
The permanent magnet linear motor comprises a stator iron core (2), a rotary motion armature winding (3), a rotor pole (12), a linear motion annular armature winding (13), a stator yoke (16), a stator pole (17), a circumferential magnetizing permanent magnet N pole (18), a circumferential magnetizing permanent magnet S pole (19) and a linear motion iron pole (20).
Fig. 7 is a structure diagram of a topology structure II of a linear rotating permanent magnet motor.
The permanent magnet linear motor comprises a stator iron core (2), a rotary motion armature winding (3), an axial magnetizing N-pole permanent magnet (9), an axial magnetizing S-pole permanent magnet (10), a linear motion iron pole (11), a rotor pole (12), a linear motion annular armature winding (13), a rotor yoke (14), a stator yoke (16) and a stator pole (17).
Fig. 8 is a structure diagram of a topology structure III of a linear rotating permanent magnet motor.
The permanent magnet synchronous motor comprises a stator iron core (2), a rotary motion armature winding (3), a rotor pole (12), a linear motion annular armature winding (13), a rotor yoke (14), a stator yoke (16), a stator pole (17), a circumferential magnetizing N-pole permanent magnet (18) and a circumferential magnetizing S-pole permanent magnet (19).
Detailed Description
The linear rotating permanent magnet motor applied to the drilling robot is shown in the overall structural diagram of fig. 1, and comprises a casing (1), a stator core (2), a rotating motion armature winding (3), an elongated ball linear bearing (4), a rotating bearing (5), an aluminum support frame (6), a shaft (7), a rotating motion iron pole (8), an axial magnetizing N-pole permanent magnet (9), an axial magnetizing S-pole permanent magnet (10), a linear motion iron pole (11), a rotor pole (12), a linear motion annular armature winding (13) and a rotor yoke (14).
Fig. 2 is a partial structure diagram of a stator part of a linear rotating permanent magnet motor, which includes a stator core (2), a rotary motion armature winding (3), a stator yoke (16), and a stator pole (17).
Fig. 3 is a partial structural view of a rotor part of a linear rotating permanent magnet motor, which includes a rotating moving iron pole (8), an axially magnetized N-pole permanent magnet (9), an axially magnetized S-pole permanent magnet (10), and a linear moving iron pole (11).
Fig. 4 is a structural diagram of an aluminum support frame of the linear rotating permanent magnet motor, which comprises an aluminum support frame (6).
Fig. 5 is a structural view of a mover of the linear rotary permanent magnet motor, which includes a mover iron pole (12), a linear motion annular armature winding (13), and a mover yoke (14).
Fig. 6 is a structural diagram of a topology I of a linear rotating permanent magnet motor, which includes a stator core (2), a rotating armature winding (3), a mover pole (12), a linear moving annular armature winding (13), a stator yoke (16), a stator pole (17), a circumferential magnetized permanent magnet N pole (18), a circumferential magnetized permanent magnet S pole (19), and a linear moving iron pole (20).
Fig. 7 is a structural diagram of a topology structure II of a linear rotating permanent magnet motor, which includes a stator core (2), a rotating motion armature winding (3), an axial magnetization N-pole permanent magnet (9), an axial magnetization S-pole permanent magnet (10), a linear motion iron pole (11), a mover pole (12), a linear motion annular armature winding (13), a mover yoke (14), a stator yoke (16), and a stator pole (17).
Fig. 8 is a structural diagram of a topology structure III of a linear rotating permanent magnet motor, which includes a stator core (2), a rotating armature winding (3), a mover pole (12), a linear moving annular armature winding (13), a mover yoke (14), a stator yoke (16), a stator pole (17), a circumferential magnetizing N-pole permanent magnet (18), and a circumferential magnetizing S-pole permanent magnet (19).
Fig. 1-5 are diagrams of the linear rotating permanent magnet motor, the outer stator and the inner rotor core are stacked by silicon steel sheets, the rotor core is made of pure iron, during the rotation, the rotor part and the inner rotor part rotate together, during the linear motion, the inner rotor part realizes the axial reciprocating motion, the axial lengths of the outer stator and the rotor core of the motor are equal, and the linear motion distance is equal to the difference between the axial lengths of the rotor core and the inner rotor, so that the axial lengths of the outer stator, the rotor and the inner rotor can be flexibly designed according to the requirements, the expansion of the motor is convenient to carry out, the motor rotation adopts an iron pole structure with 6 stator poles, 8N poles and S alternating polarities, and the linear rotating permanent magnet motor is also applicable if being replaced by other pole slot combination forms.
Fig. 6-8 are three different topological structure diagrams of the linear rotating permanent magnet motor, fig. 6 adopts the alternative arrangement of the N and S poles of the permanent magnet charged circumferentially, and the permanent magnet magnetic circuit is changed by changing the structure of the rotor iron core, so that iron poles capable of presenting the alternative polarity of the N and S poles are formed on the inner side and the outer side of the rotor. Fig. 7 shows the structure of the outer rotor, the rotor and the inner rotor, and the axially magnetized permanent magnets have N and S poles alternately arranged. Fig. 8 shows the structure of the outer rotor, the rotor and the inner rotor, and the circumferentially magnetized permanent magnets have N and S poles alternately arranged. Fig. 6-8 are basic topological structures, and various linear rotating motors can be expanded by designing different stator, rotor and rotor structures and different permanent magnet arrangement forms, for example, based on the motor, the motor is combined with a vernier motor, and various motor topologies can be designed by adopting a multi-tooth structure for a stator pole.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present specification describes embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and it is to be understood that all embodiments may be combined as appropriate by one of ordinary skill in the art to form other embodiments as will be apparent to those of skill in the art from the description herein.
Claims (3)
1. The utility model provides a be applied to drilling robot's sharp rotary permanent-magnet machine which characterized in that: the motor mainly comprises a stator part, a rotor part and related accessories, wherein the stator part comprises a stator iron core (2) and a rotary motion armature winding (3), the rotor part comprises an aluminum support frame (6), a rotary motion iron pole (8), a linear motion iron pole (11), an axial magnetizing N-pole permanent magnet (9) and an axial magnetizing S-pole permanent magnet (10), the rotor part comprises a rotor pole (12), a linear motion annular armature winding (13), a rotor yoke (14) and a shaft (7), the rotor iron core is connected with an elongated ball linear bearing (4) sleeved on the shaft (7) through the aluminum support frame (6), a rotary bearing (5) is sleeved on the elongated ball linear bearing (4) and connected with an explosion-proof shell (1), the motor realizes rotary, linear and spiral motion by only adopting one set of permanent magnets, the permanent magnet is changed, the permanent magnet exciting magnetic circuit is reduced by changing the structure of the rotor iron pole (11) and the rotary motion iron pole, the linear motion iron pole and the air gap are respectively formed on the inner side and the outer side of the rotor, and the permanent magnet exciting magnetic circuit is simplified as a magnetic field source for producing the same permanent magnet.
2. The linear rotating permanent magnet motor applied to the drilling robot as claimed in claim 1, wherein: the width, the thickness and the pole distance of the rotating moving iron pole outside the rotor iron core and the distance between the iron pole and the outer diameter of the permanent magnet are flexibly designed, so that the rotating movement air gap flux density is improved, the torque density is further improved, the rotating movement air gap flux density is approximately distributed in a sine mode along the axial direction, the stator iron core flux density is reduced, the current density under the condition of motor load is improved, the torque density is further improved, the rotating movement end air gap flux density is lower, and the influence of an end effect is reduced.
3. The linear rotating permanent magnet motor applied to the drilling robot as claimed in claim 1, wherein: the linear motion annular armature winding is embedded in a rotor groove and moves along with the rotor to form a moving coil structure, and the axial motion distance of the motor is equal to the difference between the axial length of the stator and the axial length of the rotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211478553.9A CN115776182A (en) | 2022-11-23 | 2022-11-23 | Linear rotation permanent magnet motor applied to drilling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211478553.9A CN115776182A (en) | 2022-11-23 | 2022-11-23 | Linear rotation permanent magnet motor applied to drilling robot |
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| Publication Number | Publication Date |
|---|---|
| CN115776182A true CN115776182A (en) | 2023-03-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211478553.9A Pending CN115776182A (en) | 2022-11-23 | 2022-11-23 | Linear rotation permanent magnet motor applied to drilling robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117318432A (en) * | 2023-11-29 | 2023-12-29 | 湖南天友精密技术有限公司 | Dynamic magnetic type permanent magnet motor and control method |
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2022
- 2022-11-23 CN CN202211478553.9A patent/CN115776182A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117318432A (en) * | 2023-11-29 | 2023-12-29 | 湖南天友精密技术有限公司 | Dynamic magnetic type permanent magnet motor and control method |
| CN117318432B (en) * | 2023-11-29 | 2024-02-20 | 湖南天友精密技术有限公司 | Dynamic magnetic type permanent magnet motor and control method |
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