CN206712560U - A kind of motor including HALBACH arrays and the robot device including the motor - Google Patents

Abstract

The utility model provides a kind of motor for including HALBACH arrays, including stator and mover assembly, stator and the mover opposite face forms multiple teeth and slot structure, and the motor also includes the multiple HALBACH array permanent magnetisms body units being distributed in the multiple groove of the stator and/or the mover.The utility model also provides corresponding robot device.Using motor of the present utility model, multiple HALBACH array permanent magnetisms body units are respectively distributed in the groove of stator and/or mover, form easy HALBACH array arrangements, therefore the torque density of motor can be improved, contribute to the batch production of permanent magnet again, reduce production cost, and conveniently install, be less likely to be damaged.

Description

A kind of motor including HALBACH arrays and the robot device including the motor

Technical field

It the utility model is related to technical field of motors, and in particular to a kind of motor including HALBACH arrays and including this The robot device of motor.

Background technology

Tooth and slot structure are set in magneto field, the opposite face for being typically employed in stator and/or mover at present, will be single Individual permanent magnet is placed in groove, but uses the motor of the structure, and often torque density is smaller, with the hair of industrial robot Exhibition, it would be desirable to be able to realize the motor of high pulling torque density, and use the motor of this kind of structure to meet to require.

In order to realize high torque density, people start to use HALBACH array permanent magnets, HALBACH array permanent magnets again It is by being overlapped mutually and offsetting positioned at neutral magnetic field so that unilateral magnetic field intensity enhancing, and then motor can be improved Air-gap induction, therefore be widely used in magneto field, such as patent：It is previously mentioned in CN203278585, As shown in fig. 6, the rotor of the motor includes the HALBACH arrays for being arranged on the opposite face of rotor and stator, using this row The HALBACH arrays of mode for cloth are, it is necessary to the permanent magnet of multiple various magnetizing directions collectively forms, therefore processed complex and cost Height, and the arrangement mode of this array needs the permanent magnet positioned at centre snugly into each other, therefore it is cumbersome during assembling, and easily Cause the damage of permanent magnet.

Utility model content

The utility model is to solve the above problems, provide a kind of motor including HALBACH arrays and including the motor Robot device, multiple HALBACH array permanent magnetisms body units are respectively distributed in the groove of stator and/or mover, formed simple HALBACH array arrangements, therefore the torque density of motor can be improved, contribute to the batch production of permanent magnet again, reduce life Cost is produced, and conveniently installs, be less likely to be damaged.

A kind of motor of the utility model first aspect offer, including stator and mover assembly, the stator and mover are relative Face forms multiple teeth and slot structure, and the motor also includes being distributed in the multiple groove of the stator and/or the mover Multiple HALBACH array permanent magnetisms body units.

Further, the shape of each HALBACH array permanent magnetisms body unit is identical, the direction pair in the unilateral magnetic field of formation Answer the gap between the mover and the stator.

Further, the permanent magnet for being located at least in both sides for the HALBACH array permanent magnets being distributed in each groove leans on One end of the nearly mover or the stator opposite face is less than same one end certain distance positioned at middle permanent magnet.

Further, the height of the permanent magnet positioned at both sides and the height ratio positioned at middle permanent magnet include： 1.5：1 to 1.9：1.

Further, the width for the permanent magnet for being located at centre in each HALBACH array permanent magnets, which is more than, is located at both sides Permanent magnet width.

Further, the width ratio of the width positioned at middle permanent magnet and the permanent magnet positioned at both sides is 2.5：1.

Further, each HALBACH array permanent magnets include：Transversely arranged at least first, second, third permanent magnetism Body.

Further, the multiple HALBACH battle arrays being distributed in the multiple groove of the stator and/or the mover Row permanent magnet unit includes：

In each groove or every one HALBACH array permanent magnetism body unit of distribution in several grooves；Or

In each groove or every being distributed multiple HALBACH array permanent magnetisms body units in several grooves.

The utility model second aspect provides a kind of robot device for including above-mentioned motor, including electricity as described above Machine.

Therefore the utility model provides a kind of motor, and multiple HALBACH array permanent magnetisms body units are respectively distributed to In the groove of stator and/or mover, form easy HALBACH array arrangements and achieve following technique effect：

1st, because the stator and mover opposite face form multiple teeth and slot structure, the multiple HALBACH array permanent magnetisms Body unit is distributed in each groove of the stator and/or the mover, forms easy HALBACH array arrangements, because This can improve the torque density of motor, contribute to the batch production of permanent magnet again, reduce production cost, and conveniently install, no It is easily damaged.

2nd, because the shape of each HALBACH array permanent magnetisms body unit is identical, to ensure the direction in the unilateral magnetic field formed The gap of mover and stator between the corresponding mover and stator, it is only necessary to the permanent magnetism of adjustment composition HALBACH array elements The installation direction of body, therefore can complete to produce in batches to greatest extent, ensure the convenience of installation and the uniformity of product.

3rd, because described first and three permanent magnet are located at least in one end of the mover or the stator opposite face and be less than Same one end certain distance of second permanent magnet, therefore by using structure above, on the one hand, due to eliminating by anti- Magnetize the region of influence, therefore whole HALBACH array permanent magnets will not be caused to demagnetize, and then influence the stabilization of whole motor Property；On the other hand, due to eliminating part magnet structure, it is capable of the quality of every group of HALBACH array permanent magnet of relative reduction, So as to reduce the weight of motor to a certain extent.

4th, due to being located at the width of middle permanent magnet in each HALBACH array permanent magnets more than the permanent magnetism positioned at both sides The width of body, it can so form more preferable sinusoidal magnetic field.

Brief description of the drawings

, below will be to embodiment and description of the prior art in order to illustrate more clearly of the utility model embodiment technical scheme In the required accompanying drawing used be briefly described, it should be apparent that, drawings in the following description are only of the present utility model Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this A little accompanying drawings obtain other accompanying drawings.

Fig. 1 is a kind of part-structure schematic diagram for linear electric motors that the utility model embodiment provides；

Fig. 2 is a kind of structural representation for electric rotating machine that the utility model embodiment provides, wherein right side is local A's Mplifying structure schematic diagram；

Fig. 3 A-3D are the several of the flow direction on each HALBACH array permanent magnets that the utility model embodiment provides The schematic diagram of kind embodiment；

Fig. 4 A-4D are showing for several embodiments for each HALBACH array permanent magnets that the utility model embodiment provides It is intended to.

Fig. 5 is a kind of schematic diagram of the embodiment for motor that the utility model embodiment provides；

Each permanent magnet is with change width ratio in the HALBACH array permanent magnets that Fig. 6 the utility model embodiments provide Caused magnetic density change；

Fig. 7 A-7B are the schematic diagram of 2 embodiments of the HALBACH array permanent magnets that the utility model embodiment provides.

Fig. 8 is the top view of the motor of prior art.

Embodiment

In order that those skilled in the art more fully understand the utility model, below in conjunction with the utility model embodiment In accompanying drawing, the technical scheme in the embodiment of the utility model is clearly and completely described.Obviously, described implementation Example only a part of embodiment of the utility model, rather than whole embodiments.Based on the embodiment in the utility model, All other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made, should all belong to The scope of the utility model protection.

Embodiment one,

Fig. 1 is a kind of part-structure schematic diagram for linear electric motors that the utility model embodiment provides；Fig. 2 is that this practicality is new The structural representation for a kind of electric rotating machine that type embodiment provides, wherein right side is local A mplifying structure schematic diagram.

In magneto field, the existing magneto using HALBACH arrays, as described in the background art, the electricity The rotor of machine and the opposite face of stator are surrounded by HALBACH arrays.Using the HALBACH arrays of this arrangement mode, it is necessary to more The permanent magnet of individual various magnetizing directions is collectively formed, its processed complex, and the arrangement mode of this array is needed positioned at centre Permanent magnet is snugly into each other, therefore cumbersome during assembling, and easily causes the damage of permanent magnet.

As shown in Figure 1, 2, to solve the above problems, the utility model provides a kind of motor, the motor includes stator 10 With the component of mover 20, stator 10 and mover 20 opposite face forms multiple teeth 11,21 and groove 12,22 structures, it is the multiple The cell distribution of HALBACH array permanent magnets 30 is in each groove of the stator 10 and/or the mover 20.

Due to multiple HALBACH array permanent magnetisms body units are respectively distributed in the groove of stator and/or mover, formed simple HALBACH array arrangements, therefore the torque density of motor can be improved (relative to the existing electricity for setting single permanent magnet Machine, the permanent magnet of overall same specification size, the moment of torsion using the motor of structure described in the utility model is existing motor 2.5 times), contribute to the batch production of permanent magnet again, reduce production cost, and conveniently install, be less likely to be damaged.

It should be noted that the motor can include convert electric energy to kinetic energy output motor (motor can With including：The electric rotating motivation of rotary motion, the linear motor of linear motion)；It can also include converting kinetic energy into electric energy The generator of output.Therebetween same structure can be used to realize in some cases, by being adopted to identical structure With different modes electrically and mechanically, so as to realize the function of generator or motor respectively.

In some preferred embodiments, the shape of each HALBACH array elements is identical, therefore can be at utmost Meet the requirement of batch production, the unilateral magnetic field formed according to each HALBACH array permanent magnetisms body unit is needed when simply installing Direction adjustment form each HALBACH array permanent magnetisms body unit permanent magnet installation direction so that on stator and/or mover Unilateral magnetic field caused by each HALBACH array permanent magnetisms body unit of installation all corresponds to gap direction (such as Fig. 2 of mover and stator The flow direction shown in the enlarged drawing of right side).Except preferable mode, the shape of each HALBACH array permanent magnetisms body unit is simultaneously Be not necessarily intended to it is identical, such as：The HALBACH array elements in stator slot can be caused with being located in mover groove HALBACH array elements shape is different, as long as ensureing that the unilateral magnetic field that HALBACH arrays are formed on stator and mover corresponds to mover With the gap direction of stator.

It should be noted that the opposite face of stator and mover forms multiple teeth and groove, preferably as shown in Figure 2 will be multiple HALBACH array permanent magnetism body units are respectively distributed in the groove of stator and mover, so can more realize the big of motor Torque density, when using this arrangement mode, as long as ensureing each HALBACH array permanent magnets on stator and/or mover The unilateral magnetic field that unit is formed corresponds to the gap direction of mover and stator.In addition to the set-up mode described in epimere, also may be used Only to set HALBACH array permanent magnets (as shown in Figure 1) in the groove of mover, or only set in the groove of stator HALBACH array permanent magnets (not shown to anticipate out).

Need further exist for illustrating, in above-mentioned each set-up mode, preferably in each groove of stator and/or mover Being distributed at least one HALBACH array elements, (distribution is more in one HALBACH array of distribution, or each groove in i.e. each groove Individual HALBACH array elements)；It may not be and a HALBACH array element is distributed in each groove, such as：Every some Individual groove is distributed at least one HALBACH array elements.

Fig. 3 A-3D are the several of the flow direction on each HALBACH array permanent magnets that the utility model embodiment provides The schematic diagram of kind embodiment.Fig. 4 A-4D are the several of each HALBACH array permanent magnets that the utility model embodiment provides The schematic diagram of embodiment.

As shown in figure 1, each HALBACH array permanent magnets 30 include：Successively transversely arranged at least first, 2nd, three permanent magnet 31,32,33,

First permanent magnet 31 includes the first flow direction,

Second permanent magnet 32 includes the second flow direction,

The three permanent magnet 33 includes the 3rd flow direction.

First, second, third flow direction can be the combination for any direction for meeting HALBACH array principles, As long as so that unilateral magnetic field caused by the HALBACH arrays of composition corresponds to the gap side of mover and stator between stator and mover To.In this specific embodiment, as shown in figs. 3 a-3d, preferably the second flow direction is vertical (including completely vertical and approximate Vertically) in the stator or the opposite face of mover, first be mutually symmetrical with the 3rd flow direction or it is parallel reversely.

As shown in figs. 4 a-4d, each permanent magnet of the composition HALBACH arrays can be designed to various shapes as needed Shape.

As shown in Fig. 4 A, 4B, the preferred rectangle of shape of first, second, third permanent magnet；

As shown in Figure 4 C, the HALBACH arrays include first, second, third permanent magnet respectively in echelon.

As shown in Figure 4 D, the HALBACH arrays are included respectively into first, second, third permanent magnet of triangle.

It is any to meet in addition to the shape for first, second, third permanent magnet that the accompanying drawing 4 in the present embodiment is listed The permanent magnetism shape of HALBACH array principles is belonged in the range of the utility model protection.

Fig. 7 A-7B are the schematic diagram of 2 embodiments of the HALBACH array permanent magnets that the utility model embodiment provides.

The quantity of the HALBACH array permanent magnets preferably first, second, third 3 permanent magnets, but the permanent magnet Quantity is not limited to first, second, third 3 permanent magnets, can be 5 (as shown in Fig. 7 A, 7B), 7,9 etc., with Centered on second permanent magnet, the equal permanent magnet of any amount can be added respectively to both sides.Other related permanent magnets can Referring to the associated description of first, three permanent magnet, no longer to repeat to repeat herein one by one.

Fig. 5 is a kind of schematic diagram of the embodiment for motor that the utility model embodiment provides.

As shown in figure 5, in some preferred embodiments, due to being located at some in the higher motor of magnetic density, often In HALBACH array permanent magnets in each groove, the shadow for the magnetic line of force 40 that can be received through positioned at the end of the permanent magnet of both sides Ring, when direction and the magnetic direction difference of permanent magnet itself of the magnetic line of force 40, it is possible to cause the part permanent magnet to move back Magnetic phenomenon, so as to influence the stability of whole motor.To solve the above problems, the utility model embodiment will be preferably located at least in The close mover of the HALBACH arrays both sides or one end of the stator opposite face are less than the permanent magnetism positioned at centre Same one end certain distance of body.

By using structure above, on the one hand, due to eliminating the region influenceed by demagnetization, therefore will not cause whole Individual HALBACH array permanent magnets demagnetization, and then influence the stability of whole motor；On the other hand, due to eliminating part permanent magnetism Body structure, it is capable of the quality of every group of HALBACH array permanent magnet of relative reduction, so as to reduce the weight of motor to a certain extent Amount.

As shown in figure 5, so that HALBACH arrays include first, second, third 31,32,33 3 permanent magnets as an example, it is described 1st and the close mover of three permanent magnet 33 or one end of the stator opposite face be less than second permanent magnet 32 Same one end certain distance.

The HALBACH array permanent magnets include 5 the first, second, third, fourth, the 5th permanent magnets 31,32,33, 34th, 35, can be preferably the close mover or the stator opposite face of the four, the 5th permanent magnets as described in Fig. 7 A One end be located at same one end certain distance positioned at the second middle permanent magnet less than described；Can also be as described in Fig. 7 B, Firstth, one end of the close mover of the three, the four, the 5th permanent magnets or the stator opposite face is located at less than described Same one end certain distance of the second middle permanent magnet.

In some preferred embodiments, positioned at the height of permanent magnet and the height of the permanent magnet positioned at centre of both sides Than including：1：1.5 to 1：1.9.As shown in figure 5, the height of i.e. described first, three permanent magnet 31,33 and the second permanent magnet 32 Height ratio preferably include, 1：1.5 to 1：1.9.

But it should be recognized that the height ratio of each permanent magnet is not limited to bright number range listed above, According to the specification of the motor of different size and the HALBACH array permanent magnets of use, the ratio may also have other changes, As long as ensure first, second permanent magnet lack partly belong to may be belonged to this reality by the part of magnetic line of force reversely charging magnetic influence With in novel protected scope.

Each permanent magnet is with change width ratio in the HALBACH array permanent magnets that Fig. 6 provides for the utility model embodiment Magnetic density caused by value changes.

In some preferred embodiments, positioned at the width of middle permanent magnet in each HALBACH array permanent magnets More than the width of the permanent magnet positioned at both sides, more preferable sinusoidal magnetic field can be so formed.As shown in Figure 6, if the second permanent magnetism The width of body 32 is P, first, the width of three permanent magnet 31,33 be T, when the two ratio is 2.5 or so, magnetic torque density is most Greatly.

It should be noted that the width ratio is not limited to ratio recited above, as long as meeting positioned at middle second The width of permanent magnet 32 is more than first positioned at the both sides, width of three permanent magnet 31,33, belongs to of the present utility model preferred Scope of embodiments.

When HALBACH array permanent magnets include the permanent magnet of more than 5, other permanent magnets can be found in second, The relevant design of three permanent magnet.

Embodiment two,

The utility model embodiment two also provides a kind of equipment, and the equipment includes the motor described in embodiment one.

The motor is referring to the description in embodiment one, and it is no longer repeated herein.

In the above-described embodiments, the description to each embodiment all emphasizes particularly on different fields, and is not described in some embodiment Part, may refer to the associated description of other embodiments.

It should be noted that those skilled in the art should also know, embodiment described in this description belongs to excellent Embodiment is selected, necessary to involved structure and module not necessarily the utility model.

The motor including HALBACH arrays provided above the utility model embodiment and the equipment including the motor It is described in detail, but the explanation of above example is only intended to help and understands that method and its core of the present utility model are thought Think, should not be construed as to limitation of the present utility model.Those skilled in the art, according to thought of the present utility model, In the technical scope that the utility model discloses, the change or replacement that can readily occur in should all be covered in protection of the present utility model Within the scope of.

Claims (10)

1. a kind of motor for including HALBACH arrays, including stator and mover assembly, stator and the mover opposite face forms more Individual tooth and slot structure, it is characterised in that the motor also includes the multiple groove for being distributed in the stator and/or the mover Interior multiple HALBACH array permanent magnetisms body units.

2. the motor according to claim 1 for including HALBACH arrays, it is characterised in that each HALBACH arrays The shape of permanent magnet unit is identical, and the direction in the unilateral magnetic field of formation corresponds to the gap between the mover and the stator.

3. the motor according to claim 1 or 2 for including HALBACH arrays, it is characterised in that be distributed in each groove HALBACH array permanent magnets the close mover for the permanent magnet for being located at least in both sides or one end of the stator opposite face Less than same one end certain distance positioned at middle permanent magnet.

4. the motor according to claim 3 for including HALBACH arrays, it is characterised in that the permanent magnetism positioned at both sides The height of body and the height ratio positioned at middle permanent magnet include：1.5：1 to 1.9：1.

5. the motor according to claim 1 or 2 for including HALBACH arrays, it is characterised in that each HALBACH The flow direction positioned at middle permanent magnet of array is perpendicular to the stator or the opposite face of the mover, the position respectively In the flow direction of the permanent magnet of the left and right sides be mutually symmetrical or it is parallel reversely.

6. according to the motor for including HALBACH arrays described in any one of claim 1 or 2, it is characterised in that described each HALBACH array permanent magnetism body unit middle positions are more than the width of the permanent magnet positioned at both sides in the width of the permanent magnet of centre.

7. the motor according to claim 6 for including HALBACH arrays, it is characterised in that described positioned at middle permanent magnetism The width ratio of the width of body and the permanent magnet positioned at both sides is 2.5：1.

8. the motor according to claim 1 or 2 for including HALBACH arrays, it is characterised in that each HALBACH Array permanent magnet includes：Transversely arranged at least first, second, third permanent magnet.

9. the motor according to claim 1 or 2 for including HALBACH arrays, it is characterised in that it is described be distributed in it is described fixed Multiple HALBACH array permanent magnetisms body units in the multiple groove of sub and/or described mover include：

In each groove or every one HALBACH array permanent magnetism body unit of distribution in several grooves；Or

In each groove or every being distributed multiple HALBACH array permanent magnetisms body units in several grooves.

10. a kind of robot device, it is characterised in that including including HALBACH battle arrays as described in claim 1-9 any one The motor of row.