CN117318432B - Dynamic magnetic type permanent magnet motor and control method - Google Patents
Dynamic magnetic type permanent magnet motor and control method Download PDFInfo
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- CN117318432B CN117318432B CN202311613192.9A CN202311613192A CN117318432B CN 117318432 B CN117318432 B CN 117318432B CN 202311613192 A CN202311613192 A CN 202311613192A CN 117318432 B CN117318432 B CN 117318432B
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000000819 phase cycle Methods 0.000 claims abstract description 25
- 238000004804 winding Methods 0.000 claims description 17
- 230000009471 action Effects 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 11
- 230000004044 response Effects 0.000 abstract description 9
- 238000009825 accumulation Methods 0.000 abstract description 5
- 238000004377 microelectronic Methods 0.000 abstract description 4
- 238000004806 packaging method and process Methods 0.000 abstract description 4
- 239000004065 semiconductor Substances 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 7
- 238000013459 approach Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 230000003068 static effect Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
- H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
- H02K41/031—Synchronous motors; Motors moving step by step; Reluctance motors of the permanent magnet type
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- 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
- H02K41/06—Rolling motors, i.e. motors having the rotor axis parallel to the stator axis and following a circular path as the rotor rolls around the inside or outside of the stator ; Nutating motors, i.e. having the rotor axis parallel to the stator axis inclined with respect to the stator axis and performing a nutational movement as the rotor rolls on the stator
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/06—Linear motors
- H02P25/064—Linear motors of the synchronous type
Abstract
The application is suitable for the technical field of linear motors, and provides a moving magnet type permanent magnet motor and a control method, and the application has a simple structure and small occupied space, and can adapt to diversified working environments; by changing the phase sequence and frequency of the three-phase alternating current in the first primary and the second primary, the secondary can perform linear motion along the length direction of the carrier, rotate around the carrier and spiral motion around the carrier, and the single motor provided by the application can solve the problems that in the prior art, the error accumulation of two motors, the load weight of a low-level motor, the dynamic response is slow and the like exist in the superposition mode of the two linear motors and the rotating motor, and the single motor is applicable to a series of high-end precision industrial systems such as a semiconductor processing platform, an intelligent multidimensional system motion platform, a dispensing machine, a microelectronic photoelectron packaging platform and the like.
Description
Technical Field
The application belongs to the technical field of linear motors, and particularly relates to a moving magnet type permanent magnet motor and a control method.
Background
The linear motor is a device for converting electric energy into linear motion and is widely applied to the fields of automatic control systems, machining equipment and the like. A linear motor can be regarded as a rotary motor that is split in a radial direction and developed into a straight line, a stator of the rotary motor becomes a primary (also referred to as a mover) of the linear motor, and a rotor of the rotary motor becomes a secondary (also referred to as a stator) of the linear motor. The rotary motor outputs torque, and the linear motor outputs thrust. The linear motor does not need to realize reciprocating motion through complex screw rod rotation, and meanwhile, the linear motor has high speed, large thrust and small volume, and has become the first choice of a high-speed high-precision linear feeding system.
In high-end precision industries (such as semiconductor processing, microelectronic optoelectronic packaging, etc.), when linear, rotary, spiral, etc. movements are to be realized, the driving is generally performed by overlapping two linear motors and a rotating motor. The two linear motors and the rotating motor are driven in a superposition way, the whole structure is complex, the occupied space is large, and the problems of error accumulation of the two motors, load of the low-level motor, slow dynamic response and the like exist.
Disclosure of Invention
The application provides a moving magnet type permanent magnet motor and a control method, which can solve the problems of complex overall structure, large occupied space, error accumulation of two motors, load of a low-level motor, slow dynamic response and the like of the two motors by driving in a mode of overlapping the two linear motors with a rotating motor.
In a first aspect, the present application provides a moving magnet permanent magnet motor comprising:
a carrier having a length direction;
the annular groove body is arranged on the carrier;
the spiral groove body is arranged on the carrier along the length direction of the carrier and is coaxially arranged with the annular groove body;
the first primary is in sliding connection with the annular groove body;
the second primary is in sliding connection with the spiral groove body; and
a secondary forming an air gap with the first primary and the second primary, the secondary being parallel to the length direction of the carrier with respect to the direction of movement of the first primary and the second primary;
by changing the energization phase sequence and the energization frequency in the first primary and the second primary, it is possible to realize linear movement of the secondary in the longitudinal direction of the carrier, rotational movement around the longitudinal direction of the carrier, and spiral movement around the longitudinal direction of the carrier.
Optionally, the first primary and the second primary each comprise a mounting seat and an armature winding arranged on the mounting seat, the mounting seat of the first primary is slidably connected with the annular groove body, the mounting seat of the second primary is slidably connected with the spiral groove body, and the armature winding in the first primary and the armature winding in the second primary are linearly arranged in the length direction of the carrier.
Optionally, the first primary installation seat is slidably arranged in the annular groove body through the sliding guide head, and the second primary installation seat is slidably arranged in the spiral groove body through the other sliding guide head.
Optionally, the annular groove body has an annular groove body and an annular groove opening, the width of the annular groove opening is smaller than the width of the annular groove body, and the sliding guide head in the first primary stage has a wide diameter part positioned in the annular groove body and a narrow diameter part positioned in the annular groove opening;
the spiral groove body is provided with a spiral groove body and a spiral groove opening, the width of the spiral groove opening is smaller than that of the spiral groove body, and the sliding guide head in the second primary stage is provided with a wide-diameter part positioned in the spiral groove body and a narrow-diameter part positioned in the spiral groove opening.
Optionally, the secondary comprises a magnetic yoke plate and a plurality of permanent magnets arranged on the magnetic yoke plate, the plurality of permanent magnets are arranged at intervals in the length direction of the carrier, and the magnetic yoke plate is provided with a motion output terminal which is used for being connected with an external device so as to drive the external device to move along with the magnetic yoke plate.
Optionally, the carrier is a hollow cylinder, the annular groove body and the spiral groove body are both arranged on the outer wall of the hollow cylinder, and the hollow cylinder, the annular groove body and the spiral groove body are coaxially arranged.
In a second aspect, the present application further provides a control method of a moving magnet type permanent magnet motor, based on any one of the above moving magnet type permanent magnet motors, the control method includes:
linear motion: the first primary and the second primary are respectively electrified with three-phase alternating current with the same frequency, and the movement direction of the secondary relative to the first primary and the second primary is parallel to the length direction of the carrier, so that the secondary can only perform linear movement along the length direction of the carrier;
rotational movement: the first primary is powered with direct current, and the secondary is stationary relative to the first primary so as to limit the movement of the secondary along the length direction of the carrier; the second primary is electrified with three-phase alternating current, slides along the spiral groove body in the process of moving along the length direction of the carrier relative to the secondary under the action of electromagnetic thrust, and drives the first primary to slide along the annular groove body so as to realize that the secondary only rotates around the carrier;
spiral movement: the first primary and the second primary are respectively electrified with three-phase alternating currents with different frequencies, the secondary moves along the length direction of the carrier relative to the first primary and the second primary, and the second primary slides along the spiral groove body in the process of moving along the length direction of the carrier relative to the secondary under the action of electromagnetic thrust and drives the first primary to slide along the annular groove body so as to realize that the secondary can perform rotary motion, namely spiral motion, around the carrier in the process of performing linear motion along the length direction of the carrier.
Optionally:
linear motion: the speed of the linear motion of the secondary can be controlled by changing the current frequency of the three-phase alternating current; the current phase sequence of the three-phase alternating current is changed to enable the secondary to conduct linear motion along the length direction of the carrier or enable the secondary to conduct linear motion along the opposite direction of the length direction of the carrier;
rotational movement: the speed of the secondary rotating motion can be controlled by changing the current frequency of the three-phase alternating current to control the motion speed of the second primary relative to the secondary; by changing the current phase sequence of the three-phase alternating current, the second primary is close to or far away from the first primary in the annular groove body when sliding along the spiral groove body, so that the secondary rotates clockwise or anticlockwise;
spiral movement: the method comprises the steps of changing the current phase sequence of three-phase alternating current fed in a first primary and the current phase sequence of three-phase alternating current fed in a second primary, and changing the frequency of the three-phase alternating current fed in the first primary and the frequency of the three-phase alternating current fed in the second primary so as to enable a secondary to conduct linear motion along the length direction of a carrier or enable the secondary to conduct linear motion along the opposite direction of the length direction of the carrier, namely controlling the linear direction in spiral motion; so that the second primary moves closer to or farther from the first primary in the annular groove when sliding along the spiral groove, so that the secondary rotates clockwise or counterclockwise, i.e. the direction of rotation in the spiral motion is controlled.
The scheme of the application has the following beneficial effects:
the device has a simple structure and small occupied space, and can adapt to diversified working environments; by changing the phase sequence and frequency of the three-phase alternating current in the first primary and the second primary, the secondary can perform linear motion along the length direction of the carrier, rotate around the carrier and spiral motion around the carrier, and the single motor provided by the application can solve the problems that in the prior art, the error accumulation of two motors, the load weight of a low-level motor, the dynamic response is slow and the like exist in the superposition mode of the two linear motors and the rotating motor, and the single motor is applicable to a series of high-end precision industrial systems such as a semiconductor processing platform, an intelligent multidimensional system motion platform, a dispensing machine, a microelectronic photoelectron packaging platform and the like.
Other advantages of the present application will be described in detail in the detailed description section that follows.
Drawings
In order to more clearly illustrate the technical solutions of the present application, the following description will briefly introduce the drawings that are needed in the embodiments or the description of the prior art, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a moving magnet type permanent magnet motor according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a moving magnet type permanent magnet motor according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a part of a moving magnet type permanent magnet motor according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of an annular groove body and a spiral groove body of a moving magnet type permanent magnet motor according to an embodiment of the present application;
FIG. 5 is a schematic cross-sectional view of an annular groove and a spiral groove of a moving magnet type permanent magnet motor according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a first primary and a second primary of a moving magnet type permanent magnet motor according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of a secondary of a moving magnet type permanent magnet motor according to an embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of a carrier of a moving magnet type permanent magnet motor according to an embodiment of the present application.
[ reference numerals description ]
1. A carrier;
2. an annular groove body;
20. an axis; 21. an annular groove body; 22. the annular groove is opened;
3. a spiral groove body;
31. a spiral groove body; 32. a spiral groove opening;
41. a first primary; 42. a second primary;
401. a mounting base; 402. an armature winding; 403. a sliding guide; 4031. a wide diameter portion; 4032. a narrow diameter portion;
51. a first hollow cylinder; 52. a second hollow cylinder; 53. a first ring; 54. a second ring;
6. secondary;
61. a magnetically permeable yoke plate; 62. a permanent magnet; 63. and a motion output terminal.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in this specification and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
In addition, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
The moving magnet type permanent magnet motor and the control method provided by the application are exemplified below with reference to specific embodiments.
As shown in fig. 1 and fig. 2, the moving magnet type permanent magnet motor provided in the embodiment of the present application includes a carrier 1, an annular groove body 2, a spiral groove body 3, a first primary 41, a second primary 42, and a secondary 6; the carrier 1 has a length direction; the annular groove body 2 is arranged on the carrier 1; the spiral groove body 3 is arranged on the carrier 1 along the length direction of the carrier 1 and is coaxially arranged with the annular groove body 2; the first primary 41 is in sliding connection with the annular groove body 2; the second primary 42 is in sliding connection with the spiral groove body 3; the secondary 6 forms an air gap with the first primary 41 and the second primary 42, and the direction of movement of the secondary 6 relative to the first primary 41 and the second primary 42 is parallel to the length direction of the carrier 1; by changing the energization phase sequence and the energization frequency in the first primary 41 and the second primary 42, it is possible to realize linear movement of the secondary 6 in the longitudinal direction of the carrier 1, rotation around the longitudinal direction of the carrier 1, and spiral movement around the longitudinal direction of the carrier 1.
In the above embodiment, after the three-phase ac power is supplied to the first primary 41 and the second primary 42, the travelling wave magnetic field corresponding to the pole pitch of the secondary 6 is induced, and interacts with the main pole magnetic field generated by the secondary 6 to generate electromagnetic thrust, so that the secondary 6 moves, that is, the basic working principle of the permanent magnet synchronous motor, the movement speed of the secondary 6 relative to the first primary 41 and the second primary 42 is proportional to the current frequency of the three-phase ac power supplied to the first primary 41 and the second primary 42, and the movement direction of the secondary 6 relative to the first primary 41 and the second primary 42 is related to the current phase sequence of the three-phase ac power supplied to the first primary 41 and the second primary 42.
As shown in fig. 2, the spiral groove 3 in this embodiment is a counterclockwise spiral, and in this embodiment, an exemplary illustration is made with the direction indicated by the arrow as the main view angle:
linear motion: the first primary 41 and the second primary 42 are both supplied with three-phase alternating current with the same frequency and the same phase sequence, at the moment, the first primary 41 is static relative to the annular groove body 2, the second primary 42 is static relative to the spiral groove body 3, and the secondary 6 moves along the length direction of the carrier 1 relative to the first primary 41 and the second primary 42 under the action of electromagnetic thrust so as to realize that the secondary 6 only moves linearly along the length direction of the carrier 1; changing the current phase sequence of the three-phase alternating current fed by the first primary 41 and the second primary 42 to realize that the secondary 6 only performs linear motion along the opposite direction of the length direction of the carrier 1;
rotational movement: the first primary 41 is powered with direct current, the first primary 41 does not generate an alternating magnetic field, but only a fixed magnetic field, and the secondary 6 is static relative to the first primary 41 under the action of electromagnetic force so as to limit the movement of the secondary 6 along the length direction of the carrier 1; the second primary 42 is electrified with three-phase alternating current, and as the secondary 6 is static relative to the first primary 41, the second primary 42 moves relative to the secondary 6 along the length direction of the carrier 1 under the action of electromagnetic thrust, so that the second primary 42 slides in the spiral groove body 3 to be close to or far away from the first primary 41, and the second primary 42 drives the first primary 41 to slide along the annular groove body 2 when sliding so as to realize that the secondary 6 only rotates around the carrier 1; as shown in fig. 2, in one embodiment, when the second primary 42 is slid counterclockwise along the spiral groove 3 (counterclockwise spiral) to be away from the first primary 41 after the second primary 42 is supplied with three-phase alternating current, the interval between the first primary 41 and the second primary 42 becomes gradually large, and the secondary 6 rotates counterclockwise; in another embodiment, as shown in fig. 2, when the second primary 42 is slid clockwise along the spiral groove 3 (counterclockwise spiral) to approach the first primary 41 after the second primary 42 is supplied with three-phase alternating current in reverse of the above-mentioned phase sequence, the interval between the first primary 41 and the second primary 42 becomes gradually smaller, and the secondary 6 rotates clockwise;
spiral movement: the first primary 41 and the second primary 42 are respectively supplied with three-phase alternating currents with different frequencies and the same phase sequence, the secondary 6 moves along the length direction of the carrier 1 relative to the first primary 41 and the second primary 42, and the second primary 42 slides along the spiral groove body 3 and drives the first primary 41 to slide along the annular groove body 2 in the process of moving along the length direction of the carrier 1 relative to the secondary 6 under the action of electromagnetic thrust, so that the secondary 6 can perform rotary motion, namely spiral motion, around the carrier 1 in the process of performing linear motion along the length direction of the carrier 1; the direction of the linear motion and the direction of the rotational motion in the spiral motion are further described below:
as shown in fig. 2, in this embodiment, when the secondary 6 is moved (for example, moved leftward) in the longitudinal direction of the carrier 1 with respect to the first primary 41 and the second primary 42 by adjusting the current phase sequence of the three-phase alternating current supplied to the first primary 41 and the second primary 42: when the frequency of the three-phase alternating current fed by the first primary 41 is greater than that of the three-phase alternating current fed by the second primary 42, the electromagnetic thrust between the first primary 41 and the secondary 6 is smaller than that between the second primary 42 and the secondary 6, the secondary 6 moves along the length direction of the carrier 1 (such as leftwards movement) under the action of the electromagnetic thrust of the first primary 41, the electromagnetic thrust provided by the second primary 42 is resistance, and as the first primary 41 limits the carrier 1 in the length direction through the annular groove body 2, the second primary 42 can slide anticlockwise in the spiral groove body 3 so as to gradually get far away from the first primary 41, the distance between the first primary 41 and the second primary 42 gradually increases, the secondary 6 rotates anticlockwise, and drives the first primary 41 to slide anticlockwise along the annular groove body 2 through the secondary 6, so that the secondary 6 rotates anticlockwise around the carrier 1; when the frequency of the three-phase alternating current fed by the first primary 41 is smaller than that of the three-phase alternating current fed by the second primary 42, the secondary 6 moves along the length direction of the carrier 1 (for example, moves leftwards) under the action of the electromagnetic thrust of the second primary 42, the electromagnetic thrust provided by the first primary 41 is resistance, and as the first primary 41 limits in the length direction of the carrier 1 through the annular groove body 2, the second primary 42 can slide clockwise in the spiral groove body 3 to gradually approach the first primary 41, the distance between the first primary 41 and the second primary 42 is gradually reduced, the secondary 6 rotates clockwise, and the first primary 41 is driven to slide clockwise along the annular groove body 2 through the secondary 6, so that the secondary 6 rotates clockwise around the carrier 1;
in another embodiment, as shown in fig. 2, when the secondary 6 is moved (e.g., moved rightward) in the opposite direction of the length direction of the carrier 1 with respect to the first primary 41 and the second primary 42 by changing the current phase sequence of the three-phase alternating current supplied to the first primary 41 and the second primary 42: when the frequency of the three-phase alternating current fed by the first primary 41 is greater than that of the three-phase alternating current fed by the second primary 42, the second primary 42 can slide clockwise in the spiral groove body 3 to gradually approach the first primary 41, the distance between the first primary 41 and the second primary 42 is gradually reduced, the secondary 6 rotates clockwise, and the secondary 6 drives the first primary 41 to slide clockwise along the annular groove body 2, so that the secondary 6 rotates clockwise around the carrier 1; when the frequency of the three-phase alternating current fed by the first primary 41 is smaller than that of the three-phase alternating current fed by the second primary 42, the second primary 42 can slide anticlockwise in the spiral groove body 3 to gradually increase the distance between the first primary 41 and the second primary 42 according to the gradual principle, the secondary 6 rotates anticlockwise, and the secondary 6 drives the first primary 41 to slide anticlockwise along the annular groove body 2, so that the secondary 6 rotates anticlockwise around the carrier 1.
It will be appreciated that, as shown in fig. 2, the direction indicated by the arrow is taken as the main view, in another embodiment, the spiral groove 3 is clockwise spiral, and the rotation direction of the secondary 6 in this embodiment is opposite to the rotation direction of the spiral groove 3 in the counterclockwise spiral direction, so that the description will not be repeated here.
The device has a simple structure and small occupied space, and can adapt to diversified working environments; by changing the phase sequence and frequency of the three-phase alternating current in the first primary 41 and the second primary 42, the secondary 6 can linearly move along the length direction of the carrier 1, rotate around the carrier 1 and spiral around the carrier 1, an external device is connected with the secondary 6 so as to drive the external device to move along with the secondary 6, and the problems that in the prior art, the error accumulation of two motors, the load weight of a low-level motor, the dynamic response is slow and the like exist in the superposition mode of the two linear motors and the rotating motor can be solved by adopting the single motor provided by the application, and the method can be applied to a series of high-end precision industrial systems such as a semiconductor processing platform, an intelligent multidimensional system moving platform, a dispensing machine, a microelectronic optoelectronic packaging platform and the like.
It will be appreciated that the first primary 41 and the second primary 42 may be the primary in the linear motor in the prior art, including coil windings, etc., and generate a varying magnetic field after being energized with three-phase alternating current; the secondary 6 may be a secondary in a linear motor in the prior art, including a permanent magnet, a yoke plate, etc., and may generate a relative motion with the first primary 41 and the second primary 42 after three-phase alternating current is applied to the first primary 41 and the second primary 42.
In one embodiment, as shown in fig. 6, each of the first primary 41 and the second primary 42 includes a mounting seat 401 and an armature winding 402 provided on the mounting seat 401, the mounting seat 401 of the first primary 41 is slidably connected to the annular groove body 2, the mounting seat 401 of the second primary 42 is slidably connected to the spiral groove body 3, and the armature winding 402 in the first primary 41 and the armature winding 402 in the second primary 42 are linearly arranged in the length direction of the carrier 1.
In the above embodiment, the armature winding 402 in the first primary 41 is slidably connected in the annular groove body 2 by the mount 401, and the armature winding 402 in the second primary 42 is slidably connected in the spiral groove body 3 by the mount 401. The armature windings 402 in the first primary 41 are arranged on the mounting seat 401 in the first primary 41 along the length direction of the carrier 1, the armature windings 402 in the second primary 42 are arranged on the mounting seat 401 in the second primary 42 along the length direction of the carrier 1, and the armature windings 402 in the first primary 41 are aligned with the armature windings 402 in the second primary 42 along the length direction of the carrier 1, so that the secondary 6 is prevented from shifting when moving along the length direction of the carrier 1 relative to the first primary 41 and the second primary 42.
In a specific embodiment, as shown in fig. 6, the mounting seat 401 of the first primary 41 is slidably disposed in the annular groove body 2 through the sliding guide 403, and the mounting seat 401 of the second primary 42 is slidably disposed in the spiral groove body 3 through the other sliding guide 403.
In the above embodiment, the sliding guide 403 is mainly used to guide and limit the movement track of the mount 401, so as to ensure that the mount 401 in the first primary 41 slides along the annular groove 2, and the mount 401 in the second primary 42 slides along the spiral groove 3.
In a more specific embodiment, as shown in fig. 3 to 5, the annular groove body 2 has an annular groove body 21 and an annular groove opening 22, the width of the annular groove opening 22 being smaller than the width of the annular groove body 21, and the sliding guide 403 in the first primary 41 has a wide diameter portion 4031 located in the annular groove body 21 and a narrow diameter portion 4032 located in the annular groove opening 22; the spiral groove body 3 has a spiral groove body 31 and a spiral groove opening 32, the width of the spiral groove opening 32 is smaller than the width of the spiral groove body 31, and the slide guide 403 in the second primary 42 has a wide diameter portion 4031 located in the spiral groove body 31 and a narrow diameter portion 4032 located in the spiral groove opening 32.
In the above embodiment, the slide guide 403 has the arrangement of the wide diameter portion 4031 and the narrow diameter portion 4032 to prevent the mount 401 in the first primary 41 from coming off when sliding in the annular groove body 2 and to prevent the mount 401 in the second primary 42 from coming off when sliding in the spiral groove body 3.
Specifically, as shown in fig. 5, the moving magnetic type permanent magnet motor further includes a first hollow cylinder 51, a second hollow cylinder 52, a first circular ring 53 and a second circular ring 54, the inner diameters of the first hollow cylinder 51 and the first circular ring 53 are equal, the inner diameters of the second hollow cylinder 52 and the second circular ring 54 are equal, a first spiral through hole is arranged on the first hollow cylinder 51, a second spiral through hole is arranged on the second hollow cylinder 52, the first spiral through hole and the second spiral through hole are correspondingly arranged, and the width of the first spiral through hole is larger than that of the second spiral through hole; the first hollow cylinder 51 is arranged on the carrier 1 along the length direction of the carrier 1, the second hollow cylinder 52 is covered on the first hollow cylinder 51 along the length direction of the carrier 1, the first hollow cylinder 51 and the second hollow cylinder 52 are coaxially arranged, the first spiral through hole corresponds to the second spiral through hole to form the spiral groove body 3, the first spiral through hole is the spiral groove body 31, and the second spiral through hole is the spiral groove opening 32; the first ring 53 is disposed on the carrier 1 and coaxially disposed with the first hollow cylinder 51, the first ring 53 and the first hollow cylinder 51 have a first gap, the second ring 54 is disposed on the first ring 53 and coaxially disposed with the first ring 53, the first ring 53 and the first hollow cylinder 51 have a first gap, the second ring 54 and the second hollow cylinder 52 have a second gap, and the width of the first gap is greater than the width of the second gap to form the annular groove body 2, the first gap is the annular groove body 21, and the second gap is the annular groove opening 22. Through the structure setting to the equipment is convenient.
In one embodiment, as shown in fig. 7, the secondary 6 includes a yoke plate 61 and a plurality of permanent magnets 62 disposed on the yoke plate 61, the plurality of permanent magnets 62 being arranged at intervals in the length direction of the carrier 1, the yoke plate 61 having a movement output terminal 63 thereon, the movement output terminal 63 being for connection with an external device to drive the external device to move together with the yoke plate 61.
In the above embodiment, the yoke plate 61 is provided with the motion output terminal 63, and the motion output terminal 63 is used for connecting an external device, and when the secondary 6 moves linearly along the length direction of the carrier 1 or rotates around the carrier 1 or moves spirally around the carrier 1, the external device can be driven to move together by the yoke plate 61. Specifically, the permanent magnet 62 may be a permanent magnet.
In one embodiment, as shown in fig. 8, the carrier 1 is a hollow cylinder, the annular groove body 2 and the spiral groove body 3 are both arranged on the outer wall of the hollow cylinder, and the hollow cylinder, the annular groove body 2 and the spiral groove body 3 are coaxially arranged.
In the above embodiment, as shown in fig. 2, the axis 20 is the common axis of the hollow cylinder, the annular groove body 2, and the spiral groove body 3. The hollow cylinder can be used as the installation carrier 1 of the annular groove body 2 and the spiral groove body 3 and can also be used for external installation. As shown in fig. 1, the annular groove body 2, the spiral groove body 3, the first primary 41 and the second primary 42 are all positioned on the outer wall of the hollow cylinder, and can be installed outwards through the inner side of the hollow cylinder, so that interference to the movement of the first primary 41 and the second primary 42 when the carrier 1 is installed outwards is avoided. In another embodiment, the annular groove body 2, the spiral groove body 3, the first primary 41 and the second primary 42 are all positioned on the inner wall of the hollow cylinder, and can be installed outwards through the outer side of the hollow cylinder, so that interference to the movement of the first primary 41 and the second primary 42 when the carrier 1 is installed outwards is avoided.
The application also provides a control method of the dynamic magnet type permanent magnet motor, which is based on the dynamic magnet type permanent magnet motor in any embodiment, and comprises the following steps:
linear motion: the first primary 41 and the second primary 42 are both electrified with three-phase alternating current with the same frequency, and the secondary 6 moves along the length direction of the carrier 1 relative to the first primary 41 and the second primary 42 so as to realize that the secondary 6 only moves linearly along the length direction of the carrier 1;
rotational movement: the first primary 41 is supplied with direct current and the secondary 6 is stationary relative to the first primary 41 to limit movement of the secondary 6 along the length of the carrier 1; the second primary 42 is electrified with three-phase alternating current, the second primary 42 slides along the spiral groove body 3 in the process of moving along the length direction of the carrier 1 relative to the secondary 6 under the action of electromagnetic thrust, and drives the first primary 41 to slide along the annular groove body 2 so as to realize that the secondary 6 only rotates around the carrier 1;
spiral movement: the first primary 41 and the second primary 42 are respectively supplied with three-phase alternating current with different frequencies, the secondary 6 moves along the length direction of the carrier 1 relative to the first primary 41 and the second primary 42, and the second primary 42 slides along the spiral groove body 3 and drives the first primary 41 to slide along the annular groove body 2 in the process of moving along the length direction of the carrier 1 relative to the secondary 6 under the action of electromagnetic thrust, so that the secondary 6 can perform rotary motion, namely spiral motion, around the carrier 1 in the process of performing linear motion along the length direction of the carrier 1.
In one embodiment, the linear motion: the speed of linear motion of the secondary 6 can be controlled by varying the current frequency of the three-phase alternating current; by changing the current phase sequence of the three-phase alternating current, the secondary 6 moves linearly along the length direction of the carrier 1 or the secondary 6 moves linearly along the opposite direction of the length direction of the carrier 1;
rotational movement: the speed of movement of the second primary 42 relative to the secondary 6, and thus the speed of rotational movement of the secondary 6, can be controlled by varying the current frequency of the three-phase alternating current; by changing the current phase sequence of the three-phase alternating current, the second primary 42 approaches or moves away from the first primary 41 in the annular groove body 2 when sliding along the spiral groove body 3, so that the secondary 6 rotates clockwise or anticlockwise;
spiral movement: by changing the current phase sequence of the three-phase alternating current fed into the first primary 41 and the current phase sequence of the three-phase alternating current fed into the second primary 42 and changing the frequency of the three-phase alternating current fed into the first primary 41 and the frequency of the three-phase alternating current fed into the second primary 42, the secondary 6 is made to perform linear motion along the length direction of the carrier 1 or the secondary 6 is made to perform linear motion along the opposite direction of the length direction of the carrier 1, namely the linear direction in spiral motion is controlled; so that the second primary 42 moves closer to or farther from the first primary 41 in the annular groove body 2 as it slides along the spiral groove body 3 to rotate the secondary 6 clockwise or counterclockwise, i.e., to control the direction of rotation in the spiral motion.
While the foregoing is directed to the preferred embodiments of the present application, it should be noted that modifications and adaptations to those embodiments may occur to one skilled in the art and that such modifications and adaptations are intended to be comprehended within the scope of the present application without departing from the principles set forth herein.
Claims (6)
1. A moving magnet permanent magnet motor, comprising:
a carrier having a length direction;
the annular groove body is arranged on the carrier;
the spiral groove body is arranged on the carrier along the length direction of the carrier and is coaxial with the annular groove body;
the first primary is in sliding connection with the annular groove body;
the second primary is in sliding connection with the spiral groove body;
the first primary and the second primary comprise mounting seats and armature windings arranged on the mounting seats, the mounting seats of the first primary are in sliding connection with the annular groove body, the mounting seats of the second primary are in sliding connection with the spiral groove body, and the armature windings in the first primary and the armature windings in the second primary are linearly arranged in the length direction of the carrier; and
the secondary comprises a magnetic yoke plate and a plurality of permanent magnets arranged on the magnetic yoke plate, wherein the permanent magnets are arranged at intervals in the length direction of the carrier, the magnetic yoke plate is provided with a motion output terminal, and the motion output terminal is used for being connected with an external device so as to drive the external device to move together with the magnetic yoke plate; an air gap is formed between the secondary and the first primary and the second primary, the connecting line of the first primary and the second primary is parallel to the length direction of the carrier, and the secondary is parallel to the connecting line of the first primary and the second primary;
by changing the energization phase sequence and the energization frequency in the first primary and the second primary, it is possible to realize linear movement of the secondary in the longitudinal direction of the carrier, rotational movement around the longitudinal direction of the carrier, and spiral movement around the longitudinal direction of the carrier.
2. The moving magnet type permanent magnet motor according to claim 1, wherein the first primary mounting seat is slidably disposed in the annular groove through a sliding guide head, and the second primary mounting seat is slidably disposed in the spiral groove through another sliding guide head.
3. The moving magnet type permanent magnet motor according to claim 2, wherein the annular groove body has an annular groove body and an annular groove opening, a width of the annular groove opening is smaller than a width of the annular groove body, the sliding guide head in the first primary has a wide diameter portion located in the annular groove body and a narrow diameter portion located in the annular groove opening;
the spiral groove body is provided with a spiral groove body and a spiral groove opening, the width of the spiral groove opening is smaller than that of the spiral groove body, and the sliding guide head in the second primary stage is provided with a wide-diameter part positioned in the spiral groove body and a narrow-diameter part positioned in the spiral groove opening.
4. The moving magnet type permanent magnet motor according to claim 1, wherein the carrier is a hollow cylinder, the annular groove body and the spiral groove body are both arranged on the outer wall of the hollow cylinder, and the hollow cylinder, the annular groove body and the spiral groove body are coaxially arranged.
5. A control method of a moving magnet type permanent magnet motor based on the moving magnet type permanent magnet motor according to any one of claims 1 to 4, characterized by comprising:
linear motion: the first primary and the second primary are respectively supplied with three-phase alternating current with the same frequency, and the movement direction of the secondary relative to the first primary and the second primary is parallel to the length direction of the carrier, so that the secondary can only perform linear movement along the length direction of the carrier;
rotational movement: the first primary is powered with direct current, and the secondary is stationary relative to the first primary to limit movement of the secondary along the length of the carrier; the second primary is electrified with three-phase alternating current, slides along the spiral groove body in the process of moving along the length direction of the carrier relative to the secondary under the action of electromagnetic thrust, and drives the first primary to slide along the annular groove body so as to realize that the secondary only rotates around the carrier;
spiral movement: the first primary and the second primary are respectively electrified with three-phase alternating currents with different frequencies, the secondary moves along the length direction of the carrier relative to the first primary and the second primary, and the second primary slides along the spiral groove body in the process of moving along the length direction of the carrier relative to the secondary under the action of electromagnetic thrust and drives the first primary to slide along the annular groove body so as to realize that the secondary can perform rotary motion, namely spiral motion, around the carrier in the process of performing linear motion along the length direction of the carrier.
6. The control method according to claim 5, characterized in that:
linear motion: the speed of the linear motion of the secondary can be controlled by changing the current frequency of the three-phase alternating current; changing the current phase sequence of the three-phase alternating current to enable the secondary to conduct linear motion along the length direction of the carrier or enable the secondary to conduct linear motion along the opposite direction of the length direction of the carrier;
rotational movement: controlling the speed of movement of the second primary relative to the secondary by varying the frequency of the current of the three-phase alternating current, thereby controlling the speed of rotational movement of the secondary; by changing the current phase sequence of the three-phase alternating current, the second primary is close to or far away from the first primary in the annular groove body when sliding along the spiral groove body, so that the secondary is rotated clockwise or counterclockwise;
spiral movement: the method comprises the steps of changing the current phase sequence of three-phase alternating current fed in a first primary and the current phase sequence of three-phase alternating current fed in a second primary, and changing the frequency of the three-phase alternating current fed in the first primary and the frequency of the three-phase alternating current fed in the second primary so as to enable the secondary to conduct linear motion along the length direction of a carrier or enable the secondary to conduct linear motion along the opposite direction of the length direction of the carrier, namely controlling the linear direction in spiral motion; so that the second primary moves closer to or further from the first primary in the annular groove body when sliding along the spiral groove body, so that the secondary rotates clockwise or anticlockwise, namely, the rotation direction in spiral movement is controlled.
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