CN201854100U - Permanent magnetic actuator capable of realizing straight line and rotation coordinated control - Google Patents
Permanent magnetic actuator capable of realizing straight line and rotation coordinated control Download PDFInfo
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- CN201854100U CN201854100U CN2010205963192U CN201020596319U CN201854100U CN 201854100 U CN201854100 U CN 201854100U CN 2010205963192 U CN2010205963192 U CN 2010205963192U CN 201020596319 U CN201020596319 U CN 201020596319U CN 201854100 U CN201854100 U CN 201854100U
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Abstract
The utility model relates to a permanent magnetic actuator capable of realizing straight line and rotation coordinated control, which mainly comprises two parts, namely a stator and a rotor, wherein the stator part consists of stator tooth slots and concentrated windings, stator teeth are evenly distributed on a back yoke in the circumferential and linear directions, namely after the circumference of the back yoke is unfolded to form a plane, the stator teeth are equidistantly distributed on the plane of the back yoke, the six tooth slots are uniformly distributed on the circumference, the concentrated windings are wound on the tooth slots, the rotor consists of Harbach permanent magnet arrays, and the Harbach permanent magnet arrays are adopted in the rotor, and then sinusoidally distributed on the circumference of the surface of the rotor and in the axial and linear directions. The permanent magnetic actuator is simple and compact in structure, good in reliability and high in power density, and can realize straight line and rotation coordinated control, and be applied in occasions with movement requirements on two degrees of freedom of straight line and rotation.
Description
Technical field
The utility model relates to a kind of straight line rotation two-freedom permanent magnetism actuator, is used for the occasion that needs are realized straight line and rotation two-freedom compound motion.
Background technology
Realize the main at present common electric rotating machine that normally adopts two platform independent by the straight line and the mode of the combination that rotatablely moves of actuator of straight line and two degrees of freedom of rotation, perhaps linear electric motors and an electric rotating machine cooperate and finish, its positioning accuracy and response speed are relatively poor, and volume is bigger.(patent No.: 4806068) announced a kind of straight line rotary actuator that is used for robot, linear actuator promotes connecting portion and realizes rectilinear motion United States Patent (USP), and simultaneously, connecting portion is realized rotatablely moving under the rotation of electric rotating machine.(application number: 200680043229) announced that a kind of straight line rotates the injection moulding machine of two-freedom, this injection moulding machine is formed by the linear electric motors and the electric rotating machine simple combination of separating Chinese patent, and electric rotating machine is enclosed within the linear electric motors.The common drawback of said structure is that linear actuator and rotary actuator are separate, and volume is big, poor reliability, and it is complicated to coordinate control, inefficiency.Document " a kind of modeling of straight line rotary permanent-magnet actuator " has been announced a kind of straight line rotary permanent-magnet actuator, mainly form by internal stator, external stator, concentrated winding and permanent magnet, this structure has been abandoned the form of the simple addition of straight line two single-degree-of-freedom actuator of rotation, integrates straight line and rotation two-freedom.But also there is certain defective in this kind structure, and outside magnetic field intensity is equal substantially in the permanent magnet, and the iron core weight of mover is bigger, has reduced system response time and reliability.
Summary of the invention
Technical problem:In order to overcome the defective that above-mentioned existing straight line rotation two-freedom permanent magnetism actuator exists, the utility model proposes a kind of permanent magnetism actuator that realizes that straight line and rotation coordination are controlled, improve the mover inner and outer magnetic field and distribute, reduce the iron core weight of mover, improve the response speed and the reliability of system.
Technical scheme:For solving the problems of the technologies described above, straight line realized that the utility model provides and the permanent magnetism actuator of rotating coordination control, comprise stator and mover two parts of being provided with back of the body yoke, stator is made up of stator tooth, stator slot and concentrated winding, wherein stator tooth is carried on the back on the yoke circumferentially being evenly distributed on of stator inner periphery upper edge stator, after being launched into the plane along stator circumference, stator tooth equidistantly distributes on back of the body yoke plane;
Mover is made up of the Halbach permanent magnet array, and the Distribution of Magnetic Field of this permanent magnet array is near Sine distribution.
Preferably, stator tooth and back of the body yoke material are high permeability material.
Preferably, stator tooth and back of the body yoke material are No. ten steel or silicon steel sheet.
Preferably, equidistant six teeth and six grooves of distributing are wound with centralized winding on described six teeth and six grooves on the stator circumference.
Preferably, arranged the outer surface constitute mover by permanent magnet array, the magnetic field surface polarity is the permanent magnet of the N utmost point, with the polarity of the permanent magnet of this permanent magnet coplane be the N utmost point; The magnetic field surface polarity is the permanent magnet of the S utmost point, with the polarity of the permanent magnet of this permanent magnet coplane be the S utmost point, at the circumference of stator with along on the axis rectilinear direction, the N utmost point and S utmost point permanent magnet and the alternately arrangement of permanent magnet of cutting orientation magnetizing all around, form the Halbach structure, make the Distribution of Magnetic Field of permanent magnet array near Sine distribution, realize the motion of straight line and two degrees of freedom of rotation.
Preferably, the radially angle of adjacent stators tooth is 60 °.
Preferably, the width of stator equals the length of pole arc between stator tooth.
Beneficial effect:Because stator adopts centralized winding, mover has adopted the Halbach permanent-magnet structure, and this permanent magnetism actuator has following advantage: stator no longer needs measures such as complicated distributed winding or fixed, mover skewed slot to obtain the close distribution of sinusoidal wave magnetic; Mover has good magnetic screening action, can reduce conductive magnetic yoke thickness, even can save iron core; Simple and compact for structure, good reliability, power density is big; Can realize straight line and rotation coordination control.
Description of drawings
The utility model straight line realized that provides and the permanent magnetism actuator structural representation that rotates coordination control are provided Fig. 1;
Wherein have: I, stationary part, II, mover part;
Fig. 2 coordinates the permanent magnetism actuator stator and the winding part schematic diagram of control for realizing straight line and rotation;
Wherein have: 1, concentrate winding, 2, stator tooth, 3, back of the body yoke;
Fig. 3 is a stator unit part schematic diagram;
Wherein have: 1, concentrate winding, 2, stator tooth, 3, back of the body yoke, 4, stator slot;
Fig. 4 is a mover part-structure schematic diagram;
Wherein have: 41, cutting orientation magnetizing permanent magnet, 42, axial charging permanent magnet, 43, the radial magnetizing permanent magnetism body.
Embodiment
Below in conjunction with accompanying drawing the utility model is described further.
The Halbach permanent magnet array is a kind of arrangement mode of permanent magnet, thereby it can form monolateral magnetic field and has good self-shielding effect, and can produce the magnetostatic field bigger than remnant field intensity level.
Referring to Fig. 1-4, can realize the permanent magnetism actuator that straight line and rotation coordination are controlled, it comprises stator I and the mover II two parts that are provided with back of the body yoke 3, stator I is made up of stator tooth 2, stator slot 4 and concentrated winding 1, wherein stator tooth 2 is being evenly distributed on the back of the body yoke 3 with rectilinear direction on the stator I part circumference, after promptly being launched into the plane by circumference, stator tooth 2 equidistantly distributes on back of the body yoke 3 planes; Mover II is made up of the Halbach permanent magnet array, and the Distribution of Magnetic Field of this permanent magnet array is near Sine distribution.
Equidistant six teeth and six grooves of distributing are wound with centralized winding on described six teeth and six grooves on the stator I circumference.
Permanent magnet array is arranged and is characterised in that: the magnetic field surface polarity is the permanent magnet of the N utmost point, around it, and this permanent magnet of the polar orientations of permanent magnet; The magnetic field surface polarity is the permanent magnet of the S utmost point, the polarity of permanent magnet this permanent magnet dorsad around it, at stationary part on circumference and rectilinear direction, the N utmost point and S utmost point permanent magnet and the alternately arrangement of permanent magnet of cutting orientation magnetizing all around, form the Halbach structure, make the Distribution of Magnetic Field of permanent magnet array near Sine distribution, realize the motion of straight line and two degrees of freedom of rotation.
Straight line realized that the utility model provides and the permanent magnetism actuator of rotating coordination control, its embodiment mainly comprises stationary part I and mover part II as shown in Figure 1.Stator is rearranged by stator unit (shown in Figure 3) as shown in Figure 2.Fig. 4 is that permanent magnetism actuator rotor permanent magnet is arranged.
Straight line rotation two-freedom Halbach permanent magnetism actuator, stator I is made up of stator tooth 2 and stator slot and concentrated winding 1, wherein stator tooth 2 is after being evenly distributed on the back of the body yoke 3 with rectilinear direction on the circumference, promptly being launched into the plane by circumference, and stator tooth equidistantly distributes on back of the body yoke plane.Stator tooth 2 and back of the body yoke 3 materials are high permeability material, as No. ten steel or silicon steel sheet etc.
The described permanent magnetism actuator that realizes that straight line and rotation coordination are controlled, equidistant six teeth groove that distribute on its circumference, the angle of adjacent stators tooth is 60 °.Be wound with centralized winding 1 on the teeth groove, winding 1 is made up of copper conductor.The width of stator I equals the length of pole arc between stator tooth.
The described permanent magnetism actuator that realizes that straight line and rotation coordination are controlled, its mover is made up of the Halbach permanent magnet array, as shown in Figure 4.What this permanent magnet was arranged is characterized as: surface polarity is the permanent magnet of the N utmost point, this permanent magnet of polar orientations of (the mover both ends were three weeks) permanent magnet around it; Otherwise surface polarity is the permanent magnet of the S utmost point, the polarity of (the mover end was three weeks) permanent magnet this permanent magnet dorsad around it.On circumference and rectilinear direction, the N utmost point and S utmost point permanent magnet are alternately arranged with the permanent magnet of cutting orientation magnetizing all around, form the Halbach structure, make the Distribution of Magnetic Field of permanent magnet array near Sine distribution, realize the motion of straight line and two degrees of freedom of rotation.
Claims (7)
1. the permanent magnetism actuator that can realize that straight line and rotation coordination are controlled comprises stator (I) and mover (II) two parts of being provided with back of the body yoke (3), it is characterized in that:
Stator (I) is made up of stator tooth (2), stator slot (4) and concentrated winding (1), wherein stator tooth (2) is carried on the back on the yoke (3) circumferentially being evenly distributed on of stator (I) inner periphery upper edge stator, after being launched into the plane along stator (I) circumference, stator tooth (2) equidistantly distributes on back of the body yoke (3) plane;
Mover (II) is made up of the Halbach permanent magnet array, and the Distribution of Magnetic Field of this permanent magnet array is near Sine distribution.
2. the permanent magnetism actuator that realizes that straight line and rotation coordination are controlled according to claim 1 is characterized in that: stator tooth (2) and back of the body yoke (3) material are high permeability material.
3. according to claim 2ly realize that straight line and rotation coordinate the permanent magnetism actuator of control, it is characterized in that: stator tooth (2) and to carry on the back yoke (3) material be No. ten steel or silicon steel sheet.
4. the permanent magnetism actuator that realizes that straight line and rotation coordination are controlled according to claim 1 is characterized in that: equidistant six teeth and six grooves of distributing on stator (I) circumference are wound with centralized winding on described six teeth and six grooves.
5. the permanent magnetism actuator that realizes that straight line and rotation coordination are controlled according to claim 1, it is characterized in that: arranging the outer surface that constitutes mover (II) by permanent magnet array, the magnetic field surface polarity is the permanent magnet of the N utmost point, with the polarity of the permanent magnet of this permanent magnet coplane be the N utmost point; The magnetic field surface polarity is the permanent magnet of the S utmost point, with the polarity of the permanent magnet of this permanent magnet coplane be the S utmost point, at the circumference of stator (I) with along on the axis rectilinear direction, the N utmost point and S utmost point permanent magnet and the alternately arrangement of permanent magnet of cutting orientation magnetizing all around, form the Halbach structure, make the Distribution of Magnetic Field of permanent magnet array near Sine distribution, realize the motion of straight line and two degrees of freedom of rotation.
6. the permanent magnetism actuator that realizes that straight line and rotation coordination are controlled according to claim 1, it is characterized in that: the radially angle of adjacent stators tooth (2) is 60 °.
7. the permanent magnetism actuator that realizes that straight line and rotation coordination are controlled according to claim 1, it is characterized in that: the width of stator (I) equals the length of pole arc between stator tooth (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205963192U CN201854100U (en) | 2010-11-08 | 2010-11-08 | Permanent magnetic actuator capable of realizing straight line and rotation coordinated control |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205963192U CN201854100U (en) | 2010-11-08 | 2010-11-08 | Permanent magnetic actuator capable of realizing straight line and rotation coordinated control |
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| Publication Number | Publication Date |
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| CN201854100U true CN201854100U (en) | 2011-06-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010205963192U Expired - Lifetime CN201854100U (en) | 2010-11-08 | 2010-11-08 | Permanent magnetic actuator capable of realizing straight line and rotation coordinated control |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102013739A (en) * | 2010-11-08 | 2011-04-13 | 东南大学 | Hal-Bach permanent magnet actuator capable of lineally rotating two degrees of freedom |
| CN103280939A (en) * | 2013-04-18 | 2013-09-04 | 河海大学 | Double-stator linear rotation Hal Bach permanent magnetic actuator |
| CN112865348A (en) * | 2021-01-25 | 2021-05-28 | 浙江大学 | Linear-rotary low-speed cylinder generator |
| CN112968559A (en) * | 2021-02-20 | 2021-06-15 | 上海隐冠半导体技术有限公司 | Magnetic suspension rotating device |
-
2010
- 2010-11-08 CN CN2010205963192U patent/CN201854100U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102013739A (en) * | 2010-11-08 | 2011-04-13 | 东南大学 | Hal-Bach permanent magnet actuator capable of lineally rotating two degrees of freedom |
| CN103280939A (en) * | 2013-04-18 | 2013-09-04 | 河海大学 | Double-stator linear rotation Hal Bach permanent magnetic actuator |
| CN103280939B (en) * | 2013-04-18 | 2016-02-03 | 河海大学 | A kind of Double-stator linear rotation Hal Bach permanent magnetic actuator |
| CN112865348A (en) * | 2021-01-25 | 2021-05-28 | 浙江大学 | Linear-rotary low-speed cylinder generator |
| CN112865348B (en) * | 2021-01-25 | 2021-11-30 | 浙江大学 | Linear-rotary low-speed cylinder generator |
| CN112968559A (en) * | 2021-02-20 | 2021-06-15 | 上海隐冠半导体技术有限公司 | Magnetic suspension rotating device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20110601 Effective date of abandoning: 20120627 |